A method and related device for repairing UAV communication base station in coordination with distribution network

Abstract

The invention discloses a repair method and related devices for coordination of unmanned aerial vehicle communication base stations and distribution networks, belonging to the technical field of distribution network repair. The repair method establishes an unmanned aerial vehicle deployment model with the goal of full coverage of fault point communication; a discretized position set coverage model is used to discretize the area to be deployed into a point set, and the optimal hovering position of the unmanned aerial vehicle is obtained through the unmanned aerial vehicle deployment model; a path table and a time vector are introduced, and an unmanned aerial vehicle communication path planning model is established through path constraints and time constraints; with the goal of minimizing power outage losses of the distribution network and minimizing fault repair time in the post-disaster repair stage, a distribution network repair scheduling model is established through fault repair and material scheduling and unmanned aerial vehicle communication timing coupling constraints, repair team scheduling constraints and distribution network operation constraints; based on the optimal hovering position of the unmanned aerial vehicle, a rolling decision is made through the unmanned aerial vehicle communication path planning model and the distribution network repair scheduling model to obtain a repair strategy for coordination of the communication base station and the distribution network.

Description

Technical Field

[0001] The present invention belongs to the technical field of power distribution network emergency repair, and relates to an emergency repair method and related devices for coordinated UAV communication base station and power distribution network. Background Art

[0002] In modern society, the power system is a key infrastructure that supports economic development and residents' lives. However, in extreme climate disasters such as heavy rains and typhoons, the power system, especially the distribution network, is often severely damaged, resulting in large-scale power outages. Such disasters not only damage power facilities, but may also damage communication networks, posing major challenges to the emergency repair of distribution networks. During the emergency repair of distribution networks, timely and effective communication is an important guarantee to ensure that the repair team responds quickly, allocates resources reasonably, and optimizes the emergency repair strategy. However, when the communication network is damaged, the dispatch and coordination of the repair team becomes difficult, and real-time information sharing and command cannot be achieved, which leads to reduced efficiency of emergency repair work, prolonged power outages, and increased economic losses.

[0003] Traditional distribution network post-disaster repair focuses on the restoration of power equipment, that is, studying the dispatching of power grid repair teams and emergency materials. Existing post-disaster repair methods mainly include the following: 1) Fault location and repair team path planning. 2) Coordinated dispatching of emergency materials and repair teams. 3) Remote control and assistance of automated equipment.

[0004] Existing post-disaster repair research mainly considers the uncertainty of fault repair time, adopts rolling optimization and multi-time section decision-making methods, unifies decisions and dynamically updates the spatiotemporal coordinated optimization scheduling plan of fault repair teams and emergency materials in the distribution network. This type of research can well meet the real-time nature of strategy formulation, but ignores the key role of the communication system in the post-disaster repair process. The communication system is crucial for coordinating various repair teams and timely transmitting repair instructions and repair progress. During the post-disaster power grid repair process, if the communication system is interrupted, the repair personnel will not be able to obtain the dispatching instructions in time, and can only make their own judgments based on the on-site situation, which will lead to a decrease in repair efficiency and may even miss important repair opportunities; in addition, communication recovery is also crucial to ensure the safety of repair personnel. Under severe weather conditions, repair personnel may face a variety of safety hazards, such as further damage to power facilities and geographical obstacles caused by extreme weather. If communication is not restored, repair personnel will not be able to receive safety warnings or emergency instructions from the outside world in time, increasing the risk of accidents.

[0005] In summary, it is urgent to develop a coordinated optimization repair and dispatching strategy that considers UAV communication and distribution network in extreme disaster scenarios such as heavy rain, so as to achieve high-efficiency repair and reduce the repair time and distribution network load loss while ensuring personnel safety and smooth information transmission. Summary of the invention

[0006] The purpose of the present invention is to provide a repair method and related devices for the coordination of UAV communication base stations and distribution networks, so as to solve the technical problems of the prior art in that communication is poor in extremely bad weather, which affects the repair efficiency and causes load loss in the distribution network.

[0007] In order to achieve the above object, the present invention adopts the following technical solutions:

[0008] In a first aspect, the present invention provides a method for repairing a UAV communication base station in coordination with a distribution network, comprising the following steps:

[0009] Establish a UAV deployment model with the goal of full communication coverage of fault points; discretize the area to be deployed into a point set using a discretized location set coverage model, and then obtain the optimal hovering position of the UAV through the UAV deployment model;

[0010] The path table and time vector are introduced, and the UAV communication path planning model is established through path constraints and time constraints;

[0011] With the goal of minimizing power outage losses and shortest repair time in the post-disaster repair phase, a distribution network repair dispatch model is established by coupling fault repair with material dispatch and UAV communication timing constraints, repair team dispatch constraints, and distribution network operation constraints.

[0012] Based on the optimal hovering position of the UAV, a rolling decision is made through the UAV communication path planning model and the distribution network emergency repair scheduling model to obtain an emergency repair strategy for the coordination of the communication base station and the distribution network.

[0013] Furthermore, the expression of the drone deployment model is:

[0014]

[0015]

[0016]

[0017]

[0018]

[0019]

[0020] In the formula, n is the number of discrete points; c Indicates the fault point; k Represents discrete points; Indicates the fault point c Discretized points kBase station coverage at the location; A variable between 0 and 1, indicating whether the discrete point k is selected as the base station working point; is a set of discrete points; is a set of fault points in the area to be deployed; Indicates the coordinates of the fault point; Represents the coordinates of discrete points; is the coverage radius of the drone communication base station; It represents the relationship between the distance between the fault point and the discrete point and the coverage radius of the UAV communication base station; Indicates the upper limit of the number of fault points within the drone's coverage area.

[0021] Furthermore, the expression of the path constraint is:

[0022]

[0023]

[0024]

[0025]

[0026]

[0027] In the formula, Represents a set of warehouse points; represents a set of working points; Indicates the number of drones departing from the warehouse; To indicate the state where the drone is not moving at the same point; is the first point mark; is the second point mark; is a 0-1 variable. If the drone is along a certain period of time i Click to move to j point, then =1, otherwise =0; To express and Opposite movement path; is a 0-1 variable. h Click Return i When clicking, take 1; The number of all fault points to be repaired; It is the third point mark;

[0028] The expression of the time constraint is:

[0029]

[0030]

[0031]

[0032]

[0033]

[0034]

[0035] In the formula, The moment when the drone arrives at the work site; Indicates the initial moment when the emergency repair base station starts to move; is the first point mark; Gather for warehouse points; The moment when the drone leaves the working point; The maximum time length is set; For drones from Click to move to The flight duration of the point; for Point communication maintenance time; is the preset coefficient; is a 0-1 variable. If the drone is along a certain period of time i Click to move to j point, then =1, otherwise =0; represents a set of working points; is the second point mark; For drones Minimum duration of stay at a point; Repair for the repair team Point time; Repair for the repair team Point time; The number of all fault points to be repaired.

[0036] Furthermore, the expression of the UAV communication path planning model is:

[0037]

[0038]

[0039]

[0040]

[0041] In the formula, is the repair order decision function; The loss of load power outage; Time taken to arrange the first site; The attribute of the distribution network repair team is equivalent to being responsible for repairs The trouble spot team and The total time taken to repair the fault points by the team responsible for repairing the fault point. is a constant; To repair the fault point The travel time of the team from the fault point ; The travel time between the repair team A and the first fault point; The time taken to repair the first fault point; The total time from when repair team A starts repairing to when team A / B finishes repairing the previous fault point; For the h Repair time of each fault point.

[0042] Furthermore, the expression of the coupling constraint of the fault repair, material dispatch and UAV communication timing is:

[0043]

[0044]

[0045]

[0046]

[0047] In the formula, is the set of emergency repair situations of each fault point, and all variables in the set are 0-1; Indicates the emergency repair status of the first fault point. The value is 1 when the emergency repair is in progress and 0 when the emergency repair is waiting. Indicates the emergency repair status of the second fault point. The value is 1 when the emergency repair is in progress and 0 when the emergency repair is waiting. Indicates the emergency repair status of the third fault point. The value is 1 when the emergency repair is in progress and 0 when the emergency repair is waiting. Indicates the emergency repair status of the fourth fault point. The value is 1 when the emergency repair is in progress and 0 when the emergency repair is waiting. Indicates The value of the fault point is 1 when the fault point is under repair and 0 when the fault point is waiting for repair. is the communication recovery status set of each fault point, and all the variables in the set are 0-1; Indicates the communication recovery status of the first fault point. It takes 1 if the communication has been restored and 0 if it is not restored. Indicates the communication recovery status of the second fault point. It takes 1 if the communication has been restored and 0 if it is not restored. Indicates the communication recovery status of the third fault point. It takes 1 if the communication has been restored and 0 if it is not restored. Indicates the communication recovery status of the fourth fault point. It takes 1 if the communication has been restored and takes 0 if it is not restored. Indicates The communication recovery status of each fault point, 1 if the communication has been restored, and 0 if it is not restored; is the set of material and equipment conditions at each fault point, and all variables in the set are 0-1; Indicates the material and equipment status of the first fault point. The value is 1 when the material and equipment are sufficient, and 0 when they are insufficient. Indicates the material and equipment status of the second fault point. The value is 1 when the material and equipment are sufficient, and 0 when they are insufficient. Indicates the material and equipment status of the third fault point. The value is 1 when the material and equipment are sufficient, and 0 when they are insufficient. Indicates the material and equipment status of the fourth fault point. The value is 1 when the material and equipment are sufficient, and 0 when they are insufficient. Indicates The material and equipment status of each fault point. If the material and equipment are sufficient, the value is 1; if they are insufficient, the value is 0; Indicates the fault point The situation of materials and equipment; Indicates the fault point The restoration of communications; Indicates the fault point The emergency repair situation;

[0048] The expression of the repair team scheduling constraint is:

[0049]

[0050]

[0051]

[0052]

[0053] In the formula, Indicates the fault point that needs emergency repair; is the set of fault points; Indicates a point in time; is a collection of time points; Indicates the fault point that is being repaired; Fault point Repair time; is the preset coefficient; To determine the fault point exist A 0-1 variable indicating whether the fault status at the moment has changed. A value of 1 indicates that the fault status has changed, and a value of 0 indicates that the fault status has not changed; For Time failure point A 0-1 variable of the repair status, a value of 1 indicates a fault point At the moment Repair completed, value 0 indicates fault point exist The repairs have not been completed yet; The number of emergency repair teams;

[0054] The expression of the distribution network operation constraint is:

[0055]

[0056]

[0057]

[0058]

[0059]

[0060]

[0061]

[0062]

[0063] In the formula, For Node j The set of upstream nodes; For branch jk exist t Active power at the moment; For Node j exist t Active power at the moment; For branch ij exist t Active power at the moment; For Node j exist t The load-loss active power at the moment; is the set of all nodes in the distribution network; For Node j The set of downstream nodes; For branch jk exist t Reactive power at the moment; For branch ij exist tReactive power at the moment; For Node j exist t Reactive power at the moment; For Node j exist t The reactive power of load loss at the moment; is the preset coefficient; is a 0-1 variable. If the branch ij If connected, it is 1, otherwise it is 0; For Node i exist t Voltage value at the moment; For Node j exist t Voltage value at the moment; For branch ij The resistance value; For branch ij The reactance value of For Node j The minimum voltage allowed; For Node j The maximum voltage allowed; For branch ij The capacity limit of For Node The power factor of the load.

[0064] Furthermore, the distribution network emergency repair dispatch model is expressed as:

[0065]

[0066]

[0067]

[0068]

[0069] In the formula, It means that the power outage loss and fault repair time are the least; is the power outage loss function; It is the fault repair time function; is the total number of fault points in the distribution network system; N It is the failure point i Total number of load losses at Represents the fault point i Load loss node j Active power of Represents the fault point i The power outage time at the location; represents weight; Represents the time from the last fault point to the fault point i The time taken to travel Fault point i Time required for emergency repairs; To start communication, base stations are deployed to the fault point. i Total time for communication restoration; From the first fault point to the fault point i-1 The time taken to travel Indicates the total time taken to deploy the drone; Indicates the total time taken to complete communication maintenance; It indicates the total time taken by Team A to repair the route; It indicates the total time taken by Team B to repair the route; It indicates the total time required for dispatching when emergency repair materials and equipment are insufficient; It indicates the total time taken by Team A to repair the fault point; It indicates the total time taken by Team B to repair the fault point.

[0070] Furthermore, the step of making a rolling decision based on the optimal hovering position of the UAV and obtaining a repair strategy for coordination between the communication base station and the distribution network through the UAV communication path planning model and the distribution network repair scheduling model specifically includes:

[0071] S401, obtaining the operation status information of the distribution network after the disaster, and obtaining the UAV communication recovery decision through the UAV communication path planning model based on the optimal hovering position of the UAV;

[0072] S402, according to the UAV communication recovery decision, restore the communication of the fault point and update the communication status of the fault point;

[0073] S403, based on the communication status of the fault point, a distribution network emergency repair decision is generated through a distribution network emergency repair dispatch model, and an emergency repair team is dispatched to perform emergency repairs, and the emergency repair status of the emergency repair team and the emergency repair information of the fault point are updated;

[0074] S404, loop S401 to S403 until the communication status of each fault point is restored and the emergency repair information is all repaired.

[0075] In a second aspect, the present invention provides an emergency repair system for a UAV communication base station and a distribution network, comprising:

[0076] The drone site selection module is used to establish a drone deployment model with the goal of full coverage of fault point communications; the area to be deployed is discretized into a point set using a discretized location set coverage model, and then the optimal hovering position of the drone is obtained through the drone deployment model;

[0077] The path planning module is used to introduce the path table and time vector, and establish the UAV communication path planning model through path constraints and time constraints;

[0078] The emergency repair dispatch module is used to establish a distribution network emergency repair dispatch model with the goal of minimizing power outage losses and shortest fault repair time in the post-disaster emergency repair phase through the coupling constraints of fault repair and material dispatch and drone communication timing, emergency repair team dispatch constraints and distribution network operation constraints;

[0079] The rolling decision module is used to make rolling decisions based on the optimal hovering position of the UAV, through the UAV communication path planning model and the distribution network emergency repair scheduling model, to obtain an emergency repair strategy for the coordination of the communication base station and the distribution network.

[0080] In a third aspect, the present invention provides a computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above method when executing the computer program.

[0081] In a fourth aspect, the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above method are implemented.

[0082] Compared with the prior art, the present invention has the following beneficial effects:

[0083] The present invention discloses a repair method and related devices for the coordination of a UAV communication base station and a distribution network. The present invention constructs a UAV deployment model, and achieves the goal of minimizing the number of UAV pre-selected sites under the premise of ensuring coverage of all fault points. Compared with the previous UAV site selection method based on a geometric continuous model, the deployment area is discretized, so that the construction and solution of the deployment model are easier to achieve, ensuring video, voice, and data communications between repair teams and between repair teams and a main station; then, the present invention respectively establishes a UAV communication path planning model and a distribution network repair scheduling model, and proposes a two-stage collaborative optimization scheduling method for distribution network post-disaster communication and fault repair. Each stage makes independent decisions, and the two-stage rolling decisions can effectively simplify the repair decision-making process and the complexity of the model while ensuring the communication of personnel in the post-disaster repair process, thereby improving the efficiency and economy of the distribution network post-disaster repair, and reducing the repair time and power outage losses. BRIEF DESCRIPTION OF THE DRAWINGS

[0084] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0085] Figure 1 is a flow chart of the method of the present invention;

[0086] Figure 2 is a schematic diagram of the system of the present invention;

[0087] Figure 3 This is a schematic diagram of UAV communication coverage according to an embodiment of the present invention;

[0088] Figure 4 This is a schematic diagram of the deployment of a UAV communication base station according to an embodiment of the present invention;

[0089] Figure 5a is a path diagram of an embodiment of the present invention, Figure 5b is the arrival time diagram;

[0090] Figure 6 This is a flowchart of the two-stage communication-distribution network collaborative repair after a disaster according to an embodiment of the present invention;

[0091] Figure 7 It is a schematic diagram of the computer device structure of the present invention. DETAILED DESCRIPTION

[0092] The present invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments. It should be noted that the embodiments and features in the embodiments of the present application can be combined with each other without conflict.

[0093] The following detailed description is an exemplary description, which is intended to provide further detailed description of the present invention. Unless otherwise specified, all technical terms used in the present invention have the same meaning as those generally understood by those skilled in the art to which the present application belongs. The terms used in the present invention are only for describing specific embodiments, and are not intended to limit exemplary embodiments according to the present invention.

[0094] The present invention is further described in detail below in conjunction with the accompanying drawings:

[0095] Embodiment 1:

[0096] See also Figure 1 The embodiment of the present invention discloses a repair method for a UAV communication base station in coordination with a distribution network, comprising the following steps:

[0097] S1, establishing a UAV deployment model with the goal of full coverage of fault point communication; using a discretized location set coverage model to discretize the area to be deployed into a point set, and then obtaining the optimal hovering position of the UAV through the UAV deployment model;

[0098] Due to the limited flight altitude, endurance and coverage of drones, in order to maximize the use of limited drone resources, how to consider its economic efficiency in the decision-making process and ensure that the minimum number of drones can cover all power grid fault points has become an important optimization problem. In order to effectively use drone base stations for emergency communications, it is first necessary to establish a model about its coverage and data transmission capabilities. The target of the drone is not a specific location in the distribution network, but a collection of multiple communication nodes in the distribution network. It needs to find a suitable suspension point in a two-dimensional plane at a specified flight altitude to cover as many fault points as possible. If the specific suspension position of the drone has not been determined, it will be difficult to integrate its path optimization and load recovery into one model. The main function of this model is to determine the optimal working position of the drone.

[0099] To reduce the interference between drones, we first assume that each drone is equipped with one antenna, see Figure 3 , the angle between its elevation and the horizontal plane forms Angle, that is, satisfy The relationship is shown in the figure. Secondly, the optimal suspension height of the drone h With its maximum coverage radius r The relationship between depends only on the environmental parameters. When the external environment remains unchanged and the maximum loss of the transmission path is known, is a fixed value. That is, when the drone is suspended at a fixed height, the radius of the maximum coverage range is the same, and the communication nodes outside the coverage range will not be interfered with by the communication of the drone base station. In this embodiment, it is assumed that the suspension height of all drones is the same and fixed, and only the fault point within the coverage range of the drone can communicate with it.

[0100] The drone base station site selection problem in this step can be modeled as a Location Set Covering Problem (LSCP), whose goal is to select the minimum number of emergency work points while ensuring that all fault areas are covered, and use these locations as the drone's suspension sites. LSCP is essentially a continuous optimization problem, that is, countless potential points in the area can be used as base station working points, which makes the problem highly complex in modeling and solving. This embodiment can convert the problem into a discrete model by discretizing the deployment area into a finite set of points, thereby simplifying the model building and solution process. This embodiment converts LSCP into a discrete model through a discretization method, uses a uniformly distributed point set to discretize the deployment area, and uses these points as candidate suspension locations for the drone. Figure 4 As shown in the figure, the small circle represents the fault point in the distribution network, that is, the demand point that the drone needs to cover; the large circular area represents the coverage range of the drone, and the center of the circle is the deployment location of the drone. Finally, the expression of the drone deployment model is obtained as follows:

[0101] (1)

[0102] (2)

[0103] (3)

[0104] (4)

[0105] (5)

[0106] (6)

[0107] In the formula, n is the number of discrete points; c Indicates the fault point; k Represents discrete points; Indicates the fault point c quilt k Base station coverage at the location; A variable between 0 and 1, indicating whether point k is selected as a base station working point. ,on the contrary ; is a set of discrete points; is a set of fault points in the area to be deployed; Indicates the coordinates of the fault point; Represents the coordinates of discrete points; is the coverage radius of the drone communication base station; It represents the relationship between the distance between the fault point and the discrete point and the coverage radius of the UAV communication base station; Indicates the upper limit of the number of fault points within the drone's coverage area.

[0108] Formula (1) is the objective function, which means minimizing the number of working points; the constraints are formula (2) and formula (3). Formula (2) means that the fault area needs to be covered by at least one base station. Formula (3) means that the number of fault points that can be accommodated by the transmission capacity of the drone base station is limited. When the number of fault points in the distribution network is large and dense, this constraint needs to be considered. Formulas (1)-(3) constitute the drone deployment model for the site selection of the drone base station working point. Formulas (4)-(6) are the descriptions of variables and parameters. In formula (4): is a 0-1 variable. When point k is selected as the base station working point ,on the contrary ; In formula (5): Indicates the situation where the fault point c is covered by the base station at k. It takes 1 if it is covered, otherwise it takes 0. In formula (6), and Represent the location coordinates of the fault point c and the discrete point respectively.

[0109] S2, introduces the path table and time vector, and establishes the UAV communication path planning model through path constraints and time constraints;

[0110] The path table is a common concept in routing problems and can be used to describe the activities of different entities in the context of the proposed comprehensive model. The path table of a drone is defined as a , where each element is a matrix of 0-1 variables. The off-diagonal elements Represents the path between two work points Whether it has been visited by a drone, if so, ,otherwise The path table and arrival time table of this embodiment are explained as follows: Figure 5a and Figure 5b As shown, are the diagonal items of the path table, , and They are all non-diagonal items in the path table. , and Indicates the time to reach the specified node. The definitions of each variable are shown in Table 1.

[0111] Table 1 Route and arrival schedule

[0112]

[0113] The expression of the path constraint is:

[0114] (7)

[0115] (8)

[0116] (9)

[0117] (10)

[0118] (11)

[0119] In the formula, Represents a set of warehouse points; represents a set of working points; Indicates the number of drones departing from the warehouse; It is a fixed value of 1, indicating that the drone is not moving at the same point; is the first point mark; is the second point mark; is a 0-1 variable. If the drone is along a certain period of time i Click to move to j point, then =1, otherwise =0; To express and Opposite movement path; is a 0-1 variable. h Click Return i When clicking, take 1; The number of all fault points to be repaired; It is the third point mark;

[0120] Formulas (7) and (8) indicate that the diagonal element where the warehouse is located on the path table is 1, and the other diagonal elements are zero; Formula (9) indicates that the movement of the drone base station along the same path cannot be more than 1 time; Formula (10) indicates that the number of base stations starting from the warehouse is limited, and the number of drones returning to the warehouse cannot be greater than the number of starting points; Formula (11) indicates that each work point can only be visited by at most 1 base station.

[0121] The expression of the time constraint is:

[0122] (12)

[0123] (13)

[0124] (14)

[0125] (15)

[0126] (16)

[0127] (17)

[0128] In the formula, The moment when the drone arrives at the work site; Indicates the initial moment when the emergency repair base station starts to move; is the first point mark; Gather for warehouse points; The moment when the drone leaves the working point; The maximum time length is set; For drones from Click to move to The flight duration of the point; for Point communication maintenance time; is the preset coefficient, take 1000; is a 0-1 variable. If the drone is along a certain period of time i Click to move to j point, then =1, otherwise =0; represents a set of working points; is the second point mark; For drones Minimum duration of stay at a point; Repair for the repair team Point time; Repair for the repair team Point time; The number of all fault points to be repaired.

[0129] Formula (12) indicates that the initial time when the emergency repair base station starts to move is ; Formula (13) indicates that the time when the base station leaves the working point is greater than the time when it arrives; Formulas (14)-(15) indicate that if the base station Point Arrival point, the base station reaches The time of arrival is equal to The moment of the point plus the suspension time, The total time used for point communication and maintenance time and the moving time between two points; Formula (16) indicates that the time when the base station leaves the work site should not be less than the arrival time plus the total repair time, the work site communication and maintenance time and the minimum suspension time; Formula (17) indicates that if a work point is not covered by any base station access, its arrival time takes the maximum value of the set time range. This embodiment does not take into account energy constraints, and it is assumed that the drone can return to the warehouse within the range of endurance.

[0130] The deployment order of the drones is consistent with the repair order of the repair team. The drones transmit the communication deployment information to the distribution network fault repair personnel, who can then formulate a fault repair strategy based on the importance information of each fault point where communication has been restored. Each communication recovery area is defined as Area1 , Area2 … AreaN , the base station coordinate position is defined as O 1. O 2…… O N , the failure point in the recovery area is a k1 , a k2 … a kn The prerequisite for the emergency repair task is that the communication in the area has been restored through drones and the materials and equipment required for the repair are complete.

[0131] The UAV communication path planning model is as follows:

[0132] (18)

[0133] (19)

[0134] (20)

[0135] (twenty one)

[0136] In the formula, is the repair order decision function; The loss of load power outage; Time taken to arrange the first site; The attribute of the distribution network repair team is equivalent to being responsible for repairs The trouble spot team and The total time taken to repair the fault points by the team responsible for repairing the fault point. is a constant; To repair the fault point The travel time of the team from the fault point ; The travel time between the repair team A and the first fault point; The time taken to repair the first fault point; The total time from when repair team A starts repairing to when team A / B finishes repairing the previous fault point; For the h Repair time of each fault point.

[0137] In formula (18) The load power outage loss, since the repair starts after the drone is deployed for the first time, it is also necessary to consider , is the time taken to arrange the first site. Formula (19) is the emergency repair situation of the first fault point: By default, the first fault point is repaired by Team A. It is the travel time between the repair team A and the first fault point. Since the repair team A and the drone set out together, =0; is the maintenance time of the first fault point. h The emergency repair situation of each fault point, The total time from when repair team A starts repairing to when team A / B finishes repairing the previous fault point, taking the minimum value between A and B. For the h Repair time of each fault point.

[0138] S3, with the goal of minimizing power outage losses and shortest fault repair time in the post-disaster repair phase, establishes a distribution network repair dispatch model through the coupling constraints of fault repair, material dispatch, and drone communication timing, repair team dispatch constraints, and distribution network operation constraints;

[0139] This step aims to minimize the power outage loss and the shortest fault repair time in the post-disaster repair phase of the distribution network, and establish a distribution network repair scheduling model. The objective function is shown in formula (22).

[0140] (twenty two)

[0141] In the formula, It means that the power outage loss and fault repair time are the least; is the power outage loss function; It is the fault repair time function;

[0142] Power outage loss function:

[0143] (twenty three)

[0144] In the formula, is the total number of fault points in the distribution network system; N It is the failure point i Total number of load losses at Represents the fault point i Load loss node j Active power of Represents the fault point i The power outage time at the location; represents weight;

[0145] Failure Point iThe calculation formula for the power outage time is:

[0146] (twenty four)

[0147] In the formula, Represents the fault point i The power outage time at the location; represents weight; Represents the time from the last fault point to the fault point i The time taken to travel Fault point i Time required for emergency repairs; To start communication, base stations are deployed to the fault point. i Total time for communication restoration; From the first fault point to the fault point i-1 The time taken to travel

[0148] Fault repair time function:

[0149] (25)

[0150] In the formula, Indicates the total time taken to deploy the drone; Indicates the total time taken to complete communication maintenance; It indicates the total time taken by Team A to repair the route; It indicates the total time taken by Team B to repair the route; It indicates the total time required for dispatching when emergency repair materials and equipment are insufficient; It indicates the total time taken by Team A to repair the fault point; It indicates the total time taken by Team B to repair the fault point.

[0151] The expression of the coupling constraint of fault repair, material dispatch and UAV communication timing is:

[0152] (26)

[0153] (27)

[0154] (28)

[0155] (29)

[0156] In the formula, is the set of emergency repair situations of each fault point, and all variables in the set are 0-1; Indicates the emergency repair status of the first fault point. The value is 1 when the emergency repair is in progress and 0 when the emergency repair is waiting. Indicates the emergency repair status of the second fault point. The value is 1 when the emergency repair is in progress and 0 when the emergency repair is waiting. Indicates the emergency repair status of the third fault point. The value is 1 when the emergency repair is in progress and 0 when the emergency repair is waiting. Indicates the emergency repair status of the fourth fault point. The value is 1 when the emergency repair is in progress and 0 when the emergency repair is waiting. Indicates The value of the fault point is 1 when the fault point is under repair and 0 when the fault point is waiting for repair. is the communication recovery status set of each fault point, and all the variables in the set are 0-1; Indicates the communication recovery status of the first fault point. It takes 1 if the communication has been restored and 0 if it is not restored. Indicates the communication recovery status of the second fault point. It takes 1 if the communication has been restored and 0 if it is not restored. Indicates the communication recovery status of the third fault point. It takes 1 if the communication has been restored and takes 0 if it is not restored. Indicates the communication recovery status of the fourth fault point. It takes 1 if the communication has been restored and takes 0 if it is not restored. Indicates The communication recovery status of each fault point, 1 if the communication has been restored, and 0 if it is not restored; is the set of material and equipment conditions at each fault point, and all variables in the set are 0-1; Indicates the material and equipment status of the first fault point. The value is 1 when the material and equipment are sufficient, and 0 when they are insufficient. Indicates the material and equipment status of the second fault point. The value is 1 when the material and equipment are sufficient, and 0 when they are insufficient. Indicates the material and equipment status of the third fault point. The value is 1 when the material and equipment are sufficient, and 0 when they are insufficient. Indicates the material and equipment status of the fourth fault point. The value is 1 when the material and equipment are sufficient, and 0 when they are insufficient. Indicates The material and equipment status of each fault point. If the material and equipment are sufficient, the value is 1; if they are insufficient, the value is 0; Indicates the fault point The situation of materials and equipment; Indicates the fault point The restoration of communications; Indicates the fault point The emergency repair situation;

[0157] Formula (29) means that only when the fault point k The communication is normal, that is, the drone deployment range has been covered k The emergency repair personnel can only carry out the emergency repair task of the fault point when the materials and equipment required for the emergency repair of the fault point are in sufficient condition.

[0158] The expression of the repair team scheduling constraint is:

[0159] (30)

[0160] (31)

[0161] (32)

[0162] (33)

[0163] In the formula, Indicates the fault point that needs emergency repair; is the set of fault points; Indicates a point in time; is a collection of time points; Indicates the fault point that is being repaired; Fault point Repair time; is the preset coefficient; To determine the fault point exist A 0-1 variable indicating whether the fault status at the moment has changed. A value of 1 indicates that the fault status has changed, and a value of 0 indicates that the fault status has not changed; For Time failure point A 0-1 variable of the repair status, a value of 1 indicates a fault point At the moment Repair completed, value 0 indicates fault point exist The repairs have not been completed yet; is the number of the repair team, which is 1 in this embodiment;

[0164] The dispatch of emergency repair personnel needs to satisfy constraints (30)-(33). Formula (30) represents the fault point to be repaired m time constraint; Formula (31) indicates that before the fault point repair status changes, the repair personnel should complete the repair task within the continuous time; Formula (32) indicates that the repaired fault point m exist t The state quantity at any moment; Formula (33) indicates that the number of fault points being repaired at any moment is not greater than the number of repair personnel.

[0165] The expression of the distribution network operation constraint is:

[0166] (34)

[0167] (35)

[0168] (36)

[0169] (37)

[0170] (38)

[0171] (39)

[0172] (40)

[0173] (41)

[0174] In the formula, For Node j The set of upstream nodes; For branch jk exist t Active power at the moment; For Node j exist t Active power at the moment; For branch ij exist t Active power at the moment; For Node j exist t The load-loss active power at the moment; is the set of all nodes in the distribution network; For Node j The set of downstream nodes; For branch jk exist t Reactive power at the moment; For branch ij exist t Reactive power at the moment; For Node j exist t Reactive power at the moment; For Node j exist t The load loss reactive power at the moment; is the preset coefficient; is a 0-1 variable. If the branch ij If connected, it is 1, otherwise it is 0; For Node i exist t Voltage value at the moment; For Node j exist t Voltage value at the moment; For branch ij The resistance value; For branch ij The reactance value of For Nodej The minimum voltage allowed; For Node j The maximum voltage allowed; For branch ij The capacity limit of For Node The power factor of the load.

[0175] The operating constraints of the distribution network need to satisfy equations (34) to (41). Equations (34) and (35) are active and reactive power balance constraints, respectively; equation (36) is the branch flow constraint described by linear Distflow (distribution network flow); equation (37) is the node voltage constraint; equations (38) and (39) are branch capacity constraints; equations (40) and (41) are node load active and reactive power reduction constraints, respectively.

[0176] S4, based on the optimal hovering position of the UAV, a rolling decision is made through the UAV communication path planning model and the distribution network emergency repair scheduling model to obtain an emergency repair strategy for the coordination of the communication base station and the distribution network.

[0177] S401, obtaining the operation status information of the distribution network after the disaster, and obtaining the UAV communication recovery decision through the UAV communication path planning model based on the optimal hovering position of the UAV;

[0178] S402, according to the UAV communication recovery decision, restore the communication of the fault point and update the communication status of the fault point;

[0179] S403, based on the communication status of the fault point, a distribution network emergency repair decision is generated through a distribution network emergency repair dispatch model, and an emergency repair team is dispatched to perform emergency repairs, and the emergency repair status of the emergency repair team and the emergency repair information of the fault point are updated;

[0180] S404, loop S401 to S403 until the communication status of each fault point is restored and the emergency repair information is all repaired.

[0181] Embodiment 2:

[0182] The embodiment of the present invention discloses a two-stage post-disaster UAV communication-distribution network collaborative repair strategy process, see Figure 6 ,In the figure, A and B are the fault repair teams, and C is the UAV deployed for communication;

[0183] The method for establishing the drone deployment model, drone communication path planning model, and distribution network emergency repair scheduling model in this embodiment is the same as that in embodiment 1; the steps after modeling are as follows:

[0184] Step 1: Data collection and analysis: Collect the operating status information of the distribution network after the disaster, including the power outage area, load distribution and communication status; input the location coordinates of A, B, C, the load importance of each fault point, and the power outage loss information.

[0185] Step 2: Decision on the best hovering position for drones: Determine the best hovering position set for drone C based on the drone deployment model; optimize the number and layout of hovering positions to ensure maximum coverage and effective communication.

[0186] Step 3: Sorting the equivalent loss of load value of the coverage area: Calculate the equivalent loss of load value of each area in the drone coverage area; sort the areas according to the loss of load value, giving priority to high-value areas. Through the drone communication path planning model, restore the communication of the fault area and update the communication status of the fault point.

[0187] Step 4: Based on the distribution network emergency repair dispatch model, the importance of the emergency repair fault points of the idle teams A and B is sorted respectively. If both teams are idle, Team A will repair the fault point with the highest current importance by default, and Team B will repair the fault point with the second highest importance.

[0188] Step 5: At the next time section, the repair status of teams A and B and the information of the repaired fault points are updated. If the communication in the area has been repaired or all the fault points have been repaired, the drone will make the next path decision.

[0189] Repeat steps 3 to 5 until the communication status of each fault point has been restored and the emergency repair information has been repaired.

[0190] Embodiment 3:

[0191] See also Figure 2 The embodiment of the present invention discloses a repair system for the coordination of a UAV communication base station and a distribution network, including a UAV site selection module, a path planning module, a repair scheduling module and a rolling decision module.

[0192] Among them, the drone site selection module is used to establish a drone deployment model with the goal of full coverage of fault point communication; the discretized location set coverage model is used to discretize the area to be deployed into a point set, and then the drone deployment model is used to obtain the optimal hovering position of the drone; the path planning module is used to introduce the path table and time vector, and establish the drone communication path planning model through path constraints and time constraints; the emergency repair scheduling module is used to minimize the power outage loss of the distribution network and the shortest fault repair time in the post-disaster emergency repair stage, and establish a distribution network emergency repair scheduling model through fault repair and material scheduling and drone communication timing coupling constraints, repair team scheduling constraints and distribution network operation constraints; the rolling decision module is used to make rolling decisions based on the optimal hovering position of the drone, through the drone communication path planning model and the distribution network emergency repair scheduling model, and obtain an emergency repair strategy for the coordination of communication base stations and distribution networks.

[0193] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, optical storage, etc.) containing computer-usable program code.

[0194] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0195] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0196] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps of the functions specified in one or more boxes, such as Figure 7 shown.

Claims

1. A repair method for coordinated UAV communication base station and distribution network, characterized in that: The following steps are involved: Establish a UAV deployment model with the goal of full communication coverage of fault points; discretize the area to be deployed into a point set using a discretized location set coverage model, and then obtain the optimal hovering position of the UAV through the UAV deployment model; The expression of the UAV deployment model is: In the formula, n is the number of discrete points; c Indicates the fault point; k Represents discrete points; Indicates the fault point c Discretized points k Base station coverage at the location; A variable between 0 and 1, indicating whether the discrete point k is selected as the base station working point; is a set of discrete points; is a set of fault points in the area to be deployed; Indicates the coordinates of the fault point; Represents the coordinates of discrete points; is the coverage radius of the drone communication base station; It represents the relationship between the distance between the fault point and the discrete point and the coverage radius of the UAV communication base station; It indicates the upper limit of the number of fault points within the drone coverage area; The path table and time vector are introduced, and the UAV communication path planning model is established through path constraints and time constraints; The expression of the path constraint is: In the formula, Represents a set of warehouse points; represents a set of working points; Indicates the number of drones departing from the warehouse; To indicate the state where the drone is not moving at the same point; is the first point mark; is the second point mark; is a 0-1 variable. If the drone is along a certain period of time i Click to move to j point, then =1, otherwise =0; To express and Opposite movement path; is a 0-1 variable. h Click Return i When clicking, take 1; The number of all fault points to be repaired; It is the third point mark; The expression of the time constraint is: In the formula, The moment when the drone arrives at the work site; Indicates the initial moment when the emergency repair base station starts to move; is the first point mark; Gather for warehouse points; The moment when the drone leaves the working point; The maximum time length is set; For drones from Click to move to The flight duration of the point; for Point communication maintenance time; is the preset coefficient; is a 0-1 variable. If the drone is along a certain period of time i Click to move to j point, then =1, otherwise =0; represents a set of working points; is the second point mark; For drones Minimum duration of stay at a point; Repair for the repair team Point time; The number of all fault points to be repaired; With the goal of minimizing power outage losses and shortest repair time in the post-disaster repair phase, a distribution network repair dispatch model is established by coupling fault repair with material dispatch and UAV communication timing constraints, repair team dispatch constraints, and distribution network operation constraints. Based on the optimal hovering position of the UAV, a rolling decision is made through the UAV communication path planning model and the distribution network emergency repair scheduling model to obtain an emergency repair strategy for the coordination of the communication base station and the distribution network.

2. The method for repairing a UAV communication base station in coordination with a distribution network according to claim 1, characterized in that: The expression of the UAV communication path planning model is: In the formula, is the repair order decision function; The loss of load power outage; Time taken to arrange the first site; The attribute of the distribution network repair team is equivalent to being responsible for repairs The trouble spot team and The total time taken to repair the fault points by the team responsible for repairing the fault point. is a constant; To repair the fault point The travel time of the team from the fault point ; The travel time between the repair team A and the first fault point; The time taken to repair the first fault point; The total time from when repair team A starts repairing to when team A / B finishes repairing the previous fault point; For the h Maintenance time for each fault point; The total time taken by repair team A from the start of repair work to the completion of repair of the previous fault point; It is the total time taken from the time when repair team A starts repairing to the time when team B completes repairing the previous fault point.

3. The method for repairing a UAV communication base station in coordination with a distribution network according to claim 1, characterized in that: The expression of the coupling constraint of fault repair, material dispatch and UAV communication timing is: In the formula, is the set of emergency repair situations of each fault point, and all variables in the set are 0-1; Indicates the emergency repair status of the first fault point. The value is 1 when the emergency repair is in progress and 0 when the emergency repair is waiting. Indicates the emergency repair status of the second fault point. The value is 1 when the emergency repair is in progress and 0 when the emergency repair is waiting. Indicates the emergency repair status of the third fault point. The value is 1 when the emergency repair is in progress and 0 when the emergency repair is waiting. Indicates the emergency repair status of the fourth fault point. The value is 1 when the emergency repair is in progress and 0 when the emergency repair is waiting. Indicates The value of the fault point is 1 when the fault point is under repair and 0 when the fault point is waiting for repair. is the communication recovery status set of each fault point, and all the variables in the set are 0-1; Indicates the communication recovery status of the first fault point. It takes 1 if the communication has been restored and 0 if it is not restored. Indicates the communication recovery status of the second fault point. It takes 1 if the communication has been restored and 0 if it is not restored. Indicates the communication recovery status of the third fault point. It takes 1 if the communication has been restored and takes 0 if it is not restored. Indicates the communication recovery status of the fourth fault point. It takes 1 if the communication has been restored and takes 0 if it is not restored. Indicates The communication recovery status of each fault point, 1 if the communication has been restored, and 0 if it is not restored; is the set of material and equipment conditions at each fault point, and all variables in the set are 0-1; Indicates the material and equipment status of the first fault point. The value is 1 when the material and equipment are sufficient, and 0 when they are insufficient. Indicates the material and equipment status of the second fault point. The value is 1 when the material and equipment are sufficient, and 0 when they are insufficient. Indicates the material and equipment status of the third fault point. The value is 1 when the material and equipment are sufficient, and 0 when they are insufficient. Indicates the material and equipment status of the fourth fault point. The value is 1 when the material and equipment are sufficient, and 0 when they are insufficient. Indicates The material and equipment status of each fault point. If the material and equipment are sufficient, the value is 1; if they are insufficient, the value is 0; Indicates the fault point The situation of materials and equipment; Indicates the fault point The restoration of communications; Indicates the fault point The emergency repair situation; Indicates when the fault point k The repair personnel can only carry out the repair task of the fault point when the communication is normal and the materials and equipment required for the repair of the fault point are sufficient; The expression of the repair team scheduling constraint is: In the formula, Indicates the fault point that needs emergency repair; is the set of fault points; Indicates a point in time; is a collection of time points; Indicates the fault point that is being repaired; Fault point Repair time; is the preset coefficient; To determine the fault point exist A 0-1 variable indicating whether the fault status at the moment has changed. A value of 1 indicates that the fault status has changed, and a value of 0 indicates that the fault status has not changed; For Time failure point A 0-1 variable of the repair status, a value of 1 indicates a fault point At the moment Repair completed, value 0 indicates fault point exist The repairs have not been completed yet; The number of emergency repair teams; The expression of the distribution network operation constraint is: In the formula, For Node j The set of upstream nodes; For branch jk exist t Active power at the moment; For Node j exist t Active power at the moment; For branch ij exist t Active power at the moment; For Node j exist t The load-loss active power at the moment; It is the set of all nodes in the distribution network; For Node j The set of downstream nodes; For branch jk exist t Reactive power at the moment; For branch ij exist t Reactive power at the moment; For Node j exist t Reactive power at the moment; For Node j exist t The reactive power of load loss at the moment; is the preset coefficient; is a 0-1 variable. If the branch ij If connected, it is 1, otherwise it is 0; For Node i exist t Voltage value at the moment; For Node j exist t Voltage value at the moment; For branch ij The resistance value; For branch ij The reactance value of For Node j The minimum voltage allowed; For Node j The maximum voltage allowed; For branch ij The capacity limit of For Node The power factor of the load.

4. The method for repairing a UAV communication base station in coordination with a distribution network according to claim 1, characterized in that: The expression of the distribution network emergency repair dispatch model is: In the formula, It means that the power outage loss and fault repair time are the least; is the power outage loss function; It is the fault repair time function; is the total number of fault points in the distribution network system; N It is the failure point i Total number of load losses at Represents the fault point i Load loss node j Active power of Represents the fault point i The power outage time at the location; represents weight; Represents the time from the last fault point to the fault point i The time taken to travel Fault point i Time required for emergency repairs; To start communication, base stations are deployed to the fault point. i Total time for communication restoration; From the first fault point to the fault point i-1 The time taken to travel Indicates the total time taken to deploy the drone; Indicates the total time taken to complete communication maintenance; It indicates the total time taken by Team A to repair the route; It indicates the total time taken by Team B to repair the route; It indicates the total time required for dispatching when emergency repair materials and equipment are insufficient; It indicates the total time taken by Team A to repair the fault point; It indicates the total time taken by Team B to repair the fault point.

5. The method for repairing a UAV communication base station in coordination with a distribution network according to claim 1, characterized in that: The step of making a rolling decision based on the optimal hovering position of the UAV and obtaining a repair strategy for coordination between the communication base station and the distribution network through the UAV communication path planning model and the distribution network repair scheduling model specifically includes: S401, obtaining the operation status information of the distribution network after the disaster, and obtaining the UAV communication recovery decision through the UAV communication path planning model based on the optimal hovering position of the UAV; S402, according to the UAV communication recovery decision, restore the communication of the fault point and update the communication status of the fault point; S403, based on the communication status of the fault point, a distribution network emergency repair decision is generated through a distribution network emergency repair dispatch model, and an emergency repair team is dispatched to perform emergency repairs, and the emergency repair status of the emergency repair team and the emergency repair information of the fault point are updated; S404, loop S401 to S403 until the communication status of each fault point is restored and the emergency repair information is all repaired.

6. A system for the emergency repair method of the UAV communication base station and the distribution network in coordination as claimed in claim 1, characterized in that: include: The drone site selection module is used to establish a drone deployment model with the goal of full coverage of fault point communications; the area to be deployed is discretized into a point set using a discretized location set coverage model, and then the optimal hovering position of the drone is obtained through the drone deployment model; The path planning module is used to introduce the path table and time vector, and establish the UAV communication path planning model through path constraints and time constraints; The emergency repair dispatch module is used to establish a distribution network emergency repair dispatch model with the goal of minimizing power outage losses and shortest fault repair time in the post-disaster emergency repair phase through the coupling constraints of fault repair and material dispatch and drone communication timing, emergency repair team dispatch constraints and distribution network operation constraints; The rolling decision module is used to make rolling decisions based on the optimal hovering position of the UAV, through the UAV communication path planning model and the distribution network emergency repair scheduling model, to obtain an emergency repair strategy for the coordination of the communication base station and the distribution network.

7. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 5 are implemented.

8. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 5 are implemented.

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