CN118067121A - Unmanned aerial vehicle transmission tower operation space viewpoint planning method and system - Google Patents
Unmanned aerial vehicle transmission tower operation space viewpoint planning method and system Download PDFInfo
- Publication number
- CN118067121A CN118067121A CN202311025390.3A CN202311025390A CN118067121A CN 118067121 A CN118067121 A CN 118067121A CN 202311025390 A CN202311025390 A CN 202311025390A CN 118067121 A CN118067121 A CN 118067121A
- Authority
- CN
- China
- Prior art keywords
- aerial vehicle
- unmanned aerial
- path
- transmission tower
- viewpoint
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000005540 biological transmission Effects 0.000 title claims abstract description 89
- 238000000034 method Methods 0.000 title claims abstract description 39
- 238000007689 inspection Methods 0.000 claims abstract description 45
- 239000003016 pheromone Substances 0.000 claims description 42
- 241000257303 Hymenoptera Species 0.000 claims description 15
- 238000004590 computer program Methods 0.000 claims description 8
- 238000012545 processing Methods 0.000 claims description 5
- 238000013507 mapping Methods 0.000 claims description 4
- 230000002159 abnormal effect Effects 0.000 claims description 2
- 230000006870 function Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000003491 array Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000011156 evaluation Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000016507 interphase Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
Landscapes
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
Abstract
The invention relates to the technical field of power grids, in particular to a method and a system for planning operation space view points of an unmanned aerial vehicle transmission tower, wherein the method comprises the steps of carrying out semantic division on a transmission tower model according to patrol contents; selecting a viewpoint of the power transmission tower based on the semantic division result; and planning a path based on the selected viewpoint to obtain the inspection path of the unmanned aerial vehicle. According to the method provided by the invention, the transmission tower model can be subjected to semantic division according to the inspection content, the concrete transmission tower can be combined to carry out semantic division according to the inspection content, and the accuracy of the subsequent control unmanned aerial vehicle is improved; the viewpoint of the power transmission tower is selected based on the semantic division result, and the basis of unmanned aerial vehicle control can be determined; and carrying out path planning based on the selected view point to obtain a routing inspection path of the unmanned aerial vehicle, so that efficient unmanned aerial vehicle control can be realized.
Description
Technical Field
The invention relates to the technical field of power grids, in particular to a method and a system for planning operation space view points of an unmanned aerial vehicle transmission tower.
Background
Because the transmission line is located outdoors, complicated climatic conditions can cause the transmission line to vibrate, expand or shrink, thereby lead to parts such as bolt to become flexible, cause transmission line potential safety hazard. At present, various fasteners and functional components of a power transmission line are basically still finished by manual live working, the manual working efficiency is low under high-altitude, high-voltage and severe-environment high-risk conditions, and due to the wide application of an extra-high voltage power grid and a multi-loop tower, the voltage level is higher and higher, the inter-phase distance is closer and closer, the manual live working is extremely dangerous, and a method for replacing the manual safe and efficient live working of the line is needed to be researched and developed.
Disclosure of Invention
The present invention has been made in view of the above-described problems.
Therefore, the technical problems solved by the invention are as follows: according to the invention, the unmanned aerial vehicle is used for inspecting the transmission tower, so that the flight path planning problem of the unmanned aerial vehicle during the inspection of the transmission tower is solved, and the efficient inspection of the transmission tower is realized.
In order to solve the technical problems, the invention provides the following technical scheme: carrying out semantic division on the transmission tower model according to the inspection content; selecting a viewpoint of the power transmission tower based on the semantic division result; and planning a path based on the selected viewpoint to obtain the inspection path of the unmanned aerial vehicle.
As a preferable scheme of the unmanned aerial vehicle transmission tower operation space viewpoint planning method, the invention comprises the following steps: the semantic division comprises the steps of setting semantic tags on relevant parts of a three-dimensional transmission tower model according to the space structure of the transmission tower and the patrol content, marking the patrol content, and explaining identification information and space coordinate information of a current area; the semantic tag comprises a spatial range, wherein the surface patches in the spatial range are endowed with a tag, and a processing system of the unmanned aerial vehicle is allowed to control the movement of the unmanned aerial vehicle to acquire information according to the marked information, identify and mark the information, and control the movement according to the identification and marking results; the transmission tower is a building and has a certain space structure, the structure of the transmission tower comprises various supporting structures, connecting structures and stretching structures, the space structure comprises gaps, heights and widths, the supporting structures, the connecting structures, the stretching structures, the gaps, the heights and the widths of the transmission tower are trained through algorithms, accurate identification is achieved, and the space structures related to the transmission tower are accurately identified through images.
As a preferable scheme of the unmanned aerial vehicle transmission tower operation space viewpoint planning method, the invention comprises the following steps: the inspection path comprises the steps that a safe flight bounding box is constructed outside the power tower based on the safety constraint condition and the selected viewpoint so as to enable the unmanned aerial vehicle to fly; carrying out path planning according to the patrol content in the range of the safe flight bounding box to obtain a patrol path of the unmanned aerial vehicle; the safety constraint conditions comprise the safety distance of the unmanned aerial vehicle inspection tower and the fact that the unmanned aerial vehicle cannot pass through between wires; the safe flight bounding box comprises a virtual space, the principle is that the space which exists actually is divided in a self-defined mode, the obtained specified space range is divided, the unmanned aerial vehicle flies safely in the space which is obtained through the division, and when the unmanned aerial vehicle flies out of the space, the unmanned aerial vehicle can be classified as the unmanned aerial vehicle which is abnormal even if other objects are not encountered.
As a preferable scheme of the unmanned aerial vehicle transmission tower operation space viewpoint planning method, the invention comprises the following steps: the viewpoint comprises a position when the viewpoint acquires a specified target and a view field of an acquired image for the unmanned aerial vehicle; the inspection content comprises the steps of acquiring a target image according to hardware features to determine the fault state of a target; the viewpoint further comprises the step of acquiring a target image which meets the definition requirement and comprises a fault high-incidence area based on the inspection content and the hardware features, and selecting the obtained viewpoint as the optimal viewpoint.
As a preferable scheme of the unmanned aerial vehicle transmission tower operation space viewpoint planning method, the invention comprises the following steps: the method comprises the steps that a plane, which is used for connecting the two side bounding boxes, of the safe flight bounding box and the top end of the pole is unfolded to be a rectangle, and the optimal viewpoint is mapped to the rectangle plane for path planning; path planning is carried out based on an ant colony algorithm; and mapping the planned path to the original bounding box.
As a preferable scheme of the unmanned aerial vehicle transmission tower operation space viewpoint planning method, the invention comprises the following steps: the ant colony algorithm comprises the steps of randomly placing some virtual ants in a space, and initializing the concentration of pheromones, wherein the concentration of the pheromones represents the quality of a path; each ant selects the next moving position according to the pheromone concentration and the shortest path strategy, after the ants complete one-time movement, the pheromone concentration on the path is updated according to the length of the path, the pheromone is increased according to the path quality of the ants, more ants are guided to select the path, after the path selection is completed, iterative operation is carried out, and the path with the highest pheromone concentration is selected as the optimal path.
As a preferable scheme of the unmanned aerial vehicle transmission tower operation space viewpoint planning method, the invention comprises the following steps: the ant colony algorithm further comprises the steps that the path planning ratio is represented as a graph G (V, E), V is a view point collection, E is a path collection between view points, each edge represents (i, j) representing the distance between the view points, each edge has an associated pheromone value tau ij, the probability that each ant accesses the next view point is related to the pheromone concentration and heuristic information, and the probability that the ant accesses the next view point from the view point i to the view point j is:
Wherein, alpha and beta are parameters, control the importance degree of pheromone and heuristic information, eta ij is heuristic information, and m is a view point set which can be selected by ants;
After the ants complete a round of path selection, the pheromone value is updated according to the path length, and the pheromone updating formula is expressed as follows:
wherein ρ is the pheromone volatilization rate, N is the ant mass, Is the pheromone increment of ant propagation through the edge, and the specific formula is as follows:
Where Q is a constant and L k is a path length;
And repeating ant path selection and pheromone updating to select an optimal path.
Another object of the present invention is to provide a space route planning system for operation of an unmanned aerial vehicle transmission tower, which can solve the problem of space route planning of unmanned aerial vehicle operation in the transmission tower by constructing the space route planning system for unmanned aerial vehicle.
As a preferable scheme of the unmanned aerial vehicle transmission tower operation space viewpoint planning method, the invention comprises the following steps: the system comprises a dividing module, a selecting module and a path generating module; the dividing module is used for carrying out semantic division on the transmission tower model according to the inspection content; the selection module is used for selecting the view point of the power transmission tower based on the semantic division result; and the path planning module is used for carrying out path planning based on the selected view point to obtain the inspection path of the unmanned aerial vehicle.
The invention also provides computer equipment, which comprises a memory and a processor, wherein the memory stores a computer program, and is characterized in that the processor realizes the steps of the unmanned aerial vehicle transmission tower operation space viewpoint planning method when executing the computer program.
The invention also provides a computer readable storage medium, on which a computer program is stored, characterized in that the computer program when executed by a processor implements the steps of the unmanned aerial vehicle transmission tower working space viewpoint planning method.
The invention has the beneficial effects that: the transmission tower model is subjected to semantic division according to the inspection content, the specific transmission tower can be combined according to the inspection content, and the accuracy of the follow-up control unmanned aerial vehicle is improved; the viewpoint of the power transmission tower is selected based on the semantic division result, and the basis of unmanned aerial vehicle control can be determined; and carrying out path planning based on the selected view point to obtain a routing inspection path of the unmanned aerial vehicle, so that efficient unmanned aerial vehicle control can be realized.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art. Wherein:
Fig. 1 is a flow chart of a method for planning the operation space view point of an unmanned aerial vehicle transmission tower.
Fig. 2 is a system structure diagram of a system for planning a path of an operation space of an unmanned aerial vehicle transmission tower.
Detailed Description
So that the manner in which the above recited objects, features and advantages of the present invention can be understood in detail, a more particular description of the invention, briefly summarized above, may be had by reference to the embodiments, some of which are illustrated in the appended drawings. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways other than those described herein, and persons skilled in the art will readily appreciate that the present invention is not limited to the specific embodiments disclosed below.
Further, reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic can be included in at least one implementation of the invention. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments.
While the embodiments of the present invention have been illustrated and described in detail in the drawings, the cross-sectional view of the device structure is not to scale in the general sense for ease of illustration, and the drawings are merely exemplary and should not be construed as limiting the scope of the invention. In addition, the three-dimensional dimensions of length, width and depth should be included in actual fabrication.
Also in the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "upper, lower, inner and outer", etc. are based on the orientation or positional relationship shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first, second, or third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The terms "mounted, connected, and coupled" should be construed broadly in this disclosure unless otherwise specifically indicated and defined, such as: can be fixed connection, detachable connection or integral connection; it may also be a mechanical connection, an electrical connection, or a direct connection, or may be indirectly connected through an intermediate medium, or may be a communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Example 1
Referring to fig. 1, for a first embodiment of the present invention, a method for planning a view point of an operation space of a transmission tower of an unmanned aerial vehicle is provided.
S1: and carrying out semantic division on the transmission tower model according to the inspection content.
Transmission lines in a power grid generally span a large number of devices and facilities to be inspected, and therefore, maintenance for the transmission lines may include a large number of contents.
In order to patrol these contents, many patrol tasks and patrol targets are arranged and set in practice, and these patrol tasks and patrol targets together constitute patrol contents.
The unmanned aerial vehicle is controlled in a targeted manner around the transmission tower according to the actual requirements of the patrol content, and specifically, the transmission tower model is subjected to semantic division according to the patrol content.
The semantic division of the power tower refers to attaching semantic tags to relevant parts of the three-dimensional model according to the spatial structure and the operation content of the power tower, wherein the semantic tags are actually a spatial range, a tag is assigned to all the patches in the range, a processing system of the unmanned aerial vehicle is allowed to control the movement of the unmanned aerial vehicle according to the marked information, namely, the information is obtained, the information is identified and marked, and the movement control is performed according to the identification and marking results.
It should be noted that, the unmanned aerial vehicle is not a result of developing the power system itself, but an external purchased device is adopted, and the unmanned aerial vehicle itself has a control algorithm for performing movement and attitude control.
In this embodiment, a target is set, so that the unmanned aerial vehicle realizes the set target based on its own control algorithm, one of the results of realizing the target is determination of a route, so that the unmanned aerial vehicle is expected to fully obtain an image of the target, and further, the state of the transmission tower can be judged through the obtained target image.
And carrying out semantic division on the transmission tower model according to the inspection content, namely setting semantic tags on relevant parts of the three-dimensional transmission tower model according to the transmission tower space structure and the inspection content so as to explain the identification information and the space coordinate information of the current area.
The transmission tower approximates a building and has a certain space structure, and the structure of the transmission tower comprises various supporting structures, connecting structures, stretching structures and the like, and the space structure comprises gaps, heights, widths and the like.
The supporting structure, the connecting structure, the stretching structure, the gaps, the heights and the widths of the transmission towers can be trained through algorithms, so that accurate identification is realized, namely, the related space structures of the transmission towers can be accurately identified through images.
And constructing a three-dimensional model according to the real power transmission towers, and marking each part of the three-dimensional model to obtain semantic tags so as to realize interpretation of the identification information and the space coordinate information of the current area, wherein the identification information is used for explaining the attribute of the current target, the power transmission towers belong to gaps among the power transmission towers, the periphery of the power transmission towers and the like, and the space coordinates can be obtained by acquiring the structural parameters of the power transmission towers in advance and combining the position information of the unmanned aerial vehicle.
S2: and selecting the viewpoint of the power transmission tower based on the semantic division result.
Specifically, the viewpoint includes, the viewpoint is a position when the unmanned aerial vehicle acquires a specified target and a view of an image acquired by the image acquisition device; the inspection content comprises the steps of acquiring a target image according to hardware features to determine the fault state of a target; the viewpoint further comprises the step of acquiring a target image which meets the definition requirement and comprises a fault high-incidence area based on the inspection content and the hardware features, and selecting the obtained viewpoint as the optimal viewpoint.
S3: and planning a path based on the selected viewpoint to obtain the inspection path of the unmanned aerial vehicle.
Specifically, the path planning is performed based on the selected view point to obtain a routing inspection path of the unmanned aerial vehicle, which comprises that the safe flight bounding box and a plane of the rod tower top end connected with the bounding boxes at two sides are unfolded to form a rectangle, and the optimal view point is mapped to the rectangle plane for path planning; path planning is carried out based on an ant colony algorithm; and mapping the planned path to the original bounding box.
Further, the ant colony algorithm comprises randomly placing some virtual ants in a space, and initializing pheromone concentration, wherein the pheromone concentration represents the quality of a path; each ant selects the next moving position according to the pheromone concentration and the shortest path strategy, after the ants complete one-time movement, the pheromone concentration on the path is updated according to the length of the path, the pheromone is increased according to the path quality of the ants, more ants are guided to select the path, after the path selection is completed, iterative operation is carried out, and the path with the highest pheromone concentration is selected as the optimal path.
Further, the ant colony algorithm further includes, representing the path planning ratio as a graph G (V, E), V being a view-set, E being a set of paths between views, each edge representing (i, j) representing a distance from a view to a view, each edge having an associated pheromone value τ ij, and the probability of each ant accessing the next view being related to the pheromone concentration and heuristic information, the probability of the ant from view i to view j being:
Wherein, alpha and beta are parameters, control the importance degree of pheromone and heuristic information, eta ij is heuristic information, and m is a view point set which can be selected by ants;
After the ants complete a round of path selection, the pheromone value is updated according to the path length, and the pheromone updating formula is expressed as follows:
wherein ρ is the pheromone volatilization rate, N is the ant mass, Is the pheromone increment of ant propagation through the edge, and the specific formula is as follows:
Where Q is a constant and L k is a path length;
And repeating ant path selection and pheromone updating to select an optimal path.
Example 2
The second embodiment of the invention provides an unmanned aerial vehicle transmission tower operation space path planning system.
Specifically, the system comprises a dividing module, a selecting module and a path generating module.
The dividing module is used for carrying out semantic division on the transmission tower model according to the inspection content; the semantic division comprises the steps of setting semantic tags on relevant parts of a three-dimensional transmission tower model according to the space structure of the transmission tower and the patrol content, marking the patrol content, and explaining identification information and space coordinate information of a current area;
The semantic tag comprises a spatial range, wherein the surface patches in the spatial range are endowed with a tag, and a processing system of the unmanned aerial vehicle is allowed to control the movement of the unmanned aerial vehicle to acquire information according to the marked information, identify and mark the information, and control the movement according to the identification and marking results;
The selection module is used for selecting the view point of the power transmission tower based on the semantic division result; the viewpoint comprises a position when the viewpoint acquires a specified target for the unmanned aerial vehicle and a view field of an image acquired by the image acquisition equipment; the inspection content comprises the steps of acquiring a target image according to hardware features to determine the fault state of a target; the view point also comprises the steps of acquiring a target image which meets the definition requirement and comprises a fault high-incidence area based on the inspection content and hardware features, and selecting the acquired view point as an optimal view point;
the path planning module is used for carrying out path planning based on the selected view point to obtain a patrol path of the unmanned aerial vehicle; the method comprises the steps that a plane, which is used for connecting the two side bounding boxes, of the safe flight bounding box and the top end of the pole is unfolded to be a rectangle, and the optimal viewpoint is mapped to the rectangle plane for path planning; path planning is carried out based on an ant colony algorithm; and mapping the planned path to the original bounding box.
Example 3
In order to verify the beneficial effects of the invention, scientific demonstration is carried out through simulation experiments, so that the effectiveness of the method is verified.
Specifically, firstly, the inspection content of the transmission tower is semantically divided, related information is divided into different categories or layers, and the inspection content is divided into appearance inspection, equipment state inspection and line connection inspection.
Based on the result of semantic division, determining the required patrol content, and selecting the view point again according to different patrol content, wherein the view point is selected in consideration of effectively covering the patrol area, and meanwhile, acquiring enough detailed information for accurate evaluation is ensured.
After the inspection viewpoints are selected, path planning is needed to ensure that the unmanned aerial vehicle can fly efficiently and access the viewpoints in sequence; the path is planned based on the ant colony algorithm, so that the effects of the shortest distance of flight, obstacle avoidance and energy consumption minimization are achieved.
The collected inspection data can be analyzed, and image processing, state evaluation and the like can be performed according to different inspection contents.
And finally, generating a patrol report, and evaluating and recording the state of the transmission tower.
Referring to table 1, a comparison of the effectiveness of the method of the present invention with a conventional inspection method is provided,
As can be seen from Table 1, the method provided by the invention is significantly improved compared with the conventional manual inspection method.
Example 4
A fourth embodiment of the present invention, which is different from the previous embodiment, is:
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a usb disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
Logic and/or steps represented in the flowcharts or otherwise described herein, e.g., a ordered listing of executable instructions for implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.
More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the computer readable medium may even be paper or other suitable medium on which the program is printed, as the program may be electronically captured, via, for instance, optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory.
It is to be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
Furthermore, in an effort to provide a concise description of the exemplary embodiments, all features of an actual implementation may not be described (i.e., those not associated with the best mode presently contemplated for carrying out the invention, or those not associated with practicing the invention).
It should be appreciated that in the development of any such actual implementation, as in any engineering or design project, numerous implementation-specific decisions may be made. Such a development effort might be complex and time consuming, but would nevertheless be a routine undertaking of design, fabrication, and manufacture for those of ordinary skill having the benefit of this disclosure.
It should be noted that the above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solution of the present invention may be modified or substituted without departing from the spirit and scope of the technical solution of the present invention, which is intended to be covered in the scope of the claims of the present invention.
Claims (10)
1. The utility model provides an unmanned aerial vehicle transmission tower operation space viewpoint planning method which characterized in that: comprising the steps of (a) a step of,
Carrying out semantic division on the transmission tower model according to the inspection content;
Selecting a viewpoint of the power transmission tower based on the semantic division result;
and planning a path based on the selected viewpoint to obtain the inspection path of the unmanned aerial vehicle.
2. The unmanned aerial vehicle transmission tower working space viewpoint planning method of claim 1, wherein: the semantic division comprises the steps of setting semantic tags on relevant parts of a three-dimensional transmission tower model according to the space structure of the transmission tower and the patrol content, marking the patrol content, and explaining identification information and space coordinate information of a current area;
The semantic tag comprises a spatial range, wherein the surface patches in the spatial range are endowed with a tag, and a processing system of the unmanned aerial vehicle is allowed to control the movement of the unmanned aerial vehicle to acquire information according to the marked information, identify and mark the information, and control the movement according to the identification and marking results;
The transmission tower is a building and has a certain space structure, the structure of the transmission tower comprises various supporting structures, connecting structures and stretching structures, the space structure comprises gaps, heights and widths, the supporting structures, the connecting structures, the stretching structures, the gaps, the heights and the widths of the transmission tower are trained through algorithms, accurate identification is achieved, and the space structures related to the transmission tower are accurately identified through images.
3. The unmanned aerial vehicle transmission tower working space viewpoint planning method according to claim 2, wherein: the inspection path comprises the steps that a safe flight bounding box is constructed outside the power tower based on the safety constraint condition and the selected viewpoint so as to enable the unmanned aerial vehicle to fly; carrying out path planning according to the patrol content in the range of the safe flight bounding box to obtain a patrol path of the unmanned aerial vehicle;
The safety constraint conditions comprise the safety distance of the unmanned aerial vehicle inspection tower and the fact that the unmanned aerial vehicle cannot pass through between wires; the safe flight bounding box comprises a virtual space, the principle is that the space which exists actually is divided in a self-defined mode, the obtained specified space range is divided, the unmanned aerial vehicle flies safely in the space which is obtained through the division, and when the unmanned aerial vehicle flies out of the space, the unmanned aerial vehicle can be classified as the unmanned aerial vehicle which is abnormal even if other objects are not encountered.
4. A method for planning the operation space view point of an unmanned aerial vehicle transmission tower according to claim 3, wherein: the viewpoint comprises a position when the viewpoint acquires a specified target and a view field of an acquired image for the unmanned aerial vehicle; the inspection content comprises the steps of acquiring a target image according to hardware features to determine the fault state of a target; the viewpoint further comprises the step of acquiring a target image which meets the definition requirement and comprises a fault high-incidence area based on the inspection content and the hardware features, and selecting the obtained viewpoint as the optimal viewpoint.
5. The unmanned aerial vehicle transmission tower working space viewpoint planning method according to claim 4, wherein: the method comprises the steps that a plane, which is used for connecting the two side bounding boxes, of the safe flight bounding box and the top end of the pole is unfolded to be a rectangle, and the optimal viewpoint is mapped to the rectangle plane for path planning; path planning is carried out based on an ant colony algorithm; and mapping the planned path to the original bounding box.
6. The unmanned aerial vehicle transmission tower working space viewpoint planning method according to claim 5, wherein: the ant colony algorithm comprises the steps of randomly placing some virtual ants in a space, and initializing the concentration of pheromones, wherein the concentration of the pheromones represents the quality of a path; each ant selects the next moving position according to the pheromone concentration and the shortest path strategy, after the ants complete one-time movement, the pheromone concentration on the path is updated according to the length of the path, the pheromone is increased according to the path quality of the ants, more ants are guided to select the path, after the path selection is completed, iterative operation is carried out, and the path with the highest pheromone concentration is selected as the optimal path.
7. The unmanned aerial vehicle transmission tower working space viewpoint planning method of claim 6, wherein: the ant colony algorithm further comprises the steps that the path planning ratio is represented as a graph G (V, E), V is a view point collection, E is a path collection between view points, each edge represents (i, j) representing the distance between the view points, each edge has an associated pheromone value tau ij, the probability that each ant accesses the next view point is related to the pheromone concentration and heuristic information, and the probability that the ant accesses the next view point from the view point i to the view point j is:
Wherein, alpha and beta are parameters, control the importance degree of pheromone and heuristic information, eta ij is heuristic information, and m is a view point set which can be selected by ants;
After the ants complete a round of path selection, the pheromone value is updated according to the path length, and the pheromone updating formula is expressed as follows:
wherein ρ is the pheromone volatilization rate, N is the ant mass, Is the pheromone increment of ant propagation through the edge, and the specific formula is as follows:
Where Q is a constant and L k is a path length;
And repeating ant path selection and pheromone updating to select an optimal path.
8. A system employing the unmanned aerial vehicle transmission tower working space viewpoint planning method of any one of claims 1 to 7, characterized in that: the system comprises a dividing module, a selecting module and a path generating module;
the dividing module is used for carrying out semantic division on the transmission tower model according to the inspection content;
the selection module is used for selecting the view point of the power transmission tower based on the semantic division result;
And the path planning module is used for carrying out path planning based on the selected view point to obtain the inspection path of the unmanned aerial vehicle.
9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of a method for planning a transmission tower operation space viewpoint of an unmanned aerial vehicle according to any one of claims 1 to 7.
10. A computer readable storage medium having stored thereon a computer program, characterized in that the computer program when executed by a processor implements the steps of a method for unmanned aerial vehicle transmission tower working space view planning according to any of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311025390.3A CN118067121A (en) | 2023-08-15 | 2023-08-15 | Unmanned aerial vehicle transmission tower operation space viewpoint planning method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311025390.3A CN118067121A (en) | 2023-08-15 | 2023-08-15 | Unmanned aerial vehicle transmission tower operation space viewpoint planning method and system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN118067121A true CN118067121A (en) | 2024-05-24 |
Family
ID=91104574
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311025390.3A Pending CN118067121A (en) | 2023-08-15 | 2023-08-15 | Unmanned aerial vehicle transmission tower operation space viewpoint planning method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN118067121A (en) |
-
2023
- 2023-08-15 CN CN202311025390.3A patent/CN118067121A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP3940494B1 (en) | Path planning method for substation inspection robot | |
| CN107169608B (en) | Distribution method and device for multiple unmanned aerial vehicles to execute multiple tasks | |
| CN107103164B (en) | Distribution method and device for unmanned aerial vehicle to execute multiple tasks | |
| CN106133756A (en) | For filtering, split and identify the system without the object in constraint environment | |
| CN111443730B (en) | Unmanned aerial vehicle track automatic generation method and device for power transmission line inspection | |
| CN111105495A (en) | Laser radar mapping method and system fusing visual semantic information | |
| CN111985455A (en) | Training and identifying method and device for photovoltaic module visible light fault model | |
| CN113238578B (en) | Routing planning method and system for power tower unmanned aerial vehicle inspection route | |
| CN112581443A (en) | Light-weight identification method for surface damage of wind driven generator blade | |
| CN114020005B (en) | Flight path planning method and system for multi-unmanned aerial vehicle collaborative inspection distribution network line | |
| US20200082039A1 (en) | Obstacle distribution simulation method, device and terminal based on a probability graph | |
| CN112947591A (en) | Path planning method, device, medium and unmanned aerial vehicle based on improved ant colony algorithm | |
| CN111561943A (en) | Robot inspection method and system | |
| US20130173504A1 (en) | Systems and methods for action recognition | |
| CN111744199A (en) | Image processing method and device, computer readable storage medium and electronic device | |
| CN113052761B (en) | Laser point cloud map fusion method, device and computer readable storage medium | |
| CN116360485A (en) | Unmanned aerial vehicle obstacle avoidance method applied to bridge inspection and unmanned aerial vehicle | |
| KR20200092848A (en) | Learning method and learning device for object detector to be used for surveillance based on convolutional neural network capable of converting modes according to scales of objects, and testing method and testing device using the same | |
| CN107480591A (en) | Flying bird detection method and device | |
| CN116883612A (en) | Three-dimensional scene model generation method and system | |
| CN116594428A (en) | Method and device for generating patrol route, electronic equipment and storage medium | |
| CN117406775A (en) | Route generation method, device and equipment of electric power inspection unmanned aerial vehicle | |
| CN118067121A (en) | Unmanned aerial vehicle transmission tower operation space viewpoint planning method and system | |
| CN116661479B (en) | Building inspection path planning method, equipment and readable storage medium | |
| CN109979244B (en) | Prediction method and device for airspace congestion of heterogeneous aircraft |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |