A substation inspection drone anti-collision method and terminal

Abstract

The present invention discloses a substation inspection drone anti-collision method and terminal, firstly obtain and establish a substation virtual image scene according to the construction information of the substation, mark the points to be inspected in the virtual image scene; then plan a test flight route according to the coordinate positions of all the points to be inspected; then control the drone to fly in the substation according to the test flight route, and detect whether a collision occurs at the same time. If so, all collision points are recorded and marked in the substation virtual image scene, and the test flight route is adjusted according to all the points to be inspected and the collision points to obtain the actual inspection route; otherwise, the test flight route is used as the actual inspection route. The present invention enables the drone to achieve autonomous flight without collision, without relying on manual operation, and improves the inspection operation efficiency while ensuring the flight safety of the drone.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle inspection, and in particular to a substation inspection unmanned aerial vehicle collision avoidance method and terminal. Background Art

[0002] A substation is a place in the power system that transforms voltage and current, receives and distributes electrical energy. Due to the complex environment inside the substation, existing substation inspection drones need to be manually controlled to prevent the drones from colliding with the equipment in the substation and failing to complete the inspection task. However, the manual control of drone inspections is not convenient to perform, has a low fault tolerance rate, and is a great test of the operator's control skills. In addition, in order to prevent collisions, the manual control of drones has become cautious, making it impossible to improve operating efficiency. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a substation inspection drone anti-collision method and terminal, which can improve the inspection operation efficiency while ensuring the flight safety of the drone.

[0004] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0005] A substation inspection drone anti-collision method, comprising the steps of:

[0006] S1. Acquire and establish a substation virtual image scene according to the building information of the substation, and mark the points to be inspected in the virtual image scene;

[0007] S2. Planning a test flight route according to the coordinate positions of all the points to be inspected;

[0008] S3, controlling the UAV to fly in the substation according to the test flight route, and detecting whether the UAV will collide, if so, executing step S4, otherwise taking the test flight route as the actual inspection route;

[0009] S4. Record all collision points and mark them in the substation virtual image scene, and adjust the test flight route according to all the points to be inspected and the collision points to obtain the actual inspection route.

[0010] In order to solve the above technical problems, another technical solution adopted by the present invention is:

[0011] A substation inspection drone collision avoidance terminal includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the following steps are implemented:

[0012] S1. Acquire and establish a substation virtual image scene according to the building information of the substation, and mark the points to be inspected in the virtual image scene;

[0013] S2. Planning a test flight route according to the coordinate positions of all the points to be inspected;

[0014] S3, controlling the UAV to fly in the substation according to the test flight route, and detecting whether the UAV will collide, if so, executing step S4, otherwise taking the test flight route as the actual inspection route;

[0015] S4. Record all collision points and mark them in the substation virtual image scene, and adjust the test flight route according to all the points to be inspected and the collision points to obtain the actual inspection route.

[0016] The beneficial effects of the present invention are: providing a substation inspection drone collision avoidance method and terminal, establishing a substation virtual image scene according to the actual environment of the substation and the inspection content and planning a test flight route therein, obtaining an actual inspection route that can avoid collision points through test flights, so that the drone can achieve autonomous flight without collision, without relying on manual operation, thereby improving the inspection operation efficiency while ensuring the flight safety of the drone. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A schematic diagram of the steps of a method for avoiding collision of a substation inspection drone according to an embodiment of the present invention;

[0018] Figure 2 The present invention is a schematic structural diagram of a substation inspection drone anti-collision terminal according to an embodiment of the present invention.

[0019] Description of labels:

[0020] 1. A substation inspection drone anti-collision terminal; 2. Processor; 3. Memory. DETAILED DESCRIPTION

[0021] In order to explain the technical content, achieved objectives and effects of the present invention in detail, the following is an explanation in combination with the implementation modes and the accompanying drawings.

[0022] Please refer to Figure 1 , a substation inspection drone anti-collision method, comprising the steps of:

[0023] S1. Acquire and establish a substation virtual image scene according to the building information of the substation, and mark the points to be inspected in the virtual image scene;

[0024] S2. Planning a test flight route according to the coordinate positions of all the points to be inspected;

[0025] S3, controlling the UAV to fly in the substation according to the test flight route, and detecting whether the UAV will collide, if so, executing step S4, otherwise taking the test flight route as the actual inspection route;

[0026] S4. Record all collision points and mark them in the substation virtual image scene, and adjust the test flight route according to all the points to be inspected and the collision points to obtain the actual inspection route.

[0027] From the above description, it can be seen that the beneficial effects of the present invention are: based on the actual environment and inspection content of the substation, a virtual image scene of the substation is established and a test flight route is planned therein, and the actual inspection route that can avoid collision points is obtained through test flights, so that the UAV can achieve autonomous flight without collision, without relying on manual operation, thereby improving the inspection operation efficiency while ensuring the flight safety of the UAV.

[0028] Furthermore, after step S2 and before step S3, the following steps are further included:

[0029] Simulated flight training is performed according to the test flight route in the substation virtual image scene, so that the UAV can fully execute the test flight route.

[0030] From the above description, it can be seen that simulated flight training is carried out according to the test flight route in the virtual image scene of the substation, so as to improve the execution of the UAV on the test flight route, to ensure that it can complete the flight operation according to the test flight route, and further improve the flight safety and reliability.

[0031] Furthermore, the acquisition and establishment of a substation virtual image scene according to the building information of the substation is specifically as follows:

[0032] The latest building information of the substation is obtained according to a preset period, and the substation virtual image scene is established or updated according to the building information.

[0033] From the above description, it can be seen that the latest building information of the substation is obtained according to the preset period, so as to update the substation virtual image scene in time and ensure the timeliness and reliability of the test flight route.

[0034] Furthermore, after step S1 and before step S2, the following steps are further included:

[0035] If the substation virtual image scene is updated, it is determined whether the current actual inspection route is still applicable. If so, the actual inspection route continues to be used, otherwise, step S2 is executed.

[0036] From the above description, it can be seen that when the environmental information of the substation changes, the applicability of the current actual inspection route is tested to determine whether the current actual inspection route can pass through all inspection points or whether a collision will occur, etc. If it is not applicable, the route will be replanned to reduce the workload of line planning while ensuring the availability of the inspection route in real time.

[0037] Furthermore, the step S1 further includes:

[0038] The distances between different points to be inspected are displayed in the virtual image scene with millimeter-level accuracy.

[0039] From the above description, it can be seen that the distances between different inspection points are displayed accurately to the millimeter level in the virtual image scene, so as to improve the accuracy of the planned test flight route and meet the inspection task requirements.

[0040] Please refer to Figure 2 A substation inspection drone collision avoidance terminal 1 includes a memory 3, a processor 2, and a computer program stored in the memory 3 and executable on the processor 2. When the processor 2 executes the computer program, the following steps are implemented:

[0041] S1. Acquire and establish a substation virtual image scene according to the building information of the substation, and mark the points to be inspected in the virtual image scene;

[0042] S2. Planning a test flight route according to the coordinate positions of all the points to be inspected;

[0043] S3, controlling the UAV to fly in the substation according to the test flight route, and detecting whether the UAV will collide, if so, executing step S4, otherwise taking the test flight route as the actual inspection route;

[0044] S4. Record all collision points and mark them in the substation virtual image scene, and adjust the test flight route according to all the points to be inspected and the collision points to obtain the actual inspection route.

[0045] Furthermore, after step S2 and before step S3, the following steps are further included:

[0046] Simulated flight training is performed according to the test flight route in the substation virtual image scene, so that the UAV can fully execute the test flight route.

[0047] From the above description, it can be seen that simulated flight training is carried out according to the test flight route in the virtual image scene of the substation, so as to improve the execution of the UAV on the test flight route, to ensure that it can complete the flight operation according to the test flight route, and further improve the flight safety and reliability.

[0048] Furthermore, the acquisition and establishment of a substation virtual image scene according to the building information of the substation is specifically as follows:

[0049] The latest building information of the substation is obtained according to a preset period, and the substation virtual image scene is established or updated according to the building information.

[0050] From the above description, it can be seen that the latest building information of the substation is obtained according to the preset period, so as to update the substation virtual image scene in time and ensure the timeliness and reliability of the test flight route.

[0051] Furthermore, after step S1 and before step S2, the following steps are further included:

[0052] If the substation virtual image scene is updated, it is determined whether the current actual inspection route is still applicable. If so, the actual inspection route continues to be used, otherwise, step S2 is executed.

[0053] From the above description, it can be seen that when the environmental information of the substation changes, the applicability of the current actual inspection route is tested to determine whether the current actual inspection route can pass through all inspection points or whether a collision will occur, etc. If it is not applicable, the route will be replanned to reduce the workload of line planning while ensuring the availability of the inspection route in real time.

[0054] Furthermore, the step S1 further includes:

[0055] The distances between different points to be inspected are displayed in the virtual image scene with millimeter-level accuracy.

[0056] From the above description, it can be seen that the distances between different inspection points are displayed accurately to the millimeter level in the virtual image scene, so as to improve the accuracy of the planned test flight route and meet the inspection task requirements.

[0057] A substation inspection drone anti-collision method and terminal of the present invention can be applied to the substation drone inspection scenario, and the following is described through specific implementation methods:

[0058] Please refer to Figure 1 , Embodiment 1 of the present invention is:

[0059] A substation inspection drone anti-collision method, comprising the steps of:

[0060] S1. Acquire and establish a substation virtual image scene based on the substation building information, and mark the points to be inspected in the virtual image scene;

[0061] In this embodiment, since the actual environment of the substation may change due to usage requirements, the latest building information of the substation is obtained according to a preset period, and the substation virtual image scene is established or updated based on the building information. The preset period is selected in the range of 2 to 4 weeks, preferably 3 weeks.

[0062] In this embodiment, the distances between different points to be inspected are displayed with millimeter-level accuracy in the virtual image scene.

[0063] S2. Plan the test flight route according to the coordinate positions of all points to be inspected;

[0064] In this embodiment, the planning of the test flight route must at least pass through all the points to be inspected. After the test flight route is planned, simulated flight training is performed according to the test flight route in the substation virtual image scene so that the drone can fully execute the test flight route. At this point, the route planning of the drone has completed the initial route planning and initial route training.

[0065] Furthermore, if the substation virtual image scene is updated, it is determined whether the current actual inspection route is still applicable. If so, the actual inspection route continues to be used, otherwise, step S2 is executed. Whether the current actual inspection route is still applicable is mainly determined from two aspects:

[0066] First, after the substation virtual image scene is updated, whether the location of the inspection point has changed. If it has changed, it is obvious that the original actual inspection route is no longer applicable to the new substation environment and the inspection cannot be completed. In this case, the flight route needs to be replanned.

[0067] Secondly, after the virtual image scene of the substation is updated, a test flight can be carried out in the substation according to the current actual inspection route to detect whether a collision occurs. If so, the flight route also needs to be replanned.

[0068] S3, control the UAV to fly in the substation according to the test flight route, and detect whether the UAV will collide. If so, execute step S4, otherwise use the test flight route as the actual inspection route;

[0069] S4. Record all collision points and mark them in the substation virtual image scene, and adjust the test flight route according to all the inspection points and collision points to obtain the actual inspection route.

[0070] In this embodiment, the collision point is matched to the corresponding position point in the virtual image scene, and a new flight route of the drone is planned for the drone in the virtual image scene. The newly planned flight route of the drone bypasses the collision point based on the test flight route as the actual inspection route.

[0071] In this embodiment, after the actual inspection route is obtained through adjustment, the flight simulation training of the UAV is carried out in the virtual image scene until the UAV can fully execute the actual inspection route. At this point, when the test flight route will collide, secondary route planning and secondary route training are carried out after the initial route planning and initial route training.

[0072] Please refer to Figure 2 , Embodiment 2 of the present invention is:

[0073] A substation inspection drone collision avoidance terminal 1 includes a memory 3, a processor 2, and a computer program stored in the memory 3 and executable on the processor 2. When the processor 2 executes the computer program, the steps of the above-mentioned embodiment 1 are implemented.

[0074] In this embodiment, the processor 2 of a substation inspection drone collision avoidance terminal 1 can be divided into a collection and construction module, an insertion point indexing module, a primary line planning module, a primary training module, a primary inspection module, a secondary line planning module, a secondary training module, and a secondary line planning module according to its actual functions.

[0075] The acquisition and construction module is used to obtain the overall building information of the substation and build a virtual image scene of the substation. The insertion point indexing module is used to insert the location points of the building location of the substation in the virtual image scene, and mark the corresponding points to be inspected in the virtual image scene according to the corners to be inspected of the substation in the real scene; the initial route planning module is used to plan the test flight route for the drone according to the points to be inspected; the initial training module is used to perform flight simulation training of the drone in the virtual image scene according to the planned test flight route until the drone can fully execute the planned test flight route; the initial inspection module is used to make the drone perform inspection tasks in the substation according to the planned flight route of the drone. If there is no collision and the inspection task can be completed normally, the test flight route will be used as the actual inspection route to perform the inspection task. If a collision occurs during the inspection task, the collision point will be recorded; the secondary route planning module and the secondary training module are used for secondary route planning and secondary route training.

[0076] To sum up, the present invention provides a substation inspection drone collision avoidance method and terminal, which establishes a substation virtual image scene according to the actual environment and inspection content of the substation and plans a test flight route therein, and obtains an actual inspection route that can avoid collision points through test flights, so that the drone can achieve autonomous flight without collision, without relying on manual operation, thereby improving the inspection operation efficiency while ensuring the flight safety of the drone.

[0077] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent transformations made using the contents of the present invention's specification and drawings, or directly or indirectly applied in related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A substation inspection drone collision avoidance method, characterized in that: Includes steps: S1. Acquire and establish a substation virtual image scene according to the building information of the substation, and mark the points to be inspected in the virtual image scene; S2. Planning a test flight route according to the coordinate positions of all the points to be inspected; S3, controlling the UAV to fly in the substation according to the test flight route, and detecting whether the UAV will collide, if so, executing step S4, otherwise taking the test flight route as the actual inspection route; S4, recording all collision points and marking them in the substation virtual image scene, adjusting the test flight route according to all the points to be inspected and the collision points to obtain the actual inspection route; After step S2 and before step S3, the following steps are also included: Performing simulated flight training according to the test flight route in the substation virtual image scene, so that the UAV can fully execute the test flight route; The test flight route must be planned to pass through at least all the inspection points; At this point, the UAV's flight route planning has completed the initial route planning and initial route training; After step S4, the following steps are also included: After the actual inspection route is obtained through adjustment, the UAV flight simulation training is carried out in the virtual image scene until the UAV can fully execute the actual inspection route. At this point, when the test flight route will collide, secondary route planning and secondary route training are carried out after the initial route planning and initial route training.

2. A substation inspection drone anti-collision method according to claim 1, characterized in that: The acquisition and establishment of a substation virtual image scene according to the substation building information is specifically as follows: The latest building information of the substation is obtained according to a preset period, and the substation virtual image scene is established or updated according to the building information.

3. A substation inspection drone anti-collision method according to claim 2, characterized in that: After step S1 and before step S2, the following steps are also included: If the substation virtual image scene is updated, it is determined whether the current actual inspection route is still applicable. If so, the actual inspection route continues to be used, otherwise, step S2 is executed.

4. A substation inspection drone anti-collision method according to claim 1, characterized in that: The step S1 further comprises: The distances between different points to be inspected are displayed in the virtual image scene with millimeter-level accuracy.

5. A substation inspection drone collision avoidance terminal, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the following steps are implemented: S1. Acquire and establish a substation virtual image scene according to the building information of the substation, and mark the points to be inspected in the virtual image scene; S2. Planning a test flight route according to the coordinate positions of all the points to be inspected; S3, controlling the UAV to fly in the substation according to the test flight route, and detecting whether a collision occurs, if so, executing step S4, otherwise taking the test flight route as the actual inspection route; S4, recording all collision points and marking them in the substation virtual image scene, adjusting the test flight route according to all the points to be inspected and the collision points to obtain the actual inspection route; After step S2 and before step S3, the following steps are also included: Performing simulated flight training according to the test flight route in the substation virtual image scene, so that the UAV can fully execute the test flight route; The test flight route must be planned to pass through at least all the inspection points; At this point, the UAV's flight route planning has completed the initial route planning and initial route training; After step S4, the following steps are also included: After the actual inspection route is obtained through adjustment, the UAV flight simulation training is carried out in the virtual image scene until the UAV can fully execute the actual inspection route. At this point, when the test flight route will collide, secondary route planning and secondary route training are carried out after the initial route planning and initial route training.

6. A substation inspection drone anti-collision terminal according to claim 5, characterized in that: The acquisition and establishment of a substation virtual image scene according to the substation building information is specifically as follows: The latest building information of the substation is obtained according to a preset period, and the substation virtual image scene is established or updated according to the building information.

7. A substation inspection drone anti-collision terminal according to claim 6, characterized in that: After step S1 and before step S2, the following steps are also included: If the substation virtual image scene is updated, it is determined whether the current actual inspection route is still applicable. If so, the actual inspection route continues to be used, otherwise, step S2 is executed.

8. The substation inspection drone anti-collision terminal according to claim 5, characterized in that: The step S1 further comprises: The distances between different points to be inspected are displayed in the virtual image scene with millimeter-level accuracy.

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