Unmanned aerial vehicle route generation method and system and aircraft

Abstract

The invention provides an unmanned aerial vehicle route generation method and system and an aircraft. The method comprises the following steps: firstly, obtaining a three-dimensional modeling graph corresponding to a power station based on a type parameter of the power station; determining preset power characteristic data of a power station in the three-dimensional modeling graph, and constructing an equipment area corresponding to the power station based on the preset power characteristic data; then, based on a division rule, dividing an interval region in the equipment region; dividing a plurality of operation areas in the interval area based on the function type of the power equipment in the interval area; then determining a shooting point location of the unmanned aerial vehicle according to the type corresponding to the power equipment in the operation area, flight control parameters of the unmanned aerial vehicle and real-time shooting content; and finally generating the route of the unmanned aerial vehicle based on the shooting point. According to the method, the inspection process of the power station can be visually simulated, the route of the unmanned aerial vehicle can be quickly planned through a region division mode, and the safety of the unmanned aerial vehicle during operation can be ensured through region division.

Description

Technical Field

[0001] The present invention relates to the field of UAV control, and particularly to a method and system for generating a UAV flight path and an aircraft. Background Art

[0002] UAVs have been widely used in the inspection process of power station equipment. Since there are different types of power station equipment in the power station, different shooting points of various power station equipment need to be considered when planning the UAV inspection path, and then the final inspection route is obtained based on the shooting points. In the prior art, usually, the shooting points of power station equipment are first determined, and then the UAV flight path is planned according to these shooting points. However, when planning the UAV flight path in the prior art, each power station equipment needs to be traversed, which consumes a lot of time. And when the power station covers a large area and multiple UAVs need to operate simultaneously, the UAVs are prone to collision.

[0003] In addition, most of the prior art adjusts the flight path only based on the actual situation during UAV inspection. If there are many shooting points corresponding to the power station, the adjustment time of the flight path is long, which increases the probability of damage during UAV inspection and reduces the accuracy of flight path generation. And in the prior art, since the length and occupied space of the flight path generated in the unplanned area are large, if one waypoint is adjusted, all the waypoints on the flight path need to be adjusted, which will consume a lot of time. Summary of the Invention

[0004] In view of this, an object of the present invention is to provide a method and system for generating a UAV flight path and an aircraft. The method can visually simulate the inspection process of the power station, quickly plan the UAV flight path through the interval area, accurately obtain the high-precision shooting points of the UAV, and then quickly generate an accurate and reliable inspection route, and reduce the probability of UAV damage.

[0005] In a first aspect, an embodiment of the present invention provides a method for generating a UAV flight path, the method comprising:

[0006] Obtaining a three-dimensional modeling diagram corresponding to the power station based on the type parameters of the power station;

[0007] Determining the preset power characteristic data of the power station in the three-dimensional modeling diagram, and constructing an equipment area corresponding to the power station based on the preset power characteristic data;

[0008] Dividing an interval area in the equipment area based on a division rule;

[0009] Dividing a plurality of operation areas in the interval area based on the functional types of the power equipment in the interval area;

[0010] Determine the shooting points of the UAV according to the type of power equipment corresponding to the operation area, the flight control parameters of the UAV, and the real-time shooting content;

[0011] Generate the flight path of the UAV based on the shooting points.

[0012] In one implementation manner, generating the flight path of the UAV based on the shooting points includes:

[0013] Determine the safety detection rules of the UAV according to the obstacle avoidance data of the UAV;

[0014] Use the safety detection rules to obtain the first collision risk value of the UAV at the shooting points;

[0015] Use the safety detection rules to obtain the power equipment included between adjacent shooting points, and obtain the second collision risk value corresponding to the UAV and the power equipment;

[0016] Generate the flight path according to the first collision risk value and the second collision risk value.

[0017] In one implementation manner, after generating the flight path of the UAV based on the shooting points, the UAV flight path generation method further includes:

[0018] Determine other operation areas with the same type as the power equipment corresponding to the operation area;

[0019] Copy the flight path of the UAV to the other operation areas.

[0020] In one implementation manner, dividing the interval area in the equipment area based on the division rules includes:

[0021] Obtain the circuit diagram corresponding to the equipment area;

[0022] Identify the power equipment included in the circuit diagram, and determine the identification parameters of the power equipment in the circuit diagram;

[0023] Determine the interval area corresponding to the power equipment based on the identification parameters and using the division rules; wherein, the division rules are used to divide the power equipment into multiple adjacent interval areas.

[0024] In one implementation manner, determining the interval area corresponding to the power equipment based on the identification parameters and using the division rules includes:

[0025] Obtain the busbars and transmission lines included in the power equipment, and determine the starting equipment in the power equipment that is connected to both the busbars and the transmission lines;

[0026] Determine the associated equipment adjacent to the starting equipment in sequence on the transmission line, and determine the starting equipment and the associated equipment that meet the division rules as the interval area.

[0027] In one embodiment, based on the functional types of power devices in the interval area, multiple operation areas are divided in the interval area, including:

[0028] Obtain the power devices included in the interval area and determine the corresponding functional types of the power devices;

[0029] Determine the flight thresholds corresponding to the power devices and the drones according to the functional types; wherein, the flight threshold is the maximum interval distance between multiple drones when flying in the interval area;

[0030] Construct the operation areas corresponding to the drones from within the interval area according to the flight thresholds.

[0031] In one embodiment, according to the types of power devices corresponding in the operation area, the flight control parameters of the drones, and the real-time shooting content, determine the shooting positions of the drones, including:

[0032] Obtain the type parameters corresponding to the power devices and determine the types of the power devices according to the type parameters;

[0033] Based on the types, determine the target shooting content corresponding to the power devices in the operation area;

[0034] Update the flight control parameters according to the real-time shooting content and the target shooting content, and determine the shooting positions of the drones based on the updated flight control parameters.

[0035] In one embodiment, determining the shooting positions of the drones based on the updated flight control parameters includes:

[0036] Determine the first spacing between the minimum bounding volume corresponding to the drone under the flight control parameters and the power device;

[0037] If the first spacing is less than or equal to a preset threshold, determine the transition positions corresponding to the shooting positions based on the first spacing, and calculate in real time the second spacing between the minimum bounding volume and the power device at the transition positions;

[0038] After updating the flight control parameters so that the second spacing is greater than the preset threshold, obtain the shooting positions corresponding to the transition positions.

[0039] In a second aspect, an embodiment of the present invention provides a drone route generation system, which includes:

[0040] A three-dimensional modeling construction module, configured to obtain the three-dimensional modeling diagram corresponding to the power station based on the type parameters of the power station;

[0041] An equipment area construction module, configured to determine the preset power characteristic data of the power station in the three-dimensional modeling diagram, and construct the equipment area corresponding to the power station based on the preset power characteristic data;

[0042] An interval area construction module for partitioning an interval area in a device area based on a partitioning rule;

[0043] A work area construction module for partitioning a plurality of work areas in the interval area based on the functional types of power equipment in the interval area

[0044] A shooting point determination module for determining the shooting points of the drone according to the types of power equipment corresponding to the work area, the flight control parameters of the drone, and the real-time shooting content;

[0045] A flight path generation construction module for generating a flight path of the drone based on the shooting points.

[0046] In a third aspect, an embodiment of the present invention further provides an aircraft, which adopts the steps of the drone flight path generation method provided in the first aspect during the flight positioning control process.

[0047] In a fourth aspect, an embodiment of the present invention further provides an electronic device, including a processor and a memory. The memory stores computer-executable instructions that can be executed by the processor, and the processor executes the computer-executable instructions to implement the steps of the drone flight path generation method provided in the first aspect.

[0048] In a fifth aspect, an embodiment of the present invention further provides a storage medium, which stores computer-executable instructions. When the computer-executable instructions are called and executed by a processor, the computer-executable instructions cause the processor to implement the steps of the drone flight path generation method provided in the first aspect.

[0049] A method, system and aircraft for generating a UAV flight path provided by an embodiment of the present invention. During the process of controlling a UAV to inspect a power station, first, a three-dimensional modeling diagram corresponding to the power station is obtained based on the type parameters of the power station; then, the preset power characteristic data of the power station in the three-dimensional modeling diagram is determined, and an equipment area corresponding to the power station is constructed based on the preset power characteristic data; then, based on the division rules, an interval area is divided in the equipment area; then, based on the functional types of the power equipment in the interval area, a plurality of operation areas are divided in the interval area; then, according to the types of the power equipment corresponding to the operation areas, the flight control parameters of the UAV and the real-time shooting content, the shooting points of the UAV are determined; finally, a flight path of the UAV is generated based on the shooting points. This method can visually simulate the inspection process of the power station, divide the power station into equipment areas based on the preset power characteristic data of the power station, and the equipment area serves as the basic framework for UAV inspection to ensure that the UAV can effectively locate the power equipment in the equipment area during inspection. Based on the connection relationship and distribution of the power equipment in the equipment area, the equipment area is further divided into interval areas, and the interval areas are divided into operation areas based on the functional types of the power equipment. Based on the operation areas, a UAV flight path can be quickly generated. And since the operation areas contain power equipment of the same functional type, a flight path for inspecting the power equipment can be specifically generated in the operation area, improving the efficiency of generating the UAV flight path.

[0050] In the prior art, since the length and occupied space of the flight path generated in the unplanned area are relatively large, if one waypoint is adjusted, then all the waypoints on the flight path need to be adjusted, which will consume a lot of time. However, for the flight path generated by the planned area in this application, when adjusting the flight path, only the flight path within the operation area needs to be adjusted, which will not affect the flight paths of other operation areas, ensuring the flexibility of flight path adjustment and avoiding the problem of large-scale flight path adjustment. In addition, according to the division method of equipment area - interval area - operation area, the safe flight interval of the UAV can be more accurately located, and combined with the flight control parameters of the UAV and the real-time shooting content, the flight path of the UAV is planned, thereby ensuring the flight safety of the UAV.

[0051] Other features and advantages of the present invention will be described in the following specification, and, in part, will be obvious from the specification, or will be understood by implementing the present invention. The objectives and other advantages of the present invention are achieved and obtained by the structures specifically pointed out in the specification, claims and drawings.

[0052] To make the above objectives, features and advantages of the present invention more obvious and understandable, the following specific preferred embodiments are given, and in conjunction with the accompanying drawings, the detailed description is as follows. Description of the Drawings

[0053] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the accompanying drawings required for the description of the specific embodiments or the prior art. Obviously, the accompanying drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can also be obtained based on these drawings.

[0054] Figure 1 Flowchart of a method for generating a UAV flight path provided by an embodiment of the present invention;

[0055] Figure 2 Flowchart of step S106 of a method for generating a UAV flight path provided by an embodiment of the present invention;

[0056] Figure 3 Flowchart of step S201 of a method for generating a UAV flight path provided by an embodiment of the present invention;

[0057] Figure 4 Flowchart of step S103 of a method for generating a UAV flight path provided by an embodiment of the present invention;

[0058] Figure 5 Flowchart of step S403 of a method for generating a UAV flight path provided by an embodiment of the present invention;

[0059] Figure 6 Flowchart of step S104 of a method for generating a UAV flight path provided by an embodiment of the present invention;

[0060] Figure 7 Flowchart of step S105 of a method for generating a UAV flight path provided by an embodiment of the present invention;

[0061] Figure 8 Flowchart for determining the shooting points of a UAV based on updated flight control parameters in step S703 of another method for generating a UAV flight path provided by an embodiment of the present invention;

[0062] Figure 9 Flowchart of another method for generating a UAV flight path provided by an embodiment of the present invention;

[0063] Figure 10 Flowchart when a method for generating a UAV flight path provided by an embodiment of the present invention includes transition points;

[0064] Figure 11 Structure diagram of a UAV flight path generation system provided by an embodiment of the present invention;

[0065] Figure 12 Structure diagram of an aircraft provided by an embodiment of the present invention;

[0066] Figure 13 A schematic structural diagram of an electronic device provided by an embodiment of the present invention.

[0067] Icon:

[0068] 1110 - 3D modeling construction module; 1120 - device area construction module; 1130 - interval area construction module; 1140 - operation area construction module; 1150 - shooting point determination module; 1160 - flight path generation construction module;

[0069] 101 - Processor; 102 - Memory; 103 - Bus; 104 - Communication interface. Specific implementation manners

[0070] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are some but not all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0071] UAVs have been widely used in the inspection process of power station equipment. Since different types of power station equipment are included in a power station, different shooting points of various power station equipment need to be considered when planning the inspection path of the UAV, and then the final inspection route of the UAV is obtained based on the shooting points. In the prior art, usually, the shooting points of the power station equipment are first determined, and then each shooting point is directly connected to generate the flight path of the UAV. However, the generated flight paths are all the shortest paths, which easily causes the UAV to touch the power station equipment or the transmission lines connecting the power station equipment during the inspection along the flight path, resulting in damage to the UAV.

[0072] In addition, most of the prior art adjusts the flight path only based on the actual situation during the inspection of the UAV. If there are many shooting points corresponding to the power station, the adjustment time of the flight path is long, increasing the damage probability of the UAV during the inspection and reducing the generation accuracy of the flight path. Moreover, during the generation of the flight path in the prior art, the simulated images taken cannot be directly observed, which causes the operator to only be able to see the captured images after the UAV returns along the flight path to complete the verification, also resulting in a long adjustment time of the flight path. Based on this, the embodiments of the present invention provide a UAV flight path generation method, system and aircraft. This method can visually simulate the inspection process of the power station, accurately obtain the high-precision shooting points of the UAV by accurately acquiring the interval area, and then generate an accurate and reliable inspection route, and reduce the probability of UAV damage.

[0073] To facilitate the understanding of this embodiment, first, a method for generating a UAV flight path disclosed in the embodiments of the present invention will be introduced in detail. This method is as follows Figure 1 shown and includes:

[0074] Step S101: Obtain the three-dimensional modeling diagram corresponding to the power station based on the type parameters of the power station.

[0075] Specifically, during the generation of the UAV flight path, the three-dimensional modeling diagram of the power station is required. The three-dimensional modeling diagram can be generated based on a specific simulation model. Specifically, it can be obtained by acquiring the point cloud data and modeling data of the power equipment in the power station and performing simulation processing on them to obtain the final three-dimensional modeling diagram.

[0076] Step S102: Determine the preset power characteristic data of the power station in the three-dimensional modeling diagram, and construct the equipment area corresponding to the power station based on the preset power characteristic data.

[0077] Based on the three-dimensional modeling diagram, through data docking with the relevant operation management system of the power station, the preset power characteristic data of the power station can be obtained. These data include the type of power equipment (such as transformers, circuit breakers, disconnectors, etc.), rated parameters (rated voltage, rated current, etc.), operating status (normal operation, maintenance status, etc.), safety distance requirements, etc.

[0078] Subsequently, according to the obtained preset power characteristic data, the equipment area corresponding to the power station is constructed in the three-dimensional modeling diagram. For different types of power equipment, the boundaries of the equipment area are determined according to their safety distance requirements and operation space requirements. For example, for transformers, factors such as their heat dissipation space and maintenance channels need to be considered to delimit the corresponding equipment area; for high-voltage electrical equipment, according to its voltage level and safety distance standard, the safety of the equipment area is ensured. When constructing the equipment area, the spatial analysis and area division functions of three-dimensional modeling software can be used to accurately determine the scope and shape of the equipment area.

[0079] In the specific implementation process, the corresponding equipment area can be determined based on the voltage level parameters of the power station. The voltage level parameters can represent the voltage levels of the power station such as 750 kV, 66 kV, 220 kV, etc., and then the corresponding equipment area is constructed on the premise of the same voltage level.

[0080] Step S103: Divide the interval area in the equipment area based on the division rule.

[0081] According to the electrical main connection mode of the power station, the characteristics of equipment layout, and the actual requirements of operation and maintenance, the division rules for the interval area can be formulated in advance. For example, it can be divided according to the concept of electrical interval, and the equipment combinations with the same electrical function and operation independence are divided into one interval area; it can also be divided according to the physical location and spatial layout of the equipment, and the adjacent equipment is divided into one interval area. The division rules should consider the flight path planning and shooting coverage of the UAV to ensure that each interval area can be effectively covered and detected by the UAV.

[0082] Then, based on the formulated division rules, the interval area is divided in the equipment area. During the division process, the space segmentation and area identification functions of 3D modeling software can be used to divide the equipment area into multiple independent interval areas, and each interval area is numbered and marked for subsequent management and operation.

[0083] Step S104: Based on the functional types of the power equipment in the interval area, multiple operation areas are divided in the interval area.

[0084] After the interval area is obtained, the functional type analysis of the power equipment in each interval area is carried out to determine the main functions and operation requirements of the equipment. For example, in an interval area, there may be equipment such as circuit breakers, disconnectors, and current transformers. The circuit breaker is mainly used to cut off and connect the circuit, the disconnector is used to isolate the power supply, and the current transformer is used to measure the current, etc. According to the functional types of the equipment, the interval area is further subdivided into different operation areas to facilitate the subsequent generation of accurate flight routes by the UAV based on the operation areas.

[0085] Specifically, multiple operation areas are divided in the interval area according to the analysis results of the functional types of the power equipment. For example, for an interval area containing a circuit breaker, a disconnector, and a current transformer, a circuit breaker operation area, a disconnector operation area, and a current transformer detection area can be divided, etc. When dividing the operation areas, the mutual relationship and operation process between the power equipment and the UAV should be considered to ensure that the division of the operation areas is reasonable and clear, facilitating the orderly flight and shooting of the UAV between different operation areas.

[0086] Step S105: Determine the shooting points of the UAV according to the types of the power equipment corresponding to the operation area, the flight control parameters of the UAV, and the real-time shooting content.

[0087] The acquisition of shooting points is crucial for the flight path generation process. Different types of power equipment have different requirements for shooting angles, distances, clarity, etc. For example, for transformers, it is necessary to shoot the key parts of the voltage conversion components from multiple angles; for high-voltage electrical equipment, it is necessary to shoot the states of components such as contacts and insulators at close range. Subsequently, according to the types of power equipment in the operation area, combined with the detection standards and specifications of power equipment, determine the shooting angles and distance ranges required for each equipment, providing a basis for determining the shooting points.

[0088] For drones, the flight control parameters of drones include flight altitude, flight speed, hover time, etc. These parameters will affect the shooting effect and safety of drones. When determining the shooting points, it is necessary to fully consider the flight control parameters of the drones to ensure that the drones can stably hover at the shooting points and shoot according to the predetermined shooting angles and distances. For example, for some high-altitude equipment, it is necessary to increase the flight altitude of the drones, but at the same time, consider the influence of environmental factors such as wind speed on flight stability; for some equipment that needs to be shot at close range, control the flight speed of the drones to ensure the clarity of the shooting.

[0089] During the flight shooting process of the drones, the shooting points are adjusted and optimized in real time through the real-time transmitted shooting content. If it is found that the shooting effect of a certain shooting point is not ideal, such as incorrect shooting angle, inappropriate shooting distance, etc., the flight path and shooting point of the drones can be adjusted in time to ensure that clear and accurate image information of power equipment can be obtained.

[0090] Step S106, generate the flight path of the drones based on the shooting points.

[0091] According to the division of the operation area and the detection requirements of power equipment, the shooting order of the shooting points can be determined. When determining the shooting order of the shooting points, it is necessary to consider factors such as the shortest flight path of the drones, avoiding repeated flights, and reducing flight time, and at the same time ensure that each shooting point can be shot in the predetermined order. For example, the shooting order of the shooting points can be determined in the order from near to far, from top to bottom, from left to right, etc., or according to the operation process and detection logic of power equipment.

[0092] In one implementation, after S106, the method for generating the flight path of the drones can be specifically implemented as: determine other operation areas corresponding to the same type of power equipment in the operation area; copy the flight path of the drones to other operation areas.

[0093] After dividing the area of the substation, after planning the flight path of the UAV for a working area, the flight path of the UAV can be copied to other working areas of the same functional type, thereby improving the efficiency of UAV flight path planning. It should be understood that for a power station with a large floor area, if flight paths are drawn for each power equipment, it will consume a lot of time, and there may also be slight deviations in the working positions of the same power equipment. Therefore, in this application, the same UAV flight path is set for inspection for working areas with the same functional type and the same power equipment structure. In this way, when inspecting the UAV flight path, only the UAV flight path of one working area needs to be inspected, and there is no need to check the flight paths of other identical working areas. And if there is a problem with the UAV flight path in a working area, after modification, it can be synchronously copied to other working areas without having to plan the flight path again, thereby improving the efficiency of UAV flight path planning. Thus, through the division of areas in this application, it can be ensured that there are multiple identical working areas in the power station. Based on the working area as a benchmark, copying the flight path can ensure that there will be no deviation in the copied flight path, saving a lot of time compared to the prior art of planning the flight paths for all power equipment and then applying them to the physical UAV, and improving the working efficiency of the UAV.

[0094] Further, determine the first target point and the second target point of multiple power equipment in the working area; based on the first target point and the second target point, determine the first copying direction; determine the third target point and the fourth target point of multiple other power equipment in other working areas, and based on the third target point and the fourth target point, determine the second copying direction; based on the first copying direction and the second copying direction, copy the flight path of the UAV to other working areas.

[0095] When the structures and functional types of multiple power equipment in the working area and multiple power equipment in other working areas are the same, determine the first target point and the second target point of multiple power equipment in the working area. Specifically, select two power equipment with a relative distance value greater than the preset distance value among the multiple power equipment. The two power equipment are the first power equipment and the second power equipment respectively. Determine the center point of the preset part of the first power equipment as the first target point, and determine the center point of the preset part of the second power equipment as the second target point. The same applies to other working areas and the working area. Determine the center point of the preset part of the third power equipment as the third target point, and determine the center point of the preset part of the fourth power equipment as the fourth target point. The relative distance value between the third power equipment and the fourth power equipment is greater than the preset distance value. For example, if there are three lightning arresters in the working area, the first lightning arrester, the second lightning arrester, and the third lightning arrester, and the second lightning arrester is located in the middle of the first lightning arrester and the third lightning arrester, and the relative distance value between the first lightning arrester and the third lightning arrester is the largest, then the center point of the top of the first lightning arrester can be selected as the first target point, and the center point of the top of the third lightning arrester can be selected as the second target point.

[0096] Then, determine the first copying direction by clicking or triggering sequence. Specifically, click or trigger the first target point and the second target point in sequence to generate a first target direction, which is the direction from the first target point to the second target point. Click or trigger the second target point and the first target point in sequence to generate a second target direction, which is the direction from the second target point to the first target point.

[0097] When it is necessary to copy the flight path of the operation area to other operation areas, after generating the first copying direction, it is also necessary to determine the third power device corresponding to the first power device and the fourth power device corresponding to the second power device in other operation areas. Specifically, in the same direction under the same coordinate system, the first power device and the third power device have a corresponding relationship, and the second power device and the fourth power device have a corresponding relationship. That is to say, the distribution of the first power device and the second power device in the operation area is the same as the distribution of the third power device and the fourth power device in other operation areas.

[0098] Since this application is a translational copy, it is necessary that the first copying direction and the second copying direction point in the same direction under the same perspective. Then, if the first copying direction is the first target direction, click the third power device and the fourth power device in sequence to generate a third target direction. When copying, when the first target direction with the flight path and the third target direction coincide, copy the flight path of the operation area to other operation areas. Therefore, by the coincidence of directions, it can be ensured that there is no deviation in the flight path of other operation areas during copying, and its flight path distribution in the operation area is the same as that in other operation areas.

[0099] In one implementation manner, step S106 of generating the flight path of the unmanned aerial vehicle based on the shooting position is as Figure 2 shown and includes:

[0100] Step S201, determine the safety detection rule of the unmanned aerial vehicle based on the obstacle avoidance data of the unmanned aerial vehicle.

[0101] The obstacle avoidance system of a drone usually comes with a variety of sensors, such as lidar, vision sensors, ultrasonic sensors, etc. These sensors collect data on the surrounding environment in real time, including information such as the distance, orientation, and shape of obstacles. During the determination process of safety detection rules, it is necessary to analyze and organize this obstacle avoidance data. For example, based on lidar data, the type and quantity distribution of obstacles within different distance ranges can be determined. According to vision sensor data, common obstacle shapes and features can be identified, such as the towers and cables of power equipment. In addition, specific safety detection rules can be formulated by combining the flight performance parameters of the drone, such as the maximum flight speed, minimum turning radius, ascent and descent speeds, etc. For instance, it is stipulated that when the drone is less than a certain distance (such as 2 meters) from an obstacle, it must decelerate and adjust its flight direction; when a large obstacle (such as a power tower) is detected ahead, a detour path needs to be planned in advance. At the same time, adjustments to safety detection rules under different environmental conditions also need to be considered. For example, in windy weather, the safety distance is appropriately increased.

[0102] Step S202, obtain the first collision risk value of the drone at the shooting point using the safety detection rules.

[0103] At each shooting point, the obstacle avoidance system of the drone monitors the surrounding environment in real time. According to the safety detection rules determined in step S201, the obstacle situation around the shooting point is evaluated. For example, if there are multiple power equipment near the shooting point and these equipment are close to the drone, a relatively high collision risk will be judged according to the safety detection rules. When specifically calculating the first collision risk value, a quantitative method can be adopted. For example, different weights are assigned to factors such as the distance, quantity, and type of obstacles, and a numerical value is obtained through weighted calculation to represent the first collision risk value. Assuming the distance weight is 0.5, the quantity weight is 0.3, and the type weight is 0.2, when the distance to the obstacle is 1 meter (with a relatively high score calculated according to the distance weight), there are 3 obstacles (with a moderate score calculated according to the quantity weight) and they are all complex power equipment (with a relatively high score calculated according to the type weight), the first collision risk value is obtained through the corresponding calculation model. At the same time, the impact of the attitude and position stability of the drone at the shooting point on the collision risk also needs to be considered. If the drone's attitude is unstable, it may increase the collision risk, which also needs to be taken into account when calculating the first collision risk value.

[0104] Step S203, use the safety detection rules to obtain the power equipment included between adjacent shooting points, and obtain the second collision risk value between the drone and the power equipment.

[0105] When determining the path between adjacent shooting points, first use safety detection rules to identify and locate the power equipment on this path. Specifically, the sensor data of the drone can be matched with the pre-established power equipment model to determine the specific location and type of the power equipment existing on the path. For example, when the drone flies from shooting point A to shooting point B, multiple power cables and a power tower are detected on the path through the sensor data. Then, according to the safety detection rules, evaluate the possibility of the drone colliding with these power equipment during flight, and also calculate the second collision risk value in a quantitative manner. In addition to considering the distance, quantity, and type of the power equipment, factors such as the flight speed of the drone on this path and the change in flight direction on the path that affect the collision risk should also be considered. For example, if the drone needs to make a sharp turn on the path to avoid power equipment, this will increase the collision risk, and the weight should be increased accordingly when calculating the second collision risk value. In addition, historical flight data and failure cases can be combined to correct and optimize the collision risk of different types of power equipment, so that the second collision risk value can more accurately reflect the actual situation.

[0106] Step S204, generate a flight path according to the first collision risk value and the second collision risk value.

[0107] Based on the first collision risk value and the second collision risk value obtained from step S202 and step S203, an optimization algorithm is used to generate the flight path of the drone. Specifically, relevant path planning algorithms can be used to take the collision risk value as an important basis for path selection. For example, when selecting a path from one shooting point to the next shooting point, give priority to selecting the path with the smallest sum of the first collision risk value and the second collision risk value. At the same time, the overall length and flight time of the flight path should also be considered. On the premise of meeting the collision risk requirements, try to select a shorter flight path to reduce the flight time and energy consumption. After generating the flight path, it is also necessary to verify and adjust the flight path. The safety of the drone flying on this flight path and whether there will be a situation of too high collision risk can be checked by means of simulated flight. If problems are found, the flight path should be adjusted in time and the collision risk value should be recalculated until a flight path that meets the requirements of safety and efficiency is generated. In addition, according to the real-time environmental changes and the status information of the drone, the generated flight path can be dynamically adjusted to ensure that the drone can complete the shooting task safely and efficiently.

[0108] In one implementation, step S201 of determining the safety detection rules of the drone based on the obstacle avoidance data of the drone, as Figure 3 shown, includes:

[0109] Step S301, obtain the point cloud data of the power station in the operation area, and use the point cloud data to determine the transmission lines included in the operation area.

[0110] First, obtaining the point cloud data of the power station in the operation area can be achieved in various ways. For example, a drone equipped with a high-precision lidar can be used to conduct an all-round scan of the operation area of the power station. The laser beam emitted by the lidar reflects back after encountering an object, and the distance between the object and the lidar is determined by measuring the round-trip time of the laser, thereby obtaining a large amount of three-dimensional spatial point data, that is, point cloud data. These point cloud data contain the spatial position information of various objects in the operation area, including power equipment, buildings, trees, etc.

[0111] After obtaining the point cloud data, it is necessary to process and analyze it to determine the transmission lines contained in the operation area. Since the transmission lines usually present slender morphological characteristics in the point cloud data, an algorithm based on morphology can be used for identification. Specifically, first filter the original point cloud data to remove noise points and outliers to improve the data quality. Then, using the spatial distribution characteristics of the point cloud data, a clustering algorithm is adopted to divide the point cloud data into different clustering clusters, and each clustering cluster represents an object or a part of an object. For the clustering cluster of the transmission line, its point cloud data presents a continuous slender shape in space and has certain height and orientation rules. Through further morphological analysis, such as calculating geometric parameters such as the length, width, and height of the clustering cluster, and judging whether its orientation conforms to the characteristics of the transmission line, the transmission lines in the operation area can be accurately identified.

[0112] Step S302, determine the ground area in the operation area, and based on the obstacle avoidance data corresponding to the drone, the transmission lines, the ground area, and the power equipment, determine the safety detection rules corresponding to the drone.

[0113] Determining the ground area in the operation area also requires processing the obtained point cloud data. Since the ground usually presents a relatively flat characteristic in the point cloud data and has a relatively low height, a method based on a height threshold can be used to identify the ground area. First, according to the actual terrain conditions of the operation area, a reasonable height threshold is set; then, each point in the point cloud data is traversed, and the points with a height lower than the threshold are marked as ground points; subsequently, further processing is performed on the point cloud data marked as ground points, such as using a plane fitting algorithm to fit the ground points into a plane to more accurately represent the shape and position of the ground area.

[0114] After determining the ground area and the transmission lines in the operation area, combine the obstacle avoidance data corresponding to the drone, the transmission lines, the ground area, and the power equipment to determine the safety detection rules. The obstacle avoidance data of the drone comes from various sensors carried by itself, such as lidar, vision sensors, ultrasonic sensors, etc. These sensors continuously monitor the environment around the drone and obtain information such as the distance and orientation from obstacles.

[0115] For power transmission lines, due to their relatively long and slender shape and possible swaying, safety detection rules need to be specially considered. For example, when a drone detects a power transmission line, it should adjust its flight direction and speed in advance according to the distance and relative position of the power transmission line to ensure a sufficient safety distance from the power transmission line. A minimum safety distance threshold can be set. When the distance between the drone and the power transmission line is less than this threshold, obstacle avoidance measures such as deceleration, ascending or descending should be triggered immediately.

[0116] For the ground area, safety detection rules mainly consider the altitude control of the drone. When the drone approaches the ground, it should adjust its flight altitude in a timely manner according to the data from its altitude sensor and the preset safety altitude threshold to avoid colliding with the ground. At the same time, the undulation of the ground also needs to be considered. For areas with complex terrain, an appropriate safety altitude margin should be increased.

[0117] For electrical equipment, different types of electrical equipment have different safety distance requirements. For example, for high-voltage transformers, due to the presence of high-voltage electric and magnetic fields, safety detection rules should stipulate that the drone maintains a sufficient safety distance from the transformer and avoid getting too close to the high-voltage side of the transformer during flight. According to the safety distance requirements of different electrical equipment and combined with the obstacle avoidance data of the drone, corresponding safety detection rules should be formulated, such as decelerating in advance and adjusting the flight attitude when approaching electrical equipment.

[0118] Based on the above analysis of the obstacle avoidance data and safety distance requirements for power transmission lines, ground areas, and electrical equipment, the corresponding safety detection rules for the drone are finally determined. These rules should include flight speed limits, altitude control strategies, and trigger conditions for obstacle avoidance actions in different situations to ensure the safe flight of the drone in the operation area. In practical applications, the safety detection rules can also be dynamically adjusted and optimized according to real-time environmental changes and the operating status of the drone.

[0119] In one implementation, step S103 of dividing an interval area in the equipment area based on the division rule, as Figure 4 shown, includes:

[0120] Step S401, obtaining the circuit diagram corresponding to the equipment area.

[0121] Obtaining the circuit diagram corresponding to the equipment area is the basis for interval area division. First, the circuit diagram can be obtained from the design documents, construction drawings of the power station, or relevant electrical management systems. These circuit diagrams usually exist in the form of electronic documents, such as CAD drawings, PDF files, etc. When obtaining the circuit diagram, it is necessary to ensure that the version of the circuit diagram matches the actual equipment configuration of the current power station, because during the operation of the power station, operations such as equipment updates and renovations may be carried out, resulting in differences between the circuit diagram and the actual situation. If it is found that the circuit diagram does not match the actual equipment, it is necessary to communicate and confirm with relevant designers and maintenance personnel in a timely manner to correct and improve the circuit diagram. In addition, through on-site inspection, combined with the connection situation and layout of the actual equipment, the obtained circuit diagram can be verified and supplemented to ensure the accuracy and integrity of the circuit diagram.

[0122] Step S402: Identify the electrical equipment included in the circuit diagram and determine the identification parameters of the electrical equipment in the circuit diagram.

[0123] After obtaining the accurate circuit diagram, it is necessary to identify the electrical equipment included in the circuit diagram. This task can be completed by using image recognition technology or manual inspection. For the case of using image recognition technology, special circuit diagram recognition software can be used. This software can automatically recognize various symbols and graphics in the circuit diagram and convert them into corresponding electrical equipment types. For example, recognize the symbols of transformers, circuit breakers, disconnectors, etc., and match them with the equipment types in the database. At the same time, for some complex circuit diagrams, manual assistance may be required for recognition to ensure the accuracy of recognition.

[0124] After identifying the electrical equipment, it is necessary to determine the identification parameters of the electrical equipment in the circuit diagram. These identification parameters include the name, model, specification, location coordinates, etc. of the equipment. For the name and model of the equipment, they can be directly obtained from the markings on the circuit diagram; for the specification parameters, relevant equipment manuals or technical documents may need to be consulted, and the location coordinates of the equipment can be determined through the coordinate system of the circuit diagram.

[0125] Step S403: Based on the identification parameters and using the division rules, determine the interval area corresponding to the electrical equipment; among them, the division rules are used to divide the electrical equipment into multiple adjacent interval areas.

[0126] Based on the identification parameters determined in step S402, combined with the pre-established division rules, the interval area corresponding to the power equipment is determined. If the division is carried out according to the concept of electrical interval, first, the electrical functions and operational independence of each power equipment need to be analyzed. For example, for an electrical circuit containing a circuit breaker, a disconnector, and a current transformer, these devices have the same electrical function, that is, to control and protect the current of a certain circuit, and they have a certain degree of operational independence, and they can be divided into one interval area. When determining the interval area, the connection relationship and electrical distance between devices also need to be considered to ensure that the devices within the same interval area are electrically related to each other, and there is a clear electrical isolation between different interval areas.

[0127] If the division is carried out according to the physical location and spatial layout of the devices, the adjacent relationship of the devices in the actual space needs to be considered. The spatial analysis function in 3D modeling software can be used to calculate the distance and relative position between devices. For example, devices that are close in distance and adjacent in space are divided into one interval area. At the same time, combined with the flight path planning and shooting coverage of the unmanned aerial vehicle, it is ensured that the divided interval areas can meet the detection requirements of the unmanned aerial vehicle. During the division process, a preliminary number and label can be given to each interval area, and the power equipment and its identification parameters included in each interval area are recorded.

[0128] In practical applications, some special situations may be encountered. For example, some devices may belong to multiple interval areas at the same time, or there may be conflicts between the electrical functions and physical positions of some devices. For these situations, comprehensive consideration and judgment need to be carried out according to the specific situation, and the division rules need to be appropriately adjusted and optimized to ensure that the division of the interval area is reasonable, accurate, and meets the requirements of actual operation and maintenance.

[0129] In one implementation manner, step S403 of determining the interval area corresponding to the power equipment based on the identification parameters and using the division rules, as Figure 5 shown, includes:

[0130] Step S501, obtaining the busbars and transmission lines included in the power equipment, and determining the starting equipment that is connected to both the busbars and the transmission lines in the power equipment;

[0131] First, from the power equipment identification parameters obtained in step S402 and the relevant circuit diagram information, accurately identify the busbars and transmission lines included in the power equipment. As an important component for collecting and distributing electric energy in the power system, the busbar is usually represented by specific symbols and markings in the circuit diagram, generally having a large current-carrying capacity and obvious trend characteristics. The transmission line is the line that connects each power equipment to realize the transmission of electric energy, and is shown as a line connecting different devices in the circuit diagram.

[0132] After obtaining the information of the busbars and transmission lines, the starting device that is connected to both the busbars and the transmission lines is determined by analyzing the connection relationships between electrical devices. This process can utilize an electrical connection analysis algorithm to traverse the connection points of each device in the circuit diagram. For example, for each electrical device, check whether its connection ports match those of the busbars and the transmission lines. Taking a transformer as an example, if one end of the transformer is connected to a busbar and the other end is connected to a transmission line, then this transformer may be a starting device. In practical applications, there may be multiple devices that meet the condition of being connected to both the busbars and the transmission lines. At this time, a starting device can be determined according to the importance of the devices, the operating sequence, or pre-set rules. For instance, preferentially select the device located at a key position in the electrical circuit and undertaking the main functions of electric energy conversion or distribution as the starting device. Meanwhile, to ensure accuracy, further verification can be carried out in combination with the actual physical positions and spatial layouts of the devices to avoid incorrect determination of the starting device due to incorrect circuit diagram annotation or inaccurate connection relationship analysis.

[0133] Step S502: Determine the associated devices adjacent to the starting device on the transmission line in sequence, and determine the starting device and the associated devices that meet the partitioning rule as the interval region.

[0134] After determining the starting device, along the direction of the transmission line and by analyzing the connection relationships and physical positions between devices, determine the associated devices adjacent to the starting device in sequence. The specific implementation process can be achieved by analyzing the topological structure of the circuit diagram. For example, starting from the connection port of the starting device, search for the next device directly connected to it and determine it as the first associated device. Then, starting from the connection port of this associated device, continue to search for the next adjacent device, and so on, until the entire transmission line is traversed or a device that meets specific termination conditions is encountered.

[0135] During the process of determining the associated devices, the relevance of the electrical functions between devices needs to be considered. For example, for some devices with special electrical functions, such as protection devices and measuring instruments, although they may not directly participate in the transmission of electric energy, they are closely related to adjacent devices in terms of electrical functions and also need to be included in the consideration scope of the associated devices.

[0136] Next, according to the pre-set partitioning rules, the starting devices and associated devices are screened and judged. The partitioning rules can be formulated based on various factors, such as the electrical function consistency of the devices, operation independence, safety distance requirements, etc. For example, if a group of starting devices and associated devices belong to the same circuit part in terms of electrical function, and their operations are independent of each other without affecting the normal operation of other circuits, and the safety distance between them also meets the relevant standards, then this group of devices meets the partitioning rules and can be determined as an interval area. In practical applications, there may be situations where some devices do not fully meet the partitioning rules. In this case, comprehensive judgment and adjustment need to be made according to the specific situation. For example, if a certain device has some differences in electrical function from other devices, but is closely adjacent to them in space and has little impact on the overall operation and maintenance, it can be considered to be included in the same interval area; conversely, if the existence of a certain device seriously affects the safety or operation independence of the interval area, it needs to be excluded.

[0137] Finally, number and label the determined interval areas, record the starting devices and associated devices included in each interval area and their identification parameters, and form detailed interval areas to provide accurate reference bases for subsequent UAV detection, equipment maintenance and management.

[0138] In one implementation manner, step S104 of dividing multiple operation areas in the interval area based on the function types of the power equipment in the interval area, as Figure 6 shown, includes:

[0139] Step S601, obtain the power equipment included in the interval area and determine the corresponding function type of the power equipment.

[0140] Accurately obtain all the power equipment information included in the interval area from the relevant data and materials recorded when partitioning the interval area before. This information may include the name, model, specification of the equipment, and its specific location in the interval area, etc. To ensure the accuracy of the acquisition, in addition to relying on existing document records, on-site investigation or communication and confirmation with the operation and maintenance personnel of the power station can also be combined. For example, by on-site checking the equipment layout in the interval area, verifying whether the actual installation situation of the equipment is consistent with the recorded information, and for some equipment with unclear labels or doubts, accurate information can be obtained by asking professional personnel.

[0141] After obtaining the information of power equipment, determine its corresponding function type according to the working principle of the power equipment and the functions it undertakes in the power system. Common function types of power equipment include power conversion (such as transformers), circuit control (such as circuit breakers, disconnectors), power measurement (such as current transformers, voltage transformers), protection and monitoring (such as relay protection devices, fault recorders), etc. For some complex power equipment, it may have multiple functions at the same time. In this case, it is necessary to comprehensively consider its main and secondary functions and reasonably determine the attribution of its function type. For example, in addition to the basic function of controlling the on-off of the circuit, an intelligent circuit breaker also integrates monitoring and protection functions. However, from its core role in the power system, its main function type can still be determined as circuit control. By accurately judging the function type of each power equipment, it provides a basic basis for the subsequent division of operation areas.

[0142] Step S602, determine the flight threshold corresponding to the UAV and the power equipment according to the function type; wherein, the flight threshold is the maximum distance between multiple UAVs when flying in the interval area.

[0143] Power equipment of different function types has different requirements and potential risks for UAV flight. Therefore, it is necessary to determine the corresponding flight threshold according to the function type of the power equipment. For power conversion equipment, such as transformers, since there is a strong electromagnetic field and possible heat dissipation space requirements around it, the UAV needs to maintain a certain safe distance when flying near it to avoid being interfered by the electromagnetic field or affecting the normal heat dissipation of the transformer. At this time, according to the specifications of the transformer, voltage level and relevant safety standards, a relatively large flight threshold is set. For example, around a high-voltage transformer, the flight threshold may be set to more than 10 meters to ensure there is enough safety interval between the UAV and the transformer.

[0144] For circuit control equipment, such as circuit breakers and disconnectors, although their electromagnetic fields are relatively weak, due to the risks of mechanical actions and arc generation during the operation of these equipment, the UAV also needs to maintain a certain safe distance when flying. Determine the corresponding flight threshold according to the type of circuit breaker and disconnector, operation mode and actual situation on site, which may generally be about 5 meters.

[0145] For power measurement and protection and monitoring equipment, their direct impact on UAV flight is relatively small. However, considering that the accuracy and reliability of these equipment may be interfered by UAV flight, it is also necessary to set appropriate flight thresholds. For example, for current transformers and voltage transformers, the flight threshold may be set to about 3 meters to ensure that UAV flight will not have an obvious impact on their measurement accuracy.

[0146] When determining the flight threshold, it is also necessary to consider the situation where multiple drones fly in the interval area simultaneously. To avoid collisions or interference between drones, factors such as the spatial size of the interval area, equipment layout, and flight performance of the drones are comprehensively considered to determine the maximum interval distance between multiple drones when flying in the interval area, that is, the flight threshold. At the same time, the flight threshold can also be dynamically adjusted according to the actual situation. For example, during equipment maintenance or in bad weather conditions, the flight threshold can be appropriately increased to improve flight safety.

[0147] Step S603, construct the operation area corresponding to the drone from within the interval area according to the flight threshold.

[0148] After determining the flight threshold, start constructing the operation area corresponding to the drone from within the interval area. First, analyze the space of the interval area, considering factors such as the location, size of the power equipment, and the flight threshold, and divide the interval area into multiple relatively independent sub-areas. Specifically, the spatial analysis function of 3D modeling software can be used to accurately calculate the spatial range around each power equipment that meets the flight threshold requirements. For example, taking a transformer as the center, according to its corresponding flight threshold, a circular safety area with a radius of 10 meters is determined. Then, this safety area is integrated and adjusted with the safety areas of other power equipment to avoid overlap or omission between the safety areas. During the integration process, factors such as the boundary and passage of the interval area also need to be considered to ensure that the drone can fly safely and smoothly within the operation area.

[0149] In one implementation, step S105 of determining the shooting point of the drone according to the type of power equipment corresponding in the operation area, the flight control parameters of the drone, and the real-time shooting content, such as Figure 7 shown, includes:

[0150] Step S701, obtain the type parameters corresponding to the power equipment, and determine the type of the power equipment according to the type parameters.

[0151] First, obtain the type parameters corresponding to the power equipment from the equipment management system of the power station, relevant design drawings, or previous equipment record documents. These type parameters may include detailed information such as the model number, function description, and technical specifications of the equipment. For example, for a transformer, its type parameters may include specific data such as rated capacity, voltage level, and number of windings.

[0152] After obtaining the type parameters, by comparing and analyzing with a pre-established equipment type database, determine the specific type of the power equipment. The equipment type database stores the type characteristics and parameter ranges of various common power equipment. By matching the obtained type parameters with the data in the database, the type of the power equipment can be accurately judged.

[0153] Step S702: Determine the target shooting content corresponding to the power equipment in the operation area based on the type.

[0154] Power equipment of different types has different structural characteristics, operation requirements, and potential fault points. Therefore, it is necessary to determine the corresponding target shooting content according to the equipment type. For transformers, the target shooting content may include the appearance of the transformer's outer shell (checking for damage, oil leakage, etc.), bushings (observing the insulation condition of the bushings and whether there are discharge marks), cooling devices (checking the operation of the fans and the heat dissipation effect of the radiators), etc. For circuit breakers, the target shooting content may focus on the contact parts (checking the wear condition of the contacts and whether the contact is good), operating mechanisms (observing whether the operating mechanisms are operating normally and whether there is jamming), insulating components (detecting the appearance and insulation performance of the insulating components), etc.

[0155] When determining the target shooting content, it is also necessary to consider the specific location of the power equipment in the operation area and the surrounding environment. For example, if the power equipment is located at a high place or in a difficult-to-reach location, key parts that can be clearly observed by the UAV need to be focused on for shooting. At the same time, combined with the operation history and common fault types of the power equipment, the shooting content is determined in a targeted manner. For some equipment parts that have had faults, the shooting frequency and angle should be increased to more comprehensively monitor the operation status of the equipment.

[0156] In addition, the target shooting content can be prioritized according to the importance of the power equipment and its impact on the operation of the power system. For key power equipment or equipment that has a greater impact on the safe operation of the system, it is necessary to ensure that all important parts can be fully shot and monitored.

[0157] Step S703: Update the flight control parameters according to the real-time shooting content and the target shooting content, and determine the shooting points of the UAV based on the updated flight control parameters.

[0158] During the flight of the UAV, images and video content of the power equipment in the operation area are shot in real time. The real-time shooting content is compared and analyzed with the target shooting content determined in step S702 to judge whether the required information has been obtained. If there are parts in the real-time shooting content that are not covered by the target shooting content, or the quality of the shot images does not meet the requirements (such as insufficient clarity, inappropriate angle, etc.), the flight control parameters need to be updated.

[0159] Flight control parameters include the flight altitude, flight speed, flight direction, shooting angle, etc. of the UAV. For example, if it is found that a key part of a power equipment is not clearly shown in the real-time shooting content due to the shooting angle problem, it is necessary to adjust the flight direction and shooting angle of the UAV so that it can shoot this part from a more appropriate angle. If the real-time shooting content shows that the UAV is too far away from the power equipment, resulting in unclear images, it is necessary to reduce the flight altitude or adjust the flight speed to get closer to the equipment for shooting.

[0160] When updating the flight control parameters, it is also necessary to consider the flight safety and obstacle avoidance requirements of the UAV. According to the distribution of obstacles in the operation area and the safety distance requirements, reasonably adjust the flight altitude and speed to ensure that the UAV will not collide with surrounding obstacles during flight. At the same time, consider the battery power and endurance of the UAV to avoid exhausting the UAV's battery power or being unable to complete the shooting task due to excessive adjustment of flight control parameters.

[0161] Based on the updated flight control parameters, combined with the map of the operation area and the location information of the power equipment, determine the shooting points of the UAV. When determining the shooting points, ensure that the UAV can hover stably and shoot the target shooting content from a suitable angle. At the same time, consider whether the flight path between the shooting points is reasonable, and try to reduce the flight time and energy consumption of the UAV. In practical applications, as the UAV flies and shoots, it may be necessary to continuously adjust and optimize the flight control parameters and shooting points according to the real-time shooting content and the target shooting content to ensure that relevant information of the power equipment can be obtained comprehensively and accurately.

[0162] In one implementation, based on the updated flight control parameters, determine the shooting points of the UAV, such as Figure 8 shown, including:

[0163] Step S801, determine the first distance between the minimum bounding volume corresponding to the UAV under the flight control parameters and the power equipment.

[0164] First, clarify the concept of the minimum bounding volume corresponding to the UAV. The minimum bounding volume refers to the smallest geometric shape that can completely enclose the UAV, and common ones include spheres, cuboids, etc. In practical applications, according to the external structure and flight attitude of the UAV, select a suitable minimum bounding volume model. For example, for a multi-rotor UAV with a relatively regular shape, a sphere can be used as the minimum bounding volume, and its radius can be determined according to the maximum size of the UAV; for some UAVs with special shapes, other shapes such as cuboids may be more suitable as the minimum bounding volume.

[0165] Then, based on the updated flight control parameters, such as flight altitude, flight direction, flight speed, etc., determine the position and attitude of the UAV in space. Utilize Geographic Information System (GIS) technology and the positioning system of the UAV (such as GPS, Beidou, etc.) to accurately obtain the real-time position coordinates of the UAV. At the same time, combine the three-dimensional model and position information of the power equipment, and calculate the distance between the minimum bounding volume of the UAV and the power equipment through spatial geometric calculation methods.

[0166] When calculating the first spacing, different parts of the power equipment need to be considered. For some complex equipment, such as transformers, the distances between different parts (such as the casing, bushings, radiators, etc.) and the minimum bounding volume of the UAV may be different. Therefore, the distances between each key part and the minimum bounding volume need to be calculated separately, and the minimum value is taken as the first spacing. In addition, the influence of the UAV's flight attitude on the spacing calculation also needs to be considered. For example, when the UAV is flying obliquely, the position and direction of its minimum bounding volume will change, and the spacing calculation needs to be adjusted accordingly.

[0167] Step S802, if the first spacing is less than or equal to the preset threshold, then determine the transition point corresponding to the shooting point based on the first spacing, and calculate the second spacing between the minimum bounding volume and the power equipment in real time at the transition point.

[0168] The preset threshold is a safety distance value preset according to factors such as the safety flight requirements of the UAV, the characteristics of the power equipment, and the requirements of the shooting task. When the first spacing is less than or equal to the preset threshold, it indicates that the distance between the UAV and the power equipment is too close, and there is a risk of collision, so the shooting point needs to be adjusted.

[0169] Determining the transition point corresponding to the shooting point based on the first spacing requires considering multiple factors. First, according to the flight performance and obstacle avoidance ability of the UAV, determine a reasonable adjustment direction and distance. For example, if the UAV is too close to the equipment in the horizontal direction, the flight position can be appropriately adjusted in the horizontal direction; if it is too close in the vertical direction, the flight altitude is adjusted. When determining the adjustment direction and distance, collisions with other equipment or obstacles should be avoided during the adjustment process.

[0170] After determining the transition point, calculate the second spacing between the minimum bounding volume and the power equipment in real time at the transition point. Similarly, use spatial geometric calculation methods, combine the position and attitude of the UAV at the transition point and the three-dimensional model of the power equipment, and accurately calculate the second spacing. During the calculation process, the position and attitude changes of the UAV need to be monitored in real time to ensure the accuracy of the calculation results. If significant changes in the position or attitude of the UAV are found during the calculation of the second spacing, the second spacing needs to be recalculated in a timely manner.

[0171] In step S803, after updating the flight control parameters to make the second spacing greater than the preset threshold, obtain the shooting point corresponding to the transition point.

[0172] When the second spacing is less than the preset threshold, it indicates that the transition point still does not meet the safety requirements and the flight control parameters need to be further updated. The ways to update the flight control parameters include adjusting the flight altitude, changing the flight direction, adjusting the flight speed, etc. When adjusting the flight control parameters, certain principles should be followed, such as minimizing the impact on the shooting task and ensuring the flight stability and safety of the UAV.

[0173] For example, if adjusting the flight altitude can make the second spacing greater than the preset threshold and does not affect the shooting angle and range of the power equipment, then adjusting the flight altitude is preferred. During the process of adjusting the flight control parameters, the change of the second spacing should be monitored in real time. When the second spacing is greater than the preset threshold, it is considered that the UAV is in a safe flight position at this time.

[0174] Obtain the shooting point corresponding to the transition point. At this time, the shooting point is a position that can better complete the shooting task on the premise of meeting the safety distance requirements. The shooting point can be fine-tuned according to the specific requirements of the shooting task, such as the shooting angle, shooting range, etc. For example, if a specific part of the power equipment needs to be shot and the current shooting angle of the shooting point is not appropriate, the flight direction and attitude of the UAV can be appropriately adjusted on the basis of ensuring the safety distance to obtain the best shooting angle. In practical applications, it may be necessary to update the flight control parameters and adjust the shooting point multiple times to find the best shooting point that meets both safety requirements and high-quality shooting.

[0175] As Figure 9 shown in the flowchart of another UAV route generation method, first obtain the corresponding 3D modeling diagram based on the target substation type, and then generate the equipment areas of different voltage levels in the 3D modeling diagram of the target substation based on the positions of the substation equipment of different voltage levels in the 3D modeling diagram; then determine the intervals in the equipment area based on the allocation rules in the equipment area, and then determine the substation equipment in the interval area based on the equipment functions in the interval, and finally generate the final route based on the substation equipment.

[0176] Specifically, 3D modeling diagrams of different types of substations are stored in the relevant modeling platform. According to the specified type, select the 3D modeling diagram of the substation that matches the specified type from this platform.

[0177] Then determine the locations of the 750 kV equipment area, 66 kV equipment area, 220 kV equipment area, No. 1 main transformer area, and No. 2 main transformer area in the substation, and draw area bounding lines for the 750 kV equipment area, 66 kV equipment area, 220 kV equipment area, No. 1 main transformer area, and No. 2 main transformer area respectively. Furthermore, determine the substation equipment areas of the 750 kV equipment area, 66 kV equipment area, 220 kV equipment area, No. 1 main transformer area, and No. 2 main transformer area.

[0178] The substation equipment areas of the 750 kV equipment area include: high-voltage reactor bays, outgoing line bays, and switch bays. The No. 1 main transformer area includes the No. 1 main transformer bay. The No. 2 main transformer area includes the No. 2 main transformer bay. The substation equipment areas of the 66 kV equipment area include the No. 1 main transformer side bay, No. 2 main transformer side bay, shunt capacitor bay, No. 1 station service transformer bay, etc. The 220 kV equipment area includes the I bus bay, II bus bay, etc.

[0179] Subsequently, determine the substation equipment in the substation equipment areas of the 750 kV equipment area. For example, the high-voltage reactor bay includes high-voltage reactors, lightning arresters, disconnectors, neutral point reactors, and neutral point lightning arresters; the outgoing line bay includes circuit breakers, disconnectors, lightning arresters, etc. The switch bay includes circuit breakers, disconnectors, lightning arresters, etc. Determine the substation equipment in the substation equipment areas of the 66 kV equipment area. For example, the No. 4 shunt capacitor bay includes the No. 4 shunt capacitor, lightning arrester, earthing switch, shunt reactor, current transformer, circuit breaker, disconnector, etc. Determine the substation equipment in the substation equipment areas of the 220 kV equipment area. For example, the 21607 first line bay includes voltage transformers, disconnectors, current transformers, circuit breakers, etc.

[0180] Taking the lightning arrester in the 750 kV equipment area - 71510 a certain line high-voltage reactor bay - 7505DK-8 as an example, first preliminarily determine the shooting points of the lightning arrester, and each shooting point has a corresponding window to display virtual shooting content. Through the shooting window, it can be determined whether the virtual shooting content corresponding to the shooting point of the lightning arrester is accurate. Then first adjust the orientation of the UAV to a suitable position and adjust the shooting of the UAV's pod. Specifically, the shooting direction of the pod can be adjusted by the yaw angle and pitch angle of the pod. Since the adjustment angle of the pod is 180 degrees horizontally and 180 degrees vertically, it is necessary to first adjust the orientation of the UAV. The orientation of the UAV can achieve 360 degrees, thus making up for the deficiency that the pod cannot photograph the lightning arrester.

[0181] By obtaining the distances between the shooting point and the lightning arrester, other adjacent devices, the ground, the wall, the transmission lines of the substation, and the equipment connection lines, it is possible to prevent the drone from touching the ground, other adjacent devices, the wall, the transmission lines of the substation, and the equipment connection lines at the shooting point. Among them, the transmission lines of the substation and the equipment connection lines are both composed of point cloud data. That is to say, the point cloud maps of the transmission lines of the substation and the equipment connection lines can be seen on the TigerView platform. In the specific implementation process, an enclosing volume containing the minimum size of the drone can be constructed to verify whether the distance between the enclosing volume and the surrounding objects meets the actual measured distance. The enclosing volume will not be displayed on the 3D modeling map.

[0182] When the drone is shooting the reading of the lightning arrester leakage ammeter, the height of the drone should be on the same horizontal line as the leakage ammeter. Because if it is lower than the horizontal line height of the leakage ammeter and the reading of the leakage ammeter is taken in the form of the pitch angle, it may cause the wings of the drone to be captured.

[0183] By determining the transition points between the shooting points, it is possible to prevent the drone from touching the ground, other adjacent devices, the wall, the transmission lines of the substation, etc. Specifically, a transition point can be added after the shooting point or before the shooting point. Both the shooting point and the transition point have labels for the flight order of the drone. When adding a point after the shooting point or the transition point, the subsequent points will automatically update the order. Similarly, when adding a point before the shooting point or the transition point. For example, when adding a point before point 2, then point 2 becomes point 3, and the added point becomes point 2. The transition point is only a point for the drone to bypass obstacles and there is no shooting action, but the orientation of the drone also needs to be adjusted at the transition point. Specifically, as Figure 10 shown in the flowchart of a method for generating a drone flight path that includes transition points, which will not be elaborated here.

[0184] The flight path is automatically connected and generated according to the point order. After the flight path is generated, it is also necessary to check whether the flight path touches the ground, other adjacent devices, the wall, the transmission lines of the substation, etc. If the flight path touches the ground, other adjacent devices, the wall, the transmission lines of the substation, etc., there will be a risk prompt and it can be highlighted in the 3D map. At this time, it is necessary to determine whether the distance between the flight path and the ground, other adjacent devices, the wall, the transmission lines of the substation, etc. is greater than the actual measured distance. The actual measured distance is the minimum distance at which the drone will touch in the actual substation scenario. Because in some modeling platforms, this actual measured distance will be enlarged, so a red-highlighted area will be displayed on the platform. However, since the readings of some meters in the substation equipment are small and the drone needs to take close-up shots, some of the red-highlighted positions are unavoidable.

[0185] After the flight route is determined, it is necessary to determine the take-off point and draw the take-off route and the return route. The take-off route is connected to the first point of the drone's inspection route, and the return route is connected to the last point of the drone's inspection route. Finally, the drawn flight route of the drone is displayed on the display unit of the platform, and the flight route has waypoints and routes.

[0186] In summary, the drone route generation method in the embodiments of the present invention can visually simulate the inspection process of the power station, accurately obtain the high-precision shooting points of the drone by accurately acquiring the interval area, thereby generating accurate and reliable inspection routes, and reducing the probability of drone damage.

[0187] For the drone route generation method provided in the foregoing embodiments, the embodiments of the present invention provide a drone route generation system, and the system is as Figure 11 shown, including:

[0188] A 3D modeling construction module 1110, configured to obtain a 3D modeling diagram corresponding to the power station based on the type parameters of the power station;

[0189] An equipment area construction module 1120, configured to determine the preset power characteristic data of the power station in the 3D modeling diagram, and construct the equipment area corresponding to the power station based on the preset power characteristic data;

[0190] An interval area construction module 1130, configured to divide the interval area in the equipment area based on the division rule;

[0191] A work area construction module 1140, configured to divide a plurality of work areas in the interval area based on the functional types of the power equipment in the interval area

[0192] A shooting point determination module 1150, configured to determine the shooting points of the drone according to the types of the power equipment corresponding in the work area, the flight control parameters of the drone, and the real-time shooting content;

[0193] A route generation construction module 1160, configured to generate the route of the drone based on the shooting points.

[0194] The implementation principle and the technical effects generated by the drone route generation system provided by the embodiments of the present invention are the same as those of the foregoing drone route generation method embodiments. For the sake of brief description, for the parts not mentioned in the device embodiments, reference may be made to the corresponding contents in the foregoing drone route generation method embodiments.

[0195] The drone route generation system provided by the embodiments of the present invention can visually simulate the inspection process of the power station, accurately obtain the high-precision shooting points of the drone by accurately acquiring the interval area, thereby generating accurate and reliable inspection routes, and reducing the probability of drone damage.

[0196] This embodiment also provides an aircraft, such as Figure 12 shown. In the process of flight positioning control, the aircraft adopts the steps of the UAV route generation method provided in the above embodiment.

[0197] This embodiment also provides an electronic device. The structural schematic diagram of the electronic device is as Figure 13 shown. The system includes a processor 101 and a memory 102. Among them, the memory 102 is used to store one or more computer instructions, and the one or more computer instructions are executed by the processor to implement the steps of the above UAV route generation method.

[0198] Figure 13 The electronic device shown also includes a bus 103 and a communication interface 104. The processor 101, the communication interface 104, and the memory 102 are connected through the bus 103.

[0199] Among them, the memory 102 may include a high-speed random access memory (RAM, Random Access Memory), and may also include a non-volatile memory, such as at least one disk memory. The bus 103 may be an ISA bus, a PCI bus, an EISA bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For the sake of representation, Figure 13 only a bidirectional arrow is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0200] The communication interface 104 is used to connect to at least one user terminal and other network units through a network interface, and send the encapsulated IPv4 packet or IPv4 packet to the user terminal through the network interface.

[0201] The processor 101 may be an integrated circuit chip with the ability to process signals. In the implementation process, each step of the above method can be completed by the integrated logic circuit of the hardware in the processor 101 or the instructions in the form of software. The above-mentioned processor 101 may be a general-purpose processor, including a central processing unit (CPU for short), a network processor (NP for short), etc.; it may also be a digital signal processor (DSP for short), an application specific integrated circuit (ASIC for short), a field-programmable gate array (FPGA for short), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. It can implement or execute the various methods, steps and logic block diagrams disclosed in the embodiments of the present disclosure. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. The steps of the method disclosed in combination with the embodiments of the present disclosure can be directly embodied as being executed and completed by a hardware decoding processor, or executed and completed by a combination of hardware and software modules in the decoding processor. The software module may be located in a mature storage medium in the art such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. This storage medium is located in the memory 102, and the processor 101 reads the information in the memory 102 and combines its hardware to complete the steps of the method in the foregoing embodiments.

[0202] An embodiment of the present invention further provides a storage medium, on which a computer program is stored, and when the computer program is run by a processor, it executes the steps of the method for generating an unmanned aerial vehicle flight path in the foregoing embodiments.

[0203] In several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. The device embodiments described above are only illustrative. For example, the division of the units is only a logical function division, and there may be other division methods in actual implementation. For another example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection to each other may be through some communication interfaces, and the indirect coupling or communication connection of devices or units may be in an electrical, mechanical or other form.

[0204] The unit described as a separation component may or may not be physically separated. The component displayed as a unit may or may not be a physical unit, that is, it may be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0205] In addition, each functional unit in various embodiments of the present invention may be integrated into a processing unit, may exist separately as individual physical units, or two or more units may be integrated into one unit.

[0206] If the described function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a non-volatile computer-readable storage medium executable by a processor. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or part of this technical solution can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs that can store program codes.

[0207] Finally, it should be noted that the above-described embodiments are only specific implementation manners of the present invention, used to illustrate the technical solutions of the present invention, rather than limiting it. The protection scope of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that any person skilled in the art within the technical scope disclosed by the present invention can still modify the technical solutions recorded in the foregoing embodiments or easily think of changes, or make equivalent replacements for some of the technical features; and these modifications, changes, or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. A method for generating a drone flight path, characterized in that, The method includes: Obtaining a three-dimensional modeling diagram corresponding to the power station based on the type parameters of the power station; Determining preset power characteristic data of the power station in the three-dimensional modeling diagram, and constructing a corresponding equipment area for the power station based on the preset power characteristic data; Dividing an interval area in the equipment area based on a division rule; Dividing a plurality of operation areas in the interval area based on the functional types of power equipment in the interval area; Determining the shooting points of the drone according to the types of the power equipment corresponding to the operation area, the flight control parameters of the drone, and the real-time shooting content; Generating a flight path of the drone based on the shooting points.

2. The method for generating a drone flight path according to claim 1, wherein Generating a flight path of the drone based on the shooting points includes: Determining a safety detection rule of the drone based on the obstacle avoidance data of the drone; Obtaining a first collision risk value of the drone at the shooting point by using the safety detection rule; Obtaining the power equipment included between adjacent shooting points by using the safety detection rule, and obtaining a second collision risk value corresponding to the drone and the power equipment; Generating the flight path according to the first collision risk value and the second collision risk value.

3. The method for generating a drone flight path according to claim 1, wherein, After generating the flight path of the drone based on the shooting points, it further includes: Determining other operation areas with the same functional type as the power equipment corresponding to the operation area; Copying the flight path of the drone to the other operation areas.

4. The method for generating a drone flight path according to claim 1, wherein, Dividing an interval area in the equipment area based on a division rule, including: Obtaining a circuit diagram corresponding to the equipment area; Identifying the power equipment included in the circuit diagram, and determining identification parameters of the power equipment in the circuit diagram; Determining the corresponding interval area of the power equipment based on the identification parameters and by using the division rule; wherein, the division rule is used to divide the power equipment into a plurality of adjacent interval areas.

5. The method for generating a drone flight path according to claim 4, wherein Determining the corresponding interval area of the power equipment based on the identification parameters and by using the division rule includes: Obtaining the busbars and transmission lines included in the power equipment, and determining a starting device in the power equipment that is connected to both the busbars and the transmission lines; Determining associated devices adjacent to the starting device in sequence on the transmission line, and determining the starting device and the associated devices that meet the division rule as the interval area.

6. The method for generating a drone flight path according to claim 1, characterized in that Dividing a plurality of operation areas in the interval area based on the functional types of power equipment in the interval area, including: Obtaining the power equipment included in the interval area, and determining the corresponding functional type of the power equipment; Determining a flight threshold corresponding to the drone and the power equipment according to the functional type; wherein, the flight threshold is the maximum interval distance between a plurality of drones when flying in the interval area; Constructing the corresponding operation area of the drone from within the interval area according to the flight threshold.

7. The method for generating a drone flight path according to claim 1, wherein Determining the shooting points of the drone according to the types of the power equipment corresponding to the operation area, the flight control parameters of the drone, and the real-time shooting content, including: Obtain the type parameters corresponding to the power equipment, and determine the type of the power equipment according to the type parameters; Based on the type, determine the target shooting content corresponding to the power equipment in the operation area; Update the flight control parameters according to the real-time shooting content and the target shooting content, and determine the shooting position of the drone based on the updated flight control parameters.

8. The method for generating a drone flight path according to claim 7, wherein, Determining the shooting position of the drone based on the updated flight control parameters includes: Determine the first distance between the minimum bounding volume corresponding to the drone under the flight control parameters and the power equipment; If the first distance is less than or equal to a preset threshold, determine the transition position corresponding to the shooting position based on the first distance, and calculate the second distance between the minimum bounding volume and the power equipment at the transition position in real time; After updating the flight control parameters so that the second distance is greater than the preset threshold, obtain the shooting position corresponding to the transition position.

9. A UAV route generation system, characterized in that, The system includes: A 3D modeling construction module for obtaining the 3D modeling diagram corresponding to the power station based on the type parameters of the power station; An equipment area construction module for determining the preset power characteristic data of the power station in the 3D modeling diagram and constructing the equipment area corresponding to the power station based on the preset power characteristic data; An interval area construction module for dividing the interval area in the equipment area based on the division rule; An operation area construction module for dividing a plurality of operation areas in the interval area based on the functional type of the power equipment in the interval area A shooting position determination module for determining the shooting position of the drone according to the type of the power equipment corresponding to the operation area, the flight control parameters of the drone and the real-time shooting content; A flight route generation construction module for generating the flight route of the drone based on the shooting position.

10. An aircraft, characterized in that, The aircraft adopts the steps of the drone flight route generation method according to any one of claims 1 to 8 in the process of inspecting and controlling the target substation.

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