输电线路无人机山火察灭一体化作业流程优化

doi:10.16265/j.cnki.issn1003-3033.2023.S1.4001

摘要/Abstract

摘要：

为解决无人机在山区输电线路周边火灾隐患的巡检和早期灭火作业中存在的耗费时间长、工作效率低等问题,合并重组优化现有无人机巡检和灭火流程步骤。首先,在现有的无人机巡视和灭火流程的研究基础上,基于流程程序分析法和Petri网模型法,分析无人机巡视和灭火流程的2个步骤,得到对应工作流程,利用相关矩阵和不变量分析方法检验该模型,以确保其适用性;然后,基于取消、合并、调整顺序、简化(ECRS)原则,统一2个独立步骤,合并重复步骤,得出最终优化后的流程方案;最后,通过相同案例进行仿真模拟,分析并计算整合优化前后模型的差异。结果表明:基于Petri网优化后的方案能大幅提高灭火无人机收到火源坐标位置信息后的快速响应能力,减少重复作业流程,降低不必要的时间消耗;相较于传统作业方案完成全部流程的时间,优化后的流程方案作业时间减少39.1%,搬运距离减少50%。

关键词: 察灭一体化, 作业流程, 无人机巡视, 无人机灭火, Petri网, 流程优化

Abstract:

Unmanned aerial vehicles (UAVs) face long time consumption and low work efficiency in inspecting fire hazards around transmission lines in mountainous areas and performing early fire extinguishing operations. In order to solve these problems, the existing UAV inspection and fire extinguishing processes were merged and reorganized. Firstly, based on the existing research on UAV inspection and fire extinguishing processes, process program analysis and Petri net model method were adopted, and the processes of UAV inspection and fire extinguishing were analyzed to obtain the corresponding operation process. The correlation matrix and invariant analysis method were used to test the model to ensure its applicability. Then, the two independent steps were unified, and the repeated steps were merged based on the principle of eliminate, combine, rearrange, and simplify (ECRS). The final optimized process scheme was thus obtained. Finally, through the simulation of the same case, the difference between the model before and after the integration optimization was analyzed and calculated. The results show that the optimized scheme based on Petri net can greatly improve the rapid response ability of UAVs for fire extinguishing after receiving the fire source coordinate position information and reduce the repeated operation process and unnecessary time consumption. Compared with that of the traditional operation scheme, the operation time of the optimized process scheme is reduced by 39.1%, and the handling distance is reduced by 50%.

Key words: integrated fire inspection and extinguishing, operation process, UAV inspection, UAV fire extinguishing, Petri net, process optimization

王启飞, 侯程浩, 李聪, 程海涛, 邹彪. 输电线路无人机山火察灭一体化作业流程优化[J]. 中国安全科学学报, 2023, 33(S1): 162-168.

WANG Qifei, HOU Chenghao, LI Cong, CHENG Haitao, ZHOU Biao. Optimization of integrated operation process of unmanned aerial vehicles in hill fire inspection and extinguishing of transmission lines[J]. China Safety Science Journal, 2023, 33(S1): 162-168.

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库所	含义	库所	含义
P1	准备巡检	E4	灭火液含量正常
P2	无人机位于起降点	E5	弹体牢固
P3	组装完成	E6	控制芯片保险插销正常
P4	结构正常	E7	控制芯片处于关闭状态
P5	安装完毕	E8	蓄电池安装完毕
P6	电源启动	E9	接通电源
P7	准备飞行路径	E10	设定完成
P8	信号连接成功	E11	电源断开
P9	航线设置成功	E12	灭火弹装载完毕
P10	无人机升空	E13	灭火弹与无人机连接
P11	无人机状态正常	E14	控制芯片连接
P12	完成巡视任务	E15	控制芯片接入成功
P13	到达起降点	E16	电源启动
P14	无人机降落	E17	无人机设置完毕
P15	电源断开	E18	飞向火源
P16	数据获取成功	E19	无人机飞抵火源上方
P17	蓄电池拆卸完成	E20	火焰被扑灭
P18	完成储存	E21	到达起降点
E1	接收火源坐标信息	E22	无人机降落
E2	无人机位于起降点	E23	蓄电池拆卸完成
E3	结构正常	E24	完成储存

变迁	含义	变迁	含义
T1	无人机运出仓库	T16	拆卸蓄电池
T2	组装无人机	T17	蓄电池和无人机回收
T3	检查机身结构	T18	无人机和灭火弹运出仓库
T4	安装蓄电池	T19	检查灭火弹控制芯片处于关闭状态
T5	打开电源开关	T20	检查灭火弹控制芯片保险插销
T6	连接无人机信号	T21	检查弹体是否牢固
T7	设定航线	T22	检查弹体灭火液含量
T8	控制无人机起飞	T23	设定灭火弹起爆高度
T9	无人机系统自检	T24	将灭火弹放入弹仓
T10	巡视	T25	连接灭火弹与无人机的保险插销
T11	发送着火点坐标	T26	将USB供电插口插入控制芯片插口
T12	返航	T27	打开控制芯片开关
T13	控制无人机降落	T28	无人机飞向着火点
T14	关闭电源开关	T29	按程序投掷灭火弹
T15	导出飞行数据	—	—

子网	子网中库所和变迁	子网含义
1	P1,T1,P2,T2,P3,T3,P4, T4,P5,T5,P6,T6,P8,T8	巡视无人机起飞前准备
2	T5,P7,T7,P9,T8	设定无人机程序
3	T8,P10,T9,P11,T10	无人机进行巡视
4	T9,P11,T11,E1,T18	发现火情并传输火源位置坐标
5	T10,P12,T12	未发现火情, 完成巡视返航
6	P13,T13,P14,T14,P15, T15,P4,T3,P16,T16, P17,T17,P18	无人机降落, 检查机身并回收
7	T18,E2,T3,E3,T19, E4,T4	收到火源坐标后,准备灭火无人机,检查灭火弹控制芯片处于关闭状态
8	T3,E3,T20,E5,T4	检查灭火弹控制芯片保险插销
9	T3,E3,T21,E6,T4	检查弹体是否牢固
10	T3,E3,E22,E7,T4	检查弹体灭火液含量
11	T4,E8,T5,E9,T23, E10,T14,E11,T24, E12,T25,E13,T26, E14,T27,E15,T5,E16, T6,E17,T8,E18,T28	灭火无人机起飞前准备工作
12	T28,E19,T29,E20,T12	灭火无人机完成灭火
13	T12,E21,T13,E22, T14,E11,T3,E3,T16, E23,T17,E24	无人机降落, 检查机身并回收