Medium-low-altitude automatic flight patrol method for unmanned aerial vehicle of transformer substation

Abstract

The invention, which relates to the technical field of power system inspection, discloses a medium-low-altitude automatic flight patrol method for a transformer station unmanned aerial vehicle, comprising: establishing a positioning system in a transformer station, the positioning system being used for providing three-dimensional coordinate positioning information in a courtyard wall of the transformer station; sending a flight task to the unmanned aerial vehicle through the control terminal, wherein the flight task comprises position coordinate information of a plurality of path points, a nose direction parameter and a photographing instruction parameter; and the unmanned aerial vehicle flies along a preset path according to the flight task and hovers at a specified path point, and when the photographing instruction parameter indicates that photographing is needed, the unmanned aerial vehicle adjusts the direction according to the head direction parameter and completes image acquisition. The problem that the unmanned aerial vehicle cannot fly in a flight forbidding area and a flight limiting area is solved through accurate positioning of the positioning system. Through a high-frequency (micro-radar) positioning system, a three-dimensional software system, a point-to-point wireless communication system and an unmanned aerial vehicle end autonomous flight control system, autonomous routing inspection of low-altitude equipment in a transformer substation in a space with the height of 3-25 meters is comprehensively realized.

Description

Technical Field

[0001] The present invention relates to the technical field of power system inspection, and in particular to a method for automatic low-altitude inspection of a substation by a UAV. Background Art

[0002] With the continuous expansion of the scale of power grids and the improvement of the level of intelligence, the safe and stable operation of substation equipment is becoming increasingly important. At present, the inspection methods of substation equipment mainly include manual inspection, ground inspection robot inspection and high-altitude drone inspection. Among them, manual inspection mainly relies on staff to inspect the equipment by means of observation, temperature measurement, distance measurement, etc.; ground inspection robots can automatically inspect equipment within the reach of the ground by carrying sensors such as infrared thermometers and image acquisition equipment; high-altitude drone inspections are mainly in the high-altitude area above the lightning protection line, and the overall situation awareness of the substation is achieved through long-distance shooting. These inspection methods have played an important role in ensuring the safe operation of substations.

[0003] However, the existing inspection methods have obvious shortcomings in the inspection of equipment in the low-altitude areas of substations (3-25 meters in height): manual inspections and ground inspection robots are limited by the detection height and cannot effectively inspect important equipment parts such as the top bushing of the transformer and the middle and high-rise structures; although traditional high-altitude drone inspections can achieve long-distance observation, due to the high flight altitude, it is difficult to obtain detailed information on the surface of the equipment, and the GPS positioning system is easily interfered in the strong electromagnetic environment of the substation, affecting the flight accuracy and reliability. These technical limitations make it difficult to timely discover equipment hidden dangers in the low-altitude areas of substations, such as rusted brackets and loose top parts, which has repeatedly caused equipment failures to expand and cause power outages. Therefore, there is an urgent need for a drone inspection technology solution that can achieve precise positioning and reliable control of the low-altitude areas of substations. Summary of the invention

[0004] In view of the above-mentioned problems, the present invention is proposed.

[0005] Therefore, the present invention provides a method for automatic low-altitude patrol of a substation UAV, which can solve the problems mentioned in the background technology.

[0006] To solve the above technical problems, the present invention provides the following technical solutions: a method for automatic low-altitude patrol of a substation UAV, comprising: establishing a positioning system in the substation; sending a flight mission to the UAV through a control terminal; the flight mission includes position coordinate information of multiple path points, nose direction parameters and photo command parameters; the UAV flies along a preset path according to the flight mission and hovers at a designated path point, and when the photo command parameters indicate that a photo needs to be taken, the UAV adjusts its direction according to the nose direction parameters and completes image acquisition.

[0007] As a preferred solution of the method for automatic low-altitude patrol of a substation drone described in the present invention, the positioning system is used to provide three-dimensional coordinate positioning information within the wall of the substation; the position coordinate information includes the plane coordinate value and height value provided by the positioning system.

[0008] As a preferred solution of the method for automatic low-altitude patrol of a substation UAV described in the present invention, a positioning system is established in the substation, including the following steps: a positioning base station is set up in the substation wall; the positioning base station is composed of multiple high-frequency transmitting devices; a receiving device and a laser rangefinder are installed on the UAV; a three-dimensional coordinate system is established through the signal of the positioning base station and the measurement result of the laser rangefinder.

[0009] As a preferred solution of the method for automatic low-altitude patrol of a substation UAV described in the present invention, wherein: sending a flight mission to the UAV through a control terminal includes the following steps: the control terminal completes the communication connection with the UAV; the control terminal receives the flight mission issued by the server; wherein the position coordinate information is composed of the X-axis coordinate value, Y-axis coordinate value and Z-axis height value of the positioning system, the nose direction parameter is used to control the nose rotation angle of the UAV, and the photo instruction parameter is used to control whether the UAV performs a photo taking action; the control terminal generates a flight instruction based on the initial position of the UAV and the position coordinate information of the first path point in the flight mission, and the flight instruction includes a Z-axis height adjustment instruction, a Y-axis position adjustment instruction and an X-axis position adjustment instruction.

[0010] As a preferred solution of the method for automatic low-altitude patrol of a substation UAV described in the present invention, wherein: sending a flight mission to the UAV through a control terminal includes the following steps: the control terminal completes the communication connection with the UAV; the control terminal receives the flight mission issued by the server; wherein the position coordinate information is composed of the X-axis coordinate value, Y-axis coordinate value and Z-axis height value of the positioning system, the nose direction parameter is used to control the nose rotation angle of the UAV, and the photo instruction parameter is used to control whether the UAV performs a photo taking action; the control terminal generates a flight instruction based on the initial position of the UAV and the position coordinate information of the first path point in the flight mission, and the flight instruction includes a Z-axis height adjustment instruction, a Y-axis position adjustment instruction and an X-axis position adjustment instruction.

[0011] As a preferred solution of the method for automatic low-altitude patrol of a substation drone described in the present invention, the drone flies from the current position to the first path point, wherein the drone performs Z-axis height adjustment, Y-axis position adjustment and X-axis position adjustment in sequence, and when the position deviation of any axis exceeds 0.2 meters, the drone performs position correction of the corresponding axis; after the drone reaches the path point, it hovers for one second to perform position verification, and if the position deviation exceeds 0.2 meters, it performs position fine-tuning. After the position verification is completed, the drone adjusts the nose direction according to the nose direction parameter of the path point, and if the photo taking instruction parameter of the path point is 1, it performs image acquisition; after the drone completes the task of the current path point, it executes a Z-axis descent to a height of three meters and flies to the next path point. If the communication is interrupted or the power is less than 20%, the drone lands after hovering for five seconds.

[0012] As a preferred solution of the method for automatic low-altitude patrol of a substation UAV described in the present invention, the UAV sends a task completion signal to the control terminal after completing the task of the current path point, and receives the location information of the next path point. If the current path point is the last one, the landing procedure is executed; the UAV continuously monitors the communication status and the power status during the flight: if it is detected that the communication interruption lasts for more than one second, the emergency mode is entered; if it is detected that the power is less than 20%, the emergency mode is entered; if it is detected that the obstacle avoidance distance is less than two meters, the flight is suspended and waits for manual intervention; after the UAV enters the emergency mode, the following steps are executed: immediately stop the current action and keep hovering; hover for five seconds for status confirmation; if it returns to normal within five seconds, continue to execute the task, otherwise start the on-site landing procedure; and continuously perform obstacle avoidance detection during landing.

[0013] To further solve the above technical problems, the present invention provides the following technical solutions: a medium- and low-altitude automatic patrol system for substation unmanned aerial vehicles, comprising: a positioning information generation module, used to establish a positioning system in the substation; the positioning system is used to provide three-dimensional coordinate positioning information within the courtyard wall of the substation; a task planning control module, used to send a flight mission to the unmanned aerial vehicle through a control terminal, the flight mission including position coordinate information of multiple path points, nose direction parameters and photo command parameters; an execution monitoring module, used to let the unmanned aerial vehicle fly along a preset path according to the flight mission and hover at a designated path point, and when the photo command parameters indicate that photo taking is required, the unmanned aerial vehicle adjusts its direction according to the nose direction parameters and completes image acquisition.

[0014] A computer device includes a memory and a processor, wherein the memory stores a computer program, and is characterized in that when the processor executes the computer program, the steps of the above-mentioned method for automatic low-altitude patrol of a substation drone are implemented.

[0015] A computer-readable storage medium having a computer program stored thereon, characterized in that when the computer program is executed by a processor, the steps of the above-mentioned method for automatic low-altitude patrol of a substation drone are implemented.

[0016] The beneficial effects of the present invention are as follows: (1) A high-frequency (micro-radar) positioning system is used for precise positioning, and the precise positioning range is limited to the substation wall. It does not rely on GPS, Beidou and other satellite positioning, and can solve the problem of drones not being allowed to fly in restricted flying areas.

[0017] (2) Through the high-frequency (micro-radar) positioning system, three-dimensional software system, point-to-point wireless communication system, and autonomous flight control system on the drone side, autonomous inspection of low-altitude equipment in the substation within a height of 3 meters to 25 meters is realized. The existing substation drone patrol altitude is mostly in the high-altitude area above the substation lightning protection line. It can inspect and take pictures of the substation from a long distance, but cannot inspect and take pictures of the details of a certain equipment from a close distance. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0019] Figure 1 This is a schematic diagram of the overall process of a method for automatic mid- and low-altitude patrol of a substation by a UAV proposed by the present invention;

[0020] Figure 2 This is a schematic diagram of a one-button patrol method for a substation UAV at medium and low altitude automatic patrol proposed by the present invention.

[0021] Figure 3 A diagram of computer equipment in a method for automatic low-altitude patrol of a substation by a UAV proposed by the present invention. DETAILED DESCRIPTION

[0022] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the drawings of the specification. Obviously, the described embodiments are part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary persons in the art without creative work should fall within the scope of protection of the present invention.

[0023] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0024] Example 1, reference Figure 1 and Figure 2 , which is an embodiment of the present invention, provides a method for automatic low-altitude patrol of a substation by a UAV.

[0025] S1: Establish a positioning system in the substation.

[0026] Specifically, the positioning system is used to provide three-dimensional coordinate positioning information within the wall of the substation.

[0027] S1.1: Set up a positioning base station within the substation wall.

[0028] Specifically, the positioning base station is composed of multiple high-frequency transmitting devices.

[0029] S1.2: Install a receiving device and a laser rangefinder on the UAV.

[0030] Among them, the receiving device is used to receive the signal transmitted by the positioning base station to obtain the plane coordinate value, and the laser rangefinder is used to measure the height value.

[0031] S1.3: A three-dimensional coordinate system is established by using the signal from the positioning base station and the measurement result of the laser rangefinder. The X-axis and Y-axis of the three-dimensional coordinate system are determined by the plane coordinate values, and the Z-axis is determined by the height value.

[0032] S2: Send flight missions to the drone through the control terminal.

[0033] Specifically, the flight mission includes the position coordinate information of multiple path points, the nose direction parameters and the photo command parameters. The position coordinate information includes the plane coordinate value and the altitude value provided by the positioning system.

[0034] S2.1: The control terminal completes the communication connection with the drone, where the flight speed of the drone is set to one meter per second and the obstacle avoidance distance is set to two meters.

[0035] S2.2: The control terminal receives the flight mission sent by the server. The position coordinate information consists of the X-axis coordinate value, Y-axis coordinate value and Z-axis height value of the positioning system. The nose direction parameter is used to control the nose rotation angle of the drone, and the photo command parameter is used to control whether the drone performs the photo action.

[0036] Specifically, the control terminal establishes a connection with the server through a communication interface, and detects the battery information of the drone and the weather information sent by the server. If the battery of the drone is less than 20% or there is strong wind or rain, the flight mission will be terminated.

[0037] The control terminal receives the path point information sequence sent by the server. Each path point information includes:

[0038] X-axis coordinate value and Y-axis coordinate value of the positioning system;

[0039] Z-axis height value of the laser rangefinder;

[0040] The direction parameter of the aircraft head, where 0 means the aircraft head does not move, 1 means turning left 90 degrees, 2 means turning right 90 degrees, and 3 means rotating 360 degrees;

[0041] Photo command parameter, where 0 means do not take photo, and 1 means take photo.

[0042] The control terminal verifies the received waypoint information. If the waypoint location is outside the coverage of the positioning system, or the Z-axis height value exceeds the range of three to twenty-five meters, an error message is fed back to the server.

[0043] S2.3: The control terminal generates a flight instruction according to the initial position of the UAV and the position coordinate information of the first path point in the flight mission. The flight instruction includes a Z-axis height adjustment instruction, a Y-axis position adjustment instruction, and an X-axis position adjustment instruction.

[0044] It should be noted that in step S2, the most important thing is to receive and process the path point information containing specific codes through the control terminal. Specifically, the direction parameters of the aircraft head in the path point information are encoded using four values ​​0, 1, 2, and 3. This encoding method has a special technical effect in the substation scenario: since the equipment in the substation is neatly laid out and mostly orthogonally distributed, the rotation angle of the aircraft head is discretized into four states: stationary, 90 degrees left, 90 degrees right, and 360 degrees rotation. This not only simplifies the control instructions, but also ensures accurate imaging of the front and side of the equipment. Compared with the continuous angle control of traditional drones, this discrete control reduces the image distortion caused by angle deviation while ensuring inspection needs.

[0045] The camera command parameters are encoded in binary values ​​of 0 and 1, combined with the three-dimensional coordinate information of the path points and the direction parameters of the aircraft head, forming a complete "position-attitude-action" linkage control mechanism. Practice has proved that this mechanism can effectively solve the low-altitude equipment inspection needs that cannot be achieved by traditional ground inspections in the equipment inspection range of 3-25 meters in the substation. For example, when inspecting the top bushing of the transformer, by accurately positioning to the specified height and position, adjusting the direction of the aircraft head and automatically taking pictures, detailed images of the surface of the bushing insulator can be obtained, which is difficult to achieve in ground inspections.

[0046] Although the pre-check mechanism for power threshold and weather conditions (terminating the mission if the power is less than 20% or there is strong wind or rain) seems simple, combined with the special environment of the substation, this "double pre-check" mechanism effectively prevents mission interruptions due to weather or power reasons, thereby avoiding unexpected situations around live equipment. Compared with the single power detection of general drones, this mechanism is more in line with the safety requirements of the high-voltage environment of the substation.

[0047] Preferably, the core technical problem solved in step S2 is how to achieve accurate positioning and reliable control of drones in the complex electromagnetic environment of substations. Traditional drone control systems mainly rely on GPS positioning and continuous angle control, but in substation environments, strong electromagnetic interference will affect the stability of GPS signals, and the particularity of equipment layout also requires drones to be able to perform more precise attitude adjustments. The present invention successfully solves this technical problem by innovatively encoding path point information into a comprehensive information package containing position coordinates, discrete nose direction, and photo-taking instructions, and combining it with a ground high-frequency positioning system. In particular, in terms of nose direction control, the use of four-state discrete control instead of traditional continuous angle control not only simplifies the control complexity, but also improves the detection accuracy of orthogonally distributed equipment. In addition, the task pre-inspection mechanism (double detection of power and weather) and the emergency handling strategy (hovering and landing when communication is interrupted or low power) designed by the present invention form a complete safety guarantee system, which not only ensures the reliability of inspection work, but also minimizes the operational risks in high-voltage environments. Compared with the existing technology, the present invention achieves a technological breakthrough in precise positioning, reliable control, and safe operation in the special scenario of a substation, providing a practical solution to the problem of inspection of medium and low altitude equipment.

[0048] S3: The UAV flies along a preset path according to the flight mission and hovers at a designated path point. When the photo command parameter indicates that a photo needs to be taken, the UAV adjusts its direction according to the nose direction parameter and completes image acquisition.

[0049] S3.1: The UAV flies from the current position to the first path point, wherein the UAV sequentially performs Z-axis height adjustment, Y-axis position adjustment, and X-axis position adjustment. When the position deviation of any axis exceeds 0.2 meters, the UAV performs position correction of the corresponding axis.

[0050] S3.2: After the UAV reaches the path point, it hovers for one second to perform position verification. If the position deviation exceeds 0.2 meters, it will perform position fine-tuning. After the position verification is completed, the UAV adjusts the nose direction according to the nose direction parameter of the path point. If the photo command parameter of the path point is 1, it will perform image acquisition.

[0051] S3.3: After the drone completes the mission at the current path point, it descends to a height of three meters on the Z axis and flies to the next path point. If the communication is interrupted or the battery power is less than 20%, the drone hovers for five seconds and then lands.

[0052] Specifically, after the drone completes the mission at the current path point, it sends a mission completion signal to the control terminal and receives the location information of the next path point. If the current path point is the last one, the landing procedure is executed;

[0053] The drone continuously monitors the communication status and power status during the flight:

[0054] If a communication interruption lasting more than one second is detected, emergency mode will be entered;

[0055] If the battery level is detected to be less than 20%, it will enter emergency mode;

[0056] If the obstacle avoidance distance is detected to be less than two meters, the flight will be suspended and wait for manual intervention;

[0057] After the drone enters emergency mode, follow the steps below:

[0058] Stop the current action immediately and keep hovering;

[0059] Hover for five seconds to confirm the status;

[0060] If it returns to normal within five seconds, the mission will continue, otherwise the local landing procedure will be initiated;

[0061] Obstacle avoidance detection is continuously performed during landing.

[0062] In summary, the present invention adopts a high-frequency (micro-radar) positioning system based on precise positioning, and the precise positioning range is limited to the substation wall, without relying on GPS, Beidou and other satellite positioning, which can solve the problem of drones being prohibited from flying in restricted flying areas. In addition, the present invention comprehensively realizes the autonomous inspection of low-altitude equipment in the substation within the 3-25-meter height space of the substation through the high-frequency (micro-radar) positioning system, three-dimensional software system, point-to-point wireless communication system, and autonomous flight control system on the drone end. The existing substation drone patrol height is mostly in the high-altitude area above the substation lightning conductor, which can patrol and take pictures of the substation at a long distance, but cannot patrol and take pictures of the details of a certain equipment at a close distance.

[0063] Embodiment 2 is an embodiment of the present invention, which provides a substation UAV medium and low altitude automatic patrol system, including: a positioning information generation module, used to establish a positioning system in the substation; the positioning system is used to provide three-dimensional coordinate positioning information within the wall of the substation;

[0064] The mission planning control module is used to send flight missions to the UAV through the control terminal. The flight missions include the location coordinate information of multiple path points, the direction parameters of the nose, and the parameters of the photo-taking command.

[0065] The execution monitoring module is used to fly the drone along a preset path according to the flight mission and hover at a specified path point. When the photo command parameters indicate that a photo needs to be taken, the drone adjusts its direction according to the nose direction parameters and completes image acquisition.

[0066] Example 3, reference Figure 3 , is an embodiment of the present invention, which is different from the previous embodiment in that: if the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0067] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in conjunction with such instruction execution systems, devices or apparatuses. For the purposes of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in conjunction with such instruction execution systems, devices or apparatuses.

[0068] More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or more wires (electronic device), a portable computer disk case (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be a paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, deciphering or, if necessary, processing in another suitable manner, and then stored in a computer memory.

[0069] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0070] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A method for automatic low-altitude patrol of a substation drone, characterized in that: include: Establishment of positioning system in substation; Sending a flight mission to the drone through the control terminal; the flight mission includes location coordinate information of multiple path points, nose direction parameters and photo command parameters; The drone flies along a preset path according to the flight mission and hovers at a designated path point. When the photographing instruction parameter indicates that photographing is required, the drone adjusts its direction according to the nose direction parameter and completes image acquisition.

2. The method for automatic mid- and low-altitude patrol of a substation drone according to claim 1, characterized in that: The positioning system is used to provide three-dimensional coordinate positioning information within the wall of the substation; the position coordinate information includes the plane coordinate value and the height value provided by the positioning system.

3. The method for automatic mid- and low-altitude patrol of a substation drone as claimed in claim 2, characterized in that: Establishing a positioning system in a substation includes the following steps: A positioning base station is set up inside the wall of the substation; the positioning base station is composed of multiple high-frequency transmitting devices; Installing a receiving device and a laser rangefinder on the UAV; A three-dimensional coordinate system is established through the signal of the positioning base station and the measurement result of the laser rangefinder.

4. The method for automatic mid- and low-altitude patrol of a substation drone as claimed in claim 3, characterized in that: Sending a flight mission to the drone through the control terminal includes the following steps: The control terminal completes the communication connection with the drone; The control terminal receives the flight mission issued by the server; wherein the position coordinate information is composed of the X-axis coordinate value, the Y-axis coordinate value and the Z-axis height value of the positioning system, the nose direction parameter is used to control the nose rotation angle of the UAV, and the photo command parameter is used to control whether the UAV performs a photo taking action; The control terminal generates a flight instruction according to the initial position of the UAV and the position coordinate information of the first path point in the flight mission, and the flight instruction includes a Z-axis height adjustment instruction, a Y-axis position adjustment instruction and an X-axis position adjustment instruction.

5. The method for automatic mid- and low-altitude patrol of a substation drone as claimed in claim 4, characterized in that: The control terminal receives the flight mission sent by the server, including the following steps: The control terminal establishes a connection with the server through a communication interface, and detects the power information of the drone and the weather information sent by the server. If the power of the drone is less than 20% or there is strong wind or rain, the flight mission is terminated; The control terminal receives a sequence of path point information sent by the server, each of which includes: The X-axis coordinate value and the Y-axis coordinate value of the positioning system; The Z-axis height value of the laser rangefinder; The nose direction parameter, where 0 means the nose does not move, 1 means turn left 90 degrees, 2 means turn right 90 degrees, and 3 means rotate 360 ​​degrees; The photo taking instruction parameter, where 0 means not to take a photo and 1 means to take a photo; The control terminal verifies the received waypoint information, and if the waypoint location is outside the coverage of the positioning system, or the Z-axis height value exceeds the range of three meters to twenty-five meters, an error message is fed back to the server.

6. The method for automatic mid- and low-altitude patrol of a substation drone as claimed in claim 5, characterized in that: The drone flies from the current position to the first path point, wherein the drone sequentially performs Z-axis height adjustment, Y-axis position adjustment, and X-axis position adjustment, and when the position deviation of any axis exceeds 0.2 meters, the drone performs position correction of the corresponding axis; After the drone reaches the path point, it hovers for one second to perform position verification. If the position deviation exceeds 0.2 meters, it performs position fine-tuning. After the position verification is completed, the drone adjusts the head direction according to the head direction parameter of the path point. If the photo command parameter of the path point is 1, it performs image acquisition; After the drone completes the task at the current path point, it descends to a height of three meters on the Z axis and flies to the next path point. If the communication is interrupted or the battery power is less than 20%, the drone will hover for five seconds and then land.

7. The method for automatic mid- and low-altitude patrol of a substation by a drone as claimed in claim 6, characterized in that: After the UAV completes the current path point mission, it sends a mission completion signal to the control terminal and receives the location information of the next path point. If the current path point is the last one, it executes the landing procedure; The drone continuously monitors the communication status and power status during the flight: If a communication interruption lasting more than one second is detected, emergency mode will be entered; If the battery level is detected to be less than 20%, it will enter emergency mode; If the obstacle avoidance distance is detected to be less than two meters, the flight will be suspended and wait for manual intervention; After the drone enters the emergency mode, follow the steps below: Stop the current action immediately and keep hovering; Hover for five seconds to confirm the status; If it returns to normal within five seconds, the mission will continue, otherwise the local landing procedure will be initiated; Obstacle avoidance detection is performed continuously during landing.

8. A substation UAV low-altitude automatic flight patrol system, based on the substation UAV low-altitude automatic flight patrol method according to any one of claims 1 to 7, characterized in that: include, A positioning information generating module is used to establish a positioning system in the substation; the positioning system is used to provide three-dimensional coordinate positioning information within the wall of the substation; A mission planning control module is used to send a flight mission to the UAV through a control terminal, wherein the flight mission includes position coordinate information of multiple path points, nose direction parameters, and photo command parameters; The execution monitoring module is used to enable the drone to fly along a preset path according to the flight mission and hover at a designated path point. When the photo-taking instruction parameter indicates that a photo needs to be taken, the drone adjusts its direction according to the nose direction parameter and completes image acquisition.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method for automatic low-altitude patrol of a substation by a UAV according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method for automatic low-altitude patrol of a substation by a UAV according to any one of claims 1 to 7 are implemented.

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