CN106774392A - The dynamic programming method of flight path during a kind of power circuit polling - Google Patents
The dynamic programming method of flight path during a kind of power circuit polling Download PDFInfo
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Abstract
The invention discloses a kind of dynamic programming method of flight path during power circuit polling, the power line corridor laser point cloud data in aircraft's flight track planning region is obtained first；It is then determined that the track points in the planning course line；Using the track points and flight course planning algorithm generation initial flight course line, the initial flight course line is loaded into the flight navigation and control system of the aircraft；Obtain the space coordinates and scope of barrier on flight corridor；The track points of space coordinates and range computation avoidant disorder thing according to the barrier, and be calculated the aircraft avoidance using flight course planning algorithm and return the optimal line of flight in planning course line；The resulting optimal line of flight is loaded into the flight navigation and control system of the aircraft, the Dynamic Programming of flight path is realized.It is capable of the flight path of Dynamic Programming avoidant disorder thing online using the above method, so as to realize effective avoidance of barrier during power circuit polling.
Description
Technical field
The present invention relates to flight path during power system inspection technical field, more particularly to a kind of power circuit polling
Dynamic programming method.
Background technology
At present, it is one of groundwork of grid company regular maintenance, traditional manual inspection that electric power transmission line is patrolled and examined
Mode workload is big, efficiency is low, high cost, and is influenceed greatly by weather and geographical environment, with aviation and electronic technology development,
The sensors, the important channel as power circuit polling such as laser radar are carried using aircraft.
Patrolled and examined using helicopter or the corresponding sensor of UAV flight more than power circuit polling in the prior art, in electric power
Before patrolling and examining operation, the flight path planning of electric inspection process is carried out first, pilot or unmanned plane operator are along planning
Operation is patrolled and examined in flight path development.Due to being distributed in mountain area transmission line of electricity, with a varied topography, trees are various, boat set in advance more
Line can not accurately be avoided to unknown barrier, and particularly unmanned plane can not possibly be avoided by human intervention in the case of remote and be hindered
Hinder thing, great economic asset certainly will be caused to lose.
The content of the invention
It is an object of the invention to provide a kind of dynamic programming method of flight path during power circuit polling, using this
Method is capable of the flight path of Dynamic Programming avoidant disorder thing online, so as to realize having for barrier during power circuit polling
Effect is avoided.
A kind of dynamic programming method of flight path during power circuit polling, methods described includes：
Step 1, the power line corridor laser point cloud data obtained in aircraft's flight track planning region, in acquired laser
The tower bar along electric power is extracted in cloud data, the space coordinates on each tower bar top is obtained；
Step 2, the beginning and end that the aircraft planning course line is set, and the planning course line is relative to each tower bar top
Interval, determine the track points in the planning course line；
Step 3, using the track points and flight course planning algorithm generation initial flight course line, by the initial flight course line
It is loaded into the flight navigation and control system of the aircraft；
Step 4, the aircraft obtain barrier on flight corridor during along the initial flight airline operation
Space coordinates and scope；
The track points of step 5, the space coordinates according to the barrier and range computation avoidant disorder thing, and utilize course line
Planning algorithm is calculated the aircraft avoidance and returns the optimal line of flight in planning course line；
Step 6, flight navigation and control system that the resulting optimal line of flight is loaded into the aircraft, realize flying
The Dynamic Programming in walking along the street footpath.
In the step 1, the process of the space coordinates for obtaining each tower bar top is specially：
According to each tower bar architectural feature along electric power, the space coordinates of each tower bar is searched for, in acquired laser point cloud number
According to the middle space coordinates for extracting each tower bar summit；
The summit of each tower bar is changed and confirmed by man-machine interactively mode, obtains the correct space coordinates on each tower bar summit.
In the step 2, the beginning and end for setting the aircraft planning course line is specifically included：
Selected by directly inputting the space coordinates of the beginning and end of aircraft, or on laser point cloud along electric power
The space coordinates of beginning and end is taken and obtains to set the beginning and end that the aircraft plans course line.
It is described specifically to be wrapped using the track points and flight course planning algorithm generation initial flight course line in the step 3
Include：
In the laser point cloud data that the starting point in the planning course line, terminal and track points are imported along electric power；
Flight corridor radius, turning radius and aircraft climbing cost coefficient are set, and calculate transition flight path point；
Planning course line is calculated using shortest path flight course planning algorithm, the minimum course line of selection target functional value is used as initial
The line of flight.
In the step 4, the space coordinates and scope for obtaining barrier on flight corridor is specifically included：
Hindered by being mounted on the carry-on avoidance laser radar or other sensors real-time detection flight corridor
Hinder the space coordinates and scope of thing.
In the step 5, the space coordinates and the flight path of range computation avoidant disorder thing according to the barrier
Point, and specifically wrapped using the optimal line of flight that flight course planning algorithm is calculated the aircraft avoidance and recurrence planning course line
Include：
First with the aircraft current flight position as starting point, along initial flight course line detection flight corridor
Barrier；
Then detection barrier relative to the top of flight corridor, lower section, left and right marginal point and scope, respectively
Based on the different directions of flight corridor section, the track points for avoiding the barrier are calculated；
The flight cost and shortest path for avoiding the barrier are calculated again, and the Lu Jingwei of selection target function minimum cost keeps away
Hinder the shortest path warp of flight, and as the optimal line of flight.
As seen from the above technical solution provided by the invention, Dynamic Programming barrier can be avoided online using the above method
Hinder the flight path of thing, so as to realize effective avoidance of barrier during power circuit polling.
Brief description of the drawings
Technical scheme in order to illustrate more clearly the embodiments of the present invention, below will be to that will use needed for embodiment description
Accompanying drawing be briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for this
For the those of ordinary skill in field, on the premise of not paying creative work, other can also be obtained according to these accompanying drawings
Accompanying drawing.
Fig. 1 is shown by the dynamic programming method flow that the embodiment of the present invention provides flight path during power circuit polling
It is intended to；
Fig. 2 is provided the schematic three dimensional views of laser point cloud power tower bar extraction by the embodiment of the present invention.
Specific embodiment
With reference to the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Ground description, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.Based on this
Inventive embodiment, the every other implementation that those of ordinary skill in the art are obtained under the premise of creative work is not made
Example, belongs to protection scope of the present invention.
Embodiment of the present invention methods described is made by the avoidance laser radar or other sensors that are carried on aircraft in flight
Barrier in flight path is obtained during industry in real time, is capable of the flight path of Dynamic Programming avoidant disorder thing online, realize power line
Road patrol and examine during barrier effective avoidance, the embodiment of the present invention is described in further detail below in conjunction with accompanying drawing,
The dynamic programming method flow signal of flight path during power circuit polling is provided by the embodiment of the present invention as shown in Figure 1
Figure, methods described includes：
Step 1, the power line corridor laser point cloud data obtained in aircraft's flight track planning region, in acquired laser
The tower bar along electric power is extracted in cloud data, the space coordinates on each tower bar summit is obtained；
In the step 1, the process for obtaining the space coordinates on each tower bar summit refers to accompanying drawing 2, and Fig. 2 is real for the present invention
The schematic three dimensional views that example provides the extraction of laser point cloud power tower bar are applied, with reference to Fig. 2：
Each tower bar architectural feature along electric power is first depending on, the space coordinates of each tower bar is searched for, in acquired laser spots
The space coordinates on each tower bar summit of cloud extracting data；
Then the summit of each tower bar is changed and confirmed by man-machine interactively mode, and the correct space for obtaining each tower bar summit is sat
Mark.
Step 2, the beginning and end that the aircraft planning course line is set, and the planning course line is relative to each tower bar top
Interval, determine the track points in the planning course line；
In the step 2, the process of the beginning and end for setting aircraft planning course line is：
Selected by directly inputting the space coordinates of the beginning and end of aircraft, or on laser point cloud along electric power
The space coordinates of beginning and end is taken and obtains to set the beginning and end that the aircraft plans course line.
In implementing, H (H is minimum interval of the planning course line away from tower bar top) can be raised in each tower bar summit, as rule
Plot a course is through the track points above tower bar.
Step 3, using the track points and flight course planning algorithm generation initial flight course line, by the initial flight course line
It is loaded into the flight navigation and control system of the aircraft；
In the step 3, the process using the track points and flight course planning algorithm generation initial flight course line is specific
For：
In the laser point cloud data for first importing along electric power the starting point in the planning course line, terminal and track points；
Flight corridor radius, turning radius and aircraft climbing cost coefficient are set again, and calculate transition flight path point；
Planning course line is calculated using shortest path flight course planning algorithm, the minimum course line of selection target functional value is used as initial
The line of flight.Further, initial flight course line can also be exported as the recognizable flight course planning file of flight control system,
The flight course planning file is loaded into the flight navigation and control system of the aircraft, as the planning course line of flight operation.
Step 4, the aircraft obtain barrier on flight corridor during along the initial flight airline operation
Space coordinates and scope；
In the step 4, the space coordinates of barrier and the process of scope are specially on the acquisition flight corridor：
Hindered by being mounted on the carry-on avoidance laser radar or other sensors real-time detection flight corridor
Hinder the space coordinates and scope of thing.
The track points of step 5, the space coordinates according to the barrier and range computation avoidant disorder thing, and utilize course line
Planning algorithm is calculated the aircraft avoidance and returns the optimal line of flight in planning course line；
In the step 5, the process is specifically included：
First with the aircraft current flight position as starting point, along initial flight course line detection flight corridor
Barrier；
Then detection barrier relative to the top of flight corridor, lower section, left and right marginal point and scope, respectively
Based on the different directions of flight corridor section, the track points for avoiding the barrier are calculated；
The flight cost and shortest path for avoiding the barrier are calculated again, and the Lu Jingwei of selection target function minimum cost keeps away
Hinder the shortest path warp of flight, and as the optimal line of flight.
For example, the calculating process of the shortest path warp of above-mentioned avoidance flight can be：
For the trajectory planning of any starting point to terminal, it is considered to by the factor such as the mobility of aircraft and flight cost
As constraints, shortest path trajectory planning object function is set up as follows：
Route=min (a1×f1+a2×f2+a3×f3+a4×f4)(1)
Wherein, constraints is：
In formula, aiRepresent fiThe weight coefficient or cost coefficient of path planning section, fiRepresent flight track point (x1,y1,z1),
(x2,y2,z2) ..., (xn,yn,zn) path planning section；Constraints h ∈ z (xi,yi,zi) represent that planning flight path has to pass through
Track points, ri＞ rminRepresent that flight path turning radius have to be larger than flight min. turning radius, Ri＞ RsafeRepresent that barrier point is arrived
Flight path vertical range is more than flight cylinder channel radius, pi(Δdi, Δ hi) represent aircraft climbing cost and horizontal range and height
Between relation function.
Path planning function between track points can be expressed as：
In formula,Represent track points (xi,yi,zi) arrive (xi+1,yi+1,zi+1) between planning distance,
DminRepresent starting point to the beeline between current target point.
Flight path turning needs interpolation transition flight path point, then min. turning radius constraint function is expressed as：
In formula, riRepresent flight path turning radius, rminRepresent flight min. turning radius.
In flight path beeline channel, avoidance course line needs interpolation transition flight path point, then interpolation track points to track line distance
Constraint function is expressed as：
In formula, RiRepresent barrier point to the vertical course line of track points to distance, RsafeRepresent flight cylinder channel radius.
When flight path creeps avoidant disorder thing, it is necessary to calculate creeping cost, and different generations are given with reference to different aircraft
Valency coefficient, constraint function of creeping is expressed as：
In formula, zi+1-ziRepresent climb starting point to the discrepancy in elevation on avoidance summit, si+1-siRepresent starting point to avoidance summit of climbing
Horizontal range.
Step 6, flight navigation and control system that the resulting optimal line of flight is loaded into the aircraft, realize flying
The Dynamic Programming in walking along the street footpath.
By the operation of above-mentioned steps, it is possible to the flight path of online Dynamic Programming avoidant disorder thing, so as to realize electricity
Effective avoidance of barrier during power line data-logging.
The above, the only present invention preferably specific embodiment, but protection scope of the present invention is not limited thereto,
Any one skilled in the art in the technical scope of present disclosure, the change or replacement that can be readily occurred in,
Should all be included within the scope of the present invention.Therefore, protection scope of the present invention should be with the protection model of claims
Enclose and be defined.
Claims (6)
1. during a kind of power circuit polling flight path dynamic programming method, it is characterised in that methods described includes：
Step 1, the power line corridor laser point cloud data obtained in aircraft's flight track planning region, in acquired laser point cloud
Tower bar along extracting data electric power, obtains the space coordinates on each tower bar summit；
Step 2, the beginning and end that the aircraft planning course line is set, and the planning course line is relative to each tower bar summit
Interval, determines the track points in the planning course line；
Step 3, using the track points and flight course planning algorithm generation initial flight course line, the initial flight course line is loaded into
The flight navigation and control system of the aircraft；
Step 4, the aircraft obtain the sky of barrier on flight corridor during along the initial flight airline operation
Between coordinate and scope；
The track points of step 5, the space coordinates according to the barrier and range computation avoidant disorder thing, and utilize flight course planning
Algorithm is calculated the aircraft avoidance and returns the optimal line of flight in planning course line；
Step 6, flight navigation and control system that the resulting optimal line of flight is loaded into the aircraft, realize flight road
The Dynamic Programming in footpath.
2. according to claim 1 during power circuit polling flight path dynamic programming method, it is characterised in that
In the step 1, the process of the space coordinates for obtaining each tower bar summit is specially：
According to each tower bar architectural feature along electric power, the space coordinates of each tower bar is searched for, in acquired laser point cloud data
Extract the space coordinates on each tower bar summit；
The summit of each tower bar is changed and confirmed by man-machine interactively mode, obtains the space coordinates on each tower bar top.
3. according to claim 1 during power circuit polling flight path dynamic programming method, it is characterised in that
In the step 2, the beginning and end for setting the aircraft planning course line is specifically included：
Chosen simultaneously by directly inputting the space coordinates of the beginning and end of aircraft, or on laser point cloud along electric power
The space coordinates of beginning and end is obtained to set the beginning and end that the aircraft plans course line.
4. according to claim 1 during power circuit polling flight path dynamic programming method, it is characterised in that
It is described to be specifically included using the track points and flight course planning algorithm generation initial flight course line in the step 3：
In the laser point cloud data that the starting point in the planning course line, terminal and track points are imported along electric power；
Flight corridor radius, turning radius and aircraft climbing cost coefficient are set, and calculate transition flight path point；
Planning course line is calculated using shortest path flight course planning algorithm, the minimum course line of selection target functional value is used as initial flight
Course line.
5. according to claim 1 during power circuit polling flight path dynamic programming method, it is characterised in that
In the step 4, the space coordinates and scope for obtaining barrier on flight corridor is specifically included：
By being mounted in barrier on the carry-on avoidance laser radar or other sensors real-time detection flight corridor
Space coordinates and scope.
6. according to claim 1 during power circuit polling flight path dynamic programming method, it is characterised in that
In the step 5, the space coordinates and the track points of range computation avoidant disorder thing according to the barrier, and using boat
Line planning algorithm is calculated the aircraft avoidance and returns plans that the optimal line of flight in course line is specifically included：
First with the aircraft current flight position as starting point, along the obstacle in initial flight course line detection flight corridor
Thing；
Then detection barrier is based respectively on relative to the marginal point and scope of the top of flight corridor, lower section, left and right
The different directions of flight corridor section, calculate the track points for avoiding the barrier；
The flight cost and shortest path for avoiding the barrier are calculated again, and the Lu Jingwei avoidances of selection target function minimum cost fly
Capable shortest path warp, and as the optimal line of flight.
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