Task allocation method for multi-unmanned aerial vehicle cooperative power inspection

Abstract

The invention discloses a task allocation method for multi-unmanned aerial vehicle cooperative power inspection. The method comprises the following steps: acquiring a parking point position, a task set and an unmanned aerial vehicle set; calculating the actual distance between each task tower and the parking point; constructing a task distribution model of multi-unmanned aerial vehicle cooperative power inspection, wherein the distribution model takes the minimization of the time of completing the distributed task subset by the unmanned aerial vehicle with the longest time as an optimization target, and the hypothesis and constraint conditions of the task distribution model are set according to the actual situation of power inspection; and solving the task allocation model by adopting a genetic algorithm to obtain an overall optimal solution which realizes an optimization target and meets constraint conditions. According to the actual situation of existing electric power inspection and unmanned aerial vehicle electric power inspection task requirements, related coordinates and parameter information can be input, the task sequence of the unmanned aerial vehicles can be solved, it is guaranteed that task time of multiple unmanned aerial vehicles is close, waiting waste of the unmanned aerial vehicles is reduced, and the working efficiency is improved. The total time for all unmanned aerial vehicles to complete all inspection tasks at a single parking point is minimized, and the power inspection efficiency is improved.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicle power patrol inspection, in particular to a task allocation method for multi-unmanned aerial vehicle cooperative power patrol inspection. Background technique [0002] Small multi-rotor drones have been widely used in the field of power inspections due to their advantages such as light weight, small size, high maneuverability, little influence from terrain restrictions, and the ability to hover in the air to take images. The inspection efficiency and quality of UAV power inspection have been greatly improved compared with traditional manual inspection. [0003] In particular, after years of development of my country's drones in power inspections, they have successively gone through four stages: pilot establishment, deployment + pilot promotion, human inspection as the main, machine inspection as the auxiliary, machine inspection as the main, and human inspection as the auxiliary. ....

AI Technical Summary

Problems solved by technology

At the same time, some provincial and municipal electric power companies have carried out the pilot work of "drones + operating vehicles" collaborative inspections. In the actual pilot work, problems such as chaotic task assignment of drones and random driving paths of operating vehicles occurred.

Through consulting relevant literature and materials, as far as we know, there are few theoretical studies on the collaborative inspection of "drone + work vehicle" at home and abroad, and it is impossible to provide theoretical guidance for actual power inspection work.

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