Unmanned aerial vehicle inspection method and device for power transformation equipment

Abstract

The embodiment of the invention provides an unmanned aerial vehicle inspection method and device for power transformation equipment. The method comprises the following steps: acquiring a virtual substation model of a target substation, wherein the virtual substation model is generated by performing three-dimensional model construction on the target substation and comprises a plurality of candidate virtual substation equipment areas and a plurality of candidate virtual visual positioning identifiers; determining at least two target virtual visual positioning identifiers from a plurality of candidate virtual visual positioning identifiers included in the virtual substation model in response to an inspection triggering operation on a target virtual power transformation equipment region in a plurality of candidate virtual power transformation equipment regions included in the virtual substation model; and generating an unmanned aerial vehicle inspection route based on the at least two target virtual visual positioning identifiers. According to the scheme, the inspection route can be automatically generated on the intelligent inspection platform according to the arrangement of the virtual power transformation equipment in the transformer substation model, and the unmanned aerial vehicle in the transformer substation is pointed to fly to inspect the power transformation equipment through the inspection route.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of path planning technology, and in particular to a method and device for unmanned aerial vehicle inspection of substation equipment. Background Art

[0002] In the operation of today's power system, substations are key hubs for power transmission, and the stable operation of their substation equipment is crucial to ensuring the reliability and safety of power supply.

[0003] As the demand for electricity continues to grow, the scale of the power network continues to expand, and the number of substations is also increasing. The inspection of substation equipment includes two methods: manual inspection and intelligent equipment inspection. The manual inspection method requires a comprehensive inspection of substation equipment and data recording every day. It is highly dependent on manpower, has extremely limited efficiency, and is prone to fatigue during long-term repetitive work, which may lead to missed inspections or misjudgments. Track robot inspections have improved the automation of inspections to a certain extent, but the laying of tracks limits the range of robots' activities. For some complex substation layouts, there are inspection blind spots, and it is impossible to complete high-quality inspection tasks completely independently and efficiently. Summary of the invention

[0004] The embodiments of the present invention provide a method, device, electronic device and storage medium for drone inspection of substation equipment, so as to realize automatic generation of inspection routes on an intelligent inspection platform according to the layout of virtual substation equipment in a substation model, and guide indoor drones of substations to fly and inspect substation equipment through the inspection routes.

[0005] In a first aspect, an embodiment of the present invention provides a method for unmanned aerial vehicle inspection of a substation, the method comprising:

[0006] Acquire a plurality of candidate virtual visual positioning identifiers included in a virtual substation model of a target substation, wherein the virtual substation model is generated by constructing a three-dimensional model of the target substation and the virtual substation model includes a plurality of candidate virtual substation equipment areas and a plurality of candidate virtual visual positioning identifiers, wherein the candidate virtual visual positioning identifier is a visual positioning identifier in a virtual environment generated by constructing a three-dimensional model of a real visual positioning identifier deployed in the target substation, and the candidate virtual visual positioning identifier is used to guide the movement of a virtual drone in the virtual substation model;

[0007] In response to an inspection trigger operation on a target virtual substation equipment area among multiple candidate virtual substation equipment areas included in the virtual substation model, at least two target virtual visual positioning identifiers are determined from multiple candidate virtual visual positioning identifiers included in the virtual substation model, and the target virtual visual positioning identifiers are used to guide the virtual drone to move and then inspect and photograph the target virtual substation equipment area in the virtual substation model;

[0008] Based on the at least two target virtual visual positioning identifiers, a drone inspection route is generated to guide the real drone in the target substation to inspect and photograph the real substation equipment area corresponding to the target virtual substation equipment area according to the drone inspection route.

[0009] In a second aspect, an embodiment of the present invention further provides a UAV inspection device for substation equipment, the device comprising:

[0010] A first determination module is used to obtain a plurality of candidate virtual visual positioning identifiers included in a virtual substation model of a target substation, wherein the virtual substation model is generated by constructing a three-dimensional model of the target substation and the virtual substation model includes a plurality of candidate virtual substation equipment areas and a plurality of candidate virtual visual positioning identifiers, wherein the candidate virtual visual positioning identifier is a visual positioning identifier in a virtual environment generated by constructing a three-dimensional model of a real visual positioning identifier deployed in the target substation, and the candidate virtual visual positioning identifier is used to guide the movement of a virtual drone in the virtual substation model;

[0011] A second determination module is used to respond to an inspection trigger operation of a target virtual substation equipment area in a plurality of candidate virtual substation equipment areas included in the virtual substation model, and determine at least two target virtual visual positioning identifiers from a plurality of candidate virtual visual positioning identifiers included in the virtual substation model, wherein the target virtual visual positioning identifiers are used to guide the virtual drone to move and then inspect and photograph the target virtual substation equipment area in the virtual substation model;

[0012] A generation module is used to generate a drone inspection route based on the at least two target virtual visual positioning identifiers, and to guide the real drone in the target substation to inspect and photograph the real substation equipment area corresponding to the target virtual substation equipment area according to the drone inspection route.

[0013] In a third aspect, an embodiment of the present invention further provides an electronic device, the electronic device comprising:

[0014] at least one processor; and

[0015] a memory communicatively connected to the at least one processor; wherein,

[0016] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the drone inspection method for substation equipment described in any one of the above embodiments.

[0017] In a fourth aspect, a computer-readable medium is also provided in an embodiment of the present invention, wherein the computer-readable medium stores computer instructions, and the computer instructions are used to enable a processor to implement the drone inspection method for substation equipment described in any one of the above embodiments when executed.

[0018] The technical solution of the embodiment of the present invention can accurately restore the layout and equipment distribution of the real substation by constructing a three-dimensional virtual substation model for the target substation, including multiple candidate virtual substation equipment areas and corresponding candidate virtual visual positioning identifiers, so that detailed inspection route planning can be carried out in the virtual environment, at least two target virtual visual positioning identifiers are determined from a large number of candidate virtual visual positioning identifiers, and then a highly customized and accurate drone inspection route is generated. The planning method based on the virtual substation model greatly improves the efficiency and accuracy of the inspection route planning, ensuring a comprehensive and efficient inspection of the real substation equipment area. In addition, the candidate virtual substation equipment and the candidate virtual visual positioning identifier are respectively constructed as three-dimensional models of the real substation equipment and the real visual positioning identifier, so that the virtual substation model is closely connected with the real environment. When the real drone inspects and shoots the real substation equipment area corresponding to the target virtual substation equipment area according to the inspection route generated in the virtual environment, the organic combination of virtual and reality is achieved, which helps to better understand the flight path and task execution of the drone in the actual scene, improves the execution effect of the inspection task by the operator, and also reduces the risk of operational errors caused by unfamiliarity with the substation environment. Furthermore, using the virtual substation model to plan drone inspection routes can not only improve the reliability and safety of substation equipment monitoring, assess potential conditions in advance, avoid collision risks, reduce equipment failures and downtime caused by inspection errors, and ensure the normal operation of substation equipment, but also facilitate the upgrade and optimization of the inspection system. When the substation equipment is updated, it is only necessary to adjust the virtual substation model elements, redefine the visual positioning logo and route, without repeated experiments in real scenarios, saving time and cost, and enhancing the adaptability and flexibility of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a flow chart of a method for inspecting substation equipment using a drone provided by an embodiment of the present invention;

[0020] Figure 2 It is a schematic diagram of a three-dimensional model of a virtual substation model provided by an embodiment of the present invention;

[0021] Figure 3 It is a model top view of a virtual substation model corresponding to a target substation provided by an embodiment of the present invention;

[0022] Figure 4 A local schematic diagram of a virtual substation model for selecting a virtual visual positioning mark in a virtual substation model corresponding to a target substation provided by an embodiment of the present invention;

[0023] Figure 5 It is a flow chart of another UAV inspection method for substation equipment provided by an embodiment of the present invention;

[0024] Figure 6 This is a schematic diagram of the structure of a UAV inspection device for substation equipment provided by an embodiment of the present invention;

[0025] Figure 7 It is a structural schematic diagram of an electronic device for implementing a method for unmanned aerial vehicle inspection of substation equipment provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0026] Embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be construed as being limited to the embodiments described herein, which are instead provided for a more thorough and complete understanding of the present invention. It should be understood that the drawings and embodiments of the present invention are only for exemplary purposes and are not intended to limit the scope of protection of the present invention.

[0027] It should be understood that the various steps described in the method embodiments of the present invention may be performed in different orders and / or in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present invention is not limited in this respect.

[0028] The term "including" and its variations used herein are open inclusions, i.e., "including but not limited to". The term "based on" means "based at least in part on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". The relevant definitions of other terms will be given in the following description.

[0029] It should be noted that the concepts such as "first" and "second" mentioned in the present invention are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0030] It should be noted that the modifications of "one" and "plurality" mentioned in the present invention are illustrative rather than restrictive, and those skilled in the art should understand that, unless otherwise clearly indicated in the context, it should be understood as "one or more".

[0031] The names of the messages or information exchanged between multiple devices in the embodiments of the present invention are only used for illustrative purposes, and are not used to limit the scope of these messages or information.

[0032] Figure 1 The present invention provides a flowchart of a method for drone inspection of substation equipment. The present invention is applicable to the case where drones are used to inspect and photograph each substation equipment in a substation. The drone inspection method of substation equipment can be performed by a drone inspection device of substation equipment. The drone inspection device of substation equipment can be implemented in the form of software and / or hardware, and is generally integrated on any electronic device with network communication function, which can be a mobile terminal, PC or server, etc. Figure 1 As shown, the UAV inspection method for substation equipment in the embodiment of the present invention may include the following process:

[0033] S110. Obtain a virtual substation model of the target substation. The virtual substation model is generated by constructing a three-dimensional model of the target substation and the virtual substation model includes multiple candidate virtual substation equipment areas and multiple candidate virtual visual positioning identifiers. The candidate virtual substation equipment is a substation equipment in a virtual environment generated by constructing a three-dimensional model of the real substation equipment in the target substation. The candidate virtual visual positioning identifier is a visual positioning identifier in a virtual environment generated by constructing a three-dimensional model of the real visual positioning identifier deployed in the target substation. The candidate virtual visual positioning identifier is used to guide the movement of the virtual drone in the virtual substation model.

[0034] The target substation can be an indoor substation in a real scenario, which is a substation where the substation equipment is installed inside a building. The target substation can use the building as a protective shell, place transformers, switch cabinets, busbars and other substation equipment in an indoor environment, and use cables to input, output and distribute power. The purpose is to better protect the substation equipment from interference from external natural environmental factors (such as bad weather, dust, animals, etc.) in a relatively closed space.

[0035] See also Figure 2The virtual substation model can digitally reproduce the target substation through 3D modeling technology, including various substation equipment in the substation, real visual positioning signs and environmental features in the target substation, etc. The virtual substation model is a virtual, highly simulated digital model that provides a platform for subsequent virtual operations and analysis. It can simulate the real state and layout of the substation, assist in planning and testing in a virtual environment, avoid errors and risks that may occur in real scenarios, and improve work efficiency and safety.

[0036] See also Figure 2 The candidate virtual substation equipment area can be a specific area after the spatial position of the virtual substation equipment corresponding to the real substation equipment is divided in the virtual substation model. These candidate virtual substation equipment areas are three-dimensionally modeled, representing the distribution range of the actual substation equipment in the virtual environment. They are the key areas for virtual drone inspections. The precise division and identification of these candidate virtual substation equipment areas helps to plan reasonable inspection paths and scopes, ensure comprehensive inspections of key substation equipment, and timely discover potential fault hazards.

[0037] See also Figure 3 The candidate virtual visual positioning mark can correspond to the real visual positioning mark deployed in the target substation to assist the navigation and positioning of the UAV. After the three-dimensional model is constructed, it is mapped to the virtual visual positioning mark in the virtual substation model. The candidate virtual visual positioning mark can be used to guide the movement of the virtual UAV in the virtual substation model. Among them, the visual positioning mark can have a unique pattern, shape or color, so that the UAV can quickly and accurately identify the visual positioning mark through visual recognition technology during the flight, obtain the position of the visual positioning mark, and then use it to assist the UAV to determine its own position and posture, so as to achieve precise flight control and positioning, and ensure the stable flight and efficient inspection of the UAV in the complex substation environment. Among them, the visual positioning mark can be a QR code label, AprilTag tag, augmented reality tag, and a tag with a custom color and shape.

[0038] In an optional solution, obtaining the virtual substation model of the target substation includes: obtaining model data of the virtual substation model of the target substation, and displaying the virtual substation model of the target substation on a display page based on the model data of the virtual substation model of the target substation.

[0039] In an optional solution, 3D modeling software can be used in advance to collect detailed design drawings, actual size data, equipment layout information and geographical environment data of the target substation, and 3D modeling of the building structure, substation equipment, line direction and auxiliary facilities of the target substation can be performed. At the same time, each virtual substation equipment area is divided in the virtual substation model, and virtual visual positioning marks are set in the virtual substation model to create a virtual environment that is highly similar to the real substation.

[0040] Through the above method, a visual and operable virtual substation model platform is provided, which can intuitively understand the overall picture and details of the target substation, and provide accurate data support and reference basis for subsequent inspection planning and decision-making. At the same time, factors that may be unfavorable to drone inspection in the substation design and layout can be discovered in advance in the virtual substation model, such as obstacles blocking the line of sight, signal interference sources, etc., and targeted optimization and adjustment can be carried out to avoid inspection failures or safety accidents caused by environmental problems in actual inspections.

[0041] As an optional but non-limiting implementation, see Figure 2 and Figure 3 The virtual substation model of the target substation is a substation model that can be displayed in a virtual environment by constructing a three-dimensional model of the target substation in advance according to the reference information corresponding to the target substation. The surface of the candidate virtual substation equipment in the virtual substation model is mapped with the same image texture as the surface of the real substation equipment. The reference information includes at least one of the following: the substation design drawing information of the target substation, the location of the substation equipment of the target substation, and the real scene information inside the target substation.

[0042] The substation design drawing information of the target substation can include the initial planning blueprint of the target substation, such as the building layout, equipment installation location, line direction and other detailed design contents. From the overall building structure to the precise placement point of each substation equipment, the basis can be found on the drawings, providing a basic framework for building an accurate three-dimensional model. The location of the substation equipment of the target substation can indicate the specific coordinate position of each real substation equipment included in the target substation, including the spatial position of key equipment such as transformers, switch cabinets, and distribution cabinets. It can assist in accurately restoring the relative position relationship between substation equipment in the virtual substation model, ensuring that the virtual substation model is highly consistent with the target substation in the real scene. The real scene information inside the target substation can include the actual space size, decoration, wall and floor color and material inside the target substation, as well as the appearance details of the substation equipment, some existing identification information and other real conditions. This information makes the virtual substation model more realistic. It is not just a simple listing of equipment, but a digital presentation that fully restores the real scene.

[0043] Image textures can be attached to the surface of virtual substation equipment in the virtual substation model to simulate the visual effects of the appearance of real substation equipment. For example, it can be a pattern that is exactly the same as the surface of real substation equipment, making the virtual substation equipment look like real equipment, enhancing the realism and recognition of the virtual substation model.

[0044] In one optional solution, the design drawings of the target substation are obtained, the position coordinates of each substation equipment are measured on site, and various reference information such as images and dimensional data of the real scene inside the target substation are collected using cameras, laser scanners and other equipment to form a modeling material library; three-dimensional modeling software (such as 3ds Max, Blender, SolidWorks, etc.) is used to outline the building structure according to the design drawings, and virtual substation equipment is placed according to the location of the substation equipment of the target substation. With reference to the real scene information, the model is given material and color, and the corresponding image texture is affixed, so as to build a complete virtual substation model step by step.

[0045] By adopting the above method, the model can be constructed by integrating multi-dimensional reference information, and the virtual substation and the target substation in reality can almost reach a one-to-one correspondence. In this way, facing the virtual substation model is like being in a real substation. Both the equipment layout and the overall space atmosphere can be accurately reproduced, which is conducive to the accurate implementation of subsequent operation and maintenance operations. In addition, the candidate virtual substation equipment that maps the surface image texture of the real equipment makes the virtual substation model more realistic. When viewing the virtual substation equipment in the virtual environment, the equipment type and status can be quickly identified, reducing the possibility of misjudgment and improving the efficiency of various decisions based on the virtual substation model.

[0046] As an optional but non-limiting implementation, see Figure 2 and Figure 3 , obtaining the virtual substation model of the target substation, including the following steps:

[0047] In response to the task mode trigger operation of the UAV inspection task mode, the virtual substation model corresponding to the target substation is loaded and displayed on the display page. The task mode trigger operation is a trigger operation for selecting from the UAV inspection task mode to use a virtual UAV to perform customized inspection and shooting of candidate virtual substation equipment in the virtual substation model.

[0048] Among them, the drone inspection task mode can be a collection of different operating methods when using drones to carry out inspection tasks on virtual substations. Different drone inspection task modes specify key parameters such as the drone's flight path, inspection focus, and data collection method to adapt to different inspection needs. The task mode trigger operation can be an interactive action performed on the intelligent inspection platform to select the drone inspection task mode. It is a "switch" to start the corresponding inspection process, usually completed on the intelligent inspection platform operation interface with the help of input methods such as mouse clicks and touch screens.

[0049] Among them, the drone inspection task mode can include a custom inspection shooting mode and a regular inspection shooting mode. Custom inspection shooting is a drone inspection task mode that can set the flight route, shooting angle, shooting focus area and other parameters of the virtual drone in the virtual substation model according to specific inspection needs. The regular inspection shooting mode can be a pre-configured virtual drone to inspect the virtual substation equipment in the virtual substation model. The preset inspection route can be directly selected and sent to the drone for execution.

[0050] Among them, see Figure 4 , a virtual drone can be a drone simulation that exists in a virtual substation model environment. A virtual drone can have similar flight characteristics, functions, and operation methods as real drones, such as flight control, attitude adjustment, image acquisition, etc. It imitates the flight characteristics, control methods, and functions of real drones, and is used to perform inspection and shooting tasks in a virtual substation model. It can test the feasibility of the inspection plan in advance and avoid potential risks in the actual operation of real drones. By operating a virtual drone in a virtual substation model environment, the feasibility of the inspection plan can be verified in advance, the flight path and operation process can be optimized, and the probability of errors in actual operations can be reduced.

[0051] In an optional scheme, in response to a task mode triggering operation on a drone inspection task mode, for example, in response to selecting a specific drone inspection task mode of using a virtual drone to perform customized inspection and photography of candidate virtual substation equipment in a virtual substation model on an operation interface of a smart inspection platform by clicking a button, selecting a menu option, etc., the pre-built virtual substation model data corresponding to the target substation is retrieved from a storage device or database, and the virtual substation model is gradually presented on a display page (such as a computer display, VR device screen, or other visual terminal) using a graphics rendering engine for interactive operations.

[0052] The above method provides a customized inspection and shooting task mode, which is no longer limited to the preset standardized inspection process, and flexibly plans the inspection path and shooting plan of the virtual drone to meet the diverse inspection needs. The virtual substation model is loaded instantly on the display page, which can intuitively display the layout and spatial relationship of the virtual substation equipment, and assist it in making more scientific inspection decisions.

[0053] S120. In response to an inspection trigger operation on a target virtual substation equipment area among multiple candidate virtual substation equipment areas included in the virtual substation model, at least two target virtual visual positioning identifiers are determined from multiple candidate virtual visual positioning identifiers included in the virtual substation model, and the target virtual visual positioning identifiers are used to guide the virtual drone to move and then inspect and photograph the target virtual substation equipment area in the virtual substation model.

[0054] Among them, the target virtual substation equipment area can be the spatial range of the virtual substation equipment area that needs to be inspected and photographed, which is selected from various candidate virtual substation equipment areas in the virtual substation model. It is the key area of ​​attention for the virtual drone to inspect and photograph in the virtual substation model, and it is related to the inspection and photography process of the real substation equipment in the target substation. The target virtual visual positioning mark can be selected from many candidate virtual visual positioning marks and has a key guiding role. It can be used to plan the inspection route of the virtual drone to ensure that the virtual drone can smoothly approach and photograph the target virtual substation equipment area in the virtual substation model.

[0055] See also Figure 2 and Figure 3 , according to the actual layout of the target substation, equipment distribution and inspection requirements, the candidate virtual visual positioning marks in the virtual substation model can be screened and evaluated, including whether the position of the candidate virtual visual positioning marks can effectively cover the target virtual substation equipment area, whether the spacing and distribution between the candidate virtual visual positioning marks are conducive to the flight path planning of the drone, and whether the visibility and recognition of the candidate virtual visual positioning marks meet the drone visual recognition requirements. Through comprehensive analysis, at least two target virtual visual positioning marks suitable for guiding the virtual drone to complete the inspection task are selected.

[0056] By adopting the above method, the key navigation points of the UAV during the virtual inspection process can be accurately determined to ensure that the virtual UAV can efficiently shoot and monitor the target virtual substation equipment area along the predetermined and optimal path. The selection of these target virtual visual positioning markers directly affects the flight trajectory and inspection range of the UAV. Reasonable selection can reduce the flight distance and time of the UAV, improve the inspection efficiency, and ensure comprehensive coverage of key equipment parts.

[0057] As an optional but non-limiting implementation scheme, in response to an inspection trigger operation on at least one candidate virtual substation equipment area of ​​the virtual substation model, the candidate virtual substation equipment area corresponding to the inspection trigger operation is used as the target virtual substation equipment area, and at least two target virtual visual positioning identifiers associated with the target virtual substation equipment area are determined from multiple candidate virtual visual positioning identifiers included in the virtual substation model. The inspection trigger operation is used to indicate a trigger operation for generating an inspection route for the target virtual substation equipment area in the virtual substation model.

[0058] S130: Generate a drone inspection route based on at least two target virtual visual positioning identifiers.

[0059] Among them, the drone inspection route is used to guide the real drone in the target substation to inspect and shoot the real substation equipment area corresponding to the target virtual substation equipment area according to the drone inspection route.

[0060] Taking the selected target virtual visual positioning mark as the key position point, a path planning algorithm is used to generate a continuous, smooth and safe inspection route in the virtual substation model. When planning the inspection route, the flight performance parameters of the virtual drone (such as maximum speed, minimum turning radius, endurance, etc.), the distribution of obstacles in the virtual substation model, the position and direction of the visual positioning mark and other factors are considered to ensure that the virtual drone can stably approach the target virtual substation equipment area during the flight along the route and perform shooting operations at the appropriate position and angle. Then, the inspection route generated in the virtual environment is converted into an actual executable instruction code and transmitted to the real drone in the target substation, so that it can perform inspection and shooting according to the predetermined route.

[0061] See also Figure 2 and Figure 3 , at least two target virtual visual positioning marks can be selected from the numerous candidate virtual visual positioning marks in the virtual substation model. Not only should the position layout of the candidate virtual visual positioning marks be checked, but also the candidate virtual visual positioning marks that are evenly distributed around the target virtual substation equipment area should be selected first to ensure that the virtual drone has a positioning reference when approaching the target virtual substation equipment area from different directions. The target virtual visual positioning mark will become the key reference point for the inspection movement of the virtual drone. The flight control system of the virtual drone will form an inspection route based on the location information of these target virtual visual positioning marks, accurately adjust the flight posture and route of the virtual drone, gradually approach the target virtual substation equipment area, and then complete the high-quality inspection shooting task.

[0062] The above method provides clear and accurate flight guidance for real drones, enabling them to complete inspection tasks safely and efficiently in complex substation environments. By planning and optimizing routes in advance in a virtual environment, it is possible to avoid problems such as drones colliding with obstacles, getting lost, or wasting energy and incomplete inspections due to unreasonable flight paths during actual flights. At the same time, since the inspection routes are generated based on the virtual substation model, they have high repeatability and stability, ensuring that each inspection can cover key areas and improve the reliability and consistency of equipment monitoring.

[0063] As an optional but non-limiting implementation, see Figure 2 and Figure 3 The virtual substation model is pre-configured to divide the candidate virtual substation equipment located in the same row in the virtual substation model into the same area according to the same row division method, and to divide the candidate virtual substation equipment divided into the same area into their respective corresponding candidate virtual substation equipment areas according to the location areas of the candidate virtual substation equipment in the same row. Each candidate virtual substation equipment area is surrounded by multiple candidate virtual visual positioning identifiers.

[0064] See also Figure 3 , showing a top view of the virtual substation model. When classifying the layout of virtual substation equipment in the virtual substation model, the candidate virtual substation equipment arranged in the same straight line is identified as the same division area according to the horizontal or vertical arrangement relationship of the virtual substation equipment in the virtual substation model space, which is used as the basis for preliminary grouping. After the candidate virtual substation equipment arranged in the same straight line is identified as the same division area, it can be further divided into each candidate virtual substation equipment area according to the spatial range of the location of each candidate virtual substation equipment, in order to more finely distinguish and manage different virtual substation equipment, and provide key inspection areas for subsequent inspections.

[0065] See also Figure 3 After the virtual substation model is built, the virtual substation equipment in the same horizontal or vertical arrangement is grouped together in advance. For each group of candidate virtual substation equipment in the arrangement, it is further divided according to the location details of each candidate virtual substation equipment, and each candidate virtual substation equipment is assigned a unique specific spatial range, that is, the corresponding candidate virtual substation equipment area. At the same time, around each divided candidate virtual substation equipment area, multiple candidate virtual visual positioning markers are placed. These candidate virtual visual positioning markers are distributed in different directions around the equipment area, forming a visual positioning marker network, which provides multi-directional visual positioning signals for subsequent virtual drones approaching the area.

[0066] As an optional but non-limiting implementation, see Figure 3 , each candidate virtual visual positioning identifier in the virtual substation model satisfies the following configuration conditions: the first configuration condition, the second configuration condition and the third configuration condition; the first configuration condition is that when the maximum distance between adjacent candidate virtual substation devices is greater than the first preset distance, at least two candidate virtual visual positioning identifiers are added between adjacent candidate virtual substation devices; the second configuration condition is that when the maximum distance between adjacent candidate virtual substation devices is less than the first preset distance, one candidate virtual visual positioning identifier is added between adjacent candidate virtual substation devices; the third configuration condition is that if at least two candidate virtual visual positioning identifiers are added between adjacent candidate virtual substation devices, the distance between each candidate virtual substation device and the adjacent candidate virtual visual positioning identifier satisfies the second preset distance, and the second preset distance is determined based on the distance required to ensure that the virtual drone is not interfered by the obstacles constituted by the candidate virtual substation devices and to stop at the candidate virtual visual positioning identifiers adjacent to the candidate virtual substation devices.

[0067] See also Figure 3 The first preset distance can be a pre-set length value, which is used to measure the number of virtual visual positioning identifiers that must be added to meet the spacing between adjacent candidate virtual substations. This is used as a basis for judging the number of visual positioning identifiers to be added to avoid the situation where there are too few candidate virtual visual positioning identifiers set between two candidate virtual substations, resulting in a large interval between virtual visual positioning identifiers, which makes it impossible for the virtual drone to visually capture the virtual visual positioning identifier after rising to a certain height.

[0068] See also Figure 3 , the second preset distance can be a predetermined length standard, which is related to the flight safety and positioning accuracy of the virtual drone. It is necessary to ensure that the virtual drone is not disturbed by the virtual substation equipment and can smoothly and stably stop at the visual positioning mark. The basis for determining the second preset distance is to ensure that the virtual drone can smoothly reach the position of the candidate virtual visual positioning mark adjacent to the candidate virtual substation equipment when performing the task, and stop at the position. The specific value of the second preset distance is obtained by comprehensive consideration and precise calculation of multiple factors such as drone flight characteristics, spatial layout of substation equipment, and distribution of visual positioning marks. It aims to provide a safe, efficient and accurate parking distance for the operation of the virtual drone, so as to ensure that it can accurately complete the inspection, shooting, monitoring or other related tasks of the target virtual substation equipment area, while avoiding collision with or interference from surrounding equipment, so as to achieve smooth and reliable operation of the entire operation process.

[0069] See also Figure 3, the distance between each pair of adjacent candidate virtual substation equipment in the virtual substation model can be measured one by one, and this distance can be compared with the first preset distance. If the distance is greater than the first preset distance, the first configuration condition is followed to perform the operation of adding the visual positioning mark; if the distance is less than the first preset distance, the second configuration condition is followed to perform the operation of adding the visual positioning mark. According to the above judgment results, a corresponding number of candidate virtual visual positioning marks are placed between adjacent candidate virtual substation equipment. After adding at least two candidate virtual visual positioning marks, for each candidate virtual substation equipment, check the distance between the adjacent candidate virtual visual positioning mark again, and make sure that it meets the second preset distance to ensure that the flight and positioning of the virtual drone are not interfered with.

[0070] By adopting the above scheme, different numbers of virtual visual positioning marks are configured at different virtual substation equipment spacings, so that the virtual drone can quickly capture sufficient positioning signals and accurately lock its own position no matter where it is in the virtual substation model, thereby improving the accuracy of the inspection data. In addition, following the requirements of the second preset distance can prevent the virtual drone from being blocked by equipment, electromagnetic interference, and other adverse effects when approaching the candidate virtual substation equipment and the visual positioning mark due to being too close, thereby reducing the risk of flight accidents and ensuring the smooth implementation of the inspection task. Furthermore, the number and spacing of positioning marks are dynamically adjusted according to the equipment spacing, so that the visual positioning marks of the entire virtual substation model are properly distributed and dense, without wasting resources to cause redundancy of marks, and without positioning blind spots due to too few marks.

[0071] Based on the technical solution of the above embodiment, optionally, after generating the drone inspection route based on at least two target virtual visual positioning marks, the following steps M1-M2 are also included:

[0072] Step M1: Acquire the real moving position of the real UAV corresponding to the virtual UAV in the target substation in real time, and determine the virtual moving position of the virtual UAV in the virtual substation model according to the real moving position.

[0073] Step M2: based on the virtual moving position of the virtual drone in the virtual substation model, update the display position of the virtual drone in the virtual substation model.

[0074] See also Figure 3 and Figure 4 The inspection route of the drone is a flight route planned based on the virtual visual positioning mark of the target. This route provides accurate flight path guidance for the real drone when inspecting the target substation, ensuring the orderly inspection operation. The real drone is a physical drone that performs inspection tasks in the real target substation. The real drone will fly according to the inspection route pre-planned in the virtual substation model environment.

[0075] See also Figure 3 and Figure 4 The real moving position can be the real UAV’s real geographical location information in the real environment of the target substation, which is usually accurately measured and obtained by the positioning system (such as GPS, Beidou positioning, or indoor positioning system) carried by the real UAV. The virtual moving position can be the corresponding position information of the virtual UAV in the virtual space of the virtual substation model. The virtual moving position corresponds to the real moving position of the real UAV and is determined through data conversion and mapping. The virtual UAV can be presented on the display page used to display the virtual substation model (such as a computer screen, VR device screen, etc.) according to its own virtual moving position, reflecting the current position of the virtual UAV in the virtual substation model.

[0076] See also Figure 4 During the inspection process of the real drone, the positioning device carried by the real drone will continuously send location data to the background system, and the background system will receive this data in real time, so as to grasp the real mobile position of the real drone at the moment. With the help of the pre-set coordinate conversion algorithm and mapping rules, the real mobile position information of the real drone is converted into the virtual mobile position in the virtual substation model. This process involves matching the coordinate systems of the real world and the virtual world, so that the real spatial position can accurately correspond to the position in the virtual model. After obtaining the virtual mobile position, the system will adjust the display position of the virtual drone in the display screen of the virtual substation model based on this position information. Among them, the icon or model of the virtual drone can be moved to the coordinates corresponding to the virtual mobile position on the display page showing the virtual substation model, and the latest position status of the virtual drone in the virtual model can be displayed in real time.

[0077] Based on the technical solution of the above embodiment, optionally, after generating the drone inspection route based on at least two target virtual visual positioning marks, the following steps N1-N2 are also included:

[0078] Step N1: obtaining the virtual moving direction and virtual moving speed of the virtual drone in the virtual substation model in real time.

[0079] Step N2: predicting the virtual moving position of the virtual drone in the virtual substation model based on the virtual moving direction and the virtual moving speed, and updating the display position of the virtual drone in the virtual substation model.

[0080] See also Figure 4, the virtual moving direction may refer to the direction in which the virtual drone moves in the virtual space corresponding to the virtual substation model, which is expressed in the form of angle, vector, etc., and describes the flight trend of the virtual drone at the next moment. The virtual moving speed may refer to the flight speed of the virtual drone in the virtual substation model, which is usually measured by the virtual distance moved per unit time, and determines the speed of the position change of the virtual drone in the virtual substation model. According to the virtual moving direction and the virtual moving speed, the virtual moving position of the virtual drone in the virtual substation model can be estimated, so that the position of the virtual drone in the virtual substation model can be updated according to the estimated virtual moving position.

[0081] See also Figure 4 , continuously monitor the flight status of the virtual drone, and extract the two key information of virtual moving direction and virtual moving speed. This information can directly reflect the current flight trend of the virtual drone and provide basic data for the subsequent prediction of its position change. Using the obtained virtual moving direction and virtual moving speed data, combined with the virtual moving position of the virtual drone, through kinematic calculation formulas or professional prediction algorithms, it is inferred that the new position that the virtual drone will arrive at in the next very short time, and the movement of the virtual drone is known in advance. The predicted virtual moving position is mapped to the virtual substation model for real-time display.

[0082] By adopting the above two optional solutions, it is possible to ensure that the position of the virtual drone in the virtual model is accurately synchronized with the position of the real drone in the target substation in the real scene, so that the inspection conditions simulated in the virtual environment are highly consistent with the actual inspection conditions, and the decisions made by operators based on the virtual model are more in line with reality. Once the real drone encounters abnormal conditions during the inspection, such as deviation from the preset route, unstable flight attitude, etc., by checking the corresponding virtual drone position in the virtual model, its flight path can be quickly traced back to assist in checking whether it is a positioning system failure, a flight control program error, or interference from the external environment, thereby efficiently locating the source of the problem.

[0083] The technical solution of the embodiment of the present invention can accurately restore the layout and equipment distribution of the real substation by constructing a three-dimensional virtual substation model for the target substation, including multiple candidate virtual substation equipment areas and corresponding candidate virtual visual positioning identifiers. This makes it possible to carry out detailed inspection route planning in the virtual environment, determine at least two target virtual visual positioning identifiers from a large number of candidate virtual visual positioning identifiers, and then generate a highly customized and accurate drone inspection route. The planning method based on the virtual substation model greatly improves the efficiency and accuracy of the inspection route planning, ensuring a comprehensive and efficient inspection of the real substation equipment area. In addition, the candidate virtual substation equipment and the candidate virtual visual positioning identifier are respectively constructed as three-dimensional models of the real substation equipment and the real visual positioning identifier, so that the virtual substation model is closely connected with the real environment. When the real drone inspects and shoots the real substation equipment area corresponding to the target virtual substation equipment area according to the inspection route generated in the virtual environment, the organic combination of virtual and reality is achieved, which helps to better understand the flight path and task execution of the drone in the actual scene, improves the execution effect of the inspection task by the operator, and also reduces the risk of operational errors caused by unfamiliarity with the substation environment. Furthermore, using the virtual substation model to plan drone inspection routes can not only improve the reliability and safety of substation equipment monitoring, assess potential conditions in advance, avoid collision risks, reduce equipment failures and downtime caused by inspection errors, and ensure the normal operation of substation equipment, but also facilitate the upgrade and optimization of the inspection system. When the substation equipment is updated, it is only necessary to adjust the virtual substation model elements, redefine the visual positioning logo and route, without repeated experiments in real scenarios, saving time and cost, and enhancing the adaptability and flexibility of the system.

[0084] Figure 5 This is a flow chart of another method for drone inspection of substation equipment provided by an embodiment of the present invention. The technical solution of this embodiment further optimizes the process of determining at least two target virtual visual positioning marks from multiple candidate virtual visual positioning marks included in the virtual substation model in the above embodiment on the basis of the technical solution of the above embodiment. This embodiment can be combined with various optional solutions in one or more of the above embodiments. Figure 5 As shown, the UAV inspection method for substation equipment in the embodiment of the present invention may include the following process:

[0085] S510. Obtain a virtual substation model of the target substation. The virtual substation model is generated by constructing a three-dimensional model of the target substation and the virtual substation model includes multiple candidate virtual substation equipment areas and multiple candidate virtual visual positioning identifiers. The candidate virtual substation equipment is a substation equipment in a virtual environment generated by constructing a three-dimensional model of the real substation equipment in the target substation. The candidate virtual visual positioning identifier is a visual positioning identifier in a virtual environment generated by constructing a three-dimensional model of the real visual positioning identifier deployed in the target substation. The candidate virtual visual positioning identifier is used to guide the movement of the virtual drone in the virtual substation model.

[0086] S520, in response to an inspection trigger operation on a target virtual substation equipment area among multiple candidate virtual substation equipment areas included in the virtual substation model, determine a target shooting point corresponding to the virtual substation model, the target shooting point being the target shooting point where the virtual drone is located when the virtual drone in the virtual substation model inspects and shoots the target virtual substation equipment area in the virtual substation model.

[0087] See also Figure 4 The target shooting point can be the location where the virtual drone needs to stay in the virtual substation model when the virtual drone performs the inspection shooting task and shoots the target virtual substation equipment area. The selection of the target shooting point is related to the shooting angle, imaging effect and whether the key parts of the equipment can be fully covered. It is a key factor in obtaining high-quality inspection images.

[0088] See also Figure 3 and Figure 4 , you can use the virtual substation model to control the virtual drone in the virtual substation model to simulate the inspection and shooting process, let the virtual drone fly around the target virtual substation equipment area, and try to approach the target virtual substation equipment area from different angles and heights. During the simulated flight, you can determine the shooting point where the virtual drone should be located in the virtual substation model when it finally performs the shooting task based on the shooting requirements, such as the shooting requirements of fully presenting the appearance of the target virtual substation equipment, capturing the details of the key components of the target virtual substation equipment, avoiding obstructions, etc., and then get the target shooting point.

[0089] As an optional but non-limiting implementation, see Figure 2 and Figure 4 , determine the target shooting point corresponding to the virtual substation model, including the following steps A1-A2:

[0090] Step A1, determining a target shooting angle corresponding to the virtual substation model, where the target shooting angle is a shooting angle when a virtual drone in the virtual substation model inspects and shoots a target virtual substation equipment area in the virtual substation model.

[0091] Step A2: determining the target shooting point corresponding to the virtual substation model based on the target shooting perspective.

[0092] See also Figure 2 and Figure 4 The inspection trigger operation can be an interactive action performed by the virtual substation model displayed on the operation page of the intelligent training platform, which is used to indicate that a virtual drone is needed to simulate the inspection and shooting operation of a specific candidate virtual substation equipment area. For example, the inspection trigger operation can be performed by clicking the mouse, touching a specific area of ​​the screen, etc. The target virtual substation equipment area can be the candidate virtual substation equipment area selected by the inspection trigger operation and is about to perform the inspection and shooting task. The target shooting angle can be the angle and direction of the camera lens when the virtual drone shoots the target virtual substation equipment area in the virtual substation model. The appropriate angle of view can ensure that the shooting picture fully presents the equipment status and details.

[0093] See also Figure 2 and Figure 4 When receiving an inspection trigger operation for at least one candidate virtual substation equipment area on the interface of the displayed virtual substation model, the interactive signal is captured to mark the candidate virtual substation equipment area selected by the inspection trigger operation as the target virtual substation equipment area, and the target virtual substation equipment area is locked as the subsequent inspection shooting object. Using the virtual substation model, the virtual drone is controlled to approach the target virtual substation equipment area, and attempts are made to aim at the target area from different horizontal and vertical angles to simulate the change in the orientation of the camera lens. In this simulation process, an angle that best meets the shooting requirements is selected and determined as the target shooting angle.

[0094] See also Figure 2 and Figure 4 Based on the determined target shooting angle, the shooting parameters of the virtual UAV itself (such as camera focal length, lens field of view, etc.) and the spatial position of the target virtual substation equipment area can be combined to deduce the specific position where the virtual UAV should be located to obtain the image of the target shooting angle, and then the target shooting point can be determined. The target shooting point can be one or more candidate virtual visual positioning identifiers among multiple candidate virtual visual positioning identifiers that are closest to the specific position where the virtual UAV should be located to obtain the image of the target shooting angle.

[0095] As an optional but non-limiting implementation scheme, determining the target shooting angle corresponding to the virtual substation model includes the following steps B1-B2:

[0096] Step B1: In response to a model adjustment operation on a virtual substation model, a target virtual substation equipment area included in the virtual substation model is adjusted according to an adjustment action corresponding to the model adjustment operation.

[0097] Step B2: After the adjustment of the target virtual substation equipment area included in the virtual substation model is completed, the shooting direction angle and shooting coverage range used when the virtual drone shoots the target virtual substation equipment area in the virtual substation model are obtained to obtain the target shooting perspective corresponding to the virtual substation model.

[0098] As an optional but non-limiting implementation scheme, adjusting the target virtual substation equipment area included in the virtual substation model according to the adjustment action corresponding to the model adjustment operation includes steps C1-C2:

[0099] Step C1, performing a first reference display adjustment on a target virtual substation equipment area included in the virtual substation model according to a model adjustment action corresponding to the model adjustment operation, wherein the first reference display adjustment is to enlarge, reduce or rotate the target virtual substation equipment area.

[0100] Step C2, according to the model adjustment action corresponding to the model adjustment operation, a second reference display adjustment is performed on the target virtual substation equipment area included in the virtual substation model, so that the virtual drone can capture images of the target virtual substation equipment area from different angles and distances in the virtual substation model, and the second reference display adjustment is the display after the position of the target virtual substation equipment area is moved and / or the posture is adjusted.

[0101] As an optional but non-limiting implementation scheme, determining the target shooting point corresponding to the virtual substation model based on the target shooting perspective includes the following steps D1-D2:

[0102] Step D1: determining a reference shooting position of the virtual drone in the virtual substation model when the virtual drone shoots a target virtual substation equipment area in the virtual substation model according to a target shooting angle.

[0103] Step D2: based on the reference shooting position of the virtual drone in the virtual substation model, determine the reference virtual visual positioning marker from multiple candidate virtual visual positioning markers included in the virtual substation model, and determine the position of the reference virtual visual positioning marker as the target shooting point.

[0104] Among them, the first distance corresponding to the reference virtual visual positioning identifier is smaller than the second distance corresponding to other virtual visual positioning identifiers. The first distance corresponding to the reference virtual visual positioning identifier is the distance between the reference virtual visual positioning identifier and the reference shooting position of the virtual drone in the virtual substation model. The second distance corresponding to other virtual visual positioning identifiers is the distance between the other virtual visual positioning identifiers and the reference shooting position of the virtual drone in the virtual substation model. The other virtual visual positioning identifiers are the remaining virtual visual positioning identifiers among multiple candidate virtual visual positioning identifiers except the reference virtual visual positioning identifier.

[0105] See also Figure 4 The reference shooting position can be the specific position where the virtual drone should be located when performing a shooting task in the virtual substation model according to the target shooting angle to obtain the image within the target shooting angle. The reference virtual visual positioning mark can be a mark selected from a plurality of candidate virtual visual positioning marks included in the virtual substation model and is closest to the reference shooting position of the virtual drone.

[0106] See also Figure 4 In the virtual substation model environment, the virtual drone is controlled to gradually approach the target virtual substation equipment area according to the established target shooting angle, simulating the relative position relationship between the drone and the equipment during real inspection shooting. According to the shooting requirements, the layout of the virtual substation equipment, and the shooting parameters of the shooting equipment carried by the virtual drone (such as the camera field of view, focal length, etc.), the specific position where the virtual drone should be located to obtain the image within the target shooting angle is calculated. This position is the reference shooting position. The reference shooting position of the virtual drone is compared one by one with the position information of all candidate virtual visual positioning markers in the virtual substation model, and the distance between each marker and the reference shooting position is calculated. Furthermore, the candidate virtual visual positioning marker closest to the reference shooting position of the virtual drone can be found, and its position is determined as the target shooting point.

[0107] By adopting the above optional scheme, by first determining the reference shooting position, and then finding the nearest visual positioning mark to determine the target shooting point, the virtual drone can be accurately positioned at the most favorable position for shooting, ensuring the quality of the shooting picture, and completely capturing the key information of the target virtual substation equipment area. In addition, through the clear target shooting point, the virtual drone's flight is planned with a clear destination, which helps to plan the simplest and most efficient flight route, reduce flight detours and time consumption, improve the efficiency of virtual inspections, and provide a reference for the route planning of real inspections. The reason for choosing the nearest reference virtual visual positioning mark as the target shooting point can minimize the visual recognition errors caused by factors such as long distance and poor angle, and enhance the stability and accuracy of the virtual drone during positioning and docking.

[0108] S530: Based on the target shooting point, determine at least two target virtual visual positioning identifiers from multiple candidate virtual visual positioning identifiers in the virtual substation model.

[0109] Among them, the target virtual visual positioning mark is used to guide the movement of the virtual drone in the virtual substation model, so as to guide the virtual drone to move and inspect and shoot the target virtual substation equipment area in the virtual substation model.

[0110] See also Figure 3 and Figure 4 Compare and analyze the target shooting point with the positions of multiple candidate virtual visual positioning marks in the virtual substation model. Consider the distance, relative orientation and other relationships between the existing candidate virtual visual positioning marks in the virtual substation model and the target shooting point, and determine which candidate virtual visual positioning marks can most effectively guide the virtual drone to the corresponding target shooting point. Then, at least two most suitable target virtual visual positioning marks can be selected from the numerous candidate marks.

[0111] As an optional but non-limiting implementation scheme, determining at least two target virtual visual positioning marks from a plurality of candidate virtual visual positioning marks in the virtual substation model based on the target shooting point includes the following steps E1-E3:

[0112] Step E1, construct a reference rectangle diagonal according to the line from the reference starting position to the target shooting point, and determine the reference rectangle area corresponding to the reference rectangle diagonal in the virtual substation model; the reference starting position is the starting position of the virtual drone when it starts cruising in the virtual substation model.

[0113] Step E2: determine at least two reference virtual visual positioning markers from a plurality of candidate virtual visual positioning markers in the virtual substation model, wherein the at least two reference virtual visual positioning markers include virtual visual positioning markers located in a reference rectangular area and / or overlapping with the reference rectangular area.

[0114] Step E3: Determine at least two target virtual visual positioning identifiers based on at least two reference virtual visual positioning identifiers.

[0115] See also Figure 4 The reference starting position can be the initial location where the virtual drone starts its cruise mission in the virtual substation model, and is the starting point for a series of subsequent position calculations and route planning. The reference rectangle diagonal can be formed by connecting the reference starting position of the virtual drone and the target shooting point. This line segment will be used as the diagonal line of the reference rectangle to define a specific virtual rectangular space range.

[0116] See also Figure 4The reference rectangular area can be a virtual space range of a rectangle shape constructed based on the diagonal of the reference rectangle. An area closely related to the UAV cruising and shooting tasks is divided in the virtual substation model for screening visual positioning marks. The reference virtual visual positioning mark can be selected from many candidate virtual visual positioning marks. The virtual visual positioning mark that is inside the reference rectangular area and partially overlaps with the reference rectangular area is the basis for further screening the target virtual visual positioning mark. The target virtual visual positioning mark is a key mark determined by re-screening from the reference virtual visual positioning mark. It will be used to guide the virtual UAV to arrive at the target shooting point smoothly and plan the inspection route of the virtual UAV during flight.

[0117] See also Figure 4 , in the virtual substation model, find the reference starting position for the virtual drone to start cruising, then locate the determined target shooting point, connect the two points with a solid line to form a reference rectangle diagonal. Based on the reference rectangle diagonal, a complete rectangle is constructed using a geometric algorithm. The area covered by this rectangle is the reference rectangle area, which delimits the spatial range that the drone will roughly pass through from the starting point to the shooting point. Compare all candidate virtual visual positioning markers in the virtual substation model with the reference rectangle area just constructed. Check the position of each candidate virtual visual positioning marker one by one to determine whether it is completely within the reference rectangle area or partially overlaps with the reference rectangle area. Select the candidate virtual visual positioning markers that meet the above conditions as reference virtual visual positioning markers. For the selected reference virtual visual positioning markers, comprehensively consider the spacing between the reference virtual visual positioning markers, the orientation relationship between the reference virtual visual positioning markers and the target shooting point, and the recognition, and select at least two suitable virtual visual positioning markers from them to determine them as target virtual visual positioning markers.

[0118] By adopting the above optional scheme, by constructing a reference rectangular area, the screening range of the visual positioning mark is narrowed from the entire virtual substation model to the specific area directly related to the drone cruising and shooting, reducing unnecessary calculations and improving screening efficiency. The determined target virtual visual positioning mark is located in the key area of ​​the drone's flight path, which can provide the virtual drone with more accurate navigation guidance that fits the actual route, allowing the drone to reach the target shooting point more smoothly and reduce flight deviations. Compared with randomly selecting marks, screening positioning marks based on areas closely related to the flight path can allow the virtual drone to identify its own position more stably and reliably during flight.

[0119] As an optional but non-limiting implementation scheme, determining at least two target virtual visual positioning marks based on at least two reference virtual visual positioning marks includes the following steps F1-F2:

[0120] Step F1: Select at least two virtual visual positioning markers to be selected and distributed on four rectangular sides of a reference rectangular area from at least two reference virtual visual positioning markers.

[0121] Step F2, determine at least two target virtual visual positioning markers from at least two candidate virtual visual positioning markers, and the at least two target virtual visual positioning markers are virtual visual positioning markers that the virtual drone must pass through along the rectangular edge of the reference rectangular area from the reference starting position to the target shooting point.

[0122] See also Figure 4 , among the numerous reference virtual visual positioning markers, the target virtual visual positioning marker is determined through specific screening rules. Specifically, first focus on a pre-set reference rectangular area, and select from at least two reference virtual visual positioning markers distributed on the four rectangular sides of the reference rectangular area. The key condition for selection is that these reference virtual visual positioning markers must be able to smoothly reach the target shooting point from the established reference starting position. Only the reference virtual visual positioning markers that meet both conditions of being located on the rectangular edge of the reference rectangular area and being able to reach the target shooting point from the reference starting position will be finally selected and classified as at least two target virtual visual positioning markers, so as to accurately locate and guide subsequent operation processes.

[0123] S540: Generate a drone inspection route based on at least two target virtual visual positioning identifiers.

[0124] Among them, the drone inspection route is used to guide the real drone in the target substation to inspect and shoot the real substation equipment area corresponding to the target virtual substation equipment area according to the drone inspection route.

[0125] After the drone inspection route is generated based on at least two target virtual visual positioning marks, the drone inspection route can be sent to the real drone in the target substation. The real drone will start from the real position corresponding to the reference starting position and continuously identify whether the flight is correct according to the various target virtual visual positioning marks indicated by the drone inspection route. The specific process can be that the real drone is equipped with a first shooting device facing the ground of the target substation, and the virtual visual mark under the real drone can be photographed and detected by this first shooting device, so that the real drone flies along the real visual positioning marks corresponding to the various target virtual visual positioning marks indicated by the drone inspection route until the real drone reaches the real position corresponding to the target shooting point.

[0126] When the real drone arrives at the real position corresponding to the target shooting point, at least one second shooting device configured on the real drone will be activated to conduct inspection and shooting of the real substation equipment area corresponding to the target virtual substation equipment area and perform intelligent analysis to generate an inspection report for the real substation equipment area corresponding to the target virtual substation equipment area.

[0127] On the basis of the technical solution of the above embodiment, optionally, the UAV inspection method for substation equipment in the embodiment of the present invention may further include the following process:

[0128] If there is a reference virtual substation equipment area in the virtual substation model and the shooting points used for inspection and photography are the same as the target shooting points, the drone inspection route will be shared with the reference virtual substation equipment, so that the real drone in the target substation will go to the target shooting points according to the drone inspection route to inspect and photograph the real substation equipment area corresponding to the target virtual substation equipment area and the real substation equipment area corresponding to the reference virtual substation equipment area at the same time.

[0129] See also Figure 3 and Figure 4 During the inspection planning process of the virtual substation model, the shooting points of each reference virtual substation equipment area during the inspection will be compared one by one to check whether there is any overlap with the target shooting points. Once it is found that the shooting points of the reference virtual substation equipment area are consistent with the target shooting points, the drone inspection route planned for the target virtual substation equipment area will be shared with the reference virtual substation equipment area, that is, this already designed flight route will be assigned the inspection task corresponding to the reference area at the same time. In the target substation, the real drone takes off according to this shared drone inspection route and flies along the established route. When it arrives at the target shooting point, it will simultaneously carry out inspection and shooting work on the real substation equipment area corresponding to the target virtual substation equipment area and the real substation equipment area corresponding to the reference virtual substation equipment area. At this time, the virtual drone at the target shooting point can start the second shooting device in different directions to patrol and shoot towards the target virtual substation equipment area and the reference virtual substation equipment area respectively. Similarly, the real drone in the target substation will also start the second shooting device in different directions to patrol and shoot towards the real substation equipment area corresponding to the target shooting point and the real substation equipment area corresponding to the reference virtual substation equipment area at the same time.

[0130] By adopting the above solution, there is no need to re-plan inspection routes for different equipment areas at the same shooting point, which reduces the workload and time cost of route design, allowing real drones to cover multiple related equipment areas in one flight, significantly improving the overall efficiency of inspections, and saving computing resources and storage resources occupied by repeated route planning, avoiding redundant storage of multiple similar inspection route data in the system, and optimizing the utilization efficiency of system resources.

[0131] The technical solution of the embodiment of the present invention can accurately restore the layout and equipment distribution of the real substation by constructing a three-dimensional virtual substation model for the target substation, including multiple candidate virtual substation equipment areas and corresponding candidate virtual visual positioning identifiers. This makes it possible to carry out detailed inspection route planning in the virtual environment, determine at least two target virtual visual positioning identifiers from a large number of candidate virtual visual positioning identifiers, and then generate a highly customized and accurate drone inspection route. The planning method based on the virtual substation model greatly improves the efficiency and accuracy of the inspection route planning, ensuring a comprehensive and efficient inspection of the real substation equipment area. In addition, the candidate virtual substation equipment and the candidate virtual visual positioning identifier are respectively constructed as three-dimensional models of the real substation equipment and the real visual positioning identifier, so that the virtual substation model is closely connected with the real environment. When the real drone inspects and shoots the real substation equipment area corresponding to the target virtual substation equipment area according to the inspection route generated in the virtual environment, the organic combination of virtual and reality is achieved, which helps to better understand the flight path and task execution of the drone in the actual scene, improves the execution effect of the inspection task by the operator, and also reduces the risk of operational errors caused by unfamiliarity with the substation environment. Furthermore, using the virtual substation model to plan drone inspection routes can not only improve the reliability and safety of substation equipment monitoring, assess potential conditions in advance, avoid collision risks, reduce equipment failures and downtime caused by inspection errors, and ensure the normal operation of substation equipment, but also facilitate the upgrade and optimization of the inspection system. When the substation equipment is updated, it is only necessary to adjust the virtual substation model elements, redefine the visual positioning logo and route, without repeated experiments in real scenarios, saving time and cost, and enhancing the adaptability and flexibility of the system.

[0132] Figure 6 The present invention provides a schematic diagram of the structure of a UAV inspection device for substation equipment. The present invention is applicable to the situation where a UAV is used to inspect and photograph each substation equipment in a substation. The UAV inspection device for substation equipment can be implemented in the form of software and / or hardware. Figure 6 As shown, the UAV inspection device for substation equipment in the embodiment of the present invention may include the following:

[0133] The first determination module 610 is used to obtain a virtual substation model of the target substation, wherein the virtual substation model is generated by constructing a three-dimensional model of the target substation and the virtual substation model includes a plurality of candidate virtual substation equipment areas and a plurality of candidate virtual visual positioning identifiers, wherein the candidate virtual substation equipment is a substation equipment in a virtual environment generated by constructing a three-dimensional model of a real substation equipment in the target substation, and the candidate virtual visual positioning identifier is a visual positioning identifier in a virtual environment generated by constructing a three-dimensional model of a real visual positioning identifier deployed in the target substation, and the candidate virtual visual positioning identifier is used to guide the movement of a virtual drone in the virtual substation model;

[0134] The second determination module 620 is used to respond to the inspection trigger operation of the target virtual substation equipment area in the multiple candidate virtual substation equipment areas included in the virtual substation model, and determine at least two target virtual visual positioning identifiers from the multiple candidate virtual visual positioning identifiers included in the virtual substation model, and the target virtual visual positioning identifiers are used to guide the virtual drone to move and then inspect and photograph the target virtual substation equipment area in the virtual substation model;

[0135] The generation module 630 is used to generate a drone inspection route based on the at least two target virtual visual positioning identifiers, and to guide the real drone in the target substation to inspect and photograph the real substation equipment area corresponding to the target virtual substation equipment area according to the drone inspection route.

[0136] Based on the above embodiment, the step of obtaining the virtual substation model of the target substation includes:

[0137] In response to the task mode trigger operation of the UAV inspection task mode, the virtual substation model corresponding to the target substation is loaded and displayed on the display page. The task mode trigger operation is a trigger operation for selecting a virtual drone from the UAV inspection task mode to perform customized inspection and shooting of candidate virtual substation equipment in the virtual substation model.

[0138] On the basis of the above embodiment, optionally, the virtual substation model corresponding to the target substation is a substation model that can be displayed in a virtual environment and is generated by constructing a three-dimensional model of the target substation in advance according to reference information corresponding to the target substation. The surface of the candidate virtual substation equipment in the virtual substation model is mapped with the same image texture as the surface of the real substation equipment, and the reference information includes at least one of the following: substation design drawing information of the target substation, the location of the substation equipment of the target substation, and real scene information inside the target substation.

[0139] On the basis of the above embodiment, optionally, determining at least two target virtual visual positioning identifiers from a plurality of candidate virtual visual positioning identifiers included in the virtual substation model includes:

[0140] Determine a target shooting point corresponding to the virtual substation model, where the target shooting point is the target shooting point where the virtual drone is located when inspecting and shooting the target virtual substation equipment area;

[0141] Based on the target shooting point, at least two target virtual visual positioning markers are determined from the multiple candidate virtual visual positioning markers.

[0142] On the basis of the above embodiment, optionally, determining the target shooting point corresponding to the virtual substation model includes:

[0143] Determine a target shooting angle corresponding to the virtual substation model, where the target shooting angle is the shooting angle when the virtual drone inspects and shoots the target virtual substation equipment area;

[0144] The target shooting point position corresponding to the virtual substation model is determined based on the target shooting angle.

[0145] Based on the above embodiment, optionally, determining a target shooting angle corresponding to the virtual substation model includes:

[0146] In response to a model adjustment operation on the virtual substation model, adjusting a target virtual substation equipment area included in the virtual substation model according to an adjustment action corresponding to the model adjustment operation;

[0147] After the adjustment of the target virtual substation equipment area included in the virtual substation model is completed, the shooting direction angle and shooting coverage range used when the virtual drone shoots the target virtual substation equipment area in the virtual substation model are obtained, and the target shooting perspective corresponding to the virtual substation model is obtained.

[0148] Based on the above embodiment, optionally, adjusting the target virtual substation equipment area included in the virtual substation model according to the adjustment action corresponding to the model adjustment operation includes:

[0149] Performing a first reference display adjustment on a target virtual substation equipment area included in the virtual substation model according to a model adjustment action corresponding to the model adjustment operation, wherein the first reference display adjustment is to enlarge, reduce or rotate the target virtual substation equipment area;

[0150] According to the model adjustment action corresponding to the model adjustment operation, a second reference display adjustment is performed on the target virtual substation equipment area included in the virtual substation model, so that the virtual drone can capture images of the target virtual substation equipment area from different angles and distances in the virtual substation model, and the second reference display adjustment is the display of the target virtual substation equipment area after position movement and / or posture adjustment.

[0151] On the basis of the above embodiment, optionally, determining the target shooting point corresponding to the virtual substation model based on the target shooting angle includes:

[0152] Determining a reference shooting position of the virtual drone in the virtual substation model when the virtual drone shoots a target virtual substation equipment area in the virtual substation model according to the target shooting angle;

[0153] Based on the reference shooting position of the virtual drone in the virtual substation model, a reference virtual visual positioning marker is determined from multiple candidate virtual visual positioning markers included in the virtual substation model, and the position of the reference virtual visual positioning marker is determined as the target shooting point. The first distance corresponding to the reference virtual visual positioning marker is less than the second distances corresponding to other virtual visual positioning markers. The first distance corresponding to the reference virtual visual positioning marker is the distance between the reference virtual visual positioning marker and the reference shooting position of the virtual drone in the virtual substation model. The second distance corresponding to the other virtual visual positioning markers is the distance between the other virtual visual positioning markers and the reference shooting position of the virtual drone in the virtual substation model. The other virtual visual positioning markers are the remaining virtual visual positioning markers among the multiple candidate virtual visual positioning markers except the reference virtual visual positioning marker.

[0154] On the basis of the above embodiment, optionally, determining at least two target virtual visual positioning identifiers from a plurality of candidate virtual visual positioning identifiers in the virtual substation model based on the target shooting point includes:

[0155] A reference rectangular diagonal is constructed according to a line from a reference starting position to a target shooting point, and a reference rectangular area corresponding to the reference rectangular diagonal in the virtual substation model is determined; the reference starting position is the starting position of the virtual UAV when it starts cruising in the virtual substation model;

[0156] Determine at least two reference virtual visual positioning identifiers from a plurality of candidate virtual visual positioning identifiers in the virtual substation model, wherein the at least two reference virtual visual positioning identifiers include virtual visual positioning identifiers located in a reference rectangular area and / or overlapping with the reference rectangular area;

[0157] At least two target virtual visual positioning identifiers are determined based on the at least two reference virtual visual positioning identifiers.

[0158] On the basis of the above embodiments, optionally, the virtual substation model is pre-configured to divide the candidate virtual substation equipment located in the same row in the virtual substation model into the same area according to the same row division method, and to divide the candidate virtual substation equipment divided into the same area into corresponding candidate virtual substation equipment areas according to the location areas of the candidate virtual substation equipment in the same row, and each of the candidate virtual substation equipment areas is surrounded by a plurality of candidate virtual visual positioning identifiers.

[0159] On the basis of the above embodiments, optionally, each candidate virtual visual positioning identifier in the virtual substation model satisfies the following configuration conditions: a first configuration condition, a second configuration condition and a third configuration condition; the first configuration condition is that when the farthest distance between adjacent candidate virtual substation devices is greater than a first preset distance, at least two candidate virtual visual positioning identifiers are added between the adjacent candidate virtual substation devices; the second configuration condition is that when the farthest distance between adjacent candidate virtual substation devices is less than the first preset distance, one candidate virtual visual positioning identifier is added between the adjacent candidate virtual substation devices; the third configuration condition is that if at least two candidate virtual visual positioning identifiers are added between adjacent candidate virtual substation devices, the distance between each candidate virtual substation device and the adjacent candidate virtual visual positioning identifier satisfies the second preset distance, and the second preset distance is determined based on the distance required to ensure that the virtual drone is not interfered by the obstacles constituted by the candidate virtual substation devices and to stop at the candidate virtual visual positioning identifiers adjacent to the candidate virtual substation devices.

[0160] On the basis of the above embodiment, optionally, determining at least two target virtual visual positioning identifiers based on the at least two reference virtual visual positioning identifiers includes:

[0161] Selecting at least two to-be-selected virtual visual positioning marks distributed on four rectangular sides of the reference rectangular area from the at least two reference virtual visual positioning marks;

[0162] From at least two candidate virtual visual positioning markers, the at least two target virtual visual positioning markers are determined, and the at least two target virtual visual positioning markers are used to enable the virtual drone to pass through from the reference starting position to the target shooting point along the rectangular edge of the reference rectangular area.

[0163] On the basis of the above embodiment, optionally, the UAV inspection method for substation equipment in the embodiment of the present invention further includes:

[0164] If there is a reference virtual substation equipment area in the virtual substation model and the shooting point used for inspection and photography is the same as the target shooting point, the drone inspection route will be shared with the reference virtual substation equipment, so that the real drone in the target substation can go to the target shooting point according to the drone inspection route to inspect and photograph the real substation equipment area corresponding to the target virtual substation equipment area and the real substation equipment area corresponding to the reference virtual substation equipment area at the same time.

[0165] Based on the above embodiment, optionally, after generating the drone inspection route based on the at least two target virtual visual positioning identifiers, the method further includes:

[0166] Acquire the real moving position of the real drone corresponding to the virtual drone in the target substation in real time, and determine the virtual moving position of the virtual drone in the virtual substation model according to the real moving position;

[0167] Based on the virtual moving position of the virtual drone in the virtual substation model, the display position of the virtual drone in the virtual substation model is updated.

[0168] Based on the above embodiment, optionally, after generating the drone inspection route based on the at least two target virtual visual positioning identifiers, the method further includes:

[0169] Acquire the virtual moving direction and virtual moving speed of the virtual drone in the virtual substation model in real time;

[0170] The virtual moving position of the virtual drone in the virtual substation model is predicted based on the virtual moving direction and the virtual moving speed, and the display position of the virtual drone in the virtual substation model is updated.

[0171] The drone inspection device for substation equipment provided in the embodiment of the present invention can execute the drone inspection method for substation equipment provided in any embodiment of the present invention, and has corresponding functional modules and beneficial effects for executing the drone inspection method for substation equipment.

[0172] Figure 7 The following is a schematic diagram of the structure of an electronic device for implementing a method for unmanned aerial vehicle inspection of substation equipment provided by an embodiment of the present invention. Figure 7 , which shows an electronic device (eg Figure 7The terminal device in the embodiment of the present invention may include but is not limited to mobile terminals such as mobile phones, notebook computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 7 The electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0173] like Figure 7 As shown, the electronic device 700 may include a processing device (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) or a program loaded from a storage device 708 into a random access memory (RAM). In the RAM 703, various programs and data required for the operation of the electronic device 700 are also stored. The processing device 701, the ROM 702, and the RAM 703 are connected to each other via a bus 704. An edit / output (I / O) interface is also connected to the bus 704.

[0174] Typically, the following devices may be connected to the I / O interface 705: an input device 706 including, for example, a touch screen, a touch pad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc.; an output device 707 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; a storage device 708 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 709. The communication device 709 may allow the electronic device 700 to communicate with other devices wirelessly or by wire to exchange data. Although Figure 7 The electronic device 700 is shown with various devices, but it should be understood that it is not required to implement or possess all the devices shown. More or fewer devices may be implemented or possessed instead.

[0175] In particular, according to an embodiment of the present invention, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present invention includes a computer program product, which includes a computer program carried on a non-transitory computer-readable medium, and the computer program contains program code for executing the drone inspection method of the substation equipment shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication device 709, or installed from the storage device 708, or installed from the ROM 702. When the computer program is executed by the processing device 701, the above-mentioned functions defined in the drone inspection method of the substation equipment in the embodiment of the present invention are executed.

[0176] The names of the messages or information exchanged between multiple devices in the embodiments of the present invention are only used for illustrative purposes, and are not used to limit the scope of these messages or information.

[0177] The electronic device provided in the embodiment of the present invention and the drone inspection method for substation equipment provided in the above embodiment belong to the same inventive concept. The technical details not fully described in this embodiment can be referred to the above embodiment, and this embodiment has the same beneficial effects as the above embodiment.

[0178] An embodiment of the present invention provides a computer storage medium on which a computer program is stored. When the program is executed by a processor, the drone inspection method for substation equipment provided in the above embodiment is implemented.

[0179] It should be noted that the computer-readable medium of the present invention may be a computer-readable signal medium or a computer-readable storage medium or any combination of the two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present invention, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, device or device. In the present invention, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer readable signal media may also be any computer readable medium other than computer readable storage media, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. The program code contained on the computer readable medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.

[0180] In some embodiments, the client and the server may communicate using any currently known or future developed network protocol such as HTTP (HyperText Transfer Protocol), and may be interconnected with any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), an internet (e.g., the Internet), and a peer-to-peer network (e.g., an ad hoc peer-to-peer network), as well as any currently known or future developed network.

[0181] The computer-readable medium may be included in the electronic device, or may exist independently without being incorporated into the electronic device.

[0182] The computer-readable medium carries one or more programs. When the one or more programs are executed by the electronic device, the electronic device implements the drone inspection method for substation equipment.

[0183] Computer program code for performing the operations of the present invention may be written in one or more programming languages ​​or a combination thereof, including, but not limited to, object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0184] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present invention. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0185] The functions described above herein may be performed at least in part by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), and the like.

[0186] In the context of the present invention, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0187] The above description is only a preferred embodiment of the present invention and an explanation of the technical principles used. Those skilled in the art should understand that the scope of disclosure involved in the present invention is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above disclosed concept. For example, the above features are replaced with the technical features with similar functions disclosed in the present invention (but not limited to) to form a technical solution.

Claims

1. A UAV inspection method for substation equipment, characterized in that: The method comprises: Obtain a virtual substation model of a target substation, wherein the virtual substation model is generated by constructing a three-dimensional model of the target substation and the virtual substation model includes a plurality of candidate virtual substation equipment areas and a plurality of candidate virtual visual positioning identifiers, wherein the candidate virtual substation equipment is a substation equipment in a virtual environment generated by constructing a three-dimensional model of a real substation equipment in the target substation, and the candidate virtual visual positioning identifier is a visual positioning identifier in a virtual environment generated by constructing a three-dimensional model of a real visual positioning identifier deployed in the target substation, and the candidate virtual visual positioning identifier is used to guide the movement of a virtual drone in the virtual substation model; In response to an inspection trigger operation on a target virtual substation equipment area among multiple candidate virtual substation equipment areas included in the virtual substation model, at least two target virtual visual positioning identifiers are determined from multiple candidate virtual visual positioning identifiers included in the virtual substation model, and the target virtual visual positioning identifiers are used to guide the virtual drone to move and then inspect and photograph the target virtual substation equipment area in the virtual substation model; Based on the at least two target virtual visual positioning identifiers, a drone inspection route is generated to guide the real drone in the target substation to inspect and photograph the real substation equipment area corresponding to the target virtual substation equipment area according to the drone inspection route.

2. The method according to claim 1, characterized in that Determining at least two target virtual visual positioning identifiers from a plurality of candidate virtual visual positioning identifiers included in the virtual substation model includes: Determine a target shooting point corresponding to the virtual substation model, where the target shooting point is the target shooting point where the virtual drone is located when inspecting and shooting the target virtual substation equipment area; Based on the target shooting point, at least two target virtual visual positioning markers are determined from the multiple candidate virtual visual positioning markers.

3. The method according to claim 2, characterized in that Determining the target shooting point corresponding to the virtual substation model includes: Determine a target shooting angle corresponding to the virtual substation model, where the target shooting angle is the shooting angle when the virtual drone inspects and shoots the target virtual substation equipment area; The target shooting point position corresponding to the virtual substation model is determined based on the target shooting angle.

4. The method according to claim 3, characterized in that Determining a target shooting point corresponding to the virtual substation model based on the target shooting angle includes: Determining a reference shooting position of the virtual drone in the virtual substation model when the virtual drone shoots a target virtual substation equipment area in the virtual substation model according to the target shooting angle; Based on the reference shooting position of the virtual drone in the virtual substation model, a reference virtual visual positioning marker is determined from multiple candidate virtual visual positioning markers included in the virtual substation model, and the position of the reference virtual visual positioning marker is determined as the target shooting point. The first distance corresponding to the reference virtual visual positioning marker is less than the second distances corresponding to other virtual visual positioning markers. The first distance corresponding to the reference virtual visual positioning marker is the distance between the reference virtual visual positioning marker and the reference shooting position of the virtual drone in the virtual substation model. The second distance corresponding to the other virtual visual positioning markers is the distance between the other virtual visual positioning markers and the reference shooting position of the virtual drone in the virtual substation model. The other virtual visual positioning markers are the remaining virtual visual positioning markers among the multiple candidate virtual visual positioning markers except the reference virtual visual positioning marker.

5. The method according to claim 2, characterized in that: Determining at least two target virtual visual positioning identifiers from a plurality of candidate virtual visual positioning identifiers in the virtual substation model based on the target shooting point includes: A reference rectangular diagonal is constructed according to a line from a reference starting position to a target shooting point, and a reference rectangular area corresponding to the reference rectangular diagonal in the virtual substation model is determined; the reference starting position is the starting position of the virtual UAV when it starts cruising in the virtual substation model; Determine at least two reference virtual visual positioning identifiers from a plurality of candidate virtual visual positioning identifiers in the virtual substation model, wherein the at least two reference virtual visual positioning identifiers include virtual visual positioning identifiers located in a reference rectangular area and / or overlapping with the reference rectangular area; At least two target virtual visual positioning identifiers are determined based on the at least two reference virtual visual positioning identifiers.

6. The method according to claim 5, characterized in that Determining at least two target virtual visual positioning identifiers based on the at least two reference virtual visual positioning identifiers includes: Selecting at least two to-be-selected virtual visual positioning marks distributed on four rectangular sides of the reference rectangular area from the at least two reference virtual visual positioning marks; From at least two candidate virtual visual positioning markers, the at least two target virtual visual positioning markers are determined, and the at least two target virtual visual positioning markers are used to enable the virtual drone to pass through from the reference starting position to the target shooting point along the rectangular edge of the reference rectangular area.

7. The method according to any one of claims 1 to 6, characterized in that: The virtual substation model is pre-configured to divide the candidate virtual substation equipment located in the same row in the virtual substation model into the same area according to the same row division method, and to divide the candidate virtual substation equipment divided into the same area into corresponding candidate virtual substation equipment areas according to the location areas of the candidate virtual substation equipment in the same row. Each of the candidate virtual substation equipment areas is surrounded by multiple candidate virtual visual positioning identifiers.

8. The method according to claim 7, characterized in that Each candidate virtual visual positioning identifier in the virtual substation model satisfies the following configuration conditions: a first configuration condition, a second configuration condition, and a third configuration condition; The first configuration condition is that when the farthest distance between adjacent candidate virtual substations is greater than the first preset distance, at least two candidate virtual visual positioning identifiers are added between the adjacent candidate virtual substations; the second configuration condition is that when the farthest distance between adjacent candidate virtual substations is less than the first preset distance, one candidate virtual visual positioning identifier is added between the adjacent candidate virtual substations; the third configuration condition is that if at least two candidate virtual visual positioning identifiers are added between adjacent candidate virtual substations, the distance between each candidate virtual substation and the adjacent candidate virtual visual positioning identifier satisfies the second preset distance.

9. The method according to claim 2, characterized in that: The method further comprises: If there is a reference virtual substation equipment area in the virtual substation model and the shooting point used for inspection and photography is the same as the target shooting point, the drone inspection route is shared with the reference virtual substation equipment.

10. A drone inspection device for substation equipment, characterized in that: The device comprises: A first determination module is used to obtain a virtual substation model of a target substation, wherein the virtual substation model is generated by constructing a three-dimensional model of the target substation and the virtual substation model includes a plurality of candidate virtual substation equipment areas and a plurality of candidate virtual visual positioning identifiers, wherein the candidate virtual substation equipment is a substation equipment in a virtual environment generated by constructing a three-dimensional model of a real substation equipment in the target substation, and the candidate virtual visual positioning identifier is a visual positioning identifier in a virtual environment generated by constructing a three-dimensional model of a real visual positioning identifier deployed in the target substation, and the candidate virtual visual positioning identifier is used to guide the movement of a virtual drone in the virtual substation model; A second determination module is used to respond to an inspection trigger operation of a target virtual substation equipment area in a plurality of candidate virtual substation equipment areas included in the virtual substation model, and determine at least two target virtual visual positioning identifiers from a plurality of candidate virtual visual positioning identifiers included in the virtual substation model, wherein the target virtual visual positioning identifiers are used to guide the virtual drone to move and then inspect and photograph the target virtual substation equipment area in the virtual substation model; A generation module is used to generate a drone inspection route based on the at least two target virtual visual positioning identifiers, and to guide the real drone in the target substation to inspect and photograph the real substation equipment area corresponding to the target virtual substation equipment area according to the drone inspection route.

Images