Power grid emergency patrol method, device and equipment and storage medium

Abstract

The invention discloses a power grid emergency patrol method, device and equipment and a storage medium, and the method comprises the steps: receiving the emergency event information of a power grid, and enabling the emergency event information to comprise an emergency accident site; determining a target nest from a nest database according to the emergency accident site, wherein the position of each nest is stored in the nest database; according to the emergency accident site and the target nest, a patrol route of the target unmanned aerial vehicle is determined, and the target unmanned aerial vehicle is located in the target nest; and calling an automatic cruise system to control the target unmanned aerial vehicle to perform power grid emergency patrol based on the cruise route. The optimal patrol route of the target nest and the target unmanned aerial vehicle is automatically determined according to the emergency event information, so that point-to-point patrol route planning of the nest unmanned aerial vehicle and the accident site is realized, the emergency patrol process of the unmanned aerial vehicle is simplified, the emergency patrol efficiency and accuracy are improved, the workload of emergency commanders is reduced, and the safety of the emergency commanders is improved. Therefore, the power grid service quality is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of power grid operation and maintenance, and in particular to a power grid emergency inspection method, device, equipment and storage medium. Background Art

[0002] The distribution network bears the important responsibility of distributing electric energy to users. The reliability and stability of the distribution network play an important role in the comprehensive benefits and quality services of power supply companies. Therefore, when an emergency occurs, emergency inspections of the power grid are required to ensure the normal operation of the power grid. With the continuous advancement of drone technology, power supply departments in some regions are gradually promoting drones to replace manual inspections to further improve the quality of inspections.

[0003] However, the existing drone patrol process relies on manual route planning, which is greatly affected by the daily work experience and subjective preferences of the operation and maintenance personnel. There is a lot of randomness, and the patrol process has poor timeliness and cannot achieve timely patrol and maintenance of power grid emergencies, which significantly reduces the quality of power grid services. Summary of the invention

[0004] The invention provides a power grid emergency patrol method to realize automatic patrol of power grid emergency events.

[0005] According to a first aspect of the present invention, there is provided a power grid emergency patrol method, comprising: receiving emergency event information of a power grid, wherein the emergency event information includes an emergency accident location;

[0006] Determine a target nest from a nest database according to the location of the emergency accident, wherein the nest database stores the location of each nest;

[0007] Determining a patrol route of a target UAV according to the emergency accident location and the target machine nest, wherein the target UAV is located at the target machine nest;

[0008] The automatic cruise system is called to control the target UAV to perform emergency patrol of the power grid based on the cruise route.

[0009] According to another aspect of the present invention, there is provided a power grid emergency patrol device, comprising: an emergency event information receiving module, configured to receive emergency event information of a power grid, wherein the emergency event information includes an emergency accident location;

[0010] A target machine nest determination module, used to determine a target machine nest from a machine nest database according to the emergency accident location, wherein the machine nest database stores the location of each machine nest;

[0011] A patrol route determination module, used to determine the patrol route of the target UAV according to the emergency accident location and the target machine nest, wherein the UAV is located at the target machine nest;

[0012] The emergency patrol module is used to call the automatic cruise system to control the target UAV to perform emergency patrol of the power grid based on the cruise route.

[0013] According to another aspect of the present invention, an electronic device is provided, 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. The computer program is executed by the at least one processor so that the at least one processor can perform the method described in any embodiment of the present invention.

[0017] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the method described in any embodiment of the present invention when executed.

[0018] The technical solution of the embodiment of the present invention automatically determines the optimal patrol routes of the target machine nest and the target UAV according to the emergency event information, thereby realizing the point-to-point patrol route planning of the machine nest UAV and the accident site, simplifying the UAV emergency patrol process, improving the efficiency and accuracy of emergency patrols, reducing the workload of emergency commanders, and thus improving the quality of power grid services.

[0019] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0021] Figure 1 is a flow chart of a power grid emergency inspection method provided according to Embodiment 1 of the present invention;

[0022] Figure 2is a flow chart of a power grid emergency inspection method provided according to Embodiment 2 of the present invention;

[0023] Figure 3 This is a schematic diagram of the structure of a power grid emergency patrol device provided according to Embodiment 3 of the present invention;

[0024] Figure 4 It is a schematic diagram of the structure of an electronic device provided by Embodiment 4 of the present invention. DETAILED DESCRIPTION

[0025] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0026] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0027] Embodiment 1

[0028] Figure 1 A flowchart of a power grid emergency patrol method is provided for the first embodiment of the present invention. This embodiment is applicable to the case of automatic patrol of power grids by drones. The method can be executed by a power grid emergency patrol device, which can be implemented in the form of hardware and / or software. Figure 1 As shown, the method includes:

[0029] Step S101, receiving emergency event information of the power grid.

[0030] Optionally, receiving emergency event information of the power grid includes: receiving emergency event information sent by the power grid command center through a designated communication method, wherein the designated communication method includes the Internet or mobile communication, and the emergency event information also includes the emergency accident time and the emergency accident type.

[0031] Specifically, when an emergency occurs in the power grid, such as line failure, damage caused by natural disasters, etc., the power grid intelligent command center will receive emergency event information such as alarm signals or reports, and transmit the received emergency event information to the emergency management system via telephone, Internet or other communication methods. The emergency event information includes the location of the emergency accident, such as GPS coordinates, the time of the emergency accident, for example, October 2, 2024 12:13:5, and the type of emergency accident, such as line break or tower collapse. Of course, this embodiment is only an example for illustration, and does not limit the specific content contained in the emergency event information.

[0032] It should be noted that the emergency management system in this embodiment is equipped with software modules such as an automatic route planning module and a Geographic Information System (GIS) data processing module. The automatic route planning module is the core software module of the emergency management system, which is responsible for receiving emergency event information and automatically calculating and generating the optimal route for emergency patrols of drones by integrating GIS data processing modules and optimization algorithms. Among them, the GIS data processing module is used to process and analyze geographic information data, including terrain, height, obstacles, etc., to provide data support for patrol route planning.

[0033] In addition, the emergency management system in this embodiment will also seamlessly connect with the automatic cruise control system through a designated interface, so as to call the automatic cruise control system through the designated interface, thereby realizing functions such as uploading and verifying the patrol route, controlling the drone to perform tasks, and transmitting real-time data. Of course, this embodiment is only an example, and does not limit the specific functions realized by calling the automatic cruise system.

[0034] Step S102, determining a target machine nest from a machine nest database according to the location of the emergency accident.

[0035] Optionally, determining a target machine nest from a machine nest database according to the location of the emergency accident includes: determining a candidate machine nest from the machine nest database according to the location of the emergency accident, and determining a target machine nest from the candidate machine nests according to a first screening rule, or directly determining a target machine nest from the machine nest database according to a second screening rule according to the location of the emergency accident.

[0036] Specifically, this embodiment will use the map data provided by the GIS data processing module, such as topographic maps or satellite images, so that the emergency management system can quickly locate the accident site. In addition, a nest database is pre-stored in the system, and the location of each nest is saved in the nest database. The nests of various drones distributed in key areas of the power grid are mainly used for storage, charging, maintenance, and automatic take-off and landing of drones.

[0037] Among them, in this embodiment, the GIS data processing module will be used to consider factors such as flight distance and terrain obstacles, and adopt genetic algorithms and particle swarm optimization algorithms to select the most suitable target nest from multiple nests in the nest database as the take-off point, so as to ensure that the drone can reach the accident site as quickly as possible and the flight process is safe and reliable. Of course, in this embodiment, three more suitable candidate nests can also be selected from multiple nests in the nest database as candidate take-off points, and the candidate take-off points can be displayed for users to select the most suitable target nest from the actual situation as the take-off point according to actual cruise needs, thereby further improving the user's cruise experience. And when selecting the target nest from the candidate nest, it can be selected according to the first screening rule, for example, according to the rule that the nest is working normally and is closest to the target point. When directly selecting the target nest from the nest database, it can be selected according to the second screening rule, for example, the rule with the lowest cruise cost can be selected. Of course, this embodiment is only an example, and does not limit the specific screening rules of the target nest. The user can set it in advance according to the actual cruise needs. Therefore, the target machine nest in this embodiment can be determined directly or indirectly based on the actual needs of the user. This embodiment does not limit it. As long as the target machine nest can be screened out from a large number of machine nests in the machine nest database, it is within the protection scope of this application and this embodiment does not limit it.

[0038] It should be noted that in this embodiment, obstacle avoidance is performed when determining the target nest. On the one hand, terrain analysis is performed, specifically using digital elevation model data to identify terrain features such as hills and mountains, so as to exclude nests with significant height changes on the path; on the other hand, building and other obstacle analysis is performed, specifically using the building distribution layer in GIS to determine whether there are high buildings or other large structures blocking the straight line. If so, the nest on the route is excluded. Therefore, in this embodiment, obstacle avoidance is taken into consideration when determining the target nest, thereby ensuring safety during the patrol process.

[0039] Step S103, determining the patrol route of the target UAV according to the emergency accident location and the target drone nest.

[0040] Optionally, the patrol route of the target UAV is determined based on the emergency accident location and the target machine nest, including: obtaining the maximum flight altitude of the target UAV and the position of the target machine nest, and determining a first route based on the position of the target machine nest and the maximum flight altitude; determining a second route based on the emergency accident location, the position of the target machine nest and the maximum flight altitude; and determining the patrol route of the target UAV based on the first route and the second route.

[0041] Specifically, in this embodiment, after determining the target nest, i.e., the starting point, and the emergency accident site, i.e., the target point, the maximum flight altitude and other flight parameters of the target drone located at the target nest are combined to use a path search algorithm, for example, an A* algorithm or a Dijkstra algorithm to generate one or more feasible patrol routes. Among them, the A* algorithm combines the actual cost from the starting point to the current node and the estimated cost from the current node to the end point, thereby effectively guiding the search process; the Dijkstra algorithm is a simple and effective choice when only focusing on minimizing the total distance length without considering other factors. Of course, this embodiment is only an example, and does not limit the specific type of path search algorithm.

[0042] In addition, in this embodiment, when determining the patrol route of the target UAV through the path search algorithm, the maximum flight altitude of the target UAV will be combined. The target UAV will have two stages during the flight: vertical ascent and horizontal operation. The height requirement of the first route generated during the ascent cannot exceed the maximum flight speed of the target UAV. The specific value of the maximum flight altitude can be specified by the user according to actual conditions, such as 300 meters, etc. Of course, this embodiment is only an example and does not limit the specific value of the maximum flight altitude.

[0043] Step S104, calling the automatic cruise system to control the target UAV to perform emergency patrol of the power grid based on the cruise route.

[0044] Optionally, the automatic cruise system is called to control the target UAV to conduct an emergency patrol of the power grid based on the cruise route, including: calling the automatic cruise system to perform a flight simulation based on the cruise route; when it is determined that the flight simulation result is normal, a command is sent to the target machine nest through the automatic cruise system, so that the target machine nest releases the target UAV and conducts an emergency patrol of the power grid according to the cruise route for the type of emergency accident.

[0045] Specifically, in order to ensure that the designed flight plan is feasible, the automatically generated cruise route needs to be tested in a simulated environment before actual execution. Since the automatic cruise system provides a virtual simulation platform, the entire flight process can be simulated without using real equipment. Since the emergency management system and the automatic cruise system are seamlessly connected through a specified interface, the emergency management system can call the automatic cruise system through the specified interface and send the cruise route to the automatic cruise system for flight simulation. If any problems are found, the plan needs to be adjusted until the requirements are met. Once confirmed to be correct, the automatic cruise system sends instructions to the target machine nest, commanding the target machine nest to release the drone and perform the cruise mission according to the generated cruise route. Since the emergency accident type has been obtained based on the emergency event information, the designated data will be collected with reference to the emergency accident type when cruising.

[0046] Optionally, the method also includes: receiving drone cruise information collected by an automatic cruise system, wherein the drone cruise information includes cruise videos, cruise pictures, temperature sensor data, and humidity sensor data; and calling the automatic cruise system to adjust the drone for emergency power grid patrols based on the drone cruise information.

[0047] During the entire patrol, the target drone will continuously collect data about the surrounding environment, including but not limited to video streams, photos, temperature and humidity sensor data, and transmit them to the automatic cruise system in a timely manner through the wireless network. The automatic cruise system will transmit the collected data to the emergency management system through a designated interface, so that the operator can view the status of the drone and the information it collects in real time from a remote location, and make corresponding adjustments when necessary, such as changing the flight direction and altitude, to better complete the task. In addition, all received data will be stored for later analysis.

[0048] It is worth mentioning that this implementation method proposes an automatic matching algorithm for selecting the machine nest at the accident point, which realizes the intelligence and automation of the machine nest selection; realizes the point-to-point patrol route planning logic between the machine nest drone and the accident point, and simplifies the process of drone emergency patrol; based on the integrated innovation of the automatic cruise system, it promotes the digital transformation and intelligent upgrading of power grid operation and maintenance; the automatic generation of drone routes greatly improves the speed and efficiency of emergency response and reduces the workload of emergency commanders.

[0049] In the implementation mode of the present application, the optimal patrol routes of the target machine nest and the target UAV are automatically determined based on the emergency event information, thereby realizing the point-to-point patrol route planning of the machine nest UAV and the accident site, simplifying the UAV emergency patrol process, improving the efficiency and accuracy of emergency patrols, reducing the workload of emergency commanders, and thus improving the quality of power grid services.

[0050] Embodiment 2

[0051] Figure 2 This is a flowchart of a power grid emergency patrol method provided by the second embodiment of the present invention. This embodiment is based on the above embodiment. Before calling the automatic cruise system to control the target UAV to conduct a power grid emergency patrol based on the patrol route, it also includes performing a reliability check on the target UAV based on the patrol route and determining that the UAV has passed the check. Figure 2 As shown, the method includes:

[0052] Step S201, receiving emergency event information of the power grid.

[0053] Optionally, receiving emergency event information of the power grid includes: receiving emergency event information sent by the power grid command center through a designated communication method, wherein the designated communication method includes the Internet or mobile communication, and the emergency event information also includes the emergency accident time and the emergency accident type.

[0054] Step S202, determining a target machine nest from a machine nest database according to the location of the emergency accident.

[0055] Optionally, determining a target machine nest from a machine nest database according to the location of the emergency accident includes: determining a candidate machine nest from the machine nest database according to the location of the emergency accident, and determining a target machine nest from the candidate machine nests according to a first screening rule, or directly determining a target machine nest from the machine nest database according to a second screening rule according to the location of the emergency accident.

[0056] Step S203, determining the patrol route of the target UAV according to the emergency accident location and the target drone nest.

[0057] Optionally, the patrol route of the target UAV is determined based on the emergency accident location and the target machine nest, including: obtaining the maximum flight altitude of the target UAV and the position of the target machine nest, and determining a first route based on the position of the target machine nest and the maximum flight altitude; determining a second route based on the emergency accident location, the position of the target machine nest and the maximum flight altitude; and determining the patrol route of the target UAV based on the first route and the second route.

[0058] Step S204: Perform reliability verification on the target UAV based on the patrol route, and determine whether the UAV has passed the verification.

[0059] Optionally, after determining the patrol route of the target UAV according to the emergency accident location and the target machine nest, it also includes: obtaining the maximum speed and maximum endurance time of the target UAV; determining the expected flight time of the target UAV according to the patrol route and the maximum speed; and performing reliability verification on the target UAV according to the maximum endurance time and the expected flight time.

[0060] Specifically, in this embodiment, after the target UAV is determined, the reliability of the target UAV is also checked, specifically, whether the target UAV can perform the patrol mission when flying along the patrol route. The maximum speed and maximum endurance time T1 of the target UAV are obtained, and the estimated flight time T2 of the target UAV is calculated based on the automatically generated patrol route and maximum speed. When T2 is greater than T1, it is determined that the UAV's endurance is low and cannot complete this patrol mission; when T2 is less than T1, it is determined that the UAV's endurance is sufficient to complete this patrol mission.

[0061] It should be noted that when it is determined that the target drone has insufficient endurance, the target nest will be readjusted in the above manner until the newly determined target drone passes the verification, and then the subsequent process will continue. When it is determined that the target drone has sufficient endurance, it is determined that the target drone can complete the cruise mission normally, and the target drone passes the reliability verification. And when the reliability verification fails, an alarm prompt message will also be generated to remind the user that the current target drone has a cruise risk. The alarm prompt message in this embodiment can be in the form of an image, a light, or a voice. Of course, this embodiment is only an example, and is not limited to the specific form of the alarm prompt message. As long as it can serve as a prompt to the user, it is within the scope of protection of this application.

[0062] Step S205, calling the automatic cruise system to control the target UAV to perform emergency patrol of the power grid based on the cruise route.

[0063] Optionally, the automatic cruise system is called to control the target UAV to conduct an emergency patrol of the power grid based on the cruise route, including: calling the automatic cruise system to perform a flight simulation based on the cruise route; when it is determined that the flight simulation result is normal, a command is sent to the target machine nest through the automatic cruise system, so that the target machine nest releases the target UAV and conducts an emergency patrol of the power grid according to the cruise route for the type of emergency accident.

[0064] Optionally, the method also includes: receiving drone cruise information collected by an automatic cruise system, wherein the drone cruise information includes cruise videos, cruise pictures, temperature sensor data, and humidity sensor data; and calling the automatic cruise system to adjust the drone for emergency power grid patrols based on the drone cruise information.

[0065] In the implementation mode of the present application, the optimal patrol route of the target nest and the target drone is automatically determined based on the emergency event information, thereby realizing the point-to-point patrol route planning between the nest drone and the accident site, simplifying the drone emergency patrol process, improving the efficiency and accuracy of emergency patrols, reducing the workload of emergency commanders, and thus improving the quality of power grid services. After determining the target drone, the safety of the patrol process can be further guaranteed by performing reliability verification on the target drone.

[0066] Embodiment 3

[0067] Figure 3 This is a schematic diagram of the structure of a power grid emergency patrol device provided by the third embodiment of the present invention. Figure 3 As shown, the device includes: an emergency event information receiving module 310, a target machine nest determination module 320, a patrol route determination module 330 and an emergency patrol module 340.

[0068] The emergency event information receiving module 310 is used to receive the emergency event information of the power grid, wherein the emergency event information includes the location of the emergency accident;

[0069] The target nest determination module 320 is used to determine the target nest from the nest database according to the location of the emergency accident, and the nest database stores the location of each nest;

[0070] A patrol route determination module 330 is used to determine the patrol route of the target UAV according to the emergency accident location and the target nest, wherein the UAV is located at the target nest;

[0071] The emergency patrol module 340 is used to call the automatic cruise system to control the target UAV to perform emergency patrol of the power grid based on the cruise route.

[0072] Optionally, the emergency event information receiving module is used to receive emergency event information sent by the power grid command center through a designated communication method, wherein the designated communication method includes the Internet or mobile communication, and the emergency event information also includes the emergency accident time and emergency accident type.

[0073] Optionally, a target nest determination module is used to determine candidate nests from a nest database according to the location of the emergency accident, and determine a target nest from the candidate nests according to a first screening rule.

[0074] Alternatively, the target machine nest is directly determined from the machine nest database according to the second screening rule based on the emergency accident location.

[0075] Optionally, a patrol route determination module is used to obtain the maximum flight altitude of the target UAV and the position of the target nest, and determine the first route according to the position of the target nest and the maximum flight altitude;

[0076] Determine the second route based on the emergency accident location, the location of the target machine nest and the maximum flight altitude;

[0077] The patrol route of the target UAV is determined according to the first route and the second route.

[0078] Optionally, the device further includes a reliability verification module for obtaining the maximum speed and maximum endurance of the target UAV;

[0079] Determine the estimated flight time of the target drone based on the patrol route and maximum speed;

[0080] Conduct reliability verification on the target UAV based on the maximum endurance time and expected flight time.

[0081] Optional, emergency patrol module, used to call the automatic cruise system to perform flight simulation based on the cruise route;

[0082] When it is determined that the flight simulation results are normal, the automatic cruise system sends instructions to the target machine nest, so that the target machine nest releases the target UAV and conducts emergency patrol of the power grid according to the type of emergency accident according to the cruise route.

[0083] Optionally, the device further includes an emergency patrol adjustment module, which is used to receive the drone cruise information collected by the automatic cruise system, wherein the drone cruise information includes cruise video, cruise picture, temperature sensor data and humidity sensor data;

[0084] According to the UAV cruise information, the automatic cruise system is called to adjust the UAV for emergency patrol of the power grid.

[0085] The power grid emergency patrol device provided in the embodiment of the present invention can execute the power grid emergency patrol method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0086] Embodiment 4

[0087] Figure 4 A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0088] like Figure 4 As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0089] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0090] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a power grid emergency patrol method.

[0091] In some embodiments, the method for emergency patrolling of power grid can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the method for emergency patrolling of power grid described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to execute the method for emergency patrolling of power grid in any other appropriate manner (for example, by means of firmware).

[0092] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0093] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0094] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. 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.

[0095] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0096] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by 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), a blockchain network, and the Internet.

[0097] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0098] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0099] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A power grid emergency inspection method, characterized in that: Applications in emergency management systems, including: Receiving emergency event information of a power grid, wherein the emergency event information includes the location of the emergency accident; Determine a target nest from a nest database according to the location of the emergency accident, wherein the nest database stores the location of each nest; Determining a patrol route of a target UAV according to the emergency accident location and the target machine nest, wherein the target UAV is located at the target machine nest; The automatic cruise system is called to control the target UAV to perform emergency patrol of the power grid based on the patrol route.

2. The method according to claim 1, characterized in that The receiving of emergency event information of the power grid includes: Receive the emergency event information sent by the power grid command center through a designated communication method, wherein the designated communication method includes the Internet or mobile communication, and the emergency event information also includes the emergency accident time and the emergency accident type.

3. The method according to claim 1, characterized in that The step of determining a target machine nest from the machine nest database according to the emergency accident location includes: Determine a candidate nest from the nest database according to the emergency accident location, and determine the target nest from the candidate nest according to a first screening rule, Alternatively, the target machine nest is directly determined from the machine nest database according to the emergency accident location and the second screening rule.

4. The method according to claim 1, characterized in that: The step of determining the patrol route of the target UAV according to the emergency accident location and the target drone nest includes: Obtaining the maximum flight altitude of the target UAV and the position of the target nest, and determining a first route according to the position of the target nest and the maximum flight altitude; Determine a second route according to the emergency accident location, the location of the target machine nest and the maximum flight altitude; The patrol route of the target UAV is determined according to the first route and the second route.

5. The method according to claim 4, characterized in that After determining the patrol route of the target UAV according to the emergency accident location and the target drone nest, the method further includes: Obtain the maximum speed and maximum flight time of the target UAV; Determining an estimated flight time of the target UAV according to the patrol route and the maximum speed; The reliability of the target UAV is verified according to the maximum endurance time and the expected flight time.

6. The method according to claim 2, characterized in that The calling of the automatic cruise system to control the target UAV to perform emergency patrol of the power grid based on the cruise route includes: Calling the automatic cruise system to perform flight simulation based on the cruise route; When it is determined that the flight simulation result is normal, the automatic cruise system sends a command to the target machine nest, so that the target machine nest releases the target UAV and performs a power grid emergency patrol according to the cruise route for the emergency accident type.

7. The method according to claim 1, characterized in that The method further comprises: Receiving the drone cruise information collected by the automatic cruise system, wherein the drone cruise information includes cruise video, cruise picture, temperature sensor data and humidity sensor data; The automatic cruise system is called according to the cruise information of the drone to perform emergency patrol adjustments on the drone.

8. A power grid emergency patrol device, characterized in that: include: An emergency event information receiving module, used to receive emergency event information of the power grid, wherein the emergency event information includes the location of the emergency accident; A target machine nest determination module, used to determine a target machine nest from a machine nest database according to the emergency accident location, wherein the machine nest database stores the location of each machine nest; A patrol route determination module, used to determine the patrol route of the target UAV according to the emergency accident location and the target machine nest, wherein the UAV is located at the target machine nest; The emergency patrol module is used to call the automatic cruise system to control the target UAV to perform emergency patrol of the power grid based on the cruise route.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable 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 perform the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the method according to any one of claims 1 to 7 when executed.

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