Outdoor substation unmanned aerial vehicle safety inspection distance calculation method

Abstract

The invention relates to the technical field of intelligent inspection, and discloses an outdoor substation unmanned aerial vehicle safety inspection distance calculation method, which comprises the following steps: scanning an outdoor substation by adopting three-dimensional laser scanning equipment, and constructing a three-dimensional model of the outdoor substation after processing; analyzing an electromagnetic field generated by the operation of the high-voltage live equipment in the outdoor substation, obtaining the distribution condition of the electromagnetic field of the outdoor substation, and determining the safety limit values of the electric field and the magnetic field; calculating an alarm distance of the unmanned aerial vehicle based on the safety limit values of the electric field and the magnetic field and the comprehensive influence factors; and based on the positioning precision of the unmanned aerial vehicle and the influence of environmental factors, calculating the safety inspection early warning distance of the unmanned aerial vehicle. According to the invention, the safety of unmanned aerial vehicle inspection can be improved, and a scientific basis is provided for the large-scale application of the unmanned aerial vehicle in outdoor transformer substation inspection.

Description

Technical Field

[0001] The present application relates to the field of intelligent inspection technology, and specifically to a method for calculating the safe inspection distance of an outdoor substation drone. Background Art

[0002] An outdoor substation is a substation where the main transformer and main electrical equipment are arranged in the open air. It is a place for voltage conversion and electrical energy distribution in the power system. Outdoor substations are suitable for power systems with voltage levels of 35kV and above. They have the characteristics of wide geographical distribution and a large number of electrical equipment. They are one of the main ways of substation design in my country. In order to ensure the reliability of outdoor substation equipment operation, power supply companies use fixed-point cameras to conduct periodic inspections of outdoor substations. However, due to the location of the camera, some outdoor substation electrical equipment has image monitoring blind spots, resulting in incomplete inspection content of electrical equipment. In addition, for outdoor substations with voltage levels of 110kV and above, the number of cameras is usually in the hundreds. The high cost of purchasing and maintaining cameras restricts the development of intelligent image inspections of outdoor substations.

[0003] In recent years, with the rapid development of unmanned aerial vehicle (UAV) technology, it has been widely used in the power field due to its autonomous flight, flexibility, and ability to carry a variety of monitoring equipment. However, there are many electrical equipment in outdoor substations, and there are strong electromagnetic fields between live equipment such as main transformers, high-voltage circuit breakers, and disconnectors. If the UAV is close to live equipment such as main transformers and high-voltage circuit breakers during inspection flight, it will cause damage to the internal components of the UAV, leading to safety accidents. Therefore, exploring the safe inspection distance of UAVs under electromagnetic interference is of positive significance for improving the intelligent inspection of outdoor substations.

[0004] Many scholars at home and abroad have done a lot of research on the UAV safety inspection distance under electromagnetic interference. Li Ning et al. proposed a calculation method for the UAV safety inspection distance based on the electromagnetic effect and mechanical force of the transmission line. By analyzing the quaternion of UAV kinematics and the electric and magnetic field effects of the transmission line, the UAV transmission line safety inspection distance was determined. Zeng Neng et al. proposed a calculation method for the UAV safety inspection distance based on corona calculation. The UAV transmission line safety inspection distance was determined by calculating the radiation coupling of gaps such as the UAV heat dissipation window and the conduction coupling of the UAV airborne antenna. Dang Shixuan et al. proposed a UAV electromagnetic compatibility analysis method for 110kV transmission lines. By calculating the electromagnetic coupling between the UAV internal structure and the 110kV transmission line, the UAV transmission line safety inspection distance was calculated. Liu Shushan et al. proposed a UAV anti-interference path analysis method for 500kV transmission towers. The UAV transmission line safety inspection distance was calculated by simulated annealing-hybrid genetic algorithm. It can be seen that the calculation of UAV safety inspection distance at home and abroad is mainly aimed at transmission lines, while there are relatively few studies on the calculation of UAV safety inspection distance for outdoor substations, and there is a lack of calculation methods for the safety distance between UAV and various electrical equipment in outdoor substations.

[0005] Therefore, exploring the safe inspection distance of UAVs under electromagnetic interference has positive significance for improving the intelligent inspection of outdoor substations. Summary of the invention

[0006] The purpose of this application is to provide a method for calculating the distance of drone safety inspections in outdoor substations, and to study the electromagnetic interference between drones and main transformers and conductors in combination with the characteristics of various electrical equipment in outdoor substations. By analyzing the electromagnetic field of drones during safety inspections of various electrical equipment, the distance of drone safety inspections can be determined, thereby improving the safety of drone inspections and providing a scientific basis for the large-scale application of drones in outdoor substation inspections.

[0007] To achieve the above purpose, the present application discloses the following technical solution: a method for calculating the safety inspection distance of an outdoor substation drone, the method comprising the following steps: Use 3D laser scanning equipment to scan the outdoor substation and obtain the original data of the building and electrical equipment of the outdoor substation; The raw data is processed by a filtering algorithm combining data space characteristics and feature similarity to obtain laser three-dimensional point cloud data; Constructing a three-dimensional model of an outdoor substation based on the laser three-dimensional point cloud data; Analyze the electromagnetic field generated by the operation of high-voltage live equipment in the outdoor substation to obtain the distribution of the electromagnetic field in the outdoor substation. When conducting the electric field analysis, the electromagnetic induction and polarization effects of the equipment itself and each other are considered. When conducting the magnetic field analysis, the electrical parameters and spatial layout of the equipment and conductors are combined for calculation; Determine the safety limit values ​​of electric and magnetic fields based on the electrical discharge characteristics between the drone and the live equipment in the outdoor substation and the magnetic field tolerance of the drone; Obtain comprehensive influencing factors based on the electrical fluctuation factors of live equipment in outdoor substations and the impact of environmental factors on the safe inspection distance of drones; Calculate the warning distance of the drone based on the safety limit values ​​of the electric field and the magnetic field and comprehensive influencing factors; Based on the positioning accuracy of the UAV and the influence of environmental factors, the safety inspection warning distance of the UAV is calculated.

[0008] Preferably, the three-dimensional laser scanning device includes a laser transmitting and receiving component, an image acquisition unit and a scanning platform with adjustable scanning angle, wherein the laser transmitting and receiving component uses high-frequency pulse laser technology to calculate the distance to the building and electrical equipment of the outdoor substation through the time difference between the laser transmission and reception. , the calculation formula is: ,in, is the speed of laser propagation in air, The time difference between the 3D laser scanning device transmitting the outdoor substation scanning laser beam and receiving the reflected laser beam; The scanning platform controls the laser beam emitted by the laser emitting and receiving components to scan the outdoor substation at different angles to obtain the laser three-dimensional point cloud data of the building and electrical equipment of the outdoor substation. ,in, , and The horizontal, vertical and depth coordinates of the buildings and electrical equipment of the outdoor substation scanned by the three-dimensional laser scanning device are respectively is the horizontal scanning angle of the three-dimensional laser scanning device, is the vertical scanning angle of the three-dimensional laser scanning device.

[0009] Preferably, the filtering algorithm adopts an adaptive weight adjustment strategy to dynamically adjust the spatial variance according to the local curvature and noise distribution of the laser 3D point cloud data of the building and electrical equipment of the outdoor substation. and pixel variance parameter , and obtain the filtered laser 3D point cloud data.

[0010] Preferably, in the electric field analysis, the electrical equipment of the outdoor substation is defined as discrete units with geometric shapes and electrical properties, and the electric field distribution is solved by establishing a mathematical model based on the basic principles of electromagnetism and the actual boundary conditions of the outdoor substation, and the electric field analysis results are obtained through a multi-physical field coupling analysis method.

[0011] Preferably, in the magnetic field analysis, the magnetic field is calculated based on the conductor current and spatial position relationship, and the magnetic fields generated by different equipment and conductors in the outdoor substation are vector-superimposed to obtain the magnetic field distribution result of the outdoor substation airspace.

[0012] Preferably, the determination of the electric field safety limit value comprises the following steps: Based on the simulated discharge model of conductors and towers, the drone is used as a tower component and the live equipment of the outdoor substation is used as a suspended conductor component; The typical breakdown voltage of the rod-plate gap is taken as the electric field safety limit value for UAV flight.

[0013] Preferably, the determination of the magnetic field safety limit value comprises the following steps: The magnetic field safety limit value is determined according to the magnetic field induction intensity threshold of the fuselage of different models of drones. The magnetic field safety limit value is obtained by the following formula:

[0014] in, To find the maximum value of the magnetic field induction intensity of the drone body, It is the magnetic field induction intensity sequence of the drone body.

[0015] Preferably, the electrical fluctuation factors include the influence of electromagnetic field strength caused by voltage and current fluctuations of energized equipment in outdoor substations, and the environmental factors include the influence of changes in temperature, humidity, wind speed and wind direction on breakdown voltage.

[0016] Preferably, the calculation of the alarm distance is determined according to the maximum outdoor substation electric field safety limit value and magnetic field safety limit value, and is calculated by the following formula:

[0017] in, To determine the safe flight distance of drones based on the electric field, To limit the safe flight distance of drones based on magnetic fields, For electrical fluctuations The impact factor, Environmental factors The impact factor, To find the maximum safe flight limit distance of a drone determined by the electric or magnetic field.

[0018] Preferably, the safety inspection warning distance is calculated based on the positioning error, wind speed, wind direction and temperature of the drone, and is calculated by the following formula:

[0019] in, In order to consider the influencing factors of the UAV positioning error, wind speed, wind direction and temperature, It is the safety threshold outside the warning distance.

[0020] Compared with the prior art, the outdoor substation drone safety inspection distance calculation method of this application has the following beneficial effects: 1. Improve inspection safety: By accurately calculating the safe inspection distance between drones and live equipment in outdoor substations, drones can be effectively prevented from being interfered with by electromagnetic fields due to being close to live equipment, thus preventing damage to internal components and greatly reducing the probability of safety accidents. This ensures that inspection operations are carried out safely and stably, and builds a solid safety line for the application of drones in outdoor substation inspections.

[0021] 2. Enhance inspection accuracy and completeness: Use 3D laser scanning equipment to build a 3D model of the outdoor substation, which is highly visual, accurate and can reflect detailed information about the equipment. UAV inspections can accurately locate equipment based on this model to avoid missing blind spots, overcome the defects of traditional fixed-point camera inspections, and significantly improve the integrity and accuracy of inspection content, ensuring that the operating status of outdoor substation equipment is fully and reliably monitored.

[0022] 3. Optimize resource allocation: Compared with the traditional method of relying on a large number of cameras for outdoor substation inspections, the present invention uses drones combined with a safe inspection distance calculation method to reduce the high cost of purchasing and maintaining camera equipment, reasonably optimize the power company's resource investment in inspections, improve resource utilization efficiency, and reduce operating costs.

[0023] 4. Filling the technical gap: There is currently a lack of research on distance calculation for safe inspections of drones in outdoor substations. This invention focuses on this and provides key technical support for this field, which will effectively promote the development of intelligent inspection technology for outdoor substations, expand the depth and breadth of application of drones in the field of power inspections, and play an important role in promoting technological progress in the entire industry. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without paying any creative work.

[0025] Figure 1 A schematic diagram of the flow chart of the method for calculating the safety inspection distance of an outdoor substation drone provided in this embodiment; Figure 2 A schematic diagram of an exemplary cubic unit provided for this embodiment. DETAILED DESCRIPTION

[0026] The technical solutions in the embodiments of the present application are described clearly and completely below. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present application.

[0027] In this article, the term "comprising" is intended to cover non-exclusive inclusion, so that a process, method, article or device that includes a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of more restrictions, the elements defined by the sentence "comprising..." do not exclude the presence of other identical elements in the process, method, article or device that includes the elements.

[0028] In recent years, with the rapid development of unmanned aerial vehicle (UAV) technology, it has been widely used in the power field due to its autonomous flight, flexibility, and ability to carry a variety of monitoring equipment. However, there are many electrical equipment in outdoor substations (OS), and there are strong electromagnetic fields between live equipment such as main transformers, high-voltage circuit breakers, and disconnectors. If the UAV is close to live equipment such as main transformers and high-voltage circuit breakers during inspection, it will cause damage to the internal components of the UAV, leading to safety accidents. Therefore, exploring the safe inspection distance of UAVs under electromagnetic interference is of positive significance for improving OS intelligent inspection.

[0029] In this regard, this embodiment provides a method for calculating the safety inspection distance of an outdoor substation drone. Figure 1 As shown, the method comprises the following steps: S1, OS 3D modeling Use 3D laser scanning equipment to scan the outdoor substation and obtain the original data of the building and electrical equipment of the outdoor substation; The original data is processed by a filtering algorithm that combines data spatial characteristics and feature similarity to obtain laser 3D point cloud data; Construct a 3D model of an outdoor substation based on laser 3D point cloud data; S2, OS electromagnetic field analysis Analyze the electromagnetic field generated by the operation of high-voltage live equipment in the outdoor substation to obtain the distribution of the electromagnetic field in the outdoor substation. When conducting the electric field analysis, the electromagnetic induction and polarization effects of the equipment itself and each other are considered. When conducting the magnetic field analysis, the electrical parameters and spatial layout of the equipment and conductors are combined for calculation; S3. UAV safety distance calculation Determine the safety limit values ​​of electric and magnetic fields based on the electrical discharge characteristics between the drone and the live equipment in the outdoor substation and the magnetic field tolerance of the drone; Obtain comprehensive influencing factors based on the electrical fluctuation factors of live equipment in outdoor substations and the impact of environmental factors on the safe inspection distance of drones; Calculate the warning distance of the drone based on the safety limit values ​​of the electric and magnetic fields and comprehensive influencing factors; Based on the positioning accuracy of the UAV and the influence of environmental factors, the safety inspection warning distance of the UAV is calculated.

[0030] In the three-dimensional modeling of OS, specifically, the main transformer, gantry, disconnector, lightning arrester, combination electrical appliances, and intricate cables are distributed inside the OS, which brings great challenges to UAV video inspection. With the gradual development of information technology, three-dimensional models have been widely used with the characteristics of high visualization, accuracy, interactivity and simulation capabilities. The three-dimensional model can provide the characteristics and detailed information of various equipment and facilities in the OS, thereby improving the efficiency of UAV inspection of the OS and reducing misoperation. Therefore, before calculating the UAV safety inspection distance, a three-dimensional model of the OS is first built to achieve accurate calculation of the OS electromagnetic field, thereby improving the accuracy of the UAV safety inspection distance calculation. In this embodiment, the three-dimensional laser scanning device includes a laser transmitting and receiving component, an image acquisition unit and a scanning platform with an adjustable scanning angle. The laser transmitting and receiving component is used to scan the surface information of the building and electrical equipment of the outdoor substation, and receive the spatial position information of the surface of the building and electrical equipment of the outdoor substation; the image acquisition unit is used to collect the color information of the outdoor substation; the scanning platform is used to control the laser beam emitted by the laser transmitting component to scan the outdoor substation at different angles to obtain all-round data of the building and electrical equipment of the outdoor substation. The original data includes surface information, spatial position information, color information and all-round data, and the laser three-dimensional point cloud data is obtained through the all-round data.

[0031] The laser transmitting and receiving components use high-frequency pulse laser technology to calculate the distance to the outdoor substation buildings and electrical equipment through the time difference between the laser transmission and reception. , the calculation formula is: ,in, is the speed of laser propagation in air, It is the time difference between the 3D laser scanning equipment transmitting the outdoor substation scanning laser beam and receiving the reflected laser beam.

[0032] Furthermore, the scanning platform controls the laser beams emitted by the laser transmitting and receiving components to scan the outdoor substation at different angles to obtain the laser three-dimensional point cloud data of the building and electrical equipment of the outdoor substation. ,in, , and The three-dimensional laser scanning equipment scans the horizontal, vertical and depth coordinates of the buildings and electrical equipment of the outdoor substation. is the horizontal scanning angle of the 3D laser scanning device, is the vertical scanning angle of the 3D laser scanning device.

[0033] In the process of collecting OS point cloud data, the three-dimensional laser scanner is easily affected by factors such as the environment, transmission channels, and external interference, resulting in a large amount of noise in the scanning of OS buildings and electrical equipment. This noise will affect the accuracy of OS three-dimensional modeling. Therefore, it is necessary to denoise the OS point cloud data to eliminate the impact of noise on the OS three-dimensional model. Bilateral filtering (BF) is a nonlinear image filtering algorithm. BF adds weights related to the brightness of the laser point cloud, retaining its boundaries and details while filtering the noise of the laser point cloud data bilaterally. The BF algorithm combines the advantages of spatial proximity and pixel value similarity of laser point cloud data, and has the characteristics of simplicity, non-iteration, and locality. Therefore, BF is used to filter OS laser point cloud noise data. That is, in this embodiment, the filtering algorithm adopts an adaptive weight adjustment strategy to dynamically adjust the spatial variance according to the local curvature and noise distribution of the laser three-dimensional point cloud data of the building and electrical equipment of the outdoor substation. and pixel variance parameter , and obtain the filtered laser 3D point cloud data.

[0034] For OS laser point cloud data points , select the appropriate window and calculate the pixels within the window Spatial difference between the OS laser point cloud data points , spatial difference The calculation formula is Then, calculate the weight of BF , weight The calculation formula is , where is an exponential function. The value after BF filtering for , where is the number of pixel values ​​in the BF algorithm window; is the pixel point in the i-th calculation window; is the calculation weight of the i-th pixel; is the average weight of all pixels in the BF algorithm window. The preprocessed OS point cloud data includes a variety of buildings and electrical equipment. To quickly build an OS 3D model, we first extract individual buildings and electrical equipment from the OS and set them as independent point cloud data for modeling. Secondly, we quickly match the OS building and electrical equipment laser point cloud data with real location information to form an OS 3D model.

[0035] In the OS electromagnetic field analysis, according to Faraday's law of electromagnetic induction, there is a potential difference and transmission current between the high-voltage live equipment inside the OS and the ground. Therefore, there are electric fields and magnetic fields of varying strengths in the space near the high-voltage live equipment in the OS. The electromagnetic field analysis inside the OS is mainly to ensure the flight safety of the UAV. Therefore, it is necessary to consider the electromagnetic field strength near the UAV inspection flight position. In terms of the OS electric field, it is composed of the electric field generated by the operation of high-voltage equipment and the superposition and distortion of the electric fields between the various devices. The electric field generated by the operation of high-voltage equipment refers to the electric field generated by the main transformer, high-voltage circuit breaker, disconnector, voltage (current) transformer, high-voltage reactor, high-voltage capacitor, busbar and other components of the OS during operation. The electric field superposition distortion between devices refers to the fact that the OS conductor will form induced charges on its surface under the action of the electric field generated by other devices. Such coupled induced charges will be superimposed on the previous electric field to form OS electromagnetic distortion. In addition, the OS conductor will be polarized under the action of the electric field, and the polarized charge of the conductor will also generate a new electric field to affect the electric field formed by each charged device in the OS. It can be seen that the electric field superposition distortion between OS devices is composed of the device's own electric field, the induced electric field between devices, and the electric field formed by the polarized charge. The finite element method (FEM) is a method for approximating the boundary value of partial differential equations. This method decomposes the entire area, and each area is a finite element. In independent finite elements, the equations of small areas are combined using the variational method to estimate the equations of larger areas. FEM uses discrete nodes and finite elements to approximate the problems involved. In the OS three-dimensional electric field calculation, the OS electrical equipment is set as discrete line elements and nodes. Under the OS boundary conditions, the linear OS equations are established according to the electric field calculation principles, and the overall OS linear equations are solved to obtain the approximate value of the OS electric field distribution.

[0036] Therefore, in this embodiment, in the electric field analysis, the electrical equipment of the outdoor substation is defined as a discrete unit with geometric shape and electrical properties, and the electric field distribution is solved by establishing a mathematical model. The mathematical model is based on the basic principles of electromagnetics and the actual boundary conditions of the outdoor substation, and the electric field analysis results are obtained through a multi-physics field coupling analysis method. When using FEM to calculate the OS electric field, the common unit is the cubic unit. Therefore, the OS electrical equipment is regarded as a legislative body for calculation, combined with Figure 2 As shown, based on the coordinate information of the cube, the unit potential is calculated , , where is the number of vertices of the OS electrical equipment cube; is the potential value of the single OS electrical device at the kth vertex; is the coupling induced potential value of the kth vertex; is the potential value formed by the polarization charge at the kth vertex.

[0037] The magnetic field is formed by three-phase electricity. In the OS, various electrical equipment are crisscrossed. Therefore, the magnetic field of the OS airspace point is a three-dimensional field. The magnitude of the magnetic field at the OS airspace point is related to the distance between the OS equipment and the wire to the ground, and the magnitude of the current passing through the equipment and wire. The OS is a limited space, and the spatial magnetic field method of fixed-length wires can be used for calculation, and the OS calculation results are superimposed according to the vector phase to form the magnetic field distribution of the OS airspace. , , where is the current passing through the OS electrical equipment; is the magnetic permeability of OS electrical equipment; The depth axis of OS space for OS electrical equipment; , They are the angles of the start and end sections of fixed-length conductors of OS electrical equipment, respectively; It is the electric field value of OS electrical equipment.

[0038] In the calculation of UAV safety distance, when inspecting OS, UAV will navigate between various live equipment according to the preset path, hover at the inspection point, and take pictures of the appearance or infrared image of the inspected OS equipment object. In order to avoid safety hazards of UAV in the OS inspection path, a certain distance must be maintained between UAV and OS live equipment. This distance is divided into warning distance and early warning distance. The warning distance refers to the minimum distance between UAV and OS live equipment. When the distance is less than this, UAV will be damaged or even crash. The early warning distance refers to a safe distance with a margin that takes into account factors such as UAV positioning error, wind speed, wind direction, temperature, etc.

[0039] When the UAV inspects OS live equipment, when the voltage gradient between the UAV and the grounding electrode is lower than the threshold, the UAV will discharge between the OS live equipment or the grounding body. When the UAV inspects, a gap between the suspended body and the live body is formed with the OS live equipment. The induced discharge in the gap is a key factor affecting the safe flight of the UAV. Therefore, the typical breakdown voltage of the rod-plate gap is selected as the electric field safety limit value for UAV flight. The rod-plate gap is a simulated discharge model between the conductor and the tower. During the analysis process, the UAV is used as a tower component and the OS live equipment is used as a suspended conductor component. The breakdown voltage of the rod electrode is the highest, and the breakdown voltage of the plate ground electrode is the lowest. In terms of magnetic field limitation, it is determined according to the body magnetic field induction intensity threshold of different models of UAVs, usually between 200-2000μT. In this embodiment, the maximum body magnetic field induction intensity threshold of the UAV is used as the UAV magnetic field safety limit value. , , where To find the maximum value of the magnetic field induction intensity of the drone body, It is the magnetic field induction intensity sequence of the drone body.

[0040] The factors that affect the UAV safety inspection distance are divided into two categories: electrical fluctuation factors and environmental factors. Among them, electrical fluctuation factors are the influence of the electromagnetic field strength caused by the voltage and current fluctuations of OS live equipment; environmental factors are the influence of temperature, humidity, wind speed, and wind direction changes on the breakdown voltage. Determine the UAV warning distance based on the maximum OS electric field and magnetic field limit values , , where To determine the safe flight distance of drones based on the electric field, To limit the safe flight distance of drones based on magnetic fields, For electrical fluctuations The impact factor, Environmental factors The impact factor, To find the maximum safe flight limit distance of UAV determined by electric or magnetic field. Considering factors such as UAV positioning error, wind speed, wind direction, temperature, etc., and calculating the UAV safety inspection warning distance with safety margin , where In order to consider the influencing factors of the UAV positioning error, wind speed, wind direction and temperature, It is the safety threshold outside the warning distance.

[0041] Finally, it should be noted that the above is only a preferred embodiment of the present application and is not intended to limit the present application. Although the present application has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A method for calculating the safety inspection distance of an outdoor substation drone, characterized in that: The method comprises the following steps: Use 3D laser scanning equipment to scan the outdoor substation and obtain the original data of the building and electrical equipment of the outdoor substation; The raw data is processed by a filtering algorithm combining data space characteristics and feature similarity to obtain laser three-dimensional point cloud data; Constructing a three-dimensional model of an outdoor substation based on the laser three-dimensional point cloud data; Analyze the electromagnetic field generated by the operation of high-voltage live equipment in the outdoor substation to obtain the distribution of the electromagnetic field in the outdoor substation. When conducting the electric field analysis, the electromagnetic induction and polarization effects of the equipment itself and each other are considered. When conducting the magnetic field analysis, the electrical parameters and spatial layout of the equipment and conductors are combined for calculation; Determine the safety limit values ​​of electric and magnetic fields based on the electrical discharge characteristics between the drone and the live equipment in the outdoor substation and the magnetic field tolerance of the drone; Obtain comprehensive influencing factors based on the electrical fluctuation factors of live equipment in outdoor substations and the impact of environmental factors on the safe inspection distance of drones; Calculate the warning distance of the drone based on the safety limit values ​​of the electric field and the magnetic field and comprehensive influencing factors; Based on the positioning accuracy of the UAV and the influence of environmental factors, the safety inspection warning distance of the UAV is calculated.

2. The method for calculating the safety inspection distance of an outdoor substation drone according to claim 1 is characterized in that: The three-dimensional laser scanning device includes a laser transmitting and receiving component, an image acquisition unit and a scanning platform with adjustable scanning angle, wherein the laser transmitting and receiving component uses high-frequency pulse laser technology to calculate the distance to the building and electrical equipment of the outdoor substation through the time difference between the laser transmission and reception. , the calculation formula is: ,in, is the speed of laser light propagating in air, The time difference between the 3D laser scanning device transmitting the outdoor substation scanning laser beam and receiving the reflected laser beam; The scanning platform controls the laser beam emitted by the laser emitting and receiving components to scan the outdoor substation at different angles to obtain the laser three-dimensional point cloud data of the building and electrical equipment of the outdoor substation. ,in, , and The horizontal, vertical and depth coordinates of the buildings and electrical equipment of the outdoor substation scanned by the three-dimensional laser scanning device are respectively is the horizontal scanning angle of the three-dimensional laser scanning device, is the vertical scanning angle of the three-dimensional laser scanning device.

3. The method for calculating the safety inspection distance of an outdoor substation drone according to claim 2 is characterized in that: The filtering algorithm adopts an adaptive weight adjustment strategy to dynamically adjust the spatial variance according to the local curvature and noise distribution of the laser 3D point cloud data of the outdoor substation building and electrical equipment. and pixel variance parameter , and obtain the filtered laser 3D point cloud data.

4. The method for calculating the safety inspection distance of an outdoor substation drone according to claim 1 is characterized in that: In the electric field analysis, the electrical equipment of the outdoor substation is defined as discrete units with geometric shapes and electrical properties. The electric field distribution is solved by establishing a mathematical model based on the basic principles of electromagnetism and the actual boundary conditions of the outdoor substation. The electric field analysis results are obtained through a multi-physical field coupling analysis method.

5. The method for calculating the safety inspection distance of an outdoor substation drone according to claim 1 is characterized in that: In the magnetic field analysis, the magnetic field is calculated based on the relationship between the conductor current and the spatial position, and the magnetic fields generated by different equipment and conductors in the outdoor substation are vector-superimposed to obtain the magnetic field distribution results of the outdoor substation airspace.

6. The method for calculating the safety inspection distance of an outdoor substation drone according to claim 1 is characterized in that: The determination of the electric field safety limit value comprises the following steps: Based on the simulated discharge model of conductors and towers, the drone is used as a tower component and the live equipment of the outdoor substation is used as a suspended conductor component; The typical breakdown voltage of the rod-plate gap is taken as the electric field safety limit value for UAV flight.

7. The method for calculating the safety inspection distance of an outdoor substation drone according to claim 1 is characterized in that: The determination of the magnetic field safety limit value comprises the following steps: The magnetic field safety limit value is determined according to the magnetic field induction intensity threshold of the fuselage of different models of drones. The magnetic field safety limit value is obtained by the following formula: ； in, To find the maximum value of the magnetic field induction intensity of the drone body, It is the magnetic field induction intensity sequence of the drone body.

8. The method for calculating the safety inspection distance of an outdoor substation drone according to claim 1 is characterized in that: The electrical fluctuation factors include the influence of electromagnetic field strength caused by voltage and current fluctuations of live equipment in outdoor substations, and the environmental factors include the influence of temperature, humidity, wind speed and wind direction changes on breakdown voltage.

9. The method for calculating the safety inspection distance of an outdoor substation drone according to claim 8 is characterized in that: The calculation of the alarm distance is determined based on the maximum outdoor substation electric field safety limit value and magnetic field safety limit value, and is calculated by the following formula: ； in, To determine the safe flight distance of drones based on the electric field, To limit the safe flight distance of drones based on magnetic fields, For electrical fluctuations The impact factor, Environmental factors The impact factor, To find the maximum safe flight limit distance of a drone determined by the electric or magnetic field.

10. The method for calculating the safety inspection distance of an outdoor substation drone according to claim 9 is characterized in that: The safety inspection warning distance is calculated based on the positioning error, wind speed, wind direction and temperature of the drone, and is calculated using the following formula: ； in, In order to consider the influencing factors of the UAV positioning error, wind speed, wind direction and temperature, It is the safety threshold outside the warning distance.

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