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Three-dimensional trajectory planning method for transmission line inspection UAV

A transmission line and track planning technology, applied in the direction of navigation calculation tools, etc., can solve the problems of the track planning method of the inspection drone and the inability of the drone to use the transmission line for inspection, so as to improve the efficiency of track planning, The effect of reducing the time for 3D trajectory planning

Active Publication Date: 2019-03-26
STATE GRID CORP OF CHINA +2
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  • Summary
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  • Description
  • Claims
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Problems solved by technology

[0004] At present, there is still no trajectory planning method specially designed for transmission line inspection UAVs, resulting in the inability of UAVs to be used for transmission line inspections

Method used

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  • Three-dimensional trajectory planning method for transmission line inspection UAV
  • Three-dimensional trajectory planning method for transmission line inspection UAV
  • Three-dimensional trajectory planning method for transmission line inspection UAV

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Embodiment Construction

[0021] Below in conjunction with specific embodiment the present invention is described in further detail:

[0022] A three-dimensional track planning method for transmission line inspection UAV, which comprises the following steps:

[0023] Step 1: Model the obstacles. In any inspection mission, upload the coordinates of all obstacles and towers to the onboard computer of the UAV, and set the cylinder model in the map of the onboard computer of the UAV. Wrap each obstacle;

[0024] Let the longitude and latitude coordinates of the obstacle center be (x i ,y i ), the minimum circle radius that can wrap around obstacles is: r i (i=1, 2, 3, 4...n), n is the total number of obstacles, then the plane projection equation of the smallest cylinder that can wrap the obstacles is:

[0025] (x-x i ) 2 +(y-y i ) 2 ≤r i 2 (1)

[0026] In Formula 1, x and y are the real-time latitude and longitude coordinates of the UAV;

[0027] Step 2: According to the detected flight enviro...

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Abstract

The present invention relates to a three-dimensional flight track planning method for an electric transmission line inspection unmanned aerial vehicle. The three-dimensional flight track planning method comprises: 1, establishing the models of obstacles, setting cylindrical models for wrapping each obstacle in the map of an unmanned aerial vehicle onboard computer, and obtaining the plane projection equation of the smallest cylinder capable of wrapping the obstacle; and 2, according to the detected flight environment information, carrying out unmanned aerial vehicle overall-situation flight track planning by using a BP neural network algorithm, and obtaining a reference flight track. According to the present invention, the electric transmission line inspection unmanned aerial vehicle flight track planning method is researched, and the reference flight track is planned by using the BP neural network algorithm based on the sequence planning idea, such that the flight track planning efficiency is improved, and the three-dimensional flight track planning time of the electric transmission line inspection of the unmanned aerial vehicle is reduced.

Description

technical field [0001] The invention relates to the technical field of operation and maintenance of electric power systems, in particular to a three-dimensional track planning method for a power transmission line inspection drone. Background technique [0002] In recent years, with the rapid development of social economy and the rapid development of urban scale, the demand for electricity for life and industry is increasing. Behind the large demand for electricity, a large national interconnected power grid with ultra / ultra-high voltage transmission lines (hereinafter referred to as transmission lines) as the main framework has emerged as the times require, and the scale of the power grid is also growing. However, with the rapid expansion of the grid scale, the challenges and risks faced by the safe operation of transmission lines are also increasing day by day: grid accidents caused by non-traditional factors such as extreme natural disasters, animal and plant invasion, and...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 张雪峰廖承龚浩冯智慧涂洁张晓琴方书博
Owner STATE GRID CORP OF CHINA
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