Unmanned aerial vehicle inspection method and system for transformer substation

Abstract

The invention discloses an unmanned aerial vehicle inspection method for a transformer substation, and the method comprises the steps: carrying out laser radar inspection of a current transformer substation, obtaining the three-dimensional laser radar point cloud data of all to-be-detected equipment in the transformer substation, and generating a flight inspection plan containing the planned route information based on the three-dimensional laser radar point cloud data; the unmanned aerial vehicle flight platform controls the unmanned aerial vehicle to fly according to a flight route in the flight inspection plan, when the unmanned aerial vehicle arrives at an inspection position corresponding to the to-be-detected equipment, a current transformer substation image containing the to-be-detected equipment is collected, and an inspection target type and a fault type in the image are identified by using a preset transformer substation inspection target identification model; and the autonomous inspection task of the transformer substation is completed. According to the invention, inspection efficiency and inspection safety are improved, and the online diagnosis precision of the autonomous inspection task is met.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicle substation inspection, in particular to a method and system for unmanned aerial vehicle inspection of substations. Background technique [0002] With the rapid development of new technologies such as the Internet of Things, big data, cloud computing, and artificial intelligence, drones have been widely used in various industries such as petroleum, railways, plant protection, and logistics services. In the electric power industry, in order to meet the needs of building and developing a strong smart grid, and to change the operation and inspection mode of substations, a new inspection mode using "helicopter, drone and manual inspection" has been developed. Among them, due to the flexible method and low cost of UAV inspection, it can not only find defects such as foreign objects on towers, damaged insulators, slippage of anti-vibration hammer, offset of wire clips, etc., but also can ...

AI Technical Summary

Problems solved by technology

The use of existing electroscopes in plain areas is not restricted, but the line crosses rivers, valleys and other areas where workers cannot reach or towers. In addition, non-contact electroscopes cannot be used normally when the line height is raised

[0003]Nowadays, the vast majority of drone inspections in substations are mostly manually controlled flights, and the safety control during the flight basically depends on the technical level of the operators, which cannot be effectively Ensure the smooth completion of inspection tasks and the safety of inspection work

For a small number of automatic flight controls, there is no mature autonomous flight solution for the substation industry. For example, current technologies such as drone obstacle avoidance and autonomous flight are basically aimed at individual users and aerial photography and other user markets. Autonomous flight scheme for refined inspection of substation drones

In addition, the substation inspection work has strong periodicity and high safety requirements, but the existing technology cannot achieve the high periodicity of the content, small content changes, and low impact on the refined inspection of substation UAVs. Features such as fineness and high security requirements of the entire link

[0004] Therefore, in the existing technology, whether it is manual operation or relying on the self-organizing flight function of the UAV platform, the high-precision detection effect and safety of autonomous inspection cannot meet the requirements of fine inspection of substations

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