Route generation method of unmanned aerial vehicle automatic airport applied to power transmission channel inspection

Abstract

The present application relates to power transmission channel inspection technical field, specifically to a kind of route generation method of unmanned aerial vehicle automatic airport applied to power transmission channel inspection.The present application obtains the latitude and longitude of each base pole tower by the demonstration mode of unmanned aerial vehicle, and records the inspection height of unmanned aerial vehicle in the air of each base pole tower, data is recorded in database, when there is tower channel inspection demand, the id of starting tower and the id of terminal tower are input, the latitude and longitude, height and other data in database are read by code, the channel inspection route between starting tower and terminal tower is automatically generated, and task video recording and other actions are set, after unmanned aerial vehicle flight is completed, clear channel inspection video can be obtained, to help quickly find and locate problems existing in channel.The route generation method of the present application is suitable for locking and tracking of power transmission channel hidden danger, and is beneficial to assisting operation and maintenance personnel to take next action on target hidden danger, more intelligent, visual and multifunctional.

Description

Technical Field

[0001] This invention relates to the field of intelligent operation and maintenance technology for power transmission channels, and specifically to a method for generating flight routes for unmanned aerial vehicles (UAVs) automated airports used in power transmission channel inspections. Background Technology

[0002] The intelligent application of drones for power transmission channel inspection has gradually become a development trend. Currently, most autonomous inspection solutions for drones are based on 3D point clouds or manually planned routes through maps on a control platform. However, the number and location of the towers to be inspected are different each time, meaning the route is not fixed. The route needs to be adjusted again based on the number and location of each tower. This means that each time the route changes, manual replanning of the route through 3D point clouds or a control platform is required. Each planning process wastes a lot of planning staff's time, and personnel are needed to control the drone to ensure that it returns to its initial position after completing its flight.

[0003] Chinese patent document CN110134143A (201910463806.7) discloses a power line inspection method, system, electronic device, and computer-readable storage medium. The method includes: acquiring the coordinates of all poles to be inspected imported through a preset interface; generating an inspection route based on the coordinates of all poles; acquiring the altitude of each waypoint to obtain the flight altitude; automatically generating an inspection flight path using the inspection route and the flight altitude; and controlling a drone to perform power line inspections according to the inspection flight path. This application generates an inspection route based on the coordinates of all poles and automatically generates an inspection flight path using the inspection route and flight altitude, thereby controlling a drone to perform power line inspections according to the automatically generated inspection path. This eliminates the need for manual operation of the drone, reducing manual steps in the inspection process and avoiding human error due to subjective reasons, effectively improving the efficiency and safety of the inspection work. However, the above application requires manual input of the coordinates of all waypoints through a preset interface before an inspection route can be generated. Since the drone's battery power affects the inspection distance, when the location and number of inspection waypoints change, all waypoint information needs to be re-entered, resulting in repetitive work and wasted time. Summary of the Invention

[0004] To address the shortcomings of existing technologies, the purpose of this invention is to provide a method for generating flight routes for unmanned aerial vehicles (UAVs) automated airports used in power transmission channel inspections. Using this method, flight routes can be automatically generated flexibly based on the order of the towers to be inspected and the towers at both ends, better meeting and responding to the daily inspection needs of maintenance personnel.

[0005] The technical problem to be solved by the present invention is achieved by the following technical solution: a method for generating flight paths for an automated airport for unmanned aerial vehicles (UAVs) used in power transmission channel inspection, the method comprising the following steps:

[0006] S1. Database Establishment

[0007] Using the drone's teaching mode and the WGS84 coordinate system, starting from the location of the drone's automatic airport, the latitude and longitude of each tower along the inspection route and the tower inspection height are collected from near to far. A table structure is created in the MySQL database, and the id field of the table is set as the primary key auto-increment to ensure that the data obtained during the query is consistent with the order of insertion. The collected latitude and longitude of the towers and the tower inspection height are inserted into the database in an orderly manner according to the id field.

[0008] S2, Automatic Route Generation

[0009] S2.1 Query the data of transmission line towers in the database in ascending order according to the id field to get a list a. The elements in the list store the id, latitude and longitude, and inspection height of each tower in key-value pairs.

[0010] S2.2 Input the starting tower ID and ending tower ID to be inspected, traverse list a (all traversals are in ascending order), determine if the ID value of an element in list a is equal to the starting tower ID or ending tower ID, if they are equal, record the index value of that element in list a, after obtaining the index values ​​of the starting tower and ending tower in list a, increment the index corresponding to the ending tower by 1 to obtain the slice end index, slice list a using the index of the starting tower and the slice end index to obtain list b, then the first node of the obtained list b is the starting tower, and the last node of list b is the ending tower;

[0011] S2.3. Traverse list b. For each traversed node, obtain its latitude, longitude, and altitude information. Based on the flight path format set by the UAV remote controller, fill in the waypoint data sequentially according to the traversal order. Specifically, use spatial point coordinates to define the position of each waypoint corresponding to a tower node using the latitude, longitude, and altitude information of the corresponding node. Fill in the waypoint data according to the data transmission format agreed upon with the UAV control software developed on the remote controller. After filling, a transmission list is obtained. The list stores information such as latitude, longitude, altitude, speed, recording start and end, and gimbal angle of each waypoint in the form of key-value pairs.

[0012] In list b, based on the index, add the start recording action to the starting tower node and the end recording action to the last node;

[0013] And based on the user's input, set the gimbal's pitch angle and the inspection speed for each waypoint;

[0014] S2.4. Reverse the order of list b to obtain list c. Remove the first node and then traverse list c. Add waypoints to the traversed nodes according to the operation method in the previous step to automatically obtain a route.

[0015] S3. Upload the flight path obtained in S2 to the drone for mission patrol. Specifically, the flight path is sent to the drone control software on the remote controller. The drone control software calls a specific method in the drone to upload the flight path, thus realizing the mission patrol. After the drone mission is completed, it can obtain video recordings of the mission patrol section, completing the inspection of the power transmission channel along the flight path.

[0016] The technical solution of the present invention also includes: when inputting the starting tower ID and ending tower ID to be inspected in step S2.2, it is necessary to determine the size relationship between the ending tower ID and the starting tower ID. If the ending tower ID is greater than the starting tower ID, the input is valid, ensuring that the UAV can perform task inspection from near to far and return from far to near according to the original route, and continue to set the gimbal pitch angle and the inspection speed of each waypoint during the entire flight process;

[0017] If the ending tower ID is less than or equal to the starting tower ID, the input is invalid to remind the user of an input error.

[0018] The technical solution of this invention also includes step S2.5: For the flight path obtained in step S2.4, if the default altitude and speed of the flight path between adjacent towers do not meet the task requirements, the user modifies the altitude and speed of each waypoint on the flight path according to the actual task. After modification, the final task flight path is obtained. For the flight path between adjacent towers, the UAV flies in a straight line from a waypoint above one tower to a waypoint above another tower. The altitude and speed of the flight path between adjacent towers are automatically generated based on the inspection altitude and inspection speed of the corresponding waypoints of the two towers. Since the inspection altitude information of each tower is stored in the database after teaching, it is a fixed value. When the user needs to adjust the altitude of the UAV according to the recording range requirements, the cruising altitude of the corresponding waypoints of each tower on the automatically generated flight path that requires altitude adjustment can be adjusted; if the inspection speed needs to be adjusted, the speed values ​​of the corresponding waypoints of each tower can also be adjusted, thereby generating the final required task flight path.

[0019] The technical solution of the present invention also includes: in step S1, the initial value of the auto-incrementing primary key of the id field in the table structure created in the MySQL database is 1.

[0020] The technical solution of the present invention also includes: In step S2.2, the index of the element containing the starting tower ID in list a is 0. Setting the index of the element containing the starting tower ID in list a to 0 means that the starting tower for each inspection is set to be the tower closest to the location of the UAV's automatic airport. This ensures a controllable route and guarantees the UAV's safe arrival above the starting tower, avoiding the direct selection of an intermediate tower as the starting tower. During the UAV's journey from its automatic airport location to the starting tower location, obstructions such as tall buildings and trees can hinder flight, potentially causing a collision.

[0021] The technical solution of the present invention also includes: in step S2.3, the pitch angle of the gimbal during the entire flight process is selected from -90° to 30°.

[0022] The beneficial effects of this invention are as follows: This invention acquires the latitude and longitude of each power transmission tower through a drone's teaching mode and records the drone's inspection altitude above each tower, storing the data in a database. When there is a need for tower corridor inspection, the user inputs the IDs of the starting and ending towers. The code reads the waypoint latitude and longitude and inspection altitude data from the database and automatically generates a corridor inspection route between the starting and ending towers. It also sets actions such as task video recording, gimbal pitch angle, and inspection speed at each waypoint. After the drone completes its flight, a clear corridor inspection video is obtained, helping to quickly identify and locate problems in the corridor. The drone automatic airport route generation method described in this invention, applied to power transmission corridor inspection, is suitable for locking and tracking potential hazards in power transmission corridors. It helps maintenance personnel take further actions regarding target hazards, such as video recording for evidence collection, enabling intelligent, visual, and multifunctional drone inspections.

[0023] Compared with existing UAV route planning methods, the biggest advantage of this invention is its greater flexibility and time-saving nature. Users only need to manually input the IDs of the starting and ending towers for inspection, and the system will automatically generate the tower inspection route based on the user's input. Then, by setting the gimbal pitch angle and the inspection speed for each waypoint, the UAV can automatically perform the task inspection of the route channel according to the generated route. Attached Figure Description

[0024] Figure 1 This is a flowchart of the method for generating flight routes for an unmanned aerial vehicle (UAV) automatic airport used in power transmission channel inspection, as described in this invention.

[0025] Figure 2 This is a flowchart illustrating the inspection implementation process of the unmanned aerial vehicle (UAV) automatic airport route generation method for power transmission channel inspection as described in this invention.

[0026] Figure 3This is an example diagram illustrating the implementation of the unmanned aerial vehicle (UAV) automatic airport route generation method for power transmission channel inspection, as described in this embodiment of the invention. Detailed Implementation

[0027] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but the present invention is not limited to the scope of the embodiments described herein.

[0028] like Figure 1 and Figure 2 As shown, a method for generating flight paths for an automated airport for unmanned aerial vehicles (UAVs) used in power transmission channel inspection includes the following steps:

[0029] S1. Database Establishment

[0030] Using the drone's teaching mode and the WGS84 coordinate system, starting from the drone's automatic airport location, the latitude and longitude of each tower along the inspection route, as well as the appropriate tower inspection height, are collected from near to far. A table structure is created in the MySQL database, and the id field of the table is set as the primary key, auto-incrementing with an initial value of 1. The collected latitude and longitude of the towers and the tower inspection height are then inserted into the database in an orderly manner according to the id field.

[0031] S2, Automatic Route Generation

[0032] S2.1 Query the data of transmission line towers in the database in ascending order according to the id field. The ascending order means following the auto-incrementing order of the id field. The result is a list a. The elements in the list store the id, latitude and longitude, and inspection height of each tower in key-value pairs.

[0033] S2.2 Input the starting tower ID and ending tower ID to be inspected. Traverse list a and determine whether the ID value of an element in list a is equal to the starting tower ID or ending tower ID. If they are equal, record the index value of the element in list a. After obtaining the index values ​​of the starting tower ID and ending tower ID in list a, increment the index of the ending tower ID by 1 to obtain the end index of the slice. In this embodiment, the index of the element containing the starting tower ID in list a is 0. Use the index of the starting tower ID and the end index of the slice to slice list a to obtain list b. The first node of the obtained list b is the starting tower ID, and the last node of list b is the ending tower ID.

[0034] S2.3. Traverse list b. For each traversed node, obtain its latitude, longitude, and altitude information. Based on the flight path format set by the UAV remote controller, populate the waypoint data sequentially according to the traversal order. Specifically, populate the waypoint data according to the data transmission format agreed upon with the Android software developed on the remote controller. After population, a transmission list is obtained, which stores information such as latitude, longitude, altitude, speed, recording start and end times, and gimbal angle in key-value pairs.

[0035] In list b, based on the index, a start recording action is added to the starting tower node, and a stop recording action is added to the ending tower node. Since each element in list b stores the ID, latitude and longitude, and inspection height information of each tower as key-value pairs, users can add new key-value pairs to the elements in the list corresponding to each tower as needed to control the drone's actions. Adding a start recording action to the list element corresponding to the starting tower and a stop recording action to the list element corresponding to the ending tower enables automatic camera control, making it more intelligent, saving power, and increasing the drone's aerial recording time.

[0036] Based on user input, the gimbal's pitch angle is set to -60° and the inspection speed for each waypoint is set to 10m / s.

[0037] S2.4. Reverse the order of list b to obtain list c. Remove the first node and then traverse list c. Add waypoints to the traversed nodes according to the operation method in the previous step to automatically obtain a route.

[0038] S2.5. For the route obtained in step S2.4, if the default altitude and speed of the route between adjacent towers do not meet the task requirements, the user modifies the altitude and speed of each waypoint on the route according to the actual task. After modification, the final task route is obtained. Here, each waypoint on the route is the waypoint corresponding to each tower.

[0039] S3. Upload the flight path obtained in S2 to the drone for mission patrol. Specifically, the flight path is sent to the Android software on the remote controller. The Android software calls a specific method in the DJI SDK to upload the flight path to the drone and then conducts the mission patrol. The Android software on the remote controller is the drone control software, which is existing technology and will not be described in detail here. After the drone mission is completed, the recorded video of the mission patrol section can be obtained, completing the inspection of the power transmission channel in the flight path.

[0040] Application examples

[0041] S1, such as Figure 3As shown, there are five towers (A, B, C, D, and E) on the route to be inspected. Point A is the starting position of the route. Using the teaching mode of the UAV and the WGS84 coordinate system, starting from the location H of the UAV's automatic airport, the latitude and longitude of each tower on the route to be inspected, as well as the appropriate tower inspection height, are collected from near to far. A table structure is created in the MySQL database, and the id field of the table is set as the primary key, auto-incrementing with an initial value of 1. The collected tower information is then inserted into the database in order according to the id field, as shown in Table 1.

[0042] Table 1

[0043]

[0044] S2. Automatic Flight Route Generation: The user inputs the inspection range of the tower and selects the gimbal pitch angle as -60° during the entire flight process. The operating platform will automatically generate the flight route of the UAV. The specific implementation logic is as follows: According to S1, the database should store the latitude and longitude and inspection height of 5 towers, and in the table structure of the database, record that the parent node of B is A, the parent node of C is B, and so on.

[0045] S2.1: Query the data of transmission line towers in the database in ascending order by the id field, and get a list [{"Id": 1, "Towername": "A", "Parentid": "0", "Longitude": "118.0852257832", "Latitude": "36.8154794626", "Height": "60"}, {"Id": 2, "Towername": " B", "Parentid": "1", "Longitude": "118.0852257092", "Latitude": "36.8147794626", "Height": "6 5"}, {"Id": 3, "Towername": "C", "Parentid": "2", "Longitude": "118.0852257954", "Latitude": "36 .8166794626", "Height": "70"}, {"Id": 4, "Towername": "D", "Parentid": "3", "Longitude": "118.0 852257377", "Latitude": "36.8168794626", "Height": "75"}, {"Id": 5, "Towername": "E", "Parentid ":"4", "Longitude":"118.0852257653", "Latitude":"36.816612794626", "Height":"70"}], To simplify the content, the information of each tower in the list is expressed by the tower name. The above list is simplified to: [A, B, C, D, E]. The elements in the list [A, B, C, D, E] store the ID, latitude and longitude, and inspection height of each tower in key-value pairs.

[0046] S2.2: Input the id of the starting tower A and the id of the ending tower D to be inspected. The index of the list element containing the id of the starting tower A is 0. In list a, use the id of the ending tower to get the index of the list element containing the id of the ending tower. Increment the index of the list element containing the id of the ending tower by 1 to get the end index of the slice. Use index 0 and the end index of the slice to slice the list [A, B, C, D, E] to get the list [A, B, C, D]. The first node of the obtained list [A, B, C, D] is the starting tower, and the last node of the list [A, B, C, D] is the ending tower.

[0047] S2.3: Traverse the list [A, B, C, D]. For each node encountered, obtain its latitude, longitude, and inspection altitude. Based on the route format set by the UAV remote controller, fill in the waypoint data sequentially according to the traversal order. The starting waypoint of the route is tower A, the next waypoint is B, the next waypoint is C, and the last waypoint is D. This will generate a route A→B→C→D.

[0048] In the list [A, B, C, D], based on the index, add the start recording action at the starting tower node A and the end recording action at the last node D.

[0049] Based on user input, the gimbal's pitch angle is set to -60° and the inspection speed for each waypoint is set to 10m / s.

[0050] S2.4: Then remove the last tower from the list [A, B, C, D] and deserialize it. Specifically, reverse the order of the list [A, B, C, D] to get the list [D, C, B, A]. After removing the first node, traverse the list [C, B, A]. Add waypoints to the traversed nodes according to the operation method in the previous step. This will automatically obtain a route and finally generate the route A→B→C→D→C→B→A.

[0051] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A method for generating flight paths for an automated airport used by unmanned aerial vehicles (UAVs) in power transmission channel inspection, characterized in that, The method comprises the following steps: S1, database establishment Through the teaching mode of the unmanned aerial vehicle, using the WGS84 coordinate system, starting from the location of the unmanned aerial vehicle airport, collecting the longitude and latitude of each tower on the inspection route and the tower inspection height from near to far, creating a table structure in the Mysql database, setting the id field of the table as the primary key for automatic increment, and sequentially inserting the collected tower longitude and latitude and tower inspection height into the database according to the id field; S2, automatic generation of the flight route S2.1, querying the data of the transmission line towers in the database in ascending order according to the id field to obtain a list a, and storing the id, longitude and latitude, and inspection height of each tower in the list a in the form of a key-value pair; S2.2, inputting the starting tower id and the ending tower id to be inspected, traversing the list a, judging whether the id value in the element in the list a is equal to the starting tower id or the ending tower id, if yes, recording the index value of the element in the list a, obtaining the index value of the starting tower and the ending tower in the list a, adding 1 to the index value of the ending tower to obtain the end index value of the slice, and using the starting tower index value and the end index value of the slice to slice the list a to obtain a list b, then the first node of the list b obtained is the starting tower, and the last node of the list b is the ending tower; When inputting the starting tower id and the ending tower id to be inspected in step S2.2, it is necessary to judge the size relationship between the ending tower id and the starting tower id, if the ending tower id is greater than the starting tower id, the input is valid, and the pan tilt angle in the whole flight process and the inspection speed of each flight point are set; If the ending tower id is less than or equal to the starting tower id, the input is invalid; S2.3, traversing the list b, obtaining the longitude, latitude and height information of the node traversed, filling the data of the flight point in the order of traversal based on the flight route format set by the remote controller of the unmanned aerial vehicle, filling the data of the flight point according to the data transmission format agreed by the developed Android software on the remote controller, and obtaining a transmission list after the filling is completed, in which the longitude, latitude, height, speed, video starting and ending, and pan tilt angle information are stored in the form of a key-value pair; The longitude, latitude and height information of the tower corresponding node are used to limit the position of the corresponding flight point of each tower in the form of a space point coordinate; In the list b, the starting video recording action is added to the starting tower node, and the ending video recording action is added to the ending tower node according to the index value; And the pan tilt angle and the inspection speed of each flight point are set according to the input of the user; S2.4, performing reverse order operation on the list b to obtain a list c, removing the first node and traversing the list c, and adding the flight point to the node traversed according to the operation mode of the previous step, so that an automatic flight route is obtained; S3, uploading the flight route obtained in S2 to the unmanned aerial vehicle to perform task cruising. 2.The route generation method of the unmanned airport for power transmission channel inspection according to claim 1, characterized in that: Also includes step S2.5, for the route obtained in step S2.4, for the adjacent tower between the route default height and speed does not meet the task requirements, then the user for the actual task on the height and speed of the route points are modified, after the modification is completed to obtain the final task route. 3.The route generation method of the unmanned airport for power transmission channel inspection according to claim 1, characterized in that: In step S1, the starting value of the id field primary key in the table structure created in the Mysql database is 1.

4. The route generation method of the unmanned aerial vehicle automatic airport for power transmission passage inspection according to claim 1, characterized in that: In step S2.2, the index of the element where the starting tower id is located in the list a is 0.

5. The route generation method of the unmanned airfield for power transmission passage inspection according to claim 1, characterized in that: In step S2.3, the gimbal pitch angle in the whole flight process is selected in the range of -90° to 30°.

Images