Unmanned aerial vehicle inspection route planning method for power transmission line project based on GIM file

Abstract

The invention relates to an unmanned aerial vehicle routing inspection route planning method for a power transmission line project based on a GIM file, relates to the technical field of power equipment, and is used for solving the problem that the time required by unmanned aerial vehicle routing inspection route planning is relatively long. The method comprises the following steps: analyzing a GIM file; obtaining structured line coordinate information; and calculating the cruise route of the unmanned aerial vehicle. According to the invention, based on the GIM file, structured line coordinate information is obtained. And calculating the cruise route of the unmanned aerial vehicle according to the obtained route coordinate information. Therefore, the information in the GIM file is fully utilized. The inspection route does not need to be manually determined through a three-dimensional view angle after the three-dimensional model is generated, so that the time required for planning the inspection route of the unmanned aerial vehicle is shortened.

Description

Technical Field

[0001] The present invention relates to the technical field of electric power equipment, and in particular to a method for planning an unmanned aerial vehicle inspection route for a power transmission line project based on a GIM file. Background Art

[0002] GIM (Grid Information Model) is a 3D standard compiled by State Grid Corporation of China to meet the needs of 3D design of power transmission and transformation projects, unify the model architecture and data exchange format, and realize data sharing throughout the life cycle of the project. For GIM files of power transmission and transformation line types, a solid 3D model can be regenerated through a 3D reconstruction algorithm. In actual projects, drone inspections of lines are also required during the operation and maintenance phase.

[0003] In the prior art, after a solid three-dimensional model is generated, the inspection route is usually manually determined based on the solid three-dimensional model, which results in a long time required for the inspection route planning of the drone.

[0004] In other words, the prior art has the problem that it takes a long time to plan the inspection route of drones. Summary of the invention

[0005] The present invention provides a method for planning a UAV inspection route for a power transmission line project based on a GIM file, which is used to solve the problem that the planning of a UAV inspection route takes a long time.

[0006] The present invention provides a UAV inspection route planning method for a power transmission line project based on a GIM file, which comprises: parsing the GIM file;

[0007] Obtain structured route coordinate information;

[0008] Calculate the drone's cruising path.

[0009] In one embodiment, obtaining structured line coordinate information specifically includes the step of extracting information of important components, wherein the important components include lines, towers, hardware, insulator strings, and foundations.

[0010] In one embodiment, the step of extracting line information specifically includes:

[0011] Group the lines;

[0012] Among them, each tension section is used as the basis for grouping;

[0013] For each cable inside the tension section, its starting coordinates and end coordinates are stored.

[0014] In one embodiment, the step of extracting information of the tower, hardware, insulator string and foundation specifically includes:

[0015] Stored in device type field, coordinate field, and storage coordinate field;

[0016] Among them, the tower comes with information about a safe distance.

[0017] In one embodiment, the step of extracting information of the tower, hardware, insulator string and foundation specifically includes:

[0018] The device type field, coordinate field, storage coordinate field and the URL of the external 3D model are connected and stored;

[0019] Among them, the tower comes with information about a safe distance.

[0020] In one embodiment, calculating the cruise route of the drone specifically includes the following steps:

[0021] Extracting N tower locations of N towers in the line coordinate information;

[0022] Get N-2 turning points of the inspection route;

[0023] Get the starting point and end point of the inspection route;

[0024] Among them, the turning point and the line connecting the starting point and the end point are the cruising routes of the drone.

[0025] In one embodiment, obtaining N-2 turning points of the inspection route specifically includes the following steps:

[0026] According to the N tower positions, N tower position circles are obtained;

[0027] Get N-1 external common tangents of the tower circle;

[0028] Get N-2 intersection points;

[0029] Among them, the intersection point is the intersection point of two adjacent external common tangents, and the N-2 intersection inspection route is the N-2 turning points.

[0030] In one embodiment, the calculation formula for the tower position circularity is:

[0031] (X–Xn)2+(Y–Yn)2=R32;

[0032] Among them, R3=R1+R2, R1 is the safe distance of the tower, R2 is the size information of the drone, R3 is the inspection safety distance, Xn is the X coordinate of each tower position, and Yn is the Y coordinate of each tower position.

[0033] In one embodiment, the calculation formula of the external common tangent is:

[0034]

[0035] The coordinates of the two towers are (x1, y1) and (x2, y2), and their radii are r1 and r2 respectively.

[0036] In one embodiment, the starting point of the inspection route is the intersection of the perpendicular line from the first tower position to the first external common tangent D1 and the first external common tangent D1, and the end point of the inspection route is the intersection of the perpendicular line from the first tower position to the first external common tangent DN-1 and the last external common tangent DN-1.

[0037] Compared with the prior art, the present invention has the advantage that, based on the GIM file, structured route coordinate information is obtained. Then, the cruise route of the drone is calculated based on the obtained route coordinate information. In this way, the information in the GIM file is fully utilized. After generating the three-dimensional model, it is not necessary to manually determine the inspection route through the three-dimensional perspective, thereby shortening the time required for drone inspection route planning. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Hereinafter, the present invention will be described in more detail based on embodiments and with reference to the accompanying drawings.

[0039] Figure 1 is a schematic diagram of a common tangent line of a circle at two adjacent tower sites in an embodiment of the present invention;

[0040] Figure 2 is a schematic diagram of the intersection of common tangent lines of two adjacent circles in an embodiment of the present invention;

[0041] Figure 3 is a schematic diagram of an inspection route in an embodiment of the present invention (showing two inspection points);

[0042] Figure 4 is another inspection route schematic diagram in an embodiment of the present invention (showing six inspection points);

[0043] Figure 5 is another inspection route schematic diagram in an embodiment of the present invention (showing three inspection points);

[0044] Figure 6 Schematic diagram of the coordinates of the stopping point in the embodiment of the present invention. DETAILED DESCRIPTION

[0045] The present invention will be further described below in conjunction with the accompanying drawings.

[0046] It should be noted that with the continuous deepening of digitalization, informatization and intelligence of the power industry and the continuous expansion of power application fields, GIM (Grid Information Model) files, as necessary files for digital handover of power design institutes, play a very important role in the entire life cycle of power transmission and transformation projects. GIM contains the full information model of the power grid, covering all the contents of the electrical design process, and can provide the most basic support for future intelligent operation and maintenance.

[0047] The present invention provides a UAV inspection route planning method for a power transmission line project based on a GIM file, and the UAV inspection route planning method comprises the following steps:

[0048] Step 1: Parse the GIM file;

[0049] Step 2: Obtain structured route coordinate information;

[0050] Step 3: Calculate the drone's cruising route.

[0051] According to the above steps, based on the GIM file, the structured route coordinate information is obtained. Then, the cruise route of the drone is calculated based on the obtained route coordinate information. In this way, the information in the GIM file is fully utilized. After generating the 3D model, it is not necessary to manually determine the inspection route through the 3D perspective, thereby shortening the time required for drone inspection route planning.

[0052] Specifically, in one embodiment, obtaining structured line coordinate information specifically includes the step of extracting information of important components, wherein the important components include lines, towers, hardware, insulator strings and foundations (bases of towers).

[0053] Specifically, in one embodiment, the step of extracting line information specifically includes:

[0054] Step 1: group the lines;

[0055] Among them, each tension section is used as the basis for grouping;

[0056] It should be noted that grouping by tension section is convenient for viewing and processing information. In subsequent work, if only one tension section needs to be analyzed or operated, the information of this group can be used directly.

[0057] Step 2: For each cable in the tension section, store its starting coordinates and end coordinates;

[0058] Specifically, in one embodiment, the step of extracting information of the tower, hardware, insulator string and foundation includes: storing in a device type field, a coordinate field and a storage coordinate field; wherein the tower is provided with information of a safety distance.

[0059] Of course, according to the actual situation, the steps for extracting the information of the tower, hardware, insulator string and foundation include:

[0060] The device type field, coordinate field, storage coordinate field and the URL of the external 3D model are connected and stored;

[0061] It should be noted that a URL is required when a 3D model is needed for display, but a URL link model is not required when only data information is needed.

[0062] Among them, the tower comes with information about a safe distance.

[0063] Specifically, in one embodiment, calculating the cruise route of the drone specifically includes the following steps:

[0064] Extracting N tower locations of N towers in the line coordinate information;

[0065] Get N-2 turning points of the inspection route;

[0066] Get the starting point and end point of the inspection route;

[0067] Among them, the turning point and the line connecting the starting point and the end point are the cruising routes of the drone.

[0068] Specifically, in one embodiment, obtaining N-2 turning points of the inspection route specifically includes the following steps:

[0069] According to the N tower positions, N tower position circles are obtained;

[0070] Get N-1 external common tangents of the tower circle;

[0071] Get N-2 intersection points;

[0072] Among them, the intersection point is the intersection point of two adjacent external common tangents, and the N-2 intersection inspection route is the N-2 turning points.

[0073] Furthermore, in one embodiment, calculating the cruise route of the drone specifically includes the following steps:

[0074] Extracting N tower locations of N towers in the line coordinate information;

[0075] For N tower sites, N circles with a safety distance as radius are obtained;

[0076] Get a common external tangent line between every two adjacent circles among N circles;

[0077] Obtain N-2 turning points of the inspection route based on the common external tangent line;

[0078] Get the start and end points of the inspection route.

[0079] Specifically, in one embodiment, the calculation formula for the tower position circularity is:

[0080] (X–X n ) 2 +(Y–Y n ) 2 =R3 2 ;

[0081] Among them, R3=R1+R2, R1 is the safety distance of the tower, R2 is the size information of the drone, R3 is the inspection safety distance, and Xn and Yn refer to the coordinates of the nth tower position (Xn, Yn).

[0082] The calculation formula of the external common tangent is:

[0083]

[0084] The tangent line of the circle is calculated based on two tower positions, whose coordinates are (x1, y1) and (x2, y2) and whose radii are r1 and r2 respectively.

[0085] Specifically, in one embodiment, the starting point of the inspection route is the intersection of the perpendicular line from the first tower position to the first external common tangent D1 and the first external common tangent D1, and the end point of the inspection route is the intersection of the last external common tangent D N-1 A perpendicular line to the outer common tangent D N-1 The intersection of .

[0086] The present invention plans the route of automatic cruise detection of UAV by extracting data from GIM files, generating structured data, determining tower safety areas, generating inspection coordinates, etc. It is not necessary to manually determine the inspection route through a three-dimensional perspective after generating a three-dimensional model, thus shortening the task time.

[0087] Combine the following Figures 1 to 6 A more specific embodiment of the present invention is described below:

[0088] The present invention develops a UAV inspection route planning method for a power transmission line project based on a GIM file.

[0089] According to the description of "Overhead Transmission Line Engineering 3D Design Model File Format" in the "Power Transmission and Transformation Engineering 3D Design Model Interaction Specification", the transmission line engineering 3D design model file contains a series of descriptive files such as *.cbm, *.dev, *.fam, *.phm, *.mod, and model files such as *.stl that cannot be described parametrically (such as hardware, insulator and other models). These files are stored in the CBM, DEV, PHM, and MOD folders respectively, and all files are compressed into one file in *.GIM format. In the actual engineering drone inspection route planning, only some key information of the GIM file is needed to determine important coordinates such as tower site, hardware coordinates, and insulator string coordinates.

[0090] In the process of parsing the GIM file, we must first extract the information of important components, and group them based on each strain section of the line. For each strain section, for cables, only the starting coordinates and the ending coordinates are stored. The coordinates inside the line (a cable sags due to gravity, and the coordinates inside the line refer to the coordinates of each point on the cable. Only the starting and ending coordinates are recorded, and the coordinates of each position in the middle due to gravity sag can be calculated using the following formula) are calculated using the sag formula, which saves storage space. For towers, hardware, insulator strings and foundations, they are stored in the equipment type field, the URL connection of the external 3D model (optional) and the coordinate field, and the tower is accompanied by a safety distance information.

[0091] Specifically, the sag formula is as follows:

[0092]

[0093] Where, l-gear distance (horizontal distance between two suspension points), m;

[0094] h-height difference (vertical distance between two hanging points), m;

[0095] β-height difference angle, tanβ=h / l;

[0096] f- Wire sag (vertical distance from each point on the line connecting the two suspension points to the wire), m;

[0097] y'-vertical height from each point of the wire to the horizontal axis, m;

[0098] x'--the horizontal distance of each point of the wire from the starting point, m;

[0099] σ0-horizontal stress at each point of the wire (i.e. the stress at the lowest point), N / mm^2;

[0100] γ-Wire specific load (i.e. load per unit length per unit section), N / (m·mm^2).

[0101] After obtaining the structured line coordinate information, we start to calculate the drone's cruise route. First, we extract the coordinates of the tower in the information, and according to the tower's safety distance R1 and the drone's size information R2, we get a patrol safety distance R3 = R1 + R2. With each tower as the center, we can establish a circular calculation formula: (X–Xn)2 + (Y–Yn)2 = R32.

[0102] According to the order of the towers, every two circles can get two external common tangents, which are located on both sides of the line connecting the centers of the two circles. According to formula 1, the expression of the common tangent of the two circles can be calculated:

[0103]

[0104] Among them, Formula 1 is the common tangent formula of two circles.

[0105] Formula 1 can be simplified to get Formula 2:

[0106]

[0107] Among them, Formula 2 is the simplified formula of the common tangent line of a circle;

[0108] In the common tangent formula, r1±r2 is the inner common tangent when it takes the + sign, and is the outer common tangent when it takes the - sign. For drone inspections, in order to avoid collision with cables, the outer common tangent is chosen.

[0109] The ± before the square root in the above formula can be used to obtain the external common tangents on both sides of the tower circle. In this case, + is used as an example for explanation.

[0110] It should be noted that I first want to calculate the external common tangent, and ± can get the external common tangent of both sides. I only need one of them, so it doesn't matter whether it is positive or negative.

[0111] Now for N tower site points, we get N tower site circles. Every two tower site circles can get a common tangent, and a total of N-1 tangents (external common tangents) can be obtained.

[0112] Then every two adjacent common tangents can get an intersection point, such as Figure 2 As shown in , the intersection of the tangents is used as the turning point of the drone inspection route. That is, N-1 tangents, N-2 intersections, that is, N-2 inspection points, such as Figure 3 Inspection points shown.

[0113] The above is only the cruise route within the line. The starting coordinates of the route for the starting tower and the stopping coordinates of the ending tower have not yet been obtained. For the starting coordinates, it can be obtained by calculating the intersection of the perpendicular line from the first tower to the first tangent and the first tangent; for the stopping point, it can be obtained by calculating the intersection of the perpendicular line from the last tower to the last tangent and the last tangent (see Figure 6 ).

[0114] The above has obtained N-2+1+1=N point coordinates. The drone can complete the inspection of the N towers of the entire transmission line by passing through the N coordinates in sequence.

[0115] Although the present invention has been described with reference to preferred embodiments, various modifications may be made thereto and parts thereof may be replaced by equivalents without departing from the scope of the present invention. In particular, the various technical features mentioned in the various embodiments may be combined in any manner as long as there are no structural conflicts. The present invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A method for planning a UAV inspection route for a power transmission line project based on a GIM file, characterized in that: include: Parse GIM files; Obtain structured route coordinate information; Calculate the drone's cruising path.

2. The method for planning a drone inspection route according to claim 1, characterized in that: Obtaining structured line coordinate information specifically includes the step of extracting information of important components, wherein the important components include lines, towers, hardware, insulator strings and foundations.

3. The method for planning a drone inspection route according to claim 2, characterized in that: The steps of extracting line information specifically include: grouping the lines; Among them, each tension section is used as the basis for grouping; For each cable inside the tension section, its starting coordinates and end coordinates are stored.

4. The method for planning a drone inspection route according to claim 2, characterized in that: The steps of extracting the information of the iron tower, hardware, insulator string and the foundation specifically include: Stored in device type field, coordinate field, and storage coordinate field; The tower is provided with information of a safe distance.

5. The method for planning a drone inspection route according to claim 2, characterized in that: The steps of extracting the information of the iron tower, hardware, insulator string and the foundation specifically include: The device type field, coordinate field, storage coordinate field and the URL of the external 3D model are connected and stored; The tower is provided with information of a safe distance.

6. The method for planning a UAV inspection route according to claim 4 or 5, characterized in that: Calculating the drone's cruising route specifically includes the following steps: Extracting N tower locations of N towers in the line coordinate information; Obtain N-2 turning points of the inspection route; Obtain the starting point and end point of the inspection route; The turning point, the line connecting the starting point and the end point are the cruising route of the UAV.

7. The method for planning a drone inspection route according to claim 6, characterized in that: Obtaining the N-2 turning points of the inspection route specifically includes the following steps: According to the N tower positions, N tower circles are obtained; Get N-1 external common tangents of the tower circle; Get N-2 intersection points; Among them, the intersection point is the intersection point of two adjacent external common tangents, and the N-2 intersection points are the N-2 turning points of the inspection route.

8. The method for planning a drone inspection route according to claim 7, characterized in that: The calculation formula for the circular shape of the tower position is: (X–Xn)2+(Y–Yn)2=R32; Among them, R3=R1+R2, R1 is the safe distance of the tower, R2 is the size information of the drone, R3 is the inspection safety distance, Xn is the X coordinate of each tower position, and Yn is the Y coordinate of each tower position.

9. The method for planning a drone inspection route according to claim 7, characterized in that: The calculation formula of the external common tangent is: The coordinates of the two towers are (x1, y1) and (x2, y2), and their radii are r1 and r2 respectively.

10. The method for planning a drone inspection route according to claim 7, characterized in that: The starting point of the inspection route is the intersection of the perpendicular line from the first tower position to the first external common tangent D1 and the first external common tangent D1, and the end point of the inspection route is the intersection of the last external common tangent D N-1 A perpendicular line to the outer common tangent D N-1 The intersection of .

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