Substation inspection method, device, equipment and storage medium

Abstract

The present invention discloses a substation inspection method, device, equipment and storage medium. The method includes: obtaining a power frequency electromagnetic field strength set corresponding to the substation to be inspected; adjusting the test parameters in the test area according to the power frequency electromagnetic field strength set, and performing anti-interference tests on at least three candidate drones according to each test parameter; determining the safe power frequency magnetic field strength and safe power frequency electric field strength corresponding to each candidate drone according to each anti-interference test result corresponding to each candidate drone; determining a target drone from each candidate drone according to each safe power frequency magnetic field strength, each safe power frequency electric field strength and power frequency electromagnetic field strength set, so as to inspect the substation to be inspected by the target drone. The technical solution of the embodiment of the present invention solves the problem that the substation cannot be inspected by drone due to the complex electromagnetic environment in the substation, and improves the inspection efficiency of the substation while ensuring the safe operation of the substation equipment.

Description

Technical Field

[0001] The present invention relates to the field of power detection technology, and in particular to a substation inspection method, device, equipment and storage medium. Background Art

[0002] With the continuous development and popularization of drone technology, drones are becoming increasingly widely used. In the power sector, they are often used to inspect transmission lines. However, due to the dense equipment density, complex electromagnetic environment, and high-criticality of substation equipment, the consequences of a voltage loss in substation equipment are relatively serious. Therefore, the use of drones in substation inspections is relatively risky, and the use of drones for substation equipment inspections is still a new field.

[0003] Due to the complex electromagnetic environment in substations, if drones are needed to inspect them, they must have strong anti-interference capabilities. In addition, the navigation methods used by drones, such as magnetic compass navigation, are more susceptible to magnetic field interference, and need to be avoided by methods such as visual navigation, Beidou navigation, and dual-antenna directionality. Therefore, if the drone's anti-interference capability is insufficient, it will seriously affect the safety of the equipment in the substation during its inspection. Summary of the Invention

[0004] The present invention provides a substation inspection method, device, equipment and storage medium, which tests the anti-interference capability of drones based on different electromagnetic field information in the substation to select suitable drones to perform substation inspection operations, thereby improving the inspection efficiency of the substation while ensuring the safe operation of substation equipment.

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

[0006] Obtain the power frequency electromagnetic field strength set corresponding to the substation to be inspected;

[0007] Adjust the test parameters within the test area based on the power frequency electromagnetic field strength set, and conduct anti-interference tests on at least three candidate drones based on each test parameter;

[0008] According to the anti-interference test results of each candidate UAV, the safe power frequency magnetic field strength and safe power frequency electric field strength corresponding to each candidate UAV are determined;

[0009] According to the set of each safety power frequency magnetic field strength, each safety power frequency electric field strength and power frequency electromagnetic field strength, a target drone is determined from each candidate drone, so as to inspect the substation to be inspected by the target drone.

[0010] Furthermore, the power frequency electromagnetic field strength set corresponding to the substation to be inspected is obtained, including:

[0011] Obtain the power frequency electric field strength and power frequency magnetic field strength corresponding to different preset measuring points in the substation to be inspected;

[0012] Determine the set of each power frequency electric field strength and each power frequency magnetic field strength as the power frequency electromagnetic field strength set;

[0013] The preset measuring point locations are electromagnetically sensitive locations in the substation to be inspected, including at least the main transformer, reactor and substation inspection walkway.

[0014] Furthermore, the test parameters within the test area are adjusted according to the power frequency electromagnetic field strength set, including:

[0015] During the anti-interference test of a candidate UAV, the test parameters in the test area are sequentially set to parameter values ​​corresponding to each power frequency magnetic field strength or each power frequency electric field strength in the power frequency electromagnetic field strength set;

[0016] Determine the test power frequency magnetic field intensity or test power frequency electric field intensity corresponding to the test parameters in the test area, and determine the field intensity deviation between the test power frequency magnetic field intensity and the corresponding power frequency magnetic field intensity, or between the test power frequency electric field intensity and the corresponding power frequency electric field intensity;

[0017] If the field intensity deviation is within the preset field intensity deviation threshold, it is determined that the test parameter setting is completed;

[0018] Otherwise, adjust the test parameters corresponding to the field strength deviation, and return to the step of determining the test power frequency magnetic field strength or test power frequency electric field corresponding to the test area under the test parameters, and determining the field strength deviation between the test power frequency magnetic field strength and the corresponding power frequency magnetic field strength, or between the test power frequency electric field strength and the corresponding power frequency electric field strength.

[0019] Furthermore, before performing anti-interference tests on at least three candidate drones according to the test parameters, the method further includes:

[0020] Get the initial working status of the candidate drone;

[0021] Determine the test readiness status of the candidate UAV based on the initial working status and preset working conditions;

[0022] The candidate UAVs whose test preparation status is ready are determined as target candidate UAVs that need to undergo anti-interference testing;

[0023] Among them, the initial working state includes the initial minimum number of satellites, the initial compass state, the initial real-time dynamic signal state and the initial positioning state.

[0024] Furthermore, the test readiness state of the candidate UAV is determined based on the initial working state and the preset working conditions, including:

[0025] If the minimum number of initial satellites is greater than the preset number of satellites, the initial compass state is normal, the initial real-time dynamic signal state is normal, and the initial positioning state is normal, the test preparation state is determined to be preparation completed.

[0026] Furthermore, anti-interference tests are performed on at least three candidate drones according to various test parameters, including:

[0027] Anti-interference test for a target candidate UAV under a test parameter,

[0028] Control the target candidate UAV to hover in the center of the test area after the test parameters are set;

[0029] Obtain the test working status of the target candidate UAV;

[0030] Determine the anti-interference test results of the target candidate UAV under the test parameters based on the test working status and preset working conditions;

[0031] Among them, the test working status includes testing the minimum number of satellites, testing the compass status, testing the real-time dynamic signal and testing the positioning status.

[0032] Furthermore, the anti-interference test results of the target candidate UAV under the test parameters are determined according to the test working state and the preset working conditions, including:

[0033] If the minimum number of satellites tested is greater than the preset number of satellites, the compass status tested is normal, the real-time dynamic signal status tested is normal, and the positioning status tested is normal, the anti-interference test result is determined to be successful;

[0034] Otherwise, the anti-interference test result is determined to be failure.

[0035] Furthermore, according to the anti-interference test results corresponding to each candidate UAV, the safe power frequency magnetic field strength and safe power frequency electric field strength corresponding to each candidate UAV are determined, including:

[0036] For a candidate UAV, determining at least one power frequency magnetic field strength and at least one power frequency electric field strength corresponding to each anti-interference test result indicating a successful anti-interference test result;

[0037] The maximum value among the power frequency magnetic field intensities is determined as the safe power frequency magnetic field intensity corresponding to the candidate UAV;

[0038] The maximum value among the power frequency electric field intensities is determined as the safe power frequency electric field intensity corresponding to the alternative UAV.

[0039] Furthermore, according to each safe power frequency magnetic field strength, each safe power frequency electric field strength, and the power frequency electromagnetic field strength set, a target drone is determined from each candidate drone, including:

[0040] Determine the maximum power frequency magnetic field intensity and the maximum power frequency electric field intensity corresponding to the substation to be inspected based on the power frequency electromagnetic field intensity set;

[0041] Alternative drones whose safe power frequency magnetic field strength is greater than or equal to the maximum power frequency magnetic field strength, and whose safe power frequency electric field strength is greater than or equal to the maximum power frequency electric field strength, are identified as target drones.

[0042] In a second aspect, an embodiment of the present invention further provides a substation inspection device, comprising:

[0043] The intensity set acquisition module is used to obtain the power frequency electromagnetic field intensity set corresponding to the substation to be inspected;

[0044] An anti-interference test module is used to adjust the test parameters in the test area according to the power frequency electromagnetic field strength set, and perform anti-interference tests on at least three candidate drones according to the test parameters;

[0045] A safety strength determination module is used to determine the safety power frequency magnetic field strength and safety power frequency electric field strength corresponding to each candidate UAV based on the anti-interference test results corresponding to each candidate UAV;

[0046] The substation inspection module is used to determine the target drone from the candidate drones based on the set of each safe power frequency magnetic field strength, each safe power frequency electric field strength and power frequency electromagnetic field strength, so as to inspect the substation to be inspected through the target drone.

[0047] In a third aspect, an embodiment of the present invention further provides a substation inspection device, the substation inspection device comprising:

[0048] at least one processor; and

[0049] a memory communicatively connected to at least one processor; wherein,

[0050] The memory stores a computer program that can be executed by at least one processor. The computer program is executed by the at least one processor, so that the at least one processor can implement the substation inspection method of any embodiment of the present invention.

[0051] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the substation inspection method of any embodiment of the present invention when executed.

[0052] The embodiments of the present invention provide a substation inspection method, device, equipment and storage medium, which obtains a power frequency electromagnetic field strength set corresponding to the substation to be inspected; adjusts the test parameters in the test area according to the power frequency electromagnetic field strength set, and performs anti-interference tests on at least three alternative drones according to each test parameter; determines the safe power frequency magnetic field strength and safe power frequency electric field strength corresponding to each alternative drone according to each anti-interference test result corresponding to each alternative drone; determines a target drone from each alternative drone according to each safe power frequency magnetic field strength, each safe power frequency electric field strength and power frequency electromagnetic field strength set, so as to inspect the substation to be inspected through the target drone. By adopting the above technical solution, when it is necessary to inspect the substation with inspection, the electromagnetic field strength in the test area is adjusted according to the power frequency electromagnetic field strength at different positions in the substation with inspection, and anti-interference tests on multiple alternative drones are completed in the test area. According to the anti-interference test results of each alternative drone, the safe power frequency magnetic field strength and safe power frequency electric field strength of different alternative drones are determined. Then, according to each safe power frequency magnetic field strength and each safe power frequency electric field strength, a target drone that is suitable for inspecting the substation to be inspected is selected, and the substation to be inspected is inspected by the target drone, which solves the problem that the substation cannot be inspected by drone due to the complex electromagnetic environment in the substation. According to the electromagnetic field strength of the substation to be inspected itself, a drone with anti-interference performance that meets its needs is selected, and it is inspected by the drone, thereby improving the inspection efficiency of the substation while ensuring the safe operation of the substation equipment.

[0053] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present invention, nor is it intended to limit the scope of the present invention. Other features of the present invention will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] 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.

[0055] Figure 1 This is a flow chart of a substation inspection method in embodiment 1 of the present invention;

[0056] Figure 2 This is a flow chart of a substation inspection method in embodiment 2 of the present invention;

[0057] Figure 3 This is a structural diagram of a substation inspection device in Embodiment 3 of the present invention;

[0058] Figure 4 It is a structural diagram of a substation inspection device in embodiment 4 of the present invention. DETAILED DESCRIPTION

[0059] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions 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 embodiments described 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 making creative efforts should fall within the scope of protection of the present invention.

[0060] It should be noted that the terms "first", "second", etc. in the description 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 numbers 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 clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0061] Example 1

[0062] Figure 1 A flowchart of a substation inspection method provided in Example 1 of the present invention is applicable to the situation where a suitable drone is selected to inspect the substation to be inspected. The method can be executed by a substation inspection device, which can be implemented by software and / or hardware. The substation inspection device can be configured on a computer device, which can be a notebook, desktop computer, smart tablet, etc.

[0063] like Figure 1 As shown, the first embodiment provides a substation inspection method, which specifically includes the following steps:

[0064] S101. Obtain a power frequency electromagnetic field strength set corresponding to the substation to be inspected.

[0065] In this embodiment, the substation to be inspected can be specifically understood as a substation that requires inspection to determine the operational status of its equipment. The power-frequency electromagnetic field strength set can be specifically understood as the set of power-frequency electric field strength and power-frequency magnetic field strength at different locations within the substation to be inspected. Power-frequency electric field strength refers to the strength of the electric field generated by a charge that varies sinusoidally with time at 50 Hz or 60 Hz. Power-frequency magnetic field strength can be specifically understood as the magnetic field strength generated by AC power transmission and transformation facilities.

[0066] Specifically, when the substation to be inspected needs to be inspected, the power frequency electric field strength and power frequency magnetic field strength of different locations in the substation to be inspected and the areas that need to be highly concerned during the inspection are obtained, and the set of each power frequency electric field strength and each power frequency magnetic field strength is determined as the power frequency electromagnetic field strength set corresponding to the substation to be inspected.

[0067] In an embodiment of the present invention, by obtaining multiple power frequency electromagnetic field strengths at different locations in the substation to be inspected, the results obtained after performing anti-interference tests based on the above power frequency electromagnetic field strengths are more accurate and can cover the entire range of the substation to be inspected, thereby improving the safety and accuracy of subsequent inspections.

[0068] S102. Adjust the test parameters in the test area according to the power frequency electromagnetic field strength set, and perform anti-interference tests on at least three candidate drones according to the test parameters.

[0069] In this embodiment, the test area can be specifically understood as the area designated for testing candidate drones. The test parameters can be specifically understood as the parameters used to adjust the electric or magnetic field strength within the test area. The candidate drones can be specifically understood as drones of different brands, hardware, or models that can be used for substation inspections. The anti-interference test can be specifically understood as a test used to determine how the drone's operating state is affected by the electromagnetic field in its location.

[0070] Specifically, the test parameters in the test area are adjusted to the power frequency electric field intensity and power frequency magnetic field intensity in the power frequency electromagnetic field intensity set in turn, and each alternative UAV is controlled to hover in the test area under each power frequency electric field intensity and each power frequency magnetic field intensity to perform anti-interference test, and the anti-interference test results of each alternative UAV under each test parameter are obtained.

[0071] S103. Determine the safe power frequency magnetic field strength and safe power frequency electric field strength corresponding to each candidate UAV based on the anti-interference test results corresponding to each candidate UAV.

[0072] In this embodiment, the safe power frequency magnetic field strength can be specifically understood as the maximum magnetic field strength that will not affect the working state of the alternative drone. The safe power frequency electric field strength can be specifically understood as the maximum electric field strength that will not affect the working state of the alternative drone.

[0073] Specifically, for the multiple anti-interference test results corresponding to each alternative UAV, the test parameters corresponding to the anti-interference test results with successful test results are determined, and the maximum power frequency electric field strength and power frequency magnetic field strength are selected from each test parameter. The power frequency electric field strength is determined as the safe power frequency electric field strength corresponding to the alternative UAV, and the power frequency magnetic field strength is determined as the safe power frequency magnetic field strength corresponding to the alternative UAV.

[0074] S104. Determine a target drone from among the candidate drones based on the set of safety power frequency magnetic field intensities, safety power frequency electric field intensities, and power frequency electromagnetic field intensities, so as to inspect the substation to be inspected by the target drone.

[0075] In this embodiment, the target drone can be specifically understood as a drone among the candidate drones that meets the conditions of inspecting the substation to be inspected that currently needs to be inspected without being disturbed by the electromagnetic field in the substation to be inspected, which affects the working status.

[0076] Specifically, the maximum power frequency electric field intensity and power frequency magnetic field intensity are determined from the power frequency electromagnetic field intensity set, which indicates that the drone will be subjected to the maximum electromagnetic field interference during the inspection of the substation to be inspected. Then, an alternative drone whose safe power frequency magnetic field intensity is greater than the maximum power frequency magnetic field intensity and whose safe power frequency electric field intensity is greater than the maximum power frequency electric field intensity is determined from each alternative drone. It is used as the target drone. It can be considered that the anti-interference ability of the target drone is sufficient to support its inspection of the substation to be inspected without affecting its working status. Then, the determined target drone is used to inspect the substation to be inspected along a predetermined inspection route.

[0077] The technical solution of this embodiment is to obtain a power frequency electromagnetic field strength set corresponding to the substation to be inspected; adjust the test parameters in the test area according to the power frequency electromagnetic field strength set, and perform anti-interference tests on at least three alternative drones according to the test parameters; determine the safe power frequency magnetic field strength and safe power frequency electric field strength corresponding to each alternative drone based on the anti-interference test results corresponding to each alternative drone; determine the target drone from each alternative drone based on the safe power frequency magnetic field strength, the safe power frequency electric field strength and the power frequency electromagnetic field strength set, so as to inspect the substation to be inspected through the target drone. By adopting the above technical solution, when it is necessary to inspect the substation with inspection, the electromagnetic field strength in the test area is adjusted according to the power frequency electromagnetic field strength at different positions in the substation with inspection, and anti-interference tests on multiple alternative drones are completed in the test area. According to the anti-interference test results of each alternative drone, the safe power frequency magnetic field strength and safe power frequency electric field strength of different alternative drones are determined. Then, according to each safe power frequency magnetic field strength and each safe power frequency electric field strength, a target drone that is suitable for inspecting the substation to be inspected is selected, and the substation to be inspected is inspected by the target drone, which solves the problem that the substation cannot be inspected by drone due to the complex electromagnetic environment in the substation. According to the electromagnetic field strength of the substation to be inspected itself, a drone with anti-interference performance that meets its needs is selected, and it is inspected by the drone, thereby improving the inspection efficiency of the substation while ensuring the safe operation of the substation equipment.

[0078] Example 2

[0079] Figure 2 A flowchart of a substation inspection method provided in the second embodiment of the present invention is provided. The technical solution of the embodiment of the present invention is further optimized on the basis of the above-mentioned optional technical solutions. By obtaining the power frequency electric field strength and power frequency magnetic field strength corresponding to different preset measuring point positions in the substation to be inspected, and setting them in the test area as test parameters, each candidate drone can determine the corresponding test working state for each different test parameter in the test area, and then determine the anti-interference test result of the candidate drone based on the test working state, and determine the safe power frequency electric field strength and safe power frequency magnetic field strength corresponding to each candidate drone based on the anti-interference test result, and determine the candidate drone with a safe power frequency magnetic field strength greater than or equal to the maximum power frequency magnetic field strength and a safe power frequency electric field strength greater than or equal to the maximum power frequency electric field strength as the target drone. By selecting a drone with anti-interference capability that meets the requirements of the substation to be inspected, the substation is inspected without human intervention, and the drone is not likely to fall due to electromagnetic interference, thereby affecting the safety of the substation equipment. While ensuring the safe operation of the substation equipment, the inspection efficiency of the substation is improved.

[0080] like Figure 2As shown, a substation inspection method provided by the second embodiment of the present invention specifically includes the following steps:

[0081] S201. Obtain the power frequency electric field strength and power frequency magnetic field strength corresponding to different preset measuring points in the substation to be inspected.

[0082] The preset measuring point locations are electromagnetically sensitive locations in the substation to be inspected, including at least a main transformer, a reactor and a substation inspection walkway.

[0083] Specifically, when it is necessary to inspect the equipment in the substation to be inspected, measuring points are set at locations in the substation to be inspected where large electromagnetic fluctuations may occur, as well as at electromagnetic sensitive locations, and the power frequency electric field strength and power frequency magnetic field strength corresponding to the measuring point locations are collected at the corresponding measuring points.

[0084] For example, when measuring the power frequency magnetic field, the power frequency magnetic field meter can be set up at a distance of 1-2 meters from the ground, such as 1.5 meters; the measuring probe can be supported by a small dielectric handle and held by the measuring personnel; the preset measuring point location can be other electromagnetic sensitive locations such as the substation patrol walkway, control building, etc. When measuring the power frequency magnetic field strength near the main transformer and reactor by the measuring probe, the measuring probe can be set at a distance of 1 meter from the main transformer and reactor casing or fence boundary; at a specific time, place and meteorological conditions, if the reading of the power frequency magnetic field meter is stable, the power frequency magnetic field strength is the reading of the power frequency magnetic field meter when the measurement reading is stable; if the reading of the power frequency magnetic field meter fluctuates, fixed interval readings are used, and the average value of each reading is determined as the power frequency magnetic field strength corresponding to the measuring point location.

[0085] Continuing with the above example, when measuring the power frequency electric field, the power frequency electric field meter can be set up at a distance of 1-2 meters from the ground, such as 1.5 meters. The measurement personnel should be far enough away from the probe of the power frequency electric field meter, generally at least 2.5 meters, to avoid large electric field distortion at the power frequency electric field meter. The distance between the power frequency electric field meter and fixed objects should be no less than 1 meter to limit the influence of fixed objects on the measured values ​​of the power frequency electric field meter to an acceptable level. The preset measurement point location can be other electromagnetic sensitive areas such as the substation patrol corridor, control building, etc. Sensing position, when measuring the power frequency electric field strength near the main transformer and reactor through the measuring probe, the measuring probe should be 2.5m away from the casing of the main transformer or the fence boundary, and the maximum value of the field strength near the main transformer should be measured; under specific time, place and meteorological conditions, if the reading of the power frequency electric field meter is stable, the power frequency electric field strength is the reading of the power frequency electric field meter when the measurement reading is stable; if the reading of the power frequency electric field meter fluctuates, take fixed interval readings, and determine the average value of each reading as the power frequency electric field strength corresponding to the measuring point.

[0086] S202: Determine a set of the power frequency electric field intensities and the power frequency magnetic field intensities as a power frequency electromagnetic field strength set.

[0087] S203. During an anti-interference test of an alternative UAV, test parameters within the test area are sequentially set to parameter values ​​corresponding to each power-frequency magnetic field strength or each power-frequency electric field strength in the power-frequency electromagnetic field strength set.

[0088] Specifically, in the process of conducting anti-interference tests on each candidate UAV, each time an anti-interference test is conducted, the test parameters in the test area are adjusted once, and according to the power frequency electric field strength and power frequency magnetic field strength included in the power frequency electromagnetic field strength set, the parameter values ​​in the test equipment that generates electric fields or magnetic fields in the test area are adjusted so that the electric field strength in the test area is equal to the power frequency electric field strength, or the magnetic field strength in the test area is equal to the power frequency magnetic field strength.

[0089] For example, when the basis for adjusting the test parameters in the test area is the industrial frequency magnetic field strength, the test equipment in the test area can be a current-carrying coil arranged in the center of the test area. Assuming that the industrial frequency magnetic field strength targeted by the device selection drone during the current anti-interference test is B1, the current I1 that needs to pass through the current-carrying coil can be determined based on the correspondence between the industrial frequency magnetic field strength and the industrial frequency current. This current is the test parameter corresponding to the industrial frequency magnetic field strength B1.

[0090] Continuing with the above example, when the basis for adjusting the test parameters in the test area is the power frequency electric field strength, the test equipment in the test area can be a parallel plate set in the center of the test area. Assuming that the power frequency electric field strength targeted by the device selection drone during the current anti-interference test is E1, the voltage U1 that should be applied to both ends of the parallel plate can be determined based on the corresponding relationship between the power frequency electric field strength and the power frequency voltage. This voltage is the test parameter corresponding to the power frequency electric field strength E1.

[0091] S204. Determine the test power frequency magnetic field strength or the test power frequency electric field strength corresponding to the test area under the test parameters, and determine the field strength deviation between the test power frequency magnetic field strength and the corresponding power frequency magnetic field strength, or between the test power frequency electric field strength and the corresponding power frequency electric field strength.

[0092] In this embodiment, the power frequency magnetic field strength test can be specifically understood as the magnetic field strength within the test area; the power frequency electric field strength test can be specifically understood as the electric field strength within the test area. The field strength deviation can be specifically understood as the difference between the power frequency magnetic field strength test and the corresponding power frequency magnetic field strength, or the difference between the power frequency electric field strength test and the corresponding power frequency electric field strength.

[0093] Specifically, when the anti-interference test is a test for the power frequency magnetic field strength, before the test, the probe of the power frequency magnetic field measuring instrument is placed in the center of the corresponding test equipment structure in the test area, the collected magnetic field strength is determined as the test power frequency magnetic field strength in the test area, and the difference between the test power frequency magnetic field strength and the power frequency magnetic field strength corresponding to the test parameters is determined as the field strength deviation; when the anti-interference test is a test for the power frequency electric field strength, before the test, the probe of the power frequency electric field measuring instrument is placed in the center of the corresponding test equipment structure in the test area, the collected electric field strength is determined as the test power frequency electric field strength in the test area, and the difference between the test power frequency electric field strength and the power frequency electric field strength corresponding to the test parameters is determined as the field strength deviation.

[0094] S205 , determining whether the field intensity deviation is within a preset field intensity deviation threshold; if so, executing step S207 ; if not, executing step S206 .

[0095] In this embodiment, the preset field strength deviation threshold can be understood as a threshold range used to determine whether the field strength within the test area meets the field strength requirements for anti-interference testing of candidate drones. For example, the field strength deviation threshold can be ±5% of the corresponding field strength, and can also be set based on actual circumstances. This embodiment of the present invention is not limited to this.

[0096] Specifically, by judging whether the field strength deviation is within the preset field strength deviation threshold, if so, it can be considered that the test power frequency magnetic field intensity or the test power frequency electric field intensity in the test area is similar to the power frequency magnetic field intensity or the power frequency electric field intensity required to test the alternative UAV, and can be used to perform anti-interference test on the alternative UAV, and step S207 is executed at this time; if not, it can be considered that the test power frequency magnetic field intensity or the test power frequency electric field intensity in the test area is quite different from the power frequency magnetic field intensity or the power frequency electric field intensity required to test the alternative UAV, and the accuracy of the anti-interference test result performed using it is low, and the magnetic field intensity or electric field intensity in the test area needs to be adjusted to meet the test requirements, and step S206 is executed at this time.

[0097] S206: Adjust the test parameters corresponding to the field intensity deviation, and return to step S204.

[0098] Specifically, the adjustment direction of the field strength in the test area is determined according to the field strength deviation, and the adjustment parameters used to adjust the test parameters are determined according to the correspondence between the power frequency magnetic field strength and the power frequency current, or according to the correspondence between the power frequency electric field strength and the power frequency voltage. The test parameters are adjusted by the adjustment parameters, and the corresponding magnetic field or electric field is generated in the test area according to the adjusted test parameters, and the process returns to step S204 to determine whether the corresponding field strength deviation meets the anti-interference test conditions for the alternative UAV.

[0099] S207: Determine that the test parameter settings are complete.

[0100] S208: Obtain the initial working status of the candidate UAV.

[0101] Among them, the initial working state includes the initial minimum number of satellites, the initial compass state, the initial real-time dynamic signal state and the initial positioning state.

[0102] In this embodiment, the initial operating state can be specifically understood as the operating state of the alternative drone when it is not interfered with by the electromagnetic field. The initial minimum number of satellites can be specifically understood as the minimum number of satellites whose signals can be received by the satellite signal receiving device installed on the alternative drone when it is not interfered with by the electromagnetic field. The initial compass state can be specifically understood as the pointing state of the compass installed on the alternative drone when it is not interfered with by the electromagnetic field. The initial real-time dynamic signal state can be specifically understood as the state of the alternative drone performing real-time dynamic positioning (RTK) based on real-time differential GPS measurement technology when it is not interfered with by the electromagnetic field. The initial positioning state can be specifically understood as the state of the alternative drone acquiring GPS signals when it is not interfered with by the electromagnetic field.

[0103] Specifically, before each anti-interference test is performed on an alternative UAV, the minimum initial number of satellites, initial compass status, initial real-time dynamic signal status, and initial positioning status of the corresponding device in the alternative UAV are obtained to determine whether the alternative UAV can undergo anti-interference testing.

[0104] It should be made clear that before each anti-interference test, the initial working state of the corresponding candidate UAV must be obtained, and whether its initial working state meets the preset working conditions must be determined.

[0105] S209: Determine the test readiness state of the candidate UAV based on the initial working state and the preset working conditions.

[0106] In this embodiment, the preset operating conditions can be specifically understood as conditions for determining whether the candidate drone can perform inspections without interference. For example, the preset operating conditions can include the minimum number of satellites being greater than a preset number of satellites, the compass status being normal, the real-time dynamic signal status being normal, and the positioning status being normal.

[0107] Specifically, by judging whether the initial working state of the alternative UAV meets the preset working conditions, the test preparation state of the alternative UAV can be determined. When the initial working state meets the preset working conditions, the test preparation state of the alternative UAV is determined to be ready. When any item in the initial working state does not meet the preset working conditions, the test preparation state of the alternative UAV is determined to be incomplete.

[0108] That is, if the minimum value of the initial number of satellites is greater than the preset number of satellites, the initial compass state is normal, the initial real-time dynamic signal state is normal, and the initial positioning state is normal, then the test preparation state is determined to be ready; if the minimum value of the initial number of satellites is less than or equal to the preset number of satellites, the initial compass state is abnormal, the initial real-time dynamic signal state is abnormal, and / or the initial positioning state is abnormal, then the test preparation state of the alternative UAV is determined to be incomplete.

[0109] S210: Determine the candidate UAV whose test preparation status is "ready completed" as the target candidate UAV that needs to undergo anti-interference testing.

[0110] Specifically, since the anti-interference test for the UAV needs to ensure that the UAV can work normally in the absence of electromagnetic field interference, in order to avoid affecting the accuracy of the anti-interference test results due to the UAV's own reasons, when the test preparation status of the alternative UAV is ready, it can be considered that the current working status of the UAV can support it to perform normal inspection tasks. At this time, the alternative UAV can be used as the target alternative UAV that needs to undergo anti-interference testing.

[0111] S211 is to conduct an anti-interference test on a candidate target UAV under a test parameter, controlling the candidate target UAV to hover in the center of the test area after the test parameter setting is completed.

[0112] Specifically, for the anti-interference test of each target candidate UAV under each test parameter, the target candidate UAV can be allowed to fly into the test power frequency magnetic field or test power frequency electric field generated according to the set test parameters in the test area by importing the route into the target candidate UAV. At the same time, the target candidate UAV can be made to hover stably after flying to the center of the test area to simulate the influence of the electromagnetic field in the substation on the target candidate UAV during the inspection process in the substation.

[0113] S212: Obtain the test working status of the target candidate UAV.

[0114] Among them, the test working status includes testing the minimum number of satellites, testing the compass status, testing the real-time dynamic signal and testing the positioning status.

[0115] In this embodiment, the test working state can be specifically understood as the working state of the candidate UAV when it is hovering in the center of the test area and is affected by the electromagnetic field in the test area.

[0116] Specifically, during each anti-interference test for each target candidate UAV, the minimum number of test satellites, test compass status, test real-time dynamic signal and test positioning status of the corresponding device in the target candidate UAV are obtained after the UAV hovers in the center of the test area, so as to clarify whether the target candidate UAV can work normally under the influence of the electromagnetic field in the test area.

[0117] S213. Determine an anti-interference test result of the target candidate UAV under the test parameters according to the test working status and preset working conditions.

[0118] It should be made clear that the preset working conditions used to determine whether the drone can operate normally in the absence of interference and in the presence of interference should be the same to ensure the consistency of anti-interference test standards and improve test accuracy.

[0119] Specifically, by determining whether the target candidate drone's test operating status meets the preset operating conditions, the anti-interference test result of the target candidate drone under the corresponding test parameters can be determined. When the test operating status meets the preset operating conditions, it can be considered that the target candidate drone can normally perform the inspection task under the electromagnetic field corresponding to the test parameters. In this case, the anti-interference test result corresponding to the test parameters is determined to be successful. When the test operating status does not meet the preset operating conditions, it can be considered that the target candidate drone cannot normally perform the inspection task under the electromagnetic field corresponding to the test parameters, and may cause damage to the substation equipment along its inspection route. In this case, the anti-interference test result corresponding to the test parameters is determined to be a failure.

[0120] That is, if the minimum number of test satellites is greater than the preset number of satellites, the test compass status is normal, the test real-time dynamic signal status is normal, and the test positioning status is normal, the anti-interference test result is determined to be successful; otherwise, the anti-interference test result is determined to be a failure.

[0121] S214. For a candidate UAV, determine at least one power frequency magnetic field strength and at least one power frequency electric field strength corresponding to each anti-interference test result indicating a successful anti-interference test result.

[0122] Specifically, since multiple anti-interference tests are conducted on a candidate drone and multiple anti-interference test results are obtained, the test parameters corresponding to successful anti-interference test results are determined. Furthermore, based on the test parameters, the corresponding power frequency electric field strength and power frequency magnetic field strength in the substation are determined for each successful anti-interference test result. It should be clarified that each successful anti-interference test result must include at least one test under a magnetic field and one test under an electric field.

[0123] S215. Determine the maximum value among the power frequency magnetic field intensities as the safe power frequency magnetic field intensity corresponding to the candidate UAV.

[0124] S216. Determine the maximum value among the power frequency electric field intensities as the safe power frequency electric field intensity corresponding to the candidate UAV.

[0125] S217. Determine the maximum power frequency magnetic field intensity and the maximum power frequency electric field intensity corresponding to the substation to be inspected based on the power frequency electromagnetic field intensity set.

[0126] Specifically, the maximum power frequency magnetic field strength among the power frequency magnetic field strengths in the power frequency electromagnetic field strength set is determined as the maximum power frequency magnetic field strength corresponding to the substation to be inspected; the maximum power frequency electric field strength among the power frequency electric field strengths in the power frequency electromagnetic field strength set is determined as the maximum power frequency electric field strength corresponding to the substation to be inspected.

[0127] S218. Determine as a target drone a candidate UAV whose safe power frequency magnetic field strength is greater than or equal to the maximum power frequency magnetic field strength and whose safe power frequency electric field strength is greater than or equal to the maximum power frequency electric field strength.

[0128] Specifically, when the safety power frequency magnetic field strength is greater than or equal to the maximum power frequency magnetic field strength, and the safety power frequency electric field strength is greater than or equal to the maximum power frequency electric field strength, it can be considered that the alternative drone corresponding to the above parameters can still perform the inspection task normally even in the place with the largest electromagnetic interference in the substation to be inspected. At this time, the alternative drone corresponding to the above parameters is determined as the target drone that can be used to inspect the substation to be inspected.

[0129] S219. Use the target drone to inspect the substation to be inspected.

[0130] Optionally, embodiments of the present invention also provide another method for inspecting the substation to be inspected by selecting a target drone from candidate drones based on a set of safe power frequency magnetic field intensities, safe power frequency electric field intensities, and power frequency electromagnetic field intensities. The maximum power frequency electric field intensities and maximum power frequency magnetic field intensities for different inspection areas within the substation to be inspected can be determined based on the power frequency electromagnetic field intensities. For each inspection area, candidate drones are identified whose safe power frequency magnetic field intensities are greater than or equal to the maximum power frequency magnetic field intensities and whose safe power frequency electric field intensities are greater than or equal to the maximum power frequency electric field intensities. These candidate drones are then designated as target drones for inspecting the inspection area. After determining target drones for all inspection areas, the corresponding inspection areas within the substation to be inspected are inspected using the selected target drones. When planning the route, it is considered that the target drone's flight path should not include inspection areas with intensities greater than its safe power frequency magnetic field intensities and safe power frequency electric field intensities.

[0131] The technical solution of this embodiment obtains the power frequency electric field strength and power frequency magnetic field strength corresponding to different preset measuring point positions in the substation to be inspected, and sets them as test parameters in the test area in sequence, so that each alternative drone can determine the corresponding test working state for each different test parameter in the test area, and then determine the anti-interference test result of the alternative drone based on the test working state, and determine the safe power frequency electric field strength and safe power frequency magnetic field strength corresponding to each alternative drone based on the anti-interference test result, and determine the alternative drone whose safe power frequency magnetic field strength is greater than or equal to the maximum power frequency magnetic field strength and whose safe power frequency electric field strength is greater than or equal to the maximum power frequency electric field strength as the target drone. By selecting a drone whose anti-interference capability meets the requirements of the substation to be inspected, the substation is inspected without human participation, and the drone is not likely to fall due to electromagnetic interference, thereby affecting the safety of the substation equipment. While ensuring the safe operation of the substation equipment, the inspection efficiency of the substation is improved.

[0132] Example 3

[0133] Figure 3 This is a structural diagram of a substation inspection device provided in the third embodiment of the present invention. The substation inspection device includes: a strength set acquisition module 31, an anti-interference test module 32, a security strength determination module 33 and a substation inspection module 34.

[0134] Among them, the strength set acquisition module 31 is used to obtain the power frequency electromagnetic field strength set corresponding to the substation to be inspected; the anti-interference test module 32 is used to adjust the test parameters in the test area according to the power frequency electromagnetic field strength set, and perform anti-interference tests on at least three alternative drones according to each test parameter; the safety strength determination module 33 is used to determine the safe power frequency magnetic field strength and safe power frequency electric field strength corresponding to each alternative drone according to each anti-interference test result corresponding to each alternative drone; the substation inspection module 34 is used to determine the target drone from each alternative drone based on each safe power frequency magnetic field strength, each safe power frequency electric field strength and power frequency electromagnetic field strength set, so as to inspect the substation to be inspected through the target drone.

[0135] The technical solution of this embodiment solves the problem that substations cannot be inspected by drones due to the complex electromagnetic environment inside them. Based on the electromagnetic field strength of the substation to be inspected, a drone with anti-interference performance that meets its requirements is selected, and the drone is used to inspect the substation. This improves the inspection efficiency of the substation while ensuring the safe operation of the substation equipment.

[0136] Furthermore, the intensity set acquisition module 31 includes:

[0137] The intensity acquisition unit is used to obtain the power frequency electric field intensity and power frequency magnetic field intensity corresponding to different preset measuring points in the substation to be inspected;

[0138] The intensity set determination unit is used to determine the set of each power frequency electric field strength and each power frequency magnetic field strength as a power frequency electromagnetic field strength set; wherein the preset measuring point location is the electromagnetic sensitive location in the substation to be inspected, including at least the main transformer, reactor and substation inspection walkway.

[0139] Furthermore, the anti-interference test module 32 includes:

[0140] A parameter setting unit is used to set the test parameters in the test area to the parameter values ​​corresponding to each power frequency magnetic field strength or each power frequency electric field strength in the power frequency electromagnetic field strength set in sequence during the anti-interference test of an alternative UAV; determine the test power frequency magnetic field strength or test power frequency electric field strength corresponding to the test area under the test parameters, and determine the field strength deviation between the test power frequency magnetic field strength and the corresponding power frequency magnetic field strength, or between the test power frequency electric field strength and the corresponding power frequency electric field strength; if the field strength deviation is within a preset field strength deviation threshold, determine that the test parameter setting is completed; otherwise, adjust the test parameters corresponding to the field strength deviation, and return to the step of determining the test power frequency magnetic field strength or test power frequency electric field corresponding to the test area under the test parameters, and determining the field strength deviation between the test power frequency magnetic field strength and the corresponding power frequency magnetic field strength, or between the test power frequency electric field strength and the corresponding power frequency electric field strength.

[0141] The anti-interference test unit is used to perform anti-interference testing on a target candidate UAV under a test parameter, control the target candidate UAV to hover in the center of the test area after the test parameter setting is completed; obtain the test working status of the target candidate UAV; determine the anti-interference test result of the target candidate UAV under the test parameter according to the test working status and preset working conditions; wherein the test working status includes the minimum number of test satellites, the test compass status, the test real-time dynamic signal and the test positioning status.

[0142] Furthermore, the anti-interference test result of the target candidate UAV under the test parameters is determined according to the test working status and preset working conditions, including: if the minimum number of test satellites is greater than the preset number of satellites, the test compass status is normal, the test real-time dynamic signal status is normal and the test positioning status is normal, then the anti-interference test result is determined to be successful; otherwise, the anti-interference test result is determined to be a failure.

[0143] Furthermore, the security strength determination module 33 includes:

[0144] A field strength determination unit is configured to determine, for a candidate UAV, at least one power frequency magnetic field strength and at least one power frequency electric field strength corresponding to each anti-interference test result indicating a successful anti-interference test result;

[0145] A safety magnetic field determination unit, configured to determine the maximum value among the power frequency magnetic field intensities as the safety power frequency magnetic field intensity corresponding to the candidate UAV;

[0146] The safety electric field determination unit is used to determine the maximum value of each power frequency electric field strength as the safety power frequency electric field strength corresponding to the candidate UAV.

[0147] Furthermore, the substation inspection module 34 includes:

[0148] A maximum field strength determination unit is used to determine the maximum power frequency magnetic field strength and the maximum power frequency electric field strength corresponding to the substation to be inspected based on the power frequency electromagnetic field strength set;

[0149] a target UAV determination unit, configured to determine as a target UAV a candidate UAV whose safe power frequency magnetic field strength is greater than or equal to the maximum power frequency magnetic field strength and whose safe power frequency electric field strength is greater than or equal to the maximum power frequency electric field strength;

[0150] The substation inspection unit is used to inspect the substation to be inspected using a target drone.

[0151] Furthermore, the substation inspection device further includes:

[0152] The test drone selection module is used to obtain the initial working status of the alternative drone; determine the test preparation status of the alternative drone based on the initial working status and preset working conditions; determine the alternative drone with the test preparation status of ready as the target alternative drone that needs to undergo anti-interference testing; among which, the initial working status includes the minimum number of initial satellites, the initial compass status, the initial real-time dynamic signal status and the initial positioning status.

[0153] Furthermore, the test readiness state of the candidate UAV is determined based on the initial working state and the preset working conditions, including:

[0154] If the minimum number of initial satellites is greater than the preset number of satellites, the initial compass state is normal, the initial real-time dynamic signal state is normal, and the initial positioning state is normal, the test preparation state is determined to be preparation completed.

[0155] The substation inspection device provided by the embodiment of the present invention can execute the substation inspection method provided by any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0156] Example 4

[0157] Figure 4A schematic structural diagram of a substation inspection device provided for embodiment 4 of the present invention. The substation inspection device 40 may be an electronic device, 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 may 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 claimed herein.

[0158] like Figure 4 As shown, the substation inspection device 40 includes at least one processor 41 and a memory, such as a read-only memory (ROM) 42 and a random access memory (RAM) 43, that is communicatively connected to the at least one processor 41. The memory stores a computer program that can be executed by the at least one processor. The processor 41 can perform various appropriate actions and processes based on the computer program stored in the read-only memory (ROM) 42 or loaded from the storage unit 48 into the random access memory (RAM) 43. Various programs and data required for the operation of the substation inspection device 40 can also be stored in the RAM 43. The processor 41, ROM 42, and RAM 43 are interconnected via a bus 44. An input / output (I / O) interface 45 is also connected to the bus 44.

[0159] Multiple components in the substation inspection device 40 are connected to the I / O interface 45, including an input unit 46, such as a keyboard and mouse; an output unit 47, such as various types of displays and speakers; a storage unit 48, such as a magnetic disk and optical disk; and a communication unit 49, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 49 allows the substation inspection device 40 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0160] Processor 41 can be any general-purpose and / or specialized processing component with processing and computing capabilities. Some examples of processor 41 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 41 executes the various methods and processes described above, such as the substation inspection method.

[0161] In some embodiments, the substation inspection method can be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 48. In some embodiments, part or all of the computer program can be loaded and / or installed on the substation inspection device 40 via ROM 42 and / or communication unit 49. When the computer program is loaded into RAM 43 and executed by processor 41, one or more steps of the substation inspection method described above can be performed. Alternatively, in other embodiments, processor 41 can be configured to execute the substation inspection method in any other appropriate manner (e.g., via firmware).

[0162] Various embodiments of the systems and techniques described 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), system-on-chip systems (SOCs), programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes 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.

[0163] 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, such that when the computer program is executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer program may be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0164] In the context of the present invention, computer-readable storage media can be tangible media that can contain or store a computer program for use with an instruction execution system, device or equipment or used in combination with an instruction execution system, device or equipment. Computer-readable storage media can include but are not limited to electronic, magnetic, optical, electromagnetic, infrared or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, computer-readable storage media can be machine-readable signal media. More specific examples of machine-readable storage media can include electrical connections based on one or more lines, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0165] To provide interaction with a user, the systems and techniques described herein can 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 pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0166] The systems and techniques described herein can be implemented in a computing system that includes back-end 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 front-end components (e.g., a user computer with a graphical user interface or 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 back-end components, middleware components, or front-end components. The components of the system can 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.

[0167] A computing system may include clients and servers. The clients and servers are typically remote from each other and typically interact via a communication network. This client-server relationship arises through computer programs running on the respective computers, creating a client-server relationship. The server may be a cloud server, also known as a cloud computing server or cloud host. This server is a hosting product within the cloud computing service ecosystem that addresses the management difficulties and limited scalability of traditional physical hosting and VPS services.

[0168] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in the present invention can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved. This is not limited herein.

[0169] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. A substation inspection method, characterized in that: include: Obtain the power frequency electromagnetic field strength set corresponding to the substation to be inspected; Adjusting test parameters within the test area according to the power frequency electromagnetic field strength set, and performing anti-interference tests on at least three candidate drones according to each of the test parameters; Determine the safe power frequency magnetic field strength and safe power frequency electric field strength corresponding to each candidate drone according to the anti-interference test results corresponding to each candidate drone; Determining a target drone from the candidate drones based on the safety power frequency magnetic field intensities, the safety power frequency electric field intensities, and the power frequency electromagnetic field intensities, so as to inspect the substation to be inspected by the target drone; The step of determining a target drone from among the candidate drones based on the safety power frequency magnetic field intensities, the safety power frequency electric field intensities, and the power frequency electromagnetic field intensities includes: Determine the maximum power frequency magnetic field intensity and the maximum power frequency electric field intensity corresponding to the substation to be inspected according to the power frequency electromagnetic field intensity set; A candidate UAV whose safe power frequency magnetic field strength is greater than or equal to the maximum power frequency magnetic field strength and whose safe power frequency electric field strength is greater than or equal to the maximum power frequency electric field strength is determined as a target UAV.

2. The method according to claim 1, characterized in that The step of obtaining a power frequency electromagnetic field strength set corresponding to the substation to be inspected includes: Obtain the power frequency electric field strength and power frequency magnetic field strength corresponding to different preset measuring points in the substation to be inspected; Determine the set of each of the power frequency electric field intensities and each of the power frequency magnetic field intensities as a power frequency electromagnetic field intensity set; The preset measuring point locations are electromagnetically sensitive locations in the substation to be inspected, including at least a main transformer, a reactor and a substation inspection walkway.

3. The method according to claim 2, characterized in that The adjusting the test parameters in the test area according to the power frequency electromagnetic field strength set includes: During an anti-interference test of an alternative UAV, the test parameters in the test area are sequentially set to parameter values ​​corresponding to each power frequency magnetic field strength or each power frequency electric field strength in the power frequency electromagnetic field strength set; Determine the test power frequency magnetic field intensity or the test power frequency electric field intensity corresponding to the test area under the test parameters, and determine the field intensity deviation between the test power frequency magnetic field intensity and the corresponding power frequency magnetic field intensity, or between the test power frequency electric field intensity and the corresponding power frequency electric field intensity; If the field intensity deviation is within the preset field intensity deviation threshold, determining that the test parameter setting is completed; Otherwise, adjust the test parameters corresponding to the field strength deviation, and return to the step of determining the test power frequency magnetic field strength or test power frequency electric field corresponding to the test area under the test parameters, and determining the field strength deviation between the test power frequency magnetic field strength and the corresponding power frequency magnetic field strength, or between the test power frequency electric field strength and the corresponding power frequency electric field strength.

4. The method according to claim 1, wherein Before performing the anti-interference test on at least three candidate drones according to the test parameters, the method further includes: Obtaining the initial working state of the candidate UAV; Determining a test readiness state of the candidate UAV according to the initial working state and preset working conditions; Determine the candidate UAV whose test preparation status is ready as the target candidate UAV that needs to undergo anti-interference testing; The initial working state includes the minimum number of initial satellites, the initial compass state, the initial real-time dynamic signal state and the initial positioning state.

5. The method according to claim 4, characterized in that The determining of the test preparation state of the candidate UAV according to the initial working state and the preset working conditions includes: If the minimum initial number of satellites is greater than the preset number of satellites, the initial compass state is normal, the initial real-time dynamic signal state is normal, and the initial positioning state is normal, the test preparation state is determined to be preparation completed.

6. The method according to claim 4, characterized in that The anti-interference test is performed on at least three candidate drones according to the test parameters, including: An anti-interference test is conducted on a candidate target UAV under a test parameter. Control the target candidate UAV to hover in the center of the test area after the test parameters are set; Obtaining the test working status of the target candidate UAV; Determine an anti-interference test result of the target candidate UAV under the test parameters according to the test working state and the preset working conditions; The test working status includes testing the minimum number of satellites, testing the compass status, testing the real-time dynamic signal and testing the positioning status.

7. The method according to claim 6, characterized in that The step of determining the anti-interference test result of the target candidate UAV under the test parameters according to the test working state and the preset working conditions includes: If the minimum number of test satellites is greater than the preset number of satellites, the test compass status is normal, the test real-time dynamic signal status is normal, and the test positioning status is normal, then the anti-interference test result is determined to be successful; Otherwise, the anti-interference test result is determined to be a failure.

8. The method according to claim 1, characterized in that The step of determining the safe power frequency magnetic field strength and the safe power frequency electric field strength corresponding to each candidate drone according to each anti-interference test result corresponding to each candidate drone includes: For one candidate UAV, determining at least one power frequency magnetic field strength and at least one power frequency electric field strength corresponding to each anti-interference test result indicating a successful anti-interference test result; Determine the maximum value among the power frequency magnetic field intensities as the safe power frequency magnetic field intensity corresponding to the candidate drone; The maximum value among the power frequency electric field strengths is determined as the safe power frequency electric field strength corresponding to the candidate UAV.

9. A substation inspection device, characterized in that: include: The intensity set acquisition module is used to obtain the power frequency electromagnetic field intensity set corresponding to the substation to be inspected; an anti-interference test module, configured to adjust test parameters within a test area according to the power frequency electromagnetic field strength set, and perform anti-interference tests on at least three candidate drones according to the test parameters; A safety strength determination module, configured to determine the safety power frequency magnetic field strength and the safety power frequency electric field strength corresponding to each candidate UAV according to the anti-interference test results corresponding to each candidate UAV; a substation inspection module, configured to determine a target drone from among the candidate drones based on the respective safe power frequency magnetic field intensities, the respective safe power frequency electric field intensities, and the set of power frequency electromagnetic field intensities, so as to inspect the substation to be inspected by the target drone; The substation inspection module includes: a maximum field strength determination unit, configured to determine the maximum power frequency magnetic field strength and the maximum power frequency electric field strength corresponding to the substation to be inspected according to the power frequency electromagnetic field strength set; a target UAV determining unit, configured to determine, as a target UAV, a candidate UAV whose safety power frequency magnetic field strength is greater than or equal to the maximum power frequency magnetic field strength and whose safety power frequency electric field strength is greater than or equal to the maximum power frequency electric field strength; The substation inspection unit is used to inspect the substation to be inspected by using the target UAV.

10. A substation inspection device, characterized in that: The substation inspection equipment includes: 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. The computer program is executed by the at least one processor so that the at least one processor can execute the substation inspection method according to any one of claims 1 to 8.

11. 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 substation inspection method according to any one of claims 1 to 8 when executed.

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