Power equipment intelligent inspection method and device based on two-way communication

Abstract

The invention discloses an intelligent inspection method and device for power equipment based on two-way communication, and the method comprises the steps: carrying out the coding of the to-be-inspected power equipment, collecting the operation and maintenance data flow of the power equipment, and obtaining an equipment identification code database through data association mapping and packaging; based on an electromagnetic receiving system, an electromagnetic transmitting system and an optical ranging system, performing dual ranging verification to obtain distance information of the target power equipment; information decoding is carried out on the received electromagnetic carrier waves, a target equipment identification code is obtained, distance information of associated target power equipment is positioned, and the target power equipment and a target operation maintenance data stream are determined; and executing the preset inspection task through the unmanned aerial vehicle equipment, and determining the inspection information of the target power equipment. The technical problem that an existing unmanned aerial vehicle inspection technology is prone to being interfered by complex terrains, and inspection marking errors are caused is solved, and the inspection accuracy and inspection efficiency of the power equipment are improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of electric power inspection, and in particular relates to an intelligent inspection method and device for electric power equipment based on two-way communication. Background Art

[0002] Power equipment inspection is a key link in ensuring the stable operation of the power grid. Through regular inspection and maintenance of facilities such as substations and transmission lines, the safe operation of the entire power grid system is maintained. Traditional power equipment inspection mainly relies on manual or ground inspection vehicles. Manual inspection requires staff to arrive at the site in person for close observation and inspection. This method is not only inefficient but also poses a high safety risk when facing areas with densely distributed power equipment or complex terrain. Although ground inspection vehicles have improved inspection efficiency to a certain extent, their role is also limited in complex terrain or difficult-to-reach areas.

[0003] In recent years, with the rise of drone technology, drone inspection has gradually become an important means of power equipment inspection. Drones have the advantages of strong maneuverability, wide coverage, and high inspection efficiency, and are particularly suitable for areas with complex terrain or difficult for personnel to reach. However, in environments such as mountainous areas where the horizontal distance is short and the vertical distance is long, the GPS positioning and visual recognition systems that drones rely on are easily affected by terrain, resulting in difficulty in identifying inspection targets, missing key details, and even losing positioning in signal-blocked areas, affecting inspection accuracy and overall efficiency. Summary of the invention

[0004] In order to solve the technical problem that the existing UAV inspection technology is easily disturbed by complex terrain during the inspection process, resulting in inspection marking errors and affecting the inspection accuracy and efficiency, the purpose of the present invention is to provide an intelligent inspection method and device for power equipment based on two-way communication, which can improve the technical effect of improving the inspection accuracy and efficiency of power equipment under complex terrain conditions.

[0005] The purpose of the present invention is achieved through the following technical solutions: A method for intelligent inspection of electric power equipment based on two-way communication, characterized in that the method comprises the following steps: S1. Constructing an equipment coding system, and sequentially coding each equipment in the set of power equipment to be inspected according to the equipment coding system to obtain a set of power equipment identification codes; S2, collecting and acquiring the operation and maintenance data stream set of the set of electric power equipment to be inspected, and performing data association mapping and packaging on the operation and maintenance data stream set and the set of electric power equipment identification codes to obtain an equipment identification code database; S3, installing an electromagnetic transmitting system on the set of power equipment to be inspected, and mounting an electromagnetic receiving system and an optical ranging system on the UAV equipment, performing double ranging verification based on the electromagnetic receiving system, the electromagnetic transmitting system and the optical ranging system to obtain the distance information of the target power equipment; S4, decoding the electromagnetic carrier received by the electromagnetic receiving system, obtaining the target device identification code, and locating and associating the target power device distance information and the target device identification code according to the device identification code database, and determining the target power device and the target operation and maintenance data flow; S5. Perform inspection on the target power equipment based on a preset inspection task through the drone equipment to obtain a drone inspection data stream, and determine the inspection information of the target power equipment based on the drone inspection data stream and the target operation and maintenance data stream.

[0006] Further, in step S1, obtaining the electric power equipment identification code set includes: Extracting the encoding content of the device encoding system to obtain device encoding element information, wherein the device encoding element information includes device specifications, geographic location, and device sequence; According to the device coding element information, a coding element arrangement structure is designed; Performing attribute classification and geographic sequence analysis on each device in the set of power devices to be inspected to obtain a power device feature data set; The electric equipment characteristic data set is encoded and identified in sequence based on the encoding element arrangement structure to obtain the electric equipment identification code set.

[0007] The step of obtaining a power equipment characteristic data set includes: Obtaining basic equipment parameter information and equipment distribution area information of the set of electric equipment to be inspected through the electric equipment management system; Classify the basic parameter information of the equipment set of the power equipment to be inspected according to the equipment attribute elements to obtain an equipment attribute feature set, wherein the equipment attribute feature set includes equipment type, equipment specification and equipment size; Based on the device distribution area information, geographical area division numbering and sequence direction arrangement are performed to determine the device geographical area numbering information and device sequence arrangement direction; Performing geographic sequence analysis on the set of power equipment to be inspected according to the equipment geographic area number information and the equipment sequence arrangement direction to obtain an equipment geographic sequence feature set; The power equipment feature data set is obtained by combining the equipment attribute feature set and the equipment geographic sequence feature set.

[0008] In step S3, obtaining the distance information of the target power equipment includes: Receiving the electromagnetic carrier wave transmitted by the electromagnetic transmitting system of the target power equipment through the electromagnetic receiving system, and acquiring the electromagnetic wave reflection time; Calculate the device distance based on the electromagnetic wave reflection time and electromagnetic wave propagation speed to obtain preliminary device distance information; The optical ranging system collects and acquires the optical ranging signal, performs filtering preprocessing and phase difference calculation on the optical ranging signal, and obtains the optical ranging information of the device; The preliminary equipment distance information is double-compared and verified based on the equipment optical ranging information, and the target power equipment distance information is corrected and obtained.

[0009] In step S5, obtaining the drone inspection data stream includes: Acquire a spatial location data set and a terrain distribution data set of the set of electric power equipment to be inspected, and construct an electric power equipment inspection area map according to the spatial location data set and the terrain distribution data set; Acquire the spatial location information of the target power equipment, and analyze the data collection requirements of the preset inspection task based on the spatial location information to obtain a set of locations to be inspected; According to the power equipment inspection area map, path planning and optimization are performed on the set of locations to be inspected and the current location information of the drone to obtain target inspection path information; The UAV device performs inspection on the target power equipment according to the target inspection path information and based on the preset inspection task to obtain the UAV inspection data stream.

[0010] The obtaining of target inspection path information includes: Defining a planning optimization goal, and constructing a path cost function according to the planning optimization goal; Abstractly converting the power equipment inspection area map, the set of locations to be inspected, and the current location information of the drone into a graph representation to obtain a power equipment inspection graph model; Collecting and obtaining flight path impact data, wherein the flight path impact data includes meteorological conditions, airspace traffic conditions, and terrain obstacles; Performing inspection constraint updates on the power equipment inspection graph model based on the flight path impact data to obtain an equipment inspection path graph model; The path cost function is used to perform iterative path optimization in the equipment inspection path graph model to obtain the target inspection path information.

[0011] The method comprises: Perform inspection control and monitoring on the UAV equipment based on the target inspection path information to obtain UAV inspection status feedback parameters; Replanning the path and evaluating the inspection status of the UAV inspection status feedback parameters according to the equipment inspection path graph model to obtain a UAV inspection status prediction list; Based on the path cost function, the UAV inspection status prediction list is updated by path optimization to obtain inspection path update information.

[0012] An intelligent inspection device for electric power equipment based on two-way communication, characterized in that the device comprises: An equipment coding module, the equipment coding module is used to construct an equipment coding system, and to sequentially code each equipment in the set of power equipment to be inspected according to the equipment coding system to obtain a set of power equipment identification codes; An operation and maintenance data collection module, the operation and maintenance data collection module is used to collect and obtain the operation and maintenance data stream set of the set of electric power equipment to be inspected, and to perform data association mapping and packaging on the operation and maintenance data stream set and the set of electric power equipment identification codes to obtain an equipment identification code database; A dual distance measurement verification module, which is used to install an electromagnetic transmitting system on the set of power equipment to be inspected, and to mount an electromagnetic receiving system and an optical distance measurement system on the UAV equipment, and to perform dual distance measurement verification based on the electromagnetic receiving system, the electromagnetic transmitting system and the optical distance measurement system to obtain the distance information of the target power equipment; An electric power equipment identification module, the electric power equipment identification module is used to decode the electromagnetic carrier received by the electromagnetic receiving system, obtain the target equipment identification code, and locate and associate the target electric power equipment distance information and the target equipment identification code according to the equipment identification code database, and determine the target electric power equipment and the target operation and maintenance data flow; An inspection execution module is used to perform inspections on the target power equipment based on a preset inspection task through the drone device, obtain a drone inspection data stream, and determine the inspection information of the target power equipment based on the drone inspection data stream and the target operation and maintenance data stream.

[0013] The present invention has the following technical effects or advantages: The present invention realizes the precise positioning of the power equipment to be inspected and the collection of inspection information through automated equipment identification, dual ranging verification and bidirectional association of data streams, especially in areas with complex terrain or difficult for personnel to reach, thereby greatly improving the coverage and efficiency of inspections, reducing the possibility of data loss and errors, and further improving the accuracy of inspections and the accuracy of equipment status assessments. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 A schematic diagram of a flow chart of an intelligent inspection method for electric power equipment based on two-way communication provided by an embodiment of the present invention; Figure 2 A schematic diagram of a process for obtaining distance information of a target power device in an intelligent inspection method for power devices based on two-way communication provided by an embodiment of the present invention; Figure 3 A schematic diagram of a process for obtaining a drone inspection data stream in a power equipment intelligent inspection method based on two-way communication provided in an embodiment of the present invention; Figure 4 A schematic diagram of the structure of an intelligent inspection device for electric power equipment based on two-way communication provided in an embodiment of the present invention.

[0015] Explanation of the reference numerals: equipment encoding module 10 , operation and maintenance data collection module 20 , dual ranging verification module 30 , power equipment identification module 40 , inspection execution module 50 . DETAILED DESCRIPTION

[0016] The embodiments of the present invention provide an intelligent inspection method and device for power equipment based on two-way communication, thereby solving the technical problem that the existing drone inspection technology is easily disturbed by complex terrain during the inspection process, resulting in inspection marking errors and affecting the inspection accuracy and efficiency, thereby achieving the technical effect of improving the inspection accuracy and efficiency of power equipment under complex terrain conditions.

[0017] Embodiment 1, as Figure 1 As shown, an embodiment of the present invention provides an intelligent inspection method for power equipment based on two-way communication, the method comprising: Step S1: construct an equipment coding system, and encode each equipment in the set of power equipment to be inspected in turn according to the equipment coding system to obtain a set of power equipment identification codes.

[0018] Specifically, first define a set of rules and standards for building a unique identifier for power equipment and establish an equipment coding system. For example, the coding can be designed based on factors such as the type, location, and function of the equipment. Traverse all groups of power equipment that need to be inspected and maintained, that is, the set of power equipment to be inspected, and assign a unique code to each power equipment to be inspected in the set (such as substations, transmission line equipment, etc.) according to the equipment coding system, that is, the power equipment identification code, summarize the power equipment identification codes of all power equipment to be inspected, and build an equipment list, which is recorded as the power equipment identification code set. This set is the basis for identifying and managing the power equipment to be inspected in the subsequent inspection process. Through this set, specific power equipment can be accurately located according to the power equipment identification code.

[0019] Step S2: Collect and obtain the operation and maintenance data stream set of the electric power equipment set to be inspected, and perform data association mapping and packaging on the operation and maintenance data stream set and the electric power equipment identification code set to obtain an equipment identification code database.

[0020] Specifically, for each power device to be inspected in the set of power devices to be inspected, various types of data generated by the device during its historical operation and maintenance process are collected, including the temperature, voltage, fault records, maintenance history, etc. of the device, to form the operation and maintenance data stream of the device. The set of power devices to be inspected is traversed, and the operation and maintenance data streams are collected in sequence to obtain a set of operation and maintenance data streams. According to the correspondence between the operation and maintenance data streams and the power devices to be inspected, data association matching is performed on the data in the operation and maintenance data stream set and the power equipment identification code set according to the corresponding specific power devices to be inspected, and a mapping relationship between the operation and maintenance data stream set and the power equipment identification code set is established. The operation and maintenance data stream set, the power equipment identification code set, and the mapping relationship between the two are integrated to package and generate a unified database, namely, the equipment identification code database. In the equipment identification code database, the operation and maintenance data stream corresponding to the device can be queried and managed according to the power equipment identification code of the power device to be inspected.

[0021] Step S3: Install an electromagnetic transmitting system on the set of power equipment to be inspected, and mount an electromagnetic receiving system and an optical ranging system on the UAV equipment. Perform double ranging verification based on the electromagnetic receiving system, the electromagnetic transmitting system and the optical ranging system to obtain the distance information of the target power equipment.

[0022] Specifically, an electromagnetic transmitting system is installed for each power equipment to be inspected in the set of power equipment to be inspected. The electromagnetic transmitting system periodically sends an electromagnetic carrier wave of a specific frequency as an identification of the equipment's presence. A matching electromagnetic receiving system and optical ranging system are installed on the drone. The electromagnetic receiving system is responsible for capturing the electromagnetic wave signals emitted by the power equipment, while the optical ranging system uses laser or infrared principles to measure the straight-line distance between the equipment and the drone.

[0023] During the inspection process, the drone receives and decodes the electromagnetic signals emitted by the equipment, calculates the distance between the power equipment to be inspected and the drone based on the electromagnetic signals, and measures the distance between the power equipment to be inspected and the drone through the optical ranging system. The distances measured by the two methods are compared and verified to eliminate environmental interference and improve positioning accuracy. Based on the dual ranging verification results, the distance between the power equipment to be inspected and the drone is determined, that is, the distance information of the target power equipment.

[0024] Step S4: decoding the electromagnetic carrier received by the electromagnetic receiving system to obtain the target device identification code, and locating and associating the target power device distance information and the target device identification code according to the device identification code database to determine the target power device and the target operation and maintenance data flow.

[0025] Specifically, after receiving the electromagnetic carrier of the target power equipment, the drone extracts the target equipment identification code transmitted in the electromagnetic carrier through information decoding. According to the target equipment identification code, the equipment identification code is matched in the equipment identification code database established above, and the operation and maintenance data stream corresponding to the target equipment identification code is queried. According to the target equipment identification code, the queried operation and maintenance data stream and the target power equipment distance information in step S3 are associated, and the target power equipment and the target operation and maintenance data stream are determined, providing historical data reference for subsequent inspection decisions.

[0026] Step S5: The drone device performs inspection on the target power equipment based on a preset inspection task to obtain a drone inspection data stream, and determines the inspection information of the target power equipment based on the drone inspection data stream and the target operation and maintenance data stream.

[0027] Specifically, the drone automatically performs the inspection process according to the pre-set inspection tasks, collects the inspection data of the target power equipment, such as equipment images, thermal imaging data, etc., and forms a drone inspection data stream. The drone inspection data stream is compared and analyzed with the target operation and maintenance data stream queried above to evaluate the current status of the equipment, thereby generating a detailed inspection report, that is, the inspection information of the target power equipment, including the equipment operation status, potential fault points, etc.

[0028] This step utilizes the drone’s automated inspection capabilities and data analysis technology to accurately assess the condition of power equipment and provide accurate inspection information.

[0029] Furthermore, step S1 of the embodiment of the present invention further includes: The coding content of the equipment coding system is extracted to obtain equipment coding element information, wherein the equipment coding element information includes equipment specifications, geographical location and equipment sequence; a coding element arrangement structure is designed based on the equipment coding element information; attribute classification and geographical sequence analysis are performed on each device in the set of power equipment to be inspected to obtain a power equipment feature data set; the power equipment feature data set is sequentially encoded and identified based on the coding element arrangement structure to obtain the power equipment identification code set.

[0030] Specifically, extract the key information of the equipment code, such as equipment specifications, geographic location and equipment sequence, from the equipment coding system and determine it as the equipment coding element information. Define the arrangement order and format of the equipment coding elements, and design a coding element arrangement structure, such as "geography-specification-sequence" or "sequence-specification-geography", to ensure that each element has its fixed representation position.

[0031] Each device in the inspection power equipment set is classified by attributes, such as voltage level and equipment type; at the same time, the geographical location information of the equipment is parsed by geographic sequence, that is, the geographical location of the equipment is converted into a serial number format suitable for coding, such as longitude and latitude, and area code. Through parsing, a power equipment feature data set is formed, which is a collection of various attributes and location information of each device, and is the basis for generating equipment identification codes.

[0032] According to the designed coding element arrangement structure, each set of data in the power equipment characteristic data set is encoded in turn, and a unique power equipment identification code is generated for each device, ensuring the uniqueness and traceability of each device. For example, "G-110kV-T-A12345", where "G" represents the geographical area, "110kV" is the voltage level, "T" refers to the transformer type, and "A12345" is the serial number.

[0033] Furthermore, the step of obtaining a power equipment characteristic data set further includes: The basic equipment parameter information and equipment distribution area information of the set of electric equipment to be inspected are obtained through the electric equipment management system; the basic equipment parameter information of the set of electric equipment to be inspected is classified according to the equipment attribute elements to obtain an equipment attribute feature set, and the equipment attribute feature set includes equipment type, equipment specification and equipment size; geographical area division numbering and sequence direction arrangement are performed based on the equipment distribution area information to determine the equipment geographical area numbering information and equipment sequence arrangement direction; geographical sequence analysis is performed on the set of electric equipment to be inspected according to the equipment geographical area numbering information and equipment sequence arrangement direction to obtain an equipment geographical sequence feature set; based on the equipment attribute feature set and the equipment geographical sequence feature set, the electric equipment feature data set is obtained by combining them.

[0034] Specifically, the power equipment management system is a system used to manage and maintain power equipment information, recording the basic parameters, status, operating data and geographical location information of each device. The power equipment management system obtains the basic equipment parameter information and equipment distribution area information of the power equipment to be inspected. The basic equipment parameter information includes the type of equipment (such as transformers, circuit breakers, etc.), specifications (such as the voltage level of the equipment 500kV or 220kV), dimensions (such as the height and width of the equipment, etc.); the equipment distribution area information refers to the geographical area information where the equipment is located, usually including the installation location of the equipment, regional division, etc.

[0035] The basic parameter information of the equipment is classified according to the equipment attributes such as equipment type, equipment specification and equipment size to form an equipment attribute feature set. For example, equipment A is a 500kV transformer with a size of 3 meters high and 2 meters wide, so its attribute feature set is {equipment type (transformer), equipment specification (500kV), equipment size (3 meters high × 2 meters wide)}.

[0036] According to the equipment distribution area information, a unique number is assigned to each equipment distribution area; for the same attribute equipment in the same area, the arrangement direction of the equipment sequence in the area is determined, for example, the equipment sequence is numbered from south to north to distinguish different equipment of the same type and in the same geographical area. Based on the above geographical area division results, the equipment geographical area number information and equipment sequence arrangement direction corresponding to each device in the set of power equipment to be inspected are determined. Next, the equipment geographical area number information and equipment sequence arrangement direction corresponding to each device are geographically sequenced, and the equipment geographical area number information and equipment sequence arrangement direction are converted into a serial number format suitable for encoding to obtain the equipment geographical sequence feature set.

[0037] For example, a batch of equipment is located in different counties in a province in China. Each county can be assigned a number, such as "BJ001" for a certain area in Beijing. Then the equipment is numbered according to the order in which it is installed, and the equipment is arranged from north to south or from east to west. For example, the number of equipment A is "BJ001", which means it is located in the first installation point in Beijing. In this way, the geographical area number information and sequence arrangement direction of the equipment are obtained.

[0038] Finally, the equipment attribute feature set is combined with the equipment geographic sequence feature set to obtain a complete power equipment feature data set. For example, the complete feature data set of equipment A includes: the equipment type is "transformer", the specification is "500kV", the size is "3m×2m", the geographic number is "BJ001", and the arrangement direction is "the first unit in the north". This data set fully describes the attributes and geographic location of the equipment, and is an important basis for generating a unique equipment identification code.

[0039] Further, such as Figure 2 As shown, step S3 of the embodiment of the present invention further includes: The electromagnetic carrier wave emitted by the electromagnetic transmitting system of the target power equipment is received by the electromagnetic receiving system to obtain the electromagnetic wave reflection time; the equipment distance is calculated based on the electromagnetic wave reflection time and the electromagnetic wave propagation speed to obtain preliminary equipment distance information; the optical ranging system collects and acquires the light ranging signal, performs filtering preprocessing and phase difference calculation on the light ranging signal to obtain equipment optical ranging information; the preliminary equipment distance information is double-compared and verified based on the equipment optical ranging information, and the target power equipment distance information is corrected and obtained.

[0040] Specifically, the electromagnetic carrier wave emitted by the target power equipment is captured by the electromagnetic receiving system, and the time from the emission to the reception of the electromagnetic wave, that is, the electromagnetic wave reflection time, is recorded. The propagation speed of electromagnetic waves is known, which is usually close to the speed of light (about 3×10 8 m / s), so the preliminary device distance information between the device and the drone can be calculated by multiplying the reflection time and speed.

[0041] At the same time, the optical ranging system (such as a laser rangefinder) on the drone sends out a light signal and receives the reflected light signal. By filtering and preprocessing the optical ranging signal, external interference (such as dust, light reflection, etc.) is removed to obtain a cleaner measurement signal. Then, by calculating the phase difference of the signal, that is, comparing the time difference and phase difference between the light signal being sent and returned, the optical ranging information of the device is further obtained.

[0042] Comparing the electromagnetic ranging result with the optical ranging information, the difference between the two can be determined by setting an upper error limit, that is, an error threshold, to verify the reliability of the measurement result. If the preliminary equipment distance information obtained by electromagnetic ranging and the equipment optical ranging information obtained by optical ranging are less than or equal to the error threshold, the two values ​​are considered to be accurate and reliable. Otherwise, it is considered that there is an error between the two, and the preliminary equipment distance information is corrected using the equipment optical ranging information to obtain more accurate target power equipment distance information. The specific correction process can correct the error according to the reliability of the two measurement methods through a weighted average algorithm, that is, set weights for the two measurement results respectively, and correct the preliminary equipment distance information through the formula: Corrected distance = (α•Preliminary equipment distance information + β•Equipment optical ranging information), and obtain the corrected target power equipment distance information. Among them, α is the weight of the preliminary equipment distance information, and β is the weight of the equipment optical ranging information. Exemplarily, the weight of the preliminary equipment distance information is 0.4, the weight of the equipment optical ranging information is 0.6, the preliminary equipment distance information is 100 meters, and the equipment optical ranging information is 102 meters, then the corrected distance calculation is 101.2 meters.

[0043] After the correction is completed, the corrected result can be further verified. Verification can be done by repeating the measurement or comparing it with the previously recorded data to ensure that the corrected distance is reasonable. If there is a large deviation between the corrected data and the historical data, the weight is further adjusted or the distance is re-measured. The deep integration of electromagnetic ranging and optical ranging dual ranging technology not only improves the measurement accuracy, but also enhances the reliability of the measurement results, helping drones to accurately locate and identify target power equipment.

[0044] Further, such as Figure 3 As shown, step S5 of the embodiment of the present invention further includes: Acquire the spatial position data set and terrain distribution data set of the set of power equipment to be inspected, and construct a power equipment inspection area map based on the spatial position data set and terrain distribution data set; acquire the spatial position information of the target power equipment, and perform data acquisition demand analysis on the preset inspection task based on the spatial position information to obtain the set of positions to be inspected; perform path planning and optimization on the set of positions to be inspected and the current position information of the drone according to the power equipment inspection area map to obtain target inspection path information; the drone equipment performs inspection on the target power equipment based on the preset inspection task according to the target inspection path information, and obtains the drone inspection data stream.

[0045] Specifically, the spatial location data and terrain distribution data of all power equipment to be inspected are collected and integrated into spatial location data sets and terrain distribution data sets, and a map of the power equipment inspection area is constructed based on the spatial location data sets and terrain distribution data sets. Among them, the spatial location data set records the precise coordinate information of the power equipment in space, such as longitude, latitude and altitude. The terrain distribution data set describes the detailed data of the terrain in the inspection area, such as mountains, rivers, buildings, etc.

[0046] Analyze the data collection requirements for the preset inspection tasks, which include equipment video collection, temperature collection, equipment external wear inspection, etc. Analyze the specific data that needs to be collected for the inspection tasks, such as equipment temperature, mechanical component conditions, thermal imaging data, etc. Combined with the spatial location information of the target power equipment, determine all the spatial locations required for task collection to complete the preset inspection tasks, and summarize them as a set of locations to be inspected.

[0047] According to the inspection area map of power equipment, combined with the current location of the drone and the set of locations to be inspected, the optimal inspection path is found by analyzing factors such as the distance between the drone and each device to be inspected, flight energy consumption, and terrain conditions, and the target inspection path information is generated. The drone equipment flies along the target inspection path, and according to the preset inspection tasks, it takes pictures and collects data of the target power equipment to generate the drone inspection data stream.

[0048] Through intelligent path planning and data collection, the inspection efficiency and safety are greatly improved, ensuring that drones can efficiently and safely complete inspection tasks in complex power equipment inspection environments and collect high-quality inspection data.

[0049] Furthermore, the obtaining of target inspection path information further includes: Define a planning optimization goal, and construct a path cost function based on the planning optimization goal; abstractly convert the power equipment inspection area map, the set of locations to be inspected, and the current location information of the drone into a graph representation to obtain a power equipment inspection graph model; collect and obtain flight path impact data, which includes meteorological conditions, airspace traffic conditions, and terrain obstacles; update the inspection constraints of the power equipment inspection graph model based on the flight path impact data to obtain an equipment inspection path graph model; use the path cost function to iteratively optimize the path in the equipment inspection path graph model to obtain the target inspection path information.

[0050] Specifically, to perform path planning and optimization and obtain target inspection path information, we must first define the planning optimization goal, that is, the main goal of the drone when performing the inspection mission, which can be to complete the inspection in the shortest time, minimize energy consumption, avoid complex terrain or weather conditions, etc. According to the optimization goal, a path cost function is constructed, which is used to measure the inspection cost of each inspection path. The cost can be set according to the task requirements, taking into account factors such as time, energy consumption, and flight distance. For example, when the planning optimization goal is to "complete the inspection in the shortest time", the path cost function may mainly consider the flight time, and define the cost function as the weighted sum of the flight time and energy consumption of each path.

[0051] The location of the power equipment, the current location of the drone, and the terrain data of the inspection area are abstracted and converted into a graph model to obtain the power equipment inspection graph model. In this graph model, each node represents a power equipment to be inspected, the edges between the nodes represent the flight paths between the equipment, and the weights of these paths represent the cost of the path (such as distance, energy consumption, etc.).

[0052] During the path planning process, data on external factors that affect the flight path of the drone, namely flight path impact data, are collected and analyzed. These data include meteorological conditions (such as wind speed and rainfall), airspace traffic conditions (such as whether there are other aircraft flying), and terrain obstacles (such as hills, buildings, etc.). For example, under severe weather conditions (such as strong winds or thunderstorms), the risk or difficulty of flying certain paths will increase, so the cost of these paths will also increase accordingly. Based on these flight path impact data, the inspection paths in the power equipment inspection graph model are constrained and updated, and the weights of certain nodes or paths are added or adjusted to obtain the equipment inspection path graph model to reflect the current environmental factors.

[0053] Using the aforementioned set path cost function, through the path search algorithms such as A* algorithm and Dijkstra algorithm, the path is iteratively optimized in the equipment inspection path graph model, the costs of different paths are continuously calculated and compared, and the optimal path that minimizes the cost function is gradually found, and the optimal path is determined as the target inspection path information. Through path optimization, the inspection path of the drone can be intelligently planned according to real-time data and optimization goals, so that it can complete the task efficiently while avoiding interference or potential risks from the external environment.

[0054] Furthermore, the method further comprises: Based on the target inspection path information, the UAV equipment is inspected, controlled and monitored to obtain the UAV inspection status feedback parameters; the path of the UAV inspection status feedback parameters is replanned and the inspection status is evaluated according to the equipment inspection path graph model to obtain a UAV inspection status prediction list; based on the path cost function, the UAV inspection status prediction list is updated by path optimization to obtain inspection path update information.

[0055] Specifically, during the drone inspection process, the drone status is monitored in real time according to the target inspection path information, and the drone's real-time position, speed, remaining power and other status information are continuously collected to generate drone inspection status feedback parameters. After each inspection task of a power equipment is completed, the equipment inspection path graph model is used to perform data analysis on the drone inspection status feedback parameters to identify the deviation between the drone's real-time position and the expected path, so as to evaluate whether the drone can complete the inspection task as originally planned under the current state; at the same time, according to the drone's current state and the equipment inspection path graph model, the drone's flight path in the subsequent inspection process is replanned to generate a drone inspection status prediction list. Through the path cost function, a similar path optimization process as mentioned above is used to optimize the path of the drone inspection status prediction list and update the inspection path. This update process will be repeated until the drone completes the preset inspection task.

[0056] Through continuous iterative optimization, drones are able to autonomously cope with complex environments, adjust inspection routes according to actual conditions, improve inspection efficiency and safety, and ensure high-quality and efficient completion of power equipment inspection tasks.

[0057] In general, the embodiments of the present invention achieve precise positioning of the power equipment to be inspected and collection of inspection information through automated equipment identification, dual ranging verification, and bidirectional association of data streams. This greatly improves the coverage and efficiency of inspections, reduces the possibility of data loss and errors, and further improves the accuracy of inspections and the accuracy of equipment status assessments, especially in areas with complex terrain or difficult to reach areas.

[0058] Embodiment 2, as Figure 4 As shown, an embodiment of the present invention provides an intelligent inspection device for electric power equipment based on two-way communication, the device comprising: The device coding module 10 is used to construct a device coding system, and encode each device in the set of power devices to be inspected in turn according to the device coding system to obtain a set of power device identification codes.

[0059] The operation and maintenance data collection module 20 is used to collect and obtain the operation and maintenance data stream set of the electric power equipment set to be inspected, and to package the operation and maintenance data stream set and the electric power equipment identification code set by data association mapping to obtain an equipment identification code database.

[0060] A dual ranging verification module 30 is used to install an electromagnetic transmitting system on the set of power equipment to be inspected, and at the same time mount an electromagnetic receiving system and an optical ranging system on the UAV equipment, and perform dual ranging verification based on the electromagnetic receiving system, the electromagnetic transmitting system and the optical ranging system to obtain the distance information of the target power equipment.

[0061] The power equipment identification module 40 is used to decode the electromagnetic carrier received by the electromagnetic receiving system, obtain the target equipment identification code, and locate and associate the target power equipment distance information and the target equipment identification code according to the equipment identification code database to determine the target power equipment and the target operation and maintenance data flow.

[0062] The inspection execution module 50 is used to perform inspections on the target power equipment based on a preset inspection task through the drone equipment, obtain a drone inspection data stream, and determine the inspection information of the target power equipment based on the drone inspection data stream and the target operation and maintenance data stream.

[0063] Furthermore, the device encoding module 10 of the embodiment of the present invention is also used to perform the following steps: The coding content of the equipment coding system is extracted to obtain equipment coding element information, wherein the equipment coding element information includes equipment specifications, geographical location and equipment sequence; a coding element arrangement structure is designed based on the equipment coding element information; attribute classification and geographical sequence analysis are performed on each device in the set of power equipment to be inspected to obtain a power equipment feature data set; the power equipment feature data set is sequentially encoded and identified based on the coding element arrangement structure to obtain the power equipment identification code set.

[0064] Furthermore, the device encoding module 10 of the embodiment of the present invention is also used to perform the following steps: The basic equipment parameter information and equipment distribution area information of the set of electric equipment to be inspected are obtained through the electric equipment management system; the basic equipment parameter information of the set of electric equipment to be inspected is classified according to the equipment attribute elements to obtain an equipment attribute feature set, and the equipment attribute feature set includes equipment type, equipment specification and equipment size; geographical area division numbering and sequence direction arrangement are performed based on the equipment distribution area information to determine the equipment geographical area numbering information and equipment sequence arrangement direction; geographical sequence analysis is performed on the set of electric equipment to be inspected according to the equipment geographical area numbering information and equipment sequence arrangement direction to obtain an equipment geographical sequence feature set; based on the equipment attribute feature set and the equipment geographical sequence feature set, the electric equipment feature data set is obtained by combining them.

[0065] Furthermore, the dual ranging verification module 30 of the embodiment of the present invention is also used to perform the following steps: The electromagnetic carrier wave emitted by the electromagnetic transmitting system of the target power equipment is received by the electromagnetic receiving system to obtain the electromagnetic wave reflection time; the equipment distance is calculated based on the electromagnetic wave reflection time and the electromagnetic wave propagation speed to obtain preliminary equipment distance information; the optical ranging system collects and acquires the light ranging signal, performs filtering preprocessing and phase difference calculation on the light ranging signal to obtain equipment optical ranging information; the preliminary equipment distance information is double-compared and verified based on the equipment optical ranging information, and the target power equipment distance information is corrected and obtained.

[0066] Furthermore, the inspection execution module 50 of the embodiment of the present invention is also used to execute the following steps: Acquire the spatial position data set and terrain distribution data set of the set of power equipment to be inspected, and construct a power equipment inspection area map based on the spatial position data set and terrain distribution data set; acquire the spatial position information of the target power equipment, and perform data acquisition demand analysis on the preset inspection task based on the spatial position information to obtain the set of positions to be inspected; perform path planning and optimization on the set of positions to be inspected and the current position information of the drone according to the power equipment inspection area map to obtain target inspection path information; the drone equipment performs inspection on the target power equipment based on the preset inspection task according to the target inspection path information, and obtains the drone inspection data stream.

[0067] Furthermore, the inspection execution module 50 of the embodiment of the present invention is also used to execute the following steps: Define a planning optimization goal, and construct a path cost function based on the planning optimization goal; abstractly convert the power equipment inspection area map, the set of locations to be inspected, and the current location information of the drone into a graph representation to obtain a power equipment inspection graph model; collect and obtain flight path impact data, which includes meteorological conditions, airspace traffic conditions, and terrain obstacles; update the inspection constraints of the power equipment inspection graph model based on the flight path impact data to obtain an equipment inspection path graph model; use the path cost function to iteratively optimize the path in the equipment inspection path graph model to obtain the target inspection path information.

[0068] Furthermore, the apparatus described in the embodiment of the present invention is also used to perform the following steps: Based on the target inspection path information, the UAV equipment is inspected, controlled and monitored to obtain the UAV inspection status feedback parameters; the path of the UAV inspection status feedback parameters is replanned and the inspection status is evaluated according to the equipment inspection path graph model to obtain a UAV inspection status prediction list; based on the path cost function, the UAV inspection status prediction list is updated by path optimization to obtain inspection path update information.

[0069] Through the above-mentioned detailed description of the intelligent inspection method of power equipment based on two-way communication in this specification, those skilled in the art can clearly understand the intelligent inspection device of power equipment based on two-way communication in this embodiment. For the device disclosed in Example 2, since it corresponds to the method disclosed in Example 1 and has corresponding functional modules and beneficial effects, the relevant parts can be referred to the description of the method part.

[0070] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An intelligent inspection method for power equipment based on two-way communication, characterized in that: The method comprises the following steps: S1. Constructing an equipment coding system, and sequentially coding each equipment in the set of power equipment to be inspected according to the equipment coding system to obtain a set of power equipment identification codes; S2, collecting and acquiring the operation and maintenance data stream set of the set of electric power equipment to be inspected, and performing data association mapping and packaging on the operation and maintenance data stream set and the set of electric power equipment identification codes to obtain an equipment identification code database; S3, installing an electromagnetic transmitting system on the set of power equipment to be inspected, and mounting an electromagnetic receiving system and an optical ranging system on the UAV equipment, performing dual ranging verification based on the electromagnetic receiving system, the electromagnetic transmitting system and the optical ranging system to obtain distance information of the target power equipment; S4, decoding the electromagnetic carrier received by the electromagnetic receiving system, obtaining the target device identification code, and locating and associating the target power device distance information and the target device identification code according to the device identification code database, and determining the target power device and the target operation and maintenance data flow; S5. Perform inspection on the target power equipment based on a preset inspection task through the drone equipment to obtain a drone inspection data stream, and determine the inspection information of the target power equipment based on the drone inspection data stream and the target operation and maintenance data stream.

2. The intelligent inspection method for electric power equipment based on two-way communication according to claim 1, characterized in that: In step S1, obtaining a set of identification codes of electric equipment includes: Extracting the encoding content of the device encoding system to obtain device encoding element information, wherein the device encoding element information includes device specifications, geographic location, and device sequence; According to the device coding element information, a coding element arrangement structure is designed; Performing attribute classification and geographic sequence analysis on each device in the set of power devices to be inspected to obtain a power device feature data set; The electric equipment characteristic data set is encoded and identified in sequence based on the encoding element arrangement structure to obtain the electric equipment identification code set.

3. The intelligent inspection method for electric power equipment based on two-way communication according to claim 2, characterized in that: The step of obtaining a power equipment characteristic data set includes: Obtaining basic equipment parameter information and equipment distribution area information of the set of electric equipment to be inspected through the electric equipment management system; Classify the basic parameter information of the equipment set of the power equipment to be inspected according to the equipment attribute elements to obtain an equipment attribute feature set, wherein the equipment attribute feature set includes equipment type, equipment specification and equipment size; Based on the device distribution area information, geographical area division numbering and sequence direction arrangement are performed to determine the device geographical area numbering information and device sequence arrangement direction; Performing geographic sequence analysis on the set of power equipment to be inspected according to the equipment geographic area number information and the equipment sequence arrangement direction to obtain an equipment geographic sequence feature set; The power equipment feature data set is obtained by combining the equipment attribute feature set and the equipment geographic sequence feature set.

4. The intelligent inspection method for electric power equipment based on two-way communication according to claim 1, characterized in that: In step S3, obtaining the distance information of the target power equipment includes: Receiving the electromagnetic carrier wave transmitted by the electromagnetic transmitting system of the target power equipment through the electromagnetic receiving system, and acquiring the electromagnetic wave reflection time; Calculate the device distance based on the electromagnetic wave reflection time and electromagnetic wave propagation speed to obtain preliminary device distance information; The optical ranging system collects and acquires the optical ranging signal, performs filtering preprocessing and phase difference calculation on the optical ranging signal, and obtains the optical ranging information of the device; The preliminary equipment distance information is double-compared and verified based on the equipment optical ranging information, and the target power equipment distance information is corrected and obtained.

5. The intelligent inspection method for electric power equipment based on two-way communication according to claim 1, characterized in that: In step S5, obtaining the drone inspection data stream includes: Acquire a spatial position data set and a terrain distribution data set of the set of power equipment to be inspected, and construct a power equipment inspection area map according to the spatial position data set and the terrain distribution data set; Acquire the spatial location information of the target power equipment, and analyze the data collection requirements of the preset inspection task based on the spatial location information to obtain a set of locations to be inspected; According to the power equipment inspection area map, path planning and optimization are performed on the set of locations to be inspected and the current location information of the drone to obtain target inspection path information; The UAV device performs inspection on the target power equipment according to the target inspection path information and based on the preset inspection task to obtain the UAV inspection data stream.

6. The intelligent inspection method for electric power equipment based on two-way communication according to claim 5, characterized in that: The obtaining of target inspection path information includes: Defining a planning optimization goal, and constructing a path cost function according to the planning optimization goal; Abstractly converting the power equipment inspection area map, the set of locations to be inspected, and the current location information of the drone into a graph representation to obtain a power equipment inspection graph model; Collecting and obtaining flight path impact data, wherein the flight path impact data includes meteorological conditions, airspace traffic conditions, and terrain obstacles; Performing inspection constraint updates on the power equipment inspection graph model based on the flight path impact data to obtain an equipment inspection path graph model; The path cost function is used to perform iterative path optimization in the equipment inspection path graph model to obtain the target inspection path information.

7. The intelligent inspection method for electric power equipment based on two-way communication according to claim 6, characterized in that: The method comprises: Perform inspection control and monitoring on the UAV equipment based on the target inspection path information to obtain UAV inspection status feedback parameters; Replanning the path and evaluating the inspection status of the UAV inspection status feedback parameters according to the equipment inspection path graph model to obtain a UAV inspection status prediction list; Based on the path cost function, the UAV inspection status prediction list is updated by path optimization to obtain inspection path update information.

8. An intelligent inspection device for electric power equipment based on two-way communication, characterized in that: The device is used to execute the intelligent inspection method for electric power equipment based on two-way communication according to any one of claims 1 to 7, and the device comprises: An equipment coding module, the equipment coding module is used to construct an equipment coding system, and to sequentially code each equipment in the set of power equipment to be inspected according to the equipment coding system to obtain a set of power equipment identification codes; An operation and maintenance data collection module, the operation and maintenance data collection module is used to collect and obtain the operation and maintenance data stream set of the set of electric power equipment to be inspected, and to perform data association mapping and packaging on the operation and maintenance data stream set and the set of electric power equipment identification codes to obtain an equipment identification code database; A dual distance measurement verification module, which is used to install an electromagnetic transmitting system on the set of power equipment to be inspected, and to mount an electromagnetic receiving system and an optical distance measurement system on the UAV equipment, and to perform dual distance measurement verification based on the electromagnetic receiving system, the electromagnetic transmitting system and the optical distance measurement system to obtain the distance information of the target power equipment; An electric power equipment identification module, the electric power equipment identification module is used to decode the electromagnetic carrier received by the electromagnetic receiving system, obtain the target equipment identification code, and locate and associate the target electric power equipment distance information and the target equipment identification code according to the equipment identification code database, and determine the target electric power equipment and the target operation and maintenance data flow; An inspection execution module is used to perform inspections on the target power equipment based on a preset inspection task through the drone device, obtain a drone inspection data stream, and determine the inspection information of the target power equipment based on the drone inspection data stream and the target operation and maintenance data stream.

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