Power transmission line channel inspection method based on fixed-wing unmanned aerial vehicle

Abstract

The invention provides a power transmission line channel inspection method and system based on a fixed-wing unmanned aerial vehicle, a storage medium and electronic equipment, and relates to the field of power transmission line channel inspection. The method comprises the following steps: acquiring a route reference line of a fixed-wing unmanned aerial vehicle for executing a current channel inspection task according to the number and position information of towers included in a to-be-inspected power transmission line; numbering path points on the route reference line to obtain an initial path; and sequentially determining the optimal course angle of the fixed-wing unmanned aerial vehicle passing through each path point, and obtaining an optimal path in combination with the initial path, so as to effectively improve the safety and the inspection efficiency of the fixed-wing unmanned aerial vehicle in executing the channel inspection task.

Description

Technical Field

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

[0002] At present, channel inspections of power transmission lines are 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 channel inspections. In addition, the operators of multi-rotor drones need to constantly change locations, which limits their work efficiency and puts them under great pressure.

[0003] In contrast, fixed-wing drones have the advantages of fast flight speed, long flight time, wide coverage, strong wind resistance, and can be inspected in rainy, snowy and frosty weather. Currently, fixed-wing drones have been widely used in power transmission line channel inspections. For example, patent CN202110329853.X proposes a method for inspecting power transmission lines using vertical take-off and landing fixed-wing drones. It automatically extracts power line points based on lidar point cloud data and performs curve fitting on the power line points to form a continuous and complete power line corridor. For another example, patent CN202110 130640.4 proposes a new type of vertical take-off and landing fixed-wing drone inspection method. It is based on vertical take-off and landing fixed wings, intelligent parking cabins, remote data transmission, high-precision landing and remote take-off and landing functions. The operator can remotely optimize the deployment of multiple vertical take-off and landing fixed-wing drones, and can formulate corresponding inspection methods according to inspection needs for real-time adjustment.

[0004] However, the above scheme still basically follows the inspection path planning idea of ​​multi-rotor drones, and thus cannot plan an inspection route that is as efficient as possible for fixed-wing drones. Summary of the invention

[0005] 1. Technical issues to be resolved

[0006] In view of the deficiencies in the prior art, the present invention provides a transmission line channel inspection method, system, storage medium and electronic equipment based on a fixed-wing UAV, which solves the technical problem of efficient inspection.

[0007] (II) Technical solution

[0008] To achieve the above objectives, the present invention is implemented through the following technical solutions:

[0009] A transmission line channel inspection method based on a fixed-wing unmanned aerial vehicle, comprising:

[0010] According to the number of towers and their location information included in the transmission line to be inspected, obtain the route reference line of the fixed-wing UAV that performs the channel inspection task;

[0011] Numbering the path points on the route reference line to obtain an initial path;

[0012] The optimal heading angle of the fixed-wing UAV passing through each of the path points is determined in sequence, and the optimal path is obtained by combining the initial path.

[0013] Preferably, the process of obtaining the route reference line includes:

[0014] Taking the pole tower closest to the drone airport as the starting point, the pole towers are numbered in order from near to far according to the direction of the transmission line, and an observation line is generated to determine the observation range;

[0015] Obtaining the imaging size and focal length of the sensor carried by the fixed-wing UAV, and calculating the scanning width of the sensor in combination with the safe flight altitude of the UAV;

[0016] Determining the number of routes according to the observation range and the scanning width;

[0017] The scanning width is set to be greater than or equal to twice the safety offset distance, and the route reference line including a number of the path points is obtained based on the number of the routes.

[0018] Preferably, the acquiring the route reference line including a plurality of the path points based on the number of the routes comprises:

[0019] If the number of routes is even, the routes are sequentially spaced apart by the scanning width and symmetrically distributed on both sides of the observation line to obtain the route reference line;

[0020] If there is an odd number of routes, each route is sequentially spaced apart by the scanning width, and the middle route is spaced apart from the observation line by a safety offset distance to obtain the route reference line.

[0021] Preferably, after obtaining the route reference line and before numbering each of the path points, the transmission line channel inspection method further performs smoothing processing on the route reference line; comprising:

[0022] Calculate the angle between any three adjacent path points on the route reference line. If the angle on the side away from the route reference line is greater than a preset value, delete the middle path point on the premise that the safety deviation distance is met, and complete the smoothing process after traversing all the path points.

[0023] Preferably, the process of acquiring the initial path includes:

[0024] Compare the two routes farthest from the observation line in the route reference line, select the route closer to the observation line, and first number the path point on the route closest to the starting tower, and then number the remaining path points in turn to obtain the initial path.

[0025] Preferably, after acquiring the initial path and before determining the heading angle passing through each of the path points, the power transmission line channel inspection method further includes:

[0026] The Euclidean distance between the observation interest point outside the observation range and each of the path points is calculated, and the nearest path point is selected as the insertion position of the observation interest point to update the initial path.

[0027] Preferably, the step of sequentially determining the optimal heading angle of the fixed-wing UAV passing through each of the path points comprises:

[0028] Obtaining the minimum turning radius and setting the heading angle dispersion, and combining the number of the path points to establish a Doberman path distance matrix between the drone airport and all the path points;

[0029] According to the Doberman path distance matrix between the drone airport and the first path point and between the first path point and the second path point, a three-dimensional distance matrix is ​​obtained, and based on the three-dimensional distance matrix, an optimal heading angle between the first two path points passed by the fixed-wing drone is determined;

[0030] According to the optimal heading angle passing through the second path point and the Doberman path distance matrix between the second path point and the third path point, a two-dimensional distance matrix is ​​obtained, and based on the two-dimensional distance matrix, the optimal heading angle of the fixed-wing UAV passing through the third path point is determined; and so on, the optimal heading angles of other path points after passing the second path point are determined in turn until returning to the UAV airport.

[0031] A transmission line channel inspection system based on a fixed-wing UAV, comprising:

[0032] An acquisition module is used to obtain a route reference line of a fixed-wing UAV that performs the channel inspection task according to the number of towers and their location information included in the transmission line to be inspected;

[0033] A numbering module, used to number the path points on the route reference line to obtain an initial path;

[0034] The determination module is used to sequentially determine the optimal heading angle of the fixed-wing UAV passing through each of the path points, and obtain the optimal path in combination with the initial path.

[0035] A storage medium stores a computer program for power transmission line channel inspection based on a fixed-wing unmanned aerial vehicle, wherein the computer program enables a computer to execute the power transmission line channel inspection method as described above.

[0036] An electronic device, comprising:

[0037] 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 line channel inspection method as described above.

[0038] (III) Beneficial effects

[0039] The present invention provides a transmission line channel inspection method, system, storage medium and electronic device based on a fixed-wing UAV. Compared with the prior art, it has the following beneficial effects:

[0040] In the present invention, according to the number of pole towers included in the transmission line to be inspected and their position information, the route reference line of the fixed-wing UAV that performs the channel inspection task is obtained; the path points on the route reference line are numbered to obtain an initial path; the optimal heading angle of the fixed-wing UAV passing through each of the path points is determined in turn, and the optimal path is obtained in combination with the initial path, so as to effectively improve the safety and inspection efficiency of the fixed-wing UAV in performing the channel inspection task. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] 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.

[0042] Figure 1 An application scenario diagram of a transmission line channel inspection method based on a fixed-wing UAV provided in an embodiment of the present invention;

[0043] Figure 2 A block diagram of a transmission line channel inspection method based on a fixed-wing UAV provided in an embodiment of the present invention;

[0044] Figure 3 A schematic diagram of an observation route provided by an embodiment of the present invention;

[0045] Figure 4 A schematic diagram of a sensor scanning width provided by an embodiment of the present invention;

[0046] Figure 5 A schematic diagram of an observation range of a channel inspection task provided by an embodiment of the present invention;

[0047] Figure 6 A schematic diagram of a route reference line when the number of routes is an even number provided in an embodiment of the present invention (only two routes are used as an example for illustration);

[0048] Figure 7 A schematic diagram of a route reference line when the number of routes is an odd number provided by an embodiment of the present invention (only three routes are used as an example for illustration);

[0049] Figure 8 A schematic diagram of a smoothed route reference line provided by an embodiment of the present invention (only two routes are used as examples in the figure);

[0050] Fig. 9 A schematic diagram of an initial path provided by an embodiment of the present invention (only two routes are used as examples in the figure);

[0051] Fig.10 A schematic diagram of an initial path after inserting other observation points of interest outside the observation range provided by an embodiment of the present invention (only two routes are used as examples for illustration);

[0052] Fig.11 A scene diagram of optimizing the heading angle of a fixed-wing UAV using the "three-three optimization method" provided in an embodiment of the present invention;

[0053] Fig.12 A schematic diagram of an optimal path for a fixed-wing UAV obtained by using the "three-three optimization method" provided in an embodiment of the present invention;

[0054] Fig.13 An example diagram of the optimal path for a fixed-wing UAV to inspect a transmission line channel is provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0055] 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.

[0056] The embodiments of the present application solve the technical problem of efficient inspection by providing a transmission line channel inspection method, system, storage medium and electronic device based on a fixed-wing drone.

[0057] The technical solution in the embodiment of the present application is to solve the above technical problems, and the overall idea is as follows:

[0058] The application scenarios of the embodiments of the present invention are as follows Figure 1 As shown, the proposed method includes:

[0059] According to the number of towers and their location information included in the transmission line to be inspected, the route reference line of the fixed-wing UAV performing this channel inspection task is obtained; the path points on the route reference line are numbered to obtain an initial path; the optimal heading angle of the fixed-wing UAV passing through each of the path points is determined in turn, and the optimal path is obtained in combination with the initial path, so as to effectively improve the safety and inspection efficiency of the fixed-wing UAV performing the channel inspection task.

[0060] In addition, the embodiment of the present invention further reasonably shortens the flight path of the fixed-wing UAV by smoothing the route reference line without affecting the channel inspection task. At the same time, based on actual needs, the embodiment of the present invention can also insert other points of interest that the fixed-wing UAV needs to observe during the inspection process into the initial path, so as to jointly participate in the subsequent heading angle optimization link, and finally realize the planning of the optimal channel inspection path for the fixed-wing UAV.

[0061] 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.

[0062] Embodiment 1:

[0063] like Figure 2 As shown, a transmission line channel inspection method based on a fixed-wing UAV in an embodiment of the present invention includes:

[0064] S 1. According to the number of towers and their location information included in the transmission line to be inspected, obtain the route reference line of the fixed-wing UAV that performs the channel inspection task;

[0065] S2. Numbering the path points on the route reference line to obtain an initial path;

[0066] S3. Determine the optimal heading angle of the fixed-wing UAV passing through each of the path points in sequence, and obtain the optimal path in combination with the initial path.

[0067] The embodiments of the present invention effectively improve the safety and inspection efficiency of fixed-wing UAVs performing channel inspection tasks.

[0068] Next, we will introduce the steps of the above scheme in detail:

[0069] In step S1, according to the number of towers and their location information included in the power transmission line to be inspected, a route reference line of the fixed-wing UAV performing the channel inspection task is obtained; including:

[0070] S 11. Take the pole tower closest to the drone airport (the distance between the drone airport and each pole tower can be calculated through the longitude and latitude information) as the starting point T1, and number the pole towers in order from near to far according to the direction of the transmission line, namely T2, T3, etc., to generate the following Figure 3 The observation lines shown are used to determine the observation range.

[0071] like Figure 4 As shown, the observation range is an area with a width of m meters on both sides of the observation line. It is not difficult to understand that the value of the observation range m depends on the specific requirements of this channel inspection task.

[0072] S 12. Obtain the imaging size S and focal length f of the sensor carried by the fixed-wing UAV, and combine the safe flight altitude H of the UAV, such as Figure 5 As shown, the scanning width D of the sensor can be calculated; it can be expressed by the following formula:

[0073]

[0074] S13, according to the observation range 2×m and the scanning width D, N R Determine the number of routes; it can be expressed by the following formula:

[0075]

[0076] in, Indicates rounding up.

[0077] S14, setting the scanning width D to be greater than or equal to twice the safety offset distance D f , obtaining the route reference line including a number of the path points based on the number of the routes.

[0078] The step of obtaining the route reference line including a number of the path points based on the number of the routes comprises:

[0079] If the number of routes is even, N R is an even number, and each of the routes is sequentially spaced by the scanning width and symmetrically distributed on both sides of the observation moving line to obtain the route reference line, such as Figure 6 As shown (only two routes are used as examples in the figure);

[0080] If the number of routes is an odd number, N Ris an odd number, after each of the routes is sequentially spaced by the scanning width, the middle route is spaced from the observation line by a safety offset distance D f , to obtain the route reference line, such as Figure 7 As shown (only three routes are used as examples in the figure).

[0081] In an optional implementation, without affecting the channel inspection task, in order to further reasonably shorten the flight path of the fixed-wing UAV, after obtaining the route reference line and before numbering each of the path points, the embodiment of the present invention further smoothes the route reference line in this step; including:

[0082] The angle between any three adjacent path points on the route reference line is calculated. If the angle on the side away from the route reference line is greater than a preset value, the middle path point is deleted on the premise of meeting the safety deviation distance. After traversing all the path points, smoothing is completed. Figure 6 The initial path after smoothing is Figure 8 As shown (only two routes are used as examples in the figure).

[0083] In step S2, the path points on the route reference line are numbered to obtain an initial path; including:

[0084] Compare the two routes farthest from the observation line in the route reference line, select the route closer to the observation line, and first number the path point closest to the starting tower T1 on the route as P1, and then number the remaining path points in sequence as P2, P3, etc., to obtain the initial path, such as Fig. 9 As shown (only two routes are used as examples in the figure).

[0085] In an optional embodiment, in order to satisfy the requirement that the fixed-wing UAV can observe other points of interest outside the observation range during the inspection process, after obtaining the initial path and before determining the heading angle passing through each of the path points, the embodiment of the present invention further includes in this step:

[0086] Calculate the Euclidean distance between the observation interest point outside the observation range and each of the path points, select the nearest path point as the insertion position of the observation interest point, so as to update the initial path, such as Fig.10 As shown (only two routes are used as examples in the figure). In the updated initial path, the inserted observation points of interest also need to be numbered as path points of the fixed-wing UAV during the inspection process.

[0087] It should be noted that, with respect to the specific content of the above-mentioned update method, those skilled in the art may choose Fig.10 The circular surrounding method shown in (to respectively use the path point P4 as the observation point of interest O2 and the path point P9 as the insertion position of the observation point of interest O4), other methods such as "8"-shaped surrounding can also be selected, and the embodiment of the present invention is not limited here.

[0088] In step S3, the optimal heading angle of the fixed-wing UAV passing through each of the path points is determined in sequence, and the optimal path is obtained by combining the initial path.

[0089] Wherein, sequentially determining the optimal heading angle of the fixed-wing UAV passing through each of the path points includes:

[0090] S100, obtaining a minimum turning radius and setting a heading angle dispersion, and establishing a Doberman path distance matrix between the drone airport and all the path points in combination with the number of the path points;

[0091] S200, obtaining a three-dimensional distance matrix according to the Doberman path distance matrix between the drone airport and the first path point and between the first path point and the second path point, and determining the optimal heading angle between the first two path points passed by the fixed-wing drone based on the three-dimensional distance matrix;

[0092] S300, obtaining a two-dimensional distance matrix according to the optimal heading angle after passing the second path point and the Doberman path distance matrix between the second path point and the third path point, and determining the optimal heading angle of the fixed-wing UAV after passing the third path point based on the two-dimensional distance matrix; and so on, determining the optimal heading angles of the other path points after passing the second path point in sequence until returning to the UAV airport.

[0093] That is, the embodiment of the present invention proposes a three-point heading angle optimization method based on a three-dimensional Dubins distance matrix (referred to as 'three-3 optimization method').

[0094] To help understand the specific processing flow of this step, use Fig.11 The example is described as follows: A fixed-wing UAV with a minimum turning radius of 200m starts from point 0 (i.e., the UAV airport) and visits point 1#, 2#, and 3# (i.e., each path point) in sequence. The heading angle dispersion of the fixed-wing UAV is set to N θ =3. The corresponding processing flow is as follows:

[0095] First, build the Durbin path distance matrix between all nodes:

[0096] Understandable, N V The target has a heading angle dispersion of Nθ The Durbin path distance matrix established under the condition has a total of (N V ×N θ ) 2 Considering the constraint of overnight revisit, the distance from the same node to itself is set to infinity. Fig.11 The Doberman path distance matrix for the scenarios shown is detailed in Table 1 .

[0097] Table 1

[0098]

[0099]

[0100] In Table 1, each value represents the length of a Durbin path connecting two nodes at a specific heading angle. Among them, the 1st to 3rd rows occupied by the 0# node represent the Durbin path lengths of the fixed-wing UAV starting from the station at 3 different initial heading angles and visiting the 1#, 2#, and 3# potential targets at different terminal heading angles; the 1st to 3rd columns occupied by the 0# node represent the Durbin path lengths of the fixed-wing UAV returning from the 1#, 2#, and 3# potential targets to the station at different terminal heading angles at different initial heading angles; the other elements in the matrix represent the Durbin path lengths between two potential targets at a specific heading angle. For example, the value in the 1st row and 4th column of the table indicates that the Durbin path length of the UAV starting from the 0# node at 90* and visiting the 1# node at 90* is 304.5m.

[0101] Next, determine the optimal heading angles for the first two nodes:

[0102] Take out the first three nodes in the drone path, numbered i, j, and k, and then take out the following two square matrices from the distance matrix according to the node numbers: The first is i×N θ +1 row to (i+1)×N θ row j×N θ +1 column to (j+1)×N θ The square matrix consists of N columns. θ ×N θ elements, the second is j×N θ +1 row to (j+1)×N θ k×N rows θ +1 column to (k+1)×N θ The square matrix consists of N columns. θ ×N θ Each row vector in square matrix 1 is transposed and added to square matrix 2 to obtain a three-dimensional distance matrix. Then find the position of the minimum element in the three-dimensional distance matrix. The row number of the element is the optimal heading angle number of node i, and the column number is the optimal heading angle number of node j.

[0103] For example, in Fig.11 In the scene shown, the first three nodes in the drone path are nodes 0#, 1#, and 2#. According to the calculation, the two square matrices framed by the thick black lines in Table 1 are taken out at this time. After transposition and summation, the three-dimensional matrix shown in Table 2 is obtained. The position of the minimum element 1469.7 of the three-dimensional matrix is ​​the first row and first column of page 2, so the optimal heading angle of node 0# is 1, that is, 90°, and the optimal heading angle of node 1# is numbered 1, that is, 90°.

[0104] Table 2

[0105]

[0106] Again, determine the optimal heading angles from the third node to the third-to-last node in turn:

[0107] According to the determined drone path, starting from node i, the numbers of the previous node j and the subsequent node k of the node are taken out each time. Since the optimal heading angle number of node j is θ j It has been determined, so the possible path from node , to node i is a row vector, and the possible path from node i to node k is a square matrix. The following row vectors and square matrices are taken from the distance matrix in turn: θ +θ j i×N of rows θ +1 column to (i+1)×N θ The row vector consists of N columns. θ elements, the square matrix is ​​i×N θ +1 row to (i+1)×N θ k×N rows θ +1 column to (k+1)×N θ The square matrix consists of N columns. θ ×N θ The row vector is transposed and added to the square matrix to obtain a two-dimensional distance matrix, and then the position of the minimum element in the two-dimensional distance matrix is ​​found. The row number of the element is the optimal heading angle number of node i.

[0108] For example, Fig.11 In the scenario shown, the third node in the drone path is node 2#, its predecessor node is node 1#, and its successor node is node 3#. In the previous sub-step, the optimal heading angle of node 1# has been determined to be 1. According to the calculation, the row vector taken out at this time is the 4th row, 7th column to 9th column in Table 1. After transposition, it is added to the square matrix of rows 7 to 9, columns 10 to 11 in Table 1 to obtain the two-dimensional matrix shown in Table 3. The position of the minimum element 1622.7 of the two-dimensional matrix is ​​row 1, column 1, so the optimal heading angle of node 2# is 1, that is, 90*.

[0109] Table 3

[0110] Dubins path length Column 1 Column 2 Column 3 Row 1 1622.7 2728.1 2834.5 Row 2 2478.6 2628.0 2236.1 Row 3 2666.4 2317.5 2709.5

[0111] Finally, determine the optimal heading angles for the last two nodes:

[0112] The same as the previous sub-step is that the optimal heading angle of the node preceding the second-to-last node is known, and the row vector is transposed and added to the square matrix to obtain a two-dimensional distance matrix. The difference is that after finding the position of the minimum element in the two-dimensional distance matrix, the row number of the element is the optimal heading angle number of the second-to-last node, and the column number is the optimal heading angle number of the first-to-last node.

[0113] Table 4

[0114] Dubins path length Column 1 Column 2 Column 3 Row 1 207.9 1313.4 1419.7 Row 2 1313.4 1462.8 1070.9 Row 3 1419.7 1070.9 1462.8

[0115] From Table 4, we can see that, for example, Fig.11 In the scenario shown, the second to last node in the drone path is node 2#, and the first to last node is node 3#. The position of the minimum element 207.9 in the two-dimensional matrix shown in Table 4 is the first row and the first column, so the optimal heading angle of node 2# is 1, that is, 90°, and the optimal heading angle of node 3# is 1, that is, 90°.

[0116] From this, we can get Fig.11 The optimal heading angles of the three point targets in the scene are 90°, 90°, and 90° respectively. The optimal path is as follows: Fig.12 As shown (the return to the drone airport is not shown). At the same time, it can be calculated that the length of the optimal Doberman path shown in the figure is the sum of the three black bold values ​​in Table 1, that is, 304.5+1414.8+207.9=1927.20m.

[0117] After figuring out how to get the optimal heading angle for each path point, use Fig.10 The example shown in the embodiment of the present invention is further supplemented as follows:

[0118] Referring to Table 5, the updated initial path and its path points, and the optimal heading angle (coding) passing through each path point are determined in sequence.

[0119] Table 5

[0120] Initial Path 0 1 2 3 4 14 4 5 6 7 8 9 15 9 10 11 12 13 0 Optimal heading angle encoding 6 6 7 7 7 2 2 2 1 2 4 5 4 0 7 6 4 2 3

[0121] On this basis, Matlab simulation is used to obtain the following Fig.13 The optimal path of the fixed-wing UAV performing this channel inspection mission is shown.

[0122] At this point, the embodiment of the present invention obtains the optimal path planning solution for the drone channel inspection task.

[0123] Embodiment 2:

[0124] The embodiment of the present invention provides a transmission line channel inspection system based on a fixed-wing UAV, comprising:

[0125] An acquisition module is used to obtain a route reference line of a fixed-wing UAV that performs the channel inspection task according to the number of towers and their location information included in the transmission line to be inspected;

[0126] A numbering module, used to number the path points on the route reference line to obtain an initial path;

[0127] The determination module is used to sequentially determine the optimal heading angle of the fixed-wing UAV passing through each of the path points, and obtain the optimal path in combination with the initial path.

[0128] Embodiment 3:

[0129] An embodiment of the present invention provides a storage medium storing a computer program for power transmission line channel inspection based on a fixed-wing unmanned aerial vehicle, wherein the computer program enables a computer to execute the power transmission line channel inspection method as described in Example 1.

[0130] Embodiment 4:

[0131] An embodiment of the present invention provides an electronic device, including:

[0132] 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 a method for executing the transmission line channel inspection method as described in Example 1.

[0133] It can be understood that the transmission line channel inspection system based on fixed-wing UAV, storage medium and electronic device provided in the embodiment of the present invention correspond to the transmission line channel inspection method based on fixed-wing UAV provided in the embodiment of the present invention, and the explanation, examples and beneficial effects of the relevant contents can refer to the corresponding parts in the transmission line channel inspection method, which will not be repeated here.

[0134] In summary, compared with the prior art, the present invention has the following beneficial effects:

[0135] 1. In an embodiment of the present invention, according to the number of towers and their location information included in the transmission line to be inspected, a route reference line of the fixed-wing UAV performing the channel inspection task is obtained; the path points on the route reference line are numbered to obtain an initial path; the optimal heading angle of the fixed-wing UAV passing through each of the path points is determined in turn, and the optimal path is obtained in combination with the initial path, so as to effectively improve the safety and inspection efficiency of the fixed-wing UAV performing the channel inspection task.

[0136] 2. The embodiment of the present invention further reasonably shortens the flight path of the fixed-wing UAV by smoothing the route reference line without affecting the channel inspection task. At the same time, based on actual needs, the embodiment of the present invention can also insert other points of interest that the fixed-wing UAV needs to observe during the inspection process into the initial path, so as to jointly participate in the subsequent heading angle optimization link, and finally realize the planning of the optimal channel inspection path for the fixed-wing UAV.

[0137] 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.

[0138] 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 line channel inspection method based on a fixed-wing UAV, characterized in that: include: According to the number of towers and their location information included in the transmission line to be inspected, obtain the route reference line of the fixed-wing UAV that performs the channel inspection task; Numbering the path points on the route reference line to obtain an initial path; The optimal heading angle of the fixed-wing UAV passing through each of the path points is determined in sequence, and the optimal path is obtained by combining the initial path.

2. The power transmission line channel inspection method according to claim 1, characterized in that: The process of obtaining the route reference line includes: Taking the pole tower closest to the drone airport as the starting point, the pole towers are numbered in order from near to far according to the direction of the transmission line, and an observation line is generated to determine the observation range; Obtaining the imaging size and focal length of the sensor carried by the fixed-wing UAV, and calculating the scanning width of the sensor in combination with the safe flight altitude of the UAV; Determining the number of routes according to the observation range and the scanning width; The scanning width is set to be greater than or equal to twice the safety offset distance, and the route reference line including a number of the path points is obtained based on the number of the routes.

3. The power transmission line channel inspection method according to claim 2, characterized in that: The acquiring of the route reference line including a plurality of the path points based on the number of the routes comprises: If the number of routes is even, the routes are sequentially spaced apart by the scanning width and symmetrically distributed on both sides of the observation line to obtain the route reference line; If there is an odd number of routes, each route is sequentially spaced apart by the scanning width, and the middle route is spaced apart from the observation line by a safety offset distance to obtain the route reference line.

4. The power transmission line channel inspection method according to claim 2, characterized in that: After obtaining the route reference line and before numbering each of the path points, the transmission line channel inspection method further performs smoothing processing on the route reference line; comprising: Calculate the angle between any three adjacent path points on the route reference line. If the angle on the side away from the route reference line is greater than a preset value, delete the middle path point on the premise that the safety deviation distance is met, and complete the smoothing process after traversing all the path points.

5. The power transmission line channel inspection method according to claim 2, characterized in that: The process of obtaining the initial path includes: Compare the two routes farthest from the observation line in the route reference line, select the route closer to the observation line, and first number the path point on the route closest to the starting tower, and then number the remaining path points in turn to obtain the initial path.

6. The power transmission line channel inspection method according to claim 2, characterized in that: After acquiring the initial path and before determining the heading angle passing through each of the path points, the power transmission line channel inspection method further includes: The Euclidean distance between the observation interest point outside the observation range and each of the path points is calculated, and the nearest path point is selected as the insertion position of the observation interest point to update the initial path.

7. The power transmission line channel inspection method according to claim 1, characterized in that: The step of sequentially determining the optimal heading angle of the fixed-wing UAV passing through each of the path points comprises: Obtaining the minimum turning radius and setting the heading angle dispersion, and combining the number of the path points to establish a Doberman path distance matrix between the drone airport and all the path points; According to the Doberman path distance matrix between the drone airport and the first path point and between the first path point and the second path point, a three-dimensional distance matrix is ​​obtained, and based on the three-dimensional distance matrix, an optimal heading angle between the first two path points passed by the fixed-wing drone is determined; According to the optimal heading angle passing through the second path point and the Doberman path distance matrix between the second path point and the third path point, a two-dimensional distance matrix is ​​obtained, and based on the two-dimensional distance matrix, the optimal heading angle of the fixed-wing UAV passing through the third path point is determined; and so on, the optimal heading angles of other path points after passing the second path point are determined in turn until returning to the UAV airport.

8. A transmission line channel inspection system based on a fixed-wing UAV, characterized in that: include: An acquisition module is used to obtain a route reference line of a fixed-wing UAV that performs the channel inspection task according to the number of towers and their location information included in the transmission line to be inspected; A numbering module, used to number the path points on the route reference line to obtain an initial path; The determination module is used to sequentially determine the optimal heading angle of the fixed-wing UAV passing through each of the path points, and obtain the optimal path in combination with the initial path.

9. A storage medium, characterized in that: It stores a computer program for power transmission line channel inspection based on fixed-wing drones, wherein the computer program enables a computer to execute the power transmission line channel inspection method according to any one of claims 1 to 7.

10. 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, the programs including instructions for executing the transmission line channel inspection method according to any one of claims 1 to 7.

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