Substation inspection path planning method and related equipment for drones

Abstract

The present application belongs to the technical field of drone inspection, and discloses a substation inspection path planning method for drones and related equipment. The method includes: obtaining the equipment position and corresponding equipment type of each equipment in the substation, generating an initial inspection sub-path corresponding to each equipment based on preset inspection requirement information and combined with the equipment type, optimizing the fitness function using the preset sub-path trajectory, calculating the inspection speed and inspection distance of the initial inspection sub-path according to the equipment type, obtaining the inspection sub-path corresponding to each equipment, connecting the inspection sub-path corresponding to each equipment according to the equipment position, and obtaining the substation inspection path of the drone; through the equipment position, connecting 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, and obtaining the substation inspection path of the drone, thereby improving the efficiency of drone inspection of substations.

Description

Technical Field

[0001] The present application relates to the technical field of drone inspection, and more specifically, to a method for drone substation inspection path planning and related equipment. Background Art

[0002] With the rapid development of power systems, the number and complexity of substation equipment continues to increase, necessitating increasingly stringent inspection requirements. Traditional substation inspection methods primarily include manual inspections and wheeled robots, but these methods suffer from limited coverage, poor terrain adaptability, and difficulty inspecting equipment at high altitudes. To address these issues, drone inspection technology is gradually being introduced into substation inspections. Drones offer advantages such as high flexibility, wide coverage, and the ability to quickly reach designated locations, effectively improving inspection efficiency and quality.

[0003] Although drone inspection technology can improve the efficiency of substation inspections, existing path planning methods still have significant shortcomings: First, existing methods mostly use general path planning algorithms and do not make differentiated designs for the inspection needs of different equipment in the substation. For example, oil-immersed transformers require a circumferential inspection while other equipment only requires an overhead inspection, resulting in uneven inspection quality; second, drone inspection speeds usually use fixed values ​​or simple task-level adjustments, and fail to dynamically adjust according to the importance or risk level of the equipment, making it difficult for high-risk equipment to obtain more detailed 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 substation equipment when planning the path of drones, and do not fully consider the importance and risk level of different equipment, a substation inspection path planning method and related equipment for drones are urgently needed. Summary of the Invention

[0005] The purpose of this application is to provide a substation inspection path planning method for drones and related equipment. Through the equipment location, the inspection sub-paths corresponding to each device are calculated based on the preset inspection requirement information, equipment type and preset sub-path trajectory optimization fitness function, and then connected to obtain the substation inspection path of the drone. This solves the problem that the existing substation inspection method does not fully consider the special inspection requirements of different substation equipment when planning the path of the drone, and does not fully consider the importance and risk level of different equipment. The inspection speed and inspection distance are calculated by equipment type to generate the inspection sub-path of each device, thereby improving the drone inspection efficiency of the substation.

[0006] In a first aspect, the present application provides a method for planning a substation inspection path using a drone, comprising:

[0007] Obtaining an equipment layout diagram of the substation; the equipment layout diagram includes the equipment location and corresponding equipment type of each equipment in the substation;

[0008] Based on the preset inspection requirement information and in combination with the device type, generating an initial inspection sub-path corresponding to each of the devices;

[0009] Utilizing a preset sub-path trajectory optimization fitness function, and according to the device type, calculating the inspection speed and inspection distance of the initial inspection sub-path, and obtaining the inspection sub-path corresponding to each device;

[0010] According to the device location, the inspection sub-paths corresponding to each device are connected to obtain the substation inspection path of the drone.

[0011] The substation inspection path planning method for drones provided in this application can realize the planning of substation inspection paths for drones. Through the equipment location, the inspection sub-paths corresponding to each device are calculated based on the preset inspection requirement information, equipment type and preset sub-path trajectory optimization fitness function, and then connected to obtain the substation inspection path of the drone. This solves the problem that the existing substation inspection method does not fully consider the special inspection requirements of different substation equipment when planning the path of the drone, and does not fully consider the importance and risk level of different equipment. The inspection speed and inspection distance are calculated by equipment type to generate the inspection sub-path of each device, thereby improving the drone inspection efficiency of the substation.

[0012] Optionally, based on preset inspection requirement information and in combination with the device type, generating an initial inspection sub-path corresponding to each device includes:

[0013] Extracting inspection requirements corresponding to each device from preset inspection requirement information according to the device type;

[0014] Based on the inspection requirements, an initial inspection sub-path corresponding to each of the devices is generated.

[0015] Optionally, a preset sub-path trajectory optimization fitness function is used to calculate 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, including:

[0016] Determine, according to the device type, a speed adjustment coefficient and a distance adjustment coefficient corresponding to each of the devices;

[0017] The speed adjustment coefficient and distance adjustment coefficient corresponding to each of the devices are input into the preset sub-path trajectory optimization fitness function, and the inspection speed and inspection distance of the initial inspection sub-path corresponding to each of the devices are calculated to obtain the inspection sub-path corresponding to each of the devices.

[0018] The substation inspection path planning method for drones provided in the present application can realize the planning of substation inspection paths for drones, determine the speed adjustment coefficient and the distance adjustment coefficient based on the equipment type, input the speed adjustment coefficient and the distance adjustment coefficient into the preset sub-path trajectory optimization fitness function to calculate the inspection speed and inspection distance of the initial inspection sub-path, and obtain the inspection sub-path corresponding to each equipment. Through the dynamic mapping mechanism of equipment type and speed adjustment coefficient and equipment type and distance adjustment coefficient, combined with the sub-path trajectory optimization fitness function, adaptive speed control mode and adaptive distance control mode are formed for different equipment characteristics, thereby improving the drone inspection efficiency of substations.

[0019] Optionally, determining a speed adjustment coefficient and a distance adjustment coefficient corresponding to each device according to the device type includes:

[0020] According to the device type, determining the importance level of each device from a preset type importance table;

[0021] Based on the importance level, the speed adjustment coefficient and the distance adjustment coefficient corresponding to each of the devices are determined from a preset inspection coefficient level table.

[0022] Optionally, the speed adjustment coefficient and distance adjustment coefficient corresponding to each device are input into a preset sub-path trajectory optimization fitness function, and the inspection speed and inspection distance of the initial inspection sub-path corresponding to each device are calculated to obtain the inspection sub-path corresponding to each device, including:

[0023] Inputting the speed adjustment coefficient and distance adjustment coefficient corresponding to each of the devices into a preset subpath trajectory optimization fitness function, and calculating the inspection speed and inspection distance of the drone when inspecting each of the devices;

[0024] Based on the inspection speed and the inspection distance, the initial inspection sub-path of each device is optimized to obtain the inspection sub-path corresponding to each device.

[0025] The substation inspection path planning method for drones provided in this application can realize the planning of substation inspection paths for drones, input the speed adjustment coefficient and the 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, and form an inspection sub-path that meets the equipment characteristic requirements. Drone inspections are carried out through the inspection sub-paths, thereby realizing dynamic inspection of substation equipment based on equipment type.

[0026] Optionally, the preset sub-path trajectory optimization fitness function involves an objective function constructed based on a trajectory smoothing function, an anti-collision function, a dynamic feasibility function, an inspection speed constraint function, and an inspection distance constraint function.

[0027] Optionally, according to the device location, the inspection sub-paths corresponding to the devices are connected to obtain the substation inspection path of the drone, including:

[0028] Determine the starting point and end point of the inspection sub-path corresponding to each of the devices;

[0029] According to the equipment location, the starting point and the end point of the corresponding equipment are connected in sequence to obtain the substation inspection path of the drone.

[0030] In a second aspect, the present application provides a substation inspection path planning device for a drone, comprising:

[0031] An acquisition module is used to acquire an equipment layout diagram of the substation; the equipment layout diagram includes the equipment location and corresponding equipment type of each equipment in the substation;

[0032] A generation module, configured to generate an initial inspection sub-path corresponding to each of the devices based on preset inspection requirement information and in combination with the device type;

[0033] A calculation module is used to optimize the fitness function by using a preset sub-path trajectory, calculate the inspection speed and inspection distance of the initial inspection sub-path according to the device type, and obtain the inspection sub-path corresponding to each device;

[0034] The connection module is used to connect the inspection sub-paths corresponding to each device according to the device location to obtain the substation inspection path of the drone.

[0035] The substation inspection path planning device of the UAV connects the inspection subpaths corresponding to each device by calculating the fitness function based on preset inspection requirement information, equipment type and preset subpath trajectory optimization according to the equipment location, and obtains the substation inspection path of the UAV. This solves the problem that the existing substation inspection method does not fully consider the special inspection requirements of different substation equipment and the importance and risk level of different equipment when planning the path of the UAV. The inspection speed and inspection distance are calculated according to the equipment type to generate the inspection subpath of each device, thereby improving the UAV inspection efficiency of the substation.

[0036] In a third aspect, the present application provides an electronic device comprising a processor and a memory, wherein 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 for a drone as described above.

[0037] In a fourth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps in the substation inspection path planning method for a drone as described above are executed.

[0038] Beneficial effect: The substation inspection path planning method and related equipment for drones provided in this application connect the inspection sub-paths corresponding to each device by calculating the fitness function based on the preset inspection requirement information, equipment type and preset sub-path trajectory optimization through the equipment location, and obtain the substation inspection path of the drone. This solves the problem that the existing substation inspection method does not fully consider the special inspection requirements of different substation equipment when planning the path of the drone, and does not fully consider the importance and risk level of different equipment. The inspection speed and inspection distance are calculated by equipment type to generate the inspection sub-path for each device, thereby improving the drone inspection efficiency of the substation. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 Flowchart of a substation inspection path planning method for a drone provided in an embodiment of the present application.

[0040] Figure 2 A schematic diagram of the structure of a substation inspection path planning device for a drone provided in an embodiment of the present application.

[0041] Figure 3 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0042] Figure 4 Schematic diagram of the initial inspection sub-path of an oil-immersed transformer.

[0043] Explanation of reference numerals: 1. Acquisition module; 2. Generation module; 3. Calculation module; 4. Connection module; 301. Processor; 302. Memory; 303. Communication bus. DETAILED DESCRIPTION

[0044] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application generally 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 the present application provided in the drawings is not intended to limit the scope of the application for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work fall within the scope of protection of the present application.

[0045] 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 or explained in subsequent drawings. At the same time, in the description of this application, the terms "first", "second", etc. are only used to distinguish the description and should not be understood as indicating or implying relative importance.

[0046] Please refer to Figure 1 , Figure 1 A method for planning a substation inspection path for a drone in some embodiments of the present application is provided, which is used to plan a substation inspection path for a drone, including the following steps:

[0047] Step S101: Obtaining a substation equipment layout diagram; the equipment layout diagram includes the location of each substation equipment and the corresponding equipment type;

[0048] Step S102: Based on the preset inspection requirement information and the device type, an initial inspection sub-path corresponding to each device is generated;

[0049] Step S103: Utilizing the preset sub-path trajectory optimization fitness function, the inspection speed and inspection distance of the initial inspection sub-path are calculated according to the device type, and the inspection sub-path corresponding to each device is obtained;

[0050] Step S104: Connect the inspection sub-paths corresponding to each device according to the device location to obtain the substation inspection path of the drone.

[0051] The substation inspection path planning method of the UAV connects the inspection subpaths corresponding to each device by calculating the fitness function based on preset inspection requirement information, equipment type and preset subpath trajectory optimization through the equipment location, and obtains the substation inspection path of the UAV. This solves the problem that the existing substation inspection method does not fully consider the special inspection requirements of different substation equipment and the importance and risk level of different equipment when planning the path of the UAV. The inspection speed and inspection distance are calculated by the equipment type to generate the inspection subpath of each device, thereby improving the UAV inspection efficiency of the substation.

[0052] Specifically, in step S101, a substation equipment layout diagram is obtained. The equipment layout diagram includes the location and type of each substation device. The equipment layout diagram is a two-dimensional or three-dimensional model of the substation that includes the spatial coordinates and type attributes of the devices. Specifically, it can be constructed using CAD drawings combined with GPS positioning data.

[0053] Specifically, in step S102, based on the preset inspection requirement information and in combination with the device type, an initial inspection sub-path corresponding to each device is generated, including:

[0054] According to the equipment type, the inspection requirements corresponding to each equipment are extracted from the preset inspection requirement information;

[0055] Based on the inspection requirements, generate the initial inspection sub-path corresponding to each device.

[0056] In step S102, the corresponding inspection requirements are determined from the preset inspection requirement information based on the equipment type of the substation. 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, and other equipment. The inspection requirements for oil-immersed transformers are panoramic, top-down, and top-down inspections; the inspection requirements for current transformers are top-down inspections; the inspection requirements for voltage transformers are top-down inspections; the inspection requirements for lightning arresters are top-down inspections, top-down inspections, and level inspections; the inspection requirements for circuit breakers are top-down inspections, top-down inspections, and level inspections; the inspection requirements for disconnectors are top-down inspections; the inspection requirements for busbars are top-down inspections; the requirements for other equipment are quick and simple top-down inspections; and the requirement for meters is slow top-down inspections.

[0057] According to the inspection requirements of different equipment types, the drone's movement direction and shooting direction are determined, and a customized initial inspection sub-path is generated to achieve a more systematic and accurate inspection task.

[0058] For example, Figure 4 As shown, Figure 4 Figure 3 is a schematic diagram of the initial inspection sub-path of an oil-immersed transformer, where A is the oil-immersed transformer, the solid arrow indicates the direction of the drone's movement, the dotted arrow indicates the direction of the drone's shooting, and the dotted line indicates the initial inspection sub-path. The initial inspection sub-path of the oil-immersed transformer adopts a combination of horizontal and up-down inspections (horizontal inspection first, then up-down inspection, or up-down inspection first, then horizontal inspection), which can better meet the inspection requirements of the oil-immersed transformer.

[0059] Specifically, in step S103, the preset sub-path trajectory optimization fitness function is used to calculate the inspection speed and inspection distance of the initial inspection sub-path according to the device type, and the inspection sub-path corresponding to each device is obtained, including:

[0060] According to the equipment type, the speed adjustment coefficient and the distance adjustment coefficient corresponding to each equipment are determined;

[0061] The speed adjustment coefficient and distance adjustment coefficient corresponding to each device are input into the preset sub-path trajectory optimization fitness function, and the inspection speed and inspection distance of the initial inspection sub-path corresponding to each device are calculated to obtain the inspection sub-path corresponding to each device.

[0062] Specifically, in step S103, the speed adjustment coefficient and the distance adjustment coefficient corresponding to each device are determined according to the device type, including:

[0063] According to the equipment type, the importance level of each equipment is determined from the preset type importance table;

[0064] Based on the importance level, the speed adjustment coefficient and the distance adjustment coefficient corresponding to each device are determined from the preset inspection coefficient level table.

[0065] In step S103, the type importance table refers to a pre-established correspondence table between equipment types and importance levels. Specifically, it can be implemented using a database storage method and is used to classify substation equipment into different importance levels by type. After obtaining the equipment type information, the type importance table is automatically queried to obtain the corresponding importance level data. For example, equipment types are divided into four importance levels. The first level is for substation equipment with lower importance and risk, including other equipment such as energy metering devices, communication equipment, DC power supply systems, and monitoring systems. The second level is for substation equipment with moderate importance and risk, primarily busbars. The third level is for substation equipment with high importance and risk, including oil-immersed transformers, current transformers, voltage transformers, lightning arresters, circuit breakers, and disconnectors. The fourth level is for substation instruments that require readings, including oil level gauges, pressure gauges, and leakage current meters. Inspections of these meters require drones to hover and capture information for clearer and more readable meter information.

[0066] The inspection coefficient level table is a pre-established mapping table that maps importance levels to speed adjustment coefficients and importance levels to distance adjustment coefficients. Specifically, it can be implemented using a two-dimensional array data structure. It is used to convert device importance into quantifiable speed and distance control parameters. Once the device's importance level is obtained, the inspection coefficient level table is automatically queried to obtain the corresponding speed and distance adjustment coefficients. For example, for the first level (i.e., equipment with lower importance and risk in substations), the drone 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 (for example, the speed adjustment coefficient is set to 1 and the distance adjustment coefficient is set to 1). For the second level (i.e., equipment with moderate importance and risk in substations), the drone 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 (for example, the speed adjustment coefficient is set to 0.6 and the distance adjustment coefficient is set to 0.5). For the third level (i.e., equipment with high importance and risk in substations), the drone 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 (for example, the speed adjustment coefficient is set to 0.3 and the distance adjustment coefficient is set to 0.5). For the fourth level (i.e., equipment that requires readings, such as meters in substations), the drone is required to have a zero inspection speed and a moderate inspection distance. Therefore, the minimum speed adjustment coefficient and the second largest distance adjustment coefficient are set (for example, the speed adjustment coefficient is set to 0 and the distance adjustment coefficient is set to 0.5).

[0067] Specifically, in step S103, the speed adjustment coefficient and distance adjustment coefficient corresponding to each device are input into the preset sub-path trajectory optimization fitness function, and the inspection speed and inspection distance of the initial inspection sub-path corresponding to each device are calculated to obtain the inspection sub-path corresponding to each device, including:

[0068] The speed adjustment coefficient and distance adjustment coefficient corresponding to each device are input into the preset sub-path trajectory optimization fitness function to calculate the inspection speed and inspection distance of the drone when inspecting each device;

[0069] Based on the inspection speed and inspection distance, the initial inspection sub-path of each device is optimized to obtain the inspection sub-path corresponding to each device.

[0070] In step S103, the speed adjustment coefficient and distance adjustment coefficient corresponding to each device are input into the subpath trajectory optimization fitness function for numerical calculation. Using existing algorithms such as gradient descent or genetic algorithms, a parameter combination of inspection speed and inspection distance that meets the device's characteristic requirements is automatically generated. For example, for third-level devices, a parameter combination of a slower inspection speed and a moderate inspection distance is output, prompting the drone to generate a refined inspection trajectory. Existing algorithms such as gradient descent and genetic algorithms are state-of-the-art and will not be described in detail here.

[0071] Among them, the preset sub-path trajectory optimization fitness function involves an objective function constructed based on the trajectory smoothing function, anti-collision function, dynamic feasibility function, inspection speed constraint function and inspection distance constraint function. The preset sub-path trajectory optimization fitness function is specifically:

[0072] ;

[0073] in, Optimize the fitness function value (i.e., the objective function value) for the subpath trajectory; For other fitness functions, including trajectory smoothing function, anti-collision function and dynamic feasibility function; is the weight of other fitness functions; is the inspection speed constraint function; is the weight of the drone speed adjustment item; v is the inspection speed of the drone; is the speed adjustment coefficient; This is the basic inspection speed of the drone (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 drone distance adjustment item; d is the inspection distance of the drone; is the distance adjustment coefficient; The basic inspection distance of the UAV (i.e. the inspection distance under the first level) can be set according to actual needs. Among them, other fitness functions can be calculated by weighting the trajectory smoothing function, anti-collision function and dynamic feasibility function. , and the methods for obtaining the trajectory smoothing function, the anti-collision function and the dynamic feasibility function are existing technologies and will not be described in detail here.

[0074] According to the inspection speed and patrol distance, the initial sub-path of each device is optimized (for example, the minimum distance between the initial sub-path and the device is adjusted so that the minimum distance is greater than or equal to the patrol distance) to obtain the inspection sub-path corresponding to each device.

[0075] Specifically, in step S104, according to the device location, the inspection sub-paths corresponding to each device are connected to obtain the substation inspection path of the drone, including:

[0076] Determine the starting and ending points of the inspection sub-path corresponding to each device;

[0077] According to the equipment location, the starting point and end point of the corresponding equipment are connected in sequence to obtain the substation inspection path of the drone.

[0078] In step S104, by obtaining the endpoint coordinate data of each equipment inspection sub-path, including the starting point and the end point, based on the distribution characteristics of the equipment in three-dimensional space, the existing path optimization algorithm (such as the A* algorithm, Dijkstra algorithm and other existing algorithms) is used to calculate the shortest transition distance between the inspection sub-paths, and the equipment distributed in the corner position (or edge position) is selected as the initial starting point. The inspection sub-paths of adjacent equipment are sequentially connected according to the principle of spatial proximity. During the connection process, the path intersections are eliminated through endpoint matching, the invalid movement distance of the UAV between the equipment is reduced, and a collision-free continuous inspection trajectory is formed to obtain the substation inspection path of the UAV.

[0079] As can be seen from the above, the substation inspection path planning method of the drone obtains the equipment layout diagram of the substation; the equipment layout diagram includes the equipment location and corresponding equipment type of each equipment in the substation, based on the preset inspection requirement information, combined with the equipment type, generates the initial inspection sub-path corresponding to each equipment, uses the preset sub-path trajectory optimization fitness function, calculates the inspection speed and inspection distance of the initial inspection sub-path according to the equipment type, obtains the inspection sub-path corresponding to each equipment, and connects the inspection sub-path corresponding to each equipment according to the equipment position to obtain the substation inspection path of the drone; thus, according to the equipment position, the inspection sub-path corresponding to each equipment calculated based on the preset inspection requirement information, equipment type and preset sub-path trajectory optimization fitness function is connected to obtain the substation inspection path of the drone, solving the problem that the existing substation inspection method does not fully consider the special inspection requirements of different substation equipment and the importance and risk level of different equipment when planning the drone path, calculates the inspection speed and inspection distance according to the equipment type to generate the inspection sub-path for each equipment, thereby improving the drone inspection efficiency of the substation.

[0080] refer to Figure 2 The present application provides a substation inspection path planning device for a drone, which is used to plan the substation inspection path of the drone, including:

[0081] Acquisition module 1 is used to obtain the equipment layout diagram of the substation; the equipment layout diagram includes the equipment location and corresponding equipment type of each equipment in the substation;

[0082] Generating module 2, for generating an initial inspection sub-path corresponding to each device based on the preset inspection requirement information and the device type;

[0083] Calculation module 3 is used to optimize the fitness function using the preset sub-path trajectory, calculate the inspection speed and inspection distance of the initial inspection sub-path according to the device type, and obtain the inspection sub-path corresponding to each device;

[0084] The connection module 4 is used to connect the inspection sub-paths corresponding to each device according to the device location to obtain the substation inspection path of the drone.

[0085] The substation inspection path planning device of the UAV connects the inspection subpaths corresponding to each device by calculating the fitness function based on preset inspection requirement information, equipment type and preset subpath trajectory optimization according to the equipment location, and obtains the substation inspection path of the UAV. This solves the problem that the existing substation inspection method does not fully consider the special inspection requirements of different substation equipment and the importance and risk level of different equipment when planning the path of the UAV. The inspection speed and inspection distance are calculated according to the equipment type to generate the inspection subpath of each device, thereby improving the UAV inspection efficiency of the substation.

[0086] Specifically, when executing, Acquisition Module 1 acquires a substation equipment layout diagram, which includes the location and type of each device in the substation. The equipment layout diagram refers to a two-dimensional or three-dimensional model of the substation, including the spatial coordinates and type attributes of the devices. Specifically, the equipment layout diagram can be constructed using CAD drawings combined with GPS positioning data.

[0087] Specifically, when generating the initial inspection sub-path corresponding to each device based on the preset inspection requirement information and the device type, the generation module 2 executes:

[0088] According to the equipment type, the inspection requirements corresponding to each equipment are extracted from the preset inspection requirement information;

[0089] Based on the inspection requirements, generate the initial inspection sub-path corresponding to each device.

[0090] When executing, Generation Module 2 determines the corresponding inspection requirements from the preset inspection requirement information based on the equipment type of the substation. Substation equipment types can be divided into oil-immersed transformers, current transformers, voltage transformers, lightning arresters, circuit breakers, disconnectors, busbars, meters, and other equipment. Other equipment includes energy metering devices, communications equipment, DC power supply systems, monitoring systems, and other equipment. The inspection requirements for oil-immersed transformers are a panoramic view, a top-down view, and an upward view; the inspection requirements for current transformers are a top-down view; the inspection requirements for voltage transformers are a top-down view; the inspection requirements for lightning arresters are a top-down view, an upward view, and a level view; the inspection requirements for circuit breakers are a top-down view, an upward view, and a level view; the inspection requirements for disconnectors are a top-down view; the inspection requirement for busbars is an upward view; the requirements for other equipment are a quick and simple top-down view; and the requirement for meters is a slow top-down view.

[0091] According to the inspection requirements of different equipment types, the drone's movement direction and shooting direction are determined, and a customized initial inspection sub-path is generated to achieve a more systematic and accurate inspection task.

[0092] For example, Figure 4 As shown, Figure 4 Figure 3 is a schematic diagram of the initial inspection sub-path of an oil-immersed transformer, where A is the oil-immersed transformer, the solid arrow indicates the direction of the drone's movement, the dotted arrow indicates the direction of the drone's shooting, and the dotted line indicates the initial inspection sub-path. The initial inspection sub-path of the oil-immersed transformer adopts a combination of horizontal and up-down inspections (horizontal inspection first, then up-down inspection, or up-down inspection first, then horizontal inspection), which can better meet the inspection requirements of the oil-immersed transformer.

[0093] Specifically, the calculation module 3 uses the preset sub-path trajectory to optimize the fitness function, calculates the inspection speed and inspection distance of the initial inspection sub-path according to the device type, and obtains the inspection sub-path corresponding to each device, and executes:

[0094] According to the equipment type, the speed adjustment coefficient and the distance adjustment coefficient corresponding to each equipment are determined;

[0095] The speed adjustment coefficient and distance adjustment coefficient corresponding to each device are input into the preset sub-path trajectory optimization fitness function, and the inspection speed and inspection distance of the initial inspection sub-path corresponding to each device are calculated to obtain the inspection sub-path corresponding to each device.

[0096] Specifically, when the calculation module 3 determines the speed adjustment coefficient and the distance adjustment coefficient corresponding to each device according to the device type, it executes:

[0097] According to the equipment type, the importance level of each equipment is determined from the preset type importance table;

[0098] Based on the importance level, the speed adjustment coefficient and the distance adjustment coefficient corresponding to each device are determined from the preset inspection coefficient level table.

[0099] When calculation module 3 is executed, the type importance table refers to a pre-established correspondence table between equipment types and importance levels. Specifically, it can be implemented using a database storage method and is used to classify substation equipment into different importance levels by type. After obtaining equipment type information, the type importance table is automatically queried to obtain the corresponding importance level data. For example, equipment types are divided into four importance levels. The first level is for substation equipment with lower importance and risk, including other equipment such as energy metering devices, communication equipment, DC power supply systems, and monitoring systems. The second level is for substation equipment with moderate importance and risk, primarily busbars. The third level is for substation equipment with high importance and risk, including oil-immersed transformers, current transformers, voltage transformers, lightning arresters, circuit breakers, and disconnectors. The fourth level is for some substation instruments that require readings, including oil level gauges, pressure gauges, and leakage current meters. Inspections of these meters require drones to hover and capture information to obtain clearer and more readable meter information.

[0100] The inspection coefficient level table is a pre-established mapping table that maps importance levels to speed adjustment coefficients and importance levels to distance adjustment coefficients. Specifically, it can be implemented using a two-dimensional array data structure. It is used to convert device importance into quantifiable speed and distance control parameters. Once the device's importance level is obtained, the inspection coefficient level table is automatically queried to obtain the corresponding speed and distance adjustment coefficients. For example, for the first level (i.e., equipment with lower importance and risk in substations), the drone 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 (for example, the speed adjustment coefficient is set to 1 and the distance adjustment coefficient is set to 1). For the second level (i.e., equipment with moderate importance and risk in substations), the drone 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 (for example, the speed adjustment coefficient is set to 0.6 and the distance adjustment coefficient is set to 0.5). For the third level (i.e., equipment with high importance and risk in substations), the drone 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 (for example, the speed adjustment coefficient is set to 0.3 and the distance adjustment coefficient is set to 0.5). For the fourth level (i.e., equipment that requires readings, such as meters in substations), the drone is required to have a zero inspection speed and a moderate inspection distance. Therefore, the minimum speed adjustment coefficient and the second largest distance adjustment coefficient are set (for example, the speed adjustment coefficient is set to 0 and the distance adjustment coefficient is set to 0.5).

[0101] Specifically, the calculation module 3 inputs the speed adjustment coefficient and distance adjustment coefficient corresponding to each device into the preset sub-path trajectory optimization fitness function, calculates the inspection speed and inspection distance of each device corresponding to the initial inspection sub-path, and obtains the inspection sub-path corresponding to each device, and executes:

[0102] The speed adjustment coefficient and distance adjustment coefficient corresponding to each device are input into the preset sub-path trajectory optimization fitness function to calculate the inspection speed and inspection distance of the drone when inspecting each device;

[0103] Based on the inspection speed and inspection distance, the initial inspection sub-path of each device is optimized to obtain the inspection sub-path corresponding to each device.

[0104] During execution, Calculation Module 3 inputs the speed adjustment coefficient and distance adjustment coefficient corresponding to each device into the subpath trajectory optimization fitness function for numerical calculation. Using existing algorithms such as gradient descent or genetic algorithms, it automatically generates a parameter combination of inspection speed and inspection distance that meets the device's characteristic requirements. For example, for third-level devices, it outputs a parameter combination of a slower inspection speed and a moderate inspection distance, prompting the drone to generate a refined inspection trajectory. Existing algorithms such as gradient descent and genetic algorithms are currently available and will not be described in detail here.

[0105] Among them, the preset sub-path trajectory optimization fitness function involves an objective function constructed based on the trajectory smoothing function, anti-collision function, dynamic feasibility function, inspection speed constraint function and inspection distance constraint function. The preset sub-path trajectory optimization fitness function is specifically:

[0106] ;

[0107] in, Optimize the fitness function value (i.e., the objective function value) for the subpath trajectory; For other fitness functions, including trajectory smoothing function, anti-collision function and dynamic feasibility function; is the weight of other fitness functions; is the inspection speed constraint function; is the weight of the drone speed adjustment item; v is the inspection speed of the drone; is the speed adjustment coefficient; This is the basic inspection speed of the drone (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 drone distance adjustment item; d is the inspection distance of the drone; is the distance adjustment coefficient; The basic inspection distance of the UAV (i.e. the inspection distance under the first level) can be set according to actual needs. Among them, other fitness functions can be calculated by weighting the trajectory smoothing function, anti-collision function and dynamic feasibility function. , and the methods for obtaining the trajectory smoothing function, the anti-collision function and the dynamic feasibility function are existing technologies and will not be described in detail here.

[0108] According to the inspection speed and patrol distance, the initial sub-path of each device is optimized (for example, the minimum distance between the initial sub-path and the device is adjusted so that the minimum distance is greater than or equal to the patrol distance) to obtain the inspection sub-path corresponding to each device.

[0109] Specifically, when the connection module 4 connects the inspection sub-paths corresponding to each device according to the device location to obtain the substation inspection path of the drone, it executes:

[0110] Determine the starting and ending points of the inspection sub-path corresponding to each device;

[0111] According to the equipment location, the starting point and end point of the corresponding equipment are connected in sequence to obtain the substation inspection path of the drone.

[0112] When connection module 4 is executed, it obtains the endpoint coordinate data of each device inspection sub-path, including the starting point and the end point. Based on the distribution characteristics of the devices in three-dimensional space, it uses existing path optimization algorithms (such as the A* algorithm, Dijkstra algorithm, and other existing algorithms) to calculate the shortest transition distance between the inspection sub-paths, selects the devices distributed in the corner position (or edge position) as the initial starting point, and sequentially connects the inspection sub-paths of adjacent devices according to the principle of spatial proximity. During the connection process, path intersections are eliminated through endpoint matching, reducing the invalid movement distance of the drone between devices, forming a collision-free continuous inspection trajectory, and obtaining the substation inspection path of the drone.

[0113] As can be seen from the above, the substation inspection path planning device of the drone obtains the equipment layout diagram of the substation; the equipment layout diagram includes the equipment location and corresponding equipment type of each equipment in the substation, based on the preset inspection requirement information, combined with the equipment type, generates the initial inspection sub-path corresponding to each equipment, uses the preset sub-path trajectory optimization fitness function, calculates the inspection speed and inspection distance of the initial inspection sub-path according to the equipment type, obtains the inspection sub-path corresponding to each equipment, and connects the inspection sub-path corresponding to each equipment according to the equipment position to obtain the substation inspection path of the drone; thus, according to the equipment position, the inspection sub-path corresponding to each equipment calculated based on the preset inspection requirement information, equipment type and preset sub-path trajectory optimization fitness function is connected to obtain the substation inspection path of the drone, solving the problem that the existing substation inspection method does not fully consider the special inspection requirements of different substation equipment and the importance and risk level of different equipment when planning the drone path, calculates the inspection speed and inspection distance according to the equipment type to generate the inspection sub-path for each equipment, thereby improving the drone inspection efficiency of the substation.

[0114] Please refer to Figure 3 , Figure 3 This is a structural schematic diagram of an electronic device provided in 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 via a communication bus 303 and / or other forms of connection mechanisms (not shown). The memory 302 stores a computer program executable by the processor 301. When the electronic device is running, the processor 301 executes the computer program to execute the substation inspection path planning method for a drone in any optional implementation of the above embodiment to achieve the following functions: obtaining an equipment layout diagram of the substation; the equipment layout diagram includes the equipment location and corresponding equipment type of each equipment in the substation; based on preset inspection requirement information and in combination with the equipment type, generating an initial inspection subpath corresponding to each equipment; using a preset subpath trajectory to optimize the fitness function; calculating the inspection speed and inspection distance of the initial inspection subpath according to the equipment type, obtaining the inspection subpath corresponding to each equipment; connecting the inspection subpaths corresponding to each equipment according to the equipment location, and obtaining the substation inspection path of the drone.

[0115] An embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the method for planning a substation inspection path for a drone in any optional implementation of the above embodiments is executed to achieve the following functions: obtaining an equipment layout diagram of the substation; the equipment layout diagram includes the equipment location and corresponding equipment type of each equipment in the substation; based on preset inspection requirement information and in combination with the equipment type, an initial inspection sub-path corresponding to each equipment is generated; a fitness function is optimized using a preset sub-path trajectory; 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 location, the inspection sub-path corresponding to each equipment is connected to obtain the substation inspection path of the drone. The storage medium may be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk or optical disk.

[0116] 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 schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For 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 mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interface, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0117] In addition, the units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, and may be located in one place or distributed across multiple network units. Some or all of these units may be selected based on actual needs to achieve the purpose of the solution of this embodiment.

[0118] Furthermore, the functional modules in each embodiment of the present application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0119] In this document, relational terms such as first and second, etc. are used merely to distinguish one entity or operation from another entity or operation, but do not necessarily require or imply any actual relationship or order between these entities or operations.

[0120] The above description is merely an embodiment of the present application and is not intended to limit the scope of protection of the present application. For those skilled in the art, various modifications and variations of the present application are possible. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A method for planning a substation inspection path for an unmanned aerial vehicle, which is used to plan a substation inspection path for an unmanned aerial vehicle, and is characterized in that: Including steps: Obtaining an equipment layout diagram of the substation; the equipment layout diagram includes the equipment location and corresponding equipment type of each equipment in the substation; Based on the preset inspection requirement information and in combination with the device type, generating an initial inspection sub-path corresponding to each of the devices; Utilizing a preset sub-path trajectory optimization fitness function, and according to the device type, calculating the inspection speed and inspection distance of the initial inspection sub-path, and obtaining the inspection sub-path corresponding to each device; According to the device locations, the inspection sub-paths corresponding to the devices are connected to obtain the substation inspection path of the drone; Based on the preset inspection requirement information and in combination with the device type, an initial inspection sub-path corresponding to each device is generated, including: Extracting inspection requirements corresponding to each device from preset inspection requirement information according to the device type; Based on the inspection requirements, generating an initial inspection sub-path corresponding to each of the devices; Utilizing a preset sub-path trajectory optimization fitness function, and according to the device type, calculating the inspection speed and inspection distance of the initial inspection sub-path, and obtaining the inspection sub-path corresponding to each device, including: Determine, according to the device type, a speed adjustment coefficient and a distance adjustment coefficient corresponding to each of the devices; Inputting the speed adjustment coefficient and distance adjustment coefficient corresponding to each device 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 device, and obtaining the inspection sub-path corresponding to each device; Determining the speed adjustment coefficient and distance adjustment coefficient corresponding to each device according to the device type includes: According to the device type, determining the importance level of each device from a preset type importance table; Based on the importance level, the speed adjustment coefficient and the distance adjustment coefficient corresponding to each of the devices are determined from a preset inspection coefficient level table.

2. The substation inspection path planning method of a drone according to claim 1 is characterized in that: Inputting the speed adjustment coefficient and distance adjustment coefficient corresponding to each device into the preset sub-path trajectory optimization fitness function, calculating the inspection speed and inspection distance of the initial inspection sub-path corresponding to each device, and obtaining the inspection sub-path corresponding to each device, including: Inputting the speed adjustment coefficient and distance adjustment coefficient corresponding to each of the devices into a preset subpath trajectory optimization fitness function, and calculating the inspection speed and inspection distance of the drone when inspecting each of the devices; Based on the inspection speed and the inspection distance, the initial inspection sub-path of each device is optimized to obtain the inspection sub-path corresponding to each device.

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

4. The substation inspection path planning method of a drone according to claim 1 is characterized in that: According to the device location, the inspection sub-paths corresponding to the devices are connected to obtain the substation inspection path of the drone, including: Determine the starting point and end point of the inspection sub-path corresponding to each of the devices; According to the equipment location, the starting point and the end point of the corresponding equipment are connected in sequence to obtain the substation inspection path of the drone.

5. A substation inspection path planning device for a drone, used for planning a substation inspection path for a drone, characterized in that: include: An acquisition module is used to acquire an equipment layout diagram of the substation; the equipment layout diagram includes the equipment location and corresponding equipment type of each equipment in the substation; A generation module, configured to generate an initial inspection sub-path corresponding to each of the devices based on preset inspection requirement information and in combination with the device type; A calculation module is used to optimize the fitness function by using a preset sub-path trajectory, calculate the inspection speed and inspection distance of the initial inspection sub-path according to the device type, and obtain the inspection sub-path corresponding to each device; A connection module is used to connect the inspection sub-paths corresponding to the devices according to the device locations to obtain the substation inspection path of the drone; The generation module is configured to generate an initial inspection sub-path corresponding to each device based on preset inspection requirement information and in combination with the device type, including: Extracting inspection requirements corresponding to each device from preset inspection requirement information according to the device type; Based on the inspection requirements, generating an initial inspection sub-path corresponding to each of the devices; The calculation module is used to optimize the fitness function using a preset sub-path trajectory, calculate the inspection speed and inspection distance of the initial inspection sub-path according to the device type, and obtain the inspection sub-path corresponding to each device, including: Determine, according to the device type, a speed adjustment coefficient and a distance adjustment coefficient corresponding to each of the devices; Inputting the speed adjustment coefficient and distance adjustment coefficient corresponding to each device 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 device, and obtaining the inspection sub-path corresponding to each device; Determining the speed adjustment coefficient and distance adjustment coefficient corresponding to each device according to the device type includes: According to the device type, determining the importance level of each device from a preset type importance table; Based on the importance level, the speed adjustment coefficient and the distance adjustment coefficient corresponding to each of the devices are determined from a preset inspection coefficient level table.

6. 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 drone as described in any one of claims 1 to 4.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by the processor, the steps of the substation inspection path planning method for a drone as described in any one of claims 1 to 4 are executed.

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