Automatic transformer area inspection system based on unmanned aerial vehicle

Abstract

The invention relates to the technical field of electric power inspection, in particular to an automatic transformer area inspection system based on an unmanned aerial vehicle, and the system comprises a loading module which is used for uploading transformer area distribution line distribution information; the construction module is used for receiving the distribution information of the distribution lines of the transformer area loaded in the loading module and constructing a distribution model of the distribution lines of the transformer area based on the distribution information of the distribution lines of the transformer area; the labeling module is used for labeling distribution positions of power utilization users of the transformer area on the transformer area distribution line distribution model; according to the method, the distribution model of the distribution lines of the transformer area is constructed by applying the distribution information of the distribution lines of the transformer area and the distribution information of the electricity users, the complexity of each power distribution path is further analyzed, so that an independent inspection period is configured for each power distribution path, and the image data of the distribution lines are collected based on the inspection period; and finally analyzing whether the distribution line has defects according to the distribution line image data.

Description

Technical Field

[0001] The present invention relates to the technical field of electric power inspection, and in particular to an automatic inspection system for power substations based on unmanned aerial vehicles. Background Art

[0002] Automatic inspection of substations is an efficient power operation and maintenance mode. It uses intelligent inspection equipment and advanced technologies, such as drones and intelligent robots, to automatically inspect transformers, lines, distribution boxes and other equipment in the substation. It can promptly detect hidden faults, abnormal heating and other problems, improve inspection efficiency and accuracy, and ensure stable and safe power supply in the substation.

[0003] The invention patent with application number 202410801339.5 discloses an automatic inspection system for a large photovoltaic power station based on a drone, which is characterized by comprising: a drone body, which is used to carry inspection equipment and perform inspection tasks for photovoltaic power stations; a flight control system, which is used for flight control of the drone, including take-off, landing, hovering, and flight path control; an inspection task planning module, which is used to plan reasonable inspection routes and tasks according to the inspection requirements of the photovoltaic power station and the performance of the drone; an image acquisition module, which is used to collect images of the photovoltaic power station through the image acquisition equipment carried on the drone body; a data transmission module, which is used to transmit the collected image data to a ground station or a remote monitoring center in real time; a data storage module, which is used to store the collected image data; a data analysis module, which is used to process and analyze the stored image data and extract key information; a fault identification module, which is used to identify potential faults or abnormalities in the photovoltaic power station according to the data analysis results; an alarm module, which is used to remind the operator by sound and light alarm when a potential fault or abnormality is identified; and a remote monitoring module, which is used to remotely monitor and control the drone in real time.

[0004] The application aims to solve the problem that "with the rapid development of photovoltaic power stations, daily inspections and real-time monitoring of photovoltaic power stations are particularly important. Traditional manual inspection methods are not only inefficient, but also difficult to cover all areas, especially in some complex or dangerous environments."

[0005] However, although drone inspection technology is currently applied to daily inspections of power systems, its intelligence level is low and manual control is required to achieve targeted inspections. Therefore, there is still room for improvement in its inspection costs and efficiency. Summary of the invention

[0006] In view of the above-mentioned shortcomings of the prior art, the present invention provides an automatic inspection system for station areas based on drones, which solves the technical problems raised in the above-mentioned background technology.

[0007] To achieve the above objectives, the present invention is implemented through the following technical solutions:

[0008] An automatic inspection system for a station area based on a drone, comprising:

[0009] A loading module is used to upload the distribution information of the distribution lines in the substation area; a construction module is used to receive the distribution information of the distribution lines in the substation area loaded in the loading module, and construct a distribution model of the distribution lines in the substation area based on the distribution information of the distribution lines in the substation area;

[0010] A receiving unit, used to receive the distribution information of the power distribution lines in the substation area uploaded in the loading module, and forward the distribution information of the power distribution lines in the substation area to the construction module;

[0011] A storage unit, used for receiving the distribution line distribution model of the substation area constructed by the construction module, and storing the distribution line distribution model of the substation area;

[0012] A marking module is used to mark the distribution locations of power users in the substation area on the distribution model of the substation area distribution line;

[0013] An analysis unit, used for traversing the distribution line distribution model of the substation area and analyzing the complexity of each distribution line in the distribution line distribution model of the substation area;

[0014] A configuration module, used to configure the inspection cycle of each distribution line in the distribution model of the distribution line in the substation; an inspection module, used to receive the inspection cycle configured for each distribution line in the configuration module, and apply the inspection cycle to inspect each distribution line in the distribution model of the distribution line in the substation;

[0015] Drone module, used to carry the camera module;

[0016] A camera module for collecting distribution line image data;

[0017] A positioning module is used to locate defective distribution lines and their defect locations;

[0018] The loading module is interactively connected to the construction module and the marking module through a wireless network. The construction module is interactively connected to a receiving unit and a storage unit at a lower level through a wireless network. The receiving unit is interactively connected to the loading module through a wireless network. The marking module is interactively connected to an analysis unit through a wireless network. The marking module and the analysis unit are interactively connected to the configuration module through a wireless network. The configuration module is interactively connected to an inspection module through a wireless network. The inspection module is interactively connected to a drone module and a camera module at a lower level through a wireless network. The inspection module is interactively connected to a positioning module through a wireless network.

[0019] Furthermore, the distribution information of the substation distribution line is the location information of the line nodes of each section of the substation distribution line. When the substation distribution line distribution information is uploaded in the loading module, it is uploaded in groups of two. The substation distribution line distribution information uploaded in groups of two is used to represent a section of the substation distribution line. When the receiving unit receives the substation distribution line distribution information, it synchronously receives the substation distribution line distribution information in groups of two. The construction module draws the same number of line segments as the substation distribution line distribution information in groups of two in the same three-dimensional space based on the substation distribution line distribution information in groups of two. The combination of all the drawn line segments is the substation distribution line distribution model.

[0020] Among them, among all the substation distribution line distribution information in pairs uploaded by the loading module, in each group of substation distribution line distribution information, at least one substation distribution line distribution information is the same as one substation distribution line distribution information in other groups of substation distribution line distribution information.

[0021] Furthermore, during the stage of marking the distribution positions of power users in the substation area on the power distribution line distribution model of the substation area, the marking module simultaneously uploads the position information of power users in the substation area, further sets a designated icon for representing the position information of power users in the substation area, determines the position of power users in the substation area in the three-dimensional space representing the power distribution line distribution model of the substation area based on the position information of power users in the substation area, and places the designated icon representing the position information of power users in the substation area at the determined position of power users in the substation area.

[0022] Furthermore, the analysis logic of the complexity of the distribution line is expressed as:

[0023]

[0024] Where: is the complexity of the jth distribution line segment on the distribution line; n is the total number of electricity users in the upper area of ​​the jth distribution line segment; d i The shortest straight-line distance from the i-th group of electricity users to the j-th group of distribution line segments; is the complexity of the distribution line; q is the number of nodes on the distribution line; m is the set of distribution line segments on the distribution line; k j is the slope of the jth group of distribution line segments;

[0025] in, Express The average value of the distribution line The larger it is, the more complex the distribution circuit is.

[0026] Furthermore, when configuring the inspection cycle of each distribution line in the distribution line distribution model of the substation, the configuration module simultaneously obtains the complexity of each distribution line, and configures the inspection cycle for each distribution line based on the complexity of the distribution line:

[0027]

[0028] Where: D(a) is the configuration inspection cycle of distribution line a; D 0 is the inspection cycle base; is the complexity of the distribution line a; λ is the normalization factor;

[0029] Among them, the inspection cycle base D 0 It is defined by the system end user, the normalization factor λ takes a value in the range of (0, 2), and is defined by the system end user. Each distribution line in the distribution line distribution model of the substation is configured with an inspection cycle based on the above formula, and the inspection cycle configured for the distribution line obeys. The higher the complexity of the distribution line, the shorter the inspection cycle configured for the distribution line, and vice versa.

[0030] Furthermore, the inspection module is integrated by several groups of drone modules and camera modules. Each group of drone modules is equipped with a group of camera modules. The drone modules are operated to obtain the location information of the distribution lines in the distribution line distribution model of the substation, determine the flight path based on the distribution line location information, and carry the camera module to perform the task of collecting distribution line image data.

[0031] Furthermore, the flight path determination logic is expressed as:

[0032] Obtaining the position information of the distribution line, performing an offset process of the same angle and length on each group of position coordinates in the distribution line position information to obtain the offset position coordinates, and connecting the offset position coordinates adjacent to each other to obtain a group of paths, which are recorded as flight paths;

[0033] When the camera module is collecting image data of the distribution line, the lens end of the camera module is opposite to the distribution line, and the surface image data of the distribution line is recorded. A segmentation time frame is further set, and the surface image data of the distribution line is segmented by using the segmentation time frame to obtain several groups of picture frames.

[0034] After the picture frames are acquired, four groups of endpoints on the distribution line are further captured in each group of picture frames, and a segmentation line is determined based on the connection line of the image endpoints. The picture frames are segmented using the segmentation line to obtain the distribution line image.

[0035] Furthermore, the positioning module operates to receive the distribution line image, and identifies whether the distribution line corresponding to the distribution line image has defects based on the distribution line image:

[0036]

[0037] Where: ε is the defect judgment value of a single distribution line image; is the grayscale average value of the distribution line image; H norr is the standard grayscale average value of the distribution line image; is the average brightness of the distribution line image; B norr is the average standard brightness of the distribution line image; ω 1 ,ω 2 is the weight; Q is the distribution line defect judgment value; u is the total amount of distribution line images; ε norr It is the reference value for determining the defect of distribution lines;

[0038] Among them, f(ε v >ε norr ) represents the decision function, ε v >ε norr , then f(ε v >ε norr )=1, otherwise, f(ε v >ε norr )=0, when the power distribution line defect judgment value Q>0, it means that there is a defect in the power distribution line, otherwise, there is no defect;

[0039] H norr , B norr , ε norr Customized by system end users;

[0040] When the positioning module runs to locate the defect position, a distribution line image corresponding to a defect judgment value greater than a reference value of the distribution line defect judgment value is obtained, and the source picture frame of the distribution line image is further determined. The picture frame corresponding to the segmented time frame and the location of the drone module are determined in the determined picture frame, and the location of the drone is recorded as the defect position.

[0041] Compared with the known public technology, the technical solution provided by the present invention has the following beneficial effects:

[0042] The present invention provides an automatic inspection system for substations based on drones. During operation, the system constructs a distribution model of substation distribution lines through the application of substation line distribution information and electricity user distribution information, further analyzes the complexity of each distribution path, and configures an independent inspection cycle for each distribution path. Image data of the distribution line is collected based on the inspection cycle, and finally the distribution line is analyzed based on the image data of the distribution line to determine whether there are defects. If there are defects in the distribution line, the system can also locate the defective position. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0044] Figure 1 This is a structural diagram of an automatic inspection system for a station area based on a drone;

[0045] Figure 2 This is a logical diagram of the distribution line image segmentation processing in the present invention. DETAILED DESCRIPTION

[0046] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0047] The present invention will be further described below in conjunction with the embodiments.

[0048] Embodiment 1:

[0049] The present embodiment is a UAV-based automatic inspection system for a station area, such as Figure 1 As shown, including:

[0050] Loading module, used to upload the distribution information of power distribution lines in the substation area;

[0051] A construction module, used for receiving the distribution information of the distribution lines in the substation area loaded in the loading module, and constructing a distribution model of the distribution lines in the substation area based on the distribution information of the distribution lines in the substation area;

[0052] The building block is divided into sub-modules, including:

[0053] A receiving unit, used to receive the distribution information of the power distribution lines in the substation area uploaded in the loading module, and forward the distribution information of the power distribution lines in the substation area to the construction module;

[0054] A storage unit, used for receiving the distribution line distribution model of the substation area constructed by the construction module, and storing the distribution line distribution model of the substation area;

[0055] The distribution information of the distribution line of the substation area is the location information of the line nodes of each section of the distribution line of the substation area. When the distribution information of the distribution line of the substation area is uploaded in the loading module, it is uploaded in groups of two. The distribution information of the distribution line of the substation area uploaded in groups of two is used to represent a section of the distribution line of the substation area. When the receiving unit receives the distribution information of the distribution line of the substation area, it synchronously receives the distribution information of the distribution line of the substation area in groups of two. The construction module draws the same number of line segments as the distribution information of the distribution line of the substation area in groups of two in the same three-dimensional space based on the distribution information of the distribution line of the substation area in groups of two. The combination of all the drawn line segments is the distribution model of the distribution line of the substation area;

[0056] Among all the substation distribution line distribution information in pairs uploaded by the loading module, in each group of substation distribution line distribution information, at least one substation distribution line distribution information is the same as one substation distribution line distribution information in another group of substation distribution line distribution information;

[0057] A marking module is used to mark the distribution locations of power users in the substation area on the distribution model of the substation area distribution line;

[0058] The annotation module has submodules, including:

[0059] An analysis unit, used for traversing the distribution line distribution model of the substation area and analyzing the complexity of each distribution line in the distribution line distribution model of the substation area;

[0060] The analysis logic of the complexity of distribution lines is expressed as:

[0061]

[0062] Where: is the complexity of the jth distribution line segment on the distribution line; n is the total number of electricity users in the upper area of ​​the jth distribution line segment; d i The shortest straight-line distance from the i-th group of electricity users to the j-th group of distribution line segments; is the complexity of the distribution line; q is the number of nodes on the distribution line; m is the set of distribution line segments on the distribution line; k j is the slope of the jth group of distribution line segments;

[0063] in, Express The average value of the distribution line The larger it is, the more complex the distribution circuit is;

[0064] A configuration module is used to configure the inspection cycle of each distribution line in the distribution model of the distribution line in the substation area;

[0065] When configuring the inspection cycle of each distribution line in the distribution line distribution model of the substation, the configuration module simultaneously obtains the complexity of each distribution line and configures the inspection cycle for each distribution line based on the complexity of the distribution line:

[0066]

[0067] Where: D(a) is the configuration inspection cycle of distribution line a; D 0 is the inspection cycle base; is the complexity of the distribution line a; λ is the normalization factor;

[0068] Among them, the inspection cycle base D 0 It is defined by the system end user, and the normalization factor λ is in the range of (0, 2). It is also defined by the system end user. Each distribution line in the distribution line distribution model of the substation area is configured with an inspection cycle based on the above formula. The inspection cycle configured for the distribution line obeys. The higher the complexity of the distribution line, the shorter the inspection cycle configured for the distribution line, and vice versa.

[0069] The inspection module is used to receive the inspection cycle configured for each distribution line in the configuration module, and use the inspection cycle to inspect each distribution line in the distribution line distribution model of the substation area;

[0070] The inspection module is equipped with sub-modules, including:

[0071] Drone module, used to carry the camera module;

[0072] A camera module for collecting distribution line image data;

[0073] Among them, the inspection module is integrated by several groups of drone modules and camera modules. Each group of drone modules is equipped with a group of camera modules. The drone module operates to obtain the location information of the distribution line in the distribution line distribution model of the substation, determines the flight path based on the distribution line location information, and carries the camera module to perform the task of collecting distribution line image data;

[0074] A positioning module is used to locate defective distribution lines and their defect locations;

[0075] The positioning module receives the distribution line image and identifies whether the distribution line corresponding to the distribution line image has defects based on the distribution line image:

[0076]

[0077] Where: ε is the defect judgment value of a single distribution line image; is the grayscale average value of the distribution line image; H norr is the standard grayscale average value of the distribution line image; is the average brightness of the distribution line image; B norr is the average standard brightness of the distribution line image; ω 1 ,ω 2 is the weight; Q is the distribution line defect judgment value; u is the total amount of distribution line images; ε norr It is the reference value for determining the defect of distribution lines;

[0078] Among them, f(ε v >ε norr ) represents the decision function, ε v >ε norr , then f(ε v >ε norr )=1, otherwise, f(ε v >ε norr )=0, when the power distribution line defect judgment value Q>0, it means that there is a defect in the power distribution line, otherwise, there is no defect;

[0079] H norr , B norr , ε norr Customized by system end users;

[0080] When the positioning module runs to locate the defect position, the distribution line image corresponding to the defect judgment value greater than the reference value of the distribution line defect judgment value is obtained, and the source picture frame of the distribution line image is further determined. The picture frame corresponding to the segmented time frame and the position of the drone module are determined in the determined picture frame, and the position of the drone is recorded as the defect position;

[0081] The loading module is interactively connected to the construction module and the marking module through a wireless network. The construction module is interactively connected to the receiving unit and the storage unit through a wireless network. The receiving unit is interactively connected to the loading module through a wireless network. The marking module is interactively connected to the analysis unit through a wireless network. The marking module and the analysis unit are interactively connected to the configuration module through a wireless network. The configuration module is interactively connected to the inspection module through a wireless network. The inspection module is interactively connected to the drone module and the camera module through a wireless network. The inspection module is interactively connected to the positioning module through a wireless network.

[0082] In this embodiment, the loading module runs to upload the distribution information of the distribution line of the substation area, the construction module further receives the distribution information of the distribution line of the substation area loaded in the loading module, and constructs the distribution line distribution model of the substation area based on the distribution information of the distribution line of the substation area. The receiving unit synchronously receives the distribution information of the distribution line of the substation area uploaded in the loading module, and forwards the distribution line distribution information of the substation area to the construction module. The storage unit receives the distribution line distribution model of the substation area constructed by the construction module in real time, stores the distribution line distribution model of the substation area, and the marking module is post-operated to mark the distribution line distribution model of the substation area. The analysis unit synchronously traverses the distribution model of the distribution line of the substation, analyzes the complexity of each distribution line in the distribution model of the distribution line of the substation, and then configures the inspection cycle of each distribution line in the distribution model of the distribution line of the substation. The inspection module receives the inspection cycle configured for each distribution line in the configuration module, and applies the inspection cycle to inspect each distribution line in the distribution model of the distribution line of the substation. The drone module synchronously carries the camera module to move, and the camera module collects the image data of the distribution line in real time. Finally, the positioning module locates the defective distribution line and its defective position.

[0083] Through the operation of the system in the above embodiment, the existing drone inspection technology for distribution lines in the substation area is further improved, so that the drone inspection technology for distribution lines in the substation area is more intelligent, the demand for manual control operation is lower, the technical application is more mature, and the efficiency and coverage of daily inspection of distribution lines in the substation area are improved;

[0084] On the other hand, based on the analysis logic of the complexity of the distribution lines, the identification logic of whether there are defects in the distribution lines, and the setting of the distribution line inspection cycle configuration logic, the operation logic of this system is more complete and can stably perform daily automatic inspection tasks of the distribution lines in the substation.

[0085] Embodiment 2:

[0086] In terms of specific implementation, based on Example 1, this example refers to Figure 1 The following is a further detailed description of the automatic inspection system for a station area based on a drone in Example 1:

[0087] In the stage of marking the distribution positions of power users in the substation on the distribution line distribution model of the substation, the marking module simultaneously uploads the location information of power users in the substation, further sets a designated icon to represent the location information of power users in the substation, determines the location of power users in the substation in the three-dimensional space representing the distribution line distribution model of the substation based on the location information of power users in the substation, and places the designated icon representing the location information of power users in the substation at the determined location of power users in the substation.

[0088] Through the above settings, the logic of placing electricity users in the substation area in the distribution line distribution model is further limited.

[0089] like Figure 1 As shown, the flight path determination logic is expressed as:

[0090] Obtaining the position information of the distribution line, performing an offset process of the same angle and length on each group of position coordinates in the distribution line position information to obtain the offset position coordinates, and connecting the offset position coordinates adjacent to each other to obtain a group of paths, which are recorded as flight paths;

[0091] When the camera module is collecting image data of the distribution line, the lens end of the camera module is opposite to the distribution line, and the surface image data of the distribution line is recorded. A segmentation time frame is further set, and the surface image data of the distribution line is segmented by using the segmentation time frame to obtain several groups of picture frames.

[0092] After the picture frames are acquired, four groups of endpoints on the distribution line are further captured in each group of picture frames, and a segmentation line is determined based on the connection line of the image endpoints. The picture frames are segmented using the segmentation line to obtain the distribution line image.

[0093] Through the above settings, the flight path determination logic of the drone module in the inspection module is further limited, ensuring that the inspection module completes image acquisition of the distribution line based on the drone module carrying the camera module along the specified flight path.

[0094] In summary, in the above embodiments, during operation, the system constructs a distribution model of distribution lines in the distribution area through the application of distribution information of distribution lines in the distribution area and distribution information of electricity users, further analyzes the complexity of each distribution path, and configures an independent inspection cycle for each distribution path. Then, image data of the distribution line is collected based on the inspection cycle, and finally, the distribution line is analyzed based on the image data of the distribution line to determine whether there are defects. If there are defects in the distribution line, the system can also locate the defective position.

[0095] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements will not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An automatic inspection system for station areas based on drones, characterized in that: include: Loading module, used to upload the distribution information of power distribution lines in the substation area; A construction module, used for receiving the distribution information of the distribution lines in the substation area loaded in the loading module, and constructing a distribution model of the distribution lines in the substation area based on the distribution information of the distribution lines in the substation area; A marking module is used to mark the distribution locations of power users in the substation area on the distribution model of the substation area distribution line; A configuration module is used to configure the inspection cycle of each distribution line in the distribution model of the distribution line in the substation area; The inspection module is used to receive the inspection cycle configured for each distribution line in the configuration module, and use the inspection cycle to inspect each distribution line in the distribution line distribution model of the substation area; The positioning module is used to locate defective distribution lines and their defect locations.

2. The automatic inspection system based on drones according to claim 1 is characterized in that: The building block is provided with sub-modules at the lower level, including: A receiving unit, used to receive the distribution information of the power distribution lines in the substation area uploaded in the loading module, and forward the distribution information of the power distribution lines in the substation area to the construction module; A storage unit, used for receiving the distribution line distribution model of the substation area constructed by the construction module, and storing the distribution line distribution model of the substation area; The distribution information of the substation distribution line is the location information of the nodes of each section of the substation distribution line. When the substation distribution line distribution information is uploaded in the loading module, it is uploaded in groups of two. The substation distribution line distribution information uploaded in groups of two is used to represent a section of the substation distribution line. When the receiving unit receives the substation distribution line distribution information, it synchronously receives the substation distribution line distribution information in groups of two. The construction module draws the same number of line segments as the substation distribution line distribution information in groups of two in the same three-dimensional space based on the substation distribution line distribution information in groups of two. The combination of all the drawn line segments is the substation distribution line distribution model. Among them, among all the substation distribution line distribution information in pairs uploaded by the loading module, in each group of substation distribution line distribution information, at least one substation distribution line distribution information is the same as one substation distribution line distribution information in other groups of substation distribution line distribution information.

3. The automatic inspection system based on drone in the area according to claim 1 is characterized in that: The marking module marks the distribution position of the power users in the substation on the distribution line distribution model of the substation, simultaneously uploads the location information of the power users in the substation, further sets a designated icon for representing the location information of the power users in the substation, determines the location of the power users in the substation in the three-dimensional space representing the distribution line distribution model of the substation based on the location information of the power users in the substation, and places the designated icon representing the location information of the power users in the substation at the determined location of the power users in the substation.

4. The automatic inspection system based on drone in the area according to claim 1 is characterized in that: The annotation module is provided with submodules at the lower level, including: An analysis unit, used for traversing the distribution line distribution model of the substation area and analyzing the complexity of each distribution line in the distribution line distribution model of the substation area; The analysis logic of the complexity of the distribution line is expressed as follows: Where: θ(j) is the complexity of the jth distribution line segment on the distribution line; n is the total number of electricity users in the upper area of ​​the jth distribution line segment; d i is the shortest straight-line distance from the i-th group of power users to the j-th group of distribution line segments; θ is the complexity of the distribution line; q is the number of nodes on the distribution line; m is the set of distribution line segments on the distribution line; k j is the slope of the jth group of distribution line segments; in, Express The greater the complexity θ of the distribution line, the more complex the distribution line is.

5. The automatic inspection system for a station area based on a drone according to claim 1 is characterized in that: When configuring the inspection cycle of each distribution line in the distribution model of the distribution line in the substation area, the configuration module simultaneously obtains the complexity of each distribution line, and configures the inspection cycle for each distribution line based on the complexity of the distribution line: Where: D(a) is the configuration inspection cycle of distribution line a; D0 is the inspection cycle base; θ(a) is the complexity of distribution line a; λ is the normalization factor; Among them, the inspection cycle base D0 is customized by the system user, the normalization factor λ is in the range of (0, 2) and is customized by the system user. Each distribution line in the distribution line distribution model of the substation is configured with an inspection cycle based on the above formula. The inspection cycle configured for the distribution line obeys. The higher the complexity of the distribution line, the shorter the inspection cycle configured for the distribution line, and vice versa.

6. The automatic inspection system based on drones according to claim 1 is characterized in that: The inspection module is provided with submodules at the lower level, including: Drone module, used to carry the camera module; A camera module for collecting distribution line image data; Among them, the inspection module is integrated by several groups of drone modules and camera modules. Each group of drone modules is equipped with a group of camera modules. The drone module operates to obtain the location information of the distribution line in the distribution line distribution model of the substation, determines the flight path based on the distribution line location information, and carries the camera module to perform the distribution line image data collection task.

7. The automatic inspection system for a station area based on a drone according to claim 6 is characterized in that: The flight path determination logic is expressed as: Obtaining the position information of the distribution line, performing an offset process of the same angle and length on each group of position coordinates in the distribution line position information to obtain the offset position coordinates, and connecting the offset position coordinates adjacent to each other to obtain a group of paths, which are recorded as flight paths; When the camera module is collecting image data of the distribution line, the lens end of the camera module is opposite to the distribution line, and the surface image data of the distribution line is recorded. A segmentation time frame is further set, and the surface image data of the distribution line is segmented by using the segmentation time frame to obtain several groups of picture frames. After the picture frames are acquired, four groups of endpoints on the distribution line are further captured in each group of picture frames, and a segmentation line is determined based on the connection line of the image endpoints. The picture frames are segmented using the segmentation line to obtain the distribution line image.

8. The automatic inspection system for a station area based on a drone according to claim 1 is characterized in that: The positioning module receives the distribution line image and identifies whether the distribution line corresponding to the distribution line image has defects based on the distribution line image: Where: ε is the defect judgment value of a single distribution line image; is the grayscale average value of the distribution line image; H norr is the standard grayscale average value of the distribution line image; is the average brightness of the distribution line image; B norr is the standard brightness average value of the distribution line image; ω1 and ω2 are weights; Q is the distribution line defect judgment value; u is the total amount of distribution line images; ε norr It is the reference value for determining the defect of distribution lines; Among them, f(ε v >ε norr ) represents the decision function, ε v >ε norr , then f(ε v >ε norr )=1, otherwise, f(ε v >ε norr )=0, when the power distribution line defect judgment value Q>0, it means that there is a defect in the power distribution line, otherwise, there is no defect; H norr , B norr , ε norr Customized by system users.

9. The automatic inspection system for a station area based on a drone according to claim 8 is characterized in that: When the positioning module runs to locate the defect position, a distribution line image corresponding to a defect judgment value greater than a reference value of the distribution line defect judgment value is obtained, and the source picture frame of the distribution line image is further determined. The picture frame corresponding to the segmented time frame and the location of the drone module are determined in the determined picture frame, and the location of the drone is recorded as the defect position.

10. The automatic inspection system for a station area based on a drone according to claim 1, characterized in that: The loading module is interactively connected to the construction module and the marking module through a wireless network. The construction module is interactively connected to a receiving unit and a storage unit at a lower level through a wireless network. The receiving unit is interactively connected to the loading module through a wireless network. The marking module is interactively connected to an analysis unit through a wireless network. The marking module and the analysis unit are interactively connected to the configuration module through a wireless network. The configuration module is interactively connected to an inspection module through a wireless network. The inspection module is interactively connected to a drone module and a camera module at a lower level through a wireless network. The inspection module is interactively connected to a positioning module through a wireless network.

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