Unmanned aerial vehicle routing inspection path planning method for ADSS optical cable

Abstract

The invention provides an ADSS (all-dielectric self-supporting) optical cable-oriented unmanned aerial vehicle routing inspection path planning method. The ADSS optical cable-oriented unmanned aerial vehicle routing inspection path planning method comprises the steps of a, obtaining three-dimensional space layout data of an ADSS optical cable, surrounding environment information of the ADSS optical cable and an optical cable position model, b, generating a preliminary routing inspection path of an unmanned aerial vehicle according to the obtained optical cable data and environment information, and using a shortest path algorithm for a planning model of the preliminary routing inspection path to complete routing inspection of the unmanned aerial vehicle. And c, performing optimization processing on the preliminary inspection path to avoid collision with an obstacle, considering flight stability, and adopting an obstacle avoidance algorithm to adjust the path. According to the ADSS optical cable-oriented unmanned aerial vehicle inspection path planning method, the three-dimensional space layout data of the optical cable and the surrounding environment are acquired in real time, and dynamic weather data and an adaptive flight control system are combined, so that the flight path and speed of the unmanned aerial vehicle can be effectively adjusted, and the stability and safety of the unmanned aerial vehicle in the flight process are ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of UAV inspection, and specifically to a UAV inspection path planning method for ADSS optical cables. Background Art

[0002] The UAV inspection path planning method for ADSS optical cables mainly consists of a UAV platform, a path planning module, a monitoring and data acquisition module, and a feedback and adjustment mechanism. The UAV platform is equipped with automatic flight and obstacle avoidance technologies, and the path planning module optimizes the inspection path based on the optical cable layout, geographical environment, and flight capabilities. The monitoring module is equipped with devices such as high-definition cameras and infrared sensors to collect optical cable data in real time and transmit it to the ground control center for analysis. The system adjusts the inspection path in real time through the feedback mechanism to ensure the efficient and comprehensive execution of the inspection task.

[0003] The defects of this system are mainly manifested in several aspects. It has poor environmental adaptability under complex terrain or adverse weather conditions, unable to maintain a stable flight state, which affects the inspection accuracy. The battery life of the UAV limits the inspection time, and long-term inspection tasks are prone to interruption, reducing the efficiency. Summary of the Invention

[0004] In view of the deficiencies of the prior art, the present invention provides a UAV inspection path planning method for ADSS optical cables, which solves the problems of poor adaptability to complex terrain environments, inability to maintain a stable flight state and thus affecting inspection accuracy; the inspection time is limited by the flight ability, and the inspection task is prone to interruption and reduced efficiency.

[0005] To achieve the above objectives, the present invention is realized through the following technical solutions: A UAV inspection path planning method for ADSS optical cables, including:

[0006] a. Obtain the three-dimensional spatial layout data of the ADSS optical cable and the surrounding environmental information, and establish an optical cable position model. The optical cable position model uses the following formula:

[0007]

[0008] Wherein, is the distance of the optical cable in three-dimensional space, and are the three-dimensional coordinates of the starting point and the ending point of the optical cable respectively; b. Generate a preliminary inspection path for the UAV according to the obtained optical cable data and environmental information. The planning model of the preliminary inspection path uses the shortest path algorithm. Among them, the planning model uses the following formula:

[0009]

[0010] Wherein, For the optimized inspection path time, For the flight distance from point to point For the flight speed at point ; c. Optimize the preliminary inspection path to avoid collisions with obstacles and consider flight stability. Use an obstacle avoidance algorithm to adjust the path so that the adjusted path meets the flight safety requirements of the UAV; d. Dynamically adjust the inspection path based on real-time weather and environmental data. Use a meteorological data module to obtain weather conditions and adjust the UAV flight speed and flight altitude according to weather changes; e. Use an adaptive flight control system to adjust the UAV flight speed and attitude to ensure stability during the inspection process. The adaptive flight control system combines sensor feedback to adjust the flight mode to prevent unstable flight; f. Based on the battery endurance model, optimize the flight time of the inspection path to ensure the completion of the inspection task;

[0011] g. Use a camera and sensors to monitor the optical cable in real time, collect inspection data, and transmit the data to the ground control platform in real time through a data transmission module; h. Transmit the inspection data to the ground control platform for processing, and adjust the inspection strategy according to the analysis results to optimize the subsequent inspection path; i. Provide real-time feedback to the UAV through data analysis, adjust the inspection path or task execution strategy, and optimize the inspection plan according to the optical cable health status; j. Timely correct the UAV flight trajectory based on the feedback information to ensure efficient coverage of the entire inspection area and avoid repeated inspections or missed areas; k. Monitor abnormal situations during the inspection process and automatically intervene or suspend the task to ensure inspection safety. Abnormal situations include insufficient battery power and abnormal aircraft attitude;

[0012] I. After completing the inspection, generate an optical cable health report according to the data analysis results.

[0013] Preferably, the steps of the preliminary inspection path optimization process in step C include: adjusting the flight path according to the installation position of the ADSS optical cable and the nearby terrain to avoid collisions between the aircraft and obstacles such as power lines, buildings, and trees.

[0014] Preferably, the sensors in step g include high-definition vision sensors, infrared imaging sensors, and lidar sensors, which are used to monitor the optical cable status in all directions and provide inspection data. The abnormal situations in step k include cracks and corrosion.

[0015] Preferably, the adaptive flight control system uses a PID control algorithm and sensor fusion technology to achieve stability and precise control during flight.

[0016] Preferably, the optical cable health report in step l includes the inspection data of the optical cable, the abnormal location, the possible damage types, and the subsequent recommended repair plan.

[0017] Preferably, the camera has an automatic focusing and image stabilization function to ensure clear and stable image data during flight.

[0018] Preferably, the data transmission module in step g uses 5G communication technology for high-speed and low-latency data transmission to ensure that the inspection data can be transmitted to the ground control platform in real time.

[0019] Preferably, the inspection data further includes the stress, temperature distribution, and vibration monitoring data of the optical cable.

[0020] The present invention provides a method for planning an unmanned aerial vehicle (UAV) inspection path for an all-dielectric self-supporting (ADSS) optical cable. It has the following beneficial effects:

[0021] This method for planning an UAV inspection path for an ADSS optical cable can effectively adjust the flight path and speed of the UAV by obtaining the three-dimensional spatial layout data of the optical cable and the surrounding environment in real time, and combining dynamic weather data and an adaptive flight control system, ensuring the stability and safety of the UAV during flight. Compared with traditional manual inspection or fixed-path inspection methods, this technical solution can provide higher inspection accuracy and efficiency in complex environments, avoid obstacle collisions in the flight path, and reduce the risk of inspection task interruption.

[0022] This technical solution uses a high-precision sensor combination to monitor the optical cable in all directions in real time, ensuring the accuracy and comprehensiveness of data collection. Compared with existing single monitoring methods, the present invention can provide a more detailed optical cable health report, including abnormal locations and possible damage types, facilitating subsequent repair and maintenance work. Through the real-time feedback of 5G data transmission technology, the inspection path and task strategy can be dynamically adjusted to ensure coverage of the entire inspection area and optimize task execution, improving inspection efficiency and safety. Especially in the face of possible flight anomalies, the system can automatically intervene to ensure the safety and reliability of the inspection process. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic flowchart of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0024] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0025] Embodiment 1

[0026] As Figure 1 shown, the embodiment of the present invention provides a method for planning an unmanned aerial vehicle (UAV) inspection path for an all-dielectric self-supporting (ADSS) optical cable, including: a. Obtaining the three-dimensional spatial layout data of the ADSS optical cable and the surrounding environment information, and establishing an optical cable position model. The optical cable position model uses the following formula:

[0027]

[0028] Among them, is the distance of the optical cable in three-dimensional space, and are the three-dimensional coordinates of the starting point and the ending point of the optical cable respectively; b. Generating a preliminary inspection path of the UAV according to the obtained optical cable data and environmental information. The planning model of the preliminary inspection path uses the shortest path algorithm. Among them, the planning model uses the following formula:

[0029]

[0030] Among them, is the optimized inspection path time, is the th point to the th c. Optimize the preliminary inspection path to avoid collision with obstacles, and consider flight stability, use obstacle avoidance algorithm to adjust the path, and the adjusted path meets the flight safety requirements of the drone. The steps of optimizing the preliminary inspection path include: adjusting the flight path according to the installation location of the ADSS optical cable and the nearby terrain to avoid collisions between the aircraft and obstacles such as power lines, buildings, and trees; d. Dynamically adjust the inspection path based on real-time weather and environmental data, use the meteorological data module to obtain weather conditions, and adjust the flight speed and altitude of the drone according to weather changes; e. Use an adaptive flight control system to adjust the flight speed and attitude of the drone to ensure stability during the inspection process. The adaptive flight control system combines sensor feedback to adjust the flight mode to prevent unstable flight. The adaptive flight control system uses PID control algorithm and sensor fusion technology to achieve stability and precise control during flight; f. Based on the battery life model, optimize the flight time of the inspection path to ensure the completion of the inspection task;

[0031] g. Use cameras and sensors to monitor the optical cable in real time, collect inspection data, and transmit the data to the ground control platform in real time through the data transmission module. The sensors include high-definition visual sensors, infrared imaging sensors and lidar sensors, which are used to monitor the status of the optical cable in all directions and provide inspection data. The camera has autofocus and image stabilization functions to ensure clear and stable image data during flight. The data transmission module uses 5G communication technology for high-speed, low-latency data transmission to ensure that the inspection data can be transmitted to the ground control platform in real time; h. Transmit the inspection data to the ground control platform for processing, and adjust the inspection strategy based on the analysis results to optimize the subsequent inspection path. The inspection strategy includes that if a crack is detected at a certain position of the optical cable, the inspection priority of the area where the crack is located is increased, and the path adjustment gives priority to covering the area to ensure that it is checked for further deterioration. It also includes that if the temperature of the optical cable is abnormally increased by more than 35°C, the area is marked as a high-risk area, and priority is given to key inspections and the flight altitude is adjusted to avoid potential impacts on the optical cable caused by low-altitude flight; i. Feedback to the drone in real time through data analysis, adjust the inspection path or task execution strategy, and optimize the inspection plan based on the health status of the optical cable; j. Based on the feedback information, the flight trajectory of the drone is corrected in time to ensure efficient coverage of the entire inspection area and avoid repeated inspections or missed areas; k. Monitor abnormal conditions during the inspection process and automatically intervene or suspend the task to ensure inspection safety. Abnormal conditions include low battery power, abnormal aircraft posture, cracks and corrosion;

[0032] I. After completing the inspection tour, generate an optical cable health report based on the data analysis results. The optical cable health report includes the inspection data of the optical cable, abnormal locations, possible damage types, and subsequent recommended repair plans. The inspection data further includes the stress, temperature distribution, and vibration monitoring data of the optical cable.

[0033] Experimental examples:

[0034] Experimental equipment:

[0035] UAV platform: Equipped with a high-definition vision sensor, an infrared imaging sensor, and a lidar sensor, integrated with an adaptive flight control system.

[0036] Flight control system: An adaptive flight control system that combines sensor feedback, and the PID control algorithm is used to adjust the flight attitude and speed.

[0037] Meteorological data module: Used to obtain real-time meteorological data, including wind speed, temperature, and humidity.

[0038] Experimental scenarios:

[0039] Experimental location: Mountainous area, with terrain undulations, surrounded by trees and buildings, simulating a complex environment.

[0040] Weather conditions: Select days with relatively high wind speeds (10 m / s to 15 m / s) for the experiment to examine flight stability.

[0041] Experimental steps:

[0042] Flight preparation:

[0043] Configure the UAV and install a high-definition vision sensor, an infrared imaging sensor, and a lidar sensor.

[0044] Initialize the flight control system, load the PID control algorithm, and calibrate the sensors.

[0045] Set the meteorological data module to obtain real-time wind speed data.

[0046] Experimental steps: a. Initial flight test:

[0047] Conduct a preliminary flight in weather with a wind speed of 10 m / s to test the flight stability of the UAV. The flight altitude is set to 50 meters, and the flight speed is 6 m / s.

[0048] Record the pitch angle, roll angle, and yaw angle postures of the UAV, as well as whether there is any swaying or deviation from the path during the flight.

[0049] b. Flight control test under changing wind speeds:

[0050] Increase the wind speed to 15 m / s and conduct the same flight test. Record the attitude changes of the aircraft and monitor the adjustment of the adaptive flight control system to flight speed and attitude.

[0051] Analyze how the PID control system maintains flight stability by adjusting the flight attitude.

[0052] c. Adaptive control feedback mechanism test:

[0053] During the flight, simulate sudden airflow changes with the wind speed suddenly increasing to 20 m / s, and record how the adaptive control system adjusts the flight mode according to the sensor feedback. Ensure that the aircraft can maintain stability during airflow changes and prevent the aircraft from getting out of control.

[0054] Data recording:

[0055] Flight attitude data: Record the changes in the pitch angle, roll angle, and yaw angle of the UAV during the flight.

[0056] Flight speed: Record the real-time changes in flight speed, especially the adjustment situation when the wind speed suddenly increases.

[0057] Control feedback data: Record the adjustment responses of the PID control system at different wind speeds, such as the changes in the PID control proportional coefficient, integral coefficient, and differential coefficient and their effects on the flight attitude.

[0058] Flight stability data: Record any flight oscillations, attitude deviations during the flight, and how the adaptive flight control system adjusts the flight attitude.

[0059] After the experiment:

[0060] Collect all experimental data and conduct analysis to evaluate the effectiveness of the PID control algorithm in maintaining flight stability under different environmental conditions.

[0061] Table 1:

[0062] Wind speed (m / s) Pitch angle change (°) Roll angle change (°) Yaw angle change (°) Flight speed (m / s) PID adjustment situation 10 0.5 0.3 0.1 6 PID adjustment range: P = 1.5, I = 0.1, D = 0.05 15 1 0.7 0.4 6 PID adjustment range: P = 2.0, I = 0.2, D = 0.1 20 1.5 1 0.8 5 PID adjustment range: P = 2.5, I = 0.3, D = 0.2

[0063] Experimental results:

[0064] Flight stability: At a wind speed of 10 m / s, the aircraft can maintain stability, and the PID control system makes minor attitude adjustments.

[0065] When the wind speed reaches 15 m / s, the adjustment amplitude of the PID control system for the aircraft increases, and the pitch angle and roll angle change moderately, and the aircraft can still maintain stable flight.

[0066] When the wind speed suddenly increases to 20 m / s, the aircraft shows a slight attitude deviation, but the PID control system adjusts in time to ensure that the aircraft remains within the flight path.

[0067] PID control response:

[0068] In the case of increasing wind speed, the proportional coefficient (P) and derivative coefficient (D) of the PID control system increase significantly to strengthen the control of the flight attitude and ensure that the aircraft remains stable under a relatively high wind speed.

[0069] Flight speed adjustment:

[0070] When the wind speed is greater than 15 m / s, to maintain flight stability, the flight speed is automatically adjusted to 5 m / s to reduce the impact of the wind on the aircraft.

[0071] Although the embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A method for unmanned aerial vehicle inspection path planning for ADSS optical cables, characterized in that: include: a. Obtain the three-dimensional spatial layout data of the ADSS optical cable and its surrounding environment information, and the optical cable position model, which adopts the following formula: in, is the distance of the optical cable in three-dimensional space, and are the three-dimensional coordinates of the starting point and the end point of the optical cable respectively; b. Generate a preliminary inspection path for the UAV based on the acquired optical cable data and environmental information. The planning model of the preliminary inspection path uses the shortest path algorithm, wherein the planning model adopts the following formula: in, is the optimized inspection path time, For the Click to The flight distance of the point, For the c. Optimize the initial inspection path to avoid collisions with obstacles, and consider flight stability, and use obstacle avoidance algorithms to adjust the path; d. Dynamically adjust the inspection path based on real-time weather and environmental data, use the meteorological data module to obtain weather conditions, and adjust the flight speed and altitude of the drone according to weather changes; e. Use an adaptive flight control system to adjust the flight speed and attitude of the drone. The adaptive flight control system combines sensor feedback to adjust the flight mode to prevent unstable flight; f. Optimize the flight time of the inspection path based on the battery life model to ensure the completion of the inspection task; g. Use cameras and sensors to monitor the optical cable in real time, collect inspection data, and transmit the data to the ground control platform in real time through the data transmission module; h. Transmit the inspection data to the ground control platform for processing, and adjust the inspection strategy based on the analysis results to optimize the subsequent inspection path; i. Provide real-time feedback to the drone through data analysis, adjust the inspection path or task execution strategy, and optimize the inspection plan according to the health status of the optical cable; j. Make timely corrections to the drone's flight trajectory based on the feedback information to ensure efficient coverage of the entire inspection area and avoid repeated inspections or missed areas; k. Monitor abnormal conditions during the inspection process and automatically intervene or suspend the task to ensure inspection safety. Abnormal conditions include low battery power and abnormal aircraft attitude; I. After the inspection is completed, a cable health report is generated based on the data analysis results.

2. The method for planning a drone inspection path for ADSS optical cables according to claim 1, characterized in that: The steps of optimizing the preliminary inspection path described in step C include: adjusting the flight path according to the installation location of the ADSS optical cable and the nearby terrain to avoid collision between the aircraft and obstacles such as power lines, buildings, and trees.

3. The method for planning a drone inspection path for ADSS optical cables according to claim 1, characterized in that: The sensors described in step g include high-definition visual sensors, infrared imaging sensors and lidar sensors, and the abnormal conditions described in step k include cracks and corrosion.

4. The method for planning a drone inspection path for ADSS optical cables according to claim 1, characterized in that: The adaptive flight control system adopts PID control algorithm and sensor fusion technology.

5. The method for planning a drone inspection path for ADSS optical cables according to claim 1, characterized in that: The optical cable health report in step 1 includes the inspection data of the optical cable, the abnormal location, the possible damage type and the subsequent recommended maintenance plan.

6. The method for planning a drone inspection path for ADSS optical cables according to claim 1, characterized in that: The camera has auto-focus and image stabilization functions to ensure clear and stable image data during flight.

7. The method for planning a drone inspection path for ADSS optical cables according to claim 1, characterized in that: The data transmission module described in step g uses 5G communication technology for high-speed, low-latency data transmission, ensuring that the inspection data can be transmitted to the ground control platform in real time.

8. The method for planning a drone inspection path for ADSS optical cables according to claim 1, characterized in that: The inspection data further includes stress, temperature distribution and vibration monitoring data of the optical cable.

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