High-altitude wiring positioning system for substation maintenance based on unmanned aerial vehicle

Abstract

The invention discloses a high-altitude wiring positioning system for substation maintenance based on an unmanned aerial vehicle, which comprises a wiring area information acquisition module, a path planning analysis module, a positioning calibration optimization module, a wiring positioning processing module and a wiring information output module, relates to the technical field of unmanned aerial vehicle wiring, and solves the problem of lack of accurate compensation and correction means. According to the invention, a perfect compensation model is constructed for the unmanned aerial vehicle positioning error and the error of the lead sag changing along with the temperature, thereby solving the technical problems of the safety distance deviation caused by the unmanned aerial vehicle positioning error and the environment factor. An initial compensation reference is obtained through offline calibration of a calibration plate and a camera / laser radar, the compensation amount is dynamically calculated in combination with real-time positioning data during operation, and the standard distance is accurately corrected. Compared with extensive processing of error compensation in the prior art, dynamic adjustment can be carried out according to an actual operation scene, the safety distance accuracy is guaranteed, and the operation safety risk is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle (UAV) wiring, and in particular to a high-altitude wiring positioning system for substation maintenance based on UAVs. Background Art

[0002] In substation maintenance work, high-altitude wiring operations have always been a difficult and high-risk link. With the development of drone technology, drones are used to replace manual labor to achieve high-altitude wiring.

[0003] However, the equipment layout in the substation is complex, and factors such as the electromagnetic environment and equipment temperature are changeable. The existing drone positioning system is difficult to adapt accurately, and positioning deviations are prone to occur, affecting the accuracy of wiring. At the same time, there is a lack of accurate compensation and correction methods for safety distance deviations caused by drone positioning errors and environmental factors, making it difficult to ensure a safe operating distance. Summary of the Invention

[0004] In response to the shortcomings of the existing technology, the present invention provides a high-altitude wiring positioning system for substation maintenance based on drones, which solves the problems of drone positioning errors and safety distance deviations caused by environmental factors due to the lack of precise compensation and correction means.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solutions: a high-altitude wiring positioning system for substation maintenance based on a drone, comprising: The path planning and analysis module is used to obtain the regional information and basic information transmitted by the wiring area information acquisition module, generate the UAV path, calculate the comprehensive index of the UAV path according to the energy consumption-efficiency balance optimization model, and generate standard path information with the minimum comprehensive index, and transmit it to the wiring positioning processing module; The wiring location processing module is used to determine the wiring location based on the standard path information, and calculate the comprehensive score of the wiring location based on the influence of safety distance, wiring location temperature, electromagnetic interference, and operational convenience. The location with the largest comprehensive score is selected as the standard to generate the standard location; The distance compensation correction is performed on the standard position, and the positioning compensation and temperature compensation are calculated separately. The compensation distance is calculated by combining the two and transmitted to the wiring information output module.

[0006] As a further solution of the present invention, it also includes a wiring area information acquisition module and a wiring information output module; The wiring area information collection module is used to collect substation area information and drone basic information, and transmit them to the path planning and analysis module; The wiring information output module is used to correct the wiring of the drone based on the obtained compensation distance.

[0007] As a further solution of the present invention, the specific manner in which the path planning analysis module generates standard path information is as follows: Obtain regional information to generate drone paths and label them as i, where i=1, 2, …, j, where j represents the type of drone path. According to the energy consumption-efficiency balance optimization model, the formula is established. Calculate the comprehensive index f of the drone path i, where L is the path length, E is the energy consumption, and T is the task completion time. 、 and is the weight coefficient; The drone path with the smallest comprehensive index f is selected as the standard to generate standard path information. At the same time, the positioning accuracy of the standard path information is calibrated and then transmitted to the wiring positioning processing module.

[0008] As a further solution of the present invention, the specific method in which the path planning analysis module calibrates the positioning accuracy of the standard path information is as follows: Before the drone takes off, the visual system is calibrated internally using the built-in calibration board, and the UWB / GNSS coordinate system is calibrated using ground control points with known coordinates. During the flight, the inertial navigation zero bias calibration is automatically triggered every 10 minutes. At the same time, the ground control center receives the multi-sensor data of the UAV in real time, fits the positioning deviation model through the least squares method, and sends real-time correction parameters to the UAV to achieve positioning accuracy calibration.

[0009] As a further solution of the present invention, the wiring positioning processing module generates the standard position in the following specific manner: Obtain the wiring position and label it as a, where a=1, 2, ..., b, where b represents the number of wiring positions. Obtain the safety distance, wiring position temperature, electromagnetic interference, and ease of operation of the wiring position, and perform quantitative processing to obtain the corresponding quantitative index, which is recorded as the safety distance score S d , temperature weight T, electromagnetic interference index E, operation convenience O p ; Substitute the quantitative indicators into the formula The comprehensive score F of the wiring position is calculated, where 、 、 and For the corresponding weight, calculate the comprehensive scores of all wiring positions a and record them as Fa, and select the wiring position with the largest comprehensive score Fa as the standard to generate the standard position.

[0010] As a further solution of the present invention, the wiring positioning processing module performs distance compensation correction on the standard position in the following specific manner: The standard distance corresponding to the standard position is obtained by three-dimensional laser scanning, according to the formula Calculate the compensation distance D real , where D nom is the standard distance, For positioning compensation, For temperature compensation, the compensation distance D real Transmitted to the wiring information output module.

[0011] As a further solution of the present invention, the specific calculation method of the positioning compensation is as follows: Through real-time positioning data, compare the "current positioning value" with the "historical calibration error model", calculate the compensation amount, obtain the current positioning error and calibration average error, and use the formula Calculate the compensation amount , the compensation amount Distance from standard D nom Sum to get positioning compensation The specific calculation formula is .

[0012] As a further solution of the present invention, the specific calculation method of the temperature compensation is as follows: Get the wire span L and the reference temperature, and get the actual temperature of the standard position at the same time, and calculate the temperature difference according to the formula temperature difference = actual temperature - reference temperature, and then calculate the temperature difference according to the formula Calculated temperature compensation ,in is the linear expansion coefficient of the wire material, is the temperature difference.

[0013] The present invention provides a high-altitude wiring positioning system for substation maintenance based on drones. Compared with the existing technology, it has the following advantages: This method introduces an energy-efficiency balance optimization model that integrates path length, energy consumption, task completion time, and corresponding weight coefficients, selecting the path with the lowest overall performance as the standard path. Compared to existing planning methods that only consider a single factor, this method can effectively control energy consumption while ensuring operational efficiency, improving the drone's endurance and reducing the risk of operational interruptions due to insufficient power.

[0014] This invention builds a comprehensive compensation model for drone positioning errors and conductor sag errors caused by temperature variations. Through offline calibration using a "calibration board + camera / lidar" system, an initial compensation baseline is obtained. During operation, the compensation amount is dynamically calculated using real-time positioning data, allowing for precise correction of the standard distance. Compared to the crude error compensation methods used in existing technologies, this model can dynamically adjust according to the actual operation scenario, ensuring accurate safety distances and reducing operational safety risks.

[0015] This invention quantifies candidate wiring locations based on four dimensions: safety distance, wiring location temperature, electromagnetic interference, and ease of use. It then dynamically assigns weights based on the maintenance scenario priority. Existing technologies for selecting wiring locations often fail to fully implement multi-dimensional quantification and dynamic weight adjustment. This application enables a more scientific and comprehensive evaluation of wiring locations, ensuring that the selected standard locations achieve the optimal balance between safety, efficiency, and ease of use. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a system block diagram of the present invention. DETAILED DESCRIPTION

[0017] 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. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0018] See also Figure 1 The present application provides a high-altitude wiring positioning system for substation maintenance based on drones, including a wiring area information acquisition module, a path planning and analysis module, a positioning calibration optimization module, a wiring positioning processing module and a wiring information output module, and combined with Figure 1 It can be seen that the information between the above functional modules is transmitted in one direction.

[0019] The wiring area information acquisition module is used to obtain the area information of the substation and the basic information of the drone, and transmit them to the path planning and analysis module.

[0020] Path planning and analysis module, which is used to plan the drone path based on the acquired regional information and basic information, obtain regional information, divide the substation into sub-areas according to functional areas (high-voltage area, low-voltage area, main control room), construct topological map nodes (such as regional entrances, equipment cluster center points), and generate drone paths and label them as i, where i=1, 2, ..., j, where j represents the type of drone path. Then, an energy consumption-efficiency balance optimization model is established. According to the formula Calculate the comprehensive index f of the drone path i, where L is the path length, E is the energy consumption (battery remaining power constraint), and T is the task completion time. 、 and is the weight coefficient; Then, the drone path with the smallest comprehensive index f is selected as the standard to generate standard path information. At the same time, the positioning accuracy of the standard path information is calibrated and then the standard path information is transmitted to the wiring positioning processing module.

[0021] The specific positioning accuracy calibration processing method is that before the UAV takes off, the visual system is calibrated internally through a built-in calibration board (such as a checkerboard calibration board), and the UWB / GNSS coordinate system is aligned using ground control points with known coordinates; during the flight, the inertial navigation zero bias calibration is automatically triggered every 10 minutes to reduce the cumulative error. At the same time, the ground control center receives the multi-sensor data of the UAV in real time, fits the positioning deviation model through the least squares method, and sends real-time correction parameters (such as coordinate offset and attitude angle correction value) to the UAV to achieve dynamic error compensation.

[0022] The wiring location processing module is used to perform wiring location analysis based on standard path information, obtain the wiring position and mark it as a, and a=1, 2, ..., b, where b represents the number of wiring positions, and the wiring position here is set by the operator, and obtain the basic information corresponding to the wiring position, and the basic information here includes safety distance, wiring position temperature, electromagnetic interference and operation convenience, and quantify them respectively to obtain corresponding quantitative indicators, and the quantitative indicators include safety distance score S d , temperature weight T, electromagnetic interference index E, operation convenience O p ; Based on the substation equipment layout (e.g., the substation primary equipment wiring diagram), operators define a set of candidate connection locations for the busbars, outgoing lines, and other equipment requiring maintenance. For example, at the high-voltage bushing on the No. 1 main transformer in a 110kV substation, three candidate connection points are planned, denoted as a=1, 2, and 3, with b=3 (the number of candidate locations). Simultaneously, basic information about the candidate locations is collected, and intelligent sensing equipment (such as infrared thermometers for temperature, electromagnetic spectrum analyzers for interference, and lidar for distance) is used to obtain data on safety distance, temperature, electromagnetic interference, and ease of operation.

[0023] Substitute the quantitative indicators into the formula The comprehensive score F of the wiring position is calculated, where 、 、 and is the corresponding weight, and the comprehensive scores corresponding to all wiring positions a are calculated in this way, recorded as Fa, and the wiring position with the largest comprehensive score Fa is selected as the standard to generate the standard position; Safety distance score S d: Based on the "Electric Power Safety Work Regulations", the safety distance standard value is set (for example, the safety distance standard for 110kV equipment is 1.5m). If the actual distance between the candidate location and the live object is 1.6m, the proportion of exceeding the standard distance is (1.6-1.5) / 1.5≈6.7%. According to the linear mapping (the farther the distance, the higher the score), it can be quantified as S d =90 (full score is 100, the mapping rules can be adjusted according to actual needs. If the distance is less than the standard value, the score will be greatly reduced, reflecting the security risk).

[0024] Temperature weight T: Normal equipment operating temperature range (e.g., the normal casing temperature is 30-50°C). If the temperature at the candidate location is 35°C, which is in the middle of the range, it is quantified as T=80; if the temperature is 60°C (abnormally high temperature), it is quantified as T=30. The value is assigned linearly or nonlinearly (e.g., exponential function, highlighting high temperature risks) based on the degree to which the temperature deviates from the normal range.

[0025] Electromagnetic Interference Index (E): Use electromagnetic interference monitoring equipment to obtain interference field strength values. Set an interference threshold (e.g., ≤40dBμV / m for low interference, 40-80dBμV / m for medium interference, and >80dBμV / m for high interference). If the interference field strength at a candidate location is 35dBμV / m, the quantification is E=95; if the field strength is 70dBμV / m, the quantification is E=60. The corresponding score based on the interference level reflects the degree of impact on the positioning signal.

[0026] Operation convenience 0 p Consider the complexity of the drone's flight path (e.g., whether it needs to avoid numerous obstacles) and the manipulator's operating space (e.g., the required opening and closing angles for the wiring clips). If the candidate location has no obvious obstacles and the manipulator can dock easily, the value is quantified as 0p = 90. If obstacle avoidance is required and the operating space is narrow, the value is quantified as 0p = 50. This value is assigned based on experience or simulation, taking into account the actual operational difficulty.

[0027] Weight allocation is based on the maintenance scenario priority setting: daily maintenance focuses on safety and convenient operation. =0.4(safety distance), =0.2(temperature), =0.2(electromagnetic interference), =0.2 (convenience of operation); in case of emergency repair, it can be adjusted for quick wiring. =0.3, reducing the weights of other factors.

[0028] Taking the daily maintenance scenario as an example, the candidate location 1 data: S a =90、T=80、E=95、O p =90, substitute into the formula F= XS a + xT+ xE+ XO p , we calculate F1 = 0.4x90 + 0.2x80 + 0.2x95 + 0.2x90 = 36 + 16 + 19 + 18 = 89. Similarly, we calculate the scores of candidate positions 2 and 3, F2 = 82 and F3 = 78. Position 1 with the largest F1 is selected as the standard position to generate the target coordinates for the UAV wiring operation.

[0029] Obtain the standard distance corresponding to the standard position, and the standard distance here is expressed as the safe distance between the UAV and the standard position. It is obtained through means such as 3D laser scanning and substation digital model. Considering the influence of UAV positioning error (±3cm) and gimbal jitter (±0.5°) and conductor sag with temperature change (sag correction coefficient 1.0 at 25°C and 1.12 at 40°C), the specific UAV positioning error uses the built-in attitude sensor of the gimbal to obtain the gimbal jitter angle (such as jitter range ±0.5°). Combined with the trigonometric function relationship, the angle jitter is converted into distance error. If the vertical height of the gimbal from the wiring position is h=1.5m, the distance error corresponding to jitter 0.5° =hx ≈1.5x0.0087≈0.013m=1.3cm, the standard distance needs to be compensated and corrected according to the formula Calculate the compensation distance D real , where Dnom is the standard distance, For positioning compensation, For temperature compensation, the compensation distance D real Transmit to the wiring information output module; Positioning compensation is calculated using a calibration plate + camera / lidar to collect data in a simulated substation operating area. For example, on a calibration plate with known coordinates, the drone can repeatedly collect data from the same calibration point and calculate the distribution of positioning errors (mean, standard deviation). If the difference between the mechanical coordinates and the theoretical coordinates of a calibration point measured multiple times is [+2cm, -3cm, +2cm, etc.], the average error (2-3+2) / 3 ≈ +0.33cm can be calculated as the initial compensation benchmark. The drone flies along a preset route above the calibration plate, repeatedly collecting data from the same calibration point (such as the center coordinates of the calibration plate (X0, Y0, Z0)) 20 or more times, recording the mechanical coordinates (output from the drone positioning system) and the theoretical coordinates (the actual coordinates of the calibration plate) collected each time, and calculating the error sequence; After measuring a certain calibration point multiple times, the difference between the mechanical coordinates and the theoretical coordinates is [+2cm, -3cm, +2cm, -1cm, +3cm]. The statistical result is: Average error: =+0.6cm; Standard Deviation: ≈2.1cm.

[0030] The average error As the initial compensation benchmark.

[0031] During operation, the current positioning value is compared with the historical calibration error model through real-time positioning data (such as RTK output), and the compensation amount is calculated to obtain the current positioning error and the calibration average error. According to the formula Calculate the compensation amount , the compensation amount Distance from standard D nom Sum to get positioning compensation The specific calculation formula is ; It is necessary to conduct drone wiring inspection and maintenance on bus No. 2 of 110kV substation, standard safety distance D nom =1.5m (150cm), offline calibration data is as follows: Average error =+0.6cm; Dynamic correction coefficient K=0.9; The drone flies to the busbar connection area, and the RTK outputs the current positioning error. =+3cm (compared with the theoretical coordinates of the calibration plate), substitute into the formula to calculate is 1.53cm.

[0032] The method for calculating temperature compensation is to obtain the wire span L and the reference temperature, and at the same time obtain the actual temperature of the standard position, and calculate the temperature difference according to the formula temperature difference = actual temperature - reference temperature, and then calculate the temperature difference according to the formula Calculated temperature compensation ,in is the linear expansion coefficient of the wire material, is the temperature difference.

[0033] For example, the conductor span L = 50m, the reference temperature T0 = 25℃, the operating temperature (actual temperature) T = 40℃, and the linear expansion coefficient =1.8×10 -5 / ℃. Temperature difference =40-25=15℃, and then substitute the obtained parameters into the formula to calculate the temperature compensation =1.35cm.

[0034] Wiring information output module, which is used to adjust the position of the drone according to the obtained compensation distance.

[0035] Some of the data in the above formulas are calculated based on their numerical values ​​and are not substituted into parameter units for calculation. At the same time, the contents not described in detail in this specification belong to the existing technology known to those skilled in the art.

[0036] The above embodiments are only used to illustrate the technical method of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical method of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical method of the present invention.

Claims

1. The high-altitude wiring positioning system for substation maintenance based on drones is characterized by: include: The path planning and analysis module is used to obtain the multi-source information transmitted by the wiring area information acquisition module and generate the UAV path. The comprehensive index of the UAV path is calculated according to the energy consumption-efficiency balance optimization model. At the same time, the standard path information is generated with the minimum comprehensive index and transmitted to the wiring positioning processing module. The wiring location processing module is used to determine the wiring location based on the standard path information, and calculate the comprehensive score of the wiring location based on the influence of safety distance, wiring location temperature, electromagnetic interference, and operational convenience. The location with the largest comprehensive score is selected as the standard to generate the standard location; The distance compensation correction is performed on the standard position, and the positioning compensation and temperature compensation are calculated separately. The compensation distance is calculated by combining the two and transmitted to the wiring information output module.

2. The high-altitude wiring positioning system for substation maintenance based on drone according to claim 1 is characterized in that: It also includes a wiring area information acquisition module and a wiring information output module; The wiring area information collection module is used to collect multi-source information of the substation, including regional information and basic information of the drone, and transmit the two to the path planning and analysis module; The wiring information output module is used to correct the wiring of the drone based on the obtained compensation distance.

3. The high-altitude wiring positioning system for substation maintenance based on drone according to claim 1 is characterized in that: The specific method for the path planning analysis module to generate standard path information is as follows: Obtain regional information to generate drone paths and label them as i, where i=1, 2, …, j, where j represents the type of drone path. According to the energy consumption-efficiency balance optimization model, the formula is established. Calculate the comprehensive index f of the drone path i, where L is the path length, E is the energy consumption, and T is the task completion time. 、 and is the weight coefficient; The drone path with the smallest comprehensive index f is selected as the standard to generate standard path information. At the same time, the positioning accuracy of the standard path information is calibrated and then transmitted to the wiring positioning processing module.

4. The high-altitude wiring positioning system for substation maintenance based on drone according to claim 3 is characterized in that: The specific method for the path planning analysis module to calibrate the positioning accuracy of the standard path information is as follows: Before the drone takes off, the visual system is calibrated internally using the built-in calibration board, and the UWB / GNSS coordinate system is calibrated using ground control points with known coordinates. During the flight, the inertial navigation zero bias calibration is automatically triggered every 10 minutes. At the same time, the ground control center receives the multi-sensor data of the UAV in real time, fits the positioning deviation model through the least squares method, and sends real-time correction parameters to the UAV to achieve positioning accuracy calibration.

5. The high-altitude wiring positioning system for substation maintenance based on drone according to claim 1 is characterized in that: The specific method for the wiring positioning processing module to generate the standard position is: Obtain the wiring position and label it as a, where a=1, 2, ..., b, where b represents the number of wiring positions. Obtain the safety distance, wiring position temperature, electromagnetic interference, and ease of operation of the wiring position, and perform quantitative processing to obtain the corresponding quantitative index, which is recorded as the safety distance score S d , temperature weight T, electromagnetic interference index E, operation convenience O p ; Substitute the quantitative indicators into the formula The comprehensive score F of the wiring position is calculated, where 、 、 and For the corresponding weight, calculate the comprehensive scores of all wiring positions a and record them as Fa, and select the wiring position with the largest comprehensive score Fa as the standard to generate the standard position.

6. The high-altitude wiring positioning system for substation maintenance based on drone according to claim 1 is characterized in that: The specific method of the wiring positioning processing module to perform distance compensation correction on the standard position is: The standard distance corresponding to the standard position is obtained by three-dimensional laser scanning, according to the formula Calculate the compensation distance D real , where D nom is the standard distance, For positioning compensation, For temperature compensation, the compensation distance D real Transmitted to the wiring information output module.

7. The high-altitude wiring positioning system for substation maintenance based on drone according to claim 6 is characterized in that: The specific calculation method of the positioning compensation is as follows: Through real-time positioning data, compare the "current positioning value" with the "historical calibration error model", calculate the compensation amount, obtain the current positioning error and calibration average error, and use the formula Calculate the compensation amount , the compensation amount Distance from standard D nom Sum to get positioning compensation The specific calculation formula is .

8. The high-altitude wiring positioning system for substation maintenance based on drone according to claim 6 is characterized in that: The specific calculation method of the temperature compensation is as follows: Get the wire span L and the reference temperature, and get the actual temperature of the standard position at the same time, and calculate the temperature difference according to the formula temperature difference = actual temperature - reference temperature, and then calculate the temperature difference according to the formula Calculated temperature compensation ,in is the linear expansion coefficient of the wire material, is the temperature difference.

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