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A task allocation method for multi-UAV cooperative power inspection

A technology for power inspection and task allocation, applied in the fields of genetic laws, mechanical equipment, combustion engines, etc., can solve the problems of chaotic task allocation of drones, random travel paths of work vehicles, and inability to provide theoretical guidance for power inspection work. Achieve the effect of large practical application value, reduce waiting waste, and improve efficiency

Active Publication Date: 2022-05-31
JIANGSU FRONTIER ELECTRIC TECH +1
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  • Abstract
  • Description
  • Claims
  • Application Information

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.

Method used

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  • A task allocation method for multi-UAV cooperative power inspection
  • A task allocation method for multi-UAV cooperative power inspection
  • A task allocation method for multi-UAV cooperative power inspection

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Experimental program
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Effect test

Embodiment Construction

[0067] Further, the geographic straight-line distance is the straight-line distance between two points in a real environment. Calculate each power tower

[0069]d

[0073]

[0078] Minimize: max{Z

[0079]

[0080]

[0081]

[0082]

[0088] Equation (6) is the decision variable constraint.

[0094] Selection operation: select individuals in the population to perform crossover and mutation operations through the roulette method. The polymorphism of the present invention

[0095]

[0097] f

[0099]

[0101] Crossover operation: select the individual with the lowest fitness function value in the parent generation through the roulette method, the chromosome of the individual

[0109]

[0111] The longitude and latitude coordinates of the parking point are obtained as (117.1530, 33.8807), and the power inspection task set in the area to be inspected

[0114] Establish a multi-unmanned aerial vehicle cooperative power inspection task assignment model, as shown in the formula (2) to f...

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Abstract

The invention discloses a task assignment method for multi-unmanned aerial vehicle cooperative power patrol inspection, including: obtaining the parking point position, task set and unmanned aerial vehicle set; calculating the actual distance between each task tower and the parking point; The task assignment model of man-machine collaborative power inspection, the assignment model takes the longest UAV to complete the assigned task subset as the optimization goal, the assumptions and constraints of the task assignment model are set according to the actual situation of power inspection Determined; use genetic algorithm to solve the task allocation model, and obtain the overall optimal solution that achieves the optimization goal and meets the constraint conditions. According to the actual situation of the existing power inspection and the requirements of the UAV power inspection task, the present invention can realize the input of relevant coordinates and parameter information, solve the task sequence of the UAV, and ensure that the mission time of multiple UAVs is similar. Reduce the waiting waste of drones, minimize the total time for all drones at a single parking point to complete all inspection tasks, and improve the efficiency of power inspections.

Description

A task allocation method for multi-UAV cooperative power inspection technical field The present invention relates to unmanned aerial vehicle power inspection technical field, specifically, relate to a kind of multi-unmanned aerial vehicle cooperative electric power inspection Check the task assignment method. Background technique [0002] Small multi-rotor UAVs can be suspended in the air by virtue of their light weight, small size, high mobility, little influence by terrain restrictions, It has been widely used in the field of power inspection. Inspection efficiency and quality of UAV power inspection Compared with the traditional manual inspection, the amount is greatly improved. In particular, my country's unmanned aerial vehicle has undergone many years of development in power inspection, and has successively passed through the establishment of pilot projects, deployments + Pilot promotion, human patrol as the main, machine patrol as a supplement, machine patrol...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06Q10/06G06Q50/06G06N3/12
CPCG06Q10/06316G06Q10/067G06Q50/06G06N3/126Y02T10/40
Inventor 王红星黄郑于滨刘斌吴媚顾徐朱洁曹峰
Owner JIANGSU FRONTIER ELECTRIC TECH
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