A method for autonomous flight path management and control of low-altitude unmanned aerial vehicles in a substation

Abstract

The application discloses a kind of low-altitude unmanned aerial vehicle autonomous flight path control method in transformer substation, it is related to the technical field of power system automation inspection, comprising: obtaining the real-time spatial coordinate system constructed by at least three transformer substation positioning devices, carry out fusion operation with the three-dimensional coordinate system of transformer substation established in advance, obtain the flight coordinate data of unmanned aerial vehicle;Unmanned aerial vehicle flight node is generated based on flight coordinate data, and the connection between flight nodes is determined according to preset path planning rules;In the process that unmanned aerial vehicle flies according to flight node, unmanned aerial vehicle position data is collected according to preset frequency, when unmanned aerial vehicle reaches preset flight node, spatial position measurement and correction are carried out, and abnormal data is filtered according to preset rules.The application improves the inspection efficiency and safety of unmanned aerial vehicle in transformer substation by multi-point positioning, real-time data updating, position correction, optimized path planning and multi-level data filtering mechanism.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of power system automation inspection, in particular to a method for controlling the autonomous flight path of a low-altitude unmanned aerial vehicle in a substation. BACKGROUND

[0002] The equipment hidden danger investigation in the substation mainly relies on the staff or the robot to carry out the inspection on the ground, and the high-voltage level substation cannot be inspected on the ground due to the high voltage level and the high equipment installation height, the top of the running equipment, the middle-high layer structure and the lightning rod, and the system has occurred multiple times due to the rust corrosion and fracture of the structure support or the defect on the top of the equipment, which is not discovered in time, resulting in expansion and causing power failure accidents, so it is necessary to reform and upgrade the unmanned aerial vehicle inspection technology, so that the unmanned aerial vehicle can realize one-key flight inspection according to the preset planning path, solve the common problem that the low-altitude equipment in the substation cannot be inspected, and have good technical foresight and popularization and application value.

[0003] In the power system, the inspection of substation equipment is an important link to ensure the safe and stable operation of the power grid. Traditional substation inspection mainly relies on manual or ground robot, but these methods have many limitations. Manual inspection not only has high labor intensity and low efficiency, but also is difficult to conduct comprehensive inspection on high-altitude equipment in high-voltage level substations. In recent years, with the rapid development of unmanned aerial vehicles, unmanned aerial vehicles have gradually increased in the application of substation inspection. Unmanned aerial vehicle inspection can effectively cover all areas of the substation, improve the efficiency and safety of inspection. However, existing unmanned aerial vehicle inspection technology still has some shortcomings. Most unmanned aerial vehicle inspections rely on pilot control or can only fly in the peripheral area of the substation, and cannot penetrate into the equipment-intensive area for detailed inspection. In addition, due to the complex internal environment of the substation and strong electromagnetic interference, existing unmanned aerial vehicle positioning and path planning technology cannot achieve high-precision autonomous flight, resulting in unsatisfactory inspection results.

[0004] The existing unmanned aerial vehicle inspection technology mainly faces the following problems: 1. Traditional GPS positioning is difficult to provide high-precision position information in indoor or obstructed environments, and single sensor positioning is easily affected by environmental factors, leading to cumulative positioning errors. 2. Existing path planning methods usually lack real-time position correction mechanisms, making the unmanned aerial vehicle prone to deviate from the preset path during task execution, affecting the efficiency and safety of inspection. 3. Existing technology is difficult to cope with complex substation environments, such as electromagnetic interference in high-voltage level substations and equipment-intensive areas, making it difficult for unmanned aerial vehicles to achieve efficient and accurate autonomous flight during actual inspection. SUMMARY

[0005] In view of the above problems, the present application is proposed.

[0006] Therefore, the application provides a method for controlling the autonomous flight path of a low-altitude unmanned aerial vehicle in a substation, which can solve the problems mentioned in the background art.

[0007] To solve the above technical problems, the application provides the following technical scheme: a method for controlling the autonomous flight path of a low-altitude unmanned aerial vehicle in a substation, comprising: obtaining a real-time spatial coordinate system constructed by at least three substation positioning devices, performing fusion operation on the real-time spatial coordinate system and a pre-established three-dimensional coordinate system of the substation to obtain flight coordinate data of the unmanned aerial vehicle; generating unmanned aerial vehicle flight nodes based on the flight coordinate data and determining the connection relationship between the flight nodes according to a pre-set path planning rule; in the process of flight of the unmanned aerial vehicle according to the flight nodes, collecting unmanned aerial vehicle position data at a pre-set frequency, performing spatial position measurement and correction when the unmanned aerial vehicle reaches a pre-set flight node, and filtering abnormal data according to a pre-set rule.

[0008] As a preferred scheme of the method for controlling the autonomous flight path of a low-altitude unmanned aerial vehicle in a substation, the calculation process of the flight coordinate data comprises the following steps: at least three positioning devices are arranged in the substation as signal sources; the spatial position data of the unmanned aerial vehicle is obtained through real-time communication between the positioning devices and the sensors carried by the unmanned aerial vehicle; and fusion operation is performed on the spatial position data and the pre-established three-dimensional coordinate system of the substation to obtain the flight coordinate data of the unmanned aerial vehicle.

[0009] As a preferred scheme of the method for controlling the autonomous flight path of a low-altitude unmanned aerial vehicle in a substation, the fusion operation of the spatial position data and the pre-established three-dimensional coordinate system of the substation comprises the following steps: the three-dimensional coordinates of the unmanned aerial vehicle in the micro radar coordinate system are calculated according to the real-time communication data between the sensors carried by the unmanned aerial vehicle and the multiple micro radars in the substation; the three-dimensional coordinates in the micro radar coordinate system are converted into coordinates in the substation point cloud three-dimensional coordinate system, the position of the known micro radar coordinate system circle point in the substation point cloud three-dimensional coordinate system is obtained, and the micro radar coordinate system coordinate value of the target device is obtained, and the flight coordinates of the unmanned aerial vehicle in the substation point cloud three-dimensional coordinate system are obtained after coordinate transformation; if there is a deviation between the flight coordinates of the unmanned aerial vehicle in the substation point cloud three-dimensional coordinate system and the coordinates on the pre-set planning path, a position correction program is started, and positioning measurement and correction are performed through the hover points set in the path planning; if the deviation exceeds a pre-set threshold, the unmanned aerial vehicle is adjusted to the nearest hover point and the flight coordinates are recalculated until the deviation is within the allowable range, and the next path flight is continued.

[0010] As a preferred scheme of the method for controlling the autonomous flight path of a low-altitude unmanned aerial vehicle in a substation, the flight nodes comprise position coordinate information and action control information.

[0011] As a preferred scheme of the method for controlling the autonomous flight path of the low-altitude unmanned aerial vehicle in the substation, wherein: the unmanned aerial vehicle flight nodes are generated based on the flight coordinate data, and the connection relationship between the flight nodes is determined according to the preset path planning rules, including the following steps: based on the flight coordinate data, the node information is selected in the three-dimensional model of the substation, and the node information is stored; the node includes a take-off point, an inspection point, a passing point and a landing point; the connection relationship between the flight nodes is determined according to the preset path planning rules, and the preliminary flight path of the unmanned aerial vehicle is formed; if multiple devices are on the same y-axis, the devices on the same y-axis are first inspected, and then other devices are sequentially inspected according to the distance of the x-axis, and an intermediate point is generated between each two nodes for adjustment and correction; if there is an obstacle or an un-flyable area in the preliminary flight path, the bypass path is recalculated based on the three-dimensional model of the substation, and a new bypass node is added or the position of the existing node is adjusted.

[0012] As a preferred scheme of the method for controlling the autonomous flight path of the low-altitude unmanned aerial vehicle in the substation, wherein: in the process that the unmanned aerial vehicle flies according to the flight nodes, the position data of the unmanned aerial vehicle is collected at a preset frequency, the spatial position is measured and corrected when the unmanned aerial vehicle reaches the preset flight node, and the abnormal data is filtered according to the preset rule, including the following steps: in the process that the unmanned aerial vehicle flies according to the flight nodes, the position data of the unmanned aerial vehicle is collected at a preset frequency, and the position data is transmitted to the ground control station in real time; when the unmanned aerial vehicle reaches the preset flight node, the spatial position is measured by a micro radar and other sensors, and the position of the unmanned aerial vehicle is corrected according to the measurement result; if there is deviation between the measurement result and the coordinate of the preset flight node, the position correction program is started, the attitude and speed of the unmanned aerial vehicle are adjusted to ensure that it accurately reaches the preset position; and the abnormal data is filtered according to the preset rule.

[0013] As a preferred scheme of the method for controlling the autonomous flight path of the low-altitude unmanned aerial vehicle in the substation, wherein: the preset rule is that if the data change value exceeds 50%, the data is considered invalid and is removed; at the same time, if the data change value exceeds the threshold value for multiple times, the emergency stop program is triggered to ensure the safety of the unmanned aerial vehicle.

[0014] To further solve the above technical problems, the present application provides the following technical scheme: a system for controlling the autonomous flight path of a low-altitude unmanned aerial vehicle in a substation, comprising:

[0015] A computer device comprising a memory and a processor, wherein the memory stores a computer program, and wherein the processor implements the steps of the method for controlling the autonomous flight path of a low-altitude unmanned aerial vehicle in a substation when executing the computer program.

[0016] A computer readable storage medium, having stored thereon a computer program, wherein the computer program is executed by a processor to implement the steps of the method for autonomous flight path control of a low-altitude unmanned aerial vehicle in a substation as described above.

[0017] The present application has the following beneficial effects: The present application constructs a real-time spatial coordinate system by setting at least three micro radar positioning devices, and performs fusion operation on the coordinate system and a pre-established three-dimensional coordinate system of a substation point cloud to obtain flight coordinate data of the unmanned aerial vehicle. This method not only improves the positioning accuracy, but also effectively reduces the cumulative error of the flight path by pre-setting a hovering point, thereby improving the reliability and safety of the inspection task. The present application generates unmanned aerial vehicle flight nodes based on the flight coordinate data, and determines the connection relationship between the flight nodes according to a pre-set path planning rule. Through Dijkstra algorithm or A* algorithm, a preliminary flight path is formed, and dynamic path adjustment is performed when an obstacle is encountered, thereby ensuring the feasibility and safety of the path. In the process of flight of the unmanned aerial vehicle according to the flight nodes, the position data of the unmanned aerial vehicle is collected at a pre-set frequency, and spatial position measurement and correction are performed when the pre-set flight nodes are reached. Abnormal data is filtered through a pre-set rule, and if the data change value exceeds 50%, the data is considered invalid and is removed; if the data change value exceeds the threshold value for multiple times in succession, an emergency shutdown program is triggered to ensure the safety of the unmanned aerial vehicle. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiment description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0019] Figure 1 A schematic diagram of the overall process of the method for autonomous flight path control of a low-altitude unmanned aerial vehicle in a substation according to the present application;

[0020] Figure 2 A computer device diagram in the method for autonomous flight path control of a low-altitude unmanned aerial vehicle in a substation according to the present application. DETAILED DESCRIPTION

[0021] In order to make the above-mentioned objects, features and advantages of the present application more apparent and easy to understand, the specific embodiments of the present application will be described in detail below with reference to the drawings of the specification. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor should be within the scope of protection of the present application.

[0022] In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. However, it will be apparent to one skilled in the art that the present application can be practiced without the specific details set forth in this description, that the present application can be practiced with other systems, and that the present application can be practiced in other ways. Therefore, the scope of the present application is indicated by the appended claims rather than by the description preceding them.

[0023] Embodiment 1, refer to Figure 1 For an embodiment of the present application, a method for autonomous flight path control of low-altitude unmanned aerial vehicles in substations is provided.

[0024] S1: Obtain real-time spatial coordinate system constructed by at least three positioning devices in the substation, and perform fusion operation on the real-time spatial coordinate system and the pre-established three-dimensional coordinate system of the substation to obtain flight coordinate data of the unmanned aerial vehicle.

[0025] S1.1: At least three positioning devices are set in the substation as signal sources.

[0026] It should be noted that in the substation environment, by setting at least three positioning devices (such as micro radars) as signal sources, the spatial position of the unmanned aerial vehicle can be accurately determined. These positioning devices provide multiple reference points, and use the principle of triangulation to improve positioning accuracy and stability. The use of multiple positioning devices significantly improves the accuracy of unmanned aerial vehicle positioning and reduces errors that may be caused by a single signal source. Even if a positioning device fails, other devices can still ensure normal operation of the system, enhancing the robustness and reliability of the overall system.

[0027] S1.2: Obtain spatial position data of the unmanned aerial vehicle through real-time communication between the positioning device and the sensor carried by the unmanned aerial vehicle.

[0028] It should be noted that through real-time communication technology, the positioning device and the sensor on the unmanned aerial vehicle can continuously exchange data, ensuring real-time updating of the unmanned aerial vehicle position information. This real-time communication mechanism is crucial for accurate positioning in dynamic environments, especially in complex and potentially interfering environments such as substations.

[0029] S1.3: Perform fusion operation on the spatial position data and the pre-established three-dimensional coordinate system of the substation to obtain flight coordinate data of the unmanned aerial vehicle.

[0030] It should be noted that by converting the position data of the unmanned aerial vehicle in the micro radar coordinate system to flight coordinates in the substation point cloud three-dimensional coordinate system and performing necessary position correction, S1.3 ensures that the unmanned aerial vehicle can accurately perform autonomous flight within the substation. This process not only improves the accuracy of unmanned aerial vehicle positioning, but also effectively reduces the cumulative error of the flight path through the pre-set hovering point and position correction mechanism, thereby improving the reliability and safety of the inspection task.

[0031] S1.3.1: According to the real-time communication data between the unmanned aerial vehicle carrying sensors and multiple micro radars (at least 3) in the substation, the three-dimensional coordinates of the unmanned aerial vehicle in the micro radar coordinate system are calculated.

[0032] S1.3.2: Convert the three-dimensional coordinates in the micro radar coordinate system to the coordinates in the substation point cloud three-dimensional coordinate system, by the known micro radar coordinate system circle point (0, 0, 1) corresponding to the position (15.21, 13.41, 0) in the substation point cloud three-dimensional coordinate system, and the micro radar coordinate system coordinate value of the target device, execute the coordinate transformation formula X' = X + 15.21, Y' = Y + 13.41, Z' = Z - 1, to get the flight coordinates of the unmanned aerial vehicle in the substation point cloud three-dimensional coordinate system.

[0033] S1.3.3: If the flight coordinates of the unmanned aerial vehicle in the substation point cloud three-dimensional coordinate system deviate from the coordinates on the preset planning path, start the position correction program, and perform positioning measurement and correction through the hover points set in the path planning; if the deviation exceeds the preset threshold, adjust the unmanned aerial vehicle to the nearest hover point and recalculate the flight coordinates until the deviation is within the allowed range, and continue to execute the next path flight.

[0034] It should be noted that in the prior art, the positioning accuracy and path control of the unmanned aerial vehicle in complex environments are often limited, especially in the environment of the substation which has strong electromagnetic interference and complex spatial layout. The traditional positioning method such as GPS is difficult to provide high-precision position information in indoor or blocked environment, and single sensor positioning is easily affected by environmental factors, leading to accumulation of positioning error. In addition, the existing path planning method usually lacks real-time position correction mechanism, so that the unmanned aerial vehicle is easy to deviate from the preset path when executing the task, affecting the inspection efficiency and safety.

[0035] The real-time spatial coordinate system is constructed by the plurality of micro radar positioning devices in the S1 step, and the coordinate system is fused with the pre-established substation three-dimensional coordinate system, which can significantly improve the spatial position accuracy of the unmanned aerial vehicle. In the S1.1 step, at least three positioning devices are set as signal sources to improve the positioning accuracy by using the triangulation principle. In the S1.2 step, the spatial position data of the unmanned aerial vehicle is obtained through real-time communication to ensure the timely updating of the data and avoid the error accumulation caused by the delay. In the S1.3 step, the coordinates in the micro radar coordinate system are converted into the coordinates in the substation point cloud three-dimensional coordinate system by using the coordinate transformation formula, which unifies the coordinate reference frame and simplifies the subsequent processing process. In the S1.3.3 step, the position is corrected by using the pre-set hovering point to effectively reduce the cumulative error of the flight path and ensure that the unmanned aerial vehicle can fly accurately according to the pre-set path. Compared with the prior art, the S1 step significantly improves the positioning accuracy of the unmanned aerial vehicle in the substation, solves the problem of inaccurate positioning of the traditional method in complex environment, introduces the hovering point for position correction to ensure that the unmanned aerial vehicle can timely adjust the flight path and avoid the deviation accumulation caused by external interference, improves the reliability and safety of the inspection task, unifies the position data in different coordinate systems by using the coordinate transformation formula, simplifies the process of path planning and position correction, and improves the overall performance of the system. The use of multiple positioning devices enhances the robustness of the system, so that even if a device fails, other devices can still ensure the normal operation of the system, improving the stability and reliability of the system. These improvements not only have technical innovation, but also show significant advantages in practical application, which are functions that cannot be achieved by simple combination of the prior art.

[0036] S2: generating unmanned aerial vehicle flight nodes based on flight coordinate data, determining the connection relationship between the flight nodes according to the pre-set path planning rules, and the flight nodes including position coordinate information and action control information.

[0037] S2.1: selecting take-off points, inspection points, passing points and landing points in the substation three-dimensional model based on the flight coordinate data, and storing the node information in the database.

[0038] Specifically, the flight coordinate data obtained in the S1 step is used to select the take-off points, inspection points, passing points and landing points in the pre-constructed substation three-dimensional model. These nodes include position coordinate information (X, Y, Z), and the node information is stored in the database to provide a basis for subsequent path planning.

[0039] S2.2: determining the connection relationship between the flight nodes according to the pre-set path planning rules by using an algorithm to form a preliminary flight path of the unmanned aerial vehicle; if multiple devices are on the same y-axis, the devices on the same y-axis are inspected first, then the other devices are inspected in turn according to the distance of the x-axis, and an intermediate point is generated between each two nodes for adjustment and correction.

[0040] Specifically, this step determines the connection relationship between flight nodes based on preset path planning rules using algorithms such as Dijkstra or A* algorithm, forming the preliminary flight path of the UAV.

[0041] If multiple devices are on the same y-axis, first inspect the devices on the same y-axis, and then inspect other devices in order according to the distance of the x-axis. To ensure the smoothness and controllability of the path, intermediate points are generated between each two nodes for adjustment and correction of the UAV.

[0042] S2.3: If there are obstacles or non-flyable areas in the preliminary flight path, recalculate the bypass path based on the three-dimensional model of the substation, and ensure the feasibility and safety of the final flight path by adding new bypass nodes or adjusting the positions of existing nodes.

[0043] Specifically, this step enhances the robustness of path planning by introducing conditional judgment. If obstacles or non-flyable areas are detected in the preliminary flight path, the system will recalculate the bypass path based on the three-dimensional model of the substation. The system will identify all possible bypass paths based on the three-dimensional model of the substation, and ensure the feasibility and safety of the final flight path by adding new bypass nodes or adjusting the positions of existing nodes. This dynamic path adjustment mechanism can effectively deal with various unexpected situations in complex environments.

[0044] Preferably, S2 step realizes efficient path planning and dynamic path adjustment by combining the three-dimensional model of the substation and real-time flight coordinate data. This method not only improves the efficiency and safety of UAV inspection, but also solves the problem that traditional path planning methods are difficult to deal with complex environments and unexpected situations. By generating intermediate points for adjustment and correction, the smoothness and controllability of the flight path are ensured; and the dynamic path adjustment mechanism based on the three-dimensional model further enhances the robustness and adaptability of the system. These improvements significantly improve the reliability and efficiency of UAV inspection tasks in practical application scenarios, providing solid technical support for automatic inspection of substations.

[0045] S3: During the flight of the UAV according to the flight nodes, collect the UAV position data at a preset frequency, and perform spatial position measurement and correction when the UAV reaches the preset flight node, and filter abnormal data according to the preset rules.

[0046] S3.1: During the flight of the UAV according to the flight nodes, collect the position data of the UAV at a preset frequency (such as 5Hz), and transmit these position data to the ground control station in real time.

[0047] It should be noted that this step continuously collects the position data of the UAV at a preset frequency (such as 5 Hz) and transmits these data to the ground control station in real time. This high-frequency collection method can timely capture the dynamic changes of the UAV, providing accurate data support for subsequent spatial position measurement and correction. Real-time transmission to the ground control station can realize remote monitoring and management, improving the response speed and operation efficiency of the system.

[0048] S3.2: When the UAV reaches the preset flight node, the spatial position is measured by the micro radar and other sensors, and the position of the UAV is corrected according to the measurement results; if there is deviation between the measurement results and the preset flight node coordinates, the position correction program is started, and the attitude and speed of the UAV are adjusted to ensure that it accurately reaches the preset position.

[0049] It should be noted that this step uses micro radar and other sensors to accurately measure the spatial position when the UAV reaches the preset flight node. By comparing with the pre-set flight node coordinates, if there is deviation, the position correction program is started. Specifically, the system will adjust the attitude (such as pitch, roll, yaw angle) and speed of the UAV according to the measurement results to ensure that the UAV can accurately reach the preset position. This periodic correction mechanism reduces cumulative errors and improves the accuracy of the overall path. For example, during the inspection process of a 500kv substation, when the UAV reaches a certain device inspection point, accurate measurement is performed by the micro radar to ensure that the UAV can accurately hover at the predetermined position, thereby improving the accuracy and reliability of the inspection.

[0050] S3.3: Filter abnormal data according to preset rules, if the data change value exceeds 50%, it is considered as invalid data and is removed; at the same time, if the data change value exceeds the threshold value for multiple times in succession, the emergency shutdown program is triggered to ensure the safety of the UAV.

[0051] It should be noted that this step filters the collected position data according to preset rules. Specifically, if the data change value of the adjacent two times of collection exceeds 50% (i.e. the data change is significant), it is considered as abnormal data and is removed, which does not participate in the guidance of the flight path and the correction of the position. In addition, if the data change value exceeds the threshold value for multiple times in succession, the emergency shutdown program is triggered to prevent the risk of flight out of control caused by abnormal data. This double filtering mechanism effectively eliminates abnormal data caused by sensor failure, external interference and other factors, ensuring the reliability and consistency of the data. For example, when the UAV encounters strong wind or other external interference during flight, the system can quickly identify and remove abnormal data to ensure the safe operation of the UAV.

[0052] In summary, the present application significantly improves the positioning accuracy of the unmanned aerial vehicle in the substation by multi-point reference and real-time data updating, solving the problem of inaccurate positioning of traditional methods in complex environments. The present application introduces a hovering point for position correction, ensuring that the unmanned aerial vehicle can adjust the flight path in time, avoiding the accumulation of deviation caused by external interference, and improving the reliability and safety of the inspection task. The present application uses Dijkstra algorithm and A* algorithm in combination, not only forming an efficient preliminary flight path, but also dynamically adjusting the path when encountering obstacles, ensuring the feasibility and safety of the path. This multi-level path planning mechanism solves the problem of inflexible path planning in existing technologies and difficulty in responding to sudden obstacles. The present application uses a multi-level data filtering mechanism to effectively eliminate abnormal data caused by sensor failure, external interference and other factors, enhancing the robustness and safety of the system. In particular, by using preset rules and a multi-level filtering mechanism, the continuity and reliability of the data are ensured, preventing the risk of flight loss caused by abnormal data.

[0053] Embodiment 2, as an embodiment of the present application, provides a system for autonomous flight path control of low-altitude unmanned aerial vehicles in substations, comprising:

[0054] The acquisition module is configured to acquire a real-time spatial coordinate system constructed by at least three substation positioning devices, perform fusion operation on the real-time spatial coordinate system and a pre-established three-dimensional coordinate system of the substation, and obtain flight coordinate data of the unmanned aerial vehicle.

[0055] The generation module is configured to generate flight nodes of the unmanned aerial vehicle based on the flight coordinate data, and determine the connection relationship between the flight nodes according to preset path planning rules.

[0056] The correction module is configured to collect position data of the unmanned aerial vehicle at a preset frequency during flight of the unmanned aerial vehicle according to the flight nodes, perform spatial position measurement and correction when the unmanned aerial vehicle reaches a preset flight node, and filter abnormal data according to preset rules.

[0057] Embodiment 3, refer to Figure 2For one embodiment of the present application, different from the previous embodiment, the function, if realized in the form of a software function unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or the part of the technical solution that essentially contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in various embodiments of the present application. The aforementioned storage medium includes a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various media that can store program codes.

[0058] The logic and / or steps represented in the flowcharts or otherwise described herein, for example, can be considered as a list of executable instructions for implementing logic functions, which can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus or device, such as a computer-based system, a system including a processor or other system that can fetch the instructions from the instruction execution system, apparatus or device and execute the instructions, or in conjunction with these instruction execution systems, apparatus or devices. For the purpose of this specification, the "computer-readable medium" can be any device that can contain, store, communicate, propagate or transport programs for use by or in connection with an instruction execution system, apparatus or device, or in conjunction with these instruction execution systems, apparatus or devices.

[0059] More specific examples (a non-exhaustive list) of the computer-readable medium include the following: an electrical connection having one or more wires (electrical devices), a portable computer diskette (magnetic devices), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the computer-readable medium can even be paper or other suitable medium on which the program can be printed, as the program can be electronically obtained, for example, by optical scanning of the paper or other medium, followed by electronic editing, interpretation or processing, or other suitable means, if necessary, to obtain the program electronically, and then stored in the computer memory.

[0060] It should be understood that various portions of the application can be implemented with hardware, software, firmware, or a combination thereof. In the above embodiments, various steps or methods can be implemented in software or firmware that is stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, implementation can be with any or a combination of the following technologies, which are all well-known in the art: a discrete logic circuit(s) having logic gates for implementing logic functions upon an application of data signals, an application specific integrated circuit having appropriate combinational logic gates, a programmable gate array(s) (PGA), a field programmable gate array (FPGA), etc.

[0061] Embodiment 4, as an embodiment of the present application, provides a method for controlling the autonomous flight path of a low-altitude unmanned aerial vehicle in a substation. In order to verify the beneficial effects of the present application, economic benefit calculation and simulation experiments are used for scientific demonstration.

[0062] The autonomous flight of the low-altitude unmanned aerial vehicle in the substation has three key points: 1. Coordinate system conversion; 2. Path planning; 3. Position correction.

[0063] Firstly, coordinate system conversion.

[0064] The substation uses multiple micro radars as signal sources. The sensors carried by the unmanned aerial vehicle body communicate in real time with multiple (at least 3) micro radars, and the three-dimensional coordinates (i.e. the spatial position of the unmanned aerial vehicle) are calculated through algorithm. The substation has preformed laser radar scanning of the whole station, and has constructed a whole station model, i.e. generated a substation point cloud three-dimensional coordinate system.

[0065] The multiple (such as 12, A0-A11) micro radars in the substation, of which A0 is a circle point (0, 0, 1; 1 is the installation height of the micro radar 1 meter). The circle point (0, 0, 0) of the substation point cloud three-dimensional coordinate system is characterized in the micro radar coordinate system as (15.21, 13.41, 0) through measurement.

[0066] The flying point coordinates of the inspection object equipment 1 are selected as (25.21, 26.41, 8) from the system, the two sets of coordinate systems are fused, and the flight path planning point coordinates are output as (40.42, 39.82, 7) and pushed to the unmanned aerial vehicle.

[0067] X coordinate 40.42 = 15.21 + 25.21;

[0068] Y coordinate 39.82 = 13.41 + 26.41;

[0069] Z coordinate 7 = 8 - 1.

[0070] Secondly, path planning.

[0071] 1、Algorithm planning premise. The take-off point, inspection point, through point and landing point are selected on the model in advance (the take-off point and landing point of each inspection channel are pre-set, and the positions of the take-off point and landing point are the same as the inspection point in the channel in the same x-axis or y-axis), and the data are stored in the database; at the same time, the system binds the equipment and the inspection point.

[0072] 2、Web operation process. (1) Enter the autonomous flight path planning function item, add a new task, fill in the inspection task name, select the inspection equipment, unmanned aerial vehicle, operator and other information. (2) Start the flight, start monitoring the real-time coordinates of the unmanned aerial vehicle, and can check the real-time position, coordinates, height and other information of the unmanned aerial vehicle on the home page or real-time monitoring page.

[0073] Path planning process (500kv as an example)

[0074] (1) Multiple devices on the same y-axis.

[0075] Take-off point confirmation: The two devices selected in the above figure are on the same y-axis, and the corresponding inspection point coordinates are (-41.63, -84.79, 7) and (-63.98, -84.79, 7), respectively, in the 500kv main area, the y-coordinate of the take-off point is the same as that of the inspection point, so the take-off point is determined to be (63.7, -84.79, 3).

[0076] Inspection sequence determination: The devices on the same y-axis as the take-off point are inspected first, if there are devices not on the same y-axis, the devices on the same y-axis are inspected first, and then the other devices are inspected in turn according to the distance of the x-axis. In the above figure, (-41.63, -84.79, 7) is inspected first, and then (-63.98, -84.79, 7) is inspected.

[0077] Intermediate point generation: if the distance between the current point and the inspection point or the through point exceeds 10 meters, an intermediate point is generated every 10 meters for the adjustment and correction of the unmanned aerial vehicle. In this example, a number of intermediate points are generated between the take-off point and the first inspection point, such as (53.7, -84.79, 3), (53.7, -84.79, 3), (53.7, -84.79, 3)……

[0078] Landing point confirmation: after the last inspection point is inspected, the nearest through point is selected, and after the through is completed, the corresponding landing point is selected according to the through end point. In this example, the through start point is (-72.93, -84.79, 7), and the through end point is (-72.93, -91.44, 7).

[0079] Landing point (63.7, -91.44, 3).

[0080] Detailed path confirmation: the detailed path is as follows:

[0081] Step 1 : (63.70, -84.79, 3.00)

[0082] Step 2: (53.70, -84.79, 3.00)

[0083] Step 3: (43.70, -84.79, 3.00)

[0084] Step 4: (33.70, -84.79, 3.00)

[0085] Step 5: (23.70, -84.79, 3.00)

[0086] Step 6: (13.70, -84.79, 3.00)

[0087] Step 7: (3.70, -84.79, 3.00)

[0088] Step 8: (-6.30, -84.79, 3.00)

[0089] Step 9: (-16.30, -84.79, 3.00)

[0090] Step 10: (-26.30, -84.79, 3.00)

[0091] Step 11 : (-36.30, -84.79, 3.00)

[0092] Step 12: (-41.63, -84.79, 7.00)

[0093] Step 13: (-51.63, -84.79, 7.00)

[0094] Step 14: (-61.63, -84.79, 7.00)

[0095] Step 15: (-63.98, -84.79, 7.00)

[0096] Step 16: (-72.93, -84.79, 7.00)

[0097] Step 17: (-72.93, -84.79, 7.00)

[0098] Step 18: (-72.93, -91.44, 7.00)

[0099] Step 19: (-62.93, -91.44, 7.00)

[0100] Step 20: (-52.93, -91.44, 7.00)

[0101] Step 21: (-42.93, -91.44, 7.00)

[0102] Step 22: (-32.93, -91.44, 7.00)

[0103] Step 23: (-22.93, -91.44, 7.00)

[0104] Step 24: (-12.93, -91.44, 7.00)

[0105] Step 25: (-2.93, -91.44, 7.00)

[0106] Step 26: (7.07, -91.44, 7.00)

[0107] Step 27: (17.07, -91.44, 7.00)

[0108] Step 28: (27.07, -91.44, 7.00)

[0109] Step 29: (37.07, -91.44, 7.00)

[0110] Step 30: (47.07, -91.44, 7.00)

[0111] Step 31: (57.07, -91.44, 7.00)

[0112] Step 32: (63.70, -91.44, 3.00)

[0113] Instruction generation: The instruction format of the current design is x1, y1, z1, x2, y2, z2, action code; the action code is: 0 - none, 1 - take a picture, 2 - hover, 90: rotate 90 degrees clockwise, 180: rotate 180 degrees clockwise, 270: rotate 270 degrees clockwise.

[0114] According to the path of the above step, the corresponding instructions are generated, wherein if the height of the current point and the next point is different, the height needs to be adjusted, if the current point is the inspection target, the angle needs to be rotated, etc. According to the above rules, the instructions are as follows:

[0115] 63.7, -84.79, 3.0, 53.7, -84.79, 3.0, 0; 53.7, -84.79, 3.0, 43.7, -84.79, 3.0, 0; 43.7, -

[0116] 84.79,3.0,33.7,-84.79,3.0,0；33.7,-84.79,3.0,23.700000000000003,-

[0117] 84.79,3.0,0；23.700000000000003,-84.79,3.0,13.700000000000003,-

[0118] 84.79,3.0,0；13.700000000000003,-84.79,3.0,3.700000000000003,-

[0119] 84.79,3.0,0；3.700000000000003,-84.79,3.0,-6.299999999999997,-84.79,3.0,0；-

[0120] 6.299999999999997,-84.79,3.0,-16.299999999999997,-84.79,3.0,0；-

[0121] 16.299999999999997,-84.79,3.0,-26.299999999999997,-84.79,3.0,0；-

[0122] 26.299999999999997,-84.79,3.0,-36.3,-84.79,3.0,0；-36.3,-84.79,3.0,-41.63,-

[0123] 84.79,3.0,0；-41.63,-84.79,3.0,-41.63,-84.79,7.0,0；-41.63,-84.79,7.0,-41.63,-

[0124] 84.79,7.0,270；-41.63,-84.79,7.0,-41.63,-84.79,7.0,2；-41.63,-84.79,7.0,-41.63,-

[0125] 84.79,7.0,90；-41.63,-84.79,7.0,-51.63,-84.79,7.0,0；-51.63,-84.79,7.0,-61.63,-

[0126] 84.79,7.0,0；-61.63,-84.79,7.0,-63.98,-84.79,7.0,0；-63.98,-84.79,7.0,-63.98,-

[0127] 84.79,7.0,270；-63.98,-84.79,7.0,-63.98,-84.79,7.0,2；-63.98,-84.79,7.0,-63.98,-

[0128] 84.79,7.0,90；-63.98,-84.79,7.0,-72.93,-84.79,7.0,0；-72.93,-84.79,7.0,-72.93,-

[0129] 84.79,7.0,0；-72.93,-84.79,7.0,-72.93,-91.44,7.0,90；-72.93,-91.44,7.0,-

[0130] 62.93000000000001,-91.44,7.0,0；-62.93000000000001,-91.44,7.0,-

[0131] 52.93000000000001,-91.44,7.0,0；-52.93000000000001,-91.44,7.0,-

[0132] 42.93000000000001,-91.44,7.0,0；-42.93000000000001,-91.44,7.0,-

[0133] 32.93000000000001,-91.44,7.0,0；-32.93000000000001,-91.44,7.0,-

[0134] 22.930000000000007,-91.44,7.0,0；-22.930000000000007,-91.44,7.0,-

[0135] 12.930000000000007,-91.44,7.0,0；-12.930000000000007,-91.44,7.0,-

[0136] 2.930000000000007,-91.44,7.0,0；-2.930000000000007,-

[0137] 91.44,7.0,7.069999999999993,-91.44,7.0,0; 7.069999999999993,-

[0138] 91.44,7.0,17.069999999999993,-91.44,7.0,0; 17.069999999999993,-

[0139] 91.44,7.0,27.069999999999993,-91.44,7.0,0; 27.069999999999993,-

[0140] 91.44,7.0,37.06999999999999,-91.44,7.0,0; 37.06999999999999,-

[0141] 91.44,7.0,47.06999999999999,-91.44,7.0,0; 47.06999999999999,-

[0142] 91.44,7.0,57.06999999999999,-91.44,7.0,0; 57.06999999999999,-91.44,7.0,63.7,-

[0143] 91.44,7.0,0; 63.7,-91.44,7.0,63.7,-91.44,3.0,0;

[0144] (2) Multiple devices are not on the same y-axis.

[0145] Take-off point confirmation: The two devices selected in the above figure are not on the same y-axis, and the corresponding inspection point coordinates are (58.35, -178.6, 6) and (58.35, -120.62, 6), respectively. In this case, the take-off point is set to the point with the larger y value to start the inspection, so the take-off point is set to (63.7, -120.6, 3).

[0146] Inspection order determination: As in the above example, the devices on the same row as the take-off point are inspected first. If there are devices not on the same y-axis, the devices on the same y-axis are inspected first, and then the other devices are inspected in order according to the distance on the x-axis. In the above figure, (58.35, -120.62, 6) is inspected first, and then (58.35, -178.6, 6) is inspected.

[0147] Intermediate point generation: As in the above example, if the distance between the current point and the inspection point or the through point exceeds 10 meters, an intermediate point is generated every 10 meters for the adjustment and correction of the unmanned aerial vehicle.

[0148] Landing point confirmation: same as above, after the last checkpoint is checked, then select the nearest point, after the point is passed, according to the end point to select the corresponding landing point. This example of the starting point (51.82, -178.6, 6), the end point (51.82, -185.25, 6) landing point (63.7, -185.25, 3).

[0149] Detailed path confirmation: according to the above steps, the detailed path is:

[0150] Step 1: (63.70, -120.62, 3.00)

[0151] Step 2: (58.35, -120.62, 6.00)

[0152] Step 3: (51.82, -120.62, 6.00)

[0153] Step 4: (51.82, -178.60, 6.00)

[0154] Step 5: (58.35, -178.60, 6.00)

[0155] Step 6: (51.82, -178.60, 6.00)

[0156] Step 7: (51.82, -178.60, 6.00)

[0157] Step 8: (51.82, -185.25, 6.00)

[0158] Step 9: (61.82, -185.25, 6.00)

[0159] Step 10: (63.70, -185.25, 3.00)

[0160] Instruction generation: the rules are the same as above, and the generated content is as follows:

[0161] 63.7,-120.62,3.0,58.35,-120.62,3.0,0; 63.7,-120.62,3.0,58.35,-120.62,6.0,0; 58.35,-120.62,6.0,51.82,-120.62,6.0,90; 51.82,-120.62,6.0,51.82,-178.6,6.0,90; 51.82,-178.6,6.0,58.35,-178.6,6.0,0; 58.35,-178.6,6.0,51.82,-178.6,6.0,0; 51.82,-178.6,6.0,51.82,-178.6,6.0,0; 51.82,-178.6,6.0,51.82,-185.25,6.0,90; 51.82,-185.25,6.0,61.82,-185.25,6.0,0; 61.82,-185.25,6.0,63.7,-185.25,6.0,0; 61.82,-185.25,6.0,63.7,-185.25,3.0,0.

[0162] Finally, position correction.

[0163] Before the flight of the unmanned aerial vehicle, the flight speed, height and other requirements are set. During the actual flight of the unmanned aerial vehicle, due to the slight difference of mechanical parts of the unmanned aerial vehicle itself and the instability of wind speed and direction during the flight, slight deviation of the actual flight path from the planned path is caused, so that flight space position correction is needed. A safe position correction method is adopted, that is, a plurality of three-dimensional hovering points are set in path planning, hovering point positioning and correction are achieved, after the correction is completed, the next path flight is executed, so as to reduce the cumulative error.

[0164] In addition, the flight speed (2 meters / 1 second) of the unmanned aerial vehicle has been set, and the data refresh frequency is set to 5hZ during the flight, so that the flight distance of the unmanned aerial vehicle in 1 second (or 1hZ, that is, 0.4 meters are flown in 0.2 seconds) can be calculated as 2 meters, that is, the coordinate data change value, when the data change value exceeds 50%, the system defaults to invalid data for filtering, and does not participate in guiding flight and position correction.

[0165] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present application and are not limiting. Although the present application has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solutions of the present application can be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present application, which should be covered in the scope of the claims of the present application.

Claims

1. A method for autonomous flight path control of low-altitude unmanned aerial vehicles in a substation, characterized in that, include: The real-time spatial coordinate system constructed by at least three substation positioning devices is obtained, and the real-time spatial coordinate system is fused with the pre-established substation three-dimensional coordinate system to obtain the flight coordinate data of the UAV. Based on the flight coordinate data, UAV flight nodes are generated, and the connection relationships between the flight nodes are determined according to preset path planning rules. During the flight of the UAV according to the flight node, the UAV position data is collected at a preset frequency. When the UAV reaches the preset flight node, spatial position measurement and correction are performed, and abnormal data is filtered according to preset rules. Based on the flight coordinate data, UAV flight nodes are generated, and the connection relationships between the flight nodes are determined according to preset path planning rules, including the following steps: Based on the flight coordinate data, node information is selected in the three-dimensional model of the substation and the node information is stored in the database; the nodes include takeoff point, inspection point, transit point and landing point; According to the preset path planning rules, the connection relationship between flight nodes is determined to form the initial flight path of the UAV; if multiple devices are on the same y-axis, the devices on the same y-axis are inspected first, and then other devices are inspected in sequence according to the distance on the x-axis, and an intermediate point is generated between every two nodes for adjustment and correction. If there are obstacles or non-flyable areas in the initial flight path, the detour path is recalculated based on the three-dimensional model of the substation, by adding new detour nodes or adjusting the positions of existing nodes. During the flight of the UAV according to the flight nodes, the UAV's position data is collected at a preset frequency. When the UAV reaches the preset flight nodes, spatial position measurement and correction are performed, and abnormal data is filtered according to preset rules, including the following steps: During the flight of the UAV according to the flight nodes, the position data of the UAV is collected at a preset frequency and transmitted to the ground control station in real time. When the drone reaches the preset flight node, it measures its spatial position using micro-radar and other sensors, and corrects its position based on the measurement results. If the measurement results deviate from the preset flight node coordinates, the position correction program is activated to ensure that the drone accurately reaches the preset position by adjusting its attitude and speed. Filter out abnormal data according to preset rules.

2. The method of claim 1, wherein the method further comprises: The calculation process for the flight coordinate data includes the following steps: At least three positioning devices should be installed in the substation as signal sources; The spatial location data of the UAV is obtained through real-time communication between the positioning device and the sensors carried by the UAV. The spatial location data is fused with the pre-established three-dimensional coordinate system of the substation to obtain the flight coordinate data of the UAV.

3. The method of claim 2, wherein the method further comprises: The spatial location data is fused with a pre-established three-dimensional coordinate system of the substation, including the following steps: Based on the real-time communication data between the sensors carried by the UAV and multiple micro-radars in the substation, the three-dimensional coordinates of the UAV in the micro-radar coordinate system are calculated. The three-dimensional coordinates in the micro-radar coordinate system are converted into coordinates in the substation point cloud three-dimensional coordinate system, and the flight coordinates of the unmanned aerial vehicle in the substation point cloud three-dimensional coordinate system are obtained by performing coordinate transformation based on the known positions of the micro-radar coordinate system circle points in the substation point cloud three-dimensional coordinate system and the micro-radar coordinate system coordinate values of the target device. If the flight coordinates of the unmanned aerial vehicle in the substation point cloud three-dimensional coordinate system deviate from the coordinates on the preset planning path, a position correction program is started to perform positioning measurement and correction through the hovering points set in the path planning; if the deviation exceeds a preset threshold, the unmanned aerial vehicle is adjusted to the nearest hovering point and the flight coordinates are recalculated until the deviation is within the allowable range, and the next path flight is continued.

4. The method of claim 3, wherein the method further comprises: The flight node includes position coordinate information and action control information.

5. The method of claim 4, wherein the method further comprises: The preset rule is that if the data change value exceeds 50%, the data is considered invalid and is removed; at the same time, if the data change value exceeds the threshold value for multiple times, an emergency shutdown program is triggered to ensure the safety of the unmanned aerial vehicle.

6. A system for controlling the autonomous flight path of a low-altitude unmanned aerial vehicle in a substation, based on the method for controlling the autonomous flight path of a low-altitude unmanned aerial vehicle in a substation according to any one of claims 1-5, characterized in that: The method comprises the steps of: The acquisition module is configured to acquire a real-time spatial coordinate system constructed by at least three substation positioning devices, and perform fusion operation on the real-time spatial coordinate system and a pre-established substation three-dimensional coordinate system to obtain flight coordinate data of the unmanned aerial vehicle. The generation module is configured to generate flight nodes of the unmanned aerial vehicle based on the flight coordinate data, and determine a connection relationship between the flight nodes according to a preset path planning rule. The correction module is configured to collect position data of the unmanned aerial vehicle at a preset frequency during flight of the unmanned aerial vehicle according to the flight nodes, perform spatial position measurement and correction when the unmanned aerial vehicle reaches a preset flight node, and filter abnormal data according to a preset rule. 7.A computer device, comprising a memory and a processor, wherein the memory stores a computer program, and the computer device is configured to perform the method according to any one of claims 1-6 when the computer program is executed by the processor. The processor executes the computer program to realize the steps of the method for controlling the autonomous flight path of the low-altitude unmanned aerial vehicle in the substation according to any one of claims 1 to 5.

8. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to realize the steps of the method for controlling the autonomous flight path of the low-altitude unmanned aerial vehicle in the substation according to any one of claims 1 to 5.

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