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Optimization method of transmission line UAV inspection path based on ant colony algorithm

A technology for transmission lines and inspection paths, applied in non-electric variable control, vehicle position/route/altitude control, advanced technology, etc. Affecting inspection efficiency and other issues, reducing the number of take-offs and landings and the workload and time of on-site operators, ensuring safe and stable operation, and improving inspection efficiency

Active Publication Date: 2022-06-03
YICHANG POWER SUPPLY CO OF STATE GRID HUBEI ELECTRIC POWER CO LTD
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AI Technical Summary

Problems solved by technology

When performing refined inspection tasks, UAVs are often limited by factors such as network coverage, terrain occlusion, battery life, and ultra-long distance. It is difficult to quickly find a suitable UAV take-off and landing point, which greatly affects the efficiency of inspections. , and safety accidents frequently occur during inspection mission flights
In the face of complex topography and complex transmission line energy network, the existing large-scale attempts based on manual inspection experience and manual labeling of maps can no longer meet the requirements for the selection of take-off and landing points for various types of UAV operations.

Method used

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  • Optimization method of transmission line UAV inspection path based on ant colony algorithm
  • Optimization method of transmission line UAV inspection path based on ant colony algorithm
  • Optimization method of transmission line UAV inspection path based on ant colony algorithm

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Embodiment Construction

[0062] In the embodiment, the UAV inspection path planning of the transmission line is carried out based on the ant colony algorithm.

[0063] The advantage of the ant colony algorithm is that the model is simple and the operation efficiency is fast when dealing with large-scale path planning problems. but,

[0068] However, the maximum and minimum ant colony algorithm has two major shortcomings: one is that the algorithm parameters are relatively rigid, and the efficiency is not high enough;

[0075] The path selection probability P plays a crucial role when the UAV next selects which tower inspection task;

[0078]

[0079]

[0082] Step 1: Obtain the geographic information data of the transmission line, the tower and the location.

[0087]

[0090]

[0092] Table 1 shows the transmission tower data of the embodiment.

[0094]

[0097] Step 7: analyze the inspection tasks of the unmanned aerial vehicle, and establish a transmission line unmanned aerial vehicle inspection path pl...

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Abstract

The present invention relates to a method for optimizing transmission line UAV patrol inspection path based on ant colony algorithm, including: obtaining geographical information data of transmission line and tower; obtaining inspection UAV parameters, tower physical data and wireless network coverage area; Mark in the satellite map image, and mark the contour line in the satellite map image; calculate the effective link distance of the UAV and the minimum altitude of the tower inspection task point; draw the UAV inspection in the satellite map image effective link area; superimpose the wireless network coverage area, tower marking and effective link area of ​​UAV inspection on the road map, and set the take-off and landing points of inspection UAV; establish transmission line UAV inspection Inspection path planning model; solve to obtain the optimal UAV inspection path set. The invention uses an artificial intelligence algorithm to obtain the optimal set of inspection paths of the drone, which greatly improves the inspection efficiency of the transmission line and effectively ensures the safe and stable operation of the power grid.

Description

Optimization method of UAV inspection path for transmission line based on ant colony algorithm technical field The invention belongs to the transmission line maintenance field, be specifically related to a kind of transmission line unmanned aerial vehicle patrolling based on ant colony algorithm Check the path optimization method. Background technique [0002] After the rapid development in the power industry in recent years, unmanned aerial vehicles have been widely used in fine In the work of chemical inspection, prevention of external force damage, and prevention of mountain fires. The refined inspection of UAVs uses multi-rotor UAVs, based on power lines Road high-precision 3D point cloud, planning a refined inspection route for all components of the tower, and realizing the full autonomy of the UAV on the tower mission flight. Since refined inspection requires extremely high spatial positioning, most UAV inspection tasks use network RTK. technology to meet the...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/10
CPCG05D1/101Y02D30/00
Inventor 董卫张璐吴云张川彭慧文宗滈刘阳肖梦
Owner YICHANG POWER SUPPLY CO OF STATE GRID HUBEI ELECTRIC POWER CO LTD
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