Power patrol unmanned aerial vehicle path planning method and power transmission line patrol method

Abstract

The invention discloses a power patrol unmanned aerial vehicle path planning method and a power transmission line patrol method. The path planning method comprises the following steps of S1, dividingan ideal path into a plurality of segments according to the set camera shooting power transmission line coincidence degree, setting a local target point, and deleting the point from a local target point array if the point is occupied by an obstacle to obtain a local target point sequence; S2, detecting whether the obstacle exists between points pi and pi+1 or not, adding pi+1 as a child node of piinto a random tree list if the obstacle does not exist, and planning a path from pi to pi+1 by using RRT if the obstacle exists; and S3, continuously planning a route to the next local target point according to the step S2 from a patrol starting point p0 until a patrol end point pn is reached so as to complete patrol flight path planning of the whole power transmission line. According to the method, a power line patrol task is ensured to observe the whole section of the power transmission line as much as possible, the obstacle can be avoided and crossing of electronic fences is limited.

Description

technical field [0001] The invention relates to a path planning method of an electric power inspection unmanned aerial vehicle and a transmission line inspection method. Background technique [0002] Traditional power inspection tasks require climbing poles and even wiring to check for defects, which is not only inefficient and labor-intensive, but also threatens the safety of inspection operators. [0003] Manually operating drones to perform power line inspection tasks is also inefficient (usually 3-4 people are required to operate a drone), and the quality of inspection and the safety of drones depend on the pilot's operating level [0004] In recent years, with the rapid development of drone technology, more and more high-intensity, high-risk, and large-scale inspections performed manually have been replaced by drones. The trajectory planning of the UAV is the guarantee for the autonomous flight of the UAV. The trajectory planning is to find a path from the starting poi...

AI Technical Summary

Problems solved by technology

[0010] The above RRT algorithm is suitable for path planning in a three-dimensional complex environment, but because the random tree is gradually formed from random sampling in the search space, the formed trajectory is not optimal, which will cause the planned path to exceed the detectable range or cross the electronic fence into a no-fly Area

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