An iterative route planning method for aircraft based on complex terrain

Abstract

The present invention discloses an iterative planning method for aircraft routes based on complex terrain, comprising the steps of obtaining the three-dimensional coordinates and heights of overhead power transmission line towers of the route to be planned; setting different minimum approach distances for overhead power transmission lines of different voltage levels and towers of different sizes; calculating tower reference waypoints; setting route segments; calculating a reference function group for the route segments; data point screening; inserting or replacing intermediate waypoints; iterating the route segments and returning to the step of setting the route segments until all route segments have completed the iteration to form a complete route; the present invention innovatively utilizes typical feature targets of overhead power transmission line point clouds to realize equation route generation under complex terrain, with a concise process, easy programming, high execution efficiency, strong robustness, and the adopted data point screening method supports high parallelism, which can effectively shorten the calculation time, and has high technical advancement and wide applicability.

Description

Technical Field

[0001] The present invention relates to the technical field of route planning, and in particular to an iterative planning method for an aircraft route based on complex terrain. Background Art

[0002] Overhead transmission lines are widely distributed in my country, and they undertake important tasks in transmitting electric energy. However, most of them are built in remote wilderness areas, and are greatly affected by the environment and climate, causing these transmission lines to be continuously exposed to the sun and rain. Over time, the structure of overhead transmission lines, such as poles, ground wires, insulators, and hardware, is prone to various defects, and the detection requirements are higher than those of indoor enclosed equipment.

[0003] Limited by factors such as the environment, terrain, and labor costs, there are still many problems in the inspection of overhead transmission lines. At present, overhead transmission lines are mainly inspected manually, and this method sometimes requires operators to climb towers for inspection; due to manual climbing, the operating efficiency of this method is low, but the cost remains high due to high-risk labor; for towers built in terrains such as ponds, dense forests, mountains, and canyons, it is extremely difficult for operators to reach the bottom of the tower, and further climbing the tower for inspection is even more difficult, making it difficult for such towers to be fully and adequately inspected and maintained; and towers built in the above-mentioned complex terrains usually occupy an important position in transmission lines. Once a failure occurs, the cost of their maintenance and reconstruction is much greater than that of towers built on flat terrain.

[0004] With the advancement of technology, autonomous inspection technology for overhead power transmission lines based on drones has developed rapidly. Using drones as a platform and equipped with various data acquisition equipment, it can autonomously collect various observation data of overhead power transmission lines. The efficiency is much higher than manual inspection, and drones fly and collect data along fixed routes, which greatly improves safety compared to manual tower climbing. Since drone inspections are no longer restricted by terrain, the collected data are more comprehensive, accurate and stable. The popularization of drones has also greatly reduced the inspection costs of overhead power transmission lines.

[0005] The core of autonomous inspection technology for overhead power lines based on drones lies in the quality of autonomous inspection routes. If the route planning method is poor, it may reduce the inspection efficiency and data acquisition quality of the aircraft, and may even cause safety risks. At present, manual route planning is still the main method for autonomous inspection route planning of drones. However, considering the total mileage of overhead power lines in my country and the timeliness of the laser scanning point cloud used in route planning, manual planning still has shortcomings such as low efficiency and strong subjectivity. For point cloud environments with complex terrain, ordinary route planning methods are difficult to deal with effectively. Summary of the invention

[0006] In view of the deficiencies in the prior art, the present invention provides an iterative planning method for an aircraft route based on complex terrain, which aims to achieve rapid and autonomous planning of an aircraft route under complex terrain conditions.

[0007] To achieve the above object, the present invention provides the following technical solution: a method for iterative planning of aircraft routes based on complex terrain, comprising the following steps:

[0008] Step S1: Obtain the three-dimensional coordinates and height of the overhead transmission line tower of the planned route;

[0009] Step S2: Set different minimum approach distances for overhead transmission lines of different voltage levels and towers of different sizes. ;

[0010] Step S3: Calculate the tower reference waypoint;

[0011] Step S4: Setting the route segment;

[0012] Step S5: Calculate the reference function group of the route segment;

[0013] Step S6: data point screening;

[0014] The specific process of step S6 is: using the reference function group of the route segment and the route segment characteristics to filter the data points, and the filtering conditions are as follows:

[0015] ;

[0016] In the formula, The three-dimensional coordinates of each data point to be screened in the point cloud model of the overhead power transmission line of the planned route; Represents the data point in the Cartesian coordinate system Axis component; Represents the data point in the Cartesian coordinate system Axis component; Represents the data point in the Cartesian coordinate system Axis component; For logical operations; To find the vector product; Represents the vector Model; by filtering conditions, the route segment And route segments Perform data point screening; and A reference function representing a route segment;

[0017] Step S7: insert or replace intermediate waypoints;

[0018] Step S8: Iterate the route segments and return to step S4 until all route segments have been iterated to form a complete route.

[0019] Furthermore, the three-dimensional coordinates and the height of the overhead transmission line tower of the route to be planned in step S1 are obtained by querying the point cloud model or the ledger of the overhead transmission line of the route to be planned; assuming that the three-dimensional coordinates of the tower are The tower height is ,in, In Cartesian coordinates, The coordinates of the tower Axis component; In Cartesian coordinates, The coordinates of the tower Axis component; In Cartesian coordinates, The coordinates of the tower Axis component; is the tower number, is transposed.

[0020] Further, the specific process of step S3 is: assuming the three-dimensional coordinates of the tower reference waypoint to be , In Cartesian coordinates, Reference waypoint Axis component; In Cartesian coordinates, Reference waypoint Axis component; In Cartesian coordinates, Reference waypoint Axis component, It is expressed as:

[0021] .

[0022] Furthermore, in step S4, the route segment is the intermediate area between the reference waypoints of two consecutive towers or the intermediate waypoints of two consecutive towers; Reference waypoint arrive Reference waypoint The route segment is , Reference waypoint arrive Intermediate waypoint The route segment is , Intermediate waypoint arrive Intermediate waypoint The route segment is ; Among them, the route segment is divided into a general route segment and a forward route segment. The forward route segment includes a route segment starting at a reference waypoint and ending at an intermediate waypoint. as well as As a forward route segment.

[0023] Furthermore, in step S5, the route segment The reference function group is calculated as follows:

[0024] ;

[0025] In the formula, is the coordinate variable; Represents the coordinate variables in the Cartesian coordinate system Axis component; Represents the coordinate variables in the Cartesian coordinate system Axis component; Represents the coordinate variables in the Cartesian coordinate system Axis component; and A reference function representing a route segment; is the inner product operation; through the route segment The reference function group calculation method calculates the route segment And route segments reference function group; if the route segment is updated or a new route segment is generated, the reference function group is recalculated.

[0026] Furthermore, when the data points are screened in step S6, the corresponding data points are retained if the screening conditions are met, otherwise the corresponding data points are removed.

[0027] Further, the specific process of step S7 is: let the three-dimensional coordinates of the intermediate waypoint be , Represents the intermediate waypoint in the Cartesian coordinate system Axis component; is the intermediate waypoint in the Cartesian coordinate system Axis component; is the intermediate waypoint in the Cartesian coordinate system Axis component, when after data point screening, there are no data points that pass the screening in the route segment, then no intermediate waypoints are added, and the route segment without data points that pass the screening is planned as a straight line from the start point to the end point. When after data point screening, there are data points that pass the screening in the route segment, then the route segment with the data points that pass the screening is set as the forward route segment, and the intermediate waypoints are inserted or replaced in the route segment with the data points that pass the screening. The insertion or replacement of the intermediate waypoints is as follows:

[0028] ;

[0029] In the formula, The point set consisting of the data points that pass the screening The data point with the largest value ; for inserted or substituted intermediate waypoints;

[0030] When the route segment is a general route segment, the method of inserting intermediate waypoints is adopted; when the route segment is a forward exploration route segment, the method of replacing intermediate waypoints is adopted;

[0031] After inserting the intermediate waypoint, the route segment is deleted and two new route segments are generated, and the newly generated route segments are returned to step S4 for iteration;

[0032] After replacing the intermediate waypoint, the route segment is updated, and the updated route segment returns to step S4 for iteration.

[0033] Furthermore, the inserted intermediate waypoints separate the route segment to be planned into two independent route segments, and the two independent route segments are reset and the process returns to step S4 for iteration.

[0034] Furthermore, when the planned route segment is a forward exploration route segment, the new intermediate waypoint replaces the intermediate waypoint at the end of the original route segment, and no new route segment is generated. The original route segment is reset and returns to step S4 for iteration.

[0035] Furthermore, the specific process of step S8 is: when the intermediate waypoint is successfully inserted, a new route segment is generated or the route segment that replaces the intermediate waypoint is returned to step S4 for iteration until all route segments no longer insert or replace intermediate waypoints, thereby realizing iterative planning of each route segment and finally forming a complete route.

[0036] Compared with the existing technology, the present invention has the following beneficial effects: the present invention innovatively utilizes the typical feature targets of the overhead transmission line point cloud to realize the generation of equation routes under complex terrain. The process is simple, easy to program, efficient and robust. The data point screening method adopted supports high parallelism, which can effectively shorten the calculation time. It has high technical advancement and wide applicability. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 The present invention is a flow chart of the method. DETAILED DESCRIPTION

[0038] like Figure 1 As shown, the present invention provides a technical solution: an iterative planning method for aircraft routes based on complex terrain, comprising the following steps:

[0039] Step S1: Obtain the three-dimensional coordinates and height of the overhead transmission line tower of the planned route;

[0040] The three-dimensional coordinates and height of the overhead transmission line tower of the planned route can be obtained by querying the point cloud model or ledger of the overhead transmission line of the planned route; assuming that the three-dimensional coordinates of the tower are The tower height is ,in, In Cartesian coordinates, The coordinates of the tower Axis component; In Cartesian coordinates, The coordinates of the tower Axis component; In Cartesian coordinates, The coordinates of the tower Axis component; is the tower number, is transposed.

[0041] Among them, the three-dimensional coordinates of the tower are inside the three-dimensional coordinate set structure of the tower; the tower height is the vertical distance from the ground to the highest point of the tower geometric structure.

[0042] Step S2: Set different minimum approach distances for overhead transmission lines of different voltage levels and towers of different sizes. In this embodiment, ;

[0043] Among them, the approach distance refers to the minimum allowable distance between the flight route and the overhead transmission line.

[0044] Among them, the minimum approach distance can be set with reference to the aircraft model level, aircraft flight accuracy and flight environment and climatic conditions.

[0045] Step S3: Calculate the tower reference waypoint;

[0046] Assume that the three-dimensional coordinates of the tower reference waypoint are , In Cartesian coordinates, Reference waypoint Axis component; In Cartesian coordinates, Reference waypoint Axis component; In Cartesian coordinates, Reference waypoint Axis component, Calculated by formula (1):

[0047] (1).

[0048] Among them, the reference waypoints cannot be added, deleted or modified.

[0049] Step S4: Setting the route segment;

[0050] The route section is the middle area between the reference waypoints of two consecutive towers or the middle waypoints of two consecutive towers; Reference waypoint arrive Reference waypoint The route segment is , Reference waypoint arrive Intermediate waypoint The route segment is , Intermediate waypoint arrive Intermediate waypoint The route segment is ;Will as well as As a forward route segment.

[0051] Among them, the route segments are divided into general route segments and forward exploration route segments. The forward exploration route segments include route segments that start as reference waypoints and end as intermediate waypoints.

[0052] Step S5: Calculate the reference function group of the route segment;

[0053] by For example, the route segment The reference function group is calculated as follows:

[0054] (2);

[0055] In the formula, represents coordinate variables; Represents the coordinate variables in the Cartesian coordinate system Axis component; Represents the coordinate variables in the Cartesian coordinate system Axis component; Represents the coordinate variables in the Cartesian coordinate system Axis component; and A reference function representing a route segment; is the inner product operation; similarly, the route segment can be calculated by formula (2) And route segments The reference function group.

[0056] Among them, the reference function group needs to be recalculated after the route segment is updated, and the reference function group needs to be calculated after a new route segment is generated.

[0057] Step S6: data point screening;

[0058] The reference function group of the route segment and its own characteristics are used to filter data points. The filtering conditions are as follows:

[0059] (3);

[0060] In the formula, The three-dimensional coordinates of each data point to be screened in the point cloud model of the overhead power transmission line on the planned route; Represents the data point in the Cartesian coordinate system Axis component; Represents the data point in the Cartesian coordinate system Axis component; Represents the data point in the Cartesian coordinate system Axis component; For logical operations; To find the vector product; Represents the vector Similarly, the route segment can be calculated by equation (3). And route segments Perform data point filtering.

[0061] When screening data points, if the condition of formula (3) is met, the corresponding data points are retained, otherwise the corresponding data points are eliminated.

[0062] Among them, data point screening can use methods such as intermediate dump to speed up the screening process.

[0063] Step S7: insert or replace intermediate waypoints;

[0064] Assume the three-dimensional coordinates of the intermediate waypoint are , Represents the intermediate waypoint in the Cartesian coordinate system Axis component; is the intermediate waypoint in the Cartesian coordinate system Axis component; is the intermediate waypoint in the Cartesian coordinate system Axis component; when after data point screening, there is no data point that passes the screening in the route segment, there is no need to add intermediate waypoints, and the route segment without data points that pass the screening is planned as a straight line from the start point to the end point. When after data point screening, there are data points that pass the screening in the route segment, the route segment with the data points that pass the screening is set as the forward route segment, and the intermediate waypoints are inserted or replaced in the route segment with the data points that pass the screening. The insertion or replacement of the intermediate waypoints is as follows:

[0065] (4);

[0066] In the formula, The point set consisting of the data points that pass the screening The data point with the largest value ; An intermediate waypoint to insert or replace.

[0067] Among them, when the route segment is a general route segment, the method of inserting intermediate waypoints is adopted, and when the route segment is a forward exploration route segment, the method of replacing intermediate waypoints is adopted;

[0068] Inserting an intermediate waypoint will delete the route segment, and inserting an intermediate waypoint will generate two new route segments. The newly generated route segments return to step S4 for iteration;

[0069] Replacing an intermediate waypoint does not generate a new route segment. Replacing an intermediate waypoint will update the route segment. The updated route segment needs to return to step S4 for iteration.

[0070] The inserted intermediate waypoint separates the route segment to be planned into two independent route segments, and the two independent route segments are reset and returned to step S4 for iteration.

[0071] When the planned route segment is a forward exploration route segment, the new intermediate waypoint replaces the intermediate waypoint at the end of the original route segment, and no new route segment is generated, but the original route segment still needs to be reset and return to step S4 for iteration.

[0072] Step S8: Iterate the route segments and return to step S4 until all route segments have been iterated to form a complete route.

[0073] When an intermediate waypoint is successfully inserted, a new route segment or a route segment that replaces the intermediate waypoint is generated. The generated new route segment or the route segment that replaces the intermediate waypoint is returned to step S4 for iteration until all route segments no longer have intermediate waypoints inserted or replaced, thereby achieving iterative planning for each route segment and finally forming a complete route.

[0074] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A method for iterative planning of aircraft routes based on complex terrain, characterized in that: The steps include: Step S1: Obtain the three-dimensional coordinates and height of the overhead transmission line tower of the planned route; Step S2: Set different minimum approach distances for overhead transmission lines of different voltage levels and towers of different sizes. ; Step S3: Calculate the tower reference waypoint; Step S4: Setting the route segment; Step S5: Calculate the reference function group of the route segment; Step S6: data point screening; The specific process of step S6 is: using the reference function group of the route segment and the route segment characteristics to filter the data points, and the filtering conditions are as follows: ； In the formula, The three-dimensional coordinates of each data point to be screened in the point cloud model of the overhead power transmission line of the planned route; Represents the data point in the Cartesian coordinate system Axis component; Represents the data point in the Cartesian coordinate system Axis component; Represents the data point in the Cartesian coordinate system Axis component; For logical operations; To find the vector product; Represents the vector Model; by filtering conditions, the route segment And route segments Perform data point screening; and A reference function representing a route segment; Step S7: insert or replace intermediate waypoints; Step S8: iterate the route segments and return to step S4 until all route segments have been iterated to form a complete route; The three-dimensional coordinates and the height of the overhead transmission line tower of the route to be planned in step S1 are obtained by querying the point cloud model or account book of the overhead transmission line of the route to be planned; the three-dimensional coordinates of the tower are set to The tower height is ,in, In Cartesian coordinates, The coordinates of the tower Axis component; In Cartesian coordinates, The coordinates of the tower Axis component; In Cartesian coordinates, The coordinates of the tower Axis component; is the tower number, is transposed; The specific process of step S3 is: suppose the three-dimensional coordinates of the tower reference waypoint are , In Cartesian coordinates, Reference waypoint Axis component; In Cartesian coordinates, Reference waypoint Axis component; In Cartesian coordinates, Reference waypoint Axis component, It is expressed as: ； In step S4, the route segment is the intermediate area between the reference waypoints of two consecutive towers or the intermediate waypoints of two consecutive towers; Reference waypoint arrive Reference waypoint The route segment is , Reference waypoint arrive Intermediate waypoint The route segment is , Intermediate waypoint arrive Intermediate waypoint The route segment is ; Among them, the route segment is divided into a general route segment and a forward route segment. The forward route segment includes a route segment starting at a reference waypoint and ending at an intermediate waypoint. as well as As a forward route segment.

2. The method for iteratively planning an aircraft route based on complex terrain according to claim 1, characterized in that: Step S5: Route segment The reference function group is calculated as follows: ； In the formula, is the coordinate variable; Represents the coordinate variables in the Cartesian coordinate system Axis component; Represents the coordinate variables in the Cartesian coordinate system Axis component; Represents the coordinate variables in the Cartesian coordinate system Axis component; and A reference function representing a route segment; is the inner product operation; through the route segment The reference function group calculation method calculates the route segment And route segments reference function group; if the route segment is updated or a new route segment is generated, the reference function group is recalculated.

3. The method for iteratively planning an aircraft route based on complex terrain according to claim 2, characterized in that: When the data points are screened in step S6, the corresponding data points are retained if the screening conditions are met, otherwise the corresponding data points are removed.

4. The method for iteratively planning an aircraft route based on complex terrain according to claim 3, characterized in that: The specific process of step S7 is: let the three-dimensional coordinates of the intermediate waypoint be , Represents the intermediate waypoint in the Cartesian coordinate system Axis component; is the intermediate waypoint in the Cartesian coordinate system Axis component; is the intermediate waypoint in the Cartesian coordinate system Axis component, when after data point screening, there are no data points that pass the screening in the route segment, then no intermediate waypoints are added, and the route segment without data points that pass the screening is planned as a straight line from the start point to the end point. When after data point screening, there are data points that pass the screening in the route segment, then the route segment with the data points that pass the screening is set as the forward route segment, and the intermediate waypoints are inserted or replaced in the route segment with the data points that pass the screening. The insertion or replacement of the intermediate waypoints is as follows: ； In the formula, The point set consisting of the data points that pass the screening The data point with the largest value ; for inserted or substituted intermediate waypoints; When the route segment is a general route segment, the method of inserting intermediate waypoints is adopted; when the route segment is a forward exploration route segment, the method of replacing intermediate waypoints is adopted; After inserting the intermediate waypoint, the route segment is deleted and two new route segments are generated, and the newly generated route segments are returned to step S4 for iteration; After replacing the intermediate waypoint, the route segment is updated, and the updated route segment returns to step S4 for iteration.

5. The method for iterative planning of aircraft routes based on complex terrain according to claim 4, characterized in that: The inserted intermediate waypoint separates the route segment to be planned into two independent route segments, and the two independent route segments are reset and returned to step S4 for iteration.

6. The method for iterative planning of aircraft routes based on complex terrain according to claim 5, characterized in that: When the planned route segment is a forward exploration route segment, the new intermediate waypoint replaces the intermediate waypoint at the end of the original route segment, and no new route segment is generated. The original route segment is reset and returns to step S4 for iteration.

7. The method for iterative planning of aircraft routes based on complex terrain according to claim 6, characterized in that: The specific process of step S8 is: when the intermediate waypoint is successfully inserted, a new route segment is generated or the route segment that replaces the intermediate waypoint is returned to step S4 for iteration until all route segments no longer insert or replace intermediate waypoints, thereby realizing iterative planning of each route segment and finally forming a complete route.

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