Unmanned aerial vehicle-based automatic test electricity method, device, equipment and storage medium

Abstract

The embodiment of the application discloses a kind of based on unmanned plane's automatic test electricity method, device, equipment and storage medium, it is related to computer technology field, the method includes: according to test electricity equipment identification determines target test electricity equipment, and obtains the target test electricity path of target test electricity equipment from path database, test electricity equipment identification and target test electricity path are sent to unmanned plane;Receiving the electrical quantity data set sent by unmanned plane, and the electrical quantity data set is obtained by continuous collection to the electrical quantity of target test electricity equipment according to test electricity equipment identification and target test electricity path by unmanned plane;Characteristic analysis is carried out to electrical quantity data set, and the test electricity result of target test electricity equipment is obtained.The technical scheme provided in the embodiment of the application, when unmanned plane is based on target test electricity path and carries out automatic data collection to target test electricity equipment, the data accuracy of electrical quantity data set obtained is high, and under the premise of ensuring test electricity safety, test electricity efficiency can be improved.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of computer technology, and particularly relate to a method and device for automatically checking electricity based on a UAV, equipment and a storage medium. BACKGROUND

[0002] When performing line maintenance on the equipment of a substation, the equipment needs to be checked for electricity first, and grounding can only be performed after it is verified that the equipment has no voltage. Under the premise of ensuring the safety of workers, relevant maintenance work can be performed.

[0003] The traditional method for checking electricity is for maintenance personnel to climb a pole and use an electricity checker to check the electricity of the equipment to be checked at a safe distance. After it is determined that the line has no voltage, maintenance work can be performed. This traditional method for checking electricity is not only inefficient, but also has a high risk. In existing solutions, an electricity checking device is integrated on a UAV to check the electricity of equipment, which can ensure the safety of maintenance personnel. However, there is no automatic electricity checking specification based on a UAV, which leads to low efficiency and low accuracy when checking electricity using a UAV. SUMMARY

[0004] Embodiments of the present application provide a method and device for automatically checking electricity based on a UAV, equipment and a storage medium, which can improve existing solutions for checking the electricity of equipment to be checked.

[0005] In a first aspect, embodiments of the present application provide a method based on a UAV, comprising:

[0006] An operation instruction is obtained, the operation instruction including an electricity checking equipment identifier. A target electricity checking equipment is determined according to the electricity checking equipment identifier, and a target electricity checking path of the target electricity checking equipment is obtained from a path database. The electricity checking equipment identifier and the target electricity checking path are sent to a UAV. Electrical quantity data sets sent by the UAV are received, the electrical quantity data sets being obtained by the UAV continuously collecting electrical quantities of the target electricity checking equipment according to the electricity checking equipment identifier and the target electricity checking path. Feature analysis is performed on the electrical quantity data sets to obtain an electricity checking result of the target electricity checking equipment.

[0007] Optionally, before the electricity checking equipment identifier and the target electricity checking path are sent to the UAV, the method further comprises:

[0008] obtaining a set of associated devices of the target electrostatic detection device, the set of associated devices being a set of neighboring devices of the target electrostatic detection device within a preset range; obtaining a device state of each neighboring device in the set of associated devices, determining a device in a starting state in the neighboring devices as a candidate electrostatic detection device; obtaining an actual electrical quantity value and a standard electrical quantity value of the candidate electrostatic detection device in the starting state; and verifying performance of the unmanned aerial vehicle in the current state according to a relationship between the actual electrical quantity value and the standard electrical quantity value.

[0009] Optionally, the obtaining of the standard electrical quantity value of the candidate electrostatic detection device in the starting state comprises:

[0010] determining an electrostatic detection path for each of the electrostatic detection devices in the starting state, obtaining a corresponding standard electrical quantity value of the unmanned aerial vehicle according to each electrostatic detection path at a historical time, and storing each of the standard electrical quantity values to an electrical quantity database; and obtaining the standard electrical quantity value of the candidate electrostatic detection device in the starting state from the electrical quantity database according to the candidate electrostatic detection device identifier.

[0011] Correspondingly, the obtaining of the actual electrical quantity value of the candidate electrostatic detection device in the starting state comprises:

[0012] obtaining a candidate electrostatic detection path of the candidate electrostatic detection device from the path database according to the candidate electrostatic detection device identifier; and controlling the unmanned aerial vehicle to collect the actual electrical quantity value of the candidate electrostatic detection device based on the candidate electrostatic detection path in the current state;

[0013] Optionally, the verifying of the performance of the unmanned aerial vehicle in the current state according to the relationship between the actual electrical quantity value and the standard electrical quantity value comprises:

[0014] when the actual electrical quantity value and the standard electrical quantity value satisfy a first preset relationship, determining that the performance of the unmanned aerial vehicle in the current state is good.

[0015] Optionally, the target electrostatic detection path comprises a target starting point coordinate; and before receiving the electrical quantity data set sent by the unmanned aerial vehicle, the method further comprises:

[0016] obtaining a real-time starting point coordinate when the unmanned aerial vehicle travels to the target starting point coordinate; and when the target starting point coordinate and the real-time starting point coordinate satisfy a second preset relationship, sending a data collection instruction to the unmanned aerial vehicle to enable the unmanned aerial vehicle to collect the electrical quantity of the target electrostatic detection device according to the data collection instruction.

[0017] Optionally, the target electrostatic detection path further comprises a target ending point coordinate; and after the unmanned aerial vehicle collects the electrical quantity of the target electrostatic detection device according to the data collection instruction, the method further comprises:

[0018] acquire a real-time end point coordinate when the unmanned aerial vehicle travels to the target end point coordinate; and send a data transmission instruction to the unmanned aerial vehicle to make the unmanned aerial vehicle transmit the collected electrical quantity data set according to the data transmission instruction when the target end point coordinate and the real-time end point coordinate satisfy a third preset relationship.

[0019] Optionally, the feature analysis on the electrical quantity data set obtains an electrical test result of the target electrical test device, and the feature analysis on the electrical quantity data set includes:

[0020] If the data feature in the electrical quantity data set presents a decreasing trend, it is determined that the electrical test result of the target electrical test device is no electricity; and if the data feature in the electrical quantity data set presents an increasing trend, it is determined that the electrical test result of the target electrical test device is electrified.

[0021] In a second aspect, an embodiment of the present application provides an automatic electrical test device based on an unmanned aerial vehicle, and the device includes:

[0022] an operation instruction acquisition module configured to acquire an operation instruction, the operation instruction including an electrical test device identifier;

[0023] an electrical test path acquisition module configured to determine a target electrical test device according to the electrical test device identifier, acquire a target electrical test path of the target electrical test device from a path database, and send the electrical test device identifier and the target electrical test path to an unmanned aerial vehicle;

[0024] a data receiving module configured to receive an electrical quantity data set transmitted by the unmanned aerial vehicle, the electrical quantity data set being obtained by the unmanned aerial vehicle continuously collecting electrical quantity of the target electrical test device according to the electrical test device identifier and the target electrical test path;

[0025] an electrical test result acquisition module configured to perform feature analysis on the electrical quantity data set to obtain an electrical test result of the target electrical test device.

[0026] In a third aspect, an embodiment of the present application further provides an electronic device, and the electronic device includes:

[0027] at least one processor; and

[0028] a memory connected with the at least one processor in communication; wherein

[0029] 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 to enable the at least one processor to execute the automatic electrical test method based on an unmanned aerial vehicle according to any one of the embodiments of the present application.

[0030] In a fourth aspect, the embodiments of the present application further provide a computer readable storage medium, which stores computer instructions for causing a processor to implement the unmanned aerial vehicle-based automatic electrical test method according to any of the embodiments of the present application.

[0031] The technical solution of the unmanned aerial vehicle-based automatic electrical test method according to the embodiments of the present application comprises an electrical test device identifier in the operation instruction, obtains a target electrical test path of the target electrical test device from the path database after determining the target electrical test device according to the electrical test device identifier, and the current target electrical test path is the optimal path for the unmanned aerial vehicle to perform electrical test on the electrical test device. The unmanned aerial vehicle sends continuous high-frequency signals to the target electrical test device on the target electrical test path to obtain an electrical quantity data set when the target electrical test path is traveled. The electrical quantity data set sent by the unmanned aerial vehicle is received, and the electrical test result of the target electrical test device is obtained after feature analysis of the electrical quantity data set. The technical solution provided by the embodiments of the present application has high data accuracy of the electrical quantity data set obtained by the unmanned aerial vehicle when performing automatic data collection on the target electrical test device based on the target electrical test path, and can improve the electrical test efficiency while ensuring electrical test safety.

[0032] It should be understood that the content described in this part is not intended to identify key or important features of the embodiments of the present application, nor is it used to limit the scope of the present application. Other features of the embodiments of the present application will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0033] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some of the embodiments of the present application, and therefore should not be considered as limiting the scope. For those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0034] Figure 1 is a flowchart of the unmanned aerial vehicle-based automatic electrical test method provided by the embodiments of the present application;

[0035] Figure 2 is another flowchart of the unmanned aerial vehicle-based automatic electrical test method provided by the embodiments of the present application;

[0036] Figure 3 is a structural diagram of the unmanned aerial vehicle-based automatic electrical test device provided by the embodiments of the present application;

[0037] Figure 4 is a structural diagram of the electronic device provided by the embodiments of the present application. DETAILED DESCRIPTION

[0038] In the following, the technical solutions in the embodiments of the present application will be described clearly and completely with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work should fall into the protection scope of the present application.

[0039] The present application will be further described below in conjunction with the drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the present application, but not to limit the present application. In addition, it should be noted that, for the convenience of description, only the parts related to the present application are shown in the drawings, but not all the structures.

[0040] Figure 1 A flowchart of an unmanned aerial vehicle-based automatic electrical test method provided by an embodiment of the present application is shown in FIG. 1. The embodiment can be applied to the case where a remote control unmanned aerial vehicle tests the electrical equipment to be tested. The method can be executed by an unmanned aerial vehicle-based automatic electrical test device, which can be realized in the form of hardware and / or software, and can be configured in a computer device such as a server. Referring to FIG. 1, the method can specifically include the following steps: Figure 1

[0041] S110, obtaining an operation instruction.

[0042] The operation instruction is an instruction for controlling the unmanned aerial vehicle to test the electrical equipment. The current target equipment can be a related electrical equipment in a substation. The number of general electrical equipment is multiple, and therefore, the electrical equipment identifier is included in the operation instruction to indicate which electrical equipment needs to be tested by the current operation instruction.

[0043] Exemplarily, the current electrical equipment identifier can be the double code of the target electrical equipment. The double code refers to the Chinese name and number of the electrical equipment determined according to the relevant provisions in the power system. The Chinese name refers to the equipment name, and the number can include numbers and letters, which refer to the code of the corresponding equipment, including voltage level, equipment category, and bus information, etc.

[0044] The purpose of testing the electrical equipment is to further perform grounding operation on the electrical equipment after ensuring that the current electrical equipment is in a no-electricity state, so as to maintain or repair the electrical equipment under the premise of ensuring the safety of the staff.

[0045] ​The operation instruction can be remotely sent to the current dispatching mechanism by the ground control station based on the communication module, or directly sent in the server by the current dispatching mechanism. The current operation instruction can be a voice, text or related code, so as to identify the electric power testing equipment identifier contained in the current operation instruction by performing semantic analysis on the operation instruction. The specific analysis method of the operation instruction is not limited here.

[0046] Optionally, when the unmanned aerial vehicle is used to test the electric power of the target equipment, if the number of unmanned aerial vehicles is two or more, the current operation instruction can also contain the unmanned aerial vehicle identifier, so as to control the target unmanned aerial vehicle to collect relevant data of the target electric power testing equipment in the subsequent step based on the unmanned aerial vehicle identifier.

[0047] S120, determining the target electric power testing equipment according to the electric power testing equipment identifier, and obtaining the target electric power testing path of the target electric power testing equipment from the path database, and sending the electric power testing equipment identifier and the target electric power testing path to the unmanned aerial vehicle.

[0048] The path database contains the automatic electric power testing path of the unmanned aerial vehicle corresponding to each electric power testing equipment in the transformer substation. The current electric power testing path can be the driving path when the unmanned aerial vehicle collects data of the target electric power testing equipment after reaching the periphery of the target electric power testing equipment. The current driving path is the best driving path corresponding to each electric power testing equipment.

[0049] Optionally, the method for determining the electric power testing path corresponding to each electric power testing equipment can follow the following principles: 1. Each electric power testing path should be a driving path of the unmanned aerial vehicle in the periphery of the electric power testing equipment. The current driving path can be represented by S[(x0, y0, z0), (x1, y1, z1)], wherein (x0, y0, z0) represents the starting point coordinates of the driving path, and (x1, y1, z1) represents the end point coordinates of the driving path; 2. When determining the electric power testing path of the current electric power testing equipment, an effective distance should be maintained with the remaining electric power testing equipment in the periphery to avoid interference of the data of the target electric power testing equipment caused by too close distance to the surrounding electric power testing equipment; 3. In order to avoid line-to-line short circuit during the electric power testing process, the edge phase of the three-phase line should be gradually approached from the outside, and the middle phase should be gradually approached from the top.

[0050] Further, after determining the electric power testing path corresponding to each electric power testing equipment, the corresponding electric power testing equipment identifier is marked for each electric power testing path, and all obtained electric power testing paths are stored in the path database. In this way, the target electric power testing path corresponding to the target electric power testing equipment can be quickly obtained from the electric power testing database based on the obtained operation instruction, and the server response time is saved.

[0051] Optionally, after determining the electric test path corresponding to each electric test device, the safety of the electric test path is verified, that is, whether the terminal coordinate position (x1, y1, z1) of the electric test path and the corresponding electric test device meet the minimum distance. The current minimum distance includes the minimum distance between the current electric test device and the surrounding electrical equipment in the live state, and the minimum distance between the current electric test device and the surrounding de-energized equipment. The purpose of setting the minimum distance is to prevent the current electric test device from being damaged by the surrounding electrical equipment in the live state and the surrounding de-energized equipment.

[0052] It should be noted that the "electrical equipment" and "electric test device" referred to in the embodiments of the present scheme indicate the same type of equipment. When the "electrical equipment" needs to be electrically tested, it is referred to as an "electric test device".

[0053] The electric test device identifier and the target electric test path are sent to the unmanned aerial vehicle, so that the unmanned aerial vehicle can find the target electric test device among the multiple electrical equipment in the substation according to the electric test device identifier, and further fly around the target electric test device according to the target electric test path to collect relevant electrical quantity data.

[0054] S130, receiving the electrical quantity data set sent by the unmanned aerial vehicle.

[0055] The electrical quantity data set is obtained by the unmanned aerial vehicle continuously collecting the electrical quantity of the target electric test device according to the electric test device identifier and the target electric test path.

[0056] The electrical quantity data set indicates that a continuous high-frequency signal is emitted when the unmanned aerial vehicle collects the electrical quantity according to the electric test path, so that the collected electrical quantity data is a continuous electrical quantity data set. When collecting the electrical quantity data set, the collection process is an automatic collection of the unmanned aerial vehicle according to the target electric test path.

[0057] The electrical quantity data can be the voltage value, current value, frequency, impedance, capacitance, electric field, magnetic field, and partial discharge of the target electric test data. The specific electrical quantity data collected by the unmanned aerial vehicle is not limited to part or all of the above examples, and is subject to the needs of the developer and the functions of the data collection device integrated on the unmanned aerial vehicle.

[0058] After the unmanned aerial vehicle travels to the terminal coordinate position of the target electric test path, it indicates that the electrical quantity data collection work is completed, and the measured continuous electrical quantity data set is sent to the ground control station, so that the ground control station performs relevant data analysis operations based on the electrical quantity data set. In this process, the unmanned aerial vehicle is only responsible for the collection and storage and forwarding of electrical quantity data, and is not responsible for data processing. The advantage of this is that it can reduce the weight of the unmanned aerial vehicle during flight.

[0059] Optionally, the manner of sending the electrical quantity data set to the ground control station is not limited to sending after the UAV travels to the terminal coordinate position of the target inspection path, but can also be real-time sending of the collected electrical quantity data after the UAV travels to the starting coordinate position of the target path, so as to form the electrical quantity data set in the ground control station after traveling to the terminal coordinate position of the target inspection path.

[0060] S140, performing feature analysis on the electrical quantity data set to obtain the electrical inspection result of the target electrical inspection equipment.

[0061] After the ground control station receives the electrical quantity data set sent by the UAV, the manner of performing feature analysis can be that the operator calculates the change of each electrical quantity value in the electrical quantity data set, if the values all show a decreasing trend, the test result is no electricity, and if the values show an increasing trend, the test result is live.

[0062] The unmanned aerial vehicle-based automatic electrical inspection scheme provided by the embodiment is a non-contact electrical inspection method based on analyzing the spatial variation characteristics of related electrical quantity data in the electrical quantity data set.

[0063] Exemplarily, taking the electrical quantity data in the electrical quantity data set as the electric field, the magnetic field, and the partial discharge (sound wave) as an example, the manner of performing feature analysis on the electrical quantity data set can be as follows:

[0064]

[0065] In the above formula, E is the electric field strength, H is the magnetic induction intensity, dB is the sound wave intensity measured by the ultrasonic wave collector, and S is the current coordinate position of the UAV in space. It is easy to understand that when the UAV obtains the electrical quantity data according to the target inspection path, each electrical quantity data corresponds to the coordinate position of the current UAV in space.

[0066] If the obtained Δ1, Δ2, and Δ3 are continuously increasing values, it indicates that the target electrical inspection equipment is live, and if the Δ1, Δ2, and Δ3 are continuously decreasing values, it indicates that the target electrical inspection equipment is not live.

[0067] The manner of obtaining the coordinate position of the UAV in space can be that a three-dimensional space model of the substation is established by means of oblique photography or laser scanning. Then the obtained electrical inspection path corresponding to each electrical inspection equipment is calibrated on the three-dimensional space model of the substation, and a high-precision composite electrical quantity three-dimensional model of the substation can be obtained. Further, in the process of driving of the UAV according to the electrical inspection path, the current coordinate position corresponding to each electrical quantity data can be obtained on the high-precision composite electrical quantity three-dimensional model of the substation.

[0068] The unmanned aerial vehicle-based automatic electrical test method provided in the embodiments of the present application comprises an electrical test device identifier in an operation instruction, the target electrical test device is determined according to the electrical test device identifier, the target electrical test path of the target electrical test device is obtained from a path database, and the current target electrical test path is the optimal path for the unmanned aerial vehicle to perform electrical test on the electrical test device; the unmanned aerial vehicle sends continuous high-frequency signals to the target electrical test device on the target electrical test path to obtain an electrical quantity data set when the target electrical test path is traveled; the electrical quantity data set sent by the unmanned aerial vehicle is received, and the electrical test result of the target electrical test device can be obtained after feature analysis of the electrical quantity data set. In the technical solution provided in the embodiments of the present application, when the unmanned aerial vehicle performs automatic data collection on the target electrical test device based on the target electrical test path, the data accuracy of the electrical quantity data set obtained is high, and the electrical test efficiency can be improved under the premise of ensuring electrical test safety.

[0069] Figure 2 is another flowchart of the unmanned aerial vehicle-based automatic electrical test method provided in the embodiments of the present application, and the relationship between the present embodiment and the above-mentioned embodiments is a further refinement of the corresponding features of the above-mentioned embodiments.

[0070] As shown in Figure 2 , the method can comprise the following steps:

[0071] S210, obtaining an operation instruction.

[0072] The operation instruction comprises an electrical test device identifier.

[0073] S220, determining a target electrical test device according to the electrical test device identifier, and obtaining a target electrical test path of the target electrical test device from a path database.

[0074] S230, obtaining an associated device set of the target electrical test device, the associated device set being a set of adjacent devices of the target electrical test device within a preset range.

[0075] The associated device set of the target electrical test device can be obtained according to the electrical test identifier, and the purpose of setting the associated device set is to verify the accuracy of the electrical quantity data of the target electrical test device collected by the unmanned aerial vehicle subsequently based on the plurality of electrical test devices contained in the associated device set.

[0076] The above-mentioned associated device set comprises a plurality of adjacent devices of the target electrical test device within a preset range, and the current preset range can be understood as a range in which data collection on the target electrical test device will not cause data interference, and exemplary values can be 1 meter, 3 meters or 5 meters, etc.

[0077] The electrical equipment in the same voltage level within the preset range of the target electrical equipment is associated to form an associated equipment set. The purpose of this is to avoid the inaccuracy of the electrical quantity data collected by the unmanned aerial vehicle after the power-off of the equipment around the target electrical equipment, so that at least two electrical equipment around each electrical equipment needs to be associated.

[0078] S231, obtaining the equipment state of each adjacent equipment in the associated equipment set, and determining the equipment in the start state as the candidate electrical equipment.

[0079] The above-mentioned equipment state includes: start state, off state. In order to avoid the situation that the adjacent equipment of the target electrical equipment is powered off at the same time, and the working condition of the unmanned aerial vehicle cannot be detected, the ground control station combines the substation monitoring system to obtain the state of each adjacent equipment, excludes the equipment in the off state for maintenance, and determines the equipment in the start state as the candidate electrical equipment.

[0080] The purpose of determining the equipment in the start state as the candidate electrical equipment in the adjacent equipment is to control the unmanned aerial vehicle to collect the electrical quantity data of the candidate equipment under the condition that the candidate electrical equipment is in the live state, and to compare the real-time electrical quantity data collected at present and the standard electrical quantity data collected historically, so as to verify the performance of the unmanned aerial vehicle under the current state.

[0081] Optionally, when the two adjacent equipment in the associated equipment set are in the live state, the best candidate electrical equipment can be further obtained by formulating the optimal flight path for the unmanned aerial vehicle.

[0082] The optimal flight path should meet the following requirements: ① The optimal flight path contains the position path of the parking apron, the target electrical equipment and the candidate electrical equipment; ② Path closed loop detection: checking the closure of the starting point and the return point; ③ Flight path safety check: detecting whether there is other equipment blocking on the flight path, and maintaining a sufficient safety distance from all live equipment. Based on the current conditions, the best candidate electrical equipment is determined, and if all conditions are met, one is selected as the candidate electrical equipment.

[0083] After the flight path is formulated, the ground control station judges the operation condition, detects the rainfall, wind power and obtains the battery capacity and satellite signal strength of the unmanned aerial vehicle by using the information provided by the parking apron and the weather station. If the flight condition is not met, the unmanned aerial vehicle is temporarily suspended for data collection.

[0084] S232, obtaining the actual electrical quantity value and the standard electrical quantity value of the candidate electrical equipment in the start state.

[0085] In an optional manner, the standard electrical quantity value of the candidate electrostatic detection device in the starting state can be obtained in the following manner: determining an electrostatic detection path for each electrostatic detection device in the starting state, obtaining the corresponding standard electrical quantity value of the UAV at the historical time according to each electrostatic detection path, and storing each standard electrical quantity value to the electrical quantity database; and obtaining the standard electrical quantity value of the candidate electrostatic detection device in the starting state from the electrical quantity database according to the candidate electrostatic detection device identifier.

[0086] That is, the electrostatic detection path is determined in advance for each electrostatic detection device in the starting state, so that the UAV can obtain the corresponding electrical quantity value of each electrostatic detection device according to the electrostatic detection path, determine the current electrical quantity value as the standard electrical quantity value, and store the corresponding standard electrical quantity of all electrostatic detection devices in the electrical quantity database, so as to facilitate subsequent comparison with the obtained actual electrical quantity value.

[0087] Correspondingly, the actual electrical quantity value of the candidate electrostatic detection device in the starting state is obtained, including: obtaining the candidate electrostatic detection path of the candidate electrostatic detection device from the path database according to the candidate electrostatic detection device identifier; and controlling the UAV to collect the actual electrical quantity value of the candidate electrostatic detection device based on the candidate electrostatic detection path in the current state.

[0088] That is, the candidate electrostatic detection device performs the electrical quantity collection operation based on the candidate electrostatic detection path in the current state, and the obtained electrical quantity data is the actual electrical quantity value.

[0089] S233, verifying the performance of the UAV in the current state according to the relationship between the actual electrical quantity value and the standard electrical quantity value.

[0090] The manner of verifying the performance of the UAV in the current state according to the relationship between the actual electrical quantity value and the standard electrical quantity value can be that when the actual electrical quantity value and the standard electrical quantity value meet a first preset relationship, the performance of the UAV in the current state is good.

[0091] It can be understood that the data obtained by the UAV in the process of collecting the electrical quantity data of the electrostatic detection device according to the electrostatic detection path is a continuous electrical quantity data set, which is a group of discrete data. In order to facilitate intuitive comparison between the actual electrical quantity data set and the standard electrical quantity data set, the discrete electrical quantity data set can be curve-fitted to obtain the actual electrical quantity value and the standard electrical quantity value, respectively.

[0092] A non-contact electrical testing device is integrated on the drone, so that the drone can collect data on the electrical quantities of the target electrical testing equipment based on the electrical testing path. If the actual electrical quantity value and the standard electrical quantity value meet the first preset relationship, it proves that the performance of the drone is good, and subsequent electrical quantity collection of the target electrical testing equipment can be carried out; if it does not meet the first preset relationship, the electrical testing is terminated and an "device abnormality" alarm is fed back to the ground control station.

[0093] The first preset relationship can be understood as the data difference between the actual electrical quantity value and the standard electrical quantity value. The selection of the specific data difference is not limited here and is subject to the actual needs of the developer.

[0094] S240: Send the electrical testing equipment identifier and the target electrical testing path to the drone.

[0095] S250: Obtain the real-time starting point coordinates when the UAV travels to the target starting point coordinates.

[0096] When controlling the UAV to collect electrical quantity data according to the target electrical test path, the starting position of the UAV must also be verified to ensure that the starting position of the UAV for electrical quantity collection is the target starting point coordinate expected by the target path.

[0097] The starting position can be verified by obtaining the real-time starting coordinates of the drone when it reaches the target starting coordinates. The current real-time starting coordinates can be obtained based on the established high-precision three-dimensional model of the substation with composite electrical quantities.

[0098] S251. When the target starting point coordinates and the real-time starting point coordinates satisfy a second preset relationship, a data collection instruction is sent to the drone, so that the drone collects electrical quantities of the target electrical testing equipment according to the data collection instruction.

[0099] Use S 00 (x 00 ,y 00 ,z 00 ), S i0 (x i0 ,y i0 ,z i0 ) indicate the target starting point coordinates and the real-time starting point coordinates respectively, then S 00 (x0,y 00 ,z 00 ), S i0 (x i0 ,y i0 ,z i0 ) to compare coordinates, when S0-S i0When k0, it indicates that the second preset relationship is met, and a data collection instruction is sent to the unmanned aerial vehicle to enable the unmanned aerial vehicle to collect the electrical quantity of the target electrical test equipment according to the data collection instruction; when the second preset relationship is not met, it indicates that the real-time starting position of the unmanned aerial vehicle is an unexpected position, and the unmanned aerial vehicle is controlled to end the data collection operation of the electrical quantity and feedback an "abnormal data collection" alarm.

[0100] In S252, the real-time end point coordinate of the unmanned aerial vehicle when driving to the target end point coordinate is obtained.

[0101] If the above step S251 is normal, the unmanned aerial vehicle needs to verify the end point position of the unmanned aerial vehicle when driving according to the target electrical test path, to ensure that the end point position of the unmanned aerial vehicle is the expected target end point coordinate. This has the advantage of ensuring that the unmanned aerial vehicle collects the electrical quantity according to the pre-determined target electrical test path, to ensure the reliability of data collection, thereby ensuring the accuracy of the electrical test result obtained by the subsequent electrical test equipment.

[0102] It should be noted that the target starting point coordinate and the target end point coordinate included in the target electrical test path can determine a straight-line driving path. The automatic electrical test scheme based on the unmanned aerial vehicle provided by the embodiment of the application is not limited to a straight-line driving path as the electrical test path. In combination with the actual situation of the target electrical test equipment and the adjacent electrical test equipment, the target electrical test path can also be a curve, and when it is a curve, it should also include the inflection point coordinate when driving.

[0103] In S253, when the target end point coordinate and the real-time end point coordinate meet a third preset relationship, a data transmission instruction is sent to the unmanned aerial vehicle to enable the unmanned aerial vehicle to transmit the collected electrical quantity data set according to the data transmission instruction.

[0104] S 01 (x1,y1,z1), S i1 (x i1 ,yi1,z i1 ) respectively indicate the target starting point coordinate and the real-time starting point coordinate, and the coordinates S 01 (x1,y1,z1), S i1 (x i1 ,y i1 ,z i1 ) are compared, when S 01 -S i1 < k1, it indicates that the third preset relationship is met, and a data transmission instruction is sent to the unmanned aerial vehicle to enable the unmanned aerial vehicle to transmit the collected electrical quantity data set according to the data transmission instruction. When the third preset relationship is not met, it indicates that the real-time end point position of the unmanned aerial vehicle is an unexpected position, and the collected electrical quantity data is inaccurate and the current data is not reliable, so the electrical quantity data set collected by the unmanned aerial vehicle is abandoned, and an "abnormal data collection" alarm is fed back.

[0105] S260, receiving the electrical quantity data sent by the unmanned aerial vehicle.

[0106] The unmanned aerial vehicle can send the collected electrical quantity data to the ground control station according to the data transmission instruction.

[0107] S270, analyzing whether the data characteristics in the electrical quantity data are increasing trend.

[0108] If not, that is, the data characteristics in the electrical quantity data set are decreasing trend, step S271 is executed;

[0109] If yes, that is, the data characteristics in the electrical quantity data set are increasing trend, step S272 is executed.

[0110] S271, the electrical test result of the target electrical test equipment is no electricity.

[0111] S272, the electrical test result of the target electrical test equipment is electrified.

[0112] The unmanned aerial vehicle-based automatic electrical test method provided by the embodiment of the application preplans the electrical test path of each electrical test equipment, so that the unmanned aerial vehicle can collect electrical quantity data based on the preplanned path; and before data collection, the real-time electrical quantity value of the candidate electrical test equipment is compared with the standard electrical quantity value, so as to ensure that the current state of the unmanned aerial vehicle is good; further, by comparing the real-time starting point coordinates and the target starting point coordinates of the unmanned aerial vehicle according to the target electrical test path, and the real-time ending point coordinates and the target ending point coordinates, the accuracy of the data collected by the unmanned aerial vehicle is ensured. The scheme provided by the embodiment of the application provides a standardized operation specification for electrical test by the unmanned aerial vehicle, can improve the accuracy of data collection, and further improve the reliability of the electrical test result and the electrical test efficiency.

[0113] Figure 3 is a structural schematic diagram of the unmanned aerial vehicle-based automatic electrical test device provided by the embodiment of the application, which is suitable for executing the unmanned aerial vehicle-based automatic electrical test method provided by the embodiment of the application. As shown in the figure, Figure 3 the device can specifically include: an operation instruction acquisition module 310, an electrical test path acquisition module 320, a data receiving module 330, and an electrical test result obtaining module 340, wherein:

[0114] The operation instruction acquisition module 310 is configured to acquire an operation instruction, wherein the operation instruction includes an electrical test equipment identifier.

[0115] The electrical test path acquisition module 320 is configured to determine a target electrical test equipment according to the electrical test equipment identifier, and acquire a target electrical test path of the target electrical test equipment from a path database, and send the electrical test equipment identifier and the target electrical test path to an unmanned aerial vehicle.

[0116] The data receiving module 330 is configured to receive the electrical quantity data set sent by the UAV, wherein the electrical quantity data set is obtained by continuously collecting the electrical quantity of the target electrical equipment according to the electrical equipment identifier and the target electrical path of the target electrical equipment.

[0117] The electrical test result obtaining module 340 is configured to perform feature analysis on the electrical quantity data set to obtain the electrical test result of the target electrical equipment.

[0118] The automatic electrical test device based on the UAV provided by the embodiment of the present application contains an electrical equipment identifier in the operation instruction, determines the target electrical equipment according to the electrical equipment identifier, obtains the target electrical path of the target electrical equipment from the path database, and the current target electrical path is the best path for the UAV to perform electrical test on the electrical equipment. The UAV sends continuous high-frequency signals to the target electrical equipment on the target electrical path to obtain the electrical quantity data set when the target electrical path is traveled. After receiving the electrical quantity data set sent by the UAV and performing feature analysis on the electrical quantity data set, the electrical test result of the target electrical equipment can be obtained. The technical solution provided by the embodiment of the present application has high data accuracy of the electrical quantity data set obtained by the UAV when performing automatic data collection on the target electrical equipment based on the target electrical path, and can improve the electrical test efficiency while ensuring the electrical test safety.

[0119] In an embodiment, the device further comprises an associated equipment set obtaining module, an equipment state obtaining module, an electrical quantity value obtaining module and a performance verification module, wherein:

[0120] The associated equipment set obtaining module is configured to obtain an associated equipment set of the target electrical equipment, wherein the associated equipment set is a set of adjacent equipment of the target electrical equipment within a preset range.

[0121] The equipment state obtaining module is configured to obtain the equipment state of each adjacent equipment in the associated equipment set, and determine the equipment in a start state in the adjacent equipment as a candidate electrical equipment.

[0122] The electrical quantity value obtaining module is configured to obtain the actual electrical quantity value and the standard electrical quantity value of the candidate electrical equipment in the start state.

[0123] The performance verification module is configured to verify the performance of the UAV in the current state according to the relationship between the actual electrical quantity value and the standard electrical quantity value.

[0124] In an embodiment, the electrical quantity value acquisition module is further configured to determine an electrical test path for each of the electrical test devices in the starting state, obtain a corresponding standard electrical quantity value of the UAV at a historical time according to each electrical test path, and store each of the standard electrical quantity values to an electrical quantity database; and obtain the standard electrical quantity value of the candidate electrical test device in the starting state from the electrical quantity database according to the candidate electrical test device identifier.

[0125] The electrical quantity value acquisition module is further configured to obtain the candidate electrical test path of the candidate electrical test device from the path database according to the candidate electrical test device identifier, and control the UAV to collect an actual electrical quantity value of the candidate electrical test device based on the candidate electrical test path in the current state.

[0126] In an embodiment, the performance verification module is further configured to determine that the performance of the UAV in the current state is good when the actual electrical quantity value and the standard electrical quantity value meet a first preset relationship.

[0127] In an embodiment, the target electrical test path includes a target starting point coordinate; and the device further includes a starting point coordinate acquisition module and a data collection instruction sending module, wherein:

[0128] The starting point coordinate acquisition module is configured to obtain a real-time starting point coordinate when the UAV travels to the target starting point coordinate.

[0129] The data collection instruction sending module is configured to send a data collection instruction to the UAV when the target starting point coordinate and the real-time starting point coordinate meet a second preset relationship, so that the UAV collects the electrical quantity of the target electrical test device according to the data collection instruction.

[0130] In an embodiment, the target electrical test path further includes a target ending point coordinate; and the device further includes an ending point coordinate acquisition module and a data transmission instruction sending module.

[0131] The ending point coordinate acquisition module is configured to obtain a real-time ending point coordinate when the UAV travels to the target ending point coordinate.

[0132] The data transmission instruction sending module is configured to send a data transmission instruction to the UAV when the target ending point coordinate and the real-time ending point coordinate meet a third preset relationship, so that the UAV sends the collected electrical quantity data set according to the data transmission instruction.

[0133] In an embodiment, the electrical test result acquisition module 340 is further configured to determine that the electrical test result of the target electrical test device is no electricity if the data features in the electrical quantity data set show a decreasing trend, and determine that the electrical test result of the target electrical test device is electrified if the data features in the electrical quantity data set show an increasing trend.

[0134] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above functional modules is exemplified, and in actual application, the above functions can be completed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working process of the above described functional modules can refer to the corresponding process in the foregoing method embodiment, and will not be repeated here.

[0135] The embodiment of the present application also provides an electronic device, which comprises at least one processor and a memory connected with the at least one processor; wherein the memory stores a computer program which can be executed by the at least one processor; and the computer program is executed by the at least one processor, so that the at least one processor can execute the unmanned aerial vehicle-based automatic test electricity method in any embodiment of the present application.

[0136] The embodiment of the present application also provides a computer readable medium, which stores computer instructions, and the computer instructions are used to make the processor execute the unmanned aerial vehicle-based automatic test electricity method in any embodiment of the present application.

[0137] Reference will be made to the following description Figure 4 which shows a structural schematic diagram of a computer system 500 of an electronic device suitable for implementing the embodiments of the present application. Figure 4 The electronic device shown is only an example, and should not bring any limitation to the functions and use range of the embodiments of the present application.

[0138] As shown in Figure 4 , the computer system 500 comprises a central processing unit (CPU) 501 which can perform various appropriate actions and processes according to programs stored in a read-only memory (ROM) 502 or programs loaded from a storage part 508 to a random access memory (RAM) 503. In the RAM 503, various programs and data required for the operation of the system 500 are also stored. The CPU 501, the ROM 502 and the RAM 503 are connected with each other through a bus 504. An input / output (I / O) interface 505 is also connected to the bus 504.

[0139] The following components are connected to the I / O interface 505: an input part 506 including a keyboard, a mouse, etc.; an output part 507 including a display such as a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage part 508 including a hard disk, etc.; and a communication part 509 including a network interface card such as a LAN card, a modem, etc. The communication part 509 performs communication processing via a network such as the Internet. A drive 510 is also connected to the I / O interface 505 as necessary. A removable medium 511 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc. is attached to the drive 510 as necessary, so that a computer program read out therefrom is installed in the storage part 508 as necessary.

[0140] In particular, the processes described above with reference to the flowcharts can be implemented as a computer software program according to embodiments of the present disclosure. For example, embodiments of the present disclosure include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for executing the methods illustrated by the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network by the communication part 509, and / or installed from the removable medium 511. When the computer program is executed by the central processing unit (CPU) 501, the above-described functions defined in the system of the present disclosure are executed.

[0141] It should be noted that the computer-readable medium shown in the present application can be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may, for example, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or component, or any combination of the above. More specific examples of computer-readable storage media can include, but are not limited to, an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, the computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, device or component. In the present application, the computer-readable signal medium can include a data signal carried in a baseband or as a part of a carrier wave, which carries computer-readable program code. Such a propagated data signal can take various forms, including but not limited to an electromagnetic signal, an optical signal or any suitable combination of the above. The computer-readable signal medium can also be any computer-readable medium other than the computer-readable storage medium, which can send, propagate or transmit a program for use by or in conjunction with an instruction execution system, device or component. The program code contained on the computer-readable medium can be transmitted by any suitable medium, including but not limited to wireless, wire, optical cable, RF, etc., or any suitable combination of the above.

[0142] The flowcharts and block diagrams in the drawings illustrate the possible implementation architectures, functions and operations of the systems, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowcharts or block diagrams can represent a module, a program segment or a part of code containing one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions noted in the blocks can occur in different order than that shown in the drawings. For example, two blocks that are shown in succession can actually be executed substantially in parallel, and sometimes in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams or flowcharts, and the combination of blocks in the block diagrams or flowcharts, can be implemented by a dedicated hardware-based system that performs the specified functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions.

[0143] The modules and / or units involved in the embodiments of the present application can be implemented by software or hardware. The described modules and / or units can also be arranged in a processor, for example, can be described as: a processor includes an operation instruction obtaining module, an electric verification path obtaining module, a data receiving module and an electric verification result obtaining module. In some cases, the names of these modules do not constitute a limitation on the modules themselves.

[0144] As another aspect, the present application also provides a computer readable medium, which can be included in the device described in the above embodiments, or can exist independently without being assembled into the device. The computer readable medium carries one or more programs, when the one or more programs are executed by the device, the device includes: obtaining operation instructions, the operation instructions include electric verification device identification; determining a target electric verification device according to the electric verification device identification, and obtaining a target electric verification path of the target electric verification device from a path database, and sending the electric verification device identification and the target electric verification path to a UAV; receiving the electric quantity data set sent by the UAV, the electric quantity data set is obtained by the UAV according to the electric verification device identification and the target electric verification path to continuously collect the electric quantity of the target electric verification device; and performing feature analysis on the electric quantity data set to obtain the electric verification result of the target electric verification device.

[0145] According to the technical scheme of the embodiments of the present application, when the UAV performs automatic data collection on the target electric verification device based on the target electric verification path, the data accuracy of the obtained electric quantity data set is high, and the electric verification efficiency can be improved under the premise of ensuring the electric verification safety.

[0146] The above specific embodiments do not constitute a limitation on the protection scope of the present application. Those skilled in the art should understand that various modifications, combinations, sub-combinations and substitutions can occur depending on design requirements and other factors. Any modification, equivalent replacement and improvement made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. An unmanned aerial vehicle (UAV) based automated test and measurement method, comprising: The method comprises: an operation instruction is acquired, the operation instruction comprising an electrical testing equipment identifier; a target electrical testing equipment is determined according to the electrical testing equipment identifier, and a target electrical testing path of the target electrical testing equipment is acquired from a path database, and the electrical testing equipment identifier and the target electrical testing path are sent to a UAV; an electrical quantity data set sent by the UAV is received, the electrical quantity data set being obtained by the UAV continuously collecting electrical quantities of the target electrical testing equipment according to the electrical testing equipment identifier and the target electrical testing path; feature analysis is performed on the electrical quantity data set to obtain an electrical testing result of the target electrical testing equipment; wherein, before the electrical testing equipment identifier and the target electrical testing path are sent to the UAV, the method further comprises: an associated equipment set of the target electrical testing equipment is acquired, the associated equipment set being a set of adjacent equipment of the target electrical testing equipment within a preset range; an equipment state of each adjacent equipment in the associated equipment set is acquired, and an equipment in a starting state among the adjacent equipment is determined as a candidate electrical testing equipment; actual electrical quantity values and standard electrical quantity values of the candidate electrical testing equipment in the starting state are acquired; performance of the UAV in a current state is verified according to a relationship between the actual electrical quantity values and the standard electrical quantity values.

2. The method of claim 1, wherein, The standard electrical quantity values of the candidate electrical testing equipment in the starting state are acquired, comprising: an electrical testing path of each electrical testing equipment in the starting state is determined, corresponding standard electrical quantity values of the electrical testing equipment are acquired by the UAV at a historical time according to each electrical testing path, and each standard electrical quantity value is stored in an electrical quantity database; the standard electrical quantity values of the candidate electrical testing equipment in the starting state are acquired from the electrical quantity database according to the candidate electrical testing equipment identifier; correspondingly, the actual electrical quantity values of the candidate electrical testing equipment in the starting state are acquired, comprising: a candidate electrical testing path of the candidate electrical testing equipment is acquired from the path database according to the candidate electrical testing equipment identifier; the actual electrical quantity values of the candidate electrical testing equipment are collected by the UAV in the current state based on the candidate electrical testing path.

3. The method of claim 1, wherein, The performance of the UAV in the current state is verified according to the relationship between the actual electrical quantity values and the standard electrical quantity values, comprising: when the actual electrical quantity values and the standard electrical quantity values meet a first preset relationship, it is determined that the performance of the UAV in the current state is good.

4. The method of claim 1, wherein, The target electrical testing path comprises a target starting point coordinate; before the electrical quantity data set sent by the UAV is received, the method further comprises: a real-time starting point coordinate when the UAV travels to the target starting point coordinate is acquired; when the target starting point coordinate and the real-time starting point coordinate meet a second preset relationship, a data collection instruction is sent to the UAV to enable the UAV to collect the electrical quantities of the target electrical testing equipment according to the data collection instruction.

5. The method of claim 4, wherein, The target electrical testing path further comprises a target ending point coordinate; after the UAV collects the electrical quantities of the target electrical testing equipment according to the data collection instruction, the method further comprises: a real-time ending point coordinate when the UAV travels to the target ending point coordinate is acquired; When the target endpoint coordinate and the real-time endpoint coordinate satisfy a third preset relationship, a data transmission instruction is sent to the unmanned aerial vehicle, so that the unmanned aerial vehicle transmits the collected electrical quantity data set according to the data transmission instruction.

6. The method of claim 1, wherein, The feature analysis on the electrical quantity data set obtains an electrical test result of the target electrical test device, and includes: If the data feature in the electrical quantity data set shows a decreasing trend, it is determined that the electrical test result of the target electrical test device is no electricity; If the data feature in the electrical quantity data set shows an increasing trend, it is determined that the electrical test result of the target electrical test device is electrified.

7. An unmanned aerial vehicle (UAV) based automated electrical inspection device, comprising: It includes: An operation instruction acquisition module is configured to acquire an operation instruction, wherein the operation instruction includes an electrical test device identifier; An electrical test path acquisition module is configured to determine a target electrical test device according to the electrical test device identifier, and acquire a target electrical test path of the target electrical test device from a path database, and send the electrical test device identifier and the target electrical test path to an unmanned aerial vehicle; A data receiving module is configured to receive an electrical quantity data set sent by the unmanned aerial vehicle, wherein the electrical quantity data set is obtained by the unmanned aerial vehicle continuously collecting electrical quantity of the target electrical test device according to the electrical test device identifier and the target electrical test path; An electrical test result obtaining module is configured to analyze the feature of the electrical quantity data set, and obtain an electrical test result of the target electrical test device; An associated device set acquisition module is configured to acquire an associated device set of the target electrical test device, wherein the associated device set is a set of adjacent devices of the target electrical test device within a preset range; A device state acquisition module is configured to acquire a device state of each adjacent device in the associated device set, and determine a device in a starting state in the adjacent device as a candidate electrical test device; An electrical quantity value acquisition module is configured to acquire an actual electrical quantity value and a standard electrical quantity value of the candidate electrical test device in the starting state; A performance verification module is configured to verify the performance of the unmanned aerial vehicle in the current state according to the relationship between the actual electrical quantity value and the standard electrical quantity value.

8. An electronic device, comprising: The electronic device includes: At least one processor; and The memory is in communication with 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 to enable the at least one processor to execute the unmanned aerial vehicle-based automatic electrical test method in any one of claims 1-6.

9. A computer readable storage medium having stored thereon a computer program, characterized in that, The program is executed by the processor to implement the unmanned aerial vehicle-based automatic electrical test method in any one of claims 1-6.

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