CN-121995945-A - Route planning method for unmanned aerial vehicle transportation power equipment based on complex terrain

CN121995945ACN 121995945 ACN121995945 ACN 121995945ACN-121995945-A

Abstract

The invention discloses a route planning method for unmanned aerial vehicle transportation power equipment based on complex topography, wherein the unmanned aerial vehicle is used for planning a transportation route and carrying power equipment for material transportation, a real-time GIS geographic model is constructed through construction position topography, a construction drawing of a power line project is analyzed to mark a target tower construction position in the real-time GIS geographic model, a power construction GIS model is constructed by combining a power line topological structure, a flight area between the position of a construction material and the target tower construction position is marked and acquired on the power construction GIS model and divided into a plurality of trafficable grids, the flight route of an unmanned aerial vehicle carrying the construction material is planned through a preset algorithm, and the planned flight route is constrained based on preset constraint conditions, so that an optimal flight route of the unmanned aerial vehicle is generated. The power grid equipment is efficiently and safely transported to the designated point by reasonably planning the transportation route of the unmanned aerial vehicle, and the method has the effect of improving the construction speed of the power line engineering.

Inventors

OUYANG HONGYU
HUANG KAI
RAN RUI
CHEN YING
WEI HUAN
ZHANG QI
WANG XIAOHUI
ZHENG ZHIWEI
SUN XIN
ZHOU YUN
LI JIXIANG
YANG JIALIANG
ZHANG YONGHUA
DENG GUOJIAN
LUO YAN

Assignees

贵州送变电有限责任公司

Dates

Publication Date: 20260508
Application Date: 20251226

Claims (10)

1. A route planning method for unmanned aerial vehicle transportation power equipment based on complex terrain, characterized in that the method carries out material transportation by carrying power equipment through unmanned aerial vehicle planned transportation route, the method comprises: Acquiring the topographic data of the construction position to construct a real-time GIS geographic model, analyzing the construction drawing of the power line engineering, and positioning construction points in the real-time GIS geographic model to obtain the target tower construction position of each power tower; Acquiring a power line topological structure according to a construction drawing of the power line engineering, and fusing the power line topological structure and the real-time GIS geographic model according to the target tower construction position to obtain a power construction GIS model; marking and acquiring a flight area between the position of a construction material and the construction position of the target tower on the power construction GIS model, and analyzing the passable area to obtain a plurality of passable grids; And in the passable grid, a flight route of the unmanned aerial vehicle carrying the construction material is planned through a preset algorithm, and the planned flight route is constrained based on preset constraint conditions, so that an optimal flight route of the unmanned aerial vehicle is generated.
2. The method for planning a route for transporting power equipment by an unmanned aerial vehicle based on complex terrains according to claim 1, wherein the unmanned aerial vehicle on which construction materials are carried is planned in the trafficable grid through a preset algorithm, the planned flight route is constrained based on a preset constraint condition, and an optimal flight path of the unmanned aerial vehicle is generated, and the method further comprises: marking key flight sections of a curved flight path according to a flight path planning result, and carrying out turning planning by combining the carrying weight and the gesture of the unmanned aerial vehicle to obtain a turning flight path of the curved flight path, wherein the curved flight path comprises a detour path for avoiding obstacles and a turning position flight path; And respectively carrying out path fitting on the starting point and the end point of the turning flight route and the pre-planned flight route according to the pre-planned flight route to obtain the optimal flight path of the unmanned aerial vehicle under the constraint of carrying weight and gesture.
3. The route planning method of the unmanned aerial vehicle transportation power equipment based on the complex terrain according to claim 2, wherein the marking of the key flight section of the curved flight route according to the flight route planning result, and the turning planning in combination with the loading weight and the attitude of the unmanned aerial vehicle, obtain the turning flight route of the curved flight route, comprises the following steps: and performing turning planning on the curved flight route through a B spline curve algorithm.
4. The method for planning a route for transporting power equipment by an unmanned aerial vehicle based on complex terrains according to claim 1, wherein the unmanned aerial vehicle on which construction materials are carried is planned in the trafficable grid through a preset algorithm, the planned flight route is constrained based on a preset constraint condition, and an optimal flight path of the unmanned aerial vehicle is generated, and the method further comprises: In the flight process of the unmanned aerial vehicle, a monitoring image in a preset range of the unmanned aerial vehicle is obtained in real time, and dynamic obstacle identification is carried out on the monitoring image through a nerve convolution network, so that dynamic obstacle information is obtained; And according to the dynamic obstacle information, planning an avoidance route of the unmanned aerial vehicle in advance, and adjusting the avoidance route by combining the flying speed and the flying direction of the dynamic obstacle to obtain the dynamic obstacle avoidance route of the unmanned aerial vehicle.
5. The method for planning a route of an unmanned aerial vehicle for transporting power equipment based on complex terrains according to claim 1, wherein the method for planning a flight route of an unmanned aerial vehicle carrying construction materials in the trafficable grid through a preset algorithm and constraining the planned flight route based on preset constraint conditions, and generating route constraints in an optimal flight path of the unmanned aerial vehicle specifically comprises: Acquiring real-time environment data, adjusting the flight speed and acceleration of the unmanned aerial vehicle by combining the carrying weight of the unmanned aerial vehicle, and generating flight constraint conditions which accord with the carrying weight, the gesture and the current environmental influence of the unmanned aerial vehicle under the preset dynamic constraint conditions.
6. The method for planning a route for transporting power equipment by an unmanned aerial vehicle based on complex terrains according to claim 1, wherein the method for planning a flight route of the unmanned aerial vehicle carrying construction materials by a preset algorithm in the trafficable grid, and restraining the planned flight route based on preset constraint conditions, and generating an optimal flight path of the unmanned aerial vehicle further comprises: and simulating flight of the unmanned aerial vehicle according to the optimal flight route, obtaining deviation between an actual simulated flight path and the optimal flight path, and optimizing the deviation path of the optimal flight path according to the deviation.
7. The method for route planning for unmanned aerial vehicle transportation power equipment based on complex terrain according to claim 1, wherein the method further comprises: and drawing the contour line in the power construction GIS model, and controlling the unmanned aerial vehicle to fly at the contour line according to the drawn contour line and the optimal flight path.
8. A route planning system for unmanned aerial vehicle transportation power equipment based on complex terrain, characterized in that the system is applied to the route planning method for unmanned aerial vehicle transportation power equipment based on complex terrain as claimed in any one of claims 1 to 7, the system comprising: the construction positioning module is used for acquiring the topographic data of the construction position to construct a real-time GIS geographic model, analyzing the construction drawing of the power line engineering, and positioning the construction point in the real-time GIS geographic model to obtain the target tower construction position of each power tower; the model construction module is used for acquiring a power line topological structure according to a construction drawing of the power line engineering, and fusing the power line topological structure and the real-time GIS geographic model according to the target tower construction position to obtain a power construction GIS model; The flight area analysis module is used for marking and acquiring a flight area between the position of the construction material and the construction position of the target tower on the power construction GIS model, and carrying out passable area analysis to obtain a plurality of passable grids; And the path planning module is used for planning the flight path of the unmanned aerial vehicle carrying the construction material in the passable grid through a preset algorithm, and restraining the planned flight path based on preset constraint conditions to generate an optimal flight path of the unmanned aerial vehicle.
9. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor, when executing the computer program, carries out the steps of the route planning method of the complex terrain based unmanned aerial vehicle transportation power device according to any of claims 1 to 7.
10. A computer readable storage medium storing a computer program, characterized in that the computer program when executed by a processor implements the steps of the route planning method of unmanned aerial vehicle transport power device based on complex terrain according to any of claims 1 to 7.

Description

Route planning method for unmanned aerial vehicle transportation power equipment based on complex terrain Technical Field The invention relates to the technical field of transportation of power engineering construction materials, in particular to a route planning method for unmanned aerial vehicle transportation power equipment based on complex terrains. Background Along with the rapid development of economic construction and the electricity consumption demands of mountain areas and remote areas, the electric power engineering foundation projects are commonly constructed in various places, and the transportation of electric power foundation materials becomes a key link for restricting the construction progress. The power transmission line foundation pole tower is located in complicated and inconvenient areas such as mountain region, hills and the like, is influenced by topography restriction, construction materials mainly depend on manpower transportation or manpower and cableway transportation, the construction period of power line engineering is seriously restricted, even the construction period is delayed, the timeliness of power transmission is influenced, the mode of carrying out power equipment and pole tower material transportation in complicated topography or weak areas of construction through manpower or manpower and cableway exists, a large amount of manpower and material resources are consumed, the transportation efficiency is low, and equipment is easy to damage. Disclosure of Invention Aiming at the problem that the transportation of electric power infrastructure materials in mountainous and hilly areas and other complex areas is inconvenient in the prior art, the application provides a route planning method for transporting electric power equipment by using an unmanned aerial vehicle based on complex terrains, which can adopt the unmanned aerial vehicle transportation mode to replace the manual transportation mode, and efficiently and safely transport power grid equipment to a designated point by reasonably planning the unmanned aerial vehicle transportation route, thereby improving the construction rate of electric power line engineering. In a first aspect, the above object of the present application is achieved by the following technical solutions: A route planning method for unmanned aerial vehicle transportation power equipment based on complex terrain, wherein the method carries power equipment through unmanned aerial vehicle planned transportation route for material transportation, and the method comprises the following steps: Acquiring the topographic data of the construction position to construct a real-time GIS geographic model, analyzing the construction drawing of the power line engineering, and positioning construction points in the real-time GIS geographic model to obtain the target tower construction position of each power tower; Acquiring a power line topological structure according to a construction drawing of the power line engineering, and fusing the power line topological structure and the real-time GIS geographic model according to the target tower construction position to obtain a power construction GIS model; marking and acquiring a flight area between the position of a construction material and the construction position of the target tower on the power construction GIS model, and analyzing the passable area to obtain a plurality of passable grids; And in the passable grid, a flight route of the unmanned aerial vehicle carrying the construction material is planned through a preset algorithm, and the planned flight route is constrained based on preset constraint conditions, so that an optimal flight route of the unmanned aerial vehicle is generated. The method can be further configured in a preferred example, wherein in the trafficable grid, a flight path of the unmanned aerial vehicle carrying the construction material is planned through a preset algorithm, the planned flight path is constrained based on preset constraint conditions, and an optimal flight path of the unmanned aerial vehicle is generated, and the method further comprises the following steps: marking key flight sections of a curved flight path according to a flight path planning result, and carrying out turning planning by combining the carrying weight and the gesture of the unmanned aerial vehicle to obtain a turning flight path of the curved flight path, wherein the curved flight path comprises a detour path for avoiding obstacles and a turning position flight path; And respectively carrying out path fitting on the starting point and the end point of the turning flight route and the pre-planned flight route according to the pre-planned flight route to obtain the optimal flight path of the unmanned aerial vehicle under the constraint of carrying weight and gesture. The application can be further configured in a preferred example, wherein the marking of key flight sections of a curved flight path according