Path planning method for unmanned aerial vehicle autonomous collection of power grid environmental protection data

Abstract

The application provides a path planning method for unmanned aerial vehicle autonomous collection of power grid environmental protection data, belongs to the field of power grid environmental protection data collection, and comprises the following steps: S1, acquiring planning line information of power grid design and extracting fixed key point coordinates; S2, acquiring power grid line information under construction and extracting fixed key point and variable key point coordinates, wherein the variable key point is a point of an area prone to pollution in the construction process; S3, constructing a net point with all the key point coordinates, and constructing a triangular fitting line with the net point as the vertex of a triangle; and S4, deleting redundant fitting lines, so that each net point has three lines connected. The method can realize omnidirectional and multi-time period patrol, and can reduce the flight distance of the unmanned aerial vehicle and the number of the unmanned aerial vehicle.

Description

Technical Field

[0001] This invention relates to power grid environmental data acquisition, specifically to a path planning method for autonomous collection of power grid environmental data by unmanned aerial vehicles (UAVs). Background Technology

[0002] Power transmission and transformation projects are characterized by their wide geographical span, long routes, complex topographical units (plateaus, mountains, deserts, etc.), and involvement of many ecologically sensitive areas. Due to earthwork excavation, vegetation disturbance, and improper disposal of waste soil and slag, they are prone to ecological damage and soil erosion, resulting in a large workload for supervision and difficulties in environmental protection and water conservation supervision.

[0003] Manual inspections often require detours, which greatly increases the workload of environmental protection and water conservation supervision. Drones are a sensing platform with strong environmental adaptability and scalability, and also have functions such as remote autonomous flight path patrol, image capture, hovering flight, and real-time voice communication.

[0004] Due to the long distances of power transmission lines, it is difficult for a single drone to complete comprehensive and multi-time periodic inspections. Therefore, this invention provides a path planning method for drones to autonomously collect power grid environmental data. Summary of the Invention

[0005] (a) Technical problems to be solved

[0006] To address the shortcomings of existing technologies, this invention provides a path planning method for UAVs to autonomously collect power grid environmental data, solving the problem that a large portion of manpower and resources are wasted on travel during power grid environmental monitoring, making environmental monitoring difficult.

[0007] (II) Technical Solution

[0008] To achieve the above objectives, the present invention provides the following technical solution:

[0009] A path planning method for drones to autonomously collect power grid environmental data is proposed. This method is used to control at least two drones to inspect construction sites along the same power grid line. The specific steps include:

[0010] S1. Obtain the planned line information of the power grid design and extract the coordinates of fixed key points;

[0011] S2. Obtain information on the power grid lines under construction, and extract the coordinates of fixed key points and variable key points, wherein the variable key points are points in areas prone to pollution during construction.

[0012] S3. Construct a grid of points using the coordinates of all key points, and then construct a triangle fitting line using the grid points as vertices of the triangles.

[0013] S4. Delete redundant fitted lines so that each point has three connected lines;

[0014] S5. Control the drone to patrol along the intersecting routes A and B, where route A is a fitted route that coincides with the planned route of the power grid design, and route B is a fitted route that does not coincide with the planned route of the power grid design.

[0015] Preferably, the fixed key point coordinates include at least the tower position coordinates and the substation position coordinates, and the variable key points are points in canals or lakes within 50 meters of the fixed key points in the already constructed power grid lines.

[0016] Preferably, S3 includes:

[0017] S301. Extract the coordinates of fixed key points in the planned power grid lines, the coordinates of fixed key points in the power grid lines under construction, and the coordinates of variable key points in the power grid lines under construction from the computer, and take the overlapping points as one key point coordinate.

[0018] S302. Select any one of the key point coordinates, and then associate it with the coordinates of the two key points closest to it to form a triangle fitting line;

[0019] S303. Repeat step S302 to select all the key point coordinates.

[0020] Preferably, the triangle fitting line has at least one side that does not completely coincide with the planned line of the power grid design.

[0021] Preferably, the planned line information for the power grid design obtained in S1 is one or more sections during the construction period.

[0022] Preferably, the drone hovers and takes pictures at all key points.

[0023] (III) Beneficial Effects

[0024] This invention provides a path planning method for unmanned aerial vehicles (UAVs) to autonomously collect power grid environmental data. Compared with existing technologies, it has the following advantages:

[0025] 1. Power grid construction is a multi-site construction project, and a large part of the time is wasted on the journey when conducting environmental monitoring. This solution optimizes the monitoring path to provide an optimal path while ensuring comprehensive and multi-time period inspections, which can reduce the flight distance of drones and reduce the number of drones.

[0026] Specifically, key point coordinates are used to construct a network of points, and the network points are used as vertices of triangles to construct triangle fitting lines. The drones travel along the coincident lines, which are the shortest lines between two adjacent key points, and along the non-coincident lines, which are the shortest lines between two key points. Multiple drones conduct staggered inspections, which can save inspection paths while ensuring inspection effectiveness. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 This is a schematic diagram of a triangle-fitted circuit formed after fitting a power grid line according to the present invention. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention are described clearly and completely. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0030] To better understand the above technical solution, the following specific implementation methods will provide a detailed explanation of the above technical solution.

[0031] A path planning method for drones to autonomously collect power grid environmental data is proposed. This method is used to control at least two drones to inspect construction sites along the same power grid line, mainly targeting the multi-point distribution of construction sites along the power grid line.

[0032] Specifically, the following steps are included:

[0033] S1. Obtain the planned line information of the power grid design and extract the coordinates of fixed key points;

[0034] The planned line information for the power grid design is obtained directly by the design institute and can be input into the computer. The coordinate information of the intermediate points can be obtained in conjunction with near-Earth satellites. The drones used in this scheme are controlled by remote sensing.

[0035] S2. Obtain information on the power grid lines under construction and extract the coordinates of fixed and variable key points. Information on construction points is also obtained using near-Earth satellites and corrected in conjunction with design drawings. The variable key points are areas prone to pollution during construction (see attached diagram). Figure 1 The environmental monitoring points (i.e., points in water channels or lakes within 50 meters of fixed key points in the already constructed power grid lines) are selected as variable key points, and the specific coordinates of these points are also selected by remote sensing satellites.

[0036] S3. Construct a grid of points using the coordinates of all key points, and use the grid points as vertices of triangles to construct triangle fitting lines. Import all the above coordinate points into the computer for fitting processing, and finally form a grid where each grid point has more than three straight lines.

[0037] S4. Delete redundant fitted lines so that each point has three connected lines, preferably deleting the longest one.

[0038] S5. Control the drone to patrol along the intersecting routes of Route A and Route B. Route A is a fitted route that coincides with the planned route of the power grid design, while Route B is a fitted route that does not coincide with the planned route of the power grid design. Route B will cross one or more grid points, and multiple Route Bs will be formed at locations with branches or environmental monitoring points.

[0039] The fixed key point coordinates include at least the tower position coordinates and the substation position coordinates.

[0040] Specifically, S3 includes:

[0041] S301. Extract the coordinates of fixed key points in the planned power grid lines, the coordinates of fixed key points in the power grid lines under construction, and the coordinates of variable key points in the power grid lines under construction from the computer, and take the overlapping points as a key point coordinate.

[0042] S302. Select any one of the key point coordinates, and then associate it with the coordinates of the two key points closest to it to form a triangle fitting line.

[0043] S303. Repeat step S302 to select all the key point coordinates.

[0044] The triangle-fitted line has at least one side that does not completely coincide with the planned line of the power grid design, that is, it has a short path that crosses the grid.

[0045] The planned line information of the power grid design obtained in S1 is one or more sections during the construction period. That is, a large power grid is divided into various construction periods for environmental monitoring. Areas that will not be constructed for a long time will not be monitored temporarily.

[0046] The drone hovers and takes pictures at all key locations, capturing images of the surrounding environment to obtain environmental information.

[0047] like Figure 1In most cases, the fitted lines formed consist of two lines A and one line B. At locations with branches or environmental monitoring points, two lines B and one line A will be formed.

[0048] Depending on the number of drones, it is also possible to manually interfere with the drones' actions. Figure 1 One of the selected routes is then inspected.

[0049] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0050] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention 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 the present invention.

Claims

1. A path planning method for autonomous collection of power grid environmental data by unmanned aerial vehicles (UAVs), characterized in that, This method is used to control at least two drones to inspect construction sites along the same power grid line, and specifically includes the following steps: S1. Obtain the planned line information of the power grid design and extract the coordinates of fixed key points; S2. Obtain information on the power grid lines under construction, and extract the coordinates of fixed key points and variable key points, wherein the variable key points are points in areas prone to pollution during construction. S3. Construct a grid of points using the coordinates of all key points, and then construct a triangle fitting line using the grid points as vertices of the triangles. S4. Delete redundant fitted lines so that each point has three connected lines; S5. Control the drone to patrol along the intersecting routes of Route A and Route B, where Route A is a fitted route that coincides with the planned route of the power grid design, and Route B is a fitted route that does not coincide with the planned route of the power grid design. The fixed key point coordinates include at least the tower position coordinates and the substation position coordinates, and the variable key points are points in canals or lakes within 50 meters of the fixed key points in the already constructed power grid lines. S3 includes: S301. Extract the coordinates of fixed key points in the planned power grid lines, the coordinates of fixed key points in the power grid lines under construction, and the coordinates of variable key points in the power grid lines under construction from the computer, and take the overlapping points as one key point coordinate. S302. Select any one of the key point coordinates, and then associate it with the coordinates of the two key points closest to it to form a triangle fitting line; S303. Repeat step S302 to select all the coordinates of the key points.

2. The path planning method for autonomous collection of power grid environmental data by unmanned aerial vehicles as described in claim 1, characterized in that, The triangle-fitted circuit has at least one side that does not completely coincide with the planned circuit of the power grid design.

3. The path planning method for autonomous collection of power grid environmental data by unmanned aerial vehicles as described in claim 1, characterized in that, The planned line information for the power grid design obtained in S1 refers to one or more sections during the construction period.

4. The path planning method for autonomous collection of power grid environmental data by unmanned aerial vehicles as described in claim 1, characterized in that, The drone hovered and took pictures at all key locations.

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