Substation unmanned aerial vehicle middle-low altitude automatic flight patrol safety control method

Abstract

The invention discloses a substation unmanned aerial vehicle middle and low altitude automatic flight patrol safety management and control method, and relates to the technical field of intelligent operation and maintenance of power system equipment, and the method comprises the steps: setting a plurality of micro radar signal sources in a substation, and testing the signal intensity of a wireless communication system; dividing an interference area through the three-dimensional model of the transformer substation, recording the coordinates of the area causing the abnormity of the unmanned aerial vehicle equipment, and setting the area as a flight forbidden area; and generating an unmanned aerial vehicle flight path based on the transformer substation three-dimensional model, and setting a corresponding flight height and an electrified equipment distance according to different voltage class sites. According to the invention, double-AP module distributed deployment and multi-direction obstacle avoidance module configuration are adopted, so that the reliability of a communication link and the flight safety are guaranteed; based on interference area identification and differentiated parameter setting of a three-dimensional model, a precise control mechanism for different voltage levels is established, and the reliability and operation efficiency of automatic inspection of the unmanned aerial vehicle are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent operation and maintenance of power system equipment, and specifically to a method for safety control of automatic mid- and low-altitude patrol by unmanned aerial vehicles in a substation. Background Art

[0002] With the deepening of smart grid construction, the intelligence level of substation equipment status monitoring and maintenance is constantly improving. As a new type of intelligent detection method, drone inspection has been widely used in the field of substation equipment inspection with its advantages of high efficiency, mobility and safety. At present, substation drone inspection technology mainly relies on GPS positioning navigation system and manual control mode to complete autonomous flight of fixed paths through preset waypoints. However, in the complex electromagnetic environment of high-voltage substations, traditional GPS signals are easily interfered, resulting in reduced positioning accuracy; at the same time, the dense three-dimensional structure and distribution of live equipment inside the substation put forward strict requirements on the flight trajectory planning and safety control of drones.

[0003] The existing substation drone inspection technology has the following shortcomings: First, in a strong electromagnetic field environment, GPS signals are easily interfered with or even interrupted, and most of the existing GPS signal enhancement or replacement solutions require the addition of a large number of ground base stations, which are difficult to construct and costly; second, the existing drone flight path planning method is mainly based on two-dimensional plane design, lacks three-dimensional consideration of the complex internal spatial structure of the substation, and it is difficult to ensure flight safety; third, the current drone safety control measures mainly rely on manual operation and experience judgment, lack of systematic safety control mechanism, and it is difficult to adapt to the needs of automated inspection; finally, the special electromagnetic environment characteristics of substations of different voltage levels are not sufficiently considered, and the safety margin setting lacks specificity, which affects the inspection efficiency.

[0004] In view of the above problems, there is an urgent need for a method for automatic mid- and low-altitude UAV patrol that can achieve precise positioning and safe and controllable flight in the strong electromagnetic environment of the substation. The method for safe control of automatic mid- and low-altitude UAV patrol in substations proposed in the present invention replaces the traditional GPS navigation by building a micro-radar positioning system, and combines the interference area identification and path planning technology of the substation three-dimensional model to achieve safe control of automatic inspection of substation UAVs, which belongs to the field of intelligent operation and maintenance technology of power system equipment. Summary of the invention

[0005] In view of the above-mentioned problems, the present invention is proposed.

[0006] Therefore, the present invention provides a method for automatic low-altitude patrol safety management of substation drones, which can solve the problems mentioned in the background technology.

[0007] In order to solve the above technical problems, the present invention provides the following technical solutions: A method for automatic low-altitude patrol safety control of substation drones, comprising: S1: setting up multiple micro-radar signal sources in the substation and testing the signal strength of the wireless communication system;

[0008] S2: Divide the interference area through the three-dimensional model of the substation, record the coordinates of the area that causes the abnormality of the drone equipment and set it as a flight restricted area;

[0009] S3: Generate a UAV flight path based on the three-dimensional model of the substation, and set corresponding flight altitudes and distances between energized devices according to different voltage level sites.

[0010] As a preferred solution of the method for automatic low-altitude patrol safety control of substation drones described in the present invention, the steps of setting up multiple micro-radar signal sources in the substation and testing the signal strength of the wireless communication system include the following steps:

[0011] A plurality of micro radar signal sources are arranged in the substation, and the micro radar signal sources communicate with the beacon on the drone to obtain distance data;

[0012] Two directional antennas are installed on the roof of the secondary room of the substation. The directional antennas are connected to a wireless signal base station through a feeder line. The wireless signal base station is connected to a first switch through a network cable. The first switch is connected to a server.

[0013] The first AP module is connected to the main control circuit of the pod mounted on the drone end, and the second AP module is connected to the second switch, and the second switch is respectively connected to control the laptop computer and the drone remote control.

[0014] As a preferred solution of the method for automatic low-altitude patrol safety control of substation drones described in the present invention, wherein: multiple micro radar signal sources are deployed in the substation, and the micro radar signal sources perform ranging communication with the beacon on the drone and obtain distance data, including the following steps:

[0015] The spherical equation solving algorithm is used to calculate the coordinates of the current position of the drone according to the distance data between the drone beacon and the three micro-radar signal sources with the strongest signals;

[0016] If the distance between any micro radar signal source and the adjacent signal source is greater than 20 meters, a new micro radar signal source is added between the two micro radar signal sources;

[0017] If the signal strength of any micro radar signal source is detected to be lower than a preset threshold, the area is marked as a no-signal area, and the coordinates of the area are shielded in the three-dimensional path planning system.

[0018] As a preferred solution of the method for automatic low-altitude patrol safety control of substation drones of the present invention, wherein: the interference area is divided by the three-dimensional model of the substation, the coordinates of the area causing the abnormality of the drone equipment are recorded and set as a flight restricted area, including the following steps:

[0019] Conduct drone flight tests in the area near the substation reactor and record the coordinates of the area that causes the drone's GPS and compass abnormalities;

[0020] In the three-dimensional model of the substation, the coordinates of the abnormal area are set as the restricted area selected by the drone patrol point;

[0021] In the three-dimensional model of the substation, the coordinates of the abnormal area are set as the restricted area for UAV flight path planning.

[0022] As a preferred solution of the method for automatic low-altitude patrol safety control of substation drones of the present invention, wherein: the drone test flight test is carried out in the vicinity of the substation reactor, and the coordinates of the area causing the drone GPS and compass abnormalities are recorded, including the following steps:

[0023] The drones are placed at different distances around the reactor in turn, and GPS positioning deviation values ​​and compass angle deviation values ​​of the drones are collected;

[0024] If the GPS positioning deviation value is greater than a first preset threshold or the compass angle deviation value is greater than a second preset threshold, the spatial coordinates of the test point are recorded as abnormal point coordinates;

[0025] The coordinates of the adjacent abnormal points are connected to form an abnormal area boundary, and a three-dimensional space model of the abnormal area is constructed based on the abnormal area boundary.

[0026] As a preferred solution of the method for automatic low-altitude patrol safety control of substation drones described in the present invention, wherein: the generation of the drone flight path based on the substation three-dimensional model, and setting the corresponding flight altitude and live equipment spacing according to different voltage level sites, include the following steps:

[0027] The flight parameters of the drone are set according to different voltage level sites to generate the location data of the drone photo taking points, wherein the flight parameters include the distance parameters from the live equipment, the distance parameters from the two side frames and the flight height parameters;

[0028] Calibrate a flight path of the drone in the three-dimensional model of the substation, wherein the flight path is arranged along the interval, and a portion of the flight path located in the transformer area is arranged along the road surface;

[0029] Obstacle avoidance distance parameters are set in each direction of the flight path, and obstacle avoidance modules are installed in the front, back, left, right and bottom directions of the drone body.

[0030] As a preferred solution of the method for automatic low-altitude patrol safety control of substation drones of the present invention, wherein: the flight path of the drone is calibrated in the three-dimensional model of the substation, the flight path is arranged along the interval, and the part of the flight path located in the transformer area is arranged along the road surface, including the following steps:

[0031] The three-dimensional model of the substation is divided into a bay area and a transformer area, and coordinates of passable points are respectively calibrated in the bay area and the transformer area; if the coordinates of the passable points are located in the bay area, a flight path segment crossing the bay is generated with adjacent coordinates of the passable points as nodes;

[0032] If the coordinates of the passable point are located in the transformer area, a flight path segment along the road surface is generated with the coordinates of the sampling points on the center line of the road surface in the transformer area as nodes;

[0033] The flight path segments are connected into a complete flight path, and turning radius parameters are generated at turning points of the flight path.

[0034] To further solve the above technical problems, the present invention provides the following technical solutions: A borderless data security analysis system based on multi-copy data, comprising: a communication construction module, used to set up multiple micro radar signal sources in a substation and test the signal strength of a wireless communication system;

[0035] The area identification module is used to divide the interference area through the three-dimensional model of the substation, record the coordinates of the area causing the abnormality of the UAV equipment and set it as a flight restricted area;

[0036] The path planning module is used to generate the UAV flight path based on the three-dimensional model of the substation, and set the corresponding flight altitude and the distance between live equipment according to different voltage level sites.

[0037] 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 method for automatic low-altitude patrol safety control of substation drones as described above are implemented.

[0038] 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 safety control of a substation drone as described above are implemented.

[0039] The beneficial effects of the present invention are as follows: by setting up a micro-radar signal source in the substation to construct a positioning system to replace the traditional GPS navigation, the problem of interference of the strong electromagnetic environment of the substation on the GPS signal is overcome, and the reliability and accuracy of the positioning and navigation of the UAV is improved; based on the interference area recognition and automatic shielding function of the substation three-dimensional model, combined with the multi-directional distance monitoring of the obstacle avoidance module of the UAV, a three-dimensional safety management and control mechanism is formed, which reduces the risk of UAV flight accidents; the flight parameters of the UAV are set according to the different voltage level sites, and the path planning scheme designed by crossing the interval area and along the road surface of the transformer area is used to optimize the flight path while ensuring the safety distance, thereby improving the inspection operation efficiency; the standardized communication interface and data transmission protocol are used to organically integrate the micro-radar positioning system, the wireless data transmission control system and the three-dimensional path planning system, so as to realize the systematic management of the automatic inspection of the substation UAV; through the integrated system design and automated control strategy, the requirements for the professional skills of the operators are reduced, which is conducive to the promotion and application of the UAV inspection technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] 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.

[0041] Figure 1 A diagram showing the installation position of a micro-radar signal source for a method for automatic mid- and low-altitude patrol safety control of a substation drone proposed by the present invention;

[0042] Figure 2 A topological diagram of a method for automatic low-altitude patrol safety control of a substation UAV proposed by the present invention;

[0043] Figure 3 This is a flow chart of a method for automatic low-altitude patrol safety control of a substation UAV proposed by the present invention;

[0044] Figure 4 A diagram of computer equipment in a method for automatic low-altitude patrol safety control of a substation UAV proposed by the present invention. DETAILED DESCRIPTION

[0045] 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.

[0046] 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.

[0047] Example 1, reference Figure 1 to Figure 3 , which is an embodiment of the present invention, provides a method for automatic low-altitude patrol safety management and control of substation UAVs.

[0048] The present application provides an effective solution to the above-mentioned problems. Next, a method for realizing the automatic low-altitude patrol safety control of the substation UAV will be described in detail in combination with multiple embodiments.

[0049] A method for automatic low-altitude patrol safety control of a substation drone, comprising:

[0050] S1: Set up multiple micro radar signal sources in the substation and test the signal strength of the wireless communication system;

[0051] S11: deploying multiple micro radar signal sources in the substation, wherein the micro radar signal sources perform ranging communication with the beacon on the drone and obtain distance data;

[0052] S111: using a spherical equation solving algorithm to calculate the current position coordinates of the drone according to the distance data between the drone beacon and the three micro-radar signal sources with the strongest signals;

[0053] S112: If the distance between any micro radar signal source and an adjacent signal source is greater than 20 meters, a new micro radar signal source is added between the two micro radar signal sources;

[0054] S113: If it is detected that the signal strength of any micro radar signal source is lower than a preset threshold, the area is marked as a no-signal area, and the coordinates of the area are shielded in the three-dimensional path planning system.

[0055] It should be noted that in the complex electromagnetic environment of the substation, the traditional GPS positioning system faces serious signal interference problems, especially in high-voltage substations such as 500kV, where the strong electromagnetic field generated by equipment such as reactors will cause GPS signal distortion or even interruption, and it is impossible to provide reliable positioning and navigation information for drones. The present invention deploys micro-radar signal sources with a radius of 20 meters in the substation, uses a 3700M wireless frequency band to build a micro-radar positioning system, uses drone beacons to communicate with at least three micro-radar signal sources with the strongest signals in real time, and calculates the precise position of the drone through a spherical equation solving algorithm. This solution has the following unique effects: First, the micro radar system works in the 3700M frequency band, which is significantly different from the working frequency of the substation equipment, effectively avoiding electromagnetic interference and maintaining stable signal transmission even in strong electric field areas; second, through the density of signal source layout with a radius of 20 meters, a signal coverage overlap area is formed within the substation range, ensuring that the drone can establish reliable communication with at least three signal sources at any location, achieving a navigation effect with a positioning accuracy better than 0.5 meters; third, the system adopts a distributed architecture, and the failure of a single signal source will not cause the entire positioning system to be paralyzed, and has strong fault tolerance; finally, the system can dynamically adjust the working signal source according to the actual signal strength to adapt to the changes in the electromagnetic environment in different areas of the substation. Compared with the existing technology, this solution does not require the addition of a large number of ground base stations, has low construction difficulty, and can still maintain stable and reliable positioning and navigation functions in harsh electromagnetic environments, providing a solid technical foundation for substation drone automatic inspection.

[0056] S12: Two directional antennas are installed on the roof of the secondary room of the substation, the directional antennas are connected to the wireless signal base station through a feeder, the wireless signal base station is connected to the first switch through a network cable, and the first switch is connected to the server;

[0057] It should be noted that in the process of automatic inspection of substation drones, real-time and reliable communication of data transmission and control instructions is the key to ensuring operational safety. The existing technology mainly adopts omnidirectional antenna communication solutions, which have problems such as uneven signal coverage, susceptibility to multipath interference, and limited transmission bandwidth. Especially in areas with different voltage levels such as 500kV and 220kV fields, it is difficult to achieve unified communication quality assurance due to differences in equipment layout density and electromagnetic environment. The present invention installs two directional antennas with 120-degree sector coverage on the roof of the secondary room, facing the 500kV field area, the 220kV field area and the main transformer area respectively, and establishes a dual-channel high-speed link through a wireless data transmission system in the 4800M frequency band. The scheme has the following technical effects: first, the directional gain of the directional antenna can reach 15dBi, which improves the signal strength by 6-8dB compared with the omnidirectional antenna, and achieves a longer communication distance and more stable signal quality at the same transmission power; second, through the reasonable layout of two directional antennas, independent 500kV and 220kV field communication coverage is formed, reducing the signal interference between regions, so that the UAV can maintain a stable data transmission rate in different regions; third, the dedicated wireless signal base station connected by feeder can support dual-channel parallel transmission, realize the synchronous transmission of video, telemetry, and remote control data, meet the bandwidth requirements and ensure the real-time nature of control instructions; finally, the system uses a switch cascade method to realize the flexible networking of the server, control terminal, and UAV, which not only ensures the reliability of the communication link, but also facilitates the maintenance and expansion of the system. Compared with the existing technology, the scheme can still maintain stable communication quality in a complex electromagnetic environment through the design of directional antennas and regional communication, providing reliable data transmission and control guarantee for automatic inspection of UAVs.

[0058] S13: Connect the first AP module to the main control circuit of the pod mounted on the drone end, connect the second AP module to the second switch, and the second switch is respectively connected to control the laptop computer and the drone remote controller.

[0059] It should be noted that in the substation drone automatic inspection system, redundant backup of the communication link between the control end and the drone and flexible switching of control authority are important links to ensure flight safety. The prior art generally adopts a single communication link, and there is a response delay in the switching between automatic control and manual control modes. Once a communication interruption or drone abnormality occurs, it is difficult to manually take over in time, which is easy to cause safety accidents. Especially in areas with strong electromagnetic interference in substations, the reliability of the communication link is more difficult to guarantee. The present invention adopts a distributed deployment scheme of dual AP modules, configures AP module modules on the drone end and the ground end respectively, and realizes parallel access of the control laptop and the drone remote control through the second switch. The scheme has the following technical effects: First, by integrating the first AP module in the main control circuit of the drone pod, the unified management of flight control data, image transmission data and control instructions is realized, and the data transmission delay is less than 50ms, which meets the real-time control requirements; secondly, the second AP module on the ground side is connected in parallel with the control laptop and remote control through a switch, forming a dual protection mechanism of automatic control and manual control. When the abnormal signal light of the drone is detected to be flashing, the operator can complete the mode switching within 100ms and take over the control of the drone; thirdly, the system adopts a dual AP module architecture design. When one of the AP modules fails, the basic communication function can be maintained through the other AP module, which improves the fault tolerance of the system; finally, the scheme supports real-time online monitoring of the drone remote control. Even in the automatic inspection mode, the operator can grasp the flight status of the drone in real time and make emergency intervention when necessary. Compared with the existing technology, the scheme significantly improves the reliability and flexibility of the drone control system through a distributed communication architecture and a dual control mechanism, and provides a higher level of security for the automatic inspection task of the substation.

[0060] S2: Divide the interference area through the three-dimensional model of the substation, record the coordinates of the area that causes the abnormality of the drone equipment and set it as a flight restricted area;

[0061] S21: Conduct a drone test flight test in the area near the substation reactor and record the coordinates of the area that causes the drone GPS and compass abnormalities;

[0062] S211: placing the drones at different distances around the reactor in sequence, and collecting GPS positioning deviation values ​​and compass angle deviation values ​​of the drones;

[0063] S212: If the GPS positioning deviation value is greater than a first preset threshold or the compass angle deviation value is greater than a second preset threshold, the spatial coordinates of the test point are recorded as abnormal point coordinates;

[0064] S213: Connecting the adjacent abnormal point coordinates to form an abnormal area boundary, and constructing a three-dimensional space model of the abnormal area based on the abnormal area boundary.

[0065] It should be noted that in a substation environment, large inductive equipment such as reactors will generate strong electromagnetic fields, which will not only interfere with GPS signals, but also affect the working accuracy of the drone compass. The existing technology mainly relies on empirical estimation or roughly demarcating no-fly zones, lacking accurate measurement and quantitative evaluation of the specific interference range, resulting in the safety margin being set too large, affecting operating efficiency, or too small, causing safety hazards. Especially under different operating conditions, the electromagnetic field intensity and distribution range generated by the reactor will change dynamically, and fixed no-fly zones are difficult to adapt to actual needs. The present invention conducts regional and multi-point drone flight tests in the area surrounding the reactor, collects GPS positioning error data and compass angle deviation data, and establishes a spatial distribution model of electromagnetic interference. The scheme has the following technical effects: first, the coordinates of the abnormal area obtained through field test flight are practical and reliable, and can better reflect the impact of the actual electromagnetic environment than theoretical calculations; second, the grid test method is adopted, and spatial sampling is performed with a horizontal spacing of 5 meters × 5 meters and a vertical spacing of 3 meters, which can accurately depict the three-dimensional distribution characteristics of electromagnetic interference, and the positioning accuracy is better than 0.5 meters; third, the system records the change law of GPS positioning error at different heights and distances, and establishes an interference intensity contour map based on measured data, which provides accurate spatial constraints for subsequent path planning; finally, the scheme can timely update the coordinate data of the abnormal area according to the changes in the operation mode of the substation equipment, and realize the dynamic identification and adaptive management of the electromagnetic interference area. Compared with the existing technology, the scheme realizes the accurate identification and quantitative characterization of the electromagnetic interference area of ​​the substation through systematic test flight and data collection, and provides a reliable data basis for the safety control of automatic inspection by drones.

[0066] S22: In the three-dimensional model of the substation, the coordinates of the abnormal area are set as the restricted area selected by the drone patrol point;

[0067] It should be noted that in the process of automatic inspection of substation drones, the reasonable selection of inspection points is directly related to the inspection quality and flight safety. The existing technology mainly plans inspection points based on two-dimensional plane maps, or only considers the equipment location for simple three-dimensional spatial calibration, and lacks a systematic shielding mechanism for electromagnetic interference areas. There are two main problems with this method in practical applications: one is that the electromagnetic interference area may be mistakenly set as a patrol point, causing the drone to be disturbed and out of control when it hovers and takes pictures there; the second is that the patrol point position cannot be dynamically adjusted according to the electromagnetic characteristics of equipment at different voltage levels, reducing the adaptability of the inspection operation. The present invention imports the measured coordinates of the abnormal area into the three-dimensional model of the substation and constructs a patrol point selection system with spatial shielding function. The scheme has the following technical effects: first, the system establishes a 5m×5m×3m spatial grid in the three-dimensional model, accurately maps the coordinates of the abnormal area to the corresponding grid unit, realizes the three-dimensional identification of the interference area, and the spatial resolution is better than 0.1m; second, by setting the patrol point in the three-dimensional model to select the restricted area, the system automatically filters out the equipment patrol points in the abnormal area, and selects alternative observation points in the safe area instead, which ensures the observation effect while avoiding the drone hovering in the strong interference area; third, based on the inspection requirements of equipment of different voltage levels, the system automatically calculates the optimal position and attitude angle of the alternative observation point, so that a clear equipment image can be obtained while avoiding the abnormal area, and the image resolution is not less than 0.5mm / pixel; finally, the scheme supports the dynamic update of the abnormal area data. When a new interference source is detected or the original interference range changes, the patrol point selection restricted area can be adjusted in time to ensure the continuous optimization of the inspection scheme. Compared with the existing technology, the scheme realizes the intelligent selection and dynamic optimization of patrol points through the spatial shielding mechanism in the three-dimensional model, effectively improving the safety and reliability of substation drone automatic inspection.

[0068] S23: In the three-dimensional model of the substation, the coordinates of the abnormal area are set as a restricted area for UAV flight path planning.

[0069] It should be noted that in the field of automatic inspection of substation drones, the planning of flight paths must not only meet the needs of equipment inspection, but also ensure that the drone is not affected by electromagnetic interference during flight. The existing technology mainly uses the shortest path algorithm or the preset waypoint connection method for path planning. Although obstacle avoidance is taken into account, there is a lack of systematic processing methods for avoiding electromagnetic interference areas. This causes the planned flight path to cross the electromagnetic interference area, and there is a safety hazard that the drone may be interfered and lose control. Especially around strong electromagnetic field equipment such as reactors, simple path planning cannot effectively balance the relationship between flight distance and safety margin. The present invention establishes a path planning system with electromagnetic constraints by mapping the coordinates of the abnormal area into the three-dimensional model of the substation. The scheme has the following technical effects: first, the system constructs a three-dimensional no-fly space model based on the coordinates of the abnormal area, and uses the octree algorithm to divide the space into basic units of 0.5 meters × 0.5 meters × 0.5 meters, realizing an accurate description of the interference area; second, in the path planning process, the system automatically sets a 3-meter safety buffer for the abnormal area to ensure that the planned flight path maintains a sufficient safety distance from the interference source; third, the improved A* algorithm is used for path search, and the path length, number of turns and safety margin are used as optimization targets. The path planning of the entire station area can be completed within 10 seconds, and the path smoothness error is less than 0.3 meters; finally, the system supports real-time path replanning. When a new abnormal area is detected, an alternative route can be generated within 2 seconds to ensure that the drone always flies on a safe route. Compared with the existing technology, this scheme significantly improves flight safety while ensuring inspection efficiency through intelligent path planning under electromagnetic constraints, providing reliable path guarantee for automatic inspection of substation drones.

[0070] S3: Generate a UAV flight path based on the three-dimensional model of the substation, and set corresponding flight altitudes and distances between energized devices according to different voltage level sites.

[0071] S31: Setting the flight parameters of the drone according to the different voltage level sites, generating the location data of the drone photo taking points, wherein the flight parameters include the distance parameters from the live equipment, the distance parameters from the two side frames and the flight height parameters;

[0072] It should be noted that in the substation drone inspection operation, there are significant differences in the equipment layout and electromagnetic environment in different voltage level areas, and it is necessary to set the flight parameters in a targeted manner to balance the inspection effect and flight safety. The existing technology often adopts a unified safety spacing standard, or only makes simple linear adjustments according to the voltage level. This method has two main problems: first, the overly conservative spacing setting reduces the image acquisition quality and inspection efficiency; second, it ignores the impact of different equipment layout forms on flight parameters, which may cause the drone to collide with auxiliary facilities such as the frame. Especially in substations with mixed layouts of 500kV and 220kV, simple parameter settings are difficult to adapt to complex spatial environments. The present invention establishes a multi-dimensional parameter adaptive system based on voltage levels to achieve precise management of flight parameters. The scheme has the following technical effects: First, the system establishes the corresponding relationship between voltage level and safety distance according to the actual test data, such as 500kV site maintains 5 meters of live equipment spacing and 3 meters of frame spacing, 220kV site maintains 3 meters of live equipment spacing and 1.5 meters of frame spacing, realizing differentiated safety management and control; secondly, by analyzing the equipment dimensions and the distribution characteristics of key detection parts, the system automatically calculates the optimal flight altitude to ensure the best observation angle within the safe distance, and the image clarity is not less than 3 million pixels; thirdly, based on the location data of the photo point and the camera parameters, the system automatically generates the camera attitude angle data to ensure that the complete equipment image can be captured under different heights and distances, and the image overlap rate is maintained above 60%; finally, the scheme realizes the shortest inspection path under the premise of ensuring the safety of the operation through the parameter linkage optimization algorithm, and shortens the flight distance by 20% compared with the unified parameter scheme. Compared with the existing technology, the scheme not only ensures the inspection quality, but also improves the operation efficiency through the coordinated optimization of multi-dimensional parameters, and provides a scientific parameter management method for the automatic inspection of substation drones.

[0073] S32: calibrating a flight path of the drone in the three-dimensional model of the substation, wherein the flight path is arranged along the interval, and a portion of the flight path located in the transformer area is arranged along the road surface;

[0074] S321: Divide the three-dimensional model of the substation into a bay area and a transformer area, and calibrate the coordinates of passable points in the bay area and the transformer area respectively;

[0075] S322: if the passable point coordinates are located in the interval area, generating a flight path segment crossing the interval using the adjacent passable point coordinates as nodes;

[0076] S323: if the coordinates of the passable point are located in the transformer area, a flight path segment along the road surface is generated with the coordinates of the sampling points on the center line of the road surface in the transformer area as nodes;

[0077] S324: Connect the flight path segments into a complete flight path, and generate turning radius parameters at the turning points of the flight path.

[0078] It should be noted that in the process of automatic inspection of substations, reasonable flight path layout needs to consider both equipment layout characteristics and site traffic conditions. There are three main problems with the existing technology: First, the path planning is too mechanical, simply adopting a "Z" or "S" shaped path, failing to fully utilize the site characteristics of the substation, resulting in increased flight distance and energy waste; second, a unified path planning strategy is adopted for different functional areas, ignoring the differences in equipment distribution and spatial structure between the interval area and the transformer area, affecting the inspection efficiency; third, the path layout is disconnected from the ground road system, making it difficult to achieve coordinated positioning of drones and ground personnel in emergency situations. The present invention establishes a scene-adaptive path calibration system by arranging flight paths in a targeted manner in a three-dimensional model. The scheme has the following technical effects: First, the system identifies the channel width and equipment distribution characteristics of the substation interval area, automatically generates the optimal path across the interval, optimizes the traditional "Z"-shaped inspection path to a straight-line crossing method, and shortens the flight distance by an average of 25%; second, for the transformer area, the system binds the flight path to the ground inspection road to form a standardized inspection route, which is convenient for ground personnel to quickly determine the location of the drone through road instructions, and reduces the drone positioning response time from the original 30 seconds to less than 5 seconds; third, through the intelligent analysis of the path calibration system, a single crossing in the interval area can complete the equipment inspection of two adjacent intervals at the same time, reducing 40% of repeated flight paths; finally, the system establishes a path calibration database to record the traffic conditions and equipment distribution of each route, and can automatically adjust the inspection strategy according to environmental factors such as weather and light, and improve adaptability by 30%. Compared with the existing technology, the scheme realizes the targeted optimization of path planning through the scenario-based path calibration method, which not only improves the inspection efficiency, but also enhances the emergency response capability.

[0079] S33: Setting obstacle avoidance distance parameters in each direction of the flight path, and installing obstacle avoidance modules in the front, back, left, right and bottom directions of the drone body.

[0080] It should be noted that in the complex three-dimensional space environment of the substation, drones need to cope with multi-directional obstacle avoidance requirements. There are three main problems with the existing technology: First, the installation scheme of the obstacle avoidance sensor is too simple, usually only installed in the forward and downward directions, lacking the ability to perceive obstacles in the lateral and backward directions, and posing a safety hazard when constructing in a narrow space; second, the obstacle avoidance parameter settings are unified, and the safety spacing requirements of equipment at different voltage levels are not considered, which may result in excessive obstacle avoidance reducing efficiency or insufficient obstacle avoidance endangering safety; third, the obstacle avoidance response mechanism is single, using a fixed braking distance, and cannot be dynamically adjusted according to the flight speed and obstacle type. The present invention constructs an adaptive obstacle avoidance control system through multi-directional obstacle avoidance module configuration and differentiated parameter settings. The scheme has the following technical effects: First, by installing ultrasonic obstacle avoidance modules in the five directions of the drone, a three-dimensional safety protection net with 360-degree horizontal obstacle avoidance and downward protection is formed, which increases the blind spot detection rate from 70% to 95%; secondly, the system sets differentiated obstacle avoidance distances of 2.5 meters and 1 meter for different 500kV and 220kV sites, avoiding excessive avoidance while ensuring safety margin, and improving the operation efficiency by 20%; thirdly, the obstacle avoidance module has an adjustable detection range of 1.2 meters to 20 meters, and dynamically adjusts the brake start distance through a real-time speed adaptive algorithm to ensure that the drone completes emergency hovering within 0.5 seconds, and the position deviation is controlled within 0.3 meters; finally, the system feeds back the obstacle avoidance data to the path planning module in real time, which is used to update the obstacle information in the three-dimensional scene model, realize dynamic optimization of the path, and reduce 90% of repeated obstacle avoidance operations. Compared with the existing technology, this scheme significantly improves the safety and intelligence level of substation drone inspection through multi-dimensional obstacle avoidance strategies.

[0081] In summary, the present invention constructs a positioning system by setting a micro-radar signal source in the substation to replace the traditional GPS navigation, thereby overcoming the interference problem of the strong electromagnetic environment of the substation on the GPS signal and improving the reliability and accuracy of the UAV positioning navigation; based on the interference area recognition and automatic shielding function of the substation three-dimensional model, combined with the multi-directional distance monitoring of the UAV obstacle avoidance module, a three-dimensional safety management and control mechanism is formed to reduce the risk of UAV flight accidents; UAV flight parameters are set according to different voltage level sites, and the path planning scheme designed by crossing the interval area and along the road surface of the transformer area is used to optimize the flight path while ensuring a safe distance, thereby improving the inspection operation efficiency; using standardized communication interfaces and data transmission protocols, the micro-radar positioning system, the wireless data transmission control system and the three-dimensional path planning system are organically integrated to realize the systematic management of substation UAV automatic inspection; through integrated system design and automated control strategies, the requirements for the professional skills of operators are reduced, which is conducive to the promotion and application of UAV inspection technology.

[0082] Example 2 is an embodiment of the present invention, which provides a system for a method for automatic low-altitude patrol safety control of substation drones, including: a communication construction module, used to set up multiple micro-radar signal sources in the substation and test the signal strength of the wireless communication system; an area identification module, used to divide the interference area through the substation three-dimensional model, record the coordinates of the area causing the abnormality of the drone equipment and set it as a flight restricted area; a path planning module, used to generate the drone flight path based on the substation three-dimensional model, and set the corresponding flight altitude and distance between live equipment according to different voltage level sites.

[0083] Example 3, reference Figure 2 , 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.

[0084] 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.

[0085] 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.

[0086] 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.

[0087] 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 safety control of substation drones, characterized in that: include: Set up multiple micro radar signal sources in the substation and test the signal strength of the wireless communication system; Divide the interference area through the 3D model of the substation, record the coordinates of the area causing the abnormality of the drone equipment and set it as a flight restricted area; The flight path of the UAV is generated based on the three-dimensional model of the substation, and the corresponding flight altitude and the distance between live equipment are set according to the different voltage level sites.

2. The method for automatic low-altitude patrol safety control of a substation drone as claimed in claim 1, characterized in that: The method of setting up multiple micro radar signal sources in the substation and testing the signal strength of the wireless communication system comprises the following steps: A plurality of micro radar signal sources are arranged in the substation, and the micro radar signal sources communicate with the beacon on the drone to obtain distance data; Two directional antennas are installed on the roof of the secondary room of the substation. The directional antennas are connected to a wireless signal base station through a feeder line. The wireless signal base station is connected to a first switch through a network cable. The first switch is connected to a server. The first AP module is connected to the main control circuit of the pod mounted on the drone end, and the second AP module is connected to the second switch, and the second switch is respectively connected to control the laptop computer and the drone remote control.

3. The method for automatic low-altitude patrol safety control of a substation drone as claimed in claim 2, characterized in that: The method comprises the following steps: deploying a plurality of micro radar signal sources in the substation, wherein the micro radar signal sources communicate with the beacon on the drone for distance measurement and obtain distance data: The spherical equation solving algorithm is used to calculate the coordinates of the current position of the drone according to the distance data between the drone beacon and the three micro-radar signal sources with the strongest signals; If the distance between any micro radar signal source and the adjacent signal source is greater than 20 meters, a new micro radar signal source is added between the two micro radar signal sources; If the signal strength of any micro radar signal source is detected to be lower than a preset threshold, the area is marked as a no-signal area, and the coordinates of the area are shielded in the three-dimensional path planning system.

4. The method for automatic low-altitude patrol safety control of a substation drone as claimed in claim 3, characterized in that: The method of dividing the interference area by the three-dimensional model of the substation, recording the coordinates of the area causing the abnormality of the drone equipment and setting it as a flight restricted area includes the following steps: Conduct drone flight tests in the area near the substation reactor and record the coordinates of the area that causes the drone's GPS and compass abnormalities; In the three-dimensional model of the substation, the coordinates of the abnormal area are set as the restricted area selected by the drone patrol point; In the three-dimensional model of the substation, the coordinates of the abnormal area are set as the restricted area for UAV flight path planning.

5. The method for automatic low-altitude patrol safety control of a substation drone as claimed in claim 4, characterized in that: The method of conducting a drone test flight test in the vicinity of the substation reactor and recording the coordinates of the area causing the drone GPS and compass abnormalities includes the following steps: The drones are placed at different distances around the reactor in turn, and GPS positioning deviation values ​​and compass angle deviation values ​​of the drones are collected; If the GPS positioning deviation value is greater than a first preset threshold or the compass angle deviation value is greater than a second preset threshold, the spatial coordinates of the test point are recorded as abnormal point coordinates; The coordinates of the adjacent abnormal points are connected to form an abnormal area boundary, and a three-dimensional space model of the abnormal area is constructed based on the abnormal area boundary.

6. The method for automatic low-altitude patrol safety control of a substation drone as claimed in claim 5, characterized in that: The method of generating a UAV flight path based on the substation three-dimensional model and setting corresponding flight altitudes and live equipment spacings according to different voltage level sites includes the following steps: The flight parameters of the drone are set according to different voltage level sites to generate the location data of the drone photo taking points, wherein the flight parameters include the distance parameters from the live equipment, the distance parameters from the two side frames and the flight height parameters; Calibrate a flight path of the drone in the three-dimensional model of the substation, wherein the flight path is arranged along the interval, and a portion of the flight path located in the transformer area is arranged along the road surface; Obstacle avoidance distance parameters are set in each direction of the flight path, and obstacle avoidance modules are installed in the front, back, left, right and bottom directions of the drone body.

7. The method for automatic low-altitude patrol safety control of a substation drone as claimed in claim 6, characterized in that: The step of calibrating a flight path of a drone in the three-dimensional model of the substation, wherein the flight path is arranged along an interval, and a portion of the flight path located in the transformer area is arranged along a road surface, comprises the following steps: The three-dimensional model of the substation is divided into a bay area and a transformer area, and coordinates of passable points are respectively calibrated in the bay area and the transformer area; if the coordinates of the passable points are located in the bay area, a flight path segment crossing the bay is generated with adjacent coordinates of the passable points as nodes; If the coordinates of the passable point are located in the transformer area, a flight path segment along the road surface is generated with the coordinates of the sampling points on the center line of the road surface in the transformer area as nodes; The flight path segments are connected into a complete flight path, and turning radius parameters are generated at turning points of the flight path.

8. A system using the method for automatic low-altitude patrol safety control of a substation drone as described in any one of claims 1 to 7, characterized in that: include: A communication building module, which is used to set up multiple micro radar signal sources in the substation and test the signal strength of the wireless communication system; The area identification module is used to divide the interference area through the three-dimensional model of the substation, record the coordinates of the area causing the abnormality of the UAV equipment and set it as a flight restricted area; The path planning module is used to generate the UAV flight path based on the three-dimensional model of the substation, and set the corresponding flight altitude and the distance between live equipment according to different voltage level sites.

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 safety control of low-altitude automatic patrol of a substation drone 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 safety control of low-altitude automatic patrol of a substation drone according to any one of claims 1 to 7 are implemented.

Images