基于物联网的无人机智能巡线路径规划方法  

A Path Planning Method of the UAV Intelligent Line Patrol Based on Internet of Things

作　　者：刘岚 吴新桥 李彬 王昊 杨倩影 LIU Lan;WU Xinqiao;LI Bin;WANG Hao;YANG Qianying(China Southern Power Grid Digital Power Grid Research Institute Co.,Ltd.,Guangzhou 510000,Guangdong,China)

机构地区：[1]南方电网数字电网研究院有限公司,广东广州510000

出　　处：《电网与清洁能源》2024年第3期78-83,91,共7页Power System and Clean Energy

基　　金：中国南方电网有限责任公司科技项目(030600KK51200001)。

摘　　要：为在输电线路环境不确定因素较多的情况下,确保智能巡线路径规划效果,提高障碍物勘测安全性及目标搜索准确率,提出基于物联网的无人机智能巡线路径规划方法。基于物联网平台特点,结合输电线路周围环境特征,利用视距测量方法测试安全距离;采用加权距离公式,计算地面对飞行点间距离差,锁定地面差值与飞行距离差值间的加权关系,保证无人机稳定飞行;通过拉格朗日插值法计算输电线路周围节点,对噪声数据进行粗差剔除,补偿差值向量;采用强化学习算法中启发式回报函数,计算样本障碍物间路径,划分最优航线行驶路径,规划无人机智能巡线路径。实验结果表明:所提方法的无人机与障碍物之间的距离差值均未小于200 m,目标搜索个数可达33,数据剔除率高达98%,其智能巡线路径规划和数据粗差剔除效果较好,能够有效提高障碍物勘测安全性和目标搜索准确率。To ensure the effect of intelligent line patrol path planning and improve the safety of obstacle survey and the accuracy of target search in the case of many uncertain factors in the transmission line environment,a UAV intelligent line patrol path planning method based on Internet of Things is proposed in this paper.Based on the characteristics of the Internet of Things platform and the characteristics of the surrounding environment of the transmission line,the paper uses the sight distance measurement method to test the safety distance.The weighted distance formula is used to calculate the distance difference between ground flight points,lock the weighted relationship between ground difference and flight distance difference,and ensure the stable flight of the UAV.The nodes around the transmission line are calculated by interpolation,and the gross error of the noise data is eliminated to compensate the difference vector.The return function is used to calculate the path between sample obstacles,divide the optimal route driving path,and realize the path planning of the UAV intelligent line patrol.The experimental results show that the distance difference between the UAV and obstacles is not less than 200 m,the number of target searches can reach 33,and the data elimination rate is as high as 98%.The effect of the intelligent route patrol path planning and data gross error elimination is good,which can effectively improve the safety of obstacle survey and the accuracy of target search.

关 键 词：物联网平台 无人机 智能巡线 路径规划 粗差剔除 加权距离 

分 类 号：TM721[电气工程—电力系统及自动化]