KR20200012465A - Apparatus and method for generating a flight path of a drones - Google Patents

Abstract

Presented are a device and method for generating a flight path of a drone to generate a flight path of a drone by reflecting an influence range of a magnetic field generated in a transmission line. The presented device for generating a flight path of a drone comprises: a transmission line information collecting unit collecting transmission line information of a transmission line to be inspected; a transmission line information correcting unit correcting an error of the transmission line information collected from the transmission line information collecting unit; a flight path point generating unit generating a flight path point based on the transmission line information corrected by the transmission line information correcting unit; and a flight path generating unit generating a flight path for inspecting the transmission line based on the flight path point generated by the flight path point generating unit.

Description

Drone flight path generation device and method {APPARATUS AND METHOD FOR GENERATING A FLIGHT PATH OF A DRONES}

The present invention relates to a drone flight path generation device and method, and more particularly to a drone flight path generation device and method for generating a flight path of the drone that is operated for the transmission line check.

Transmission line is a power equipment consisting of a high-voltage cable, a transmission tower, insulators and clamps. Transmission lines are installed in tens of meters of air above the ground because they carry tens of thousands of volts of high-voltage electricity.

Since the transmission line is installed at a high position, damage due to lightning, heavy rain, and typhoons is likely to occur. Damage to a transmission line can cause widespread outages, requiring regular inspection of the transmission line.

In general, although the transmission line is inspected visually by a telescope on the ground or if necessary, the worker who climbed the tower is visually inspected.However, the transmission line such as the river crossing section, the seashore section, and the mountainous area where the pickling is hard to access is not inspected by the worker. Impossible or very low efficiency.

Therefore, a technique of monitoring and inspecting a transmission line using a drone has been applied. Drones are drones that fly without a pilot. Drones were developed for military use, but have recently been used in the private sector.

However, in the related art, since the drone is operated through the manual operation of the pilot, it is difficult to visually measure the proximity between the drone and the transmission line, and thus there is a problem that a collision accident occurs.

In addition, conventionally, a magnetic field generated in a transmission line generates an electronic compass error of a drone close to the transmission line, thereby making it difficult to adjust the drone.

Korean Patent Publication No. 10-2017-0028114 (Name: Transmission line monitoring device using an unmanned aerial vehicle)

The present invention has been proposed to solve the above-described problems, and an object of the present invention is to provide a drone flight path generation apparatus and method for generating a flight path of a drone by reflecting an influence range of a magnetic field generated in a transmission line. . That is, an object of the present invention is to provide a drone flight path generating apparatus and method for generating a flight path away from the influence of the magnetic field generated in the transmission line by separating a specific distance from the transmission line.

In order to achieve the above object, the drone flight path generation apparatus according to the embodiment of the present invention corrects the error of the transmission line information collected by the line information collecting unit and the line information collecting unit for collecting the transmission line information of the transmission line to be checked. Check the transmission line on the basis of the flight path point generated by the track information correction unit, the flight path point generation unit that generates the flight path points based on the transmission line information corrected by the track information correction unit. It includes a flight path generation unit for generating a flight path for.

The line information collection unit collects transmission line information including transmission tower information and transmission line information, the transmission tower information includes one or more of the coordinates of the transmission tower, the altitude, and the altitude of each stage to which the transmission line is connected. It can include coordinates and altitude.

The line information correction unit may correct an error of the transmission line information by using a parabolic equation and a suspension line equation. In this case, the line information correction unit may obtain a parabolic equation that is a quadratic equation using transmission line information and a polynomial regression analysis equation, and convert the parabolic equation into a suspension equation. The line information correction unit converts the GPS coordinates of the measurement target point to the xy coordinate system based on the coordinates of the starting transmission tower, derives the parabolic equation through quadratic regression analysis using the converted coordinates of the measurement target point, and converts the parabolic equation to the suspension curve equation. It is possible to calculate the suspension line parameter for converting to and the suspension line equation of the transmission line based on the suspension line parameter. The line information correction unit defines y values and regression equation errors of the measurement points using altitude graph values and quadratic regression equations of the measurement points, and calculates coefficients that minimize the sum of error squares of the regression equation errors. The parametric equations for the altitudes of the measured points can be derived by partial derivatives of the coefficients from which the sum of error squares is calculated. The line information correction unit converts a basic equation in the form of a suspension line whose transmission line lowest point passes through the origin into a Taylor series, converts a parabolic equation into a parabolic equation where the transmission line lowest point passes through the origin, converts it into a Taylor series, and converts the parabolic equation The sum of error squares may be calculated, and a suspension line parameter having the minimum sum of error squares may be calculated. The line information corrector may calculate a suspension line equation for x using the suspension line equation for y and calculate a suspension line equation in which the coordinates are moved based on the actual height of the suspension line.

The flight path point generation unit generates flight path points spaced from the transmission line by using the corrected transmission line information. If the transmission line is 345 kV or less, set the setting distance to 30 m or more, and set the transmission line to 765 kV or more. The distance can be set to more than 45m.

The flight path generation unit sets one of the standard one-line, one-crossing line, two consecutive lines, evasion, span angle separation, simultaneous two-line flight formation, and combination flight path as the flight path type, and sets the flight path point based on the flight path type. You can select or delete to create a flight path.

Drone flight path generation method according to an embodiment of the present invention to achieve the above object is to collect the transmission line information of the transmission line to be checked, the step of correcting the error of the transmission line information collected in the collecting step, correction Generating a flight path point based on the corrected transmission line information in the step of generating a flight path for checking the transmission line based on the flight path point generated in the step of generating the flight path point; .

In the collecting step, the transmission line information including transmission tower information and transmission line information is collected. The transmission tower information includes one or more of the coordinates of the transmission tower, the altitude, and the altitude of each stage to which the transmission line is connected. It can include coordinates and altitude.

In the correcting step, an error of transmission line information may be corrected by using a parabolic equation and a suspension line equation. In the calibrating step, parabolic equations, which are quadratic equations, may be obtained using transmission line information and polynomial regression equations, and parabola equations may be converted into suspension equations. The step of calibrating converts the GPS coordinates of the measurement target point into the xy coordinate system based on the coordinates of the starting transmission pylon, and derives the parabolic equation through quadratic regression analysis using the coordinates of the measurement target point converted in the converting step. The method may include calculating a suspension line parameter for converting a parabolic equation into a suspension line equation, and calculating a suspension line equation of the transmission line based on the suspension line parameter.

In the step of deriving the parabolic equation, the y value and the regression equation error of the measurement point are defined using the altitude graph value of the measurement point and the quadratic regression equation, and coefficients that minimize the sum of error squares of the error of the regression equation are defined. The parabolic equations for the altitudes of the measurement target points can be derived by calculating partial deviations of the coefficients obtained by calculating the sum of error squares.

In the calculation of the suspension parameter, the basic equation in the form of a suspension line whose transmission line passes through the origin is converted into a Taylor series, and the parabolic equation derived in the step of deriving the parabolic equation is converted into a parabolic equation in which the transmission line lowest points cross the origin. The sum of squared errors between a basic equation converted into a series and a parabolic equation converted may be calculated, and a suspension parameter having a minimum sum of squared errors may be calculated.

In the calculating of the suspension equation, the suspension equation for x may be calculated using the suspension equation for y, and the suspension equation that is coordinated based on the actual minimum height of the suspension line may be calculated.

In the step of generating the flight path points, the flight path points spaced from the transmission line are generated by using the corrected transmission line information. If the transmission line is 345 kV or less, the setting distance is set to 30 m or more, and the transmission power is 765 kV or more. If it is a track, the setting distance can be set to 45m or more.

In the step of creating a flight path, one of the standard 1 line, the 1 crossing line, the 2 consecutive lines, the avoidance, the span angle spacing, the simultaneous 2 line flight, and the combination flight path is set as the flight path type, and the flight is based on the flight path type. You can select or delete route points to create flight routes.

According to the present invention, the apparatus and method for generating a drone flight path generates a flight path of a drone that checks a transmission line, thereby minimizing a risk such as securing a viewing distance by manual manipulation and a collision due to an illusion of perspective due to manual flight. There is an effect that can be done.

In addition, the apparatus and method for generating a drone flight path has an effect of preventing a drone malfunction due to a magnetic field effect generated in a pylon or a transmission line by generating a flight path spaced apart from a transmission line by a predetermined distance.

In addition, the drone flight path generation apparatus and method by using the parabolic equation and the suspension line equation for the transmission line by the altitude measured by the drone, thereby improving the accuracy of the transmission line altitude, there is an effect that can be calculated.

In addition, the drone flight path generation apparatus and method has the effect of simplifying the flight path generation procedure, and prevent the overlapping flight path or collision occurs when the plurality of drones are checked.

In addition, the drone flight path generation device and method by using a plurality of drones to generate a flight path for the flight, there is an effect that can minimize the inspection time of the transmission line.

In addition, since the drone flight path generation device and method can be directly measured and generated in the field, it is possible to minimize inspection preparation time and provide a high-efficiency inspection technology at low cost with safety.

1 is a view for explaining the terms used to describe the apparatus and method for generating a drone flight path according to an embodiment of the present invention.
2 and 3 are views for explaining a drone flight path generation apparatus according to an embodiment of the present invention.
4 to 11 are diagrams for explaining the track information collecting unit of FIG.
12 and 13 are diagrams for describing the line information correction unit of FIG. 3.
14 to 19 are views for explaining the flight path generation unit of FIG.
20 is a flowchart illustrating a method for generating a drone flight path according to an embodiment of the present invention.
FIG. 21 is a flowchart for explaining a transmission line information correction step of FIG. 20.

Hereinafter, the most preferred embodiments of the present invention will be described with reference to the accompanying drawings so that those skilled in the art can easily implement the technical idea of the present invention. . First of all, in adding reference numerals to the components of each drawing, it should be noted that the same reference numerals are designated as much as possible even if displayed on different drawings. In addition, in describing the present invention, if it is determined that the detailed description of the related well-known configuration or function may obscure the gist of the present invention, the detailed description thereof will be omitted.

First, referring to FIG. 1, terms used to describe an apparatus and a method for generating a drone flight path according to an exemplary embodiment of the present invention will be described below.

The measurement target point means the measurement target of the transmission line to measure the altitude.

The measurement position point is a point when the altitude measurement drone is positioned perpendicular to the transmission line to measure the coordinates and the altitude of the measurement target point and is located at the center of the drone FPV screen.

The track target point is the point where the actual altitude of the transmission line is divided evenly by the correction and equation calculation from the measured data.

The flight path point means a point generated by separating a specific distance from both the flight path target point to both sides of the transmission line.

Hereinafter, a drone flight path generation apparatus according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings. 2 and 3 are views for explaining a drone flight path generation apparatus according to an embodiment of the present invention. 4 to 11 are views for explaining the line information collecting unit 120 of FIG. 3, FIGS. 12 and 13 are views for explaining the line information correction unit of FIG. 3, and FIGS. 14 to 19 are FIGS. A diagram for describing a flight path generation unit.

Referring to FIG. 2, the drone flight path generation apparatus 100 according to an embodiment of the present invention collects basic data on a transmission line that is an inspection target. At this time, the drone flight path generation device 100 collects the basic data of the transmission line through the measuring device 20, or collects the basic data from the management server (30). Of course, the drone flight path generation device 100 may collect some of the basic data through the measuring device 20, and collect the rest from the management server 30. Here, the basic data is data necessary for generating a flight path of the drone 10, and may include transmission tower coordinates, transmission tower elevation, altitude of each stage to which the transmission line is connected, transmission line coordinates and altitude of a specific point, and the like.

The drone flight path generation device 100 corrects the collected basic data. In this case, the drone flight path generation device 100 calculates a corrected equation using the characteristics of the transmission line (that is, the suspension line) to correct the error of the basic data. The drone flight path generation device 100 derives the altitude equation of each stage from the corrected equation and calculates the coordinates and the altitude of the flight path points spaced apart from both sides of the transmission line by a specific distance. The drone flight path generation device 100 selects and deletes flight path points and altitudes calculated according to a flight path type according to a specific sequence to generate a desired final flight path.

To this end, referring to FIG. 3, the drone flight path generation device 100 includes a track information collection unit 120, a track information correction unit 140, a flight path point generation unit 160, and a flight path generation unit 180. It includes.

The track information collecting unit 120 collects transmission line information for generating a flight path of the drone 10 for monitoring and checking the transmission line. The line information collecting unit 120 collects transmission line information from at least one of the measuring device 20 and the management server 30. The track information collecting unit 120 collects transmission line information including transmission tower information and transmission line information. Here, the transmission tower information includes the coordinates of the transmission tower, the altitude, the altitude of each stage to which the transmission line is connected. Transmission line information includes the coordinates and altitude of a particular point.

The track information collecting unit 120 measures the coordinates and the altitude of the transmission pylon, the coordinates and the altitude of the transmission tower are the start and end of the span. In this case, the track information collecting unit 120 measures the coordinates and the altitude of the transmission pylon using the coordinate measuring machine 20.

For example, referring to FIG. 4, the track information collecting unit 120 measures the altitude A of the transmission pylon and the altitude B of the drone landing and landing point through the coordinate measuring machine 20. At this time, the track information collecting unit 120 measures the altitude of the drone take-off and landing point through the coordinate measuring device 20 located at the drone take-off and landing point. The track information collecting unit 120 measures the average value of the altitude measured by the coordinate measuring machines 20 located at four points of the transmission pylon as the altitude of the transmission tower.

The track information collecting unit 120 measures the altitude of each stage of the transmission pylon, the coordinates of the transmission line, and the altitude by using the distance measuring device 20 or the altitude measuring drone.

Referring to FIG. 5, the track information collecting unit 120 measures the altitude and coordinates of the measurement target point through the distance measurer 20 located at the bottom of the transmission pylon. Referring to FIG. 6, the track information collecting unit 120 may measure the altitude and coordinates of the measurement target point through the distance measurer 20 located at the landing and landing point of the drone.

Referring to FIGS. 7 and 8, the track information collecting unit 120 measures altitude and coordinates of a measurement target point using a drone for altitude measurement. The line information collecting unit 120 measures the altitude and coordinates indicated by the drone after aligning the center of the FPV screen of the drone with the gas direction perpendicular to the transmission line to the measurement target point. At this time, the position of the drone 10 is referred to as a measurement position point.

On the other hand, as shown in Figure 9, the measurement position point measured by the altitude measurement drone 10 may not be a point parallel to the power transmission line. Accordingly, as shown in FIG. 10, the line information collecting unit 120 calculates an angle θ between the measured position point and the transmission line and moves in the span angle direction by Dm (= dcosθ) from the position of the transmission tower. The measurement target point which is the coordinate which was made is computed. At this time, the track information collecting unit 120 uses the measured altitude as it is.

When the track information collecting unit 120 uses the altitude measurement drone 10 to measure the altitude and coordinates of the measurement target point based on the GPS coordinates, the coordinates according to the movement of the GPS coordinates through Equations 1 to 3 below. Calculate.

Here, Equation 1 is a distance calculation formula for two coordinates, Equation 2 is an angle calculation formula based on true north, Equation 3 is a latitude, longitude movement coordinate calculation formula reflecting the moving distance and the angle. In Equations 1 to 3, calculations are made using radians. Referring to FIG. 11, Lat1 is latitude of the first coordinate P1, and Lat2 is latitude of the second coordinate P2. Long1 is the longitude of the first coordinate P1, and Long2 is the longitude of the second coordinate P2. D is the distance between the first coordinate P1 and the second coordinate P2, and θ2p means the angle of the first coordinate P1 and the second coordinate P2 with respect to true north.

The line information correction unit 140 corrects the transmission line information collected by the line information collecting unit 120. That is, the transmission line information collected by the line information collecting unit 120 may cause an error due to the measurement environment and the characteristics of the measuring device 20. Accordingly, the line information correction unit 140 corrects an error of the transmission line information by using a parabolic equation and a suspension line equation.

The line information correction unit 140 obtains a parabolic equation (secondary equation) that minimizes an error of transmission line information by using the polynomial regression analysis equation. The line information correction unit 140 converts the parabolic equation into a suspension equation to obtain an equation that optimally follows the transmission line altitude.

The transmission line is in the form of a suspension line, and the error between the altitude (y axis) obtained by the parabolic equation and the transmission line altitude (y axis) in the form of a suspension line is proportional to the distance (x axis) (see FIG. 12). Thus, the line information correction unit 140 converts the parabolic equation into a suspension equation.

First, referring to FIG. 13, the line information correction unit 140 converts the GPS coordinates of the measurement target point based on the coordinates of the starting transmission tower. At this time, the line information correction unit 140 converts the GPS coordinates of the measurement target point into an xy coordinate system.

The line information correction unit 140 derives a parabolic equation through quadratic regression analysis using the converted x and y.

로 하고, y를 이차항 회귀분석방정식이라 가정하면, 측정 대상점의 y값과 회귀분석방정식 오차(e)는 하기의 수학식 4로 정의된다.The altitude graph of the measured points

Assuming that y is a quadratic regression equation, the y value of the measurement target point and the regression equation error (e) are defined by Equation 4 below.

The a ₀ , a ₁ , and a ₂ coefficients for minimizing the Sum of Square for Error (SEE) of the regression equation error (e) are calculated by Equation 5 below.

A partial differential with respect to the coefficients a ₀ , a ₁ , a ₂ is given by Equation 6 below.

The line information correction unit 140 obtains the coefficients a ₀ , a ₁ , and a ₂ to derive a parabolic equation (secondary equation) for the altitude of the measurement target point.

The line information correction unit 140 calculates a suspension line parameter of the suspension line to convert the parabolic equation to the suspension line equation. The line information correction unit 140 calculates a suspension line parameter using a parabolic and suspension line equation in which a transmission line lowest point passes the origin.

The basic equation in the form of a suspension line in which the transmission line lowest point passes the origin is shown in Equation 7 below. In this case, p is a suspension line parameter.

This is converted into a Taylor series and calculated as shown in Equation 8 below.

In this case, the line information corrector 140 may obtain a high-precision curve equation even if a high-order term is used. However, as shown in Equation 9 below, only the second term is used to obtain the suspension parameter P from the parabolic equation.

When the parabolic equation obtained above is converted into an equation in which the transmission line lowest point passes the origin, it is expressed by Equation 10 below.

The square sum of the errors between the two equations obtained as described above is expressed by Equation 11 below.

일 때, 오차 제곱합(SSE)이 최소값을 가지며, 이때 현수선 파라미터(P)는 하기의 수학식 12와 같다.

In this case, the sum of error squares SSE has a minimum value, and the suspension line parameter P is expressed by Equation 12 below.

The line information correction unit 140 calculates a suspension line equation for x. The line information correction unit 140 calculates the suspension equation for x using the suspension equation for the y value, which is expressed by Equation 13 below.

The line information corrector 140 obtains the x value of the height of the A point by substituting SagA, which is a difference between the A point and the lowest point in p, a parameter in p, and a y in the equation for x. I use it.

The line information corrector 140 calculates the actual height of the suspension line. The line information correction unit 140 calculates the actual height of the suspension line by subtracting the height difference between the A point and the lowest point from the A point height. This may be expressed as Equation 14 below.

The line information correction unit 140 calculates the coordinate shifted suspension curve equation. In this case, the coordinate shifted suspension equation is as shown in Equation 15 (2) in FIG.

The line information correction unit 140 checks the altitude value at the corresponding point when the distance value accumulated by dividing the span distance equally (for example, 50 m intervals) to the suspension line equation and accumulates the data group is determined. Use as. This is almost identical to the actual transmission line, and the altitude of the transmission line at each stage between the towers is calculated separately using the parameter values obtained above.

The flight path point generation unit 160 generates a flight path point using the transmission line information corrected in the correction step. The flight path point generation unit 160 generates a flight path point spaced apart from the transmission line by using the corrected transmission line information. For example, the flight path generation unit 160 generates a flight path point approximately 30m away from the transmission line in the case of a transmission line of 345 kV or less, and a flight path point approximately 45m away from the transmission line in the case of a transmission line of 765kV or more. Create

The flight path generation unit 180 generates a flight path using the flight path points generated by the flight path generation unit 160. The flight path generation unit 180 generates the final flight path by selecting or deleting the flight path points generated based on the type of the flight path in a specific sequence. In this case, the flight path generation unit 180 sets one of the standard 1 line, the crossing 1 line, the continuous 2 lines, the avoidance, the span angle spacing, and the simultaneous 2 lines flight formation as the type of the flight path. The flight path generation unit 180 may set a combination flight path that combines two or more of a standard one line, one crossing line, two consecutive lines, avoidance, span angle separation, and simultaneous two-line flight formation as a type of flight path.

Referring to FIG. 14, the standard one-line flight path is a path for flying between two transmission pylons along a basic flight path, a lower end of a transmission line, an upper end of an interruption line, and a processing land line.

Referring to FIG. 15, the one-pass transit route is a flight route used when one side of the transmission line is not a suitable place for the landing and landing of the drone 10. Crossing 1-line flight route is a flight route for checking the track on the opposite side from the drone 10's take-off point, and checks by crossing (up or down) the track directly from the drone 10's take-off point, or based on the track. This is the path to check on the side where the take-off point of (10) is located.

Referring to FIG. 16, a continuous two-line flight path is a flight path used when the span is short, and a path capable of checking the entire side by applying a standard one-line flight path and a continuous two-line flight path to fly both sides. to be.

Referring to FIG. 17, an evacuation flight path is a path that reciprocates with an altitude path capable of obstacle avoidance except for a path of a corresponding stage when there is a danger of collision due to the presence of an obstacle on an existing flight path.

Referring to FIG. 18, as the angle between the two spans increases, a flight path point 1 having a magnetic field effect is generated as the angle between the two spans increases, so as to avoid this, the intersection of two transmission line flight paths having no magnetic field influence. It is the route that replaces the flight path point (1) by calculating the coordinates.

Referring to FIG. 19, the simultaneous two-line flight flight paths distribute the paths so that a plurality of drones 10 may divide the entire path, and in each gas flight path to prevent collision between the aircraft and interference of the flying wake effect during the flight. This path considers the separation distance (altitude or horizontal distance) between the aircraft.

Hereinafter, a method for generating a drone flight path according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings. 20 is a flowchart illustrating a method for generating a drone flight path according to an exemplary embodiment of the present invention.

Referring to FIG. 20, a drone flight path generation method according to an embodiment of the present invention includes a transmission line information collection step (S100), a transmission line information correction step (S200), a flight path point generation step (S300), and a flight path generation step. (S400).

In the transmission line information collection step (S100), the transmission line information for generating a flight path of the drone 10 for monitoring and checking the transmission line is collected. In the transmission line information collection step (S100), the transmission line information is collected from at least one of the measuring device 20 and the management server 30.

In the transmission line information collecting step (S100), the transmission line information including the transmission tower information and the transmission line information is collected. Here, the transmission tower information includes the coordinates of the transmission tower, the altitude, the altitude of each stage to which the transmission line is connected. Transmission line information includes the coordinates and altitude of a particular point.

In the transmission line information collection step (S100), the track information collection unit 120 measures the coordinates and the altitude of the transmission pylon, the coordinates and the altitude of the transmission tower are the beginning and the end of the span. In this case, the track information collecting unit 120 measures the coordinates and the altitude of the transmission pylon using the coordinate measuring machine 20. In the transmission line information collection step (S100), the altitude of each stage of the transmission pylon, the coordinates and the altitude of the transmission line are measured using the distance measuring device 20 or the altitude measurement drone.

In the transmission line information collection step (S100), an angle θ between the measurement position point and the transmission line is calculated, and a measurement target point, which is a coordinate moved from the position of the transmission tower in the span angle direction by Dm (= dcosθ), is calculated. . At this time, the transmission line information collection step (S100) uses the measured altitude as it is. In the transmission line information collection step (S100), since the altitude and coordinates of the measurement target point are measured based on the GPS coordinates, the movement coordinates according to the movement of the GPS coordinates are calculated.

In the transmission line information correction step (S200), the transmission line information collected in step S100 is corrected. That is, the transmission line information collected in step S100 may cause an error due to the measurement environment and the characteristics of the measuring device 20. Thus, in the transmission line information correction step (S200), the error of the transmission line information is corrected by using a parabolic equation and a suspension line equation.

In the transmission line information correction step (S200), a parabolic equation (secondary equation) for minimizing an error of transmission line information is obtained using a polynomial regression analysis equation. In the transmission line information correction step (S200), the derived parabolic equation is converted into a suspension equation. The transmission line is in the form of a suspension line, and the error between the altitude (y axis) obtained from the parabolic equation and the transmission line altitude (y axis) in the form of a suspension line is proportional to the distance (x axis). Thus, in the transmission line information correction step (S200), the parabolic equation is converted into a suspension equation.

Referring to FIG. 21, the transmission line information correction step S200 includes a coordinate correction step S210, a parabolic equation derivation step S220, a suspension line parameter calculation step S230, and a suspension line equation calculation step S240.

In the coordinate correction step (S210), the GPS coordinates of the measurement target point are converted based on the coordinates of the starting transmission tower. At this time, the coordinate correction step (S210) converts the GPS coordinates of the measurement target point to the xy coordinate system.

In the parabolic equation derivation step (S220), a parabolic equation is derived through quadratic regression analysis using x and y transformed in step S210.

In the parabolic equation derivation step (S220), the y-value and the regression equation error (e, see Equation 4) of the measurement target point are defined using the altitude graph value of the measurement target point and the quadratic regression equation.

In the parabolic equation derivation step (S220), a coefficient (a ₀ , a ₁ , a ₂ ) that minimizes the sum of square for error (SEE) is calculated for the regression equation error (e) (see Equation 5). ). In the parabolic equation derivation step (S220), partial derivatives are performed on the coefficients a ₀ , a ₁ , a ₂ , from which the sum of error squares is calculated. In the parabolic equation derivation step (S220), the coefficients a ₀ , a ₁ , and a ₂ are used to derive a parabolic equation (secondary equation) for the altitude of the measurement target point.

In the calculation of the suspension line parameter (S230), the suspension line parameter of the suspension line is calculated in order to convert the parabolic equation into the suspension line equation. In the suspension parameter calculation step (S230), the basic equation in the form of a suspension line in which a transmission line lowest point passes the origin is converted into a Taylor series. At this time, the suspension parameter calculation step (S230) can obtain a high-precision curve equation even if a higher order term is used, but only the second term is used to obtain the suspension parameter from the parabolic equation.

In the suspension parameter calculation step (S230), the parabolic equation calculated in step S220 is converted into an equation (see Equation 10) in which the transmission line lowest point passes the origin. In the suspension parameter calculating step (S230), the sum of squared errors between two calculated equations is calculated (see Equation 11). In the suspension parameter calculating step (S230), the suspension parameter having the minimum sum of squared errors is calculated (see Equation 12).

In the calculation of the suspension equation (S240), the suspension equation for x is calculated. In the calculation of the suspension equation (S240), the suspension equation for x (see Equation 13) is calculated using the suspension equation for y. In the calculation of the suspension equation (S240), the value of the height of the point A is obtained by substituting SagA which is the altitude difference between the point A and the lowest point in the equation for x and the parameter p in y, and this value is used for the coordinate shift as the value D.

In the suspension equation calculation step S240, the actual suspension height of the suspension line is calculated. In the calculation of the suspension line equation (S240), the actual height of the suspension line is calculated by subtracting the height difference between the point A and the lowest point from the height of the point A (see Equation 14). In the suspension equation calculation step (S240), the coordinate shifted suspension equation (see Equation 15) is calculated. At this time, in the suspension equation calculation step (S240), if the distance value accumulated by dividing the span distance equally (for example, 50m intervals) into the suspension line equation is input, the altitude value at the corresponding point is checked and the points of the flight path target points are determined. Used as a data group. This is almost identical to the actual transmission line, and the altitude of the transmission line at each stage between the towers is calculated separately using the parameter values obtained above.

In the flight path generation step (S300), a flight path point is generated using the transmission line information corrected in step S200. In the flight path point generation step (S300), the flight path point is spaced apart from the transmission line by using the transmission line information corrected in step S200. For example, the flight path generation step (S300) in the case of the transmission line of less than 345 kV generates a flight path point approximately 30m away from the transmission line, in the case of a transmission line of 765kV or more, flight path point of about 45m away from the transmission line Create

In the flight path generation step (S400), a flight path is generated using the flight path point generated in step S300. In the flight path generation step (S400), the final flight path is generated by selecting or deleting the flight path points generated based on the type of the flight path in a specific sequence. At this time, in the flight path generation step (S400), one of the standard one line, the crossing one line, the two consecutive lines, the avoidance, the span angle spacing, and the simultaneous two-line flight formation is set as the type of the flight path. The flight path generation unit 180 may set a combination flight path that combines two or more of a standard one line, one crossing line, two consecutive lines, avoidance, span angle separation, and simultaneous two-line flight formation as a type of flight path.

As described above, the apparatus and method for generating a drone flight path generates a flight path of the drone 10 that checks a transmission line, such as a problem of securing a viewing distance by manual manipulation and a collision due to an illusion of perspective due to manual flight. There is an effect that can minimize the risk.

In addition, the apparatus and method for generating a drone flight path has an effect of preventing a drone malfunction due to a magnetic field effect generated in a pylon or a transmission line by generating a flight path spaced apart from a transmission line by a predetermined distance.

In addition, the drone flight path generation apparatus and method by using the parabolic equation and the suspension line equation for the transmission line by adjusting the altitude measured by the drone, thereby improving the accuracy of the transmission line altitude, there is an effect that can be calculated.

In addition, the drone flight path generation apparatus and method has the effect of simplifying the flight path generation procedure, and prevent the overlapping flight path or collision occurs when the plurality of drones are checked.

In addition, the drone flight path generation device and method by using a plurality of drones to generate a flight path for the flight, there is an effect that can minimize the inspection time of the transmission line.

In addition, since the drone flight path generation device and method can be directly measured and generated in the field, it is possible to minimize inspection preparation time and provide a high-efficiency inspection technology at low cost with safety.

Although a preferred embodiment according to the present invention has been described above, modifications can be made in various forms, and those skilled in the art will appreciate various modifications and modifications without departing from the claims of the present invention. It is understood that it may be practiced.

10: Drone 20: Meter
30: management server 100: drone flight path generation device
120: track information collecting unit 140: track information correction unit
160: flight path generation unit 180: flight path generation unit

Claims (20)

A line information collecting unit configured to collect transmission line information of a transmission line to be checked;
A line information correcting unit correcting an error of the transmission line information collected by the line information collecting unit;
A flight path point generation unit generating a flight path point based on the transmission line information corrected by the line information correction unit; And
And a flight path generation unit for generating a flight path for checking the transmission line based on the flight path point generated by the flight path point generation unit. The method of claim 1,
The line information collection unit collects transmission line information including transmission tower information and transmission line information,
The transmission tower information includes one or more of the coordinates of the transmission tower, altitude and altitude of each stage connected to the transmission line, the transmission line information includes the coordinates and altitude of the transmission line specific point. The method of claim 1,
And the line information correcting unit corrects an error of the transmission line information by using a parabolic equation and a suspension line equation. The method of claim 1,
The line information correction unit,
And a parabolic equation that is a quadratic equation using the transmission line information and the polynomial regression analysis equation, and converts the parabolic equation into a suspension equation. The method of claim 1,
The line information correction unit,
Convert the GPS coordinates of the measurement target point to the xy coordinate system based on the coordinates of the starting transmission tower, derive a parabolic equation through quadratic regression analysis using the converted coordinates of the measurement target point, and convert the parabolic equation to a suspension curve equation Calculating a suspension line parameter and calculating a suspension line equation of the transmission line based on the suspension line parameter. The method of claim 5,
The line information correction unit,
Define y values and regression equation errors of the measurement points using altitude graph values and quadratic regression equations of the measurement points, calculate coefficients to minimize the sum of error squares of the regression equation errors, and sum the error squares Drone flight path generation apparatus for deriving a parabolic equation for the altitude of the measurement target point by partial differential to the coefficient obtained. The method of claim 6,
The line information correction unit,
The basic equation in the form of a suspension line whose transmission line lowest point passes the origin is converted into a Taylor series, and the parabolic equation is converted into a parabolic equation in which the transmission line lowest point passes the origin, and the error is between the basic equation converted into the Taylor series and the converted parabolic equation. A drone flight path generation device for calculating a sum of squares and a suspension line parameter having the minimum sum of squared errors. The method of claim 5,
And the line information correcting unit calculates a suspension line equation for x using a suspension line equation for y, and calculates a suspension line equation coordinated based on the actual minimum height of the suspension line. The method of claim 1,
The flight path point generation unit generates a flight path point spaced apart from the transmission line by using the corrected transmission line information,
And the set distance is set to 30 m or more if the transmission line is 345 kV or less, and the set distance is set to 45 m or more if the transmission line is 765 kV or more. The method of claim 1,
The flight path generation unit,
Set one of the standard 1 line, 1 crossing, 2 consecutive lines, avoidance, span angle spacing, simultaneous 2 line formation and combination flight route as the flight route type, and select the flight route point based on the flight route type or Drone flight path generation device that generates a flight path by deleting it. In the drone flight path generation method using a drone flight path generation device,
Collecting transmission line information of a transmission line to be checked;
Correcting an error of the transmission line information collected in the collecting step;
Generating a flight path point based on the corrected transmission line information in the correcting step; And
And generating a flight path for checking the power transmission line based on the flight path point generated in the step of generating the flight path point. The method of claim 11,
In the collecting step, the transmission line information including transmission tower information and transmission line information is collected,
The transmission tower information includes one or more of the coordinates of the transmission tower, altitude and altitude of each stage to which the transmission line is connected, and the transmission line information includes the coordinates and the altitude of the transmission line specific point. The method of claim 11,
In the correcting step, a drone flight path generation method for correcting the error of the transmission line information by using a parabolic equation and a suspension line equation. The method of claim 11,
The calibrating step includes: calculating a parabolic equation that is a quadratic equation using the transmission line information and the polynomial regression analysis equation, and converting the parabolic equation into a suspension equation. The method of claim 11,
The correcting step,
Converting the GPS coordinates of the measurement target point into an xy coordinate system based on the coordinates of the starting transmission pylon;
Deriving a parabolic equation through quadratic regression analysis using the coordinates of the measurement target point converted in the converting step;
Calculating a suspension parameter for converting the parabolic equation to a suspension equation; And
Calculating a suspension equation of the transmission line based on the suspension parameter. The method of claim 15,
In the step of deriving the parabolic equation,
Define y values and regression equation errors of the measurement points using altitude graph values and quadratic regression equations of the measurement points, calculate coefficients to minimize the sum of error squares of the regression equation errors, and sum the error squares A method for generating a drone flight path for deriving a parabola equation for the altitude of the measurement target point by partial derivative of the calculated coefficients. The method of claim 16,
In the step of calculating the suspension parameter,
The basic equation in the form of a suspension line in which the transmission line lowest point passes the origin is converted into the Taylor series, and the parabolic equation derived in the step of deriving the parabolic equation is converted into the parabolic equation in which the transmission line lowest point passes the origin, and converted into the Taylor series. Calculating a sum of squared errors between an equation and the converted parabolic equation, and calculating a suspension parameter having the minimum sum of squared errors. The method of claim 15,
In the calculating of the suspension equation, a suspension line equation for x is calculated using a suspension line equation for y, and a drone flight path generation method for calculating a suspension equation that is coordinated based on the actual minimum height of the suspension line. The method of claim 11,
In the generating of the flight path point, a flight path point spaced a predetermined distance from the power transmission line is generated by using the corrected power transmission line information.
And setting the set distance to 30 m or more if the transmission line is 345 kV or less, and setting the set distance to 45 m or more if the transmission line is 765 kV or more. The method of claim 11,
In the step of generating the flight path,
Set one of the standard 1 line, 1 crossing, 2 consecutive lines, avoidance, span angle spacing, simultaneous 2 line formation and combination flight route as the flight route type, and select the flight route point based on the flight route type or How to create a drone flight path to create a flight path by deleting.

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