A method, system, device and storage medium for automatic analysis and planning of autonomous inspection routes for substation drones

Abstract

The present invention provides a method, system, device, and storage medium for automatically analyzing and planning autonomous inspection routes for substation drones. The method includes the following steps: obtaining equipment information within the substation, counting the required inspection content, and determining the number of equipment and equipment locations; manually teaching and marking all equipment within the substation using drones to generate multiple equipment routes and save the route files; determining the inspection order based on the distance between each device and the take-off point in the inspection task; generating multiple task routes according to different connection methods based on the inspection order, calculating the time consumption of different task routes, and determining the optimal inspection route. Based on the manual teaching method of marking, the present invention uses equipment as the smallest unit and can automatically plan and generate the optimal route for the required inspection equipment within the substation in a short time, with strong pertinence and standardization, to meet diverse inspection needs.

Description

Technical Field

[0001] The present invention belongs to the technical field of substation drone inspection, and more specifically, relates to a method, system, device and storage medium for automatic analysis and planning of substation drone autonomous inspection routes. Background Art

[0002] Substations currently rely heavily on manual inspections, which are inefficient. Manual inspections are mostly limited to the middle and lower levels of the substation, leaving little visibility into the operating conditions of upper-level equipment. For example, defects such as cracks in upper-level insulators, missing pins, metal corrosion at wire connections, and loose nuts pose risks to the substation's safe operation. During inspections, maintenance personnel must climb onto supports to investigate hazards, increasing personal safety risks and failing to fully cover all equipment. With the development and application of artificial intelligence, drones can be equipped with dual-lens cameras, both visible and infrared, allowing them to fly into the air, approach the required inspection equipment, and capture images from multiple angles. Combined with image recognition technology, these drones can conveniently and effectively monitor the operational status of upper-level substation equipment.

[0003] Currently, autonomous substation inspection routes are manually generated by pilots, divided into intervals and marked with dots. This allows for fixed equipment inspections, but does not allow for flexible inspections of different equipment based on in-station inspection requirements. When inspections are required for different equipment within the substation, these routes must be executed sequentially at different intervals, and photos of the equipment to be inspected must be selected and analyzed, which is time-consuming. Summary of the Invention

[0004] The purpose of the present invention is to address the above shortcomings and provide a method, system, device and storage medium for automatic analysis and planning of autonomous inspection routes for substation drones. Based on manual teaching and with equipment as the smallest unit, it can automatically plan and generate the optimal route for the inspection equipment required in the substation with short generation time, strong pertinence and standardization, thereby meeting diversified inspection needs.

[0005] To achieve the above object, the present invention is implemented through the following technical solutions:

[0006] In a first aspect, the present invention provides a method for automatically analyzing and planning a substation drone autonomous inspection route, comprising the following steps:

[0007] Obtain equipment information within the substation, count the required inspection content, and determine the number and location of equipment;

[0008] Use drones to manually teach and mark all equipment in the substation, generate multiple equipment routes, and save route files;

[0009] Determine the inspection order based on the distance between each device and the take-off point in the inspection task;

[0010] According to the inspection sequence, multiple task routes are generated according to different connection methods, the time consumption of different task routes is calculated, and the optimal inspection route is determined.

[0011] Furthermore, the equipment information in the substation includes equipment type, equipment location, equipment voltage level and equipment inspection content required.

[0012] Furthermore, manual marking involves a professional pilot manually flying a drone over the station equipment, saving waypoints at suitable locations where inspection content can be captured, and generating a drone flight route. The route file includes the latitude and longitude information, altitude information, and shooting angle information of the waypoint, which is the point where the drone captures the image.

[0013] Furthermore, the drone is equipped with a high-definition camera, a stabilization platform, an automatic obstacle avoidance module, and an image transmission module. The high-definition camera includes a visible light camera and an infrared camera.

[0014] Furthermore, the method for determining the inspection sequence includes:

[0015] The device closest to the take-off point is taken as the first inspection device, and then the distance between other devices and the first inspection device is calculated. The device closest to the first inspection device is taken as the second inspection device, and so on. The inspection order of the devices is calculated.

[0016] Furthermore, the device route is that the drone passes through the lift-off point of safety point 1, safety point 1, waypoint 1, waypoint 2, ..., waypoint n, safety point 2, the lift-off point of safety point 2, and then returns to the take-off point.

[0017] Furthermore, the connection mode of the mission routes includes a connection mode of adjacent equipment routes and a connection mode of non-adjacent equipment routes.

[0018] The adjacent equipment routes are connected by sequentially flying over the equipment route of the first equipment, flying from the end of the equipment route of the first equipment to the end of the equipment route of the second equipment, and then flying over the equipment route of the second equipment in reverse order;

[0019] The connection method of the non-adjacent equipment routes is to fly over the equipment route of the first equipment in sequence, fly from the tail end of the equipment route of the first equipment to the head end of the equipment route of the second equipment, then fly over the equipment route of the second equipment in sequence, and then return from the tail end of the equipment route of the second equipment to the head end of the equipment route of the second equipment.

[0020] Furthermore, the method for calculating the time consumption of different mission routes includes:

[0021] The time taken for a single device's equipment route is T = T start +T fall +T work+T rise +T return +T margintime ;

[0022] Among them, T start T is the flight time of the UAV from the take-off point of the equipment to the lift-off point of its safety point 1, fall T is the time it takes for the drone to land from the take-off point of safety point 1 to the landing point of safety point 1. work T is the time it takes for the drone to fly through each waypoint of the device in sequence. rise T is the flight time of the UAV from safety point 2 to the take-off point of safety point 2, return T is the time it takes for the drone to return from the take-off point of safety point 2 to the take-off point of the device. margintime is the preset margin time;

[0023] The time taken for the adjacent equipment route is T 相邻 =T start1 +T fall1 +T work1 +T rise1 +T link +T rise2 +T work2 +T fall2 +T start2 +T margintime ;

[0024] Among them, the adjacent devices are recorded as device 1 and device 2; T start1 T is the flight time of the UAV from the take-off point of device 1 to the lift-off point of safety point 1 of device 1, fall1 T is the time it takes for the drone to land from the take-off point of safety point 1 of device 1 to the landing point of safety point 1 of device 1. work1 T is the time it takes for the drone to fly through each waypoint of device 1 in sequence. rise1 T is the flight time of the UAV between the safety point 2 of equipment 1 and the launch point of safety point 2. link T is the flight time of the UAV from the launch point of safety point 2 of device 1 to the launch point of safety point 2 of device 2. rise2 T is the flight time of the UAV between the safety point 2 of device 2 and the take-off point of safety point 2. work2 T is the time it takes for the drone to fly through each waypoint of device 2 in sequence. fall2 T is the flight time between the UAV’s safety point 1 of device 2 and the launch point of the safety point 1 of device 2. start1 T is the flight time of the UAV from the liftoff point of safety point 1 of device 2 to the takeoff point of device 2. margintime is the preset margin time;

[0025] The time taken for the non-adjacent equipment route is T 不相邻 =Tstart1 +T fall1 +T work1 +T rise1 +T link +T fall2 +T work2 +T rise2 +T return +T margintime ;

[0026] Among them, non-adjacent devices are recorded as device 1 and device 2; T start T is the flight time of the UAV from the take-off point of device 1 to the lift-off point of safety point 1 of device 1, fall1 T is the time it takes for the drone to land from the take-off point of safety point 1 of device 1 to the landing point of safety point 1 of device 1. work1 T is the time it takes for the drone to fly through each waypoint of device 1 in sequence. rise1 T is the ascent time of the UAV from the safety point 2 of equipment 1 to the take-off point of the safety point 2 of equipment 1, link T is the time it takes for the drone to take off from the safety point 1 of device 1 to the safety point 1 of device 2. fall2 T is the time it takes for the drone to land from the take-off point of safety point 1 of device 2 to the landing point of safety point 1 of device 2. work2 T is the time it takes for the drone to fly through each waypoint of device 2 in sequence. rise2 T is the ascent time of the UAV from the safety point 2 of device 2 to the take-off point of the safety point 2 of device 2, return T is the time it takes for the drone to return from the take-off point of device 2 to the take-off point of device 2. margintime is the preset margin time.

[0027] Furthermore, the optimal inspection route refers to the UAV flight route that meets the inspection requirements and takes the shortest time. That is, the time consumption T of the connection method selected by the optimal inspection route is 优 =min(T 相邻 ,T 不相邻 ), when T 优 =T 相邻 When T=T 不相邻 When connecting non-adjacent equipment routes.

[0028] Furthermore, the calculation method of the time it takes for the drone to fly through each waypoint of the device in sequence is:

[0029]

[0030] Where S k is the distance from the kth waypoint to the k+1th waypoint, k∈Z, 1≤k≤n+1; V0 is the initial speed of the UAV;

[0031] The T start 、T fall 、T rise 、T link 、T return The coordinate distance of the corresponding point is divided by the initial speed of the UAV. margintime The margin time is set, taking into account the time from safety point 1 to the first point of the equipment mission route, the time from the end point of the mission route to safety point 2, and the time for the drone to take off. According to actual experience, it is about 3 minutes.

[0032] Furthermore, the distance from the kth waypoint to the k+1th waypoint is calculated as follows:

[0033] The longitude, latitude, and altitude coordinates of point k are k(lon1,lat1,h1), and the coordinates of point k+1 are (lon2,lat2,h2);

[0034] Convert the corresponding longitude and latitude to radians:

[0035] radlon1=lon1*π / 180, radlat1=lat1*π / 180;

[0036] radlon2=lon2*π / 180, radlat2=lat2*π / 180;

[0037] The distance between two points is:

[0038]

[0039] Where: R is the radius of the earth;

[0040] radlon1=lon1*π / 180, lon1 is the longitude of point k;

[0041] radlat1=lat1*π / 180; lat1 is the latitude of point k; h1 is the height of point k;

[0042] radlon2=lon2*π / 180, lon2 is the longitude of point k+1;

[0043] radlat2=lat2*π / 180; lat2 is the latitude of point k+1; h2 is the altitude of point k+1.

[0044] In a second aspect, the present invention provides a system for automatically analyzing and planning routes for autonomous inspections of substation drones, for implementing the method described in the first aspect, comprising:

[0045] Storage module, used to store equipment information and route files;

[0046] Calculation module, used to calculate and plan the optimal route based on inspection tasks;

[0047] The communication module is used to send the optimal route to the drone and obtain the information sent back by the drone.

[0048] In a third aspect, the present invention further provides a device for automatically analyzing and planning a substation drone autonomous inspection route, comprising a processor and a storage medium.

[0049] The storage medium is used to store instructions;

[0050] The processor is used to operate according to the instructions to execute the steps of the method for automatic analysis and planning of autonomous inspection routes for substation drones described in the first aspect.

[0051] In a fourth aspect, the present invention further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method for automatically analyzing and planning autonomous inspection routes of substation drones as described in the first aspect.

[0052] Compared with the prior art, the present invention has the following beneficial effects:

[0053] The method described in the present invention is based on the manual teaching method of substation drone inspection. With equipment as the smallest unit, it can automatically plan and generate the optimal route with short time, strong pertinence and standardization for the inspection equipment required in the substation, thus meeting the diversified inspection needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 This is a flowchart of a program implementation method for automatically planning a substation drone autonomous inspection route according to an embodiment of the present invention;

[0055] Figure 2 A schematic diagram of the composition of the equipment route of a single equipment and the division of the execution time of each stage of the route;

[0056] Figure 3 A schematic diagram showing the route connection method and the execution time division for each stage of the route when inspecting adjacent equipment;

[0057] Figure 4 This is a schematic diagram of the route connection method and the division of execution time for each stage of the route when inspecting non-adjacent equipment. DETAILED DESCRIPTION

[0058] The preferred embodiments of the present invention will be described in more detail below with reference to the accompanying drawings and specific examples.

[0059] Example 1

[0060] like Figure 1As shown, this embodiment provides a method for automatically analyzing and planning a substation drone autonomous inspection route, including the following steps:

[0061] (1) Obtain equipment information in the substation, count the required inspection content, and determine the number of equipment and equipment locations.

[0062] (2) Perform manual teaching and marking for all equipment in the station, and generate the drone route file for each equipment during inspection; the equipment route file contains all the inspection points of a device. The waypoints of each equipment are arranged in the following order: safety point 1 latitude and longitude and altitude + 20 meters (take-off point), safety point 1, waypoint 1, waypoint 2..., waypoint n, safety point 2, safety point 2 latitude and longitude and altitude + 20 meters (take-off point), such as Figure 2 shown.

[0063] (3) Enter the route files of all equipment and the corresponding equipment names into the UAV control system database.

[0064] (4) Determine the inspection order based on the distance between each device and the take-off point in the inspection task: calculate the distance between the safety point 1 and the take-off point of device 1, device 2, and device 3. The device closest to the take-off point is used as the first inspection device (assuming it is device 1). Then calculate the distance between device 2, device 3 and device 1. The device closest to device 1 is used as the second inspection device. And so on. Calculate the inspection order of the devices.

[0065] (5) Based on the inspection order, generate multiple task routes according to different connection methods, calculate the time consumption of different task routes, and determine the optimal inspection route. The specific method is:

[0066] The distances between safety point 1, waypoint 1, waypoint 2, waypoint 3, ..., waypoint n and safety point 2 are S1, S2, S3, ..., S n+1 , the initial speed of the UAV is recorded as V0.

[0067] For k waypoints, k∈Z, 1≤k≤n+1, the longitude, latitude, and altitude coordinates of the kth point are K(lon1,lat1,h1), and the coordinates of the k+1th point are (lon2,lat2,h2).

[0068] Convert the corresponding longitude and latitude to radians:

[0069] radlon1=lon1*π / 180, radlat1=lat1*π / 180, radlon2=lon2*π / 180, radlat2=lat2*π / 180.

[0070] Then the distance between the two points is:

[0071]

[0072] like Figure 2 As shown, the time taken for a single device’s equipment route is T = T start +T fall +T work +T rise +T return +T margintime ;

[0073] Among them, T start T is the flight time of the UAV from the take-off point of the equipment to the lift-off point of its safety point 1, fall T is the time it takes for the drone to land from the take-off point of safety point 1 to the landing point of safety point 1. work T is the time it takes for the drone to fly through each waypoint of the device in sequence. rise T is the flight time of the UAV from safety point 2 to the take-off point of safety point 2, return T is the time it takes for the drone to return from the take-off point of safety point 2 to the take-off point of the device. margintime is the preset margin time;

[0074] like Figure 3 As shown, the time taken for the adjacent equipment route is T 相邻 =T start1 +T fall1 +T work1 +T rise1 +T link +T rise2 +T work2 +T fall2 +T start2 +T margintime ;

[0075] Among them, the adjacent devices are recorded as device 1 and device 2; T start1 T is the flight time of the UAV from the take-off point of device 1 to the lift-off point of safety point 1 of device 1, fall1 T is the time it takes for the drone to land from the take-off point of safety point 1 of device 1 to the landing point of safety point 1 of device 1. work1 T is the time it takes for the drone to fly through each waypoint of device 1 in sequence. rise1 T is the flight time of the UAV between the safety point 2 of equipment 1 and the launch point of safety point 2. link T is the flight time of the UAV from the launch point of safety point 2 of device 1 to the launch point of safety point 2 of device 2. rise2 T is the flight time of the UAV between the safety point 2 of device 2 and the take-off point of safety point 2. work2 T is the time it takes for the drone to fly through each waypoint of device 2 in sequence. fall2 T is the flight time between the UAV’s safety point 1 of device 2 and the launch point of the safety point 1 of device 2. start1T is the flight time of the UAV from the liftoff point of safety point 1 of device 2 to the takeoff point of device 2. margintime is the preset margin time;

[0076] like Figure 4 As shown, the time taken for the non-adjacent equipment route is T 不相邻 =T start1 +T fall1 +T work1 +T rise1 +T link +T fall2 +T work2 +T rise2 +T return +T margintime ;

[0077] Among them, non-adjacent devices are recorded as device 1 and device 2; T start T is the flight time of the UAV from the take-off point of device 1 to the lift-off point of safety point 1 of device 1, fall1 T is the time it takes for the drone to land from the take-off point of safety point 1 of device 1 to the landing point of safety point 1 of device 1. work1 T is the time it takes for the drone to fly through each waypoint of device 1 in sequence. rise1 T is the ascent time of the UAV from the safety point 2 of equipment 1 to the take-off point of the safety point 2 of equipment 1, link T is the time it takes for the drone to take off from the safety point 1 of device 1 to the safety point 1 of device 2. fall2 T is the time it takes for the drone to land from the take-off point of safety point 1 of device 2 to the landing point of safety point 1 of device 2. work2 T is the time it takes for the drone to fly through each waypoint of device 2 in sequence. rise2 T is the ascent time of the UAV from the safety point 2 of device 2 to the take-off point of the safety point 2 of device 2, return T is the time it takes for the drone to return from the take-off point of device 2 to the take-off point of device 2. margintime is the preset margin time.

[0078] The calculation method for the time it takes for the drone to fly through each waypoint of the device in sequence is:

[0079]

[0080] Where S k is the distance from the kth waypoint to the k+1th waypoint, k∈Z, 1≤k≤n+1; V0 is the initial speed of the UAV;

[0081] The T start 、T fall 、T rise 、T link 、Treturn The coordinate distance of the corresponding point is divided by the initial speed of the UAV. margintime The margin time is set, taking into account the time from safety point 1 to the first point of the equipment mission route, the time from the end point of the mission route to safety point 2, and the time for the drone to take off. According to actual experience, it is about 3 minutes.

[0082] (6) According to the equipment inspection order, Figure 3 and Figure 4 Design the connection lines between devices, generate inspection task routes for multiple devices, calculate the time consumption of different task routes, and determine the optimal inspection route.

[0083] The optimal inspection route refers to the UAV flight route that meets the inspection requirements and takes the shortest time. That is, the time consumption of the connection method selected by the optimal inspection route is T 优 =min(T 相邻 ,T 不相邻 ), when T 优 =T 相邻 When T=T 不相邻 When connecting non-adjacent equipment routes.

[0084] Example 2

[0085] This embodiment provides a system for automatically analyzing and planning routes for autonomous inspections of substation drones, which is used to implement the method described in Example 1, including:

[0086] Storage module, used to store equipment information and route files;

[0087] Calculation module, used to calculate and plan the optimal route based on inspection tasks;

[0088] The communication module is used to send the optimal route to the drone and obtain the information sent back by the drone.

[0089] Example 3

[0090] Based on Example 1, this embodiment provides a device for automatically analyzing and planning a substation drone autonomous inspection route, including a processor and a storage medium.

[0091] The storage medium is used to store instructions;

[0092] The processor is used to operate according to the instructions to execute the steps of the automatic analysis and planning method for autonomous inspection routes of drone substations described in Example 1.

[0093] Example 4

[0094] Based on Example 1, this embodiment provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the steps of the method for automatically analyzing and planning the autonomous inspection route of a substation drone described in Example 1 are implemented.

[0095] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0096] While various embodiments of the present invention have been described above, the foregoing description is intended to be illustrative and non-exhaustive, and is not intended to be limiting of the disclosed embodiments. Numerous modifications and variations will be apparent to those skilled in the art without departing from the scope and technical principles of the described embodiments, and such modifications and variations should be considered within the scope of the present invention.

Claims

1. A method for automatically analyzing and planning routes for autonomous inspections of substation drones, characterized in that: The following steps are involved: Obtain equipment information within the substation, count the required inspection content, and determine the number and location of equipment; Use drones to manually teach and mark all equipment in the substation, generate multiple equipment routes, and save route files; Determine the inspection order based on the distance between each device and the take-off point in the inspection task; According to the inspection sequence, multiple task routes are generated according to different connection methods, the time consumption of different task routes is calculated, and the optimal inspection route is determined; The method for determining the inspection sequence includes: The device closest to the takeoff point is selected as the first device to be inspected. The distances between the other devices and the first device are calculated. The device closest to the first device is selected as the second device to be inspected. This process is repeated to calculate the inspection order of the devices. The device route is that the drone passes through the lift-off point of safety point 1, safety point 1, waypoint 1, waypoint 2, ..., waypoint n, safety point 2, the lift-off point of safety point 2, and then returns to the take-off point; The connection mode of the mission routes includes the connection mode of adjacent equipment routes and the connection mode of non-adjacent equipment routes. The adjacent equipment routes are connected by sequentially flying over the equipment route of the first equipment, flying from the end of the equipment route of the first equipment to the end of the equipment route of the second equipment, and then flying over the equipment route of the second equipment in reverse order; The non-adjacent equipment routes are connected by sequentially flying over the equipment route of the first equipment, flying from the tail end of the equipment route of the first equipment to the head end of the equipment route of the second equipment, then sequentially flying over the equipment route of the second equipment, and then returning from the tail end of the equipment route of the second equipment to the head end of the equipment route of the second equipment; The method for calculating the time consumption of different mission routes includes: The time taken for a single device to travel along the equipment route is T = T start + T fall + T work + T rise + T return + T margintime ; Among them, T start T is the flight time of the UAV from the take-off point of the equipment to the lift-off point of its safety point 1, fall T is the time it takes for the drone to land from the take-off point of safety point 1 to the landing point of safety point 1. work T is the time it takes for the drone to fly through each waypoint of the device in sequence. rise T is the flight time of the UAV from safety point 2 to the take-off point of safety point 2, return T is the time it takes for the drone to return from the take-off point of safety point 2 to the take-off point of the device. margintime is the preset margin time; The time taken for the adjacent equipment route is T 相邻 = T start1 + T fall1 + T work1 + T rise1 +T link + T rise2 +T work2 + T fall2 + T start2 +T margintime ; Among them, the adjacent devices are recorded as device 1 and device 2; T start1 T is the flight time of the UAV from the take-off point of device 1 to the lift-off point of safety point 1 of device 1, fall1 T is the time it takes for the drone to land from the take-off point of safety point 1 of device 1 to the landing point of safety point 1 of device 1. work1 T is the time it takes for the drone to fly through each waypoint of device 1 in sequence. rise1 T is the flight time of the UAV between the safety point 2 of equipment 1 and the launch point of safety point 2. link T is the flight time of the UAV from the launch point of safety point 2 of device 1 to the launch point of safety point 2 of device 2. rise2 T is the flight time of the UAV between the safety point 2 of device 2 and the take-off point of safety point 2. work2 is the time it takes for the drone to fly through each waypoint of device 2 in sequence, T fall2 T is the flight time between the UAV’s safety point 1 of device 2 and the launch point of the safety point 1 of device 2. start1 The flight time of the UAV from the liftoff point of safety point 1 of device 2 to the takeoff point of device 2; The time taken for the non-adjacent equipment route is T 不相邻 = T start1 + T fall1 + T work1 + T rise1 + T link +T fall2 + T work2 + T rise2 + T return + T margintime ; Among them, non-adjacent devices are recorded as device 1 and device 2; T start1 T is the flight time of the UAV from the take-off point of device 1 to the lift-off point of safety point 1 of device 1, fall1 T is the time it takes for the drone to land from the take-off point of safety point 1 of device 1 to the landing point of safety point 1 of device 1. work1 T is the time it takes for the drone to fly through each waypoint of device 1 in sequence. rise1 T is the ascent time of the UAV from the safety point 2 of equipment 1 to the take-off point of the safety point 2 of equipment 1, link T is the time it takes for the drone to take off from the safety point 1 of device 1 to the safety point 1 of device 2. fall2 T is the time it takes for the drone to land from the take-off point of safety point 1 of device 2 to the landing point of safety point 1 of device 2. work2 T is the time it takes for the drone to fly through each waypoint of device 2 in sequence. rise2 T is the ascent time of the UAV from the safety point 2 of device 2 to the take-off point of the safety point 2 of device 2, return The time it takes for the drone to return from the liftoff point of device 2’s safety point 2 to the takeoff point of device 2; The calculation method for the time it takes for the drone to fly through each waypoint of the device in sequence is: T work= ( ) / V0 Where S k is the distance from the kth waypoint to the k+1th waypoint, k∈Z, 1≤k≤n+1; V0 is the initial speed of the UAV; The T start 、T fall 、T rise 、T link 、T return The coordinate distance of the corresponding point divided by the initial speed of the drone; The distance from the kth waypoint to the k+1th waypoint is calculated as follows: The longitude, latitude, and altitude coordinates of point k are (lon1, lat1, h1), and the coordinates of point k+1 are (lon2, lat2, h2); Convert the corresponding longitude and latitude to radians, and the distance between the two points is: S k =(4*R 2 *arcsin(sin( ) 2 +cos(radlat1)*cos(radlat2)*sin( ) 2 )+(h1-h2) 2 ) 1 / 2 ; Where: R is the radius of the earth; radlon1=lon1*π / 180, lon1 is the longitude of point k; radlat1=lat1*π / 180; lat1 is the latitude of point k; h1 is the height of point k; radlon2=lon2*π / 180, lon2 is the longitude of point k+1; radlat2=lat2*π / 180; lat2 is the latitude of point k+1; h2 is the altitude of point k+1.

2. The method for automatic analysis and planning of substation drone autonomous inspection routes according to claim 1 is characterized in that: The equipment information in the substation includes equipment type, equipment location, equipment voltage level and equipment inspection content required.

3. The method for automatic analysis and planning of substation UAV autonomous inspection routes according to claim 1 is characterized in that: The route file includes the latitude and longitude information, altitude information and shooting angle information of the waypoint, and the waypoint is the shooting point of the drone.

4. A system for automatically analyzing and planning routes for autonomous inspections of substation drones, for implementing the method described in any one of claims 1 to 3, characterized in that: include: Storage module, used to store equipment information and route files; Calculation module, used to calculate and plan the optimal route based on inspection tasks; The communication module is used to send the optimal route to the drone and obtain the information sent back by the drone.

5. A device for automatically analyzing and planning routes for autonomous inspections of UAVs in substations, characterized in that: including a processor and a storage medium, The storage medium is used to store instructions; The processor is used to operate according to the instructions to execute the steps of the method for automatic analysis and planning of autonomous inspection routes of drone substations as described in any one of claims 1-3.

6. A computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method for automatically analyzing and planning the autonomous inspection route of a substation drone as described in any one of claims 1 to 3.

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