Power transmission line unmanned aerial vehicle inspection path planning and defect analysis cloud platform

Abstract

The invention provides a power transmission line unmanned aerial vehicle routing inspection path planning and defect analysis cloud platform, and relates to the field of power transmission lines, the power transmission line unmanned aerial vehicle routing inspection path planning and defect analysis cloud platform comprises an unmanned aerial vehicle routing inspection path planning platform and a defect analysis cloud platform, and the planning process of the unmanned aerial vehicle routing inspection path planning platform is as follows: Sp1: establishing a three-dimensional space model by taking a power transmission line as a fixed object and an unmanned aerial vehicle as a moving object; sp2, inputting basic parameters of the power transmission line and the unmanned aerial vehicle; sp3, calculating the relative motion error between the power transmission line and the unmanned aerial vehicle and the hovering precision of the unmanned aerial vehicle; sp4, the mapping precision of the three-dimensional point cloud model is calculated, and a three-dimensional array is mapped; sp5, when the track passes through the obstacle, planning a new path in combination with an ant colony algorithm of the defect analysis cloud platform; and when the track does not pass through the obstacle, outputting the track until the inspection is finished. The shortest distance flight is ensured, a shortest path can be planned through the ant colony when there is an obstacle, and compared with manual inspection, the whole automatic inspection process has the advantage that the inspection path length is obviously shortened.

Description

technical field [0001] The invention relates to the technical field of transmission lines, in particular to a transmission line UAV inspection path planning and defect analysis cloud platform. Background technique [0002] China's power lines are widely distributed, and most of them are located in places with relatively harsh environments. These power lines and towers have been exposed to the outside for a long time, and are affected by complex weather and their own characteristics. If the existing problems are not discovered in time, they will pose a great security threat to the transmission network. Traditional manual inspections are inefficient and unreliable. Due to its low cost and high flexibility, multi-rotor UAVs are increasingly favored by people. [0003] The traditional single A* algorithm or the ant colony algorithm cannot solve the path planning problem very well. When A* solves multi-objective problems, the calculation of the heuristic function is very compli...

AI Technical Summary

Problems solved by technology

[0006] Aiming at the deficiencies of the prior art, the present invention provides a transmission line UAV inspection path planning and defect analysis cloud platform, which solves the inaccurate situation of manual UAV inspection on transmission lines, and adopts an automated inspection method

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