Transformer substation inspection path planning method of unmanned aerial vehicle and related equipment

Abstract

The invention belongs to the technical field of unmanned aerial vehicle inspection, and discloses a transformer substation inspection path planning method of an unmanned aerial vehicle and related equipment, and the method comprises the steps: obtaining the equipment position and the corresponding equipment type of each equipment of a transformer substation, generating an initial inspection sub-path corresponding to each equipment based on preset inspection requirement information in combination with the equipment type, optimizing a fitness function by using a preset sub-path trajectory, calculating the inspection speed and the inspection distance of the initial inspection sub-path according to the equipment type to obtain an inspection sub-path corresponding to each equipment, and connecting the inspection sub-path corresponding to each equipment according to the equipment position to obtain a substation inspection path of the unmanned aerial vehicle; through the device position, the routing inspection sub-paths corresponding to the devices obtained through calculation based on the preset routing inspection requirement information, the device type and the preset sub-path trajectory optimization fitness function are connected, the transformer substation routing inspection path of the unmanned aerial vehicle is obtained, and the unmanned aerial vehicle routing inspection efficiency of the transformer substation is improved.

Description

Technical Field

[0001] This application relates to the technical field of unmanned aerial vehicle (UAV) inspection of substations. Specifically, it relates to a method for planning inspection paths of UAVs in substations and related equipment. Background Art

[0002] With the rapid development of the power system, the number and complexity of substation equipment have been increasing continuously, and the requirements for substation inspection have also become higher and higher. Traditional substation inspection methods mainly include manual inspection and inspection by wheeled robots. However, these methods have problems such as limited coverage, poor terrain adaptability, and difficulty in detecting high-altitude equipment. To solve these problems, UAV inspection technology has gradually been introduced into the field of substation inspection. UAVs have the advantages of high flexibility, wide coverage, and the ability to quickly reach designated positions, and can effectively improve the inspection efficiency and quality.

[0003] Although UAV inspection technology can improve the inspection efficiency of substations, the existing path planning methods still have significant deficiencies: Firstly, most of the existing methods use general path planning algorithms and do not conduct differential design according to the inspection requirements of different equipment in the substation. For example, oil-immersed transformers need to be inspected by surrounding, while other equipment only needs to be inspected from above, resulting in uneven inspection quality; Secondly, the inspection speed of UAVs usually uses a fixed value or simple task-level adjustment, and fails to dynamically adjust according to the importance or risk level of the equipment, making it difficult for high-risk equipment to obtain more refined inspection guarantees.

[0004] Therefore, in order to solve the technical problems that the existing substation inspection methods do not fully consider the special inspection requirements of different equipment in the substation and do not fully consider the importance and risk degree of different equipment when planning paths for UAVs, a method for planning inspection paths of UAVs in substations and related equipment is urgently needed. Summary of the Invention

[0005] The purpose of this application is to provide a method for planning inspection paths of UAVs in substations and related equipment. By using the equipment positions, the inspection sub-paths corresponding to each equipment are connected by calculating based on the preset inspection requirement information, equipment types, and the optimized fitness function of the sub-path trajectory, to obtain the inspection path of the UAV in the substation, solving the problems that the existing substation inspection methods do not fully consider the special inspection requirements of different equipment in the substation and do not fully consider the importance and risk degree of different equipment. By calculating the inspection speed and inspection distance according to the equipment type to generate the inspection sub-path of each equipment, the inspection efficiency of UAVs in substations is improved.

[0006] In a first aspect, this application provides a method for planning inspection paths of UAVs in substations, including: Obtain the equipment layout diagram of the substation; the equipment layout diagram includes the equipment positions of each equipment in the substation and the corresponding equipment types; Based on the preset inspection requirement information, and in combination with the equipment types, generate initial inspection sub-paths corresponding to each equipment; Utilize the preset sub-path trajectory optimization fitness function, and according to the equipment types, calculate the inspection speed and inspection distance of the initial inspection sub-paths, to obtain the inspection sub-paths corresponding to each equipment; According to the equipment positions, connect the inspection sub-paths corresponding to each equipment to obtain the inspection path of the unmanned aerial vehicle (UAV) for the substation.

[0007] The method for planning the inspection path of the UAV for the substation provided by this application can realize the planning of the inspection path of the UAV for the substation. By the equipment positions, connect the inspection sub-paths corresponding to each equipment calculated based on the preset inspection requirement information, equipment types, and the preset sub-path trajectory optimization fitness function, to obtain the inspection path of the UAV for the substation, and solve the problems that the existing substation inspection methods do not fully consider the special inspection requirements of different equipment in the substation and do not fully consider the importance and risk levels of different equipment when planning the path for the UAV. Calculate the inspection speed and inspection distance through the equipment types to generate the inspection sub-path for each equipment, and improve the inspection efficiency of the UAV for the substation.

[0008] Optionally, based on the preset inspection requirement information, and in combination with the equipment types, generating the initial inspection sub-paths corresponding to each equipment includes: According to the equipment types, extract the inspection requirements corresponding to each equipment from the preset inspection requirement information; Based on the inspection requirements, generate the initial inspection sub-paths corresponding to each equipment.

[0009] Optionally, utilize the preset sub-path trajectory optimization fitness function, and according to the equipment types, calculate the inspection speed and inspection distance of the initial inspection sub-paths, to obtain the inspection sub-paths corresponding to each equipment, including: According to the equipment types, determine the speed adjustment coefficients and distance adjustment coefficients corresponding to each equipment; Input the speed adjustment coefficients and distance adjustment coefficients corresponding to each equipment into the preset sub-path trajectory optimization fitness function, calculate the inspection speed and inspection distance of the initial inspection sub-paths corresponding to each equipment, to obtain the inspection sub-paths corresponding to each equipment.

[0010] The substation inspection path planning method for drones provided by this application can plan the inspection path of drones for substations, determine the speed adjustment coefficient and distance adjustment coefficient based on the equipment type, input the speed adjustment coefficient and distance adjustment coefficient into a preset sub-path trajectory optimization fitness function to calculate the inspection speed and inspection distance of the initial inspection sub-path, obtain the inspection sub-path corresponding to each equipment, and through the dynamic mapping mechanism between the equipment type and the speed adjustment coefficient and between the equipment type and the distance adjustment coefficient, combined with the sub-path trajectory optimization fitness function, form an adaptive speed control mode and an adaptive distance control mode for different equipment characteristics, improving the inspection efficiency of drones for substations.

[0011] Optionally, determining the speed adjustment coefficient and distance adjustment coefficient corresponding to each of the equipment according to the equipment type includes: Determining the importance level of each of the equipment from a preset type importance table according to the equipment type; Based on the importance level, determining the speed adjustment coefficient and the corresponding distance adjustment coefficient corresponding to each of the equipment from a preset inspection coefficient level table.

[0012] Optionally, inputting the speed adjustment coefficient and distance adjustment coefficient corresponding to each of the equipment into a preset sub-path trajectory optimization fitness function, calculating the inspection speed and inspection distance of the initial inspection sub-path corresponding to each of the equipment, and obtaining the inspection sub-path corresponding to each of the equipment includes: Inputting the speed adjustment coefficient and distance adjustment coefficient corresponding to each of the equipment into a preset sub-path trajectory optimization fitness function, and calculating the inspection speed and inspection distance of the drone when inspecting each of the equipment; Based on the inspection speed and the inspection distance, optimizing the initial inspection sub-path of each of the equipment to obtain the inspection sub-path corresponding to each of the equipment.

[0013] The substation inspection path planning method for drones provided by this application can plan the inspection path of drones for substations, input the speed adjustment coefficient and distance adjustment coefficient into the sub-path trajectory optimization fitness function to generate a parameter combination of inspection speed and inspection distance that meets the equipment characteristic requirements, substitute the parameter combination of inspection speed and inspection distance into the initial inspection sub-path for optimization, form an inspection sub-path that meets the equipment characteristic requirements, and perform drone inspection through the inspection sub-path, realizing dynamic inspection of substation equipment based on the equipment type.

[0014] Optionally, the preset sub-path trajectory optimization fitness function involves an objective function constructed based on a trajectory smoothing function, a collision avoidance function, a dynamic feasibility function, an inspection speed constraint function, and an inspection distance constraint function.

[0015] Optionally, according to the device positions, connect the inspection sub-paths corresponding to each of the devices to obtain the substation inspection path of the drone, including: Determine the starting points and ending points in the inspection sub-paths corresponding to each of the devices; According to the device positions, sequentially connect the starting points and the ending points of the corresponding devices to obtain the substation inspection path of the drone.

[0016] In a second aspect, the present application provides a device for planning a substation inspection path of a drone, including: An acquisition module, configured to acquire a device layout diagram of a substation; the device layout diagram includes the device positions and corresponding device types of each device in the substation; A generation module, configured to generate initial inspection sub-paths corresponding to each of the devices based on preset inspection requirement information and in combination with the device types; A calculation module, configured to use a preset sub-path trajectory optimization fitness function to calculate the inspection speed and inspection distance of the initial inspection sub-path according to the device types, and obtain the inspection sub-paths corresponding to each of the devices; A connection module, configured to connect the inspection sub-paths corresponding to each of the devices according to the device positions to obtain the substation inspection path of the drone.

[0017] The device for planning a substation inspection path of the drone connects the inspection sub-paths corresponding to each device calculated based on preset inspection requirement information, device types, and a preset sub-path trajectory optimization fitness function through the device positions to obtain the substation inspection path of the drone, and solves the problems that the existing substation inspection methods do not fully consider the special inspection requirements of different devices in the substation and do not fully consider the importance and risk levels of different devices when planning the path for the drone. By calculating the inspection speed and inspection distance according to the device types to generate the inspection sub-path of each device, the inspection efficiency of the drone in the substation is improved.

[0018] In a third aspect, the present application provides an electronic device, including a processor and a memory, where the memory stores a computer program executable by the processor, and when the processor executes the computer program, it runs the steps in the method for planning a substation inspection path of a drone as described above.

[0019] In a fourth aspect, the present application provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it runs the steps in the method for planning a substation inspection path of a drone as described above.

[0020] Beneficial effects: The method for planning the inspection path of a substation by an unmanned aerial vehicle and related devices provided in this application connect the inspection sub-paths corresponding to each device calculated based on the preset inspection requirement information, device type, and the preset sub-path trajectory optimization fitness function through the device positions to obtain the inspection path of the substation by the unmanned aerial vehicle, solving the problems that the existing substation inspection methods do not fully consider the special inspection requirements of different devices in the substation and do not fully consider the importance and risk levels of different devices when planning the path for the unmanned aerial vehicle. By calculating the inspection speed and inspection distance based on the device type to generate the inspection sub-path of each device, the inspection efficiency of the unmanned aerial vehicle in the substation is improved. Description of the Drawings

[0021] Figure 1 It is a flowchart of the method for planning the inspection path of a substation by an unmanned aerial vehicle provided in an embodiment of this application.

[0022] Figure 2 It is a schematic structural diagram of the device for planning the inspection path of a substation by an unmanned aerial vehicle provided in an embodiment of this application.

[0023] Figure 3 It is a schematic structural diagram of the electronic device provided in an embodiment of this application.

[0024] Figure 4 It is a schematic diagram of the initial inspection sub-path of an oil-immersed transformer.

[0025] Label description: 1. Acquisition module; 2. Generation module; 3. Calculation module; 4. Connection module; 301. Processor; 302. Memory; 303. Communication bus. Detailed Embodiments

[0026] Next, the technical solutions in the embodiments of this application will be clearly and completely described in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all the embodiments. Usually, the components of the embodiments of this application described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the drawings is not intended to limit the scope of this application that is required to be protected, but only represents the selected embodiments of this application. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative efforts belong to the scope of protection of this application.

[0027] It should be noted that: Similar reference numerals and letters represent similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. At the same time, in the description of this application, terms such as "first" and "second" are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0028] Please refer to Figure 1 , Figure 1 which is a method for planning the inspection path of an unmanned aerial vehicle (UAV) in a substation in some embodiments of the present application, and is used to plan the inspection path of the UAV in the substation, including the steps of: Step S101, obtaining the equipment layout diagram of the substation; the equipment layout diagram includes the equipment positions and corresponding equipment types of each equipment in the substation; Step S102, based on the preset inspection requirement information and combined with the equipment type, generating an initial inspection sub-path corresponding to each equipment; Step S103, using the preset sub-path trajectory optimization fitness function, calculating the inspection speed and inspection distance of the initial inspection sub-path according to the equipment type, and obtaining the inspection sub-path corresponding to each equipment; Step S104, connecting the inspection sub-paths corresponding to each equipment according to the equipment positions to obtain the inspection path of the UAV in the substation.

[0029] The method for planning the inspection path of the UAV in the substation connects the inspection sub-paths corresponding to each equipment calculated based on the preset inspection requirement information, equipment type, and preset sub-path trajectory optimization fitness function through the equipment positions to obtain the inspection path of the UAV in the substation, solving the problems that the existing substation inspection methods do not fully consider the special inspection requirements of different equipment in the substation and do not fully consider the importance and risk levels of different equipment when planning the path of the UAV. By calculating the inspection speed and inspection distance according to the equipment type to generate the inspection sub-path of each equipment, the inspection efficiency of the UAV in the substation is improved.

[0030] Specifically, in step S101, the equipment layout diagram of the substation is obtained, and the equipment layout diagram includes the equipment positions and corresponding equipment types of each equipment in the substation. Among them, the equipment layout diagram refers to a two-dimensional or three-dimensional model of the substation containing equipment spatial coordinates and type attributes, and specifically can be constructed by combining CAD drawings with GPS positioning data.

[0031] Specifically, in step S102, based on the preset inspection requirement information and combined with the equipment type, generating an initial inspection sub-path corresponding to each equipment, including: Extracting the inspection requirements corresponding to each equipment from the preset inspection requirement information according to the equipment type; Generating an initial inspection sub-path corresponding to each equipment based on the inspection requirements.

[0032] In step S102, according to the equipment type of the substation, the corresponding inspection requirements are determined from the preset inspection requirement information. Among them, the equipment types of the substation can be divided into oil-immersed transformers, current transformers, voltage transformers, lightning arresters, circuit breakers, disconnectors, busbars, meters, and other equipment. Other equipment includes power metering devices, communication equipment, DC power supply systems, monitoring systems, etc. Among them, the inspection requirements for oil-immersed transformers are to look around, look down, and look up; the inspection requirements for current transformers are to look down; the inspection requirements for voltage transformers are to look down; the inspection requirements for lightning arresters are to look down, look up, and look straight ahead; the inspection requirements for circuit breakers are to look down, look up, and look straight ahead; the inspection requirements for disconnectors are to look down; the inspection requirements for busbars are to look up; the requirements for other equipment are to quickly and simply look down; the requirements for meters are to slowly look down.

[0033] According to the inspection requirements of different equipment types, determine the movement direction and shooting direction of the UAV, and generate a customized initial inspection sub-path to achieve a more systematic and accurate inspection task.

[0034] For example, as Figure 4 shown, Figure 4 is a schematic diagram of the initial inspection sub-path of an oil-immersed transformer. Among them, A is the oil-immersed transformer. The solid arrow represents the movement direction of the UAV, the dashed arrow represents the shooting direction of the UAV, and the dashed line represents the initial inspection sub-path. The initial inspection sub-path of the oil-immersed transformer adopts a combination of horizontal and vertical panoramic views (either horizontal panoramic view first and then vertical panoramic view, or vertical panoramic view first and then horizontal panoramic view), which can better meet the inspection requirements of the oil-immersed transformer.

[0035] Specifically, in step S103, using the preset sub-path trajectory optimization fitness function, according to the equipment type, calculate the inspection speed and inspection distance of the initial inspection sub-path to obtain the inspection sub-path corresponding to each equipment, including: According to the equipment type, determine the speed adjustment coefficient and the corresponding distance adjustment coefficient for each equipment; Input the speed adjustment coefficient and the corresponding distance adjustment coefficient for each equipment into the preset sub-path trajectory optimization fitness function, calculate the inspection speed and inspection distance of the initial inspection sub-path corresponding to each equipment, and obtain the inspection sub-path corresponding to each equipment.

[0036] Specifically, in step S103, according to the equipment type, determine the speed adjustment coefficient and the corresponding distance adjustment coefficient for each equipment, including: According to the equipment type, determine the importance level of each equipment from the preset type importance table; Based on the importance level, determine the speed adjustment coefficient and the corresponding distance adjustment coefficient for each equipment from the preset inspection coefficient level table.

[0037] In step S103, the type importance table refers to a pre-established correspondence table between device types and importance levels, which can be specifically implemented by means of database storage. It is used to classify substation devices into different importance levels according to their types. After obtaining the device type information, the corresponding importance level data is automatically queried from the type importance table. For example, the device types are divided into 4 importance levels. The first level includes devices with lower importance and risk levels in the substation, such as power metering devices, communication devices, DC power supply systems, monitoring systems, and other devices. The second level includes devices with moderate importance and risk levels in the substation, mainly devices such as busbars. The third level includes devices with high importance and risk levels in the substation, including oil-immersed transformers, current transformers, voltage transformers, lightning arresters, circuit breakers, disconnectors, and other devices. The fourth level includes some devices such as meters that require readings in the substation, including oil level gauges, pressure gauges, leakage current meters, and other meters. For the inspection of these meters, the UAV is required to hover and take pictures to obtain clearer and more readable meter information.

[0038] The inspection coefficient level table refers to a pre-established mapping relationship table between importance levels and speed adjustment coefficients and between importance levels and distance adjustment coefficients, which can be specifically implemented by means of a two-dimensional array data structure. It is used to convert device importance into quantifiable speed control parameters and distance control parameters. After obtaining the importance level of the device, the corresponding speed adjustment coefficient and distance adjustment coefficient are automatically queried from the inspection coefficient level table. For example, for devices in the first level (i.e., devices with lower importance and risk levels in the substation), the UAV is required to have a fast inspection speed and a long inspection distance. Therefore, the maximum speed adjustment coefficient and the maximum distance adjustment coefficient are set (e.g., the speed adjustment coefficient is set to 1, and the distance adjustment coefficient is set to 1). For devices in the second level (i.e., devices with moderate importance and risk levels in the substation), the UAV is required to have a moderate inspection speed and a moderate inspection distance. Therefore, the second-largest speed adjustment coefficient and the second-largest distance adjustment coefficient are set (e.g., the speed adjustment coefficient is set to 0.6, and the distance adjustment coefficient is set to 0.5). For devices in the third level (i.e., devices with high importance and risk levels in the substation), the UAV is required to have a slow inspection speed and a moderate inspection distance. Therefore, the third-largest speed adjustment coefficient and the second-largest distance adjustment coefficient are set (e.g., the speed adjustment coefficient is set to 0.3, and the distance adjustment coefficient is set to 0.5). For devices in the fourth level (i.e., meters such as those that require readings in the substation), the UAV is required to have an inspection speed of 0 and a moderate inspection distance. Therefore, the smallest speed adjustment coefficient and the second-largest distance adjustment coefficient are set (e.g., the speed adjustment coefficient is set to 0, and the distance adjustment coefficient is set to 0.5).

[0039] Specifically, in step S103, the speed adjustment coefficient and distance adjustment coefficient corresponding to each device are input into a preset sub-path trajectory optimization fitness function to calculate the inspection speed and inspection distance of the initial inspection sub-path corresponding to each device, and the inspection sub-path corresponding to each device is obtained, including: Input the speed adjustment coefficient and distance adjustment coefficient corresponding to each device into a preset sub-path trajectory optimization fitness function, and calculate the inspection speed and inspection distance of the drone when inspecting each device; Based on the inspection speed and inspection distance, optimize the initial inspection sub-path of each device to obtain the inspection sub-path corresponding to each device.

[0040] In step S103, input the speed adjustment coefficient and distance adjustment coefficient corresponding to each device into the sub-path trajectory optimization fitness function for numerical calculation, and use existing algorithms such as the gradient descent method or genetic algorithm to automatically generate a parameter combination of inspection speed and inspection distance that meets the device characteristic requirements. For example, for the third-level device, output a parameter combination of a slower inspection speed and a moderate inspection distance to prompt the drone to generate a fine inspection trajectory. Among them, existing algorithms such as the gradient descent method or genetic algorithm are prior arts and will not be elaborated here.

[0041] Among them, the preset sub-path trajectory optimization fitness function involves an objective function constructed based on a trajectory smoothing function, a collision avoidance function, a dynamic feasibility function, an inspection speed constraint function, and an inspection distance constraint function. The preset sub-path trajectory optimization fitness function is specifically: ; Among them, is the value of the sub-path trajectory optimization fitness function (i.e., the value of the objective function); is other fitness functions, including a trajectory smoothing function, a collision avoidance function, and a dynamic feasibility function; is the weight of other fitness functions; is the inspection speed constraint function; is the weight of the drone speed adjustment term; v is the inspection speed of the drone; is the speed adjustment coefficient; is the basic inspection speed of the drone (i.e., the inspection speed at the first level) and can be set according to actual needs; is the inspection distance constraint function; is the weight of the drone distance adjustment term; d is the inspection distance of the drone; is the distance adjustment coefficient; is the basic inspection distance of the UAV (i.e., the inspection distance at the first level), which can be set according to actual needs. Among them, other fitness functions can be calculated by methods such as weighting the trajectory smoothing function, collision avoidance function, and dynamic feasibility function. , and the acquisition methods of the trajectory smoothing function, collision avoidance function, and dynamic feasibility function are prior arts, and will not be elaborated here.

[0042] Optimize the initial sub-path of each device according to the inspection speed and inspection distance (such as adjusting the minimum distance between the initial sub-path and the device so that the minimum distance is greater than or equal to the inspection distance) to obtain the inspection sub-path corresponding to each device.

[0043] Specifically, in step S104, according to the device positions, connect the inspection sub-paths corresponding to each device to obtain the substation inspection path of the UAV, including: Determine the start point and end point in the inspection sub-path corresponding to each device; According to the device positions, sequentially connect the start point and end point of the corresponding device to obtain the substation inspection path of the UAV.

[0044] In step S104, by obtaining the endpoint coordinate data of the inspection sub-path of each device, including the start point and end point, based on the distribution characteristics of the devices in the three-dimensional space, use existing path optimization algorithms (such as existing algorithms like A* algorithm, Dijkstra algorithm, etc.) to calculate the shortest transition distance between the inspection sub-paths, select the devices distributed at the corner positions (or edge positions) as the initial start points, and sequentially connect the inspection sub-paths of adjacent devices according to the principle of spatial proximity. During the connection process, eliminate the path intersection points through endpoint matching, reduce the ineffective movement distance of the UAV between devices, and form a collision-free continuous inspection trajectory to obtain the substation inspection path of the UAV.

[0045] As can be seen from the above, the method for planning the inspection path of a drone in a substation obtains the equipment layout diagram of the substation; the equipment layout diagram includes the equipment positions and corresponding equipment types of each equipment in the substation. Based on the preset inspection requirement information and combined with the equipment type, the initial inspection sub-path corresponding to each equipment is generated. Using the preset sub-path trajectory optimization fitness function, according to the equipment type, the inspection speed and inspection distance of the initial inspection sub-path are calculated to obtain the inspection sub-path corresponding to each equipment. According to the equipment positions, the inspection sub-paths corresponding to each equipment are connected to obtain the inspection path of the drone in the substation. Thus, through the equipment positions, the inspection sub-paths corresponding to each equipment calculated based on the preset inspection requirement information, equipment type, and preset sub-path trajectory optimization fitness function are connected to obtain the inspection path of the drone in the substation, solving the problem that the existing substation inspection methods do not fully consider the special inspection requirements of different equipment in the substation and do not fully consider the importance and risk levels of different equipment. By calculating the inspection speed and inspection distance according to the equipment type to generate the inspection sub-path of each equipment, the inspection efficiency of the drone in the substation is improved.

[0046] Reference Figure 2 , this application provides a device for planning the inspection path of a drone in a substation, which is used to plan the inspection path of the drone in the substation and includes: An acquisition module 1, which is used to acquire the equipment layout diagram of the substation; the equipment layout diagram includes the equipment positions and corresponding equipment types of each equipment in the substation; A generation module 2, which is used to generate the initial inspection sub-path corresponding to each equipment based on the preset inspection requirement information and combined with the equipment type; A calculation module 3, which is used to use the preset sub-path trajectory optimization fitness function to calculate the inspection speed and inspection distance of the initial inspection sub-path according to the equipment type to obtain the inspection sub-path corresponding to each equipment; A connection module 4, which is used to connect the inspection sub-paths corresponding to each equipment according to the equipment positions to obtain the inspection path of the drone in the substation.

[0047] The device for planning the inspection path of the drone in the substation connects the inspection sub-paths corresponding to each equipment calculated based on the preset inspection requirement information, equipment type, and preset sub-path trajectory optimization fitness function through the equipment positions to obtain the inspection path of the drone in the substation, solving the problem that the existing substation inspection methods do not fully consider the special inspection requirements of different equipment in the substation and do not fully consider the importance and risk levels of different equipment. By calculating the inspection speed and inspection distance according to the equipment type to generate the inspection sub-path of each equipment, the inspection efficiency of the drone in the substation is improved.

[0048] Specifically, when the acquisition module 1 is executed, it acquires the equipment layout diagram of the substation. The equipment layout diagram includes the equipment positions and corresponding equipment types of each equipment in the substation. Among them, the equipment layout diagram refers to a two-dimensional or three-dimensional model of the substation containing equipment space coordinates and type attributes, and can specifically be constructed by combining CAD drawings with GPS positioning data.

[0049] Specifically, when the generation module 2 generates the initial inspection sub-paths corresponding to each equipment based on the preset inspection requirement information and in combination with the equipment type, it executes: According to the equipment type, extract the inspection requirements corresponding to each equipment from the preset inspection requirement information; Based on the inspection requirements, generate the initial inspection sub-paths corresponding to each equipment.

[0050] When the generation module 2 is executed, it determines the corresponding inspection requirements from the preset inspection requirement information according to the equipment type of the substation. Among them, the equipment types of the substation can be divided into oil-immersed transformers, current transformers, voltage transformers, lightning arresters, circuit breakers, disconnectors, busbars, meters, and other equipment. Other equipment includes power metering devices, communication equipment, DC power supply systems, monitoring systems, etc. Among them, the inspection requirements for oil-immersed transformers are to look around, look down, and look up; the inspection requirements for current transformers are to look down; the inspection requirements for voltage transformers are to look down; the inspection requirements for lightning arresters are to look down, look up, and look straight; the inspection requirements for circuit breakers are to look down, look up, and look straight; the inspection requirements for disconnectors are to look down; the inspection requirements for busbars are to look up; the requirements for other equipment are to quickly and simply look down; the requirements for meters are to slowly look down.

[0051] According to the inspection requirements of different equipment types, determine the movement direction and shooting direction of the UAV, and generate customized initial inspection sub-paths to achieve a more systematic and accurate inspection task.

[0052] For example, as Figure 4 shown, Figure 4 is a schematic diagram of the initial inspection sub-path of an oil-immersed transformer. Among them, A is the oil-immersed transformer, the solid arrow represents the movement direction of the UAV, the dashed arrow represents the shooting direction of the UAV, the dashed line represents the initial inspection sub-path, and the initial inspection sub-path of the oil-immersed transformer adopts a combination of horizontal and vertical panoramic views (first horizontal panoramic view and then vertical panoramic view, or first vertical panoramic view and then horizontal panoramic view), which can better meet the inspection requirements of the oil-immersed transformer.

[0053] Specifically, when the calculation module 3 uses the preset sub-path trajectory optimization fitness function to calculate the inspection speed and inspection distance of the initial inspection sub-path according to the equipment type and obtains the inspection sub-path corresponding to each equipment, it executes: Determine the speed adjustment coefficient and the corresponding distance adjustment coefficient for each device according to the device type; Input the speed adjustment coefficient and the corresponding distance adjustment coefficient for each device into a preset sub-path trajectory optimization fitness function, calculate the inspection speed and inspection distance of the initial inspection sub-path corresponding to each device, and obtain the inspection sub-path corresponding to each device.

[0054] Specifically, when the calculation module 3 determines the speed adjustment coefficient and the corresponding distance adjustment coefficient for each device according to the device type, it executes: Determine the importance level of each device from a preset type importance table according to the device type; Based on the importance level, determine the speed adjustment coefficient and the corresponding distance adjustment coefficient for each device from a preset inspection coefficient level table.

[0055] When the calculation module 3 executes, the type importance table refers to a pre-established correspondence table between device types and importance levels, which can be specifically implemented by a database storage method and is used to classify substation devices into different importance levels according to types. When the device type information is obtained, the type importance table is automatically queried to obtain the corresponding importance level data. For example, the device types are divided into 4 importance levels. The first level is the devices with lower importance and risk levels in the substation, including power metering devices, communication devices, DC power supply systems, monitoring systems and other devices. The second level is the devices with moderate importance and risk levels in the substation, mainly devices such as busbars. The third level is the devices with high importance and risk levels in the substation, including oil-immersed transformers, current transformers, voltage transformers, lightning arresters, circuit breakers, disconnectors and other devices. The fourth level is some meters that need to be read in the substation, including oil level gauges, pressure gauges, leakage ammeters and other meters. For the inspection requirements of these meters, the UAV needs to hover and take pictures to obtain clearer and more readable meter information.

[0056] The inspection coefficient level table refers to a pre-established mapping relationship table between the importance level and the speed adjustment coefficient, and between the importance level and the distance adjustment coefficient. Specifically, it can be implemented using a two-dimensional array data structure and is used to convert the equipment importance into quantifiable speed control parameters and distance control parameters. After obtaining the importance level of the equipment, the inspection coefficient level table is automatically queried to obtain the corresponding speed adjustment coefficient and distance adjustment coefficient. For example, for equipment of the first level (i.e., with lower importance and risk level in the substation), a fast inspection speed and a long inspection distance of the UAV are required. Therefore, the maximum speed adjustment coefficient and the maximum distance adjustment coefficient are set (such as setting the speed adjustment coefficient to 1 and the distance adjustment coefficient to 1); for equipment of the second level (i.e., with moderate importance and risk level in the substation), a moderate inspection speed and a moderate inspection distance of the UAV are required. Therefore, the second-largest speed adjustment coefficient and the second-largest distance adjustment coefficient are set (such as setting the speed adjustment coefficient to 0.6 and the distance adjustment coefficient to 0.5); for equipment of the third level (i.e., with high importance and risk level in the substation), a slow inspection speed and a moderate inspection distance of the UAV are required. Therefore, the third-largest speed adjustment coefficient and the second-largest distance adjustment coefficient are set (such as setting the speed adjustment coefficient to 0.3 and the distance adjustment coefficient to 0.5); for equipment of the fourth level (i.e., meters in the substation that require reading), an inspection speed of 0 and a moderate inspection distance of the UAV are required. Therefore, the minimum speed adjustment coefficient and the second-largest distance adjustment coefficient are set (such as setting the speed adjustment coefficient to 0 and the distance adjustment coefficient to 0.5).

[0057] Specifically, when the calculation module 3 inputs the speed adjustment coefficient and the distance adjustment coefficient corresponding to each device into the preset sub-path trajectory optimization fitness function, calculates the inspection speed and the inspection distance of the initial inspection sub-path corresponding to each device, and obtains the inspection sub-path corresponding to each device, it executes: Input the speed adjustment coefficient and the distance adjustment coefficient corresponding to each device into the preset sub-path trajectory optimization fitness function, and calculate the inspection speed and the inspection distance of the UAV when inspecting each device; Based on the inspection speed and the inspection distance, optimize the initial inspection sub-path of each device to obtain the inspection sub-path corresponding to each device.

[0058] When the calculation module 3 executes, it inputs the speed adjustment coefficient and the distance adjustment coefficient corresponding to each device into the sub-path trajectory optimization fitness function for numerical calculation, and uses existing algorithms such as the gradient descent method or the genetic algorithm to automatically generate a parameter combination of the inspection speed and the inspection distance that meets the equipment characteristic requirements. For example, for equipment of the third level, a parameter combination of a slower inspection speed and a moderate inspection distance is output, prompting the UAV to generate a fine inspection trajectory. Among them, existing algorithms such as the gradient descent method or the genetic algorithm are existing technologies and will not be elaborated here.

[0059] Among them, the preset sub-path trajectory optimization fitness function involves an objective function constructed based on a trajectory smoothing function, a collision avoidance function, a dynamic feasibility function, an inspection speed constraint function, and an inspection distance constraint function. The specific preset sub-path trajectory optimization fitness function is as follows: ; Among them, is the value of the sub-path trajectory optimization fitness function (i.e., the value of the objective function); are other fitness functions, including a trajectory smoothing function, a collision avoidance function, and a dynamic feasibility function; is the weight of other fitness functions; is the inspection speed constraint function; is the weight of the UAV speed adjustment term; v is the inspection speed of the UAV; is the speed adjustment coefficient; is the basic inspection speed of the UAV (i.e., the inspection speed at the first level), which can be set according to actual needs; is the inspection distance constraint function; is the weight of the UAV distance adjustment term; d is the inspection distance of the UAV; is the distance adjustment coefficient; is the basic inspection distance of the UAV (i.e., the inspection distance at the first level), which can be set according to actual needs. Among them, other fitness functions can be calculated by methods such as weighting the trajectory smoothing function, the collision avoidance function, and the dynamic feasibility function , and the acquisition methods of the trajectory smoothing function, the collision avoidance function, and the dynamic feasibility function are prior arts, and will not be elaborated here.

[0060] Optimize the initial sub-path of each device according to the inspection speed and the inspection distance (such as adjusting the minimum distance between the initial sub-path and the device so that the minimum distance is greater than or equal to the inspection distance) to obtain the inspection sub-path corresponding to each device.

[0061] Specifically, when the connection module 4 connects the inspection sub-paths corresponding to each device according to the device positions to obtain the substation inspection path of the UAV, it executes: Determine the start point and the end point in the inspection sub-path corresponding to each device; Connect the start point and the end point of the corresponding device in sequence according to the device positions to obtain the substation inspection path of the UAV.

[0062] When the connection module 4 is executed, by obtaining the endpoint coordinate data of each device inspection sub-path, including the starting point and the ending point, based on the distribution characteristics of the devices in the three-dimensional space, the existing path optimization algorithms (such as the A* algorithm, Dijkstra algorithm and other existing algorithms) are used to calculate the shortest transition distance between the inspection sub-paths. The devices located at the corner positions (or edge positions) are selected as the initial starting points, and the inspection sub-paths of adjacent devices are sequentially connected according to the principle of spatial proximity. During the connection process, the path intersection points are eliminated through endpoint matching, reducing the ineffective movement distance of the drone between devices, forming a collision-free continuous inspection trajectory, and obtaining the substation inspection path of the drone.

[0063] As can be seen from the above, the substation inspection path planning device of the drone obtains the device layout diagram of the substation; the device layout diagram includes the device positions and corresponding device types of each device in the substation. Based on the preset inspection requirement information and combined with the device types, the initial inspection sub-paths corresponding to each device are generated. Using the preset sub-path trajectory optimization fitness function, according to the device types, the inspection speed and inspection distance of the initial inspection sub-paths are calculated to obtain the inspection sub-paths corresponding to each device. According to the device positions, the inspection sub-paths corresponding to each device are connected to obtain the substation inspection path of the drone; thus, through the device positions, the inspection sub-paths corresponding to each device calculated based on the preset inspection requirement information, device types and preset sub-path trajectory optimization fitness function are connected to obtain the substation inspection path of the drone, solving the problems that the existing substation inspection methods do not fully consider the special inspection requirements of different devices in the substation and do not fully consider the importance and risk levels of different devices when planning the path for the drone. By calculating the inspection speed and inspection distance according to the device types to generate the inspection sub-path of each device, the inspection efficiency of the drone in the substation is improved.

[0064] Please refer to Figure 3 , Figure 3A schematic structural diagram of an electronic device provided by an embodiment of the present application. The present application provides an electronic device, including: a processor 301 and a memory 302. The processor 301 and the memory 302 are interconnected and communicate with each other through a communication bus 303 and / or other forms of connection mechanisms (not marked). The memory 302 stores a computer program executable by the processor 301. When the electronic device runs, the processor 301 executes the computer program to execute the substation inspection path planning method of the unmanned aerial vehicle in any optional implementation manner of the above embodiment to achieve the following functions: obtaining a device layout diagram of the substation; the device layout diagram includes the device positions and corresponding device types of each device in the substation, generating initial inspection sub-paths corresponding to each device based on preset inspection requirement information and in combination with the device type, using a preset sub-path trajectory optimization fitness function, calculating the inspection speed and inspection distance of the initial inspection sub-path according to the device type to obtain the inspection sub-path corresponding to each device, and connecting the inspection sub-paths corresponding to each device according to the device positions to obtain the substation inspection path of the unmanned aerial vehicle.

[0065] An embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it executes the substation inspection path planning method of the unmanned aerial vehicle in any optional implementation manner of the above embodiment to achieve the following functions: obtaining a device layout diagram of the substation; the device layout diagram includes the device positions and corresponding device types of each device in the substation, generating initial inspection sub-paths corresponding to each device based on preset inspection requirement information and in combination with the device type, using a preset sub-path trajectory optimization fitness function, calculating the inspection speed and inspection distance of the initial inspection sub-path according to the device type to obtain the inspection sub-path corresponding to each device, and connecting the inspection sub-paths corresponding to each device according to the device positions to obtain the substation inspection path of the unmanned aerial vehicle. Wherein, the storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (Static Random Access Memory, abbreviated as SRAM), electrically erasable programmable read-only memory (Electrically Erasable Programmable Read-Only Memory, abbreviated as EEPROM), erasable programmable read-only memory (Erasable Programmable Read Only Memory, abbreviated as EPROM), programmable read-only memory (Programmable Red-Only Memory, abbreviated as PROM), read-only memory (Read-Only Memory, abbreviated as ROM), magnetic memory, flash memory, magnetic disk or optical disc.

[0066] In the embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely 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 can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection between each other can be through some communication interfaces. The indirect coupling or communication connection of the devices or units can be in electrical, mechanical or other forms.

[0067] In addition, the units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units. They can 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.

[0068] Furthermore, in each embodiment of this application, the various functional modules can be integrated together to form an independent part, or each module can exist alone, or two or more modules can be integrated to form an independent part.

[0069] In this document, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations.

[0070] The above are only the embodiments of this application and are not used to limit the protection scope of this application. For those skilled in the art, this application can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this application shall be included in the protection scope of this application.

Claims

1. A method for planning the inspection path of a substation by an unmanned aerial vehicle, which is used to plan the inspection path of the substation by the unmanned aerial vehicle, and is characterized in that, Including the steps: Obtain the equipment layout diagram of the substation; the equipment layout diagram includes the equipment positions and corresponding equipment types of each equipment in the substation; Based on the preset inspection requirement information and combined with the equipment type, generate the initial inspection sub-paths corresponding to each equipment; Using the preset sub-path trajectory optimization fitness function, calculate the inspection speed and inspection distance of the initial inspection sub-path according to the equipment type, and obtain the inspection sub-path corresponding to each equipment; According to the equipment positions, connect the inspection sub-paths corresponding to each equipment to obtain the substation inspection path of the unmanned aerial vehicle.

2. The method for planning the inspection path of a substation by an unmanned aerial vehicle according to claim 1, wherein Based on the preset inspection requirement information and combined with the equipment type, generating the initial inspection sub-paths corresponding to each equipment includes: According to the equipment type, extract the inspection requirements corresponding to each equipment from the preset inspection requirement information; Based on the inspection requirements, generate the initial inspection sub-paths corresponding to each equipment.

3. The method for planning the inspection path of a substation by a drone according to claim 2, wherein, Using the preset sub-path trajectory optimization fitness function, calculating the inspection speed and inspection distance of the initial inspection sub-path according to the equipment type, and obtaining the inspection sub-path corresponding to each equipment includes: According to the equipment type, determine the speed adjustment coefficient and distance adjustment coefficient corresponding to each equipment; Input the speed adjustment coefficient and distance adjustment coefficient corresponding to each equipment into the preset sub-path trajectory optimization fitness function, calculate the inspection speed and inspection distance of the initial inspection sub-path corresponding to each equipment, and obtain the inspection sub-path corresponding to each equipment.

4. The method for planning the inspection path of a substation by a drone according to claim 3, wherein, According to the equipment type, determining the speed adjustment coefficient and distance adjustment coefficient corresponding to each equipment includes: According to the equipment type, determine the importance level of each equipment from the preset type importance table; Based on the importance level, determine the speed adjustment coefficient and corresponding distance adjustment coefficient corresponding to each equipment from the preset inspection coefficient level table.

5. The method for planning the inspection path of a substation by an unmanned aerial vehicle according to claim 3, wherein, Input the speed adjustment coefficient and distance adjustment coefficient corresponding to each equipment into the preset sub-path trajectory optimization fitness function, calculate the inspection speed and inspection distance of the initial inspection sub-path corresponding to each equipment, and obtain the inspection sub-path corresponding to each equipment includes: Input the speed adjustment coefficient and distance adjustment coefficient corresponding to each equipment into the preset sub-path trajectory optimization fitness function, and calculate the inspection speed and inspection distance when the unmanned aerial vehicle inspects each equipment; Based on the inspection speed and the inspection distance, optimize the initial inspection sub-path of each equipment to obtain the inspection sub-path corresponding to each equipment.

6. The method for planning the inspection path of a substation by a drone according to claim 1, characterized in that, The preset sub-path trajectory optimization fitness function involves an objective function constructed based on a trajectory smoothing function, a collision avoidance function, a dynamic feasibility function, an inspection speed constraint function, and an inspection distance constraint function.

7. The method for planning the inspection path of a substation by an unmanned aerial vehicle according to claim 1, wherein, According to the equipment positions, connecting the inspection sub-paths corresponding to each equipment to obtain the substation inspection path of the unmanned aerial vehicle includes: Determine the starting point and ending point in the inspection sub-path corresponding to each equipment; According to the equipment positions, sequentially connect the starting point and the ending point of the corresponding equipment to obtain the substation inspection path of the unmanned aerial vehicle.

8. An inspection path planning device for an unmanned aerial vehicle in a substation, which is used to plan the inspection path of the unmanned aerial vehicle in the substation, and is characterized in that, Including: An acquisition module for acquiring a device layout diagram of a substation; the device layout diagram includes the device positions and corresponding device types of each device in the substation; A generation module for generating an initial inspection sub-path corresponding to each device based on preset inspection requirement information and in combination with the device type; A calculation module for calculating the inspection speed and inspection distance of the initial inspection sub-path according to the device type by using a preset sub-path trajectory optimization fitness function, so as to obtain an inspection sub-path corresponding to each device; A connection module for connecting the inspection sub-paths corresponding to each device according to the device positions to obtain a substation inspection path of the unmanned aerial vehicle.

9. An electronic device, characterized in that, It includes a processor and a memory, the memory stores a computer program executable by the processor, and when the processor executes the computer program, it runs the steps in the substation inspection path planning method of the unmanned aerial vehicle according to any one of claims 1-7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it runs the steps in the substation inspection path planning method of the unmanned aerial vehicle according to any one of claims 1-7.

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