CN111251934B - High-voltage line inspection scheduling method based on unmanned aerial vehicle wireless charging - Google Patents

High-voltage line inspection scheduling method based on unmanned aerial vehicle wireless charging Download PDF

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CN111251934B
CN111251934B CN202010066929.XA CN202010066929A CN111251934B CN 111251934 B CN111251934 B CN 111251934B CN 202010066929 A CN202010066929 A CN 202010066929A CN 111251934 B CN111251934 B CN 111251934B
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aerial vehicle
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transmission line
voltage transmission
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CN111251934A (en
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窦万春
孙玉虎
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Nanjing University
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Abstract

The invention discloses a high-voltage line inspection scheduling method based on unmanned aerial vehicle wireless charging, which comprises the following steps: after position information of a high-voltage transmission line tower, electric quantity information and position information of an unmanned aerial vehicle are obtained, planning a routing inspection path list according to an improved depth-first-based search algorithm; when the unmanned aerial vehicle reaches the position of the high-voltage transmission line tower, judging whether the unmanned aerial vehicle needs to be charged according to the electric quantity information and the routing inspection path list, if so, executing wireless charging, and updating the electric quantity information; if not, executing the inspection of the high-voltage transmission line tower according to the inspection path list, and updating the position information; and judging whether the unmanned aerial vehicle reaches the position of the last high-voltage transmission line tower of the routing inspection path list, stopping the routing inspection task and outputting a total routing inspection delay if the unmanned aerial vehicle reaches the position, and judging whether the unmanned aerial vehicle needs to be charged again if the unmanned aerial vehicle does not reach the position. By adopting the method, the total inspection time delay of the unmanned aerial vehicle can be effectively reduced, and the intelligent inspection efficiency is improved.

Description

High-voltage line inspection scheduling method based on unmanned aerial vehicle wireless charging
Technical Field
The invention relates to the field of wireless charging, in particular to a high-voltage line inspection scheduling method based on unmanned aerial vehicle wireless charging.
Background
As the economy has developed, the power grid has provided power to more households. In order to operate a huge power supply infrastructure, it is necessary to keep the grid running continuously. And one small fault of the power grid can damage the whole power supply infrastructure to cause huge economic loss, so that the safe and continuous operation of the power grid cannot be avoided in the economic and stable development, and the operation and maintenance inspection of the power grid becomes an important component of the social and economic development.
However, smooth operation of the power grid faces a greater natural challenge, most power grids are exposed to severe environmental conditions due to complex and variable terrains, and the smart power grid transmission line can be failed due to complex weather, challenging terrains and long distance distribution in unmanned areas. However, each node in the power grid is also important, and the failure of any one node can have a fatal influence on the whole power grid ecosystem, which puts higher requirements on the detection of the high-voltage transmission line. According to investigation, the detection of the high-voltage transmission line is mostly completed through manual detection at present, and the detection faces many challenges, for example, the personal safety of personnel performing power grid monitoring and maintenance work is difficult to guarantee, the detection work efficiency is extremely low, and therefore faults cannot be found and processed in time, and the like. There is therefore a need for more automated and intelligent detection techniques to solve the problem.
In recent years, the unmanned aerial vehicle technology is continuously developed, the unmanned aerial vehicle research and development technology is gradually mature, the manufacturing cost is greatly reduced, the unmanned aerial vehicle is widely applied in various fields, besides military application, the unmanned aerial vehicle also comprises civil fields such as agricultural plant protection and electric power inspection, and the application field of the unmanned aerial vehicle is still rapidly expanded. Wireless charging brings a brand-new visual angle for the high-voltage transmission line detection field along with the rapid development of the unmanned aerial vehicle technology. Compared with other detection technologies, the unmanned aerial vehicle is less limited by weather, environment, geography and the like, and can well run even under the severe natural environment. Utilize unmanned aerial vehicle to patrol and examine high tension transmission line, can carry out equal patrol and examine to abrupt slope topography and many rivers topography effectively. The unmanned aerial vehicle technology eliminates the limitation of geographical conditions and has wide application advantages in high-voltage transmission lines. Simultaneously along with artificial intelligence technical development, unmanned aerial vehicle does not need the manual work to control also can the operation, and flight efficiency is high and the security is high, has improved the efficiency of patrolling and examining greatly. Compared with manual inspection, the unmanned aerial vehicle inspection device not only improves the efficiency and quality of power detection and maintenance, but also can quickly execute a large number of extension transmission lines.
However, because the cruising ability of the unmanned aerial vehicle is poor, the long-time continuous inspection work cannot be carried out, and the unmanned aerial vehicle inspection technology is a big problem in the development process of the unmanned aerial vehicle inspection technology.
Disclosure of Invention
The purpose of the invention is as follows: the invention provides a high-voltage line inspection scheduling method based on unmanned aerial vehicle wireless charging based on the defects that the unmanned aerial vehicle has poor cruising ability and cannot perform long-time continuous inspection work.
In order to solve the technical problem, the invention discloses a high-voltage line inspection scheduling method based on unmanned aerial vehicle wireless charging, which comprises the following steps:
step 1, acquiring position information of a high-voltage transmission line tower;
step 2, acquiring electric quantity information and position information of the unmanned aerial vehicle;
step 3, planning a routing inspection path list of the unmanned aerial vehicle according to the position information of the high-voltage transmission line tower, the position information of the unmanned aerial vehicle and an improved depth-first-based search algorithm;
step 4, when the unmanned aerial vehicle reaches the position of the high-voltage transmission line tower, judging whether the unmanned aerial vehicle needs to be charged at the current high-voltage transmission line tower or not according to the electric quantity information and the routing inspection path list of the unmanned aerial vehicle, executing step 5 if the unmanned aerial vehicle needs to be charged, and executing step 6 if the unmanned aerial vehicle does not need to be charged;
step 5, performing wireless charging on the unmanned aerial vehicle, and updating electric quantity information of the unmanned aerial vehicle;
step 6, the unmanned aerial vehicle performs inspection on the high-voltage transmission line tower according to the inspection path list, and the position information of the unmanned aerial vehicle is updated;
and 7, judging whether the unmanned aerial vehicle reaches the position of the last high-voltage transmission line tower of the routing inspection path list, stopping the routing inspection task and outputting the total routing inspection delay of the unmanned aerial vehicle if the unmanned aerial vehicle reaches the position, and executing the step 4 if the unmanned aerial vehicle does not reach the position.
Further, in one implementation, the step 1 includes:
acquiring position information of high-voltage transmission line towers stored in the unmanned aerial vehicle, wherein the position information is stored in the unmanned aerial vehicle in advance by ground inspection workers, and the position information of the high-voltage transmission line towers comprises coordinate information (x) of each high-voltage transmission line toweri,yi) Wherein i is the mark number of the high-voltage transmission line tower, i is more than or equal to 1, xiLongitude of the location of the ith high voltage transmission line tower, yiThe latitude of the position of the ith high-voltage transmission line tower is;
calculating any two high-voltage transmission line towers according to the following formulaD(s) of the twoi,sj)：
d(si,sj)＝R*cos-1(cos(yi)cos(yj)cos(xj-xi)+sin(yi)sin(yj)) (1)
Wherein R is the radius of the earth, siIs the ith high-voltage transmission line tower, sjIs the jth high-voltage transmission line tower, i is more than or equal to 1, xjLongitude of the location of the jth high voltage transmission line tower, yjThe latitude of the location of the jth high-voltage transmission line tower, where N ═ s1,s2…snAnd n is the total number of the high-voltage transmission line towers.
Further, in one implementation, the step 3 includes: after the unmanned aerial vehicle receives a wireless signal sent by a ground communication station, the unmanned aerial vehicle automatically starts an inspection task, and inspects a high-voltage transmission line tower according to an inspection path list between the unmanned aerial vehicle and the high-voltage transmission line tower, wherein the inspection path list comprises all labels of the high-voltage transmission line tower;
when the unmanned aerial vehicle has no completed inspection task at any time, improving a depth-first algorithm by a triangle principle, and obtaining the inspection path list by using the improved depth-first algorithm, wherein the steps from 3-1 to 3-5 are included;
step 3-1, converting the coordinate information of the high-voltage transmission line tower into an abstract acyclic graph model according to the position information of the high-voltage transmission line tower, wherein each high-voltage transmission line tower is a node in the acyclic graph model, and finding a corresponding starting point of the routing inspection path list in the acyclic graph model, wherein the starting point is a node with any degree of 1 in the acyclic graph model, the routing inspection path list is initialized to be an empty list, and the longest routing inspection path length max is initialized to be 0;
step 3-2, starting from the starting point, recursively executing the following operations for all next nodes of the current node:
if the length of the routing inspection path from the current node to the edge node is greater than or equal to the longest routing inspection path length max, taking the length of the routing inspection path from the current node to the edge node as the value of the longest routing inspection path length max, wherein the edge node is a node with any degree of 1;
judging whether other nodes are added to the same father node before the current node, if so, deleting the other nodes from the routing inspection path list, marking the deleted other nodes as unaccessed nodes, adding the current node to the routing inspection path list, and marking the current node as an accessed node;
if the length of the routing inspection path from the current node to the edge node is less than the longest routing inspection path length max, continuing to circulate to the next node connected with the current node;
step 3-3, adding all nodes marked as nodes which are not accessed into a new routing inspection path list, and executing the following operations for each node in the new routing inspection path list:
if the distance between the node in the new routing inspection path list and the last node in the routing inspection path list is larger than the farthest range which can be reached by the unmanned aerial vehicle, continuing to circulate to the next node of the node in the new routing inspection path list;
if the distance between the node in the new routing inspection path list and the last node in the routing inspection path list is minimum and smaller than the farthest range which can be reached by the unmanned aerial vehicle, adding the node in the new routing inspection path list into the routing inspection path list;
3-4, backing from the current node according to the depth priority order until the current node is traversed to the accessed node;
and 3-5, if the accessed node is the starting point, obtaining a routing inspection path list, and executing the step 4, otherwise, executing the step 3-3.
Further, in one implementation, the step 4 includes:
the unmanned aerial vehicle patrols according to the numbering sequence of the high-voltage transmission line towers in the patrol route list, when the unmanned aerial vehicle reaches the position of the high-voltage transmission line tower, namely when the longitude and the latitude corresponding to the position information of the unmanned aerial vehicle are respectively the same as the longitude and the latitude corresponding to the position information of the high-voltage transmission line tower, whether the unmanned aerial vehicle needs to be charged is judged according to the electric quantity information, and the time required by full charge is determined;
the total energy of the unmanned aerial vehicle is E, and the power consumption is PrThe wireless charging model is realized;
p represents the wireless charging power for the unmanned aerial vehicle to perform wireless charging, the unmanned aerial vehicle in the wireless charging model always inspects the high-voltage transmission line tower until reaching the charging threshold value E when charging is requiredrIs zero, the charging threshold value ErObtaining the electric quantity state of the unmanned aerial vehicle;
unmanned aerial vehicle is patrolling and examining state of charge xi of in-processiComprises the following steps:
Figure BDA0002376253440000041
wherein,
Figure BDA0002376253440000042
continuing flying the unmanned aerial vehicle to the next high-voltage transmission line tower at the time t to obtain the residual energy of the unmanned aerial vehicle;
if the residual energy of the unmanned aerial vehicle at the time t of the next high-voltage transmission line tower
Figure BDA0002376253440000043
Less than charging threshold ErThen the state of charge xiiThe mark is 1, which indicates that the unmanned aerial vehicle needs to stay at the ith high-voltage transmission line tower for wireless charging;
if the residual power of the unmanned aerial vehicle at the time t of the next high-voltage transmission line tower
Figure BDA0002376253440000044
Greater than or equal to charging threshold ErThen the state of charge xiiLabeled 0, at the ith high voltage transmission line towerThe unmanned aerial vehicle does not need to stay for wireless charging;
calculating the longest inspection time T of the unmanned aerial vehicle according to the following formulamax：
Figure BDA0002376253440000051
According to the following formula, the longest distance L that the unmanned aerial vehicle can patrol after being fully charged at each time is calculatedmax：
Lmax＝Tmax×v
Wherein v is the flight speed of the unmanned aerial vehicle;
when patrolling and examining according to the order that corresponds in patrolling and examining the route list, calculate this and patrol and examine the sum Lsum of distance between route list high voltage transmission line tower, if this sum Lsum of distance between route list high voltage transmission line tower and the distance to next high voltage transmission line tower of patrolling and examining is greater than unmanned aerial vehicle can patrol and examine longest distance L every time after being full of electricitymaxThen the charging state xi of the corresponding label of the current high-voltage transmission line tower is usediThe value is set to 1, otherwise, the value is set to 0;
if the charging state xi corresponding to the current positioniIf the current position corresponds to the charging state xi of the label, step 5 is executed if the current position corresponds to the labeliIf not 1, go to step 6.
Further, in one implementation, if the remaining power of the drone is still available before charging, but the remaining power is not enough to fly to the next high voltage transmission line tower, the remaining power at this time is marked as Erest；
Calculating the remaining capacity E by the formula (4)rest：
Figure BDA0002376253440000052
Subtracting the remaining capacity E from the total energy E of the dronerestObtaining the energy E-E actually needing to be chargedrestCalculating the second in the patrol path list according to formula (5)On the high-voltage transmission line tower corresponding to the i elements, the ratio f of the energy actually required to be charged to the total energy of the unmanned aerial vehicleiThe elements are the labels of the high-voltage transmission line towers in the routing inspection path list:
Figure BDA0002376253440000053
calculating the time delay of the unmanned aerial vehicle charging through a formula (6)
Figure BDA0002376253440000054
On patrolling and examining the high voltage transmission line tower that the ith element of route list corresponds promptly, the time delay of unmanned aerial vehicle this time charging:
Figure BDA0002376253440000055
wherein,
Figure BDA0002376253440000056
the delay of the unmanned aerial vehicle charging at this time on the high-voltage transmission line tower corresponding to the ith element of the routing list is shown, the time required for the unmanned aerial vehicle to stay on the wireless charging platform is ignored, the charging process is directly carried out, and the sum Lsum of the distances between the high-voltage transmission line towers of the routing list is set to be 0.
Further, in an implementation manner, if all the nodes in the routing inspection path list have been completed by routing inspection, step 6 is executed, otherwise, step 4 is executed, and the unmanned aerial vehicle continues the routing inspection process.
Further, in an implementation manner, whether the current element contains a terminal point is judged, if yes, a part of charging technology in the wireless charging technology is applied in step 5 to enable the electric quantity of the unmanned aerial vehicle to just reach the terminal point, num is made to represent the number of elements in the routing inspection path list, and the total routing inspection time delay of the unmanned aerial vehicle is calculated through the following formula:
Figure BDA0002376253440000061
wherein, Time is the total inspection Time delay of the unmanned aerial vehicle, d (LL)i,LLi+1) To patrol the distance between the high voltage transmission line tower corresponding to the ith element of the path list and the high voltage transmission line tower corresponding to the (i + 1) th element,
Figure BDA0002376253440000062
and on a high-voltage transmission line tower corresponding to the kth element in the routing list, the charging time delay of the unmanned aerial vehicle is shown.
According to the technical scheme, the embodiment of the invention provides a high-voltage line inspection scheduling method based on unmanned aerial vehicle wireless charging, which comprises the following steps: step 1, acquiring position information of a high-voltage transmission line tower; step 2, acquiring electric quantity information and position information of the unmanned aerial vehicle; step 3, planning a routing inspection path list of the unmanned aerial vehicle according to the position information of the high-voltage transmission line tower, the position information of the unmanned aerial vehicle and an improved depth-first-based search algorithm; step 4, when the unmanned aerial vehicle reaches the position of the high-voltage transmission line tower, judging whether the unmanned aerial vehicle needs to be charged at the current high-voltage transmission line tower or not according to the electric quantity information and the routing inspection path list of the unmanned aerial vehicle, executing step 5 if the unmanned aerial vehicle needs to be charged, and executing step 6 if the unmanned aerial vehicle does not need to be charged; step 5, performing wireless charging on the unmanned aerial vehicle, and updating electric quantity information of the unmanned aerial vehicle; step 6, the unmanned aerial vehicle performs inspection on the high-voltage transmission line tower according to the inspection path list, and the position information of the unmanned aerial vehicle is updated; and 7, judging whether the unmanned aerial vehicle reaches the position of the last high-voltage transmission line tower of the routing inspection path list, stopping the routing inspection task and outputting the total routing inspection delay of the unmanned aerial vehicle if the unmanned aerial vehicle reaches the position, and executing the step 4 if the unmanned aerial vehicle does not reach the position.
In the prior art, because unmanned aerial vehicle's duration is poor, can't carry out long-time continuous inspection work, become to develop unmanned aerial vehicle and patrol and examine a big problem in the technical process. By adopting the method, on the basis of the current wireless charging technology of the unmanned aerial vehicle, the research of intelligent routing inspection of the high-voltage line is carried out, so that the electric quantity constraint of the unmanned aerial vehicle is solved, the total routing inspection time delay of the unmanned aerial vehicle is effectively reduced, and the intelligent routing inspection efficiency is improved.
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In order to more clearly illustrate the technical solution of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious to those skilled in the art that other drawings can be obtained based on these drawings without creative efforts.
Fig. 1 is a schematic workflow diagram of a high-voltage line inspection scheduling method based on wireless charging of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 2 is a schematic view of an application scenario of a high-voltage line inspection scheduling method based on wireless charging of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 3 is a two-dimensional coordinate diagram of a high-voltage transmission line tower position in a certain area of a city a of the high-voltage line inspection scheduling method based on the wireless charging of the unmanned aerial vehicle according to the embodiment of the present invention;
fig. 4 is an abstract undirected graph of a position of a high-voltage transmission line tower in a certain area of a city a based on a high-voltage line inspection scheduling method for wireless charging of an unmanned aerial vehicle according to an embodiment of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
The embodiment of the invention discloses a high-voltage line inspection scheduling method based on unmanned aerial vehicle wireless charging. The unmanned aerial vehicle is charged through the wireless charging platform on the high-voltage transmission line tower, the intelligent inspection of a high-voltage line can be realized by using the scheduling method, and meanwhile, the wireless charging technology of the unmanned aerial vehicle which is gradually mature in recent years is introduced, so that a new opportunity is brought to the endurance problem of the unmanned aerial vehicle.
The invention discloses a high-voltage line inspection scheduling method based on unmanned aerial vehicle wireless charging, the working flow diagram of the method is shown in figure 1, and the method comprises the following steps:
a high-voltage line inspection scheduling method based on unmanned aerial vehicle wireless charging comprises the following steps:
step 1, acquiring position information of a high-voltage transmission line tower; in this embodiment, the position information of the high-voltage transmission line tower is longitude and latitude information of the high-voltage transmission line tower.
Step 2, acquiring electric quantity information and position information of the unmanned aerial vehicle; in this embodiment, the power information of the unmanned aerial vehicle is acquired through the power interface of the unmanned aerial vehicle, the position information of the unmanned aerial vehicle is acquired through the positioning system interface, and the position information of the unmanned aerial vehicle is the longitude and latitude information of the unmanned aerial vehicle.
Step 3, planning a routing inspection path list of the unmanned aerial vehicle according to the position information of the high-voltage transmission line tower, the position information of the unmanned aerial vehicle and an improved Depth-First-Search (DFS) algorithm;
step 4, when the unmanned aerial vehicle reaches the position of the high-voltage transmission line tower, judging whether the unmanned aerial vehicle needs to be charged at the current high-voltage transmission line tower or not according to the electric quantity information and the routing inspection path list of the unmanned aerial vehicle, executing step 5 if the unmanned aerial vehicle needs to be charged, and executing step 6 if the unmanned aerial vehicle does not need to be charged;
step 5, performing wireless charging on the unmanned aerial vehicle, and updating electric quantity information of the unmanned aerial vehicle;
step 6, the unmanned aerial vehicle performs inspection on the high-voltage transmission line tower according to the inspection path list, and the position information of the unmanned aerial vehicle is updated;
and 7, judging whether the unmanned aerial vehicle reaches the position of the last high-voltage transmission line tower of the routing inspection path list, stopping the routing inspection task and outputting the total routing inspection delay of the unmanned aerial vehicle if the unmanned aerial vehicle reaches the position, and executing the step 4 if the unmanned aerial vehicle does not reach the position.
In the high-voltage line inspection scheduling method based on wireless charging of the unmanned aerial vehicle, step 1 includes:
obtain and store inPosition information of a high voltage transmission line tower in the unmanned aerial vehicle, the position information being stored in the unmanned aerial vehicle in advance by a ground inspection worker, the position information of the high voltage transmission line tower including coordinate information (x) of each high voltage transmission line toweri,yi) Wherein i is the mark number of the high-voltage transmission line tower, i is more than or equal to 1, xiLongitude of the location of the ith high voltage transmission line tower, yiThe latitude of the position of the ith high-voltage transmission line tower is;
calculating the distance d(s) between any two high-voltage transmission line towers according to the following formulai,sj)：
d(si,sj)＝R*cos-1(cos(yi)cos(yj)cos(xj-xi)+sin(yi)sin(yj)) (1)
Wherein R is the radius of the earth, siIs the ith high-voltage transmission line tower, sjIs the jth high-voltage transmission line tower, i is more than or equal to 1, xjLongitude of the location of the jth high voltage transmission line tower, yjThe latitude of the location of the jth high-voltage transmission line tower, where N ═ s1,s2…snAnd n is the total number of the high-voltage transmission line towers.
In the high-voltage line inspection scheduling method based on wireless charging of the unmanned aerial vehicle, step 3 includes: after the unmanned aerial vehicle receives a wireless signal sent by a ground communication station, the unmanned aerial vehicle automatically starts an inspection task, and inspects a high-voltage transmission line tower according to an inspection path list between the unmanned aerial vehicle and the high-voltage transmission line tower, wherein the inspection path list comprises all labels of the high-voltage transmission line tower; in this embodiment, the number of the high-voltage transmission line towers is a positive integer greater than 1.
When the unmanned aerial vehicle has no completed inspection task at any time, improving a depth-first algorithm by a triangle principle, and obtaining the inspection path list by using the improved depth-first algorithm, wherein the steps from 3-1 to 3-5 are included;
step 3-1, converting the coordinate information of the high-voltage transmission line tower into an abstract acyclic graph model according to the position information of the high-voltage transmission line tower, wherein each high-voltage transmission line tower is a node in the acyclic graph model, and finding a corresponding starting point of the routing inspection path list in the acyclic graph model, wherein the starting point is a node with any degree of 1 in the acyclic graph model, the routing inspection path list is initialized to be an empty list, and the longest routing inspection path length max is initialized to be 0;
step 3-2, starting from the starting point, recursively executing the following operations for all next nodes of the current node:
if the length of the routing inspection path from the current node to the edge node is greater than or equal to the longest routing inspection path length max, taking the length of the routing inspection path from the current node to the edge node as the value of the longest routing inspection path length max, wherein the edge node is a node with any degree of 1;
judging whether other nodes are added to the same father node before the current node, if so, deleting the other nodes from the routing inspection path list, marking the deleted other nodes as unaccessed nodes, adding the current node to the routing inspection path list, and marking the current node as an accessed node;
if the length of the routing inspection path from the current node to the edge node is less than the longest routing inspection path length max, continuing to circulate to the next node connected with the current node;
step 3-3, adding all nodes marked as nodes which are not accessed into a new routing inspection path list, and executing the following operations for each node in the new routing inspection path list:
if the distance between the node in the new routing inspection path list and the last node in the routing inspection path list is larger than the farthest range which can be reached by the unmanned aerial vehicle, continuing to circulate to the next node of the node in the new routing inspection path list;
if the distance between the node in the new routing inspection path list and the last node in the routing inspection path list is minimum and smaller than the farthest range which can be reached by the unmanned aerial vehicle, adding the node in the new routing inspection path list into the routing inspection path list;
3-4, backing from the current node according to the depth priority order until the current node is traversed to the accessed node;
and 3-5, if the accessed node is the starting point, obtaining a routing inspection path list, and executing the step 4, otherwise, executing the step 3-3.
In the high voltage line inspection scheduling method based on wireless charging of the unmanned aerial vehicle, step 4 includes:
the unmanned aerial vehicle patrols according to the numbering sequence of the high-voltage transmission line towers in the patrol route list, when the unmanned aerial vehicle reaches the position of the high-voltage transmission line tower, namely when the longitude and the latitude corresponding to the position information of the unmanned aerial vehicle are respectively the same as the longitude and the latitude corresponding to the position information of the high-voltage transmission line tower, whether the unmanned aerial vehicle needs to be charged is judged according to the electric quantity information, and the time required by full charge is determined;
the total energy of the unmanned aerial vehicle is E, and the power consumption is PrThe wireless charging model is realized;
p represents the wireless charging power for the unmanned aerial vehicle to perform wireless charging, the unmanned aerial vehicle in the wireless charging model always inspects the high-voltage transmission line tower until reaching the charging threshold value E when charging is requiredrIs zero, the charging threshold value ErThe electric quantity state of the unmanned aerial vehicle is obtained, in the embodiment, the charging threshold value ErProvided through an Application Programming Interface (API) Interface of the unmanned aerial vehicle itself;
unmanned aerial vehicle is patrolling and examining state of charge xi of in-processiComprises the following steps:
Figure BDA0002376253440000101
wherein,
Figure BDA0002376253440000102
is made withoutThe man-machine continuously flies to the residual energy of the unmanned aerial vehicle at the time t of the next high-voltage transmission line tower;
if the residual energy of the unmanned aerial vehicle at the time t of the next high-voltage transmission line tower
Figure BDA0002376253440000103
Less than charging threshold ErThen the state of charge xiiThe mark is 1, which indicates that the unmanned aerial vehicle needs to stay at the ith high-voltage transmission line tower for wireless charging;
if the residual power of the unmanned aerial vehicle at the time t of the next high-voltage transmission line tower
Figure BDA0002376253440000104
Greater than or equal to charging threshold ErThen the state of charge xiiThe mark is 0, which indicates that the unmanned aerial vehicle does not need to stay at the ith high-voltage transmission line tower for wireless charging;
calculating the longest inspection time T of the unmanned aerial vehicle according to the following formulamax：
Figure BDA0002376253440000105
According to the following formula, the longest distance L that the unmanned aerial vehicle can patrol after being fully charged at each time is calculatedmax：
Lmax＝Tmax×v
Wherein v is the flight speed of the unmanned aerial vehicle;
when patrolling and examining according to the order that corresponds in patrolling and examining the route list, calculate this and patrol and examine the sum Lsum of distance between route list high voltage transmission line tower, if this sum Lsum of distance between route list high voltage transmission line tower and the distance to next high voltage transmission line tower of patrolling and examining is greater than unmanned aerial vehicle can patrol and examine longest distance L every time after being full of electricitymaxThen the charging state xi of the corresponding label of the current high-voltage transmission line tower is usediThe value is set to 1, otherwise, the value is set to 0;
if the charging state xi corresponding to the current positioniIf the current position corresponds to the charging state xi of the label, step 5 is executed if the current position corresponds to the labeliIf not 1, go to step 6.
In the high-voltage line inspection scheduling method based on wireless charging of unmanned aerial vehicle, if the unmanned aerial vehicle still has residual capacity before charging, but the residual capacity is not enough to fly to the next high-voltage transmission line tower, the residual capacity at this time is marked as Erest；
Calculating the remaining capacity E by the formula (4)rest：
Figure BDA0002376253440000111
Subtracting the remaining capacity E from the total energy E of the dronerestObtaining the energy E-E actually needing to be chargedrestCalculating the ratio f of the energy actually required to be charged of the unmanned aerial vehicle to the total energy on the high-voltage transmission line tower corresponding to the ith element of the routing inspection path list according to a formula (5)iThe elements are the labels of the high-voltage transmission line towers in the routing inspection path list:
Figure BDA0002376253440000112
calculating the time delay of the unmanned aerial vehicle charging through a formula (6)
Figure BDA0002376253440000113
On patrolling and examining the high voltage transmission line tower that the ith element of route list corresponds promptly, the time delay of unmanned aerial vehicle this time charging:
Figure BDA0002376253440000114
wherein,
Figure BDA0002376253440000115
is shown on the tower of the high voltage transmission line corresponding to the ith element of the routing listThe time delay that unmanned aerial vehicle charges this time is ignored unmanned aerial vehicle stops the required time on the wireless charging platform, directly carries out the charging process, will this patrol and examine the sum Lsum of distance between the route list high-voltage transmission line tower and set up to 0.
In the high-voltage line polling scheduling method based on wireless charging of the unmanned aerial vehicle, if all nodes in the polling path list are polled, step 6 is executed, otherwise step 4 is executed, and the unmanned aerial vehicle continues polling.
In the high-voltage line inspection scheduling method based on wireless charging of the unmanned aerial vehicle, whether a current element contains a terminal point is judged, if the current element contains the terminal point, part of charging technology in the wireless charging technology is applied in step 5 to enable the electric quantity of the unmanned aerial vehicle to just reach the terminal point, num is made to represent the number of elements in an inspection path list, and the total inspection delay of the unmanned aerial vehicle is calculated through the following formula:
Figure BDA0002376253440000121
wherein, Time is the total inspection Time delay of the unmanned aerial vehicle, d (LL)i,LLi+1) To patrol the distance between the high voltage transmission line tower corresponding to the ith element of the path list and the high voltage transmission line tower corresponding to the (i + 1) th element,
Figure BDA0002376253440000122
and on a high-voltage transmission line tower corresponding to the kth element in the routing list, the charging time delay of the unmanned aerial vehicle is shown.
Specifically, this embodiment uses a certain area in city a to perform the experiment.
As shown in fig. 2, for the area, there are 20 high voltage transmission towers, and the ground inspection worker stores the position information of each tower in the unmanned aerial vehicle in advance, as shown in the following table:
Figure BDA0002376253440000123
Figure BDA0002376253440000131
by calculating the distance between adjacent high voltage transmission line towers, the obtained result shows that the adjacent distances are the same and are all 300m, a coordinate system is established to represent the positions of all the high voltage transmission line towers on a two-dimensional coordinate, and a point with the reference number of 1 is taken as an origin, as shown in fig. 3.
And abstracted as an undirected graph as shown in fig. 4, where the numbers above the respective vertices are the numbers of the respective high voltage transmission towers.
The method comprises the steps of obtaining and recording information such as electric quantity of the unmanned aerial vehicle, obtaining that the charging power of the unmanned aerial vehicle is 40W, the flying speed is 20km/h, the total energy is 89.2 W.h, the threshold value of the unmanned aerial vehicle needing to be charged can be 0 according to an API (application programming interface) interface of the unmanned aerial vehicle, and the rated power of the unmanned aerial vehicle is 267.6W.
Initializing a starting point position (0, 0), starting a depth search from the starting point, and traversing a path {1,2,3,4,5,6,7,8,9,10} in the graph first, wherein two child nodes, 11 and 16, are located at a node labeled 10, and assuming that the value of max is updated when a node labeled 15 is reached by traversing from the node labeled 11 first: 14 × 300m, when the node labeled 15 is an edge node, then the node labeled 10 is rolled back, the next child node labeled 10, i.e., node 16, is traversed, and when the node labeled 20 is reached, the path length at this time is 14 × 300m and the original max value are the same, so we replace the original max value with the current value, and judge that the first child node of the original node 10 in the routing path list is already in the routing path list, so we delete node 11-15 from the routing path list, add node 16-20 to the routing path list, and record the path, in this example: the patrol path list LL is {1,2,3,4,5,6,7,8,9,10,16,17,18,19,20 }.
And applying a triangular principle from the tail end of the longest path, judging the cruising ability of the unmanned aerial vehicle, if the unmanned aerial vehicle can patrol through other nodes with the degree of 1, adding the nodes with the degree of 1 into a patrol route list, otherwise, returning to the visited nodes along the original route for judging again, and repeating the steps until reaching a certain branch point. In this example, it can be found that after node No. 20, it is determined that the longest flight distance of the drone can fly from node No. 20 to node No. 15, and therefore node No. 15 can be added after node No. 20, and then it is traversed forward along the branch until the branch point node 10, where it is checked that node No. 16 is a point to which the patrol route list has been added, and therefore the forward patrol reaches the end point in the order of 9 → 8 → 7 → 6 → 5 → 4 → 3 → 2 → 1. The final patrol path list LL is {1,2,3,4,5,6,7,8,9,10,16,17,18,19,20,15,14,13,12,11,10,9,8,7,6,5,4,3,2,1}
Next, according to the rated power of the unmanned aerial vehicle, the longest inspection distance of the unmanned aerial vehicle before charging is as follows: 20/3km, and the distance between adjacent high-voltage transmission line towers is 300m, so that the inspection can be carried out at most
Figure BDA0002376253440000141
A high voltage transmission line tower. According to the obtained path, the distance between 14 adjacent high-voltage transmission line towers is arranged between the node 1 and the node 20, the distance between 5 adjacent high-voltage transmission line towers is arranged between the node 20 and the node 15, the distances are added to form the distance between 19 adjacent high-voltage transmission line towers, the distance between 3 adjacent high-voltage transmission line towers is arranged between the node 15 and the node 12, when the node 12 is reached, the fact that the residual electric quantity cannot support the node 12 to fly to the node 11 is judged, therefore, the unmanned aerial vehicle carries out wireless charging on the node, and the residual electric quantity is calculated through a formula (4) as follows: 8.92 W.h. Simultaneously from No. 12 nodes to No. 1 between the node only 11 adjacent high-voltage transmission line towers apart from, consequently only need with the electric quantity charge satisfy unmanned aerial vehicle flight to No. 1 node can. The energy consumed from node 12 to node 1 is:
Figure BDA0002376253440000142
therefore the actual required electric quantity that charges of unmanned aerial vehicle is: 44.154 W.h-8.92 W.h is 35.234 W.h, actual charging time delayComprises the following steps:
Figure BDA0002376253440000143
and then, continuing to inspect from the node No. 12 until the node No. 1 is reached, and finishing one round of inspection. The flight time is as follows:
Figure BDA0002376253440000144
to sum up, the total patrol time delay of the unmanned aerial vehicle is: 0.88085h +0.495h 1.37585 h.
According to the technical scheme, the embodiment of the invention provides a high-voltage line inspection scheduling method based on unmanned aerial vehicle wireless charging, which comprises the following steps: step 1, acquiring position information of a high-voltage transmission line tower; step 2, acquiring electric quantity information and position information of the unmanned aerial vehicle; step 3, planning a routing inspection path list of the unmanned aerial vehicle according to the position information of the high-voltage transmission line tower, the position information of the unmanned aerial vehicle and an improved depth-first-based search algorithm; step 4, when the unmanned aerial vehicle reaches the position of the high-voltage transmission line tower, judging whether the unmanned aerial vehicle needs to be charged at the current high-voltage transmission line tower or not according to the electric quantity information and the routing inspection path list of the unmanned aerial vehicle, executing step 5 if the unmanned aerial vehicle needs to be charged, and executing step 6 if the unmanned aerial vehicle does not need to be charged; step 5, performing wireless charging on the unmanned aerial vehicle, and updating electric quantity information of the unmanned aerial vehicle; step 6, the unmanned aerial vehicle performs inspection on the high-voltage transmission line tower according to the inspection path list, and the position information of the unmanned aerial vehicle is updated; and 7, judging whether the unmanned aerial vehicle reaches the position of the last high-voltage transmission line tower of the routing inspection path list, stopping the routing inspection task and outputting the total routing inspection delay of the unmanned aerial vehicle if the unmanned aerial vehicle reaches the position, and executing the step 4 if the unmanned aerial vehicle does not reach the position.
In the prior art, because unmanned aerial vehicle's duration is poor, can't carry out long-time continuous inspection work, become to develop unmanned aerial vehicle and patrol and examine a big problem in the technical process. By adopting the method, on the basis of the current wireless charging technology of the unmanned aerial vehicle, the research of intelligent routing inspection of the high-voltage line is carried out, so that the electric quantity constraint of the unmanned aerial vehicle is solved, the total routing inspection time delay of the unmanned aerial vehicle is effectively reduced, and the intelligent routing inspection efficiency is improved.
In a specific implementation manner, the present invention further provides a computer storage medium, where the computer storage medium may store a program, and when the program is executed, the program may include some or all of the steps in each embodiment of the method for dispatching and routing inspection of a high voltage line based on wireless charging of an unmanned aerial vehicle provided by the present invention. The storage medium may be a magnetic disk, an optical disk, a read-only memory (ROM) or a Random Access Memory (RAM).
Those skilled in the art will readily appreciate that the techniques of the embodiments of the present invention may be implemented as software plus a required general purpose hardware platform. Based on such understanding, the technical solutions in the embodiments of the present invention may be essentially or partially implemented in the form of a software product, which may be stored in a storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method according to the embodiments or some parts of the embodiments. The same and similar parts in the various embodiments in this specification may be referred to each other. The above-described embodiments of the present invention should not be construed as limiting the scope of the present invention.

Claims (5)

1. The high-voltage line inspection scheduling method based on unmanned aerial vehicle wireless charging is characterized by comprising the following steps:
step 1, acquiring position information of a high-voltage transmission line tower;
step 2, acquiring electric quantity information and position information of the unmanned aerial vehicle;
step 3, planning a routing inspection path list of the unmanned aerial vehicle according to the position information of the high-voltage transmission line tower, the position information of the unmanned aerial vehicle and an improved depth-first-based search algorithm;
step 4, when the unmanned aerial vehicle reaches the position of the high-voltage transmission line tower, judging whether the unmanned aerial vehicle needs to be charged at the current high-voltage transmission line tower or not according to the electric quantity information and the routing inspection path list of the unmanned aerial vehicle, executing step 5 if the unmanned aerial vehicle needs to be charged, and executing step 6 if the unmanned aerial vehicle does not need to be charged;
step 5, performing wireless charging on the unmanned aerial vehicle, and updating electric quantity information of the unmanned aerial vehicle;
step 6, the unmanned aerial vehicle performs inspection on the high-voltage transmission line tower according to the inspection path list, and the position information of the unmanned aerial vehicle is updated;
step 7, judging whether the unmanned aerial vehicle reaches the position of the last high-voltage transmission line tower of the routing inspection path list, if so, stopping the routing inspection task and outputting the total routing inspection delay of the unmanned aerial vehicle, and if not, executing the step 4;
the step 1 comprises the following steps:
acquiring position information of high-voltage transmission line towers stored in the unmanned aerial vehicle, wherein the position information is stored in the unmanned aerial vehicle in advance by ground inspection workers, and the position information of the high-voltage transmission line towers comprises coordinate information (x) of each high-voltage transmission line toweri，yi) Wherein i is the mark number of the high-voltage transmission line tower, i is more than or equal to 1, xiLongitude of the location of the ith high voltage transmission line tower, yiThe latitude of the position of the ith high-voltage transmission line tower is;
calculating the distance d(s) between any two high-voltage transmission line towers according to the following formulai，sj)：
d(si，sj)＝R*cos-1(cos(yi)cos(yj)cos(xj-xi)+sin(yi)sin(yj)) (1)
Wherein R is the radius of the earth, siIs the ith high-voltage transmission line tower, sjIs the jth high-voltage transmission line tower, i is more than or equal to 1, xjLongitude of the location of the jth high voltage transmission line tower, yjThe latitude of the location of the jth high-voltage transmission line tower, where N ═ s1，s2…snThe power transmission line tower is a high-voltage transmission line tower set, and n is the total number of the high-voltage transmission line towers;
the step 3 comprises the following steps: after the unmanned aerial vehicle receives a wireless signal sent by a ground communication station, the unmanned aerial vehicle automatically starts an inspection task, and inspects a high-voltage transmission line tower according to an inspection path list between the unmanned aerial vehicle and the high-voltage transmission line tower, wherein the inspection path list comprises all labels of the high-voltage transmission line tower;
when the unmanned aerial vehicle has no completed inspection task at any time, improving a depth-first algorithm by a triangle principle, and obtaining the inspection path list by using the improved depth-first algorithm, wherein the steps from 3-1 to 3-5 are included;
step 3-1, converting the coordinate information of the high-voltage transmission line tower into an abstract acyclic graph model according to the position information of the high-voltage transmission line tower, wherein each high-voltage transmission line tower is a node in the acyclic graph model, and finding a corresponding starting point of the routing inspection path list in the acyclic graph model, wherein the starting point is a node with any degree of 1 in the acyclic graph model, the routing inspection path list is initialized to be an empty list, and the longest routing inspection path length max is initialized to be 0;
step 3-2, starting from the starting point, recursively executing the following operations for all next nodes of the current node:
if the length of the routing inspection path from the current node to the edge node is greater than or equal to the longest routing inspection path length max, taking the length of the routing inspection path from the current node to the edge node as the value of the longest routing inspection path length max, wherein the edge node is a node with any degree of 1;
judging whether other nodes are added to the same father node before the current node, if so, deleting the other nodes from the routing inspection path list, marking the deleted other nodes as unaccessed nodes, adding the current node to the routing inspection path list, and marking the current node as an accessed node;
if the length of the routing inspection path from the current node to the edge node is less than the longest routing inspection path length max, continuing to circulate to the next node connected with the current node;
step 3-3, adding all nodes marked as nodes which are not accessed into a new routing inspection path list, and executing the following operations for each node in the new routing inspection path list:
if the distance between the node in the new routing inspection path list and the last node in the routing inspection path list is larger than the farthest range which can be reached by the unmanned aerial vehicle, continuing to circulate to the next node of the node in the new routing inspection path list;
if the distance between the node in the new routing inspection path list and the last node in the routing inspection path list is minimum and smaller than the farthest range which can be reached by the unmanned aerial vehicle, adding the node in the new routing inspection path list into the routing inspection path list;
3-4, backing from the current node according to the depth priority order until the current node is traversed to the accessed node;
and 3-5, if the accessed node is the starting point, obtaining a routing inspection path list, and executing the step 4, otherwise, executing the step 3-3.
2. The high-voltage line inspection scheduling method based on unmanned aerial vehicle wireless charging according to claim 1, wherein the step 4 comprises:
the unmanned aerial vehicle patrols according to the numbering sequence of the high-voltage transmission line towers in the patrol route list, when the unmanned aerial vehicle reaches the position of the high-voltage transmission line tower, namely when the longitude and the latitude corresponding to the position information of the unmanned aerial vehicle are respectively the same as the longitude and the latitude corresponding to the position information of the high-voltage transmission line tower, whether the unmanned aerial vehicle needs to be charged is judged according to the electric quantity information, and the time required by full charge is determined;
the total energy of the unmanned aerial vehicle is E, and the power consumption is PrThe wireless charging model is realized;
p represents the wireless charging power for the unmanned aerial vehicle to perform wireless charging, the unmanned aerial vehicle in the wireless charging model always inspects the high-voltage transmission line tower until reaching the charging threshold value E when charging is requiredrIs zero, the charging threshold value ErObtaining the electric quantity state of the unmanned aerial vehicle;
unmanned aerial vehicle is patrolling and examining state of charge xi of in-processiComprises the following steps:
Figure FDA0002893932510000031
wherein,
Figure FDA0002893932510000032
continuing flying the unmanned aerial vehicle to the next high-voltage transmission line tower at the time t to obtain the residual energy of the unmanned aerial vehicle;
if the residual energy of the unmanned aerial vehicle at the time t of the next high-voltage transmission line tower
Figure FDA0002893932510000033
Less than charging threshold ErThen the state of charge xiiThe mark is 1, which indicates that the unmanned aerial vehicle needs to stay at the ith high-voltage transmission line tower for wireless charging;
if the residual power of the unmanned aerial vehicle at the time t of the next high-voltage transmission line tower
Figure FDA0002893932510000034
Greater than or equal to charging threshold ErThen the state of charge xiiThe mark is 0, which indicates that the unmanned aerial vehicle does not need to stay at the ith high-voltage transmission line tower for wireless charging;
calculating the longest inspection time T of the unmanned aerial vehicle according to the following formulamax：
Figure FDA0002893932510000035
According to the following formula, the longest distance L that the unmanned aerial vehicle can patrol after being fully charged at each time is calculatedmax：
Lmax＝Tmax×v
Wherein v is the flight speed of the unmanned aerial vehicle;
when patrolling and examining according to the order that corresponds in patrolling and examining the route list, calculate this and patrol and examine the sum Lsum of distance between route list high voltage transmission line tower, if this sum Lsum of distance between route list high voltage transmission line tower and the distance to next high voltage transmission line tower of patrolling and examining is greater than unmanned aerial vehicle can patrol and examine longest distance L every time after being full of electricitymaxThen the charging state xi of the corresponding label of the current high-voltage transmission line tower is usediThe value is set to 1, otherwise, the value is set to 0;
if the charging state xi corresponding to the current positioniIf the current position corresponds to the charging state xi of the label, step 5 is executed if the current position corresponds to the labeliIf not 1, go to step 6.
3. The high-voltage line inspection scheduling method based on unmanned aerial vehicle wireless charging according to claim 2, wherein if the unmanned aerial vehicle still has residual power before charging, but the residual power is not enough to fly to the next high-voltage transmission line tower, the residual power at this time is marked as Erest；
Calculating the remaining capacity E by the formula (4)rest：
Figure FDA0002893932510000041
Subtracting the remaining capacity E from the total energy E of the dronerestObtaining the energy E-E actually needing to be chargedrestCalculating the ratio f of the energy actually required to be charged of the unmanned aerial vehicle to the total energy on the high-voltage transmission line tower corresponding to the ith element of the routing inspection path list according to a formula (5)iThe elements are the labels of the high-voltage transmission line towers in the routing inspection path list:
Figure FDA0002893932510000042
by the formula(6) Calculate the time delay that unmanned aerial vehicle charges this time
Figure FDA0002893932510000043
On patrolling and examining the high voltage transmission line tower that the ith element of route list corresponds promptly, the time delay of unmanned aerial vehicle this time charging:
Figure FDA0002893932510000044
wherein,
Figure FDA0002893932510000045
the delay of the unmanned aerial vehicle charging at this time on the high-voltage transmission line tower corresponding to the ith element of the routing list is shown, the time required for the unmanned aerial vehicle to stay on the wireless charging platform is ignored, the charging process is directly carried out, and the sum Lsum of the distances between the high-voltage transmission line towers of the routing list is set to be 0.
4. The high-voltage line inspection scheduling method based on unmanned aerial vehicle wireless charging according to claim 3, wherein if all nodes in the inspection path list are inspected, step 6 is executed, otherwise step 4 is executed, and the unmanned aerial vehicle continues to perform the inspection process.
5. The high-voltage line inspection scheduling method based on unmanned aerial vehicle wireless charging according to claim 4, wherein whether the current element contains a terminal is judged, if yes, part of charging technology in the wireless charging technology is applied in step 5 to enable the electric quantity of the unmanned aerial vehicle to just reach the terminal, num represents the number of elements in the inspection path list, and the total inspection delay of the unmanned aerial vehicle is calculated through the following formula:
Figure FDA0002893932510000051
wherein, Time is the total inspection Time delay of the unmanned aerial vehicle, d (LL)i，LLi+1) To patrol the distance between the high voltage transmission line tower corresponding to the ith element of the path list and the high voltage transmission line tower corresponding to the (i + 1) th element,
Figure FDA0002893932510000052
and on a high-voltage transmission line tower corresponding to the kth element in the routing list, the charging time delay of the unmanned aerial vehicle is shown.
CN202010066929.XA 2020-01-20 2020-01-20 High-voltage line inspection scheduling method based on unmanned aerial vehicle wireless charging Active CN111251934B (en)

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