Unmanned aerial vehicle inspection path planning method and device considering safe distance, and medium

Abstract

The invention discloses an unmanned aerial vehicle transformer substation inspection path planning method and device considering a safety distance, equipment and a medium. The method comprises the following steps: acquiring real-time current and real-time voltage of a to-be-inspected transformer substation; determining a critical electric field distance and a critical magnetic field distance of the inspection unmanned aerial vehicle according to the real-time current, the real-time voltage and a preset distance relational expression; wherein the distance relational expression comprises a first distance relational expression and a second distance relational expression; according to the critical electric field distance and the critical magnetic field distance, the inspection safety distance of the inspection unmanned aerial vehicle is determined, and a current inspection route is updated according to the inspection safety distance. According to the method, the unmanned aerial vehicle transformer substation inspection safety distance is taken as a consideration factor of unmanned aerial vehicle inspection route planning, the safety and reliability of unmanned aerial vehicle inspection route planning are improved, and the risk occurrence probability is reduced.

Description

Technical Field

[0001] The present invention relates to the field of aircraft control and navigation, and in particular to a method, device and medium for planning an inspection path of an unmanned aerial vehicle (UAV) taking safety distance into consideration. Background Art

[0002] Substation inspections are a crucial component of power system operations, enabling timely detection of potential hazards, minimizing the occurrence of faults, and ensuring safe operation. Drones offer advantages such as high flight flexibility, high inspection efficiency, and short observation range. Therefore, using drones for substation inspections can effectively address the blind spots and time-consuming nature of manual inspections.

[0003] However, drones are highly integrated communications devices, equipped with a variety of electronic devices. They are subject to severe interference in areas of high magnetic induction intensity. Furthermore, the metal tips of drones can easily cause charge accumulation and field distortion in electric fields, leading to breakdown. Current research on substation drone inspection path planning focuses primarily on selecting the optimal path (such as the steepest descent method, visibility graph methods, and artificial potential field methods). This aims to minimize inspection time and route length, but fails to consider the impact of safety distances on substation drone inspection path planning, potentially posing safety risks during the inspection process.

[0004] Therefore, to ensure the safety of drone inspections of substations, drones must maintain a sufficient safe distance from live substation equipment. Designing appropriate inspection methods and systems to ensure safety based on the safe distance between drones and substation equipment has become a technical bottleneck that needs to be addressed in the field of unmanned operation and maintenance of energy infrastructure. Summary of the Invention

[0005] The present invention provides a method, system, device, equipment and computer-readable storage medium for planning a substation inspection route using a drone that takes safety distance into consideration, thereby improving the safety and reliability of drone inspection route planning and reducing the probability of risk occurrence.

[0006] In a first aspect, an embodiment of the present invention provides a method for planning a substation inspection path using a drone taking into account a safety distance, including:

[0007] Obtain the real-time current and voltage of the substation to be inspected;

[0008] Determine the critical electric field distance and critical magnetic field distance of the inspection drone based on the real-time current, the real-time voltage, and a preset distance relationship formula; wherein the distance relationship formula includes a first distance relationship formula and a second distance relationship formula; the first distance relationship formula is a relationship formula between the current and voltage data and the critical electric field distance; the second distance relationship formula is a relationship formula between the current and voltage data and the critical magnetic field distance;

[0009] The inspection safety distance of the inspection drone is determined according to the critical electric field distance and the critical magnetic field distance, and the current inspection route is updated according to the inspection safety distance.

[0010] The embodiment of the present invention determines the safe distance of an inspection drone using the substation's real-time current, real-time voltage, and a preset distance relationship, and updates the current inspection route based on the inspection safety distance. Compared to the prior art, this application considers the impact of safety distance under multiple substation operating conditions on drone inspection path planning, improving the scientific nature and real-time nature of drone substation inspection path planning, thereby ensuring the safety and reliability of drone substation inspections and reducing the probability of risk and the cost of drone substation inspections.

[0011] Furthermore, determining the inspection safety distance of the inspection drone according to the critical electric field distance and the critical magnetic field distance includes:

[0012] Determining the inspection safety distance of the inspection drone according to the critical electric field distance, the critical magnetic field distance and a preset distance calculation formula;

[0013] The distance calculation formula is:

[0014] L=max{k1k2L1,k3k4L2};

[0015] Among them, L is the drone inspection safety distance of the equipment, L1 is the critical electric field distance under initial conditions, k1 is the influence coefficient on L1 under various working conditions, k2 is the electric field safety distance coefficient, L2 is the critical magnetic field distance under initial conditions, k3 is the influence coefficient on L2 under various working conditions, and k4 is the magnetic field safety distance coefficient.

[0016] The embodiment of the present invention determines the inspection safety distance of the inspection drone through the critical electric field distance, the critical magnetic field distance and a preset distance calculation formula, and provides a method for quickly obtaining the inspection safety distance of the drone during the substation inspection process, reducing the workload of the drone during the actual inspection process and improving the response speed of real-time route planning.

[0017] Furthermore, the critical electric field safety distance under the initial conditions and the critical magnetic field safety distance under the initial conditions are obtained by multiple simulations of multi-path inspections performed by the drone model in a preset three-dimensional simulation model;

[0018] The preset three-dimensional simulation model is generated according to the substation to be inspected, and the operating voltage and operating current of the three-dimensional simulation model in each simulation are the rated voltage and rated current of the high-voltage equipment of the substation to be inspected.

[0019] In an embodiment of the present invention, multiple drone multi-path simulations are performed based on the rated voltage and rated current of the high-voltage equipment of the substation to be inspected as initial values to obtain the critical electric field distance for inspection under the initial conditions and the magnetic field safety distance under the initial conditions, thereby providing initial data support for the subsequent distance calculation formula for the corresponding substation.

[0020] Furthermore, the preset three-dimensional simulation model includes a three-dimensional electric field simulation model of the substation to be inspected and a three-dimensional magnetic field simulation model of the substation to be inspected;

[0021] The structural information of the substation to be inspected is obtained based on its physical information, the structural information is imported into the three-dimensional simulation software and the corresponding material parameters and characteristic parameters are set to obtain the three-dimensional electric field simulation model and the three-dimensional magnetic field simulation model of the substation to be inspected.

[0022] The embodiment of the present invention establishes a simulation model to provide a simulation environment for obtaining the critical electric field distance, the critical magnetic field distance and a preset distance calculation formula through subsequent simulation experiments, thereby greatly reducing the experimental cost.

[0023] Furthermore, the distance relationship is obtained based on different operating conditions and the distance data corresponding to each operating condition;

[0024] The distance data is obtained by multiple simulations of multi-path inspections performed by the UAV model under different operating conditions; the distance data includes critical electric field distance data and critical magnetic field distance data.

[0025] An embodiment of the present invention provides a relationship formula for calculating the safe distance of drone inspections of various high-voltage equipment, thereby providing formula support for subsequent real-time drone route planning, reducing workload and improving response speed.

[0026] Furthermore, the updating of the current inspection route according to the inspection safety distance is specifically as follows:

[0027] The safe distance for drone inspection of different equipment is obtained based on the voltage and current of the substation to be inspected;

[0028] According to the take-off and landing positions of the drone and the inspection points to be inspected, with the safe inspection distance of the drone of different equipment as the constraint condition, an artificial intelligence algorithm is used to search for the shortest distance between each point to obtain the current inspection route of the drone.

[0029] An embodiment of the present invention provides a method for obtaining the current inspection route of a drone with the inspection safety distance of different equipment as a constraint condition. The drone inspection safety distance is calculated based on the real-time current and voltage, and the real-time drone inspection safety route is planned with the obtained inspection safety distance as a constraint condition, thereby improving the reliability and real-time performance of the drone inspection, and providing an initial inspection route for subsequent drone inspections based on the rated current and rated voltage, thereby reducing the amount of calculation and improving work efficiency.

[0030] Furthermore, the real-time current and real-time voltage of the substation to be inspected are obtained as follows:

[0031] The real-time voltage and current in the substation to be inspected are transmitted back through the voltage transformer and current transformer in the substation to be inspected;

[0032] The embodiment of the present invention transmits the real-time voltage and real-time current in the substation to be inspected through the voltage transformer and current transformer in the substation to provide real-time data support for the real-time route planning of the drone, thereby improving the real-time performance and reliability of the drone route planning.

[0033] In a second aspect, an embodiment of the present invention provides a UAV substation inspection path planning device considering a safety distance, comprising an information collection module, a distance calculation module and a real-time planning module, wherein:

[0034] The information acquisition module is used to obtain the real-time current and real-time voltage of the substation to be inspected;

[0035] The distance calculation module is used to determine the critical electric field distance and critical magnetic field distance of the inspection drone based on the real-time current, the real-time voltage and a preset distance relationship formula; wherein the distance relationship formula includes a first distance relationship formula and a second distance relationship formula; the first distance relationship formula is a relationship formula between current and voltage data and the critical electric field distance; the second distance relationship formula is a relationship formula between current and voltage data and the critical magnetic field distance;

[0036] The real-time planning module is used to determine the inspection safety distance of the inspection drone according to the critical electric field distance and the critical magnetic field distance, and to update the current inspection route according to the inspection safety distance.

[0037] This embodiment of the present invention determines the safe distance for inspection drones using the substation's real-time current and voltage and a preset distance relationship. It then updates the current inspection route based on this safe distance. This embodiment considers the impact of safety distances under various substation operating conditions on drone inspection path planning, improving the scientific nature and real-time nature of drone substation inspection path planning. This ensures the safety and reliability of drone substation inspections, reducing the risk and costs of drone substation inspections.

[0038] In a third aspect, an embodiment of the present invention provides a terminal device, comprising: a processor, a memory, a communication interface, and a communication bus, wherein the processor, the memory, and the communication interface communicate with each other via the communication bus;

[0039] The memory is used to store at least one executable instruction, and the executable instruction enables the processor to perform the operation of the drone substation inspection path planning method considering the safety distance as described in any one of the above items.

[0040] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, which includes a stored computer program, wherein when the computer program is running, the device / apparatus where the computer-readable storage medium is located is controlled to execute the drone substation inspection path planning method considering the safety distance as described in any one of the above items.

[0041] The above description is only an overview of the technical solutions of the embodiments of the present invention. In order to more clearly understand the technical means of the embodiments of the present invention, they can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the embodiments of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are specifically listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 A schematic diagram of a method for planning a substation inspection path using a drone taking into account safety distances provided by an embodiment of the present invention;

[0043] Figure 2 A schematic diagram of a UAV substation inspection route planning process considering safety distance provided by an embodiment of the present invention;

[0044] Figure 3 This is a structural diagram of a UAV substation inspection path planning device that takes safety distance into consideration, provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0045] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0046] Example 1:

[0047] like Figure 1 As shown, this embodiment provides a method for planning a substation inspection path using a drone taking into account a safety distance, including the following steps:

[0048] S11, obtaining the real-time current and real-time voltage of the substation to be inspected;

[0049] S12, determining the critical electric field distance and critical magnetic field distance of the inspection drone based on the real-time current, the real-time voltage, and a preset distance relationship formula; wherein the distance relationship formula includes a first distance relationship formula and a second distance relationship formula; the first distance relationship formula is a relationship formula between the current and voltage data and the critical electric field distance; the second distance relationship formula is a relationship formula between the current and voltage data and the critical magnetic field distance;

[0050] S13: Determine the inspection safety distance of the inspection drone according to the critical electric field distance and the critical magnetic field distance, and update the current inspection route according to the inspection safety distance.

[0051] This embodiment of the present invention determines the safe distance for inspection drones using a pre-set distance relationship based on the substation's real-time current and voltage. It then updates the current inspection route based on this safe distance. Compared to existing technologies, this embodiment considers the impact of safety distances under multiple substation operating conditions on drone inspection path planning, improving the scientific nature and real-time nature of drone substation inspection path planning. This ensures the safety and reliability of drone substation inspections, reduces the risk of occurrence, and reduces the cost of drone substation inspections.

[0052] In this embodiment, step S11 is specifically as follows: in this embodiment, the real-time voltage and real-time current in the substation are transmitted back through the voltage transformer and the current transformer in the substation.

[0053] In this embodiment, step S12 is specifically as follows: determining the critical electric field distance and critical magnetic field distance of the inspection drone based on the real-time current, the real-time voltage and a preset distance relationship formula; wherein the distance relationship formula includes a first distance relationship formula and a second distance relationship formula; the first distance relationship formula is a relationship formula between the current and voltage data and the critical electric field distance; the second distance relationship formula is a relationship formula between the current and voltage data and the critical magnetic field distance.

[0054] Furthermore, the preset distance formulas are obtained from the three-dimensional simulation model corresponding to the substation to be inspected. The three-dimensional simulation model includes a three-dimensional electric field simulation model of the substation to be inspected and a three-dimensional magnetic field simulation model of the substation to be inspected. The specific process of establishing the model is as follows:

[0055] First, based on the physical information of the inspection drone, the parameters of the main structures are measured, and structures that have a minimal impact on the drone's electric and magnetic field distribution are simplified and deleted. These main structures include the drone's main housing, propellers, and camera gimbal. The simplified parts include external details such as screws and seams, while the deleted parts include various electronic components within the drone's housing, retaining only the external structure. Next, a corresponding drone model is established based on the simplified drone structure, and the corresponding material and characteristic parameters are set. Secondly, based on the physical information of the substation to be inspected, a corresponding 3D electric field simulation model and a 3D magnetic field simulation model of the substation to be inspected are established, and the corresponding material and characteristic parameters are set. Finally, the drone model is imported into the corresponding 3D electric field simulation model and 3D magnetic field simulation model of the substation to be inspected, respectively.

[0056] Furthermore, the operating current and operating voltage of the high-voltage equipment in the substation are changed in the corresponding three-dimensional electric field simulation model of the substation to be inspected and the three-dimensional magnetic field simulation model of the substation to be inspected, and multiple drone inspection paths are selected in the simulation for multiple simulations, so as to obtain the drone inspection critical electric field distance and inspection critical magnetic field distance under different working conditions respectively; wherein, the drone inspection critical electric field distance refers to the shortest distance between the metal part of the drone and the charged end of the substation equipment where the average unit length withstand voltage value is less than the electric field criterion; the drone critical magnetic field distance refers to the shortest distance where the maximum magnetic field intensity of the drone fuselage is less than the magnetic field criterion.

[0057] Among them, the selection of multiple drone inspection paths for multiple simulations is because during the actual inspection process, the drone inspection will be affected by factors such as the rotation of the drone camera angle and the inspection position. Therefore, different inspection paths need to be designed based on the drone shooting from the side, top, etc. of the equipment.

[0058] The calculation method of the electric field criterion is as follows:

[0059]

[0060] Among them, E is the electric field criterion, Ue is the potential of the charged end of the high-voltage equipment, Uw is the potential of the metal part of the drone closest to the charged end of the high-voltage equipment, and Le is the distance obtained from the experiment when the discharge photon count of the drone or the metal surface of the high-voltage equipment exceeds 100 when the drone approaches the charged end of the high-voltage equipment.

[0061] The magnetic field criterion is obtained through experiments, and its value is the minimum magnetic field strength that causes the UAV RTK function to fail or the UAV system to issue an alarm.

[0062] Furthermore, based on the critical electric field distance and critical magnetic field distance of the drone inspection under different working conditions, a preset distance relationship is fitted, that is, the relationship between the current and voltage data and the critical electric field distance (first distance relationship) and the relationship between the current and voltage data and the critical magnetic field distance (second distance relationship) are fitted respectively.

[0063] It should be noted that, according to the previous research results of the embodiments of the present invention, in the same substation to be inspected, the first distance relationship formula and the second distance relationship formula under different working conditions are the same, while different substations to be inspected correspond to different distance formulas, and the above-mentioned model establishment and simulation test process needs to be re-performed.

[0064] In addition, under normal circumstances, the process of establishing and simulating the above model only needs to be performed once before the inspection drone starts working for the first time, that is, the inspection drone only needs to perform an initialization process once (if the layout of the high-voltage equipment inside the substation to be inspected changes or the substation inspected by the drone changes, reinitialization is required).

[0065] Furthermore, during the actual inspection process of the drone, the real-time current and real-time voltage in the substation are respectively substituted into the preset distance relationship formula (including the first distance relationship formula and the second distance relationship formula obtained by the above simulation) to calculate the critical electric field distance and critical magnetic field distance of the inspection drone.

[0066] In this embodiment, step S13 specifically includes: determining the inspection safety distance of the inspection drone according to the critical electric field distance and the critical magnetic field distance, and updating the current inspection route according to the inspection safety distance.

[0067] Furthermore, the inspection safety distance of the inspection drone is determined based on the critical electric field distance and the critical magnetic field distance, and is obtained through a distance calculation formula.

[0068] The distance calculation formula is:

[0069] L=max{k1k2L1,k3k4L2}

[0070] Among them, L is the drone inspection safety distance of the equipment, L1 is the critical electric field distance under initial conditions, k1 is the influence coefficient on L1 under various working conditions, k2 is the electric field safety distance coefficient, L2 is the critical magnetic field distance under initial conditions, k3 is the influence coefficient on L2 under various working conditions, and k4 is the magnetic field safety distance coefficient.

[0071] Optionally, L1 is obtained by simulating the rated voltage of the high-voltage equipment of the substation to be inspected as the initial value, and L2 is obtained by simulating the rated current of the high-voltage equipment of the substation to be inspected as the initial value; the method for determining k1 and k3 is based on the fitting formula of the first distance relationship and the second distance relationship, that is, taking a certain working condition as a benchmark, and comparing it with the distance of other working conditions to obtain k1 and k3; the method for determining k2 is based on the voltage level of the substation, and the value range is between 1.2 and 2.0 depending on the voltage level; the method for determining k4 is based on the size of the load current of the equipment in the substation, and the value range is between 1.5 and 2.5.

[0072] Furthermore, the voltage and current of the substation to be inspected are substituted into the above distance calculation formula to obtain the safe distance for drone inspection of different equipment; according to the take-off and landing position of the drone and the inspection point to be inspected, the safe distance for drone inspection of different equipment is used as a constraint condition, and an artificial intelligence algorithm is used to search for the shortest distance between each point to obtain the current inspection route of the drone.

[0073] Optionally, due to inherent fluctuations in the operating voltage and current of substation equipment, to avoid frequent rerouting that can reduce drone inspection efficiency, upper and lower safety distance thresholds should be set. If these thresholds are not exceeded, the inspection route can be continued. These thresholds are determined based on the drone's positioning accuracy and flight control precision, and are generally set at 0.5m.

[0074] To better illustrate the working principle and steps of this embodiment, see Figure 2 An example of .

[0075] like Figure 2 As shown, this example includes the following steps:

[0076] S21, based on the physical pictures and dimensions of the inspection drone and substation, establish the corresponding three-dimensional electric field and magnetic field simulation models;

[0077] S22, using the rated voltage and current of the high-voltage equipment of the substation to be inspected as the initial values, conduct a simulation of the safety distance of the UAV substation inspection to obtain the critical electric field and magnetic field safety distance of the UAV inspection under the initial conditions;

[0078] S23, changing the operating voltage and operating current of the high-voltage equipment to obtain the critical electric field and magnetic field safety distances of the drone inspection under different working conditions, and fitting the relationship between the critical electric field safety distance and the operating voltage and current, and the fitting relationship between the critical magnetic field safety distance and the operating voltage and current;

[0079] S24, a certain safety factor is set based on the critical electric field and magnetic field safety distances to comprehensively obtain the drone inspection safety distances of various high-voltage equipment under different working conditions;

[0080] S25, using the historical operating voltage and current of the substation to be inspected as preset values, simulating to obtain the safe distance for drone inspection of different equipment under the preset values, and planning the initial inspection route of the drone based on the safe distance;

[0081] S26, when the drone enters the substation to conduct actual inspection, it transmits the real-time voltage and current values in the substation through the voltage transformer and current transformer in the substation, calculates the safety distance during the inspection process according to the relationship in S23 and S24, and dynamically updates the inspection route.

[0082] In the specific implementation process of this example, S21 to S25 are the drone initialization process, which only needs to be implemented when the drone first enters its corresponding substation to be inspected.

[0083] Among them, the critical electric field and magnetic field safety distances of the drone inspection under the initial conditions obtained in S22 are used as the initial values for the simulation in S23.

[0084] Among them, the initial inspection route obtained in S25 is the initial inspection route of the inspection drone each time it enters the substation to be inspected. By pre-setting the initial inspection route, the workload of the drone each time it enters the work is reduced, thereby improving the working efficiency of the drone.

[0085] The process of S26 is the same as Figure 1 The processes shown are consistent, and details can be found in the previous section, so I will not go into details here.

[0086] This embodiment provides a method for planning a drone substation inspection route that takes safety distance into consideration. The method uses the voltage transformer and current transformer in the substation to transmit the real-time voltage and real-time current in the station, which is conducive to providing reliable and timely data support for the drone to update the inspection route in real time; according to the real-time current, the real-time voltage and the preset distance relationship, the critical electric field distance and the critical magnetic field distance of the inspection drone are determined, and an existing formula is provided to calculate the drone inspection safety distance, thereby reducing the workload of the drone and improving the drone's working rate and response speed; according to the critical electric field distance and the critical magnetic field distance, the inspection safety distance of the inspection drone is determined, and the current inspection route is updated according to the inspection safety distance, so that the drone can plan and update the route according to the real-time situation in the substation, thereby improving the real-time and reliability of the drone inspection, reducing the probability of risk occurrence, and reducing the cost of drone inspection in the substation.

[0087] Example 2:

[0088] like Figure 3 As shown, this embodiment provides a UAV substation inspection path planning device considering safety distance, including an information collection module 001, a distance calculation module 002 and a real-time planning module 003, wherein:

[0089] The information acquisition module 001 is used to obtain the real-time current and real-time voltage of the substation to be inspected;

[0090] The distance calculation module 002 is used to determine the critical electric field distance and critical magnetic field distance of the inspection drone based on the real-time current, the real-time voltage and a preset distance relationship formula; wherein the distance relationship formula includes a first distance relationship formula and a second distance relationship formula; the first distance relationship formula is the relationship formula between the current and voltage data and the critical electric field distance; the second distance relationship formula is the relationship formula between the current and voltage data and the critical magnetic field distance;

[0091] The real-time planning module 003 is used to determine the inspection safety distance of the inspection drone according to the critical electric field distance and the critical magnetic field distance, and to update the current inspection route according to the inspection safety distance.

[0092] In this embodiment, the real-time planning module 003 determines the inspection safety distance of the inspection drone according to the critical electric field distance and the critical magnetic field distance, specifically including: determining the inspection safety distance of the inspection drone according to the critical electric field distance, the critical magnetic field distance and a preset distance calculation formula;

[0093] The distance calculation formula is:

[0094] L=max{k1k2L1,k3k4L2}

[0095] Among them, L is the drone inspection safety distance of the equipment, L1 is the critical electric field distance under initial conditions, k1 is the influence coefficient on L1 under various working conditions, k2 is the electric field safety distance coefficient, L2 is the critical magnetic field distance under initial conditions, k3 is the influence coefficient on L2 under various working conditions, and k4 is the magnetic field safety distance coefficient.

[0096] In this embodiment, the critical electric field safety distance under the initial conditions and the critical magnetic field safety distance under the initial conditions used by the real-time planning module 003 in applying the distance calculation formula are obtained by performing multiple simulations of multi-path inspections on the drone model in a preset three-dimensional simulation model;

[0097] The preset three-dimensional simulation model is generated according to the substation to be inspected, and the operating voltage and operating current of the three-dimensional simulation model in each simulation are the rated voltage and rated current of the high-voltage equipment of the substation to be inspected.

[0098] In this embodiment, the preset three-dimensional simulation model used by the real-time planning module 003 when performing the simulation test includes a three-dimensional electric field simulation model of the substation to be inspected and a three-dimensional magnetic field simulation model of the substation to be inspected;

[0099] The structural information of the substation to be inspected is obtained based on its physical information, the structural information is imported into the three-dimensional simulation software and the corresponding material parameters and characteristic parameters are set to obtain the three-dimensional electric field simulation model and the three-dimensional magnetic field simulation model of the substation to be inspected.

[0100] In this embodiment, the distance relationship used by the real-time planning module 003 when calculating the inspection distance of the drone is obtained based on different operating conditions and the distance data corresponding to each operating condition;

[0101] The distance data is obtained by performing multiple simulations of multi-path inspections on a drone model under different operating conditions; the distance data includes critical electric field distance data and critical magnetic field distance data.

[0102] In this embodiment, the real-time planning module 003 updates the current inspection route by the following steps:

[0103] The safe distance for drone inspection of different equipment is obtained based on the voltage and current of the substation to be inspected;

[0104] According to the take-off and landing positions of the drone and the inspection points to be inspected, with the safe inspection distance of the drone of different equipment as the constraint condition, an artificial intelligence algorithm is used to search for the shortest distance between each point to obtain the current inspection route of the drone.

[0105] The more detailed working principle and process flow of this embodiment can be referred to, but not limited to, the relevant records of the first embodiment.

[0106] This embodiment provides a drone substation inspection path planning device that takes safety distance into consideration. The information acquisition module 001 obtains real-time current and real-time voltage in the substation, thereby obtaining real-time data in the substation to determine whether it is necessary to change the drone inspection path, thereby ensuring the reliability of the drone inspection and the real-time nature of the inspection path update; the distance calculation module 002 calculates the critical electric field distance and critical magnetic field distance of the drone inspection according to a preset distance relationship, thereby reducing the workload of the drone and improving the response speed of the drone; the real-time planning module 003 performs real-time path planning based on the calculated drone inspection safety distance, and incorporates the safety distance of the drone inspection in the substation into the consideration range of the real-time path planning, thereby improving the safety and reliability of the drone inspection and reducing the unnatural loss of the drone.

[0107] Example 3:

[0108] This embodiment provides a terminal device, including: a processor, a memory, a communication interface, and a communication bus, wherein the processor, the memory, and the communication interface communicate with each other via the communication bus;

[0109] The memory is used to store at least one executable instruction, and the executable instruction enables the processor to perform the operation of the drone substation inspection path planning method considering the safety distance as described in any one of the above items.

[0110] Example 4:

[0111] An embodiment of the present invention provides a computer-readable storage medium, which includes a stored computer program, wherein when the computer program is running, the device / apparatus where the computer-readable storage medium is located is controlled to execute the drone substation inspection path planning method considering the safety distance as described in any one of the above items.

[0112] Those skilled in the art will appreciate that all or part of the processes in the above-described method embodiments can be implemented by instructing related hardware through a computer program. The program can be stored in a computer-monitorable storage medium, and when executed, the program can include the processes in the above-described method embodiments. The storage medium can be a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM).

[0113] The specific embodiments described above further illustrate the objectives, technical solutions, and beneficial effects of the present invention. It should be understood that the above descriptions are merely specific embodiments of the present invention and are not intended to limit the scope of protection of the present invention. In particular, it should be noted that any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included within the scope of protection of the present invention for those skilled in the art.

Claims

1. A UAV substation inspection path planning method considering safety distance, characterized by: include: Obtain the real-time current and voltage of the substation to be inspected; Determine the critical electric field distance and critical magnetic field distance of the inspection drone based on the real-time current, the real-time voltage, and a preset distance relationship formula; wherein the distance relationship formula includes a first distance relationship formula and a second distance relationship formula; the first distance relationship formula is a relationship formula between the current and voltage data and the critical electric field distance; the second distance relationship formula is a relationship formula between the current and voltage data and the critical magnetic field distance; The inspection safety distance of the inspection drone is determined according to the critical electric field distance and the critical magnetic field distance, and the current inspection route is updated according to the inspection safety distance.

2. The method for planning a UAV substation inspection path considering a safety distance according to claim 1 is characterized in that: The determining of the inspection safety distance of the inspection drone according to the critical electric field distance and the critical magnetic field distance includes: Determining the inspection safety distance of the inspection drone according to the critical electric field distance, the critical magnetic field distance and a preset distance calculation formula; The distance calculation formula is: L=max{k1k2L1,k3k4L2} Among them, L is the drone inspection safety distance of the equipment, L1 is the critical electric field distance under initial conditions, k1 is the influence coefficient on L1 under various working conditions, k2 is the electric field safety distance coefficient, L2 is the critical magnetic field distance under initial conditions, k3 is the influence coefficient on L2 under various working conditions, and k4 is the magnetic field safety distance coefficient.

3. The method for planning a UAV substation inspection path considering a safety distance according to claim 2 is characterized in that: The critical electric field safety distance under the initial conditions and the critical magnetic field safety distance under the initial conditions are obtained by performing multiple simulations of multi-path inspections on the UAV model in a preset three-dimensional simulation model; The preset three-dimensional simulation model is generated according to the substation to be inspected, and the operating voltage and operating current of the three-dimensional simulation model in each simulation are the rated voltage and rated current of the high-voltage equipment of the substation to be inspected.

4. The method for planning a UAV substation inspection path considering a safety distance according to claim 3 is characterized in that: The preset three-dimensional simulation model includes a three-dimensional electric field simulation model of the substation to be inspected and a three-dimensional magnetic field simulation model of the substation to be inspected; The structural information of the substation to be inspected is obtained based on its physical information, the structural information is imported into the three-dimensional simulation software and the corresponding material parameters and characteristic parameters are set to obtain the three-dimensional electric field simulation model and the three-dimensional magnetic field simulation model of the substation to be inspected.

5. The method for planning a UAV substation inspection path considering a safety distance according to claim 3 is characterized in that: The distance relationship is obtained based on different operating conditions and the distance data corresponding to each operating condition; The distance data is obtained by multiple simulations of multi-path inspections performed by the UAV model under different operating conditions; the distance data includes critical electric field distance data and critical magnetic field distance data.

6. The method for planning a UAV substation inspection path considering a safety distance according to claim 1 is characterized in that: The updating of the current inspection route according to the inspection safety distance is specifically as follows: The safe distance for drone inspection of different equipment is obtained based on the voltage and current of the substation to be inspected; According to the take-off and landing positions of the drone and the inspection points to be inspected, with the safe inspection distance of the drone of different equipment as the constraint condition, an artificial intelligence algorithm is used to search for the shortest distance between each point to obtain the current inspection route of the drone.

7. A method for planning a UAV substation inspection path considering a safety distance according to claims 1 to 6, characterized in that: The real-time current and real-time voltage of the substation to be inspected are obtained as follows: The real-time voltage and current in the substation to be inspected are transmitted back through the voltage transformer and current transformer in the substation to be inspected.

8. A UAV substation inspection path planning device considering safety distance, characterized in that: It includes information collection module, distance calculation module and real-time planning module, among which, The information acquisition module is used to obtain the real-time current and real-time voltage of the substation to be inspected; The distance calculation module is used to determine the critical electric field distance and critical magnetic field distance of the inspection drone based on the real-time current, the real-time voltage and a preset distance relationship formula; wherein the distance relationship formula includes a first distance relationship formula and a second distance relationship formula; the first distance relationship formula is a relationship formula between current and voltage data and the critical electric field distance; the second distance relationship formula is a relationship formula between current and voltage data and the critical magnetic field distance; The real-time planning module is used to determine the inspection safety distance of the inspection drone according to the critical electric field distance and the critical magnetic field distance, and to update the current inspection route according to the inspection safety distance.

9. A terminal device, characterized in that: include: A processor, a memory, a communication interface, and a communication bus, wherein the processor, the memory, and the communication interface communicate with each other via the communication bus; The memory is used to store at least one executable instruction, and the executable instruction enables the processor to perform the operation of the drone substation inspection path planning method considering the safety distance as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium includes a stored computer program, wherein, when the computer program is running, the device / apparatus where the computer-readable storage medium is located is controlled to execute the drone substation inspection path planning method considering the safety distance as described in any one of claims 1 to 7.

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