Intelligent tower connected graph construction method for planning inspection route of unmanned aerial vehicle (UAV)

Abstract

The present invention provides an intelligent tower connected graph construction method for planning the inspection route of an unmanned aerial vehicle (UAV). The method comprises the steps of A, predicting the distribution of transmission line towers according to the single-element nonlinear regression prediction method to generate a plurality of tower lines, wherein each tower line is composed of a plurality of towers; B, based on the critical conditions of tower distribution, connecting the plurality of tower lines to form a line connection graph, wherein the critical conditions are composed of crossed crossing condition, parallel distribution situation of multiple tower lines at a relatively near distance relative to one another, tower steering condition and tower branch condition; C, constructing a storage structure of the line connection graph. According to the technical scheme of the invention, power transmission lines are intelligently planned based on the above algorithm, so that the planning efficiency is improved. Meanwhile, an entire patrol scheme is provided. In this way, not only the patrol can be conducted on going and returning paths, but also the line inspection is conducted on going and returning paths. Therefore, the line inspection efficiency is greatly improved. Based on the intelligent traversal algorithm, an optimal inspection route for a line network can be planned. In this way, all towers can be traversed within a region at a shortest inspection distance.

Description

technical field [0001] The invention relates to a method for constructing a connected graph of an intelligent tower used for UAV patrolling track planning. Background technique [0002] Overhead line inspection is the basic work of power grid companies for daily maintenance of transmission lines. Inspection methods can be divided into manual inspection, manned helicopter inspection and drone inspection. Although manual inspection is the most commonly used inspection method, there have always been shortcomings such as slow efficiency and limited by the climate and geographical environment. The drone inspection method is being widely researched and applied, especially the safe and efficient characteristics of UAV inspection. Power line inspection flying robot (FlyingRobotForOverheadPower-lineInspection, FROPI) has more and more application value. [0003] The UAV system includes three parts: the UAV body platform, the mission load and the wireless data transmission. At prese...

AI Technical Summary

Problems solved by technology

[0009] The disadvantages of the above technical solutions are: 1. The existing autonomous task planning methods for overhead transmission lines mainly rely on manual planning methods, which are inefficient and cannot meet the needs of patrol inspections of complex lines in large areas; 2. Track planning generally only does one-way Mission planning, that is, inspections are only performed on the one-way route, and there is no task inspection during the return process, resulting in waste of energy consumption; 3. In the transmission line network with crossovers, it is difficult to manually plan Consider the overall situation to find the best patrol route, so that the flight distance is the shortest under the premise of completing all route patrols

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