A new energy station digital twin closed-loop inspection method and system fusing optical quantum radar data

Abstract

The present application relates to the technical field of digital twin inspection, especially relates to a new energy station digital twin closed-loop inspection method and system fusing optical quantum radar data, comprising constructing a new energy station digital twin base with a unified spatial coordinate system, and accessing spatial monitoring data with three-dimensional coordinates collected by an optical quantum radar; performing spatial coordinate registration on the optical quantum radar monitoring data and the digital twin base; based on the registered optical quantum radar monitoring data, calculating the reference point and the spatial boundary range of the risk warning area; taking the reference point of the risk warning area as the reference, generating a multi-level inspection path in the spatial boundary range according to the rule of gradually converging from outside to inside; controlling the inspection robot to perform inspection work along the multi-level inspection path in hierarchical order, receiving the inspection verification result returned by the inspection robot, and synchronously updating the inspection verification result to the digital twin base.

Description

Technical Field

[0001] This invention relates to the technical field of digital twin inspection technology, and in particular to a digital twin closed-loop inspection method and system for new energy power stations that integrates quantum radar data. Background Technology

[0002] New energy power stations include photovoltaic power stations, wind power stations, and integrated energy power stations. Their equipment is widely distributed and may be affected by risks such as heavy rain, heavy snow, icing, sandstorms, fire smoke, and flashover during operation. Existing new energy power stations typically obtain station operation information through manual inspections and single meteorological monitoring methods, which suffer from problems such as monitoring lag, limited coverage, low early warning accuracy, and insufficient inspection efficiency.

[0003] With the application of quantum radar, GIS, 3D modeling, and inspection robots, information on water vapor, particulate matter, smoke, site topography, equipment distribution, and on-site inspections can be acquired. However, the spatial representation of data from different sources differs. Quantum radar pixels have XYZ coordinates, while the spatial location of site equipment and topography is determined based on GIS data and 3D models. If there is a lack of a unified spatial correspondence between the two, risk warning information cannot be directly mapped to specific spatial areas within the site, and it is also difficult to determine the inspection range and path of the inspection robot accordingly.

[0004] Furthermore, after the quantum radar generates a risk warning, it is necessary to conduct on-site verification through an inspection robot and return the inspection results to the station management platform. Therefore, how to spatially correlate the quantum radar monitoring data with the digital twin base of the new energy station, determine the inspection path based on the risk warning area, and update the inspection verification results to the digital twin base are technical problems that need to be solved in the existing inspection process of new energy stations. Summary of the Invention

[0005] This invention provides a digital twin closed-loop inspection method and system for new energy power stations that integrates quantum radar data, enabling spatial positioning of risk warning areas, hierarchical convergence of inspection paths, and closed-loop updating of inspection verification results. This method can effectively solve the problems in the background technology.

[0006] To achieve the above objectives, the technical solution adopted by this invention is: a digital twin closed-loop inspection method and system for new energy power stations that integrates quantum radar data, comprising the following steps: Construct a digital twin base for new energy power stations with a unified spatial coordinate system and access quantum radar monitoring data with three-dimensional coordinates collected by quantum radar; The monitoring data from the quantum radar is spatially registered with the digital twin base. Based on the registered quantum radar monitoring data, the reference point location and spatial boundary range of the risk warning area are calculated. Based on the reference points of the risk warning area, a multi-level inspection path is generated within the spatial boundary according to the rule of gradual convergence from the outside to the inside. The system controls the inspection robot to perform inspection operations along the multi-level inspection path in hierarchical order, receives the inspection verification results returned by the inspection robot, and synchronously updates the inspection verification results to the digital twin base.

[0007] Furthermore, the specific steps for constructing the digital twin base of the new energy power station with a unified spatial coordinate system include: Acquire basic modeling data and corresponding GIS spatial data of new energy power stations, parse the basic modeling data, and generate a three-dimensional model of the power station equipment; The three-dimensional model of the station equipment is overlaid with the GIS spatial data, and coordinate calibration is performed according to the spatial coordinate information so that the station equipment and the station terrain have a definite positional relationship under the same spatial coordinate system; Store the correspondence between device objects and their spatial positions in the unified spatial coordinate system.

[0008] Furthermore, the basic modeling data includes at least one of UAV point cloud data, CAD design drawings, BIM models, and vector layout diagrams; equipment information for photovoltaic arrays, inverters, transformer substations, cables, and towers is extracted from the basic modeling data; The quantum radar forms a radar pixel array, and each pixel in the radar pixel array corresponds to a monitoring data unit. Each monitoring data unit includes X coordinate, Y coordinate, Z coordinate and corresponding monitoring information. The digital twin base retains the correspondence between the XYZ coordinates of the monitoring data unit and the monitoring information.

[0009] Furthermore, based on the registered quantum radar monitoring data, the reference point location and spatial boundary range of the risk warning area are calculated, including: Extract radar monitoring data units corresponding to the current risk warning from the registered quantum radar monitoring data, and form a risk monitoring coordinate set based on the three-dimensional coordinates corresponding to the radar monitoring data units; The three-dimensional center position of the risk warning area is determined based on the spatial position of each radar monitoring data unit in the risk monitoring coordinate set. The three-dimensional center position is then projected onto the walkable plane of the inspection robot to obtain the reference point. The monitoring data units located on the periphery of the risk monitoring data distribution are extracted, and an outer contour is formed based on the three-dimensional coordinates corresponding to the outer monitoring data units. The spatial area defined by the outer contour is then determined as the spatial boundary range.

[0010] Furthermore, the average values ​​of the X, Y, and Z coordinates of each monitoring data unit in the risk monitoring coordinate set are calculated, and the resulting three-dimensional coordinate position is used as the center position; the Z coordinate of the center position is replaced with the elevation value of the walkable plane to obtain the reference point projected onto the walkable plane; The outer contour is formed by sequentially connecting the corresponding coordinate points according to the spatial arrangement of the peripheral monitoring data units in the circumference of the risk area.

[0011] Furthermore, the generation of multi-level inspection paths according to the rule of gradual convergence from the outside to the inside includes: Use the outer contour as the initial contour; For each coordinate point on the initial contour, a midpoint with a predetermined ratio is selected between the reference point and the corresponding coordinate point on the initial contour. Connect the corresponding intermediate coordinate points according to the arrangement order of each coordinate point on the initial contour to form a convergent contour located inside the initial contour, and determine the convergent contour as the next layer inspection path. Using the previous convergent contour as a new initial contour, the intermediate coordinate points are repeatedly selected to form the next convergent contour, until the next inspection path reaches the minimum inspection range corresponding to the reference point.

[0012] Furthermore, the controlled inspection robot performs inspection operations along the multi-level inspection path in a hierarchical sequence, including: The inspection paths located outside the risk warning area are prioritized for execution, and the inspection paths are issued to the inspection robots in a hierarchical order from the outside to the inside. If the current layer inspection and verification results indicate that a corresponding risk has been found, stop issuing the remaining inner layer inspection path to the inspection robot and end the current inspection task; If the current layer inspection and verification results show that no corresponding risk has been found and there is a next layer inspection path, the adjacent next layer inspection path is determined as a new path to be executed, and the inspection robot is controlled to continue to perform inspection and verification along the new path to be executed. The current inspection task ends when the innermost inspection path is completed but no risk confirmation result is obtained.

[0013] Furthermore, during the inspection process at each level, the digital twin base receives the real-time location and inspection trajectory transmitted back by the inspection robot, and overlays the inspection trajectory onto the station's GIS spatial data and the station's equipment 3D model. When the inspection and verification result indicates that a risk has been found, the verification status of the current risk warning information is updated based on the inspection and verification result, and the corresponding location when the inspection robot found the risk is recorded.

[0014] Furthermore, when the inspection robot is executing the inspection path, it transmits the detected obstacles, mounds of earth, weeds, and other spatial information that affects the robot's passage back to the digital twin base. The digital twin base marks the corresponding positions, so that the subsequent robot path planning can select an obstacle avoidance path based on the recorded obstacle positions.

[0015] This invention also provides a digital twin closed-loop inspection system for new energy power stations that integrates quantum radar data, comprising: The digital twin base construction module constructs a digital twin base for new energy power stations with a unified spatial coordinate system and connects to the three-dimensional coordinate monitoring data collected by the quantum radar. The spatial coordinate registration module registers the optical quantum radar monitoring data with the digital twin base in terms of spatial coordinates. The risk warning area calculation module calculates the reference point location and spatial boundary range of the risk warning area based on the registered quantum radar monitoring data. The inspection path generation module uses the reference points of the risk warning area as a reference and generates multi-level inspection paths within the spatial boundary according to the rule of gradually converging from the outside to the inside. The inspection control module controls the inspection robot to perform inspection operations along the multi-level inspection path in hierarchical order, receives the inspection verification results returned by the inspection robot, and synchronously updates the inspection verification results to the digital twin base.

[0016] The technical solution of this invention can achieve the following technical effects: By constructing a digital twin base for new energy power stations with a unified spatial coordinate system, and registering the spatial monitoring data with three-dimensional coordinates collected by quantum radar, the quantum radar monitoring data can correspond to the spatial positions in the digital twin base, providing a unified spatial coordinate basis for determining risk warning areas. Based on the registered quantum radar monitoring data, the reference points and spatial boundary range of the risk warning area are calculated. Using the reference points as a reference, multi-level inspection paths are generated within the spatial boundary range according to a rule of gradual convergence from the outside to the inside, ensuring that the inspection paths correspond to the spatial distribution of the risk warning area. The inspection robot can perform inspection operations from the outside to the inside according to the hierarchical order. After completing the inspection at the corresponding level, the inspection robot sends back the inspection verification results and updates them synchronously to the digital twin base, forming a continuous data association between the quantum radar monitoring data, the risk warning area, the multi-level inspection paths, and the inspection verification results, realizing closed-loop processing of risk warning, inspection operations, and inspection verification result updates for new energy power stations. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a flowchart of the digital twin closed-loop inspection method for new energy power stations that integrates quantum radar data in this invention; Figure 2 This is a structural diagram of a digital twin closed-loop inspection system for new energy power stations that integrates quantum radar data. Detailed Implementation

[0019] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0020] It should be noted that when an element is referred to as being "fixed to" another element, it can be directly attached to the other element or there may be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0021] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0022] like Figure 1 The method for closed-loop inspection of a new energy power station using a digital twin, which integrates quantum radar data, includes the following steps: S1. Construct a digital twin base for new energy power stations with a unified spatial coordinate system and access the quantum radar monitoring data with three-dimensional coordinates collected by the quantum radar. S2. Register the spatial coordinates of the quantum radar monitoring data with the digital twin base. S3. Based on the registered quantum radar monitoring data, the reference point and spatial boundary range of the risk warning area are calculated. S4. Using the reference point of the risk warning area as a reference, generate a multi-level inspection path within the spatial boundary according to the rule of gradually converging from the outside to the inside; S5. Control the inspection robot to perform inspection operations along the multi-level inspection path in hierarchical order, receive the inspection verification results returned by the inspection robot, and synchronously update the inspection verification results to the digital twin base.

[0023] In this embodiment, a digital twin base for new energy power stations with a unified spatial coordinate system is constructed, and the spatial monitoring data with three-dimensional coordinates collected by quantum radar is registered with spatial coordinates. This allows the quantum radar monitoring data to correspond with the spatial location in the digital twin base, providing a unified spatial coordinate basis for determining the risk warning area. Based on the registered quantum radar monitoring data, the reference point and spatial boundary range of the risk warning area are calculated. Using the reference point as a reference, multi-level inspection paths are generated within the spatial boundary range according to a rule of gradual convergence from the outside to the inside. This ensures that the inspection paths correspond to the spatial distribution of the risk warning area, and the inspection robot can perform inspection operations from the outside to the inside according to the hierarchical order. After completing the inspection at the corresponding level, the inspection robot sends back the inspection verification results and updates them synchronously to the digital twin base. This enables the quantum radar monitoring data, risk warning area, multi-level inspection paths, and inspection verification results to form a continuous data association, realizing closed-loop processing of risk warning, inspection operations, and inspection verification result updates for new energy power stations.

[0024] Based on the above embodiments, the digital twin base of the new energy power station adopts a hardware perception layer, data fusion layer, intelligent algorithm layer, business application layer and system management layer as an integrated architecture. Relying on quantum measurement data, station space data and environmental equipment data, combined with AI early warning model and embodied intelligent control technology, it connects the entire business chain of data collection, analysis and modeling, risk early warning, intelligent inspection, visualization display and access control, and can realize the integrated and collaborative operation of software and hardware. The hardware perception layer integrates optical quantum radar and an embodied intelligent inspection robot to complete the collection of raw data such as water vapor, ice crystal clouds, smoke, particulate matter, equipment status, and environmental meteorology. The data fusion layer interfaces with GIS map services, quantum detection interfaces, and robot control interfaces to complete the cleaning, normalization, and standardization of multi-source data and build a unified data resource pool. The intelligent algorithm layer is equipped with a large AI model that couples multiple risks of meteorological fires. It combines photovoltaic 3D modeling algorithm, GIS terrain adaptation algorithm and robot path planning algorithm to realize the functions of intelligent risk assessment, range correction and inspection path optimization. The business application layer includes five core business functions: 3D modeling, GIS terrain display, multi-risk early warning, intelligent robot inspection, and inspection data visualization, supporting multi-terminal access from the front-end Web and mobile terminals. The system management layer can implement backend control functions such as user permissions, parameter configuration, data backup, log auditing, and report statistics to ensure the stable and compliant operation of the system. The specific steps for constructing a digital twin base for new energy power stations with a unified spatial coordinate system and integrating spatial monitoring data with three-dimensional coordinates collected by quantum radar include: Acquire basic modeling data for new energy power stations; the basic modeling data includes at least one of UAV point cloud data, CAD design drawings, BIM models, and vector layout drawings, and acquire GIS spatial data corresponding to the new energy power station; parse the basic modeling data to extract information on photovoltaic arrays, inverters, transformer substations, cables, towers, and other equipment within the power station that needs to be included in the twin base management, and generate a 3D model of the power station equipment that restores the equipment layout relationship; for data with spatial coordinates, retain their spatial location data; for equipment objects provided by design drawings or model files, establish the association between equipment objects and spatial locations according to the corresponding layout relationship in the file; Using GIS spatial data as the basis for representing the spatial location of the power station, at least one of satellite imagery, vector maps, elevation data, and equipment distribution data is integrated into the digital twin base. The 3D model of the power station equipment obtained from the aforementioned analysis is then overlaid with the GIS spatial data. For the coordinate representation differences between different data sources, coordinate calibration is performed based on their corresponding spatial coordinate information, so that the photovoltaic array, inverter, transformer, cable, tower, and power station terrain have a definite positional relationship under the same spatial coordinate system. After coordinate calibration, each equipment object has a corresponding spatial position in the digital twin base, forming a 3D power station model that represents the actual spatial layout of the new energy power station. When building a 3D site model, the correspondence between the equipment object and its spatial position is saved, so that the digital twin base records the model object of the equipment and the position of the model object in a unified spatial coordinate system. The optical quantum radar monitoring data interface is connected. The optical quantum radar generates spatial monitoring data through single-photon detection. The spatial monitoring data consists of multiple monitoring data units with three-dimensional coordinates. Each monitoring data unit includes at least the corresponding X, Y, and Z coordinates and carries the monitoring information corresponding to the spatial location. The XYZ coordinates of each pixel in the radar pixel array formed by the optical quantum radar and their monitoring data are used as spatial monitoring data input into the digital twin base. After receiving the spatial monitoring data from the quantum radar, the digital twin base retains the XYZ coordinates of each monitoring data unit to maintain the correspondence between the radar monitoring value and its spatial position, and incorporates the quantum radar spatial monitoring data into the data resources of the digital twin base according to a unified data access method.

[0025] In this embodiment, the data fusion layer completes the cleaning, normalization, and standardization of multi-source data to construct a unified data resource pool; coordinate calibration is performed based on spatial coordinate information to ensure that photovoltaic arrays, inverters, transformer substations, cables, towers, and site terrain have a definite positional relationship under the same spatial coordinate system; the digital twin base records the model object of the device and the position of the model object in the unified spatial coordinate system, and retains the XYZ coordinates of each monitoring data unit, so that the radar monitoring value and its spatial position are in correspondence, enabling the integrated operation of software and hardware.

[0026] Based on the above embodiments, the current site spatial coordinate system adopted by the digital twin base is read; the site spatial coordinate system is formed by fusing GIS spatial data and the site's three-dimensional model, and the positions of equipment objects, terrain objects, and site boundaries within the site are all determined according to this spatial coordinate system; for equipment models obtained from UAV point clouds, CAD design drawings, BIM models, or vector layout diagrams, their positions in the site spatial coordinate system are determined using the existing GIS coordinate calibration relationship of the digital twin base; the digital twin base forms the spatial position reference used for subsequent registration of quantum radar monitoring data; Read the spatial monitoring data output by the quantum radar; the spatial monitoring data includes multiple monitoring data units formed by the radar pixel array, each monitoring data unit has at least X coordinate, Y coordinate and Z coordinate, and is associated with the monitoring information of the corresponding position; during the registration process, the monitoring information itself is not changed, but the spatial position transformation is performed on the XYZ coordinates carried by each monitoring data unit, so that the transformed coordinates can be represented in the field spatial coordinate system of the digital twin base; When there is a difference between the spatial coordinate representation used by the quantum radar monitoring data and the digital twin base, the GIS spatial positioning and coordinate calibration function in the digital twin base is invoked. The unified spatial coordinate system of the digital twin base is used as the target coordinate system to perform coordinate transformation on the XYZ coordinates of each radar monitoring data unit. After the transformation, each radar monitoring data unit obtains the three-dimensional position coordinates corresponding to the digital twin base station space, and the monitoring value carried by the radar monitoring data continues to be associated with the transformed three-dimensional position coordinates. After the coordinate transformation is completed, the transformed quantum radar monitoring data is superimposed on the fusion space formed by GIS and the three-dimensional model of the station, so that each radar monitoring data unit corresponds to the corresponding spatial position in the station model according to the transformed three-dimensional coordinates. For each quantum radar monitoring data unit, the correspondence between its monitoring information and the registered spatial coordinates is retained; the registered spatial coordinates serve as the spatial position identifier of the monitoring data unit in the digital twin base, enabling the same monitoring data to participate simultaneously in subsequent risk area calculations and spatial display in the three-dimensional scene. When multiple adjacent radar monitoring data units correspond to the same continuous spatial region, each monitoring data unit adopts a unified spatial coordinate representation using a digital twin base after registration.

[0027] In this embodiment, by calling the GIS spatial positioning and coordinate calibration function in the digital twin base, and using the unified spatial coordinate system of the digital twin base as the target coordinate system, the XYZ coordinates of each radar monitoring data unit are transformed, so that each radar monitoring data unit corresponds to the corresponding spatial position in the field model according to the transformed three-dimensional coordinates; at the same time, the correspondence between the monitoring information and the registered spatial coordinates is preserved, so that the same monitoring data can participate in the subsequent risk area calculation and spatial display in the three-dimensional scene at the same time, and multiple adjacent radar monitoring data units adopt the unified spatial coordinate representation of the digital twin base.

[0028] Based on the above embodiments, the quantum radar monitoring data with completed spatial coordinate registration is obtained, radar monitoring data units corresponding to the current risk warning are extracted from the registered quantum radar monitoring data, and the three-dimensional coordinates corresponding to the obtained radar monitoring data units are used to form a risk monitoring coordinate set; the risk monitoring coordinate set reflects the spatial distribution of the current risk in the digital twin base. The three-dimensional center position of the risk warning area is calculated based on the spatial position of each radar monitoring data unit in the risk monitoring coordinate set, and the three-dimensional center position is projected onto the walkable plane of the inspection robot to obtain the reference point of the risk warning area. The average value of the X, Y and Z coordinates of each monitoring data unit in the risk monitoring coordinate set can be calculated, and the obtained three-dimensional coordinate position is used as the center position. The walkable plane is the ground of the new energy power station or the equipment operation and maintenance platform. During the projection process, the Z coordinate of the three-dimensional center position is replaced with the corresponding elevation value of the walkable plane to obtain the two-dimensional reference point located on the walkable plane. That is, the spatial distribution of multiple risk monitoring data units is merged into a reference coordinate for describing the internal position of the risk area. After determining the reference points, the monitoring data units located on the periphery of the risk monitoring data distribution are extracted from the risk monitoring coordinate set, and the three-dimensional coordinates corresponding to the peripheral monitoring data units are recorded. The corresponding coordinate points are connected sequentially according to the spatial arrangement of the peripheral monitoring data units in the circumferential direction of the risk area to form the outer contour surrounding the risk monitoring coordinate set. The outer contour is used to represent the boundary extending outward from the current risk warning area. The spatial area defined by the outer contour is determined as the spatial boundary range of the risk warning area; for robots deployed on the ground of the site or along the equipment layout area to perform inspections, the spatial boundary range includes at least the position range of the outer contour in the robot's walkable space; each boundary position on the outer contour continues to retain coordinate information corresponding to the unified spatial coordinate system of the digital twin base, so that the spatial boundary range can maintain a positional correspondence with photovoltaic arrays, inverters, transformer substations, towers, terrain and other spatial objects in the site; Therefore, the reference point represents the spatial reference used for subsequent path convergence within the risk warning area, and the spatial boundary range represents the outer limit adopted by the robot when performing inspection for the current risk; the reference point corresponds to the center point of the risk warning area and serves as the minimum critical position when the robot gradually inspects inward; the spatial boundary range corresponds to the outer contour of the risk warning area and serves as the maximum boundary of the robot's inspection; the area defined between the reference point and the spatial boundary range constitutes the spatial area in which the robot performs inspection for the current risk. In an implementation scenario where the risk area has an irregular shape, the spatial boundary is not simplified to a circular area with a fixed radius centered on a reference point, but the actual outer contour determined by the peripheral radar monitoring data unit is retained. Subsequent steps can directly utilize the spatial relationship between each position of the outer contour and the reference point to generate the inspection path, avoiding changes to the risk area boundary due to the pre-adopting of a fixed geometric shape to replace the actual spatial distribution of radar monitoring data.

[0029] In this embodiment, the risk monitoring coordinate set reflects the spatial distribution of the current risk in the digital twin base; the reference point represents the spatial reference used for subsequent path convergence within the risk warning area; the spatial boundary range represents the outer constraints adopted by the robot when performing inspections for the current risk, so that the spatial boundary range can maintain a positional correspondence with photovoltaic arrays, inverters, transformer substations, towers, terrain and other spatial objects within the site; in the case of irregularly shaped risk areas, the actual outer contour determined by the outer radar monitoring data unit is retained, so that subsequent steps can directly use the spatial relationship between each position of the outer contour and the reference point to generate the inspection path, avoiding changes to the risk area boundary due to the pre-use of a fixed geometric shape to replace the actual spatial distribution of radar monitoring data.

[0030] Based on the above embodiments, the reference point is located inside the risk warning area, the outer contour is composed of multiple boundary coordinate points arranged in spatial order, and the maximum inspection boundary of the current risk warning area is defined; the outer contour is used as the initial contour for generating multi-level inspection paths, and an initial contour coordinate sequence is established according to the arrangement order of the boundary coordinate points of the outer contour. For each boundary coordinate point in the initial contour coordinate sequence, the spatial positional relationship between the boundary coordinate point and the reference point is determined, and intermediate coordinate points with a predetermined ratio are selected between the reference point and the corresponding boundary coordinate point. Each intermediate coordinate point adopts the same position selection rule to make it have a consistent convergence relationship with the reference point and the initial contour. According to the arrangement order of each boundary coordinate point in the initial contour, the corresponding intermediate coordinate points are connected in sequence to form the first-level convergent contour located inside the initial contour, and the first-level convergent contour is determined as a first-level inspection path. In one specific implementation, the predetermined proportional position is adopted as the position between the reference point and the corresponding boundary coordinate point of the initial contour at 1 / 2; let the reference point be C, any boundary coordinate point on the initial contour be P, and the corresponding first-level convergence coordinate point be P1, then P1 is located between C and P, and the distance from C to P1 is kept in a 1 / 2 proportional relationship with the distance from C to P; the same processing is performed on each boundary coordinate point in the initial contour, and the resulting multiple first-level convergence coordinate points are connected according to the original circumferential order to form the first-level convergence contour. After forming the first-level convergence contour, the first-level convergence contour is used as the current contour for the next path calculation. For each coordinate point on the first-level convergence contour, the spatial positional relationship between it and the reference point is determined again, and the second-level convergence coordinate points are obtained according to the same proportional position selection rules. The second-level convergence coordinate points are connected sequentially according to the arrangement order in the first-level convergence contour to form the second-level convergence contour, and the second-level convergence contour is determined as the next layer of inspection path. The iteration continues in the above manner. Each level of convergence contour takes the previous level convergence contour as the current contour and uses the same reference point as the convergence reference. The corresponding proportional position coordinates are selected between the reference point and each coordinate point of the current contour. This forms the third level convergence contour and subsequent convergence contours. As the level increases, each level contour is located inside the previous level contour and gradually approaches the reference point, thus forming a multi-level inspection path arranged from the periphery of the risk warning area to the inside. For risk warning areas with irregular outer contours, the arrangement of outer contour coordinate points is maintained when generating inner inspection paths, and the risk warning areas are not pre-converted into circles or rectangles. Specifically, each inner coordinate point is obtained based on the spatial relationship between its corresponding previous level contour coordinate point and the same reference point, and each inner coordinate point is then connected according to the arrangement order of the previous level contour coordinate points. The number of layers for generating multi-level inspection paths is determined based on the results of successive convergence. When the next layer of inspection path has reached the minimum inspection range corresponding to the reference point, the generation of new inner-level inspection paths is stopped, and the outer contour to the innermost converged contour is sorted from the outside to the inside according to the spatial position to establish the hierarchical order between inspection paths at all levels.

[0031] In this embodiment, the multi-level inspection path is constrained by both the outer contour of the risk warning area and the reference point. The outer contour defines the maximum range of the inspection path, while the reference point defines the direction and termination area of ​​the path's inward convergence. Each intermediate-level inspection path is obtained based on the coordinate relationship between the previous-level contour and the reference point. This path generation method enables the robot to advance its subsequent inspections from the periphery to the interior according to the spatial distribution of the risk warning area itself, rather than using a fixed inspection route unrelated to the current risk area. When the previous level of inspection fails to verify the corresponding risk, the next level of inspection path can be directly invoked to continue verification within the risk warning area. As the inspection level gradually approaches the reference point, the robot's corresponding verification range converges synchronously towards the interior of the risk area, ensuring that each level of inspection path is within the risk warning spatial boundary.

[0032] Based on the above embodiments, the digital twin base establishes corresponding inspection tasks according to multi-level inspection paths; the inspection tasks are at least associated with the current risk warning information, the reference point of the risk warning area, the multi-level inspection paths, and the hierarchical order between each inspection path; each level of inspection path is arranged from the outside to the inside according to its spatial position relative to the reference point, wherein the inspection path located outside the risk warning area is the priority execution path, and the inspection path closer to the reference point is the subsequent execution path. After the inspection task is established, the platform sends the inspection path coordinates corresponding to the current level to be executed to the inspection robot and sends inspection control commands to the inspection robot. The inspection robot moves along the current level inspection path according to the received path coordinates, and collects current position, equipment status, environmental information and risk verification information during the movement. The radar configured on the inspection robot is used for obstacle recognition during the movement. When there are photovoltaic panel supports or other obstacles affecting the movement near the path, the inspection robot performs obstacle avoidance based on its own obstacle detection results, and continues to perform the inspection task along the current inspection path after bypassing the obstacle. During the inspection of the current layer, the inspection robot returns the inspection location and on-site inspection information to the digital twin base. For the video, images or risk identification results collected by the robot, the platform establishes a correspondence between them and the current inspection task and the current inspection layer to determine the risk warning area and inspection path corresponding to the verification result. After the inspection robot completes the inspection of the current layer, it generates the inspection verification result corresponding to that layer. The inspection verification result is used to at least characterize whether the current layer has found a risk phenomenon corresponding to the risk warning information. If the current layer inspection and verification result indicates that a corresponding risk has been found, the result is confirmed as a risk confirmation result, and the inspection position corresponding to the risk is recorded; the digital twin base stops sending the remaining inner layer inspection path to the inspection robot, ends the current inspection task, and controls the inspection robot to return to the preset charging area; If the current layer's inspection and verification results show no corresponding risk, the digital twin base determines whether there is a next layer inspection path. If there is a next layer inspection path, the adjacent next layer inspection path is identified as a new path to be executed according to the hierarchical order, and the coordinates of the path are sent to the inspection robot. The inspection robot moves from the current layer into the risk warning area and continues to perform inspection and verification along the next layer inspection path. After each layer inspection is completed, the inspection and verification results of that layer are returned in the same way, and the current task is terminated or the robot continues to the next layer based on the verification results. Therefore, the inspection range of the inspection robot converges sequentially according to the outer inspection path, the first inner inspection path, the second inner inspection path, and the inner inspection path close to the reference point. When no risk is verified in the outer layer, the subsequent inspection range continues to shrink towards the reference point, instead of repeating the completed outer path. When the inspection robot completes its inspection along the innermost inspection path, or has inspected the smallest inspection area corresponding to the benchmark point, and still has not obtained a risk confirmation result, the verification status of the current round is recorded as no corresponding risk was found in this round, the inspection task for this round ends, and the inspection robot is controlled to return to the charging area; if the quantum radar continues to generate monitoring data for this area, the inspection task can be re-formed based on the new radar monitoring results and the next round of verification can be started; During the inspection process at each level, the digital twin base receives the real-time location and inspection trajectory transmitted back by the inspection robot, and overlays the inspection trajectory onto the fusion space formed by the station GIS data and the three-dimensional station model, so that the currently executed path and the path that has not yet been executed have corresponding task status; for the abnormal identification location transmitted back by the inspection robot, the location is associated with the current risk warning information, and the corresponding abnormal point is recorded in the digital twin base; When the inspection and verification result indicates that a risk has been found, the digital twin base updates the verification status of the current risk warning information based on the verification result and records the corresponding location when the inspection robot found the risk, so that the risk warning information originally formed by the quantum radar is supplemented by the on-site inspection confirmation result; if no risk is found in the current layer and the system continues to enter the next layer, it records that the current layer has completed the inspection and that the layer has not obtained a risk confirmation result, and keeps the current inspection task in the execution state until a certain layer confirms the risk or the innermost layer inspection is completed; When the inspection robot is executing the inspection path of each layer, it can also transmit the spatial information of obstacles, piles of soil, weeds or other objects that affect the robot's passage to the digital twin base. The digital twin base marks the corresponding positions according to the transmitted information, so that the subsequent robot path planning can select the obstacle avoidance path in advance based on the recorded obstacle positions.

[0033] In this embodiment, the inspection paths at each level are arranged from the outside in according to their spatial position relative to the reference point, so that the inspection range of the inspection robot converges sequentially from the outer inspection path, the first inner inspection path, the second inner inspection path, and so on, until the inner inspection path close to the reference point. If a corresponding risk is found, the digital twin base stops sending the remaining inner inspection paths to the inspection robot. If no corresponding risk is found, it continues to the next layer. The digital twin base receives the real-time position and inspection trajectory returned by the inspection robot and records the corresponding abnormal points. It selects an obstacle avoidance path in advance based on the recorded obstacle positions.

[0034] like Figure 2 As shown, the present invention also provides a digital twin closed-loop inspection system for new energy power stations that integrates quantum radar data, specifically including the following modules; The digital twin base construction module constructs a digital twin base for new energy power stations with a unified spatial coordinate system and connects to spatial monitoring data with three-dimensional coordinates collected by quantum radar. The spatial coordinate registration module registers the optical quantum radar monitoring data with the digital twin base in terms of spatial coordinates. The risk warning area calculation module calculates the reference point location and spatial boundary range of the risk warning area based on the registered quantum radar monitoring data. The inspection path generation module uses the reference points of the risk warning area as a reference and generates multi-level inspection paths within the spatial boundary according to the rule of gradually converging from the outside to the inside. The inspection control module controls the inspection robot to perform inspection operations along the multi-level inspection path in hierarchical order, receives the inspection verification results returned by the inspection robot, and synchronously updates the inspection verification results to the digital twin base.

[0035] Although this application has been described in conjunction with specific features and embodiments, it is obvious that various modifications and combinations can be made thereto without departing from the spirit and scope of this application. Accordingly, this specification and drawings are merely exemplary illustrations of the application as defined herein, and are to be considered as covering any and all modifications, variations, combinations, or equivalents within the scope of this application. Clearly, those skilled in the art can make various alterations and modifications to this application without departing from its scope. Thus, if such modifications and modifications fall within the scope of this application and its equivalents, this application intends to include such modifications and modifications.

Claims

1. A digital twin closed-loop inspection method for new energy power stations integrating quantum radar data, characterized in that, Includes the following steps: Construct a digital twin base for new energy power stations with a unified spatial coordinate system and access quantum radar monitoring data with three-dimensional coordinates collected by quantum radar; The monitoring data from the quantum radar is spatially registered with the digital twin base. Based on the registered quantum radar monitoring data, the reference point location and spatial boundary range of the risk warning area are calculated. Based on the reference points of the risk warning area, a multi-level inspection path is generated within the spatial boundary according to the rule of gradual convergence from the outside to the inside. The system controls the inspection robot to perform inspection operations along the multi-level inspection path in hierarchical order, receives the inspection verification results returned by the inspection robot, and synchronously updates the inspection verification results to the digital twin base.

2. The digital twin closed-loop inspection method for new energy power stations integrating quantum radar data according to claim 1, characterized in that, The specific steps for constructing a digital twin base for new energy power stations with a unified spatial coordinate system include: Acquire basic modeling data and corresponding GIS spatial data of new energy power stations, parse the basic modeling data, and generate a three-dimensional model of the power station equipment; The three-dimensional model of the station equipment is overlaid with the GIS spatial data, and coordinate calibration is performed according to the spatial coordinate information so that the station equipment and the station terrain have a definite positional relationship under the same spatial coordinate system; Store the correspondence between device objects and their spatial positions in the unified spatial coordinate system.

3. The digital twin closed-loop inspection method for new energy power stations integrating quantum radar data according to claim 2, characterized in that, The basic modeling data includes at least one of UAV point cloud data, CAD design drawings, BIM models, and vector layout diagrams; equipment information for photovoltaic arrays, inverters, transformer substations, cables, and towers is extracted from the basic modeling data; The quantum radar forms a radar pixel array, and each pixel in the radar pixel array corresponds to a monitoring data unit. Each monitoring data unit includes X coordinate, Y coordinate, Z coordinate and corresponding monitoring information. The digital twin base retains the correspondence between the XYZ coordinates of the monitoring data unit and the monitoring information.

4. The digital twin closed-loop inspection method for new energy power stations integrating quantum radar data according to claim 1, characterized in that, Based on the registered quantum radar monitoring data, the reference point location and spatial boundary range of the risk warning area are calculated, including: Extract radar monitoring data units corresponding to the current risk warning from the registered quantum radar monitoring data, and form a risk monitoring coordinate set based on the three-dimensional coordinates corresponding to the radar monitoring data units; The three-dimensional center position of the risk warning area is determined based on the spatial position of each radar monitoring data unit in the risk monitoring coordinate set. The three-dimensional center position is then projected onto the walkable plane of the inspection robot to obtain the reference point. The monitoring data units located on the periphery of the risk monitoring data distribution are extracted, and an outer contour is formed based on the three-dimensional coordinates corresponding to the outer monitoring data units. The spatial area defined by the outer contour is then determined as the spatial boundary range.

5. The digital twin closed-loop inspection method for new energy power stations that integrates quantum radar data according to claim 4, characterized in that, The average value of the X, Y, and Z coordinates of each monitoring data unit in the risk monitoring coordinate set is calculated, and the resulting three-dimensional coordinate position is used as the center position. The Z coordinate of the center position is replaced with the elevation value of the walkable plane to obtain the reference point position projected onto the walkable plane. The outer contour is formed by sequentially connecting the corresponding coordinate points according to the spatial arrangement of the peripheral monitoring data units in the circumference of the risk area.

6. The digital twin closed-loop inspection method for new energy power stations integrating quantum radar data according to claim 4, characterized in that, The generation of multi-level inspection paths according to the rule of gradual convergence from the outside to the inside includes: The outer contour is used as the initial contour; For each coordinate point on the initial contour, a midpoint with a predetermined ratio is selected between the reference point and the corresponding coordinate point on the initial contour. Connect the corresponding intermediate coordinate points according to the arrangement order of each coordinate point on the initial contour to form a convergent contour located inside the initial contour, and determine the convergent contour as the next layer inspection path. Using the previous convergent contour as a new initial contour, the intermediate coordinate points are repeatedly selected to form the next convergent contour, until the next inspection path reaches the minimum inspection range corresponding to the reference point.

7. The digital twin closed-loop inspection method for new energy power stations integrating quantum radar data according to claim 1, characterized in that, The controlled inspection robot performs inspection tasks along the multi-level inspection path in hierarchical order, including: The inspection paths located outside the risk warning area are prioritized for execution, and the inspection paths are issued to the inspection robots in a hierarchical order from the outside to the inside. If the current layer inspection and verification results indicate that a corresponding risk has been found, stop issuing the remaining inner layer inspection path to the inspection robot and end the current inspection task; If the current layer inspection and verification results show that no corresponding risk has been found and there is a next layer inspection path, the adjacent next layer inspection path is determined as a new path to be executed, and the inspection robot is controlled to continue to perform inspection and verification along the new path to be executed. The current inspection task ends when the innermost inspection path is completed but no risk confirmation result is obtained.

8. The digital twin closed-loop inspection method for new energy power stations integrating quantum radar data according to claim 7, characterized in that, During the inspection process at each level, the digital twin base receives the real-time location and inspection trajectory transmitted back by the inspection robot, and overlays the inspection trajectory onto the station's GIS spatial data and the station's equipment 3D model; When the inspection and verification result indicates that a risk has been found, the verification status of the current risk warning information is updated based on the inspection and verification result, and the corresponding location when the inspection robot found the risk is recorded.

9. The digital twin closed-loop inspection method for new energy power stations integrating quantum radar data according to claim 7, characterized in that, When the inspection robot is executing its inspection path, it transmits the detected obstacles, mounds of earth, weeds, and other spatial information that affect the robot's passage back to the digital twin base. The digital twin base marks the corresponding locations, so that the subsequent robot path planning can select an obstacle avoidance path based on the recorded obstacle locations.

10. A digital twin closed-loop inspection system for new energy power stations integrating quantum radar data, characterized in that, include: The digital twin base construction module constructs a digital twin base for new energy power stations with a unified spatial coordinate system and connects to the three-dimensional coordinate monitoring data collected by the quantum radar. The spatial coordinate registration module registers the optical quantum radar monitoring data with the digital twin base in terms of spatial coordinates. The risk warning area calculation module calculates the reference point location and spatial boundary range of the risk warning area based on the registered quantum radar monitoring data. The inspection path generation module uses the reference points of the risk warning area as a reference and generates multi-level inspection paths within the spatial boundary according to the rule of gradually converging from the outside to the inside. The inspection control module controls the inspection robot to perform inspection operations along the multi-level inspection path in hierarchical order, receives the inspection verification results returned by the inspection robot, and synchronously updates the inspection verification results to the digital twin base.

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