A power grid equipment field condition visual display method and system based on multi-unmanned aerial vehicle cooperation

Abstract

The application provides a power grid equipment field condition visual display method and system based on multi-unmanned aerial vehicle cooperation. The method comprises the following steps: obtaining equipment data of a target power grid equipment, determining a first number of unmanned aerial vehicles for cooperation and a cooperation scheme of each unmanned aerial vehicle according to the equipment data; and performing visual display on a single display interface after fusing first monitoring images shot by each unmanned aerial vehicle. The scheme of the application can obtain more comprehensive monitoring images of the target power grid equipment in the manner of multi-unmanned aerial vehicle cooperation, and the viewing convenience and intuitiveness of monitoring personnel for the monitoring images shot by multiple unmanned aerial vehicles can be improved by fusing the images, which can greatly help the monitoring personnel to quickly and comprehensively master the field conditions.

Description

Technical Field

[0001] This invention relates to the field of power equipment monitoring technology, and more specifically, to a method, system, electronic device, and computer storage medium for visualizing the on-site status of power grid equipment based on multi-UAV collaboration. Background Technology

[0002] Monitoring systems can promptly detect anomalies in power grid equipment, enabling timely intervention and ensuring the stable operation of the power system. Current methods primarily utilize fixed surveillance cameras for monitoring and backend display of on-site power grid equipment. The main limitation of this approach is the need for an extremely large number of cameras, which is practically impossible. With the rapid development of drone technology, the use of drones for dynamic inspection of power grid equipment has gradually gained traction. However, power grid equipment varies greatly in form, and the structures of locations where anomalies occur are often complex. A single drone can hardly acquire comprehensive on-site images, making it difficult for the backend monitoring system to provide a more comprehensive and intuitive visualization. Summary of the Invention

[0003] In order to at least solve the technical problems existing in the background art, the present invention provides a method, system, electronic device and computer storage medium for visualizing the on-site status of power grid equipment based on multi-UAV collaboration, so as to assist monitoring personnel in fully and intuitively grasping the real situation of power grid equipment on-site.

[0004] The first aspect of the present invention provides a method for visualizing the on-site status of power grid equipment based on multi-UAV collaboration, the method comprising the following steps:

[0005] Obtain the equipment data of the target power grid equipment, and determine the first number of drones to be used for cooperation and the cooperation scheme of each drone based on the attribute data;

[0006] The first monitoring images captured by each of the aforementioned drones are fused and then visualized on a single display interface.

[0007] In some embodiments, prior to acquiring the device data of the target power grid device, the method further includes:

[0008] Receive a specified monitoring instruction, determine the target power grid equipment according to the specified monitoring instruction; and / or, acquire a second monitoring image of each power grid equipment on the inspection route, perform anomaly identification on each power grid equipment according to the second monitoring image, and determine the target power grid equipment according to the anomaly identification result.

[0009] In some embodiments, determining the first number of drones for collaboration and the collaboration scheme of each drone based on the device data includes:

[0010] The baseline monitoring points are determined based on the device status data in the device data, and the first number of drones used for collaboration is determined based on the device attribute data in the device data.

[0011] The collaboration scheme for each of the drones is determined based on the benchmark monitoring points and the first quantity.

[0012] In some embodiments, determining the collaborative scheme for each of the drones based on the baseline monitoring points and the first quantity includes:

[0013] Based on the baseline monitoring points and the device attribute data, a number of target monitoring points are determined, and each of the target monitoring points is assigned to the first number of drones used for cooperation. A scheduling instruction is then generated and sent to each of the drones.

[0014] In some embodiments, determining a plurality of target monitoring points based on the baseline monitoring points and the device attribute data includes:

[0015] A horizontal baseline is constructed based on the aforementioned benchmark monitoring points, and several initial monitoring points are determined in the upper, middle, and lower sections of the horizontal baseline.

[0016] The external structure of the target power grid equipment is determined based on the equipment attribute data, and the initial monitoring points are adjusted according to the external structure to obtain a number of target monitoring points.

[0017] In some embodiments, the fusion of the first surveillance images captured by each of the drones and their subsequent visualization on a single display interface includes:

[0018] The display area of ​​the first monitoring image captured by each of the drones in the single display interface is determined according to the cooperation scheme;

[0019] The first monitoring images configured in the display area are merged into a single image and then displayed visually on the single image display interface.

[0020] In some embodiments, determining the display area of ​​the first monitoring image captured by each of the drones on the individual display interface according to the collaboration scheme includes:

[0021] Based on the interval, several horizontal display areas are determined, and each of the first monitoring images is grouped into the corresponding horizontal display area according to the vertical position of the target monitoring point.

[0022] The vertical display area of ​​the first monitoring image in each group within the horizontal display area is determined based on the horizontal position of each target monitoring point in the collaborative scheme.

[0023] A second aspect of the present invention provides a visualization system for the on-site status of power grid equipment based on multi-UAV collaboration, comprising an acquisition module, a processing module, and a storage module; the processing module is connected to the acquisition module and the storage module.

[0024] The storage module is used to store executable computer program code;

[0025] The acquisition module is used to acquire the equipment data of the target power grid equipment and transmit it to the processing module;

[0026] The characteristic is that the processing module is configured to execute the method described in any of the preceding methods by calling the executable computer program code in the storage module.

[0027] A third aspect of the present invention also provides an electronic device, comprising: a memory storing executable program code; a processor coupled to the memory; the processor invoking the executable program code stored in the memory to perform the method as described in any of the preceding claims.

[0028] A fourth aspect of the invention provides a computer storage medium storing a computer program that, when executed by a processor, performs the method described in any of the preceding claims.

[0029] The beneficial effects of this invention are as follows:

[0030] The solution of this invention can obtain more comprehensive monitoring images of the target power grid equipment through multi-drone collaboration, and improve the convenience and intuitiveness of monitoring personnel in viewing monitoring images taken by multiple drones by image fusion, which can greatly help monitoring personnel to quickly and comprehensively grasp the on-site situation. Attached Figure Description

[0031] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0032] Figure 1 This is a flowchart illustrating a method for visualizing the on-site status of power grid equipment based on multi-UAV collaboration, as disclosed in an embodiment of the present invention.

[0033] Figure 2 This is a schematic diagram of the structure of a power grid equipment field status visualization system based on multi-UAV collaboration disclosed in an embodiment of the present invention. Detailed Implementation

[0034] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0035] The terminology used in the embodiments of this application is for the purpose of describing particular embodiments only and is not intended to limit the application. The singular forms “a,” “said,” and “the” used in the embodiments of this application and the appended claims are also intended to include the plural forms, and “multiple” generally includes at least two unless the context clearly indicates otherwise.

[0036] It should be understood that the term "and / or" used in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0037] It should be understood that although the terms first, second, third, etc., may be used to describe ... in the embodiments of this application, these ... should not be limited to these terms. These terms are only used to distinguish .... For example, without departing from the scope of the embodiments of this application, first ... can also be referred to as second ..., and similarly, second ... can also be referred to as first ....

[0038] Depending on the context, the words “if” or “suppose” as used here can be interpreted as “when” or “in response to determination” or “in response to detection.” Similarly, depending on the context, the phrases “if determination” or “if detection (of the stated condition or event)” can be interpreted as “when determination” or “in response to determination” or “when detection (of the stated condition or event)” or “in response to detection (of the stated condition or event).”

[0039] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a product or system comprising a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a product or system. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the product or system that includes said element.

[0040] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0041] See Figure 1 As shown in the figure, this invention discloses a method for visualizing the on-site status of power grid equipment based on multi-UAV collaboration. The method includes the following steps:

[0042] Obtain the equipment data of the target power grid equipment, and determine the first number of drones to be used for cooperation and the cooperation scheme of each drone based on the attribute data;

[0043] The first monitoring images captured by each of the aforementioned drones are fused and then visualized on a single display interface.

[0044] When a drone inspects the location of a target power grid device, it can acquire the device's attribute data through various methods. Based on this data, it can determine the number of drones to collaborate with and the specific collaboration method among them. Multiple drones can then capture monitoring images of the target power grid device from their respective locations and transmit them to a backend monitoring system. The backend monitoring system then merges these multiple images into a single image and displays it on a single interface. Therefore, the solution of this invention can obtain more comprehensive monitoring images of the target power grid device through multi-drone collaboration. Furthermore, by merging the images, it improves the ease and intuitiveness for monitoring personnel to view the monitoring images captured by multiple drones, greatly helping them to quickly and comprehensively grasp the on-site situation.

[0045] It should be noted that dedicated inspection drones can be set up to inspect various power grid devices according to preset routes. After extracting the attribute data of the target power grid devices, the inspection drones can send dispatch signals to nearby drone mother vehicles or other inspection drones as needed, thereby achieving multi-drone collaboration. The individual display interface can be a large monitoring screen, a monitoring monitor, or the screen of a mobile terminal device, etc.

[0046] In some embodiments, prior to acquiring the device data of the target power grid device, the method further includes:

[0047] Receive a specified monitoring instruction, determine the target power grid equipment according to the specified monitoring instruction; and / or, acquire a second monitoring image of each power grid equipment on the inspection route, perform anomaly identification on each power grid equipment according to the second monitoring image, and determine the target power grid equipment according to the anomaly identification result.

[0048] In this embodiment, the background monitoring system or the on-site unmanned aerial vehicle (UAV) mother vehicle can send a specified inspection instruction to the inspection UAV. The inspection instruction includes a specified abnormal power grid equipment and an instruction inspection route containing several power grid equipment. The inspection UAV can directly determine the target power grid equipment based on the aforementioned method. In the latter method, the inspection UAV can lock the power grid equipment in an abnormal state based on its own anomaly recognition algorithm and determine it as the target power grid equipment.

[0049] In some embodiments, determining the first number of drones for collaboration and the collaboration scheme of each drone based on the device data includes:

[0050] The baseline monitoring points are determined based on the device status data in the device data, and the first number of drones used for collaboration is determined based on the device attribute data in the device data.

[0051] The collaboration scheme for each of the drones is determined based on the benchmark monitoring points and the first quantity.

[0052] In this embodiment, the equipment data that the inspection drone can obtain for the target power grid equipment includes equipment status data and equipment attribute data. Based on the equipment status data, abnormal locations of the target power grid equipment can be identified, thereby determining the baseline monitoring points that require video surveillance. Based on the equipment attribute data, the specific attributes of the target power grid equipment can be determined, including equipment type, structure, size, and grid voltage. Based on the specific attributes of the target power grid equipment, the required number of drones for collaboration can be determined. After determining the abnormal locations and the number of drones, the final drone collaboration plan can be generated.

[0053] In some embodiments, determining the collaborative scheme for each of the drones based on the baseline monitoring points and the first quantity includes:

[0054] Based on the baseline monitoring points and the device attribute data, a number of target monitoring points are determined, and each of the target monitoring points is assigned to the first number of drones used for cooperation. A scheduling instruction is then generated and sent to each of the drones.

[0055] In this embodiment, based on the abnormal locations of the target power grid equipment, multiple suitable shooting locations for drone hovering can be determined. Furthermore, this invention also considers the equipment attribute data of the target power grid equipment itself to filter the optimal shooting locations.

[0056] In some embodiments, determining a plurality of target monitoring points based on the baseline monitoring points and the device attribute data includes:

[0057] A horizontal baseline is constructed based on the aforementioned benchmark monitoring points, and several initial monitoring points are determined in the upper, middle, and lower sections of the horizontal baseline.

[0058] The external structure of the target power grid equipment is determined based on the equipment attribute data, and the initial monitoring points are adjusted according to the external structure to obtain a number of target monitoring points.

[0059] In this embodiment, the present invention first determines several initial monitoring points on average in the upper, middle and lower sections of the horizontal baseline where the reference monitoring point is located. Then, considering the external structure of the target power grid equipment, the unsuitable initial monitoring points are adjusted so that each of the finally determined target monitoring points has the best shooting angle relative to the reference monitoring point.

[0060] The external structure of the target power grid equipment mainly includes its external outline shape, such as spherical, cylindrical, gourd-shaped, nested, or flat. These different external outline shapes can be used to assess the complexity of the target power grid equipment's design. This invention adjusts the initial monitoring points based on this complexity, including adjusting the position and number of the initial monitoring points. For example, if the target power grid equipment is nested, the multiple external steel bars may affect the drone's shooting angle. The initial monitoring points can be adjusted to allow shooting through the gaps between the steel bars, and / or several additional monitoring points can be added appropriately.

[0061] In some embodiments, the fusion of the first surveillance images captured by each of the drones and their subsequent visualization on a single display interface includes:

[0062] The display area of ​​the first monitoring image captured by each of the drones in the single display interface is determined according to the cooperation scheme;

[0063] The first monitoring images configured in the display area are merged into a single image and then displayed visually on the single image display interface.

[0064] In this embodiment, after each inspection drone sends its monitoring images back to the backend monitoring center or the main vehicle, the monitoring images captured by different drones are configured in the corresponding positions on the monitoring interface according to the aforementioned cooperation scheme. Then, multiple monitoring images are merged into a single image, which is then visualized on the display interface of the designated terminal.

[0065] In some embodiments, determining the display area of ​​the first monitoring image captured by each of the drones on the individual display interface according to the collaboration scheme includes:

[0066] Based on the interval, several horizontal display areas are determined, and each of the first monitoring images is grouped into the corresponding horizontal display area according to the vertical position of the target monitoring point.

[0067] The vertical display area of ​​the first monitoring image in each group within the horizontal display area is determined based on the horizontal position of each target monitoring point in the collaborative scheme.

[0068] In this embodiment, the aforementioned determined target monitoring points include both vertical and horizontal positions. The vertical position refers to the vertical distribution of the drones relative to the baseline monitoring point, while the horizontal position refers to the vertical distance of the drone relative to the vertical center line of the baseline monitoring point, i.e., the shooting distance. First, based on the vertical position, multiple drones can be grouped into different horizontal display areas, and based on the horizontal position, i.e., the shooting distance, the specific position of each monitoring image within the horizontal group can be determined.

[0069] This setup allows for the display of captured surveillance images according to the actual vertical distribution of the drone. Furthermore, it adjusts the horizontal distribution of images on the same horizontal line based on the shooting distance; images captured at closer distances are positioned in the center of the horizontal display area, while images captured at farther distances are positioned on the sides, providing monitoring personnel with a more intuitive and realistic on-site perspective.

[0070] See Figure 2 As shown, this embodiment of the invention also discloses a visualization system for the field status of power grid equipment based on multi-UAV collaboration, including an acquisition module, a processing module, and a storage module; the processing module is connected to the acquisition module and the storage module;

[0071] The storage module is used to store executable computer program code;

[0072] The acquisition module is used to acquire the equipment data of the target power grid equipment and transmit it to the processing module;

[0073] The characteristic feature is that the processing module is used to execute the method described in the foregoing embodiments by calling the executable computer program code in the storage module.

[0074] This invention also discloses an electronic device, comprising: a memory storing executable program code; a processor coupled to the memory; the processor calling the executable program code stored in the memory to execute the method described in the foregoing embodiments.

[0075] This invention also discloses a computer storage medium storing a computer program, which is executed by a processor to perform the methods described in the foregoing embodiments.

[0076] This invention also discloses a computer program product that executes the methods described in the foregoing embodiments when it is run.

[0077] For ease of description, the above devices are described separately by function as various units. Of course, in implementing this application, the functions of each unit can be implemented in one or more software and / or hardware.

[0078] As can be seen from the above description of the embodiments, those skilled in the art can clearly understand that this application can be implemented by means of software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, an information push server, or a network device, etc.) to execute the methods described in various embodiments or some parts of the embodiments of this application.

[0079] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0080] This application can be used in a wide range of general-purpose or special-purpose computing system environments or configurations. For example: personal computers, information push server computers, handheld or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set-top boxes, programmable consumer electronics devices, network PCs, minicomputers, mainframe computers, distributed computing environments including any of the above systems or devices, etc.

[0081] This application can be described in the general context of computer-executable instructions, such as program modules, that are executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc., that perform a specific task or implement a specific abstract data type. This application can also be practiced in distributed computing environments where tasks are performed by remote processing devices connected via a communication network. In distributed computing environments, program modules can reside in local and remote computer storage media, including storage devices.

[0082] It should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This way of describing the specification is only for clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

[0083] The detailed descriptions listed above are merely specific descriptions of feasible embodiments of the present invention, and are not intended to limit the scope of protection of the present invention. All equivalent embodiments or modifications made without departing from the spirit of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for visualizing the on-site status of power grid equipment based on multi-UAV collaboration, applied to UAVs, characterized in that, The method includes the following steps: Obtain the equipment data of the target power grid equipment, and determine the first number of drones to be used for cooperation and the cooperation scheme of each drone based on the equipment data; The first monitoring images captured by each of the aforementioned drones are fused and then visualized on a single display interface. The step of determining the first number of drones for collaboration and the collaboration scheme of each drone based on the device data includes: The baseline monitoring point is determined based on the device status data in the device data, and the first number of drones used for collaboration is determined based on the device attribute data in the device data; wherein, the device attribute data includes device type, structure, size, and grid voltage; The cooperation scheme for each of the drones is determined based on the benchmark monitoring points and the first quantity; The step of determining the collaborative scheme for each of the drones based on the benchmark monitoring points and the first quantity includes: Based on the baseline monitoring points and the device attribute data, a number of target monitoring points are determined, and each of the target monitoring points is assigned to the first number of drones used for cooperation, and a scheduling instruction is generated and sent to each of the drones. The step of determining several target monitoring points based on the baseline monitoring points and the device attribute data includes: A horizontal baseline is constructed based on the aforementioned benchmark monitoring points, and several initial monitoring points are determined in the upper, middle, and lower sections of the horizontal baseline. The external structure of the target power grid equipment is determined based on the equipment attribute data, and the initial monitoring points are adjusted according to the external structure to obtain a number of target monitoring points. The process of fusing the first monitoring images captured by each of the aforementioned drones and then visually displaying them on a single display interface includes: The display area of ​​the first monitoring image captured by each of the drones in the single display interface is determined according to the cooperation scheme; The first monitoring images configured in the display area are merged into a single image and then displayed visually on the single image display interface. The step of determining the display area of ​​the first monitoring image captured by each of the drones on the individual display interface according to the cooperation scheme includes: Based on the interval, several horizontal display areas are determined, and each of the first monitoring images is grouped into the corresponding horizontal display area according to the vertical position of the target monitoring point. The longitudinal display area of ​​the first monitoring image in the horizontal display area is determined according to the lateral position of each target monitoring point in the collaborative scheme. The lateral position refers to the vertical distance of the UAV relative to the vertical center line of the reference monitoring point, i.e., the shooting distance. The closer the shooting distance, the more the monitoring image is located in the center of the horizontal display area, and the farther the shooting distance, the more the monitoring image is located on the side of the horizontal display area.

2. The method for visualizing the on-site status of power grid equipment based on multi-UAV collaboration as described in claim 1, characterized in that: Before acquiring the device data of the target power grid equipment, the method further includes: Receive a specified monitoring instruction, determine the target power grid equipment according to the specified monitoring instruction; and / or, acquire a second monitoring image of each power grid equipment on the inspection route, perform anomaly identification on each power grid equipment according to the second monitoring image, and determine the target power grid equipment according to the anomaly identification result.

3. A visualization system for the on-site status of power grid equipment based on multi-UAV collaboration, comprising an acquisition module, a processing module, and a storage module; the processing module is connected to the acquisition module and the storage module; The storage module is used to store executable computer program code; The acquisition module is used to acquire the equipment data of the target power grid equipment and transmit it to the processing module; Its features are: The processing module is configured to execute the method as described in any one of claims 1-2 by calling the executable computer program code in the storage module.

4. An electronic device, comprising: Memory containing executable program code; A processor coupled to the memory; The processor calls the executable program code stored in the memory to execute the method as described in any one of claims 1-2.

5. A computer storage medium storing a computer program that, when executed by a processor, performs the method as described in any one of claims 1-2.

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