Three-dimensional digital power grid intelligent patrol system and method

Abstract

The invention discloses a three-dimensional digital power grid intelligent patrol system which comprises an intelligent patrol system, a data processing module is arranged in the intelligent patrol system, a patrol configuration module is arranged in the intelligent patrol system, and a processing center module is arranged in the intelligent patrol system. A background operation module is arranged in the intelligent patrol system, and the intelligent patrol system is electrically connected with the Internet through a communication network port. Through the data collection module, data information of the power grid and the surrounding environment of the power grid can be completely collected, the data can be processed and fused to generate a three-dimensional digital map in cooperation with the data processing module, and planning configuration can be carried out on patrol equipment based on the three-dimensional digital map so as to better serve patrol work of the power grid; and meanwhile, through the background operation module, different inspection point positions can be generated according to the three-dimensional digital map, so that the planning of the inspection work can be better realized.

Description

Technical Field

[0001] The present invention relates to the technical field of power grid inspection, and more specifically, to a three-dimensional digital power grid intelligent inspection system and method. Background Art

[0002] The power grid refers to a power supply system consisting of transmission lines, substation equipment, and distribution equipment, which is used to transmit the electricity generated by power plants to users. The power grid usually consists of two parts: a high-voltage transmission network and a low-voltage distribution network; The high-voltage transmission network is mainly responsible for transmitting the electric energy generated by the power plant to various substations via transmission lines for transformation, increasing the voltage to a high-voltage level suitable for transmission, and then transmitting the electric energy to various users through transmission lines; The low-voltage distribution network is mainly responsible for further distributing the electric energy transmitted by the high-voltage transmission network, reducing the voltage to a low-voltage level suitable for users, and distributing the electric energy to various users through distribution equipment.

[0003] The construction and operation of power grids are of great significance for ensuring power supply quality, improving power supply reliability and meeting user needs. Modern power grids often use automated monitoring systems to monitor the operation of power grids in real time, quickly locate and repair faults, and improve the reliability and stability of power grids. During the operation of the power grid, the patrol system can be used to patrol and inspect the power grid.

[0004] At present, the power grid inspection system is usually used to inspect the power grid through monitoring or drones. During the inspection, no corresponding intelligent inspection system is established, and the inspection equipment is not well planned and configured. There may be repeated inspections and missed inspections between equipment, which will affect the inspection efficiency of the power grid. Therefore, it is necessary to design a three-dimensional digital power grid intelligent inspection system and method. Summary of the invention

[0005] In view of the problems existing in the prior art, the purpose of the present invention is to provide a three-dimensional digital power grid intelligent inspection system and method, which can collect power grid data and generate a three-dimensional digital map. The inspection work of each device can be configured and planned based on the three-dimensional digital map. The close cooperation between each device helps to improve the efficiency of power grid inspection.

[0006] To solve the above problems, the present invention adopts the following technical solutions: A three-dimensional digital power grid intelligent patrol system and method, including an intelligent patrol system, a data processing module is arranged inside the intelligent patrol system, a patrol configuration module is arranged inside the intelligent patrol system, a processing center module is arranged inside the intelligent patrol system, a background operation module is arranged inside the intelligent patrol system, the intelligent patrol system is electrically connected to the Internet through a communication network port, the intelligent patrol system is electrically connected to a cloud server through a communication network port, the intelligent patrol system is electrically connected to a data center through a communication network port, the intelligent patrol system is electrically connected to a data transmission module through the communication network port, and the data transmission module is electrically connected to a data collection module through the communication network port.

[0007] As a preferred solution of the present invention, the data processing module includes a preprocessing module, a data fusion module, a three-dimensional modeling module and a model verification module. The preprocessing module is used to preprocess the collected data. The data preprocessing is mainly for correction, registration, and coordinate conversion preprocessing of the original data. The data fusion module is used to fuse data from different data sources to form a complete data set. The three-dimensional modeling module is used to model by collecting data, that is, to model the fused data to generate a three-dimensional digitized map. The model verification module is used to verify the three-dimensional digitized map generated after modeling to verify whether there is a deviation between the three-dimensional digitized map and the actual situation. It mainly needs to perform anomaly detection, topological error checking and quality assessment to ensure that the generated three-dimensional digitized map has accuracy and integrity. The model verification module is electrically connected to the three-dimensional modeling module, the three-dimensional modeling module is electrically connected to the data fusion module, the data fusion module is electrically connected to the preprocessing module, the preprocessing module, the data fusion module, the three-dimensional modeling module and the model verification module are all electrically connected to the data processing module, and the data processing module is electrically connected to the intelligent patrol system.

[0008] As a preferred solution of the present invention, the patrol configuration module includes a drone module, a camera module, a robot module and a data monitoring module. The drone module is used to patrol and inspect the power grid in the form of a drone. The camera module is used to set a monitoring camera at a fixed point to patrol and inspect the power grid. The robot module is used to patrol and inspect the power grid and its surrounding environment in the form of a ground mobile robot, and by coordinating the drone and the camera, a comprehensive and blind-angle patrol and inspection of the power grid can be achieved. The data monitoring module is used to monitor various working data and flow during the operation of the power grid, and determine whether abnormal data is generated during the operation process. The data monitoring module is electrically connected to the robot module, the robot module is electrically connected to the camera module, and the camera module is electrically connected to the drone module. The drone module, camera module, robot module and data monitoring module are all electrically connected to the patrol configuration module, and the patrol configuration module is electrically connected to the intelligent patrol system.

[0009] As a preferred solution of the present invention, the processing center module includes a wireless transmission module, a data receiving module, an abnormal feedback module and a processing scheduling module. The wireless transmission module is used to transmit and connect the patrol and inspection equipment and data information in the form of a wireless network. The data receiving module is used to receive the monitoring data collected by the patrol and inspection equipment. The abnormal feedback module is used to feedback the abnormal information monitored during the patrol and inspection process to the processing center for processing. The processing scheduling module is used to handle abnormal problems and dispatch relevant personnel to handle and troubleshoot in a timely manner. The processing scheduling module is electrically connected to the abnormal feedback module, the abnormal feedback module is electrically connected to the data receiving module, the data receiving module is electrically connected to the wireless transmission module, the wireless transmission module, the data receiving module, the abnormal feedback module and the processing scheduling module are all electrically connected to the processing center module, and the processing center module is electrically connected to the intelligent patrol system.

[0010] As a preferred solution of the present invention, the background operation module includes a point generation module, a path planning module, an inspection plan module and a manual processing module. The point generation module is used to establish each required inspection position as each point through the generated three-dimensional digital map, so as to facilitate the subsequent planning of inspection tasks. The path planning module is used to reasonably plan the inspection paths of drones and robots, avoid repeated operations and help improve the inspection efficiency. The inspection plan module is used to plan and plan the required inspection tasks, and the inspection work can be automatically started after the set time point is reached. The manual processing module is used to feed back the uncertain abnormal factors generated during the inspection process to the operator port to handle the uncertain abnormal problems. The manual processing module is electrically connected to the inspection plan module, the inspection plan module is electrically connected to the path planning module, the path planning module is electrically connected to the point generation module, the point generation module, the path planning module, the inspection plan module and the manual processing module are all electrically connected to the background operation module, and the background operation module is electrically connected to the intelligent inspection system.

[0011] As a preferred solution of the present invention, the data collection module includes an aerial photography module, a satellite remote sensing module and a ground surveying and mapping module. The aerial photography module is used to photograph and collect information about the power grid and its surrounding environment by aerial photography. The satellite remote sensing module is used to collect information about the power grid and its surrounding environment by satellite remote sensing. The ground surveying and mapping module is used to survey the periphery of the power grid by ground surveying, including laser measurement data and topographic measurement data. The ground surveying and mapping module is electrically connected to the satellite remote sensing module, and the satellite remote sensing module is electrically connected to the aerial photography module. The aerial photography module, the satellite remote sensing module and the ground surveying and mapping module are all electrically connected to the data collection module, and the data collection module is electrically connected to the data transmission module.

[0012] A method for using a three-dimensional digital power grid intelligent patrol system comprises the following steps: Step 1: A starts the intelligent patrol system for networking of the system; Step 2: B starts the data collection module, which is used to collect data on the power grid and its surrounding environment; Step 3: C starts the data transmission module, which is used to transmit the collected data information; Step 4: D starts the data processing module, which is used to process and fuse the collected data information and generate a three-dimensional digital map; Step 5: E starts the patrol configuration module, which is used to configure and use the equipment required for power grid patrol and inspection; Step 6: F starts the processing center module, which is used to receive patrol inspection information, provide feedback on abnormal data information, and schedule the processing of abnormal behavior; Step 7: G starts the background operation module, which is used to plan and schedule the inspection work, and can handle the problems that the machine cannot handle normally through operators; Step 8: H starts the cloud server, which is used to back up data information and help local data processing; Step 9: I start the data center, which is used to store various data information of the system.

[0013] As a preferred solution of the present invention, the B includes B1 starting with an aerial photography module, B2 starting with a satellite remote sensing module, and B3 starting with a ground surveying and mapping module.

[0014] As a preferred solution of the present invention, the D includes a preprocessing module starting from D1, a data fusion module starting from D2, a three-dimensional modeling module starting from D3, and a model verification module starting from D4; the E includes a drone module starting from E1, a camera module starting from E2, a robot module starting from E3, and a data monitoring module starting from E4.

[0015] As a preferred solution of the present invention, the F includes a wireless transmission module starting from F1, a data receiving module starting from F2, an abnormal feedback module starting from F3, and a processing and scheduling module starting from F4; the G includes a point generation module starting from G1, a path planning module starting from G2, an inspection plan module starting from G3, and a manual processing module starting from G4.

[0016] Compared with the prior art, the advantages of the present invention are: through the data collection module, the data information of the power grid and its surrounding environment can be completely collected, and the data processing module can be used to generate a three-dimensional digital map through data processing fusion. Based on the three-dimensional digital map, the patrol equipment can be planned and configured to better serve the patrol work of the power grid. At the same time, through the background operation module, different patrol points can be generated according to the three-dimensional digital map to better realize the planning of the patrol work. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a principle block diagram of a three-dimensional digital power grid intelligent patrol system of the present invention; Figure 2 A work flow chart of a three-dimensional digital power grid intelligent patrol system of the present invention; Figure 3 A data collection module workflow diagram of a three-dimensional digital power grid intelligent patrol system of the present invention; Figure 4 A data processing module workflow diagram of a three-dimensional digital power grid intelligent patrol system of the present invention; Figure 5 A work flow chart of a patrol configuration module of a three-dimensional digital power grid intelligent patrol system of the present invention; Figure 6 A flowchart of a processing center module of a three-dimensional digital power grid intelligent patrol system of the present invention; Figure 7 The present invention is a flowchart of the background operation module of a three-dimensional digital power grid intelligent patrol system.

[0018] Description of the numbers in the figure: 1. Intelligent patrol system; 2. Data processing module; 3. Patrol configuration module; 4. Processing center module; 5. Background operation module; 6. Data collection module; 7. Data transmission module; 8. Cloud server; 9. Data center; 10. Internet; 21. Preprocessing module; 22. Data fusion module; 23. Three-dimensional modeling module; 24. Model verification module; 31. UAV module; 32. Camera module; 33. Robot module; 34. Data monitoring module; 41. Wireless transmission module; 42. Data receiving module; 43. Abnormal feedback module; 44. Processing and scheduling module; 51. Point generation module; 52. Path planning module; 53. Inspection plan module; 54. Manual processing module; 61. Aerial photography module; 62. Satellite remote sensing module; 63. Ground surveying and mapping module. DETAILED DESCRIPTION

[0019] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "top / bottom" indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, which are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0021] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "set / connected", and "connected" should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. Example

[0022] See also Figure 1-7 A three-dimensional digital power grid intelligent patrol system and method, including an intelligent patrol system 1, a data processing module 2 is arranged inside the intelligent patrol system 1, a patrol configuration module 3 is arranged inside the intelligent patrol system 1, a processing center module 4 is arranged inside the intelligent patrol system 1, a background operation module 5 is arranged inside the intelligent patrol system 1, the intelligent patrol system 1 is electrically connected to the Internet 10 through a communication network port, the intelligent patrol system 1 is electrically connected to a cloud server 8 through a communication network port, the intelligent patrol system 1 is electrically connected to a data center 9 through a communication network port, the intelligent patrol system 1 is electrically connected to a data transmission module 7 through a communication network port, and the data transmission module 7 is electrically connected to a data collection module 6 through the communication network port.

[0023] In this embodiment, the data processing module 2 includes a preprocessing module 21, a data fusion module 22, a three-dimensional modeling module 23 and a model verification module 24. The preprocessing module 21 is used to preprocess the collected data. The data preprocessing is mainly for correction, registration, and coordinate conversion preprocessing of the original data. The data fusion module 22 is used to fuse data from different data sources to form a complete data set. The three-dimensional modeling module 23 is used to model the collected data, which is to model the fused data and generate a three-dimensional digitized map. The model verification module 24 is used to verify the three-dimensional digitized map generated after modeling, and verify whether there is a deviation between the three-dimensional digitized map and the actual one. It mainly needs Anomaly detection, topology error checking and quality assessment are performed to ensure the accuracy and completeness of the generated three-dimensional digital map; the patrol configuration module 3 includes a drone module 31, a camera module 32, a robot module 33 and a data monitoring module 34, the drone module 31 is used to patrol the power grid in the form of a drone, the camera module 32 is used to set a monitoring camera at a fixed point to patrol the power grid, the robot module 33 is used to patrol the power grid and its surrounding environment in the form of a ground mobile robot, and by cooperating with the drone and the camera, a comprehensive patrol of the power grid without blind spots can be achieved, and the data monitoring module 34 is used to monitor various aspects of the power grid during operation. The working data and flow of the items are monitored to determine whether any abnormal data is generated during the operation process; the processing center module 4 includes a wireless transmission module 41, a data receiving module 42, an abnormal feedback module 43 and a processing scheduling module 44, the wireless transmission module 41 is used to transmit and connect the patrol and inspection equipment and data information in the form of a wireless network, the data receiving module 42 is used to receive the monitoring data collected by the patrol and inspection equipment, the abnormal feedback module 43 is used to feed back the abnormal information monitored during the patrol and inspection process to the processing center for processing, the processing scheduling module 44 is used to handle abnormal problems and dispatch relevant personnel to handle and troubleshoot in a timely manner; the background operation module 5 includes a point generation module 51, path planning module 52, inspection plan module 53 and manual processing module 54, the point generation module 51 is used to establish each required inspection position as each point through the generated three-dimensional digital map, so as to facilitate the subsequent planning of inspection tasks, the path planning module 52 is used to reasonably plan the inspection paths of drones and robots, avoid repeated operations and help improve the inspection efficiency, the inspection plan module 53 is used to plan the required inspection tasks, and automatically start the inspection work after reaching the set time point, and the manual processing module 54 is used to feed back the uncertain abnormal factors generated during the inspection process to the operator port to handle the uncertain abnormal problems;The data collection module 6 includes an aerial photography module 61, a satellite remote sensing module 62 and a ground mapping module 63. The aerial photography module 61 is used to capture and collect information about the power grid and its surrounding environment by aerial photography. The satellite remote sensing module 62 is used to collect information about the power grid and its surrounding environment by satellite remote sensing. The ground mapping module 63 is used to map the periphery of the power grid by ground mapping, including laser measurement data and topographic measurement data.

[0024] Specifically, the data processing module 2 includes a preprocessing module 21, a data fusion module 22, a three-dimensional modeling module 23 and a model verification module 24. The preprocessing module 21 is used to preprocess the collected data. The data preprocessing is mainly to correct, align and coordinate transform the original data. The data fusion module 22 is used to fuse the data from different data sources to form a complete data set. The three-dimensional modeling module 23 is used to model the collected data, that is, to model the fused data and generate a three-dimensional digital map. The model verification module 24 is used to verify the three-dimensional digital map generated after modeling. The map is verified to verify whether there is any deviation between the three-dimensional digitized map and the actual situation. It mainly needs to perform anomaly detection, topological error checking and quality assessment to ensure that the generated three-dimensional digitized map is accurate and complete. The model verification module 24 is electrically connected to the three-dimensional modeling module 23, the three-dimensional modeling module 23 is electrically connected to the data fusion module 22, the data fusion module 22 is electrically connected to the preprocessing module 21, the preprocessing module 21, the data fusion module 22, the three-dimensional modeling module 23 and the model verification module 24 are all electrically connected to the data processing module 2, and the data processing module 2 is electrically connected to the intelligent patrol system 1.

[0025] In this embodiment, the data processing module 2 includes a preprocessing module 21, a data fusion module 22, a three-dimensional modeling module 23 and a model verification module 24. The preprocessing module 21 is used to preprocess the collected data. The data preprocessing is mainly to perform correction, registration, and coordinate conversion preprocessing on the original data. The data fusion module 22 is used to fuse data from different data sources to form a complete data set. The three-dimensional modeling module 23 is used to model through the collected data, that is, to model the fused data and generate a three-dimensional digitized map. The model verification module 24 is used to verify the three-dimensional digitized map generated after modeling, and verify whether there is a deviation between the three-dimensional digitized map and the actual situation. It mainly requires anomaly detection, topological error checking and quality assessment to ensure that the generated three-dimensional digitized map is accurate and complete.

[0026] Specifically, the patrol configuration module 3 includes a drone module 31, a camera module 32, a robot module 33 and a data monitoring module 34. The drone module 31 is used to patrol and inspect the power grid in the form of a drone. The camera module 32 is used to set a monitoring camera at a fixed point to patrol and inspect the power grid. The robot module 33 is used to patrol and inspect the power grid and its surrounding environment in the form of a ground mobile robot, and by cooperating with the drone and the camera, a comprehensive patrol and inspection of the power grid without blind spots can be achieved. The data monitoring module 34 is used to monitor various working data and flow during the operation of the power grid, and determine whether abnormal data is generated during the operation process. The data monitoring module 34 is electrically connected to the robot module 33, the robot module 33 is electrically connected to the camera module 32, and the camera module 32 is electrically connected to the drone module 31. The drone module 31, the camera module 32, the robot module 33 and the data monitoring module 34 are all electrically connected to the patrol configuration module 3, and the patrol configuration module 3 is electrically connected to the intelligent patrol system 1.

[0027] In this embodiment, the patrol configuration module 3 includes a drone module 31, a camera module 32, a robot module 33 and a data monitoring module 34. The drone module 31 is used to patrol and inspect the power grid in the form of a drone. The camera module 32 is used to set up monitoring cameras at fixed points to patrol and inspect the power grid. The robot module 33 is used to patrol and inspect the power grid and its surrounding environment in the form of a ground mobile robot, and by coordinating drones and cameras, comprehensive and no-dead-angle patrol and inspection of the power grid can be achieved. The data monitoring module 34 is used to monitor various working data and flow during the operation of the power grid, and determine whether abnormal data is generated during the operation process.

[0028] Specifically, the processing center module 4 includes a wireless transmission module 41, a data receiving module 42, an abnormal feedback module 43 and a processing scheduling module 44. The wireless transmission module 41 is used to transmit and connect the patrol and inspection equipment and data information in the form of a wireless network. The data receiving module 42 is used to receive the monitoring data collected by the patrol and inspection equipment. The abnormal feedback module 43 is used to feed back the abnormal information monitored during the patrol and inspection process to the processing center for processing. The processing scheduling module 44 is used to handle abnormal problems and dispatch relevant personnel to handle and troubleshoot in a timely manner. The processing scheduling module 44 is electrically connected to the abnormal feedback module 43, the abnormal feedback module 43 is electrically connected to the data receiving module 42, and the data receiving module 42 is electrically connected to the wireless transmission module 41. The wireless transmission module 41, the data receiving module 42, the abnormal feedback module 43 and the processing scheduling module 44 are all electrically connected to the processing center module 4, and the processing center module 4 is electrically connected to the intelligent patrol system 1.

[0029] In this embodiment, the processing center module 4 includes a wireless transmission module 41, a data receiving module 42, an abnormal feedback module 43 and a processing scheduling module 44. The wireless transmission module 41 is used to transmit and connect the patrol and inspection equipment and data information in the form of a wireless network. The data receiving module 42 is used to receive the monitoring data collected by the patrol and inspection equipment. The abnormal feedback module 43 is used to feedback the abnormal information monitored during the patrol and inspection process to the processing center for processing. The processing scheduling module 44 is used to handle abnormal problems and dispatch relevant personnel to handle and troubleshoot in a timely manner.

[0030] Specifically, the background operation module 5 includes a point generation module 51, a path planning module 52, an inspection plan module 53 and a manual processing module 54. The point generation module 51 is used to establish each required inspection position as each point through the generated three-dimensional digital map, which is convenient for subsequent planning of inspection tasks. The path planning module 52 is used to reasonably plan the inspection paths of drones and robots, which is conducive to improving the inspection efficiency while avoiding repeated operations. The inspection plan module 53 is used to plan the required inspection tasks, and automatically open the inspection task after reaching the set time point. During patrol and inspection work, the manual processing module 54 is used to feed back the uncertain abnormal factors generated during the patrol and inspection process to the operator port for handling uncertain abnormal problems. The manual processing module 54 is electrically connected to the patrol and inspection plan module 53, the patrol and inspection plan module 53 is electrically connected to the path planning module 52, the path planning module 52 is electrically connected to the point generation module 51, the point generation module 51, the path planning module 52, the patrol and inspection plan module 53 and the manual processing module 54 are all electrically connected to the background operation module 5, and the background operation module 5 is electrically connected to the intelligent patrol system 1.

[0031] In this embodiment, the background operation module 5 includes a point generation module 51, a path planning module 52, an inspection plan module 53 and a manual processing module 54. The point generation module 51 is used to establish each location that needs to be inspected as each point through the generated three-dimensional digital map, so as to facilitate the subsequent planning of inspection tasks. The path planning module 52 is used to reasonably plan the inspection paths of drones and robots, so as to avoid duplication of operations and improve the inspection efficiency. The inspection plan module 53 is used to plan the required inspection tasks, and the inspection work can be automatically started after the set time point is reached. The manual processing module 54 is used to feedback the uncertain abnormal factors generated during the inspection process to the operator port to handle the uncertain abnormal problems.

[0032] Specifically, the data collection module 6 includes an aerial photography module 61, a satellite remote sensing module 62 and a ground surveying and mapping module 63. The aerial photography module 61 is used to photograph and collect information about the power grid and its surrounding environment through aerial photography. The satellite remote sensing module 62 is used to collect information about the power grid and its surrounding environment through satellite remote sensing. The ground surveying and mapping module 63 is used to survey the periphery of the power grid through ground surveying, including laser measurement data and topographic measurement data. The ground surveying and mapping module 63 is electrically connected to the satellite remote sensing module 62, and the satellite remote sensing module 62 is electrically connected to the aerial photography module 61. The aerial photography module 61, the satellite remote sensing module 62 and the ground surveying and mapping module 63 are all electrically connected to the data collection module 6, and the data collection module 6 is electrically connected to the data transmission module 7.

[0033] In this embodiment, the data collection module 6 includes an aerial photography module 61, a satellite remote sensing module 62 and a ground surveying and mapping module 63. The aerial photography module 61 is used to photograph and collect information about the power grid and its surrounding environment through aerial photography. The satellite remote sensing module 62 is used to collect information about the power grid and its surrounding environment through satellite remote sensing. The ground surveying and mapping module 63 is used to survey the periphery of the power grid through ground surveying, including laser measurement data and topographic measurement data.

[0034] A method for using a three-dimensional digital power grid intelligent patrol system comprises the following steps: Step 1: A starts the intelligent patrol system for networking of the system; Step 2: B starts the data collection module, which is used to collect data on the power grid and its surrounding environment; Step 3: C starts the data transmission module, which is used to transmit the collected data information; Step 4: D starts the data processing module, which is used to process and fuse the collected data information and generate a three-dimensional digital map; Step 5: E starts the patrol configuration module, which is used to configure and use the equipment required for power grid patrol and inspection; Step 6: F starts the processing center module, which is used to receive patrol inspection information, provide feedback on abnormal data information, and schedule the processing of abnormal behavior; Step 7: G starts the background operation module, which is used to plan and schedule the inspection work, and can handle the problems that the machine cannot handle normally through operators; Step 8: H starts the cloud server, which is used to back up data information and help local data processing; Step 9: I start the data center, which is used to store various data information of the system.

[0035] Specifically, the B includes B1 starting the aerial photography module, B2 starting the satellite remote sensing module, and B3 starting the ground surveying and mapping module.

[0036] Specifically, the D includes a preprocessing module starting from D1, a data fusion module starting from D2, a three-dimensional modeling module starting from D3, and a model verification module starting from D4; the E includes a drone module starting from E1, a camera module starting from E2, a robot module starting from E3, and a data monitoring module starting from E4.

[0037] Specifically, the F includes a wireless transmission module starting from F1, a data receiving module starting from F2, an abnormal feedback module starting from F3, and a processing and scheduling module starting from F4; the G includes a point generation module starting from G1, a path planning module starting from G2, an inspection plan module starting from G3, and a manual processing module starting from G4.

[0038] The above are only preferred specific implementation modes of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can replace or change the technical solution and improved concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A three-dimensional digital power grid intelligent patrol system, comprising an intelligent patrol system (1), characterized in that: The intelligent patrol system (1) is provided with a data processing module (2), the intelligent patrol system (1) is provided with a patrol configuration module (3), the intelligent patrol system (1) is provided with a processing center module (4), the intelligent patrol system (1) is provided with a background operation module (5), the intelligent patrol system (1) is electrically connected to the Internet (10) via a communication network port, the intelligent patrol system (1) is electrically connected to a cloud server (8) via a communication network port, the intelligent patrol system (1) is electrically connected to a data center (9) via a communication network port, the intelligent patrol system (1) is electrically connected to a data transmission module (7) via a communication network port, and the data transmission module (7) is electrically connected to a data collection module (6) via the communication network port.

2. A three-dimensional digital power grid intelligent patrol system according to claim 1, characterized in that: The data processing module (2) comprises a preprocessing module (21), a data fusion module (22), a three-dimensional modeling module (23) and a model verification module (24). The preprocessing module (21) is used to preprocess the collected data. The data preprocessing mainly performs correction, registration and coordinate conversion preprocessing on the original data. The data fusion module (22) is used to fuse data from different data sources to form a complete data set. The three-dimensional modeling module (23) is used to model the collected data, that is, to model the fused data and generate a three-dimensional digitized map. The model verification module (24) is used to verify the three-dimensional digitized map generated after modeling. Verifying whether there is a deviation between the three-dimensional digitized map and the actual situation mainly requires anomaly detection, topological error checking and quality assessment to ensure that the generated three-dimensional digitized map has accuracy and integrity. The model verification module (24) is electrically connected to the three-dimensional modeling module (23), the three-dimensional modeling module (23) is electrically connected to the data fusion module (22), the data fusion module (22) is electrically connected to the preprocessing module (21), the preprocessing module (21), the data fusion module (22), the three-dimensional modeling module (23) and the model verification module (24) are all electrically connected to the data processing module (2), and the data processing module (2) is electrically connected to the intelligent patrol system (1).

3. A three-dimensional digital power grid intelligent patrol system according to claim 1, characterized in that: The patrol configuration module (3) comprises a drone module (31), a camera module (32), a robot module (33) and a data monitoring module (34); the drone module (31) is used to patrol and inspect the power grid in the form of a drone; the camera module (32) is used to arrange a monitoring camera at a fixed point to patrol and inspect the power grid; the robot module (33) is used to patrol and inspect the power grid and its surrounding environment in the form of a ground mobile robot; and by cooperating with the drone and the camera, a comprehensive patrol and inspection of the power grid without blind spots can be achieved; the data monitoring module (34) 4) used to monitor various working data and flow rates during the operation of the power grid and determine whether abnormal data is generated during the operation process, the data monitoring module (34) being electrically connected to the robot module (33), the robot module (33) being electrically connected to the camera module (32), the camera module (32) being electrically connected to the drone module (31), the drone module (31), the camera module (32), the robot module (33) and the data monitoring module (34) being electrically connected to the patrol configuration module (3), and the patrol configuration module (3) being electrically connected to the intelligent patrol system (1).

4. A three-dimensional digital power grid intelligent patrol system according to claim 1, characterized in that: The processing center module (4) comprises a wireless transmission module (41), a data receiving module (42), an abnormality feedback module (43) and a processing scheduling module (44), wherein the wireless transmission module (41) is used to transmit and connect the patrol inspection equipment and data information in the form of a wireless network, the data receiving module (42) is used to receive the monitoring data collected by the patrol inspection equipment, the abnormality feedback module (43) is used to feed back the abnormality information monitored during the patrol inspection process to the processing center for processing, and the processing scheduling module (44) is used to respond to the abnormality. The processing and dispatching module (44) is electrically connected to the abnormal feedback module (43), the abnormal feedback module (43) is electrically connected to the data receiving module (42), the data receiving module (42) is electrically connected to the wireless transmission module (41), the wireless transmission module (41), the data receiving module (42), the abnormal feedback module (43) and the processing and dispatching module (44) are all electrically connected to the processing center module (4), and the processing center module (4) is electrically connected to the intelligent patrol system (1).

5. A three-dimensional digital power grid intelligent patrol system according to claim 1, characterized in that: The background operation module (5) comprises a point generation module (51), a path planning module (52), an inspection plan module (53) and a manual processing module (54). The point generation module (51) is used to establish each required inspection position as each point through the generated three-dimensional digital map, so as to facilitate the subsequent planning of inspection tasks. The path planning module (52) is used to reasonably plan the inspection paths of drones and robots, so as to avoid duplication of work and improve the inspection efficiency. The inspection plan module (53) is used to plan the required inspection tasks, so that the inspection work can be automatically started after the set time point is reached. The manual processing module (54) is used to feed back uncertain abnormal factors generated during the patrol and inspection process to the operator port to handle the uncertain abnormal problems. The manual processing module (54) is electrically connected to the patrol and inspection plan module (53), the patrol and inspection plan module (53) is electrically connected to the path planning module (52), the path planning module (52) is electrically connected to the point generation module (51), the point generation module (51), the path planning module (52), the patrol and inspection plan module (53) and the manual processing module (54) are all electrically connected to the background operation module (5), and the background operation module (5) is electrically connected to the intelligent patrol system (1).

6. A three-dimensional digital power grid intelligent patrol system according to claim 1, characterized in that: The data collection module (6) comprises an aerial photography module (61), a satellite remote sensing module (62) and a ground mapping module (63); the aerial photography module (61) is used to photograph and collect information about the power grid and its surrounding environment by aerial photography; the satellite remote sensing module (62) is used to collect information about the power grid and its surrounding environment by satellite remote sensing; the ground mapping module (63) is used to map the periphery of the power grid by ground mapping, including laser measurement data and topographic measurement data; the ground mapping module (63) is electrically connected to the satellite remote sensing module (62); the satellite remote sensing module (62) is electrically connected to the aerial photography module (61); the aerial photography module (61), the satellite remote sensing module (62) and the ground mapping module (63) are all electrically connected to the data collection module (6); and the data collection module (6) is electrically connected to the data transmission module (7).

7. A method for using a three-dimensional digital power grid intelligent patrol system according to any one of claims 1 to 6, characterized in that: The steps include: Step 1: (A) Start the intelligent patrol system for networking of the system; Step 2: (B) starting the data collection module to collect data on the power grid and its surrounding environment; Step 3: (C) starting the data transmission module, which is used to transmit the collected data information; Step 4: (D) Start the data processing module, which is used to process and fuse the collected data information and generate a three-dimensional digital map; Step 5: (E) Start the patrol configuration module, which is used to configure and use the equipment required for power grid patrol inspection; Step 6: (F) Start the processing center module, which is used to receive patrol inspection information, provide feedback on abnormal data information, and schedule the processing of abnormal behavior; Step 7: (G) Start the background operation module, which is used to plan and schedule the inspection work, and can handle the problems that the machine cannot handle normally through operators; Step 8: (H) Start the cloud server to back up data and assist in local data processing; Step 9: (I) Start the data center to store various system data information.

8. The method for using a three-dimensional digital power grid intelligent patrol system according to claim 7, characterized in that: The (B) includes (B1) starting an aerial photography module, (B2) starting a satellite remote sensing module, and (B3) starting a ground mapping module.

9. The method for using a three-dimensional digital power grid intelligent patrol system according to claim 7, characterized in that: The (D) includes (D1) starting a preprocessing module, (D2) starting a data fusion module, (D3) starting a three-dimensional modeling module, and (D4) starting a model verification module; the (E) includes (E1) starting a drone module, (E2) starting a camera module, (E3) starting a robot module, and (E4) starting a data monitoring module.

10. The method for using a three-dimensional digital power grid intelligent patrol system according to claim 7, characterized in that: The (F) includes (F1) starting a wireless transmission module, (F2) starting a data receiving module, (F3) starting an abnormal feedback module, and (F4) starting a processing and scheduling module; the (G) includes (G1) starting a point generation module, (G2) starting a path planning module, (G3) starting an inspection plan module, and (G4) starting a manual processing module.

Images