Transmission tower fine inspection method based on vertical take-off and landing fixed-wing unmanned aerial vehicle

Abstract

The invention provides a power transmission tower fine inspection method and system based on a vertical take-off and landing fixed-wing unmanned aerial vehicle, a storage medium and electronic equipment, and relates to the field of power transmission tower fine inspection. According to the method, by determining the ascending circling point and the descending circling point near each airport, the inspection process of the vertical take-off and landing fixed-wing unmanned aerial vehicle is divided into three stages of circling ascending, tower inspection and circling descending; the motion state of the unmanned aerial vehicle is described by adopting a Durbin vehicle model so as to accurately calculate the flight duration of the unmanned aerial vehicle, so that the inspection task can be completed within the safe flight duration, and the safety of the unmanned aerial vehicle is guaranteed. In addition, the optimal inspection path is planned for the vertical take-off and landing fixed-wing unmanned aerial vehicle under various constraint conditions, so that the information acquisition quality and efficiency of the unmanned aerial vehicle during fine inspection are effectively improved.

Description

Technical Field

[0001] The present invention relates to the field of fine inspection of power transmission towers, and in particular to a fine inspection method, system, storage medium and electronic equipment for power transmission towers based on a vertical take-off and landing fixed-wing unmanned aerial vehicle. Background Art

[0002] Currently, the inspection of transmission towers is mainly carried out by multi-rotor drones. Due to the limitations of flight speed, flight time, communication distance and their own capabilities, it is difficult to meet the requirements of fast and high-frequency inspections. In addition, the operators of multi-rotor drones need to constantly change locations, which has limited work efficiency and puts operators under great pressure.

[0003] In contrast, vertical take-off and landing fixed-wing drones have the advantages of fast flight speed, long endurance, wide coverage, strong wind resistance, and can be inspected in rainy, snowy and frosty weather. Currently, fixed-wing drones have been widely used in transmission line channel inspections. However, there is no relevant technology for vertical take-off and landing fixed-wing drones to conduct fine inspections of transmission towers. It is urgent to solve how to enable drones to quickly and efficiently complete fine inspections of transmission towers. Summary of the invention

[0004] 1. Technical issues to be resolved

[0005] In view of the shortcomings of the prior art, the present invention provides a method, system, storage medium and electronic equipment for fine inspection of transmission towers based on vertical take-off and landing fixed-wing drones, which solves the technical problem of how drones can quickly and efficiently complete fine inspections of transmission towers.

[0006] (II) Technical solution

[0007] To achieve the above objectives, the present invention is implemented through the following technical solutions:

[0008] A transmission tower precision inspection method based on a vertical take-off and landing fixed-wing drone, comprising:

[0009] Obtain the number of poles and towers to be inspected in this detailed inspection mission and their location information; and obtain the number of vertical take-off and landing fixed-wing drones that can perform the mission and the location information of the airports where they are located, so as to determine the ascending and descending circling points near each airport;

[0010] Set the heading angle discreteness and calculate multiple heading angles of the drone;

[0011] The Doberman model is used to describe the motion state of the UAV, so as to obtain the flight time matrix of each UAV from the nearest ascending hovering point to each tower, between any two towers, and from each tower to any descending hovering point at all heading angles;

[0012] According to the number of towers and their location information, the number of drones and the location information of the airports where they are located, and in combination with each flight duration matrix, a multi-airport vertical take-off and landing fixed-wing drone tower inspection path problem model is constructed to obtain an initial path planning solution set;

[0013] The initial path planning solution set is optimized to obtain the optimal inspection path planning solution for each drone to visit any one or more towers.

[0014] Preferably, the drone is set to perform a detailed inspection of the tower in an 8-shaped hovering manner; including:

[0015] The position coordinates of the inspected tower are used as the connection points of the left spiral circle and the right spiral circle;

[0016] After reaching the connection point, the normal direction of the current heading angle of the drone is used as the direction of the line connecting the two centers of the circle, and the minimum turning radius of the drone is used as the circling radius to respectively determine the centers of the left circling circle and the right circling circle;

[0017] The number of circles the drone will circle is determined based on the number of targets to be inspected on the inspected tower.

[0018] Preferably, after calculating the multiple heading angles of the UAV, the transmission tower fine inspection method further numbers each heading angle, and the corresponding relationship between the heading angle number and the heading angle is:

[0019]

[0020] Where H represents the heading angle set, θ i Indicates the heading angle corresponding to the i-th heading angle number, N θ Indicates the heading angle dispersion.

[0021] Preferably, the multi-airport vertical take-off and landing fixed-wing UAV tower inspection path problem model includes:

[0022] The objective function is to minimize the flight time of the UAV with the longest mission duration:

[0023]

[0024] Where N is the number of towers, and U is the set of drones; is the decision variable for whether UAV k visits tower j after visiting tower i, t ij is the time it takes for the drone to fly from tower i to tower j, min is the minimum function, and max is the maximum function;

[0025] And the constraints:

[0026]

[0027]

[0028]

[0029]

[0030]

[0031] Among them, 0 represents the hovering point of the drone, T is the set of towers, and t up is the flight time of the UAV from the airport to the ascending hovering point, t down is the flight time of the drone from the descent and hovering point to the airport, is the number of circling circles of the UAV on the tower i, v is the inspection speed of the UAV, T max is the flight time of the drone, R min is the minimum turning radius of the drone, is the decision variable of UAV k from the ascending hovering point to the tower i, is the decision variable for UAV k to descend and hover from tower j, is the decision variable for the UAV to move from tower h to tower i;

[0032] Formula (3) indicates that all drones must start from the ascending hovering point and return to the descending hovering point after completing the mission;

[0033] Formula (4) indicates that the in-degree of each tower is equal to the out-degree;

[0034] Formula (5) indicates that each tower is inspected once and only once;

[0035] Formula (6) indicates that each drone must complete the inspection task within the maximum safe flight time;

[0036] Formula (7) is the value of the binary decision variable. When it is 1, it means that UAV k has chosen the path from tower i to tower j. When it is 0, it means that drone k does not choose this path.

[0037] Preferably, a genetic algorithm is used to optimize the initial path planning solution set to obtain an optimal inspection path planning solution for each drone to visit any one or more towers.

[0038] Preferably, the encoding method of the genetic algorithm is:

[0039] The initial path planning scheme is described by a four-line multi-segment integer encoding method, which is denoted as a chromosome. The first line of the chromosome is the path of the UAV, the second line is the heading angle number of the UAV at each path point, the third line is the number of the UAV, and the fourth line is the number of circles the UAV has circled at the path point.

[0040] A transmission tower precision inspection system based on a vertical take-off and landing fixed-wing drone, comprising:

[0041] The information acquisition module is used to obtain the number of towers to be inspected in this detailed inspection task and their location information; as well as the number of vertical take-off and landing fixed-wing drones that can perform the task and the location information of the airports where they are located, so as to determine the ascending and descending circling points near each airport;

[0042] The heading angle calculation module is used to set the heading angle discreteness and calculate multiple heading angles of the drone;

[0043] The duration acquisition module is used to describe the motion state of the UAV using the Doberman model, so as to obtain the flight duration matrix of each UAV from the nearest ascending hovering point to each tower, between any two towers, and from each tower to any descending hovering point at all heading angles;

[0044] A model building module is used to build a multi-airport vertical take-off and landing fixed-wing drone tower inspection path problem model based on the number of towers and their location information, the number of drones and the location information of the airports where they are located, and each flight time matrix, so as to obtain an initial path planning solution set;

[0045] The optimal solution acquisition module is used to optimize the initial path planning solution set to obtain the optimal inspection path planning solution for each drone to visit any one or more towers.

[0046] A storage medium stores a computer program for fine inspection of power transmission towers based on a vertical take-off and landing fixed-wing unmanned aerial vehicle, wherein the computer program enables a computer to execute the fine inspection method of power transmission towers as described above.

[0047] An electronic device, comprising:

[0048] One or more processors; a memory; and one or more programs, wherein the one or more programs are stored in the memory and are configured to be executed by the one or more processors, and the programs include instructions for executing the transmission tower detailed inspection method as described above.

[0049] (III) Beneficial effects

[0050] The present invention provides a transmission tower precision inspection method, system, storage medium and electronic device based on a vertical take-off and landing fixed-wing UAV. Compared with the prior art, it has the following beneficial effects:

[0051] In the present invention, by determining the ascending and descending circling points near each airport, the inspection process of the vertical take-off and landing fixed-wing UAV is divided into three stages: circling ascending, pole tower inspection and circling descending. Especially for the pole tower inspection stage, the Doberman model is used to describe the motion state of the UAV to accurately obtain the flight time of the UAV, ensuring that the inspection task can be completed within the safe flight time, thereby ensuring the safety of the UAV. In addition, by planning the optimal inspection path for the vertical take-off and landing fixed-wing UAV under multiple constraints, the quality and efficiency of the UAV in obtaining information during detailed inspections can be effectively improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0053] Figure 1 An application scenario diagram of a transmission tower fine inspection method based on a vertical take-off and landing fixed-wing UAV provided in an embodiment of the present invention;

[0054] Figure 2 A block diagram of a transmission tower fine inspection method based on a vertical take-off and landing fixed-wing UAV provided in an embodiment of the present invention;

[0055] Figure 3 A schematic diagram of a vertical take-off and landing fixed-wing UAV tower fine inspection process provided by an embodiment of the present invention;

[0056] Figure 4 A schematic diagram of a figure-8 spiral provided by an embodiment of the present invention;

[0057] Figure 5 A schematic diagram of discretization of a heading angle provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0058] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention are clearly and completely described. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0059] The embodiments of the present application solve the technical problem of how to use a drone to quickly and efficiently complete a detailed inspection of a transmission tower by providing a method, system, storage medium and electronic device for detailed inspection of a transmission tower based on a vertical take-off and landing fixed-wing drone.

[0060] The technical solution in the embodiment of the present application is to solve the above technical problems, and the overall idea is as follows:

[0061] The application scenarios of the embodiments of the present invention are as follows Figure 1 As shown, in the proposed method:

[0062] By determining the ascending and descending circling points near each airport, the inspection process of vertical take-off and landing fixed-wing drones is divided into three stages: circling ascending, tower inspection, and circling descending. Especially for the tower inspection stage, the Doberman model is used to describe the motion state of the drone to accurately obtain the flight time of the drone, ensuring that the inspection task can be completed within the safe flight time, thus ensuring the safety of the drone. In addition, by planning the optimal inspection path for vertical take-off and landing fixed-wing drones under multiple constraints, the quality and efficiency of the drone's information acquisition during detailed inspections can be effectively improved.

[0063] In addition, the proposed "figure-8 circling" inspection method can ensure the precise inspection effect of the fixed-wing UAV on each pole tower, and when calculating the inspection time, the inspection time is calculated according to the number of circles the UAV circles at each pole tower, ensuring that each UAV can complete the inspection task within the safe flight time, thus ensuring the safety of the UAV.

[0064] The proposed multi-airport vertical take-off and landing fixed-wing UAV tower inspection path problem model is based on the minimum-maximum problem, rather than pursuing the minimization of the total task duration. It can achieve load balancing of inspection tasks, that is, the inspection duration of each UAV is similar, maximizing the inspection capability of each UAV and avoiding the waste of inspection resources.

[0065] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0066] Embodiment 1:

[0067] like Figure 2 As shown, an embodiment of the present invention provides a transmission tower fine inspection method based on a vertical take-off and landing fixed-wing UAV, comprising:

[0068] S1. Obtain the number of poles and towers to be inspected in this detailed inspection mission and their location information; and obtain the number of vertical take-off and landing fixed-wing drones that can perform the mission and the location information of the airports where they are located, so as to determine the ascending and descending circling points near each airport;

[0069] S2. Set the heading angle discreteness and calculate multiple heading angles of the drone;

[0070] S3. Use the Doberman car model to describe the motion state of the UAV, so as to obtain the flight time matrix of each UAV from the nearest ascending hovering point to each tower, between any two towers, and from each tower to any descending hovering point at all heading angles;

[0071] S4. According to the number of towers and their location information, the number of drones and the location information of the airports where they are located, and in combination with each flight duration matrix, a multi-airport vertical take-off and landing fixed-wing drone tower inspection path problem model is constructed to obtain an initial path planning solution set;

[0072] S5. Optimize the initial path planning solution set to obtain the optimal inspection path planning solution for each drone to visit any one or more towers.

[0073] The embodiment of the present invention determines the ascending and descending circling points near each airport, and divides the inspection process of the vertical take-off and landing fixed-wing UAV into three stages: circling ascending, pole tower inspection, and circling descending. Especially for the pole tower inspection stage, the Doberman model is used to describe the motion state of the UAV to accurately obtain the flight time of the UAV, ensuring that the inspection task can be completed within the safe flight time, thereby ensuring the safety of the UAV. In addition, by planning the optimal inspection path for the vertical take-off and landing fixed-wing UAV under multiple constraints, the quality and efficiency of the UAV in obtaining information during detailed inspections are effectively improved.

[0074] Next, we will introduce the steps of the above scheme in detail:

[0075] In step S1, the number of pole towers to be inspected in this detailed inspection task and their location information are obtained; and the number of vertical take-off and landing fixed-wing drones that can perform the task and the location information of the airports where they are located are obtained to determine the ascending circling points and descending circling points near each airport.

[0076] After obtaining the number of towers to be inspected and their location information (e.g., tower numbers, coordinate information), as well as the number of vertical take-off and landing fixed-wing drones that can perform tasks and the location information of their airports (e.g., airport numbers, coordinate information), the reason why the ascending and descending circling points near each airport need to be determined is that the embodiment of the present invention sets the following complete inspection process:

[0077] The inspection process of each vertical take-off and landing fixed-wing drone is divided into three stages: ① starting from the airport and reaching the ascending circling point at a specified height; ② inspecting the tower in an "8-shaped circling" manner; ③ arriving at the descending circling point after the inspection is completed and returning to the airport in rotor mode. Figure 3shown.

[0078] For example:

[0079] In the first stage, with the airport as the take-off point, a vertical take-off and landing fixed-wing drone takes off in rotor mode, first vertically rises to a height of 50 meters, then flies to the edge of the airport's safety area, and hovers to an inspection height H to reach the ascending hovering point.

[0080] In the second stage, after reaching the ascending circling point, it switches to fixed-wing mode. The vertical take-off and landing fixed-wing drone maintains the inspection speed v and flies to the first tower for detailed inspection, and adopts the "figure 8 circling" inspection method until the inspection of the last tower is completed.

[0081] In the third stage, after inspecting the last tower, the vertical take-off and landing fixed-wing drone flew to the descent and hovering point, circled and descended to an altitude of 50 meters, then flew directly above the airport and descended vertically back to the airport.

[0082] It should be noted that the embodiment of the present invention determines the specific position, radius, direction, number of circles and other information of the "8-shaped spiral" through the following steps: Figure 4 As shown, including:

[0083] The position coordinates of the inspected tower are used as the connection points of the left spiral circle and the right spiral circle;

[0084] After reaching the connection point, the normal direction of the current heading angle of the drone is used as the direction of the line connecting the two centers of the circle, and the minimum turning radius of the drone is used as the circling radius to respectively determine the centers of the left circling circle and the right circling circle;

[0085] According to the number of objects to be inspected on the inspected tower, the number of circling circles of the drone is determined; the calculation formula is as follows:

[0086]

[0087] in, Indicates the number of circles, X i Indicates the number of objects to be inspected on the inspection tower i, Indicates the round-up symbol.

[0088] In step S2, the heading angle discreteness is set and multiple heading angles of the UAV are calculated.

[0089] Exemplarily, in the embodiment of the present invention, the heading angle discreteness is set to 8, such as Figure 5 As shown, the corresponding multiple heading angles are 0°, 45°, 90°, 135°, 180°, 225°, 270°, and 315°.

[0090] In particular, for the subsequent iterative optimization of the genetic algorithm, after calculating multiple heading angles of the drone, the embodiment of the present invention further numbers each heading angle, and the corresponding relationship between the heading angle number and the heading angle is:

[0091]

[0092] Where H represents the heading angle set, θ i Indicates the heading angle corresponding to the i-th heading angle number, N θ Indicates the heading angle dispersion.

[0093] If the above setting of the heading angle discreteness being 8 is continued, the corresponding 8 heading angles are numbered in the order of 0-7.

[0094] In step S3, the Doberman model is used to describe the motion state of the UAV, so as to obtain the flight time matrix of each UAV from the nearest ascending circling point to each tower, between any two towers, and from each tower to any descending circling point at all heading angles.

[0095] Since drones are subject to dynamic constraints, the flyability of their paths must be ensured when planning their paths. Specifically, the flyable path must be a quadratically differentiable smooth curve. The shortest feasible path model for planar nonholonomic vehicles (referred to as the "Dubin car model") proposed by Dubins can meet the dynamic constraints of drones, so it is widely used in drone path planning. When using the Dubin car model to plan paths for fixed-wing drones, the following two factors need to be considered: ① The minimum turning radius of the drone; ② The heading angle of the drone at each track point.

[0096] Therefore, the following flight duration matrices can be determined using the Doberman model:

[0097] The flight time of each vertical take-off and landing fixed-wing UAV from the nearest ascending and circling point to each inspection tower is calculated under all possible heading angles, and stored in a three-dimensional matrix, which is recorded as the first flight time matrix (i.e., the departure matrix).

[0098] The flight time of the vertical take-off and landing fixed-wing UAV between all inspection towers at all possible heading angles is calculated and stored in a three-dimensional matrix, which is recorded as the second flight time matrix (i.e., tower-to-tower matrix).

[0099] The flight time of each vertical take-off and landing fixed-wing UAV from each inspection tower to any descending and circling point under all possible heading angles is calculated and stored in a three-dimensional matrix, which is recorded as the third flight time matrix (i.e., the return matrix).

[0100] Therefore, according to the first, second, and third flight time matrices and the drone's endurance, the inspection tower targets that can be accessed by each drone can be determined.

[0101] In step S4, based on the number of towers and their location information, the number of drones and the location information of the airports where they are located, and combined with each flight duration matrix, a multi-airport vertical take-off and landing fixed-wing drone tower inspection path problem model is constructed to obtain an initial path planning solution set.

[0102] The multi-depot electric vertical take-off and landing route planning for tower inspection (MD-eVTOL-RPTI) model described in the embodiment of the present invention includes:

[0103] Objective function:

[0104]

[0105] Where N is the number of towers, and U is the set of drones; is the decision variable for whether UAV k visits tower j after visiting tower i, t ij is the time it takes for the drone to fly from tower i to tower j, min is the minimum function, and max is the maximum function;

[0106] Formula (3) indicates that the optimization goal is to minimize the flight time of the UAV with the longest mission execution time among the k UAVs;

[0107] And the constraints:

[0108]

[0109]

[0110]

[0111]

[0112]

[0113] Among them, 0 represents the hovering point of the drone, T is the set of towers, and t up is the flight time of the UAV from the airport to the ascending hovering point, t down is the flight time of the drone from the descent and hovering point to the airport, is the number of circling circles of the UAV on the tower i, v is the inspection speed of the UAV, T maxis the flight time of the drone, R min is the minimum turning radius of the drone, is the decision variable of UAV k from the ascending hovering point to the tower i, is the decision variable for UAV k to descend and hover from tower j, is the decision variable for the UAV to move from tower h to tower i;

[0114] Formula (4) indicates that all drones must start from the ascending hovering point and return to the descending hovering point after completing the mission;

[0115] Formula (5) indicates that the in-degree of each tower is equal to the out-degree;

[0116] Formula (6) indicates that each tower is inspected once and only once;

[0117] Formula (7) indicates that each UAV must complete the inspection task within the maximum safe flight time;

[0118] Formula (8) is the value of the binary decision variable. When it is 1, it means that UAV k has chosen the path from tower i to tower j. When it is 0, it means that drone k does not choose this path.

[0119] In step S5, the initial path planning solution set is optimized to obtain an optimal inspection path planning solution for each drone to visit any one or more towers.

[0120] Exemplarily, the embodiment of the present invention uses a genetic algorithm (GA) to optimize the initial path planning solution set to obtain the optimal inspection path planning solution for each drone to visit any one or more towers. The encoding method of the genetic algorithm is:

[0121] The initial path planning scheme is described by a four-line multi-segment integer encoding method, which is denoted as a chromosome. The first line of the chromosome is the path of the UAV, the second line is the heading angle number of the UAV at each path point, the third line is the number of the UAV, and the fourth line is the number of circles the UAV has circled at the path point.

[0122] Table 1

[0123]

[0124] Table 1 gives an example of a chromosome, which means that after the first UAV leaves the ascending hovering point, it successively conducts detailed inspections on towers 1 and 4, and then goes to the descending hovering point; after the second UAV leaves the ascending hovering point, it successively conducts detailed inspections on towers 2, 5, and 3, and then goes to the descending hovering point; and since it is still assumed that the heading angle discreteness is 8, the heading angles of the first and second UAVs can be obtained by Figure 5 For conversion, the number of circles the drone made at each tower was: Tower 1 circled 1, Tower 4 circled 3, Tower 2 circled 2, Tower 5 circled 1, and Tower 3 circled 2.

[0125] Embodiment 2:

[0126] The embodiment of the present invention provides a transmission tower precision inspection system based on a vertical take-off and landing fixed-wing UAV, comprising:

[0127] The information acquisition module is used to obtain the number of towers to be inspected in this detailed inspection task and their location information; as well as the number of vertical take-off and landing fixed-wing drones that can perform the task and the location information of the airports where they are located, so as to determine the ascending and descending circling points near each airport;

[0128] The heading angle calculation module is used to set the heading angle discreteness and calculate multiple heading angles of the drone;

[0129] The duration acquisition module is used to describe the motion state of the UAV using the Doberman model, so as to obtain the flight duration matrix of each UAV from the nearest ascending hovering point to each tower, between any two towers, and from each tower to any descending hovering point at all heading angles;

[0130] A model building module is used to build a multi-airport vertical take-off and landing fixed-wing drone tower inspection path problem model based on the number of towers and their location information, the number of drones and the location information of the airports where they are located, and each flight time matrix, so as to obtain an initial path planning solution set;

[0131] The optimal solution acquisition module is used to optimize the initial path planning solution set to obtain the optimal inspection path planning solution for each drone to visit any one or more towers.

[0132] Embodiment 3:

[0133] An embodiment of the present invention provides a storage medium storing a computer program for fine inspection of power transmission towers based on a vertical take-off and landing fixed-wing unmanned aerial vehicle, wherein the computer program enables a computer to execute the fine inspection method of power transmission towers as described above.

[0134] Embodiment 4:

[0135] An embodiment of the present invention provides an electronic device, including:

[0136] One or more processors; a memory; and one or more programs, wherein the one or more programs are stored in the memory and are configured to be executed by the one or more processors, and the programs include instructions for executing the transmission tower detailed inspection method as described above.

[0137] It can be understood that the transmission tower fine inspection system based on vertical take-off and landing fixed-wing UAV, storage medium and electronic device provided in the embodiments of the present invention correspond to the transmission tower fine inspection method based on vertical take-off and landing fixed-wing UAV provided in the embodiments of the present invention. The explanations, examples and beneficial effects of the relevant contents can refer to the corresponding parts in the transmission tower fine inspection method, and will not be repeated here.

[0138] In summary, compared with the prior art, the present invention has the following beneficial effects:

[0139] 1. The embodiment of the present invention divides the inspection process of the vertical take-off and landing fixed-wing UAV into three stages: circling up, pole tower inspection and circling down by determining the ascending circling point and descending circling point near each airport. In particular, for the pole tower inspection stage, the Doberman model is used to describe the motion state of the UAV to accurately obtain the flight time of the UAV, ensuring that the inspection task can be completed within the safe flight time, thereby ensuring the safety of the UAV. In addition, by planning the optimal inspection path for the vertical take-off and landing fixed-wing UAV under multiple constraints, the quality and efficiency of the UAV in obtaining information during detailed inspections can be effectively improved.

[0140] 2. The "figure-8 circling" inspection method proposed in the embodiment of the present invention can ensure the fine inspection effect of the fixed-wing UAV on each pole tower, and when calculating the inspection time, the inspection time is calculated according to the number of circles the UAV circles at each pole tower, ensuring that each UAV can complete the inspection task within the safe flight time, thereby ensuring the safety of the UAV.

[0141] 3. The multi-airport vertical take-off and landing fixed-wing UAV tower inspection path problem model proposed in the embodiment of the present invention is based on the minimum maximum problem, rather than pursuing the minimization of the total task duration, and can achieve load balancing of the inspection tasks, that is, the inspection duration of each UAV is similar, maximizing the inspection capability of each UAV and avoiding the waste of inspection resources.

[0142] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0143] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A transmission tower precision inspection method based on a vertical take-off and landing fixed-wing drone, characterized in that: include: Obtain the number and location information of the towers to be inspected in this detailed inspection task; and obtaining the number of vertical take-off and landing fixed-wing UAVs that can perform missions and the location information of the airports where they are located, so as to determine the ascending and descending circling points near each airport; Set the heading angle discreteness and calculate multiple heading angles of the drone; The Doberman model is used to describe the motion state of the UAV, so as to obtain the flight time matrix of each UAV from the nearest ascending hovering point to each tower, between any two towers, and from each tower to any descending hovering point at all heading angles; According to the number of towers and their location information, the number of drones and the location information of the airports where they are located, and in combination with each flight duration matrix, a multi-airport vertical take-off and landing fixed-wing drone tower inspection path problem model is constructed to obtain an initial path planning solution set; The initial path planning solution set is optimized to obtain the optimal inspection path planning solution for each drone to visit any one or more towers.

2. The transmission tower fine inspection method according to claim 1, characterized in that: The drone is set to use a figure-8 hovering method to conduct detailed inspections of the towers; including: The position coordinates of the inspected tower are used as the connection points of the left spiral circle and the right spiral circle; After reaching the connection point, the normal direction of the current heading angle of the drone is used as the direction of the line connecting the two centers of the circle, and the minimum turning radius of the drone is used as the circling radius to respectively determine the centers of the left circling circle and the right circling circle; The number of circles the drone will circle is determined based on the number of targets to be inspected on the inspected tower.

3. The transmission tower fine inspection method according to claim 1, characterized in that: After calculating multiple heading angles of the UAV, the transmission tower fine inspection method further numbers each heading angle, and the corresponding relationship between the heading angle number and the heading angle is: Where H represents the heading angle set, θ i Indicates the heading angle corresponding to the i-th heading angle number, N θ Indicates the heading angle dispersion.

4. The transmission tower fine inspection method according to claim 1, characterized in that: The multi-airport vertical take-off and landing fixed-wing UAV tower inspection path problem model includes: Objective function: Where N is the number of towers, and U is the set of drones; is the decision variable for whether UAV k visits tower j after visiting tower i, t ij is the time it takes for the drone to fly from tower i to tower j, min is the minimum function, and max is the maximum function; Formula (2) indicates that the optimization goal is to minimize the flight time of the UAV with the longest mission execution time among the k UAVs; And the constraints: Among them, 0 represents the hovering point of the drone, T is the set of towers, and t up is the flight time of the UAV from the airport to the ascending hovering point, t down is the flight time of the drone from the descent and hovering point to the airport, is the number of circling circles of the UAV on the tower i, v is the inspection speed of the UAV, T max is the flight time of the drone, R min is the minimum turning radius of the drone, is the decision variable of UAV k from the ascending hovering point to the tower i, is the decision variable for UAV k to descend and hover from tower j, is the decision variable for the UAV to move from tower h to tower i; Formula (3) indicates that all drones must start from the ascending hovering point and return to the descending hovering point after completing the mission; Formula (4) indicates that the in-degree of each tower is equal to the out-degree; Formula (5) indicates that each tower is inspected once and only once; Formula (6) indicates that each drone must complete the inspection task within the maximum safe flight time; Formula (7) is the value of the binary decision variable. When it is 1, it means that UAV k has chosen the path from tower i to tower j. When it is 0, it means that drone k does not choose this path.

5. The transmission tower fine inspection method according to claim 3, characterized in that: The initial path planning scheme set is optimized by using a genetic algorithm to obtain the optimal inspection path planning scheme for each UAV to visit any one or more towers.

6. The transmission tower fine inspection method according to claim 5, characterized in that: The encoding method of the genetic algorithm is: The initial path planning scheme is described by a four-line multi-segment integer encoding method, which is denoted as a chromosome. The first line of the chromosome is the path of the UAV, the second line is the heading angle number of the UAV at each path point, the third line is the number of the UAV, and the fourth line is the number of circles the UAV has circled at the path point.

7. A transmission tower precision inspection system based on a vertical take-off and landing fixed-wing drone, characterized in that: include: The information acquisition module is used to obtain the number and location information of the towers to be inspected in this detailed inspection task; and obtaining the number of vertical take-off and landing fixed-wing UAVs that can perform missions and the location information of the airports where they are located, so as to determine the ascending and descending circling points near each airport; The heading angle calculation module is used to set the heading angle discreteness and calculate multiple heading angles of the drone; The duration acquisition module is used to describe the motion state of the UAV using the Doberman model, so as to obtain the flight duration matrix of each UAV from the nearest ascending hovering point to each tower, between any two towers, and from each tower to any descending hovering point at all heading angles; A model building module is used to build a multi-airport vertical take-off and landing fixed-wing drone tower inspection path problem model based on the number of towers and their location information, the number of drones and the location information of the airports where they are located, and each flight time matrix, so as to obtain an initial path planning solution set; The optimal solution acquisition module is used to optimize the initial path planning solution set to obtain the optimal inspection path planning solution for each drone to visit any one or more towers.

8. A storage medium, characterized in that: It stores a computer program for fine inspection of power transmission towers based on vertical take-off and landing fixed-wing drones, wherein the computer program enables the computer to execute the fine inspection method for power transmission towers as described in any one of claims 1 to 6.

9. An electronic device, characterized in that: include: one or more processors; Memory; and one or more programs, wherein the one or more programs are stored in the memory and are configured to be executed by the one or more processors, and the programs include programs for executing the transmission tower fine inspection method according to any one of claims 1 to 6.

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