A method for optimizing complex routes for UAV power equipment inspection

Abstract

The present invention discloses a method for optimizing complex routes for unmanned aerial vehicle power equipment inspection, relates to the field of circuit inspection, and solves the problem of low efficiency of existing unmanned aerial vehicle inspections. The method comprises step S1: acquiring first inspection basic data, second inspection basic data and third inspection basic data to obtain circuit inspection basic data, step S2: calculating inspection point priority division coefficients according to the circuit inspection basic data, acquiring inspection point priority division coefficient thresholds and performing numerical comparison with the inspection point priority division coefficients to obtain inspection point priority division data, and step S3: optimizing routes according to the inspection point priority division data. The present invention performs real-time priority division of inspection points by acquiring inspection point priority division data, and adjusts the inspection sequence between different inspection routes in real time, thereby improving the scientific nature of the unmanned aerial vehicle inspection process.

Description

Technical Field

[0001] The present invention belongs to the field of circuit inspection and relates to UAV technology, and specifically is a method for optimizing complex routes for UAV power equipment inspection. Background Art

[0002] Circuit inspection by drone is a method of using drones equipped with cameras, sensors and other equipment to conduct comprehensive inspection and monitoring of circuit facilities. Through high-altitude monitoring by drones, abnormal conditions of circuit facilities, such as leakage, short circuit, poor contact, etc., can be quickly discovered and handled in a timely manner to ensure the normal operation and safety of circuit facilities. At the same time, drone inspection can also improve inspection efficiency, reduce costs, reduce interference from human factors, and improve the accuracy and reliability of inspections.

[0003] The existing UAV power equipment inspection method has the following defects:

[0004] 1. The existing UAV power equipment inspection method requires staff to control the UAV in real time, which increases the human resource cost of circuit inspection;

[0005] 2. In the existing UAV power equipment inspection method, the UAV usually conducts inspections according to a predetermined flight route and cannot adjust the inspection priority in real time according to the dynamic changes of circuit data.

[0006] To this end, we propose a method for optimizing complex routes for UAV power equipment inspection. Summary of the invention

[0007] In view of the shortcomings of the prior art, the purpose of the present invention is to provide a method for optimizing complex routes for UAV power equipment inspections. The present invention is based on obtaining first inspection basic data, second inspection basic data and third inspection basic data to obtain circuit inspection basic data, calculate the inspection point priority division coefficient based on the circuit inspection basic data, obtain the inspection point priority division coefficient threshold and compare it with the inspection point priority division coefficient numerically to obtain the inspection point priority division data, and optimize the route based on the inspection point priority division data.

[0008] In order to achieve the above object, the present invention adopts the following technical scheme to implement a method for optimizing complex routes for UAV power equipment inspection, which includes the following specific steps:

[0009] Step S1: respectively acquiring first inspection basic data, second inspection basic data and third inspection basic data to obtain circuit inspection basic data;

[0010] Step S2: Calculate the inspection point priority division coefficient according to the circuit inspection basic data, obtain the inspection point priority division coefficient threshold and compare the inspection point priority division coefficient with the inspection point priority division coefficient to obtain the inspection point priority division data;

[0011] Step S3: Optimize the route according to the inspection point priority data.

[0012] Furthermore, the step S1 further includes the following specific steps:

[0013] Obtain a power inspection route map, obtain each circuit inspection point in the inspection line according to the power inspection route map, and name them as the first to i-th circuit inspection points respectively;

[0014] The first inspection basic data, the second inspection basic data and the third inspection basic data respectively corresponding to each circuit inspection point are defined as circuit inspection basic data.

[0015] Furthermore, the step S1 further includes the following specific steps:

[0016] Under the normal operation state of the first circuit inspection point, a characteristic power monitoring period is marked respectively, and within the characteristic power monitoring period, a characteristic time nodes are selected respectively, and they are named as the first to the ath power characteristic time nodes respectively;

[0017] Respectively obtain the specific values ​​of the trunk current of the first circuit inspection point corresponding to the first to ath power characteristic time nodes to obtain the first to ath trunk current values;

[0018] Calculate the average value of the first to ath trunk current values ​​to obtain the average value of the trunk current at the monitoring point;

[0019] The first to ath trunk current values ​​and the average trunk current of the monitoring point are calculated to obtain the trunk current stability reference coefficient corresponding to the first circuit inspection point;

[0020] The first to ath trunk current values ​​are calculated to obtain the trunk current detection change rate corresponding to the first circuit inspection point;

[0021] The average trunk current value, the trunk current stability reference coefficient and the trunk current detection change rate of the monitoring point corresponding to the first circuit inspection point are defined as the first inspection basic data;

[0022] The above process of acquiring the first inspection basic data corresponding to the first circuit inspection point is repeated to acquire the first inspection basic data corresponding to each inspection point respectively.

[0023] Furthermore, the step S1 further includes the following specific steps:

[0024] Obtain a branch distribution topology map of the first circuit inspection point, and obtain the number of subordinate circuit branches corresponding to the first circuit inspection point according to the branch distribution topology map to obtain the number of circuit branches;

[0025] Obtain a power supply diagram corresponding to the first circuit inspection point, and obtain the number of power consumption units covered by the first circuit inspection point according to the power supply diagram to obtain the number of covered power consumption units;

[0026] The number of covered power consumption units and the number of circuit branches corresponding to the first circuit inspection point are defined as the second inspection basic data;

[0027] Repeat the above process of acquiring the second inspection basic data corresponding to the first circuit inspection point, and acquire the second inspection basic data corresponding to each inspection point respectively.

[0028] Furthermore, the step S1 further includes the following specific steps:

[0029] Obtain the time value corresponding to the initial operation of the first circuit inspection point to obtain a first time value, obtain the time value corresponding to the current moment to obtain a second time value, calculate the difference between the first time value and the second time value, and obtain the accumulated operation time corresponding to the first circuit inspection;

[0030] The time value corresponding to the current moment is used as the reference time value, and a characteristic time period is calculated forward from the reference time value as the circuit safety monitoring time period;

[0031] Count the number of safety inspection events that occur cumulatively at the first circuit inspection point during the circuit safety monitoring time period to obtain the number of periodic safety inspections;

[0032] Obtain the duration value corresponding to the circuit safety monitoring time period, obtain the safety monitoring period duration, calculate the ratio of the periodic safety maintenance times to the safety monitoring period duration, and obtain the safety maintenance frequency corresponding to the first circuit inspection point;

[0033] The accumulated operation time and safety inspection frequency corresponding to the first circuit inspection are defined as the third inspection basic data corresponding to the first circuit inspection;

[0034] Repeat the above process of acquiring the third inspection basic data corresponding to the first circuit inspection point, and acquire the third inspection basic data corresponding to each circuit inspection point respectively.

[0035] Furthermore, the step S2 further includes the following specific steps:

[0036] Step S21: Acquire circuit inspection basic data, and acquire first inspection basic data, second inspection basic data, and third inspection basic data corresponding to each circuit inspection point according to the circuit inspection basic data;

[0037] Step S22: Calculate the first inspection coefficient corresponding to the first circuit inspection point;

[0038] Step S23: Obtain the covered power consumption unit quantity and the number of circuit branches according to the second inspection basic data, and obtain the second inspection coefficient by calculating the covered power consumption unit quantity and the number of circuit branches;

[0039] Step S24: acquiring the accumulated operation time and the safety inspection frequency according to the third inspection basic data, and calculating the accumulated operation time and the safety inspection frequency to obtain the third inspection coefficient corresponding to the first circuit inspection point;

[0040] Step S25: Obtain inspection point priority division coefficients;

[0041] Step S26: Repeat the above process of obtaining the inspection point priority division coefficient corresponding to the first circuit inspection point, respectively obtain the inspection point priority division coefficient corresponding to each circuit inspection point, and obtain multiple inspection point priority division coefficients;

[0042] Step S27: Obtain a patrol point priority division coefficient threshold, compare the multiple patrol point priority division coefficients with the patrol point priority division coefficient threshold, and obtain patrol point priority division data.

[0043] Furthermore, the step S25 further includes the following specific steps:

[0044] The first inspection coefficient, the second inspection coefficient and the third inspection coefficient corresponding to the first circuit inspection point are calculated to obtain the inspection point priority division coefficient;

[0045] Calculate the inspection point priority coefficients.

[0046] Furthermore, the step S22 further includes the following specific steps:

[0047] Step S221: acquiring the average trunk current value, the trunk current stability reference coefficient and the trunk current detection change rate of the monitoring point according to the first inspection basic data;

[0048] Step S222: Calculate the first inspection coefficient by using the average trunk current value at the monitoring point, the trunk current stability reference coefficient, and the trunk current detection change rate.

[0049] Furthermore, the step S27 further includes the following specific steps:

[0050] Step S271: obtaining a first inspection coefficient threshold, a second inspection coefficient threshold, and a third inspection coefficient threshold, and calculating the first inspection coefficient threshold, the second inspection coefficient threshold, and the third inspection coefficient threshold to obtain an inspection point priority division coefficient threshold;

[0051] Step S272: comparing the inspection point priority division coefficient with the inspection point priority division coefficient threshold;

[0052] The specific steps are as follows:

[0053] When the inspection point priority division coefficient is greater than or equal to the inspection point priority division coefficient threshold, the circuit inspection point is judged to be a first type circuit inspection point;

[0054] When the inspection point priority division coefficient is less than the inspection point priority division coefficient threshold, the circuit inspection point is determined to be a second type circuit inspection point.

[0055] Furthermore, the step S3 further includes the following specific steps:

[0056] Step S31: obtaining inspection point priority classification data, and taking the first type of circuit inspection points as the first batch of inspection points and taking the second type of circuit inspection points as the second batch of inspection points according to the inspection point priority classification data;

[0057] Step S32: The drone takes the first batch inspection point closest to the current position as the current inspection point, and flies to the current inspection point for inspection. After the inspection of the current inspection point is completed, the first batch inspection point closest to the current inspection point is continued as the next inspection point, and this inspection process is repeated until the inspection of all the first batch inspection points is completed;

[0058] Step S33: When the inspection of the first batch of inspection points is completed, the drone will use the second batch inspection point closest to the current position as the current inspection point and fly to the current inspection point for inspection. After the inspection of the current inspection point is completed, the second batch inspection point closest to the current inspection point will continue to be used as the next inspection point, and this inspection process will be repeated until the inspection of all second batch inspection points is completed.

[0059] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0060] 1. The present invention obtains the basic data of circuit inspection and conducts multi-faceted analysis on the inspection points in the power line, thereby ensuring that the inspection point priority division process is objective, reasonable and automated, and can effectively overcome the problem of subjective arbitrariness in manual data collection;

[0061] 2. The present invention obtains inspection point priority data to perform real-time priority division on inspection points, and adjusts the inspection sequence between different inspection routes in real time according to changes in inspection data, thereby improving the scientific nature of the drone inspection process. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] In order to facilitate understanding by those skilled in the art, the present invention is further described below with reference to the accompanying drawings.

[0063] Figure 1 It is a diagram of the implementation steps of the present invention;

[0064] Figure 2 is the overall system block diagram of the present invention;

[0065] Figure 3 This is a branch distribution topology diagram of the first circuit inspection point in the present invention. DETAILED DESCRIPTION

[0066] The technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0067] Embodiment 1

[0068] See also Figure 2 , the present invention provides a technical solution: a complex route optimization system for UAV power equipment inspection, comprising a data acquisition module, a priority classification module, a route optimization module and a server, wherein the data acquisition module, the priority classification module and the route optimization module are respectively connected to the server;

[0069] The data acquisition module acquires basic circuit inspection data;

[0070] The data acquisition module includes a first acquisition unit, a second acquisition unit and a third acquisition unit;

[0071] Obtain a power inspection route map, obtain each circuit inspection point in the inspection line according to the power inspection route map, and name them as the first to i-th circuit inspection points respectively;

[0072] The first acquisition unit acquires the first inspection basic data corresponding to each circuit inspection point;

[0073] The details are as follows:

[0074] Under the normal operation state of the first circuit inspection point, a characteristic power monitoring period is marked respectively, and within the characteristic power monitoring period, a characteristic time nodes are selected respectively, and they are named as the first to the ath power characteristic time nodes respectively;

[0075] The specific values ​​of the trunk current at the first circuit inspection point corresponding to the first to ath power characteristic time nodes are respectively obtained by the first data acquisition device to obtain the first to ath trunk current values;

[0076] It should be noted here that:

[0077] In this application, a is the quantity value corresponding to the power characteristic time node, where a is an integer greater than 0;

[0078] Calculate the average value of the first to ath trunk current values ​​to obtain the average value of the trunk current at the monitoring point;

[0079] The first to ath trunk current values ​​and the average trunk current of the monitoring point are calculated to obtain the trunk current stability reference coefficient corresponding to the first circuit inspection point;

[0080] The main current stability reference coefficient corresponding to the first circuit inspection point is calculated, and the specific formula configuration is as follows:

[0081]

[0082] Among them, Gwx is the main current stability reference coefficient corresponding to the first circuit inspection point, Ig1 to Iga are the first to ath main current values ​​respectively, Igp is the average main current value of the monitoring point, and a is the quantity value corresponding to the power characteristic time node;

[0083] The first to ath trunk current values ​​are calculated to obtain the trunk current detection change rate corresponding to the first circuit inspection point;

[0084] The specific formula for calculating the change rate of the main current detection corresponding to the first circuit inspection point is configured as follows:

[0085] Igb=|Ig1-Ig2|+|Ig2-Ig3|+...+|Ig(a-1)-Iga|;

[0086] Among them, Igb is the trunk current detection change rate corresponding to the first circuit inspection point, and Ig1 to Iga are the first to ath trunk current values ​​respectively;

[0087] The average trunk current value, the trunk current stability reference coefficient and the trunk current detection change rate of the monitoring point corresponding to the first circuit inspection point are defined as the first inspection basic data;

[0088] Repeat the above process of acquiring the first inspection basic data corresponding to the first circuit inspection point, and acquire the first inspection basic data corresponding to each inspection point respectively;

[0089] The second acquisition unit acquires the second inspection basic data corresponding to each circuit inspection point;

[0090] The details are as follows:

[0091] See also Figure 3 , obtaining a branch distribution topology map of the first circuit inspection point, obtaining the number of subordinate circuit branches corresponding to the first circuit inspection point according to the branch distribution topology map, and obtaining the number of circuit branches;

[0092] It should be noted here that:

[0093] In the present application, the number of subordinate circuit branches corresponding to the first circuit inspection point here specifically refers to the number of subordinate circuit branches directly connected to the first circuit inspection point;

[0094] Obtain a power supply diagram corresponding to the first circuit inspection point, and obtain the number of power consumption units covered by the first circuit inspection point according to the power supply diagram to obtain the number of covered power consumption units;

[0095] It should be noted here that:

[0096] In this application, the electricity-consuming units involved include, but are not limited to, schools, factories, office buildings, and residential areas;

[0097] The number of covered power consumption units and the number of circuit branches corresponding to the first circuit inspection point are defined as the second inspection basic data;

[0098] Repeat the above process of acquiring the second inspection basic data corresponding to the first circuit inspection point, and acquire the second inspection basic data corresponding to each inspection point respectively;

[0099] The third acquisition unit acquires the third inspection basic data corresponding to each circuit inspection point;

[0100] The details are as follows:

[0101] Obtain the time value corresponding to the initial operation of the first circuit inspection point to obtain a first time value, obtain the time value corresponding to the current moment to obtain a second time value, calculate the difference between the first time value and the second time value, and obtain the accumulated operation time corresponding to the first circuit inspection;

[0102] It should be noted here that:

[0103] In the present application, the time value corresponding to the first circuit inspection point being put into operation for the first time is specifically the time value corresponding to the first circuit inspection point being put into operation for the first time;

[0104] The time value corresponding to the current moment is used as the reference time value, and a characteristic time period is calculated forward from the reference time value as the circuit safety monitoring time period;

[0105] For example: if the time value corresponding to the current moment is September 12, 2021, and if the duration corresponding to a characteristic time period is six months, then the period from March 12, 2021 to September 12, 2021 is the circuit safety monitoring time period;

[0106] Count the number of safety inspection events that occur cumulatively at the first circuit inspection point during the circuit safety monitoring time period to obtain the number of periodic safety inspections;

[0107] Obtain the duration value corresponding to the circuit safety monitoring time period, obtain the safety monitoring period duration, calculate the ratio of the periodic safety maintenance times to the safety monitoring period duration, and obtain the safety maintenance frequency corresponding to the first circuit inspection point;

[0108] The accumulated operation time and safety inspection frequency corresponding to the first circuit inspection are defined as the third inspection basic data corresponding to the first circuit inspection;

[0109] Repeat the above process of acquiring the third inspection basic data corresponding to the first circuit inspection point, and acquire the third inspection basic data corresponding to each circuit inspection point respectively;

[0110] The first inspection basic data, the second inspection basic data and the third inspection basic data corresponding to each circuit inspection point are defined as circuit inspection basic data;

[0111] The data acquisition module acquires the basic data of circuit inspection and transmits it to the priority classification module;

[0112] The priority classification module classifies the inspection priorities of the circuit inspection points according to the circuit inspection basic data, and obtains the inspection point priority classification data;

[0113] Obtain circuit inspection basic data, and obtain first inspection basic data, second inspection basic data, and third inspection basic data corresponding to each circuit inspection point according to the circuit inspection basic data;

[0114] Calculating a first inspection coefficient corresponding to a first circuit inspection point;

[0115] The details are as follows:

[0116] According to the first inspection basic data, the average trunk current value, the trunk current stability reference coefficient and the trunk current detection change rate of the monitoring point are obtained;

[0117] A first inspection coefficient is obtained by calculating the average trunk current value at the monitoring point, the trunk current stability reference coefficient and the trunk current detection change rate;

[0118] The first inspection coefficient is calculated, and the specific formula is configured as follows:

[0119] Xjx1=(Igb+Gwx+Igp)*a1;

[0120] Among them, Igb is the main current detection change rate corresponding to the first circuit inspection point, Gwx is the main current stability reference coefficient corresponding to the first circuit inspection point, and Igp is the average main current of the monitoring point corresponding to the first circuit inspection point;

[0121] Calculating a second inspection coefficient corresponding to the first circuit inspection point;

[0122] The details are as follows:

[0123] Obtain the covered power consumption unit quantity and the number of circuit branches according to the second inspection basic data, and obtain the second inspection coefficient by calculating the covered power consumption unit quantity and the number of circuit branches;

[0124] The second inspection coefficient is calculated, and the specific formula is configured as follows:

[0125] Xjx2=Fyd+Dlz*a2;

[0126] Among them, Xjx is the second inspection coefficient corresponding to the first circuit inspection point, Fyd is the covered electricity unit quantity, and Dlz is the number of circuit branches;

[0127] Calculate a third inspection coefficient corresponding to the first circuit inspection point;

[0128] The details are as follows:

[0129] Obtain the accumulated operation time and the safety inspection frequency according to the third inspection basic data, and calculate the accumulated operation time and the safety inspection frequency to obtain the third inspection coefficient corresponding to the first circuit inspection point;

[0130] The third inspection coefficient corresponding to the first circuit inspection point is calculated, and the specific formula configuration is as follows:

[0131] Xjx3=Lys+Ajp*a3;

[0132] Among them, Xjx3 is the third inspection coefficient corresponding to the first circuit inspection point, Lys is the cumulative operating time, Ajp is the safety inspection frequency, a3 is the set proportional coefficient and a3 is greater than 0;

[0133] The first inspection coefficient, the second inspection coefficient and the third inspection coefficient corresponding to the first circuit inspection point are calculated to obtain the inspection point priority division coefficient;

[0134] Calculate the inspection point priority coefficient. The specific formula is as follows:

[0135] Zyh=Xjj1*b1+Xjj2*b2+Xjj3*b3;

[0136] Wherein, Zyh is the inspection point priority division coefficient corresponding to the first circuit inspection point, Xjj1 is the first inspection coefficient, Xjj2 is the second inspection coefficient, Xjj3 is the third inspection coefficient, b1, b2 and b3 are respectively the set proportional coefficients, and b1, b2 and b3 are all greater than 0;

[0137] Repeat the above process of obtaining the inspection point priority division coefficient corresponding to the first circuit inspection point, respectively obtain the inspection point priority division coefficient corresponding to each circuit inspection point, and obtain multiple inspection point priority division coefficients;

[0138] Obtaining a priority division coefficient threshold of a patrol point, comparing the priority division coefficients of a plurality of patrol points with the priority division coefficient threshold of the patrol point, and obtaining patrol point priority division data;

[0139] Obtain the inspection point priority coefficient threshold, as follows:

[0140] Obtain a first inspection coefficient threshold, a second inspection coefficient threshold, and a third inspection coefficient threshold, and calculate the first inspection coefficient threshold, the second inspection coefficient threshold, and the third inspection coefficient threshold to obtain an inspection point priority division coefficient threshold;

[0141] Calculate the inspection point priority coefficient threshold. The specific formula is as follows:

[0142] Zyhy=Xjjy1*b1+Xjjy2*b2+Xjjy3*b3;

[0143] Among them, Zyhy is the inspection point priority division coefficient threshold, Xjjy1 is the first inspection coefficient threshold, Xjjy2 is the second inspection coefficient threshold, Xjjy3 is the third inspection coefficient threshold, b1, b2 and b3 are respectively set proportional coefficients, and b1, b2 and b3 are all greater than 0;

[0144] The numerical comparison process is as follows:

[0145] When the inspection point priority division coefficient is greater than or equal to the inspection point priority division coefficient threshold, the circuit inspection point is judged to be a first type circuit inspection point;

[0146] When the inspection point priority division coefficient is less than the inspection point priority division coefficient threshold, the circuit inspection point is determined to be a second type circuit inspection point;

[0147] The route optimization module optimizes routes based on the inspection point priority data;

[0148] Obtain inspection point priority data, and use the first type of circuit inspection points as the first batch of inspection points and the second type of circuit inspection points as the second batch of inspection points according to the inspection point priority data;

[0149] The drone takes the first batch inspection point closest to the current location as the current inspection point, and flies to the current inspection point for inspection. After the inspection of the current inspection point is completed, the drone continues to take the first batch inspection point closest to the current inspection point as the next inspection point, and repeats this inspection process until the inspection of all the first batch inspection points is completed;

[0150] When the inspection of the first batch of inspection points is completed, the drone will take the second batch inspection point closest to the current location as the current inspection point, and fly to the current inspection point for inspection. After the inspection of the current inspection point is completed, the second batch inspection point closest to the current inspection point will be taken as the next inspection point, and this inspection process will be repeated until the inspection of all the second batch inspection points is completed;

[0151] In this application, if corresponding calculation formulas appear, the above calculation formulas are all dimensionless and take their numerical calculations. The weight coefficients, proportional coefficients and other coefficients in the formulas are set to a result value obtained by quantifying each parameter. The size of the weight coefficient and the proportional coefficient can be determined as long as it does not affect the proportional relationship between the parameter and the result value.

[0152] Embodiment 2

[0153] See also Figure 1 , based on another concept of the same invention, it is now proposed that ..., including the following steps:

[0154] Step S1: Obtaining basic circuit inspection data;

[0155] Step S11: obtaining a power inspection route map, obtaining each circuit inspection point in the inspection line according to the power inspection route map, and naming them as the first to i-th circuit inspection points respectively;

[0156] Step S12: first inspection basic data corresponding to each circuit inspection point;

[0157] The specific steps are as follows:

[0158] Step S121: when the first circuit inspection point is in normal operation, mark a characteristic power monitoring period respectively, select a characteristic time nodes respectively in the characteristic power monitoring period, and name them as the first to ath power characteristic time nodes respectively;

[0159] Step S122: respectively obtaining specific values ​​of the trunk current of the first circuit inspection point corresponding to the first to ath power characteristic time nodes to obtain the first to ath trunk current values;

[0160] Step S123: Calculate the average value of the first to ath trunk current values ​​to obtain the average value of the trunk current at the monitoring point;

[0161] Step S124: Calculate the trunk current stability reference coefficient corresponding to the first circuit inspection point by combining the first to ath trunk current values ​​with the average trunk current of the monitoring point;

[0162] Step S125: Calculate the first to ath trunk current values ​​to obtain the trunk current detection change rate corresponding to the first circuit inspection point;

[0163] Step S126: defining the average trunk current value, trunk current stability reference coefficient and trunk current detection change rate of the monitoring point corresponding to the first circuit inspection point as first inspection basic data;

[0164] Step S127: repeat the above process of acquiring the first inspection basic data corresponding to the first circuit inspection point, and acquire the first inspection basic data corresponding to each inspection point respectively;

[0165] Step S13: Acquire the second inspection basic data corresponding to each circuit inspection point;

[0166] The specific steps are as follows:

[0167] Step S131: obtaining a branch distribution topology map of a first circuit inspection point, and obtaining the number of subordinate circuit branches corresponding to the first circuit inspection point according to the branch distribution topology map to obtain the number of circuit branches;

[0168] Step S132: obtaining a power supply diagram corresponding to the first circuit inspection point, obtaining the number of power consumption units covered by the first circuit inspection point according to the power supply diagram, and obtaining the number of covered power consumption units;

[0169] Step S133: defining the number of covered power consumption units and the number of circuit branches corresponding to the first circuit inspection point as second inspection basic data;

[0170] Step S134: repeat the above process of acquiring the second inspection basic data corresponding to the first circuit inspection point, and acquire the second inspection basic data corresponding to each inspection point respectively;

[0171] Step S14: Obtain the third inspection basic data corresponding to each circuit inspection point;

[0172] The specific steps are as follows:

[0173] Step S141: obtaining a time value corresponding to the initial operation of the first circuit inspection point, obtaining a first time value, obtaining a time value corresponding to the current moment, obtaining a second time value, calculating a difference between the first time value and the second time value, and obtaining a cumulative operation time corresponding to the first circuit inspection;

[0174] Step S142: taking the time value corresponding to the current moment as the reference time value, and calculating a characteristic time period forward from the reference time value as the circuit safety monitoring time period;

[0175] Step S143: Counting the number of safety inspection events that occur cumulatively at the first circuit inspection point during the circuit safety monitoring time period to obtain the number of periodic safety inspections;

[0176] Step S144: Obtain the duration value corresponding to the circuit safety monitoring time period to obtain the safety monitoring period duration, calculate the ratio of the periodic safety maintenance times to the safety monitoring period duration, and obtain the safety maintenance frequency corresponding to the first circuit inspection point;

[0177] Step S145: defining the accumulated operation time and safety inspection frequency corresponding to the first circuit inspection as the third inspection basic data corresponding to the first circuit inspection;

[0178] Step S146: repeat the above process of acquiring the third inspection basic data corresponding to the first circuit inspection point, and acquire the third inspection basic data corresponding to each circuit inspection point respectively;

[0179] Step S15: defining the first inspection basic data, the second inspection basic data and the third inspection basic data corresponding to each circuit inspection point as circuit inspection basic data;

[0180] Step S2: According to the circuit inspection basic data, the circuit inspection points are prioritized to obtain inspection point priority data;

[0181] Step S21: Acquire circuit inspection basic data, and acquire first inspection basic data, second inspection basic data, and third inspection basic data corresponding to each circuit inspection point according to the circuit inspection basic data;

[0182] Step S22: Calculate the first inspection coefficient corresponding to the first circuit inspection point;

[0183] The specific steps are as follows:

[0184] Step S221: acquiring the average trunk current value, the trunk current stability reference coefficient and the trunk current detection change rate of the monitoring point according to the first inspection basic data;

[0185] Step S222: Calculate the first inspection coefficient by using the average trunk current value at the monitoring point, the trunk current stability reference coefficient, and the trunk current detection change rate;

[0186] Step S23: Obtain the covered power consumption unit quantity and the number of circuit branches according to the second inspection basic data, and obtain the second inspection coefficient by calculating the covered power consumption unit quantity and the number of circuit branches;

[0187] Step S24: acquiring the accumulated operation time and the safety inspection frequency according to the third inspection basic data, and calculating the accumulated operation time and the safety inspection frequency to obtain the third inspection coefficient corresponding to the first circuit inspection point;

[0188] Step S25: Calculate the first inspection coefficient, the second inspection coefficient and the third inspection coefficient corresponding to the first circuit inspection point to obtain the inspection point priority division coefficient;

[0189] Calculate the inspection point priority coefficient. The specific formula is as follows:

[0190] Zyh=Xjj1*b1+Xjj2*b2+Xjj3*b3;

[0191] Wherein, Zyh is the inspection point priority division coefficient corresponding to the first circuit inspection point, Xjj1 is the first inspection coefficient, Xjj2 is the second inspection coefficient, Xjj3 is the third inspection coefficient, b1, b2 and b3 are respectively the set proportional coefficients, and b1, b2 and b3 are all greater than 0;

[0192] Step S26: Repeat the above process of obtaining the inspection point priority division coefficient corresponding to the first circuit inspection point, respectively obtain the inspection point priority division coefficient corresponding to each circuit inspection point, and obtain multiple inspection point priority division coefficients;

[0193] Step S27: obtaining a threshold value of a priority division coefficient of a patrol point, and numerically comparing a plurality of priority division coefficients of patrol points with the threshold value of the priority division coefficient of patrol points to obtain priority division data of patrol points;

[0194] Step S271: obtaining a first inspection coefficient threshold, a second inspection coefficient threshold, and a third inspection coefficient threshold, and calculating the first inspection coefficient threshold, the second inspection coefficient threshold, and the third inspection coefficient threshold to obtain an inspection point priority division coefficient threshold;

[0195] Step S272: comparing the inspection point priority division coefficient with the inspection point priority division coefficient threshold;

[0196] The specific steps are as follows:

[0197] When the inspection point priority division coefficient is greater than or equal to the inspection point priority division coefficient threshold, the circuit inspection point is judged to be a first type circuit inspection point;

[0198] When the inspection point priority division coefficient is less than the inspection point priority division coefficient threshold, the circuit inspection point is determined to be a second type circuit inspection point;

[0199] Step S3: optimizing the route according to the inspection point priority data;

[0200] Step S31: obtaining inspection point priority classification data, and taking the first type of circuit inspection points as the first batch of inspection points and taking the second type of circuit inspection points as the second batch of inspection points according to the inspection point priority classification data;

[0201] Step S32: The drone takes the first batch inspection point closest to the current position as the current inspection point, and flies to the current inspection point for inspection. After the inspection of the current inspection point is completed, the first batch inspection point closest to the current inspection point is continued as the next inspection point, and this inspection process is repeated until the inspection of all the first batch inspection points is completed;

[0202] Step S33: When the inspection of the first batch of inspection points is completed, the drone takes the second batch inspection point closest to the current position as the current inspection point, and flies to the current inspection point for inspection. After the inspection of the current inspection point is completed, the second batch inspection point closest to the current inspection point is continued as the next inspection point, and this inspection process is repeated until the inspection of all the second batch inspection points is completed;

[0203] The preferred embodiments of the present invention disclosed above are only used to help explain the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to only specific implementation methods. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A method for optimizing complex routes for UAV power equipment inspection, characterized in that: include: Step S1: Acquire circuit inspection basic data, the circuit inspection basic data including: first inspection basic data, second inspection basic data and third inspection basic data; Step S2: Calculate the inspection point priority division coefficient according to the circuit inspection basic data, compare the inspection point priority division coefficient threshold with the inspection point priority division coefficient, and obtain the inspection point priority division data; Step S3: optimizing the route according to the inspection point priority data; In step S1, the steps are as follows: Obtain a power inspection route map, obtain each circuit inspection point in the inspection line according to the power inspection route map, and name them as the first to i-th circuit inspection points respectively; Each circuit inspection point corresponds to the first inspection basic data, the second inspection basic data and the third inspection basic data; The step S1 further includes the following specific steps: When the first circuit inspection point is in normal operation, a characteristic power monitoring period is marked, and within the characteristic power monitoring period, a characteristic time nodes are selected and named as the first to ath power characteristic time nodes respectively; Respectively obtain the specific values ​​of the trunk current of the first circuit inspection point corresponding to the first to ath power characteristic time nodes to obtain the first to ath trunk current values; Calculate the average value of the first to ath trunk current values ​​to obtain the average value of the trunk current at the monitoring point; The first to ath trunk current values ​​and the average trunk current of the monitoring point are calculated to obtain the trunk current stability reference coefficient corresponding to the first circuit inspection point; The first to ath trunk current values ​​are calculated to obtain the trunk current detection change rate corresponding to the first circuit inspection point; The average trunk current value, the trunk current stability reference coefficient and the trunk current detection change rate of the monitoring point corresponding to the first circuit inspection point are defined as the first inspection basic data; Repeat the process of acquiring the first inspection basic data corresponding to the first circuit inspection point, and acquire the first inspection basic data corresponding to each circuit inspection point respectively; The step S1 further includes the following specific steps: Obtain a branch distribution topology map of the first circuit inspection point, and obtain the number of subordinate circuit branches corresponding to the first circuit inspection point according to the branch distribution topology map to obtain the number of circuit branches; Obtain a power supply diagram corresponding to the first circuit inspection point, and obtain the number of power consumption units covered by the first circuit inspection point according to the power supply diagram to obtain the number of covered power consumption units; The number of covered power consumption units and the number of circuit branches corresponding to the first circuit inspection point are defined as the second inspection basic data; Repeat the process of acquiring the second inspection basic data corresponding to the first circuit inspection point, and acquire the second inspection basic data corresponding to each circuit inspection point respectively; The step S1 further includes the following specific steps: Obtain the time value corresponding to the initial operation of the first circuit inspection point to obtain a first time value, obtain the time value corresponding to the current moment to obtain a second time value, calculate the difference between the first time value and the second time value, and obtain the accumulated operation time corresponding to the first circuit inspection; The time value corresponding to the current moment is used as the reference time value, and a characteristic time period is calculated forward from the reference time value as the circuit safety monitoring time period; Count the number of safety inspection events that occur cumulatively at the first circuit inspection point during the circuit safety monitoring time period to obtain the number of periodic safety inspections; Obtain the duration value corresponding to the circuit safety monitoring time period, obtain the safety monitoring period duration, calculate the ratio of the periodic safety maintenance times to the safety monitoring period duration, and obtain the safety maintenance frequency corresponding to the first circuit inspection point; The accumulated operation time and safety inspection frequency corresponding to the first circuit inspection are defined as the third inspection basic data corresponding to the first circuit inspection; Repeat the above process of acquiring the third inspection basic data corresponding to the first circuit inspection point, and acquire the third inspection basic data corresponding to each circuit inspection point respectively.

2. The method for optimizing complex routes for UAV power equipment inspection according to claim 1 is characterized in that: The step S2 further includes the following specific steps: Calculating a first inspection coefficient corresponding to a first circuit inspection point; Obtain the covered power consumption unit quantity and the number of circuit branches according to the second inspection basic data, and obtain the second inspection coefficient by calculating the covered power consumption unit quantity and the number of circuit branches; Obtain the accumulated operation time and the safety inspection frequency according to the third inspection basic data, and calculate the accumulated operation time and the safety inspection frequency to obtain the third inspection coefficient corresponding to the first circuit inspection point; Get the inspection point priority division coefficient; Repeat the process of obtaining the inspection point priority division coefficient corresponding to the first circuit inspection point, respectively obtain the inspection point priority division coefficient corresponding to each circuit inspection point, and obtain multiple inspection point priority division coefficients; A priority division coefficient threshold of a patrol point is obtained, and numerical comparisons are performed on a plurality of patrol point priority division coefficients and the priority division coefficient threshold of the patrol point to obtain patrol point priority division data.

3. The method for optimizing complex routes for UAV power equipment inspection according to claim 1 is characterized in that: The step S2 further includes the following specific steps: The first inspection coefficient, the second inspection coefficient and the third inspection coefficient corresponding to the first circuit inspection point are calculated to obtain the inspection point priority division coefficient; Calculate the inspection point priority coefficients.

4. The method for optimizing complex routes for UAV power equipment inspection according to claim 1 is characterized in that: The step S2 further includes the following specific steps: According to the first inspection basic data, the average trunk current value, the trunk current stability reference coefficient and the trunk current detection change rate of the monitoring point are obtained; The first inspection coefficient is obtained by calculating the average trunk current value of the monitoring point, the trunk current stability reference coefficient and the trunk current detection change rate.

5. The method for optimizing complex routes for UAV power equipment inspection according to claim 1 is characterized in that: The step S2 further includes the following specific steps: Obtain a first inspection coefficient threshold, a second inspection coefficient threshold, and a third inspection coefficient threshold, and calculate the first inspection coefficient threshold, the second inspection coefficient threshold, and the third inspection coefficient threshold to obtain an inspection point priority division coefficient threshold; Compare the inspection point priority division coefficient with the inspection point priority division coefficient threshold; The specific steps are as follows: When the inspection point priority division coefficient is greater than or equal to the inspection point priority division coefficient threshold, the circuit inspection point is judged to be a first type circuit inspection point; When the inspection point priority division coefficient is less than the inspection point priority division coefficient threshold, the circuit inspection point is determined to be a second type circuit inspection point.

6. The method for optimizing complex routes for UAV power equipment inspection according to claim 1 is characterized in that: The step S3 further includes the following specific steps: Step S31: obtaining inspection point priority classification data, and taking the first type of circuit inspection points as the first batch of inspection points and taking the second type of circuit inspection points as the second batch of inspection points according to the inspection point priority classification data; Step S32: The drone takes the first batch inspection point closest to the current position as the current inspection point, and flies to the current inspection point for inspection. After the inspection of the current inspection point is completed, the first batch inspection point closest to the current inspection point is continued as the next inspection point, and this inspection process is repeated until the inspection of all the first batch inspection points is completed; Step S33: When the inspection of the first batch of inspection points is completed, the drone will use the second batch inspection point closest to the current position as the current inspection point and fly to the current inspection point for inspection. After the inspection of the current inspection point is completed, the second batch inspection point closest to the current inspection point will continue to be used as the next inspection point, and this inspection process will be repeated until the inspection of all second batch inspection points is completed.

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