Point position gridding deployment method for unmanned aerial vehicle power inspection

Abstract

The invention relates to a point location gridding deployment method for unmanned aerial vehicle power inspection, and belongs to the field of power equipment maintenance. The method comprises the following steps: step 1, collecting electric power inspection data, and generating a map taking an electric power system as a main part; step 2, calculating the size of a single unmanned aerial vehicle inspection area according to the cruising ability of the unmanned aerial vehicle and a power system layout line; step 3, performing unmanned aerial vehicle inspection grid division on the map according to the size of the unmanned aerial vehicle inspection area; and step 4, evaluating a division result. According to the method, the grids are divided in different sizes, so that the route lengths of the inspection tasks of the single unmanned aerial vehicle are kept the same or similar, the inspection efficiency in the same power area can be further improved, and the resource allocation is optimized.

Description

Technical Field

[0001] The present invention relates to the field of power equipment maintenance, and in particular to a point grid deployment method for unmanned aerial vehicle power inspection. Background Art

[0002] With the development of drone technology, the application of drones in power inspection has become an inevitable development trend. However, the application of drones in power inspection has also impacted the traditional power inspection mode and brought many challenges to power inspection.

[0003] Drones have the advantages of high mobility, easy operation, high inspection efficiency, and effective avoidance of casualties. Therefore, the drone power inspection model may replace the traditional manual power inspection model, using drone technology to conduct aerial inspections of power facilities to ensure the safe operation of power facilities and timely discover potential problems. This technology has been widely used in the power industry for its advantages of high efficiency, accuracy, and safety.

[0004] Using drones for power inspections has many advantages, but when drones are used for power inspections, it is also very necessary to divide the inspection area into grids; by dividing the inspection area into grids, the inspection efficiency can be improved, the inspection effect can be enhanced, and intelligent management can be achieved.

[0005] However, due to the relationship and influence between power grid equipment, the analysis of inspection results requires all inspection data to obtain the inspection results. According to the existing grid division method, many inspection tasks have been completed and it is necessary to wait for the inspection results of the last person. Summary of the invention

[0006] In order to solve the above-mentioned problems in the prior art, the present invention provides a point grid deployment method for unmanned aerial vehicle power inspection.

[0007] A point grid deployment method for unmanned aerial vehicle power inspection includes the following steps:

[0008] Step 1: Collect power inspection data and generate a map based on the power system;

[0009] Step 2: Calculate the size of a single drone inspection area based on the drone's endurance and the power system layout lines;

[0010] Step 3: Divide the drone inspection grid on the map according to the size of the drone inspection area;

[0011] Step 4: Evaluate the division results.

[0012] Furthermore, the acquisition of geographical environment conditions in step 1 includes collecting environmental data through drones, combining GIS geographical information and the collected environmental data to obtain map data of the power system in the inspection area.

[0013] Furthermore, the map data includes data on the layout of the power system, information on equipment, the location of equipment, and the geographical environment.

[0014] Furthermore, the step 2 specifically includes:

[0015] Step 201: Define the density index, using the line length per unit area as the density:

[0016]

[0017] Among them, D i is the density of region i; L i is the line length in area i, L i Obtained according to the drone's endurance; A i is the area of ​​region i;

[0018] Step 202: Normalize density:

[0019]

[0020] Among them, D i ′ is the standardized density value; n is the total number of regions;

[0021] Step 203: Calculate the size of the drone inspection area;

[0022]

[0023] Among them, S is the size of the drone inspection area; K is a constant used to adjust the overall size of the drone inspection area; c is a positive number used to prevent the denominator from being zero or too small. The size of c depends on D i The value range of ′.

[0024] Furthermore, after the grid division in step 3, the step also includes determining the starting point of the inspection task. The determination of the starting point of the inspection task is specifically: according to the equipment information, the power equipment with the highest priority in the inspection area is obtained, and the location of the equipment is used as the starting point of the inspection task.

[0025] Furthermore, the data collected from the power inspection in step 1 also includes a preprocessing step, and the preprocessing specifically includes: cleaning, sorting and standardizing the collected data to ensure the accuracy and consistency of the data.

[0026] Beneficial effects of the present invention: The present invention divides the grids into non-identical sizes so that the route length of a single UAV inspection task remains the same or similar, thereby ensuring that the inspection efficiency in the same power area is further improved and optimizing resource allocation. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a flow chart of the method of the present invention. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not 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.

[0029] Example 1: Reference Figure 1 The present invention provides a point grid deployment method for UAV power inspection, comprising the following steps:

[0030] Step 1: Collect power inspection data and generate a map based on the power system;

[0031] Step 2: Calculate the size of a single drone inspection area based on the drone's endurance and the power system layout lines; divide areas with more lines into smaller inspection areas, and areas with fewer lines into larger inspection areas, ensuring that the route lengths of drone inspection tasks remain the same or similar;

[0032] Step 3: Divide the drone inspection grid on the map according to the size of the drone inspection area;

[0033] Step 4: Evaluate the division results.

[0034] In this embodiment, the acquisition of geographical environment conditions in step 1 includes collecting environmental data through a drone, combining GIS geographical information and the collected environmental data to obtain map data of the power system in the inspection area.

[0035] In this embodiment, the map data includes data on the layout of the power system, information on equipment, the location of equipment, and the geographical environment.

[0036] In this embodiment, step 2 specifically includes:

[0037] Step 201: Define the density index, using the line length per unit area as the density:

[0038]

[0039] Among them, D i is the density of region i; L i is the line length in area i, L i Obtained according to the drone's endurance; A i is the area of ​​region i;

[0040] Step 202: Normalize density:

[0041]

[0042] Among them, D i ′ is the standardized density value; n is the total number of regions;

[0043] Since the areas of different regions may vary greatly, directly using density values ​​for division may lead to extreme cases. Therefore, the density values ​​can be standardized to a certain range (such as 0 to 1) for easier processing. In this embodiment, this is achieved by dividing the density of each region by the maximum value of the density of all regions.

[0044] Step 203: Calculate the size of the drone inspection area;

[0045]

[0046] Among them, S is the size of the drone inspection area; K is a constant used to adjust the overall size of the drone inspection area; c is a positive number used to prevent the denominator from being zero or too small. The size of c depends on D i Note that K and c here need to be adjusted according to the specific situation to ensure that the size of the region is within a reasonable range.

[0047] In practical applications, it should be noted that other factors (such as natural geographical features) are also considered to further adjust the block size.

[0048] In this embodiment, after the grid division in step 3, the starting point of the inspection task is also determined. The starting point of the inspection task is determined specifically as follows: according to the equipment information, the power equipment with the highest priority in the inspection area is obtained, and the location of the equipment is used as the starting point of the inspection task.

[0049] In this embodiment, the data collected from the power inspection in step 1 also includes a preprocessing step, and the preprocessing step specifically includes: cleaning, sorting and standardizing the collected data to ensure the accuracy and consistency of the data.

[0050] In the description of the embodiments of the present invention, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "center", "top", "bottom", "top", "bottom", "inside", "outside", "inner side", "outer side" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. Among them, "inside" refers to an internal or enclosed area or space. "Periphery" refers to the area surrounding a specific component or a specific area.

[0051] In the description of the embodiments of the present invention, the terms "first", "second", "third", and "fourth" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first", "second", "third", and "fourth" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0052] In the description of the embodiments of the present invention, specific features, structures, materials or characteristics may be combined in a suitable manner in any one or more embodiments or examples.

[0053] In the description of the embodiments of the present invention, it is to be understood that "-" and "~" represent the range between two values, and the range includes the endpoints. For example: "AB" represents a range greater than or equal to A and less than or equal to B. "A~B" represents a range greater than or equal to A and less than or equal to B.

[0054] In the description of the embodiments of the present invention, the term "and / or" herein is merely a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B may represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " herein generally indicates that the associated objects before and after are in an "or" relationship.

[0055] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A point grid deployment method for UAV power inspection, characterized in that: The following steps are involved: Step 1: Collect power inspection data and generate a map based on the power system; Step 2: Calculate the size of a single drone inspection area based on the drone's endurance and the power system layout lines; Step 3: Divide the drone inspection grid on the map according to the size of the drone inspection area; Step 4: Evaluate the division results.

2. A point grid deployment method for UAV power inspection according to claim 1, characterized in that: The power inspection data includes data on power system layout lines, equipment information, equipment location and geographical environment.

3. A point grid deployment method for UAV power inspection according to claim 2, characterized in that: The collection of the geographical environment data specifically includes: collecting environmental data through drones, combining GIS geographical information and the collected environmental data, and obtaining the geographical environment data of the power system in the inspection area.

4. A point grid deployment method for UAV power inspection according to claim 1, characterized in that: The step 2 specifically includes: Step 201: Define the density index, using the line length per unit area as the density: Among them, D i is the density of region i; L i is the line length in area i, L i Obtained according to the drone's endurance; A i is the area of ​​region i; Step 202: Normalize density: Among them, D i ′ is the standardized density value; n is the total number of regions; Step 203: Calculate the size of the drone inspection area; Among them, S is the size of the drone inspection area; K is a constant used to adjust the overall size of the drone inspection area; c is a positive number used to prevent the denominator from being zero or too small. The size of c depends on D i The value range of ′.

5. The point grid deployment method for UAV power inspection according to claim 1 is characterized in that: After the grid division in step 3, the starting point of the inspection task is determined. The starting point of the inspection task is determined specifically as follows: according to the equipment information, the power equipment with the highest priority in the inspection area is obtained, and the location of the equipment is used as the starting point of the inspection task.

6. A point grid deployment method for UAV power inspection according to claim 1, characterized in that: The data collected from the power inspection in step 1 also includes a preprocessing step, and the preprocessing step specifically includes: cleaning, sorting and standardizing the collected data to ensure the accuracy and consistency of the data.

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