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Three-dimensional flight track planning method for electric transmission line inspection unmanned aerial vehicle

A technology for transmission line and track planning, which is applied in directions such as navigation and calculation tools, and can solve problems such as the inability of drones to use transmission line inspections, and the method of inspection drone track planning.

Active Publication Date: 2017-02-15
STATE GRID CORP OF CHINA +2
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AI Technical Summary

Problems solved by technology

[0004] At present, there is still no trajectory planning method specially designed for transmission line inspection UAVs, resulting in the inability of UAVs to be used for transmission line inspections

Method used

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  • Three-dimensional flight track planning method for electric transmission line inspection unmanned aerial vehicle
  • Three-dimensional flight track planning method for electric transmission line inspection unmanned aerial vehicle
  • Three-dimensional flight track planning method for electric transmission line inspection unmanned aerial vehicle

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Embodiment Construction

[0021] The present invention will be further described in detail below in conjunction with specific embodiments:

[0022] A three-dimensional trajectory planning method for UAVs for power transmission line inspection, which includes the following steps:

[0023] Step 1: Model obstacles. In any inspection task, upload the coordinates of all obstacles and towers to the drone's onboard computer, and set the cylinder model on the map of the drone onboard computer. Enclose every obstacle;

[0024] Let the longitude and latitude coordinates of the obstacle center be (x i ,y i ), the smallest circle radius that can wrap the obstacle is: r i (i = 1, 2, 3, 4...n), n is the total number of obstacles, then the plane projection equation of the smallest cylinder that can wrap the obstacle is:

[0025] (x-x i ) 2 +(y-y i ) 2 ≤r i 2 (1)

[0026] In formula 1, x and y are the real-time latitude and longitude coordinates of the UAV respectively;

[0027] Step 2: According to the detected flight environ...

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Abstract

The present invention relates to a three-dimensional flight track planning method for an electric transmission line inspection unmanned aerial vehicle. The three-dimensional flight track planning method comprises: 1, establishing the models of obstacles, setting cylindrical models for wrapping each obstacle in the map of an unmanned aerial vehicle onboard computer, and obtaining the plane projection equation of the smallest cylinder capable of wrapping the obstacle; and 2, according to the detected flight environment information, carrying out unmanned aerial vehicle overall-situation flight track planning by using a BP neural network algorithm, and obtaining a reference flight track. According to the present invention, the electric transmission line inspection unmanned aerial vehicle flight track planning method is researched, and the reference flight track is planned by using the BP neural network algorithm based on the sequence planning idea, such that the flight track planning efficiency is improved, and the three-dimensional flight track planning time of the electric transmission line inspection of the unmanned aerial vehicle is reduced.

Description

Technical field [0001] The invention relates to the technical field of the field of operation and maintenance of power systems, in particular to a three-dimensional trajectory planning method for unmanned aerial vehicles for power transmission line inspection. Background technique [0002] In recent years, with the rapid development of the social economy and the rapid development of the city, the demand for electricity for life and industry has increased. Behind the demand for large power consumption, a national interconnected large power grid with ultra-high voltage transmission lines (hereinafter referred to as transmission lines) as the main framework has emerged, and the scale of the power grid is also getting larger and larger. However, due to the rapid expansion of the scale of power grids, the challenges and risks faced by the safe operation of transmission lines are also increasing: power grid accidents caused by non-traditional factors such as extreme natural disasters, ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 张雪峰廖承龚浩冯智慧涂洁张晓琴方书博
Owner STATE GRID CORP OF CHINA
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