CN110196051B - Air route planning method and system, electronic equipment and storage medium - Google Patents
Air route planning method and system, electronic equipment and storage medium Download PDFInfo
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Abstract
The application discloses a method, a system, equipment and a storage medium for planning a route, wherein the method comprises the following steps: receiving all coordinates of a desired route; generating a flyable line according to all the coordinates and a preset no-fly area; screening multiple loops from the flyable lines on the same tower, and determining the flying lines of the tower part; and automatically generating an end-to-end general route by using the tower part flying line, the flyable line and the pre-introduced take-off and landing point. According to the method, the take-off and landing points are led in advance, the no-fly area is set, after all coordinates of the expected line are received, the flyable line avoiding the no-fly area can be generated according to all the coordinates, then the flyable line of the multi-loop same-pole tower part is determined by the flyable line, the general air routes connected end to end are automatically generated based on the determined flyable line, the flying line of the pole tower part and the take-off and landing points, and the air route automatic planning replaces manual air route planning, so that the working time and the human resource are saved, and the efficiency of subsequent disaster exploration operation is improved.
Description
Technical Field
The present disclosure relates to the field of power inspection technologies, and in particular, to a route planning method and system, an electronic device, and a computer-readable storage medium.
Background
With the increasing of machine patrol services, according to a power transmission line patrol strategy, laser radar scanning modeling is mainly implemented on a power transmission line, and through data processing, hidden channel hazards such as tree obstacles, illegal buildings and the like are quickly searched, so that safe and healthy operation of the power transmission line is guaranteed. Meanwhile, a database is established for the transmission line channel model, and reference basic data are provided for later-stage line transformation and new line design.
The current air route planning before flight is manual planning, and according to the operation flow of the aircraft patrol and the patrol plan of the next day, plan application needs to be handed over before 14 pm in the previous day. And the machine patrol operation center communicates with a local city bureau where the coordination line is located to avoid repeated patrol, for operators with abundant working experience and high working efficiency, the planning of the air route usually needs 29 hours, and for operators with insufficient working experience, the planning of the air route needs 50 hours, and the phenomena of heavy flying and missed flying of each pole tower can also occur. If long-time air route planning is needed each time, the efficiency of disaster exploration operation can be greatly influenced, and good opportunities for rescue are missed.
Therefore, how to solve the above problems is a great concern for those skilled in the art.
Disclosure of Invention
The invention aims to provide a route planning method, a route planning system, an electronic device and a computer readable storage medium, which can effectively save working time and human resources and improve the efficiency of subsequent disaster exploration operation.
To achieve the above object, the present application provides a route planning method, including:
receiving all coordinates of the expected line;
generating a flyable line according to all the coordinates and a preset no-fly area;
screening multiple loops of the same tower from the flyable lines, and determining the flying lines of the tower part;
and automatically generating a general route connected end to end by using the tower part flight route, the flyable route and the pre-introduced take-off and landing point.
Optionally, after the generating an end-to-end general route automatically by using the tower part flying line, the flyable line and the pre-introduced lifting point, the method further includes:
and determining a patrol route of each frame, and intercepting the general route according to each patrol route.
Optionally, the determining the patrol route of each rack and intercepting the general route according to each patrol route comprises:
acquiring basic information of machine patrol operation; the basic information comprises preset flight time, preset flight speed, a maximum value of a total range, aircraft oil consumption, effective line length and line airborne length;
and determining a patrol route corresponding to each frame by using the basic information, and intercepting the general route according to each patrol route.
Optionally, the no-fly area is an area marked on the *** earth in advance.
Optionally, after the generating the flyable line according to all the coordinates and the preset no-fly area, the method further includes:
and generating a flyable route summary table and outputting the flyable route summary table to a display page.
Optionally, the screening multiple-circuit same-tower from the flyable line includes:
and judging whether the multiple loops belong to the same tower according to the intervals among the tower loops, and screening to obtain the multiple loops on the same tower.
Optionally, the method further includes:
and importing the information of the general route and the patrol route corresponding to each frame into a preset table for recording to generate an operation form.
To achieve the above object, the present application provides a route planning system, comprising:
the coordinate acquisition module is used for receiving all coordinates of the expected line;
the circuit generation module is used for generating a flyable circuit according to all the coordinates and a preset no-fly area;
the tower screening module is used for screening multiple loops of same towers from the flyable lines and determining the flying lines of tower parts;
and the route generation module is used for automatically generating a head-to-tail general route by utilizing the tower part flight line, the flyable line and a pre-introduced take-off and landing point.
To achieve the above object, the present application provides an electronic device including:
a memory for storing a computer program;
a processor for implementing the steps of any of the previously disclosed route planning methods when executing the computer program.
To achieve the above object, the present application provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of any of the route planning methods disclosed in the foregoing.
According to the scheme, the air route planning method provided by the application comprises the following steps: receiving all coordinates of the expected line; generating a flyable line according to all the coordinates and a preset no-fly area; screening multiple loops of the same tower from the flyable lines, and determining the flying lines of the tower part; and automatically generating a general route connected end to end by using the tower part flight route, the flyable route and the pre-introduced take-off and landing point. According to the method, the take-off and landing points are led in advance, the no-fly area is set, after all coordinates of the expected line are received, the flyable line avoiding the no-fly area can be generated according to all the coordinates, then the flyable line of the multi-loop same-pole tower part is determined by the flyable line, and the head-tail-connected general air routes are automatically generated based on the determined flyable line, the tower part flying line and the take-off and landing points, namely, the air route automatic planning is used for replacing manual air route planning, so that the working time and the human resource are effectively saved, and the efficiency of subsequent disaster exploration operation is improved.
The application also discloses a route planning system, an electronic device and a computer readable storage medium, which can also realize the technical effects.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a flow chart of a method for route planning as disclosed in an embodiment of the present application;
FIG. 2 is a flow chart of another route planning method disclosed in an embodiment of the present application;
FIG. 3 is a block diagram of an airline planning system as disclosed in an embodiment of the present application;
fig. 4 is a block diagram of an electronic device disclosed in an embodiment of the present application;
fig. 5 is a block diagram of another electronic device disclosed in the embodiments of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In the prior art, the planning of the air route before flight is manual planning, and according to the operation flow of the aircraft patrol and the patrol plan of the next day, plan application needs to be handed over before 14 pm in the previous day. And the machine patrol operation center communicates with a local city bureau where the line is located to avoid repeated patrol, the planning route of operators with abundant working experience and high working efficiency usually needs 29 hours, the planning route of operators with insufficient working experience needs 50 hours, and the phenomena of heavy flight and missed flight of each pole tower also exist. If long-time air route planning is needed each time, the efficiency of disaster exploration operation can be greatly influenced, and good opportunities for rescue are missed.
Therefore, the embodiment of the application discloses a route planning method which can effectively save working time and human resources and improve the efficiency of subsequent disaster exploration operation.
Referring to fig. 1, a method for planning routes disclosed in an embodiment of the present application includes:
s11: receiving all coordinates of the expected line;
in the step, all coordinates are received through the input interface, and the coordinates are corresponding to the expected route of the routing inspection plan. Specifically, the process of receiving all the coordinates may be obtained by a manner in which the worker directly inputs the coordinates, or may be obtained according to a selection result of the worker from existing coordinates on a display page.
S12: generating a flyable line according to all the coordinates and a preset no-fly area;
in this embodiment, the no-fly area is an area visually marked on *** earth in advance. After all the coordinates are received, the coordinates in the no-fly area are removed based on the preset no-fly area, the coordinates in the no-fly area are not reserved, and the flyable line avoiding the no-fly area is automatically generated.
Furthermore, after the flyable line is generated according to all the coordinates and the preset no-fly area, a flyable line summary table is generated according to the flyable line and is output to the display page, so that a worker can more visually see the flyable line from the display page, the flyable line is convenient to check, and whether the function of automatically generating the flyable line is normal is detected.
S13: screening multiple circuits on the same tower from the flyable line, and determining the flying line of the tower part;
it should be noted that, transmission line voltage grades are different, and line row spacing is also different. Therefore, reference values of different loop intervals are preset, whether multiple loops belong to the same tower or not can be judged according to the intervals between the tower loops, for example, the same tower is determined when the interval between the different loops is set to be smaller than 15 meters, information of the multiple loops on the same tower is finally screened according to the scheme, and then the flight line of the tower part is determined.
S14: and automatically generating a general route connected end to end by using the tower part flight route, the flyable route and the pre-introduced take-off and landing point.
In this embodiment, mark the take-off and landing point on *** earth in advance, wherein, some take-off and landing points receive external factor influence and lead to unable use, and the inspector can look for again and update. In the step, a final-ending general route is automatically generated based on the determined tower part flight line, the flyable line and the set take-off and landing point.
It should be noted that, because the airspace routes related to the routes need to be reported to the corresponding airport control station, and each department needs different operation forms, including guidance on helicopter patrol operation of overhead transmission lines, operation tickets for helicopter patrol, records on helicopter field operation, statistical tables for helicopter channel quick patrol, facsimile airspace planning, and the like. The form of the form is further preset, so that after the planning of the main flight line is finished, the information of the main flight line and the patrol flight line corresponding to each frame is imported into the preset form to be recorded, the operation form is generated, the process of manually filling the operation form is omitted, the labor is obviously saved, and the working efficiency is improved.
According to the scheme, the air route planning method provided by the application comprises the following steps: receiving all coordinates of the expected line; generating a flyable line according to all the coordinates and a preset no-fly area; screening multiple loops of the same tower from the flyable lines, and determining the flying lines of the tower part; and automatically generating a head-to-tail general route by using the tower part flight line, the flyable line and the pre-introduced take-off and landing point. According to the method, the take-off and landing points are led in advance, the no-fly area is set, after all coordinates of the expected line are received, the flyable line avoiding the no-fly area can be generated according to all the coordinates, then the flyable line of the multi-loop same-pole tower part is determined by the flyable line, and the head-tail-connected general air routes are automatically generated based on the determined flyable line, the tower part flying line and the take-off and landing points, namely, the air route automatic planning is used for replacing manual air route planning, so that the working time and the human resource are effectively saved, and the efficiency of subsequent disaster exploration operation is improved.
The embodiment of the application discloses another route planning method, and compared with the previous embodiment, the embodiment further explains and optimizes the technical scheme. Referring to fig. 2, specifically:
s21: receiving all coordinates of a desired route;
s22: generating a flyable line according to all the coordinates and a preset no-fly area;
s23: screening multiple loops of the same tower from the flyable lines, and determining the flying lines of the tower part;
s24: automatically generating a general route connected end to end by using the tower part flight line, the flyable line and a pre-introduced take-off and landing point;
s25: and determining a patrol route of each frame, and intercepting the general route according to each patrol route.
In the step, basic information of machine patrol operation is firstly obtained; the basic information comprises preset flight time, preset flight speed, a total range maximum value, aircraft oil consumption, effective line length and line airborne length; and then determining the patrol route corresponding to each frame by using the basic information, and intercepting the general route according to each patrol route.
In the embodiment, when the route is planned, the length of the route is calculated every time one route is added, and if the length of the route is greater than the maximum value of the effective length of the route, the newly added route is deleted; if the total length of the line is greater than the maximum value of the total voyage, deleting the newly added line; in addition, the new line added each time is guaranteed to be the line closest to the previous line, so that the idle flight length of each line in the overhead process is reduced to the minimum, and the maximization of the effective length of the patrol line is realized. On the basis of the scheme, the method can further adjust the flight time according to the preset flight time, the preset flight speed, namely the reference values of the flight time and the speed, the oil consumption of the airplane, the weather condition, the performance of the helicopter and the proficiency of the pilot so as to generate an efficient and reasonable air route.
The results obtained by experimental tests of the route planning method provided by the application show that after the route planning is carried out by using the scheme, the accuracy of the route is more than 98%, human resources are saved, the route planning time is obviously shortened to be within eight hours, the problems that the route planning time of a helicopter in inspection is long and errors are prone to occurring are solved, the emergency response risk-fighting and exploration-resistant efficiency is particularly improved, and the application effect is obvious.
In the following, a system for planning an airline according to an embodiment of the present invention is described, and a system for planning an airline described below and a method for planning an airline described above may be referred to each other.
Referring to fig. 3, an embodiment of the present application provides an airline planning system including:
a coordinate acquisition module 101, configured to receive all coordinates of an expected route;
a route generation module 102, configured to generate a flyable route according to all the coordinates and a preset no-fly area;
the tower screening module 103 is used for screening multiple circuits of the same tower from the flyable lines and determining the flying lines of the tower part;
and the route generation module 104 is used for automatically generating an end-to-end general route by using the tower part flight line, the flyable line and the pre-introduced take-off and landing point.
On the basis of the foregoing embodiment, as a preferable mode, the route planning system provided in the embodiment of the present application may further include:
and the route intercepting module is used for determining each patrol route of each rack after automatically generating the head-to-tail general routes by using the tower part flight lines, the flyable lines and the pre-introduced take-off and landing points, and intercepting the general routes according to each patrol route.
On the basis of the foregoing embodiment, as a preferable foregoing manner, the module for intercepting a route in a route planning system provided in the embodiment of the present application includes:
a basic information acquisition unit for acquiring basic information of the machine patrol operation; the basic information comprises preset flight time, preset flight speed, a maximum value of a total range, aircraft oil consumption, effective line length and line airborne length;
and the intercepting unit is used for determining the patrol route corresponding to each rack by using the basic information and intercepting the general route according to each patrol route.
On the basis of the foregoing embodiment, as a preferable mode, the route planning system provided in the embodiment of the present application may further include:
and the page output module is used for generating a flyable route summary table and outputting the flyable route summary table to a display page after the flyable route is generated according to all the coordinates and the preset no-fly area.
On the basis of the foregoing embodiment, as a preferable foregoing manner, the pole tower screening module in the route planning system provided in the embodiment of the present application includes:
and the loop judgment unit is used for judging whether the multiple loops belong to the same tower according to the intervals among the tower loops, and screening to obtain the multiple loops on the same tower.
On the basis of the foregoing embodiment, as a preferable mode, the route planning system provided in the embodiment of the present application may further include:
and the form generation module is used for importing the information of the general route and the patrol route corresponding to each frame into a preset form for recording to generate an operation form.
For the specific contents of each module in the above disclosed airline planning system, reference may be made to the corresponding contents of the airline planning method disclosed in the foregoing embodiment, and details are not repeated here.
The present application further provides an electronic device, and as shown in fig. 4, an electronic device provided in an embodiment of the present application includes:
a memory 100 for storing a computer program;
the processor 200, when executing the computer program, may implement the steps of the route planning method provided by the above-described embodiments.
Specifically, the memory 100 includes a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and computer-readable instructions, and the internal memory provides an environment for the operating system and the computer-readable instructions in the non-volatile storage medium to run. The processor 200 may be, in some embodiments, a Central Processing Unit (CPU), a controller, a microcontroller, a microprocessor or other data Processing chip, which provides computing and controlling capabilities for the electronic device, and when executing the computer program stored in the memory 100, the steps of the route planning method disclosed in the foregoing embodiments may be implemented.
On the basis of the above embodiment, as a preferred implementation, referring to fig. 5, the electronic device further includes:
and an input interface 300 connected to the processor 200, for obtaining computer programs, parameters and instructions imported from outside, and storing the computer programs, parameters and instructions into the memory 100 under the control of the processor 200. The input interface 300 may be connected to an input device for receiving parameters or instructions manually input by a user. The input device may be a touch layer covered on a display screen, or a button, a track ball or a touch pad arranged on a terminal shell, or a keyboard, a touch pad or a mouse, etc.
And a display unit 400 connected to the processor 200 for displaying data processed by the processor 200 and for displaying a visualized user interface. The display unit 400 may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, an OLED (Organic Light-Emitting Diode) touch device, and the like.
And a network port 500 connected to the processor 200 for performing communication connection with each external terminal device. The communication technology adopted by the communication connection can be a wired communication technology or a wireless communication technology, such as a mobile high definition link (MHL) technology, a Universal Serial Bus (USB), a High Definition Multimedia Interface (HDMI), a wireless fidelity (WiFi), a bluetooth communication technology, a low power consumption bluetooth communication technology, an ieee802.11 s-based communication technology, and the like.
While FIG. 5 shows only an electronic device having the assembly 100 and 500, those skilled in the art will appreciate that the configuration shown in FIG. 5 does not constitute a limitation of the electronic device, and may include fewer or more components than shown, or some components may be combined, or a different arrangement of components.
The present application also provides a computer-readable storage medium, which may include: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk. The storage medium has stored thereon a computer program which, when being executed by a processor, carries out the steps of the route planning method disclosed in the preceding embodiment.
According to the method, the take-off and landing points are led in advance, the flight forbidden area is set, after all coordinates of an expected line are received, a flyable line avoiding the flight forbidden area can be generated according to all the coordinates, then the flyable line is used for determining the flight line of the multi-loop same-pole tower part, and the head-to-tail general routes are automatically generated based on the determined flyable line, the flight line of the pole tower part and the take-off and landing points.
The embodiments are described in a progressive manner in the specification, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description. It should be noted that, for those skilled in the art, it is possible to make several improvements and modifications to the present application without departing from the principle of the present application, and such improvements and modifications also fall within the scope of the claims of the present application.
It is further noted that, in the present specification, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Claims (10)
1. A method of route planning, comprising:
receiving all coordinates of the expected line;
generating a flyable line according to all the coordinates and a preset no-fly area;
screening multiple loops of the same tower from the flyable lines, and determining the flying lines of the tower part;
and automatically generating a general route connected end to end by using the tower part flight route, the flyable route and the pre-introduced take-off and landing point.
2. The method for planning flight paths according to claim 1, wherein after the step of automatically generating an end-to-end general flight path by using the tower part flight line, the flyable line and the pre-introduced point of origin and landing, the method further comprises the following steps:
and determining a patrol route of each frame, and intercepting the general route according to each patrol route.
3. The route planning method according to claim 2, wherein the determining of each of the itinerant routes and intercepting the general route according to each of the itinerant routes comprises:
acquiring basic information of machine patrol operation; the basic information comprises preset flight time, preset flight speed, a maximum value of a total range, aircraft oil consumption, effective line length and line airborne length;
and determining a patrol route corresponding to each frame by using the basic information, and intercepting the general route according to each patrol route.
4. The airline planning method according to claim 1, wherein the no-fly region is a region previously marked on *** earth.
5. The route planning method according to claim 1, further comprising, after the generating a flyable route according to all the coordinates and a preset no-fly region:
and generating a flyable route summary table and outputting the flyable route summary table to a display page.
6. The route planning method according to claim 1, wherein the screening of the flyable routes for multiple-circuit same-tower comprises:
and judging whether the multiple loops belong to the same tower according to the intervals among the tower loops, and screening to obtain the multiple loops on the same tower.
7. The route planning method according to any one of claims 1 to 6, further comprising:
and importing the information of the general route and the patrol route corresponding to each frame into a preset table for recording to generate an operation form.
8. An airline planning system, comprising:
the coordinate acquisition module is used for receiving all coordinates of the expected line;
the circuit generation module is used for generating a flyable circuit according to all the coordinates and a preset no-fly area;
the tower screening module is used for screening multiple loops of same towers from the flyable lines and determining the flying lines of tower parts;
and the route generation module is used for automatically generating a head-to-tail general route by utilizing the tower part flight line, the flyable line and a pre-introduced take-off and landing point.
9. An electronic device, comprising:
a memory for storing a computer program;
a processor for implementing the steps of the route planning method according to any one of claims 1 to 7 when executing the computer program.
10. A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, which computer program, when being executed by a processor, carries out the steps of the method of route planning according to any one of claims 1 to 7.
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| CN112327920B (en) * | 2020-11-16 | 2023-07-14 | 国网新疆电力有限公司检修公司 | Unmanned aerial vehicle autonomous obstacle avoidance routing inspection path planning method and device |
| CN113159369B (en) * | 2021-01-21 | 2023-06-23 | 安徽农业大学 | Multi-forest-area scheduling route planning method based on optimized genetic algorithm |
| CN113075938B (en) * | 2021-03-26 | 2024-05-31 | 广东电网有限责任公司珠海供电局 | Remote intelligent inspection system and method for power transmission line |
| CN115033021A (en) * | 2022-06-27 | 2022-09-09 | 福建汇川物联网技术科技股份有限公司 | Method and device for establishing unmanned aerial vehicle routing inspection route, electronic equipment and storage medium |
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| CN102955160A (en) * | 2011-08-19 | 2013-03-06 | 湖北省电力公司电力科学研究院 | Three-dimensional laser radar technology based transmission line tower parameter determination method |
| CN106654987B (en) * | 2016-11-18 | 2018-06-19 | 华北电力大学（保定） | Power circuit multi-robot Cooperation method for inspecting |
| CN107515003B (en) * | 2017-07-19 | 2020-08-11 | 中国南方电网有限责任公司超高压输电公司检修试验中心 | Method for planning flight route of airplane for patrolling power transmission line |
| CN108594847A (en) * | 2018-03-27 | 2018-09-28 | 广东电网有限责任公司 | A kind of autocontrol method of power transmission line unmanned machine laser radar modeling |
| CN108871288B (en) * | 2018-06-01 | 2021-01-12 | 广州中科云图智能科技有限公司 | Unmanned aerial vehicle belt-shaped oblique image aerial surveying method and system |
| CN108871287B (en) * | 2018-06-01 | 2021-01-12 | 广州中科云图智能科技有限公司 | Unmanned aerial vehicle belt-shaped orthographic image aerial surveying method and system |
| CN109239721A (en) * | 2018-09-04 | 2019-01-18 | 广东电网有限责任公司 | A kind of inclination of transmission line tower degree automatic measurement system and its measurement method |
| CN109358639A (en) * | 2018-09-21 | 2019-02-19 | 中国电力科学研究院有限公司 | A kind of method and system using four circuit pole tower of rotor wing unmanned aerial vehicle inspection straight line |
| CN109542114A (en) * | 2018-10-23 | 2019-03-29 | 珠海模范智能科技有限公司 | A kind of unmanned plane polling transmission line method and system |
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