无人机电力巡检航线智能规划及自主巡检研究

Research on Intelligent Planning of UAV Power Inspection Routes and Autonomous Patrol Inspection

为缓解无人机电力巡检航线规划效果差、巡航效率低的问题,以及规避非可靠路径的威胁,提出无人机电力巡检航线智能规划及自主巡检研究方法。计算目前航线存在威胁的概率及在每条路线上需要付出的代价,获取可飞行的无人机电力巡检航线;应用启发式算法,不断遍历计算出2节点的优先级,优化可飞行航线的静态、动态路线的规划效果,并根据巡检报告及电力巡检要求,采集输电线的最大安全距离及输电线中带有隐患的个数,实现无人机巡检航线智能规划及自主巡检。实验结果表明,应用获得的最优巡检路线进行巡检后,其航线规划效果好、巡航效率高,可以完全按照电力巡检要求进行智能避障,自主巡检效果得到了保证。

To alleviate the poor planning effect of UAV power patrol routes and low cruise efficiency of UAV power patrol,as well as avoid the threat of unreliable path,a research method for intelligent planning and independent patrol of UAV power patrol inspection routes is presented in this paper.The threat probability of the current routes and the cost to be paid on each route are calculated to obtain the available flying route of UAV power patrol inspection.The heuristic algorithm is applied to continuously traverse and calculate the priority of the two nodes,optimize the static and dynamic route planning effect of the flying route,collect the maximum safe distance of the transmission line and the number of hidden dangers in the transmission line according to the inspection report and power inspection requirements,and realize the intelligent route planning and independent inspection of UAV inspection.The experimental results show that after the optimal patrol route is applied for the patrol inspection,the route planning effect is good,the cruise efficiency is high,and the intelligent obstacle avoidance is carried out in full accordance with the requirements of power patrol inspection,and the autonomous patrol inspection effect is guaranteed.