Unmanned aerial vehicle intelligent inspection platform for transformer substation under strong electromagnetic interference

Abstract

The utility model relates to an unmanned aerial vehicle intelligent inspection platform for a transformer substation under strong electromagnetic interference. The problems that in the prior art, an inspection unmanned aerial vehicle loses signals easily due to strong electromagnetic interference of a transformer substation, and data acquisition is not comprehensive enough are solved. The system comprises an inspection unmanned aerial vehicle, the inspection unmanned aerial vehicle is in signal connection with an inspection robot arranged in each transformer substation, the inspection unmanned aerial vehicle is provided with an unmanned aerial vehicle inspection collection device and a signal receiving and transmitting assembly, the signal receiving and transmitting assembly is connected with an inspection control platform, and the inspection control platform is connected with a data monitoring management center. The inspection unmanned aerial vehicle is provided with an environment monitoring and early warning device, and the inspection robot forms an RTK base station network and transmits positioning signals to the inspection unmanned aerial vehicle. The utility model has the advantages that high-precision navigation and positioning can be realized for the inspection unmanned aerial vehicle, the situation that the unmanned aerial vehicle loses signals and is disconnected is avoided, the inspection data acquisition is wider, and the use effect is good.

Description

Technical Field

[0001] The utility model relates to the technical field of power inspection, and in particular to an unmanned aerial vehicle intelligent inspection platform under strong electromagnetic interference of a substation. Background Art

[0002] The layout of substation equipment and facilities is compact and complex, arranged in high and low positions, with a wide inspection area and many inspection points. Due to their own height limitations, manual inspections, robot inspections, and industrial videos can only be inspected at a horizontal or upward angle, and cannot directly observe the conditions at the top or top of the equipment. However, drones can fly at high or low altitudes, with a wider inspection angle, and are not restricted by the height of equipment and facilities. They can comprehensively inspect the details of defects and hidden dangers at the top or top of equipment and facilities. However, in the prior art, different inspection tasks correspond to the same inspection transmission line, or between transmission line sections, and the time constraints of the inspection are relatively strong. It is necessary to schedule the inspection tasks according to the importance of the inspection line and the constraints between the inspection tasks, and the scheduling is complicated; different inspection tasks correspond to different inspection transmission lines and inspection purposes, and the inspection equipment and inspection models are also different. The inspection involves complicated and scattered equipment, which is easy to forget and lose. The lack of accessories during the inspection process occurs frequently, which seriously affects the efficiency of the inspection; in addition, the method of using drones for inspection is easily affected by strong electromagnetic interference from substations, loss of positioning information and inspection data information, and data collection is not comprehensive enough, resulting in poor use effect.

[0003] In order to solve the shortcomings of the existing technology, people have conducted long-term exploration and proposed various solutions. For example, a Chinese patent document discloses a GIS-based UAV power line inspection dispatching platform and method [CN201410084033.9], which includes a dispatching server, a human-computer interaction module, an RFID reader, an ID card reader, and a short message transceiver module. With the GIS-based UAV power line inspection dispatching method of the utility model, the inspection site status information, equipment information, and personnel information are considered. The inspection equipment, personnel, time, and line are dispatched through the dispatching terminal. Under limited resource conditions, more inspection tasks are completed as much as possible, the efficiency of UAV inspection is improved, the reliability and safety of UAV inspection are improved, and the cost of UAV inspection is reduced.

[0004] The above scheme has solved the problems of complex drone inspection scheduling and low inspection efficiency in the existing technology to a certain extent, but the scheme still has many shortcomings, such as: the way drones conduct inspections is easily affected by strong electromagnetic interference from substations, resulting in loss of positioning information and inspection data information, and data collection is not comprehensive enough, resulting in poor use effect. Summary of the invention

[0005] The purpose of the utility model is to provide a UAV intelligent inspection platform for substations under strong electromagnetic interference in order to solve the above problems.

[0006] To achieve the above-mentioned purpose, the utility model adopts the following technical solutions: an intelligent UAV inspection platform under strong electromagnetic interference of a substation, including an inspection UAV, which is signal-connected to an inspection robot installed in each substation, and the inspection UAV is provided with a UAV inspection collection device and a signal transceiver component, which is connected to an inspection control platform, and the inspection control platform is connected to a data monitoring and management center, and an environmental monitoring and early warning device is provided on the inspection UAV, and the inspection robot forms an RTK base station network and transmits positioning signals to the inspection UAV.

[0007] The inspection drone uses Beidou for line navigation between two adjacent substations to provide high-precision positioning for the drone. When approaching the substation, it connects with the inspection robot by signal, using the inspection robot to provide positioning information for the inspection drone and transmit line navigation information. Secondly, when the signal of the inspection drone receives strong magnetic interference from the substation and the inspection control platform loses the signal of the inspection drone, the inspection drone can receive the control signal and inspection route of the inspection control platform and send it to the inspection drone, thereby realizing the automatic inspection operation of the inspection drone.

[0008] In the above-mentioned UAV intelligent inspection platform under strong electromagnetic interference of a substation, the UAV inspection and collection device includes an infrared camera and an ultraviolet detection module, which are arranged in a transparent protective frame, and the transparent protective frame is connected to the positioning bracket of the UAV gimbal, and the upper end of the positioning bracket is connected to a rotating drive motor, and a laser radar and several millimeter-wave radars are arranged on the upper end of the transparent protective frame.

[0009] In the above-mentioned UAV intelligent inspection platform under strong electromagnetic interference of a substation, the signal transceiver component is connected to the UAV control module, and the signal transceiver component specifically includes a control signal receiving module, an inspection signal transmission module, an early warning signal transceiver module and a positioning signal transceiver module.

[0010] In the above-mentioned UAV intelligent inspection platform under strong electromagnetic interference of a substation, the control signal receiving module receives the control signal from the inspection control platform, the inspection signal transmission module is connected to the UAV inspection collection device and transmits the collected inspection data information to the data monitoring management center, the early warning signal transceiver module receives the early warning signal from the environmental monitoring early warning device and sends it to the inspection control platform, and the positioning signal transceiver module receives the positioning information of the Beidou satellite and sends the location information to the inspection control platform and the inspection robot.

[0011] In the above-mentioned UAV intelligent inspection platform under strong electromagnetic interference of a substation, the environmental monitoring and early warning device includes a temperature sensor for detecting the ambient temperature, a rainfall sensor for detecting the amount of rain, and a smoke sensor for detecting smoke in the substation. The temperature sensor and the rainfall sensor are respectively connected to the control module and send early warning signals to the inspection control platform through the early warning signal transceiver module.

[0012] In the above-mentioned UAV intelligent inspection platform under strong electromagnetic interference of a substation, the inspection robot is provided with a positioning module, a Bluetooth transmission module and a network sharing module, and the positioning modules on two adjacent inspection robots are connected through a data network to form the above-mentioned RTK base station network, and the RTK base station network sends location information to the inspection UAV through the data network.

[0013] In the above-mentioned UAV intelligent inspection platform under strong electromagnetic interference of a substation, a robot inspection and collection system is provided on the inspection robot. The robot inspection and collection system includes an inspection camera and an infrared scanner. The inspection camera and the infrared scanner are connected to the data monitoring management center and perform remote transmission of inspection information.

[0014] In the above-mentioned drone intelligent inspection platform under strong electromagnetic interference of a substation, the data monitoring and management center includes a local data storage module, which receives inspection data information collected by the drone inspection collection device and uploads it to the cloud server. The local data storage module is connected to the data training model for inspection data transmission, and the local data storage module is connected to the inspection control platform for data output and display.

[0015] In the above-mentioned UAV intelligent inspection platform under strong electromagnetic interference of a substation, the inspection control platform includes an information display screen, which is connected to the data monitoring management center for inspection data display, and the information display screen is connected to the local console. The local console has a built-in remote control module, and the remote control module is connected to the signal transceiver component of the inspection UAV through the data network to transmit control signals and warning signals.

[0016] In the above-mentioned UAV intelligent inspection platform under strong electromagnetic interference of a substation, the inspection control platform is connected to an image recognition unit, the image recognition unit is connected to an original image storage unit, and when the inspection UAV or inspection robot transmits inspection data information to the data monitoring management center, the original image input and output image comparison is obtained through the original image storage unit.

[0017] Compared with the existing technology, the advantages of the utility model are: the RTK base station network formed by Beidou positioning in cooperation with the inspection robots installed in each substation provides precise positioning for the inspection drone, effectively preventing the problem of inspection drone signal failure caused by strong electromagnetic interference in the substation, and the inspection drone inspection is carried out in cooperation with the robots of each substation to carry out regular inspections, which saves inspection time and can effectively improve the inspection efficiency. At the same time, the inspection drone can realize autonomous flight inspection, complete the task independently according to the flight route and inspection content, and provide inspection result data in real time. The background staff can view the real-time data results online. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is the overall connection block diagram of the utility model;

[0019] Figure 2 This is a schematic diagram of navigation and positioning of the inspection drone in the utility model;

[0020] Figure 3 It is the operating principle diagram of the utility model;

[0021] Figure 4 It is a structural schematic diagram of the UAV inspection and collection device in the utility model;

[0022] In the figure: inspection drone 1, drone control module 11, inspection robot 2, positioning module 21, Bluetooth transmission module 22, network sharing module 23, drone inspection and collection device 3, infrared shooting camera 31, ultraviolet detection module 32, transparent protection frame 33, positioning bracket 34, laser radar 35, millimeter wave radar 36, signal transceiver component 4, control signal receiving module 41, inspection signal transmission module 42, warning signal transceiver module 43, positioning signal transceiver module 44, inspection control platform 5, information display screen 51, local console 52, remote control module 53, data monitoring management center 6, local data storage module 61, cloud server 62, data training model 63, environmental monitoring and early warning device 7, temperature sensor 71, rainfall sensor 72, smoke sensor 73, robot inspection and collection system 8, inspection camera 81, infrared scanner 82. DETAILED DESCRIPTION

[0023] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0024] like Figure 1-4As shown, an intelligent UAV inspection platform for substations under strong electromagnetic interference includes an inspection UAV 1, which is signal-connected to an inspection robot 2 installed in each substation. The inspection UAV 1 is provided with a UAV inspection collection device 3 and a signal transceiver component 4, which is connected to an inspection control platform 5, and the inspection control platform 5 is connected to a data monitoring management center 6. The inspection UAV 1 is provided with an environmental monitoring and early warning device 7, and the inspection robot 2 forms an RTK base station network and transmits positioning signals to the inspection UAV 1.

[0025] The inspection control platform 5 is used to set the inspection route and inspection content of the inspection robot 2 in advance. The signal transceiver component 4 on the inspection drone 1 receives the inspection route and inspection content information and then conducts inspection, and performs route navigation through passive satellites. Secondly, when strong electromagnetic interference is received when approaching the substation, the RTK base station network formed by the inspection robot 2 provides high-precision positioning to the inspection drone 1 and sends the location information of the inspection robot 2 to the inspection control platform 5. Secondly, the inspection environment is detected through the environmental monitoring and early warning device 7, and an early warning overview is issued to the data monitoring management center 6 to achieve the purpose of real-time early warning.

[0026] The inspection drone 1 cooperates with the inspection robot 2 to inspect different components of the substation at high and low altitudes. The inspection content is more extensive. In addition, the inspection route is pre-set using the inspection control platform 5, and the inspection drone 1 can fly and inspect autonomously. It can complete the task autonomously according to the flight route and inspection content, and provide the inspection result data to the data monitoring management center 6 in real time. The back-end staff can view the real-time inspection data online.

[0027] Among them, the drone inspection and collection device 3 includes an infrared camera 31 and an ultraviolet detection module 32, the infrared camera 31 and the ultraviolet detection module 32 are arranged in a transparent protective frame 33, and the transparent protective frame 33 is connected to the positioning bracket 34 of the drone gimbal, the upper end of the positioning bracket 34 is connected to a rotating drive motor, and a laser radar 35 and several millimeter wave radars 36 are arranged on the upper end of the transparent protective frame 33.

[0028] The infrared camera 31 and the ultraviolet detection module 32 are used to capture and identify the high-altitude components of the substation. They can also perform 360-degree all-round shooting around the target to achieve zero blind spots, and transmit the on-site situation back to the ground data monitoring and management center 6 in real time so as to make correct judgments and eliminate equipment failures in time. The laser radar 35 and the millimeter-wave radar 36 are used to prevent collisions when the inspection drone 1 flies autonomously for inspection.

[0029] Furthermore, the signal transceiver component 4 is connected to the drone control module 11 , and the signal transceiver component 4 specifically includes a control signal receiving module 41 , an inspection signal transmission module 42 , an early warning signal transceiver module 43 and a positioning signal transceiver module 44 .

[0030] Specifically, the control signal receiving module 41 receives the control signal from the inspection control platform 5, the inspection signal transmission module 42 connects to the UAV inspection collection device 3 and transmits the collected inspection data information to the data monitoring management center 6, the early warning signal transceiver module 43 receives the early warning signal from the environmental monitoring early warning device 7 and sends it to the inspection control platform 5, and the positioning signal transceiver module 44 receives the positioning information of the Beidou satellite and sends the location information to the inspection control platform 5 and the inspection robot 2.

[0031] The signal transceiver component 4 realizes the collection and transmission of inspection information, as well as the functions of early warning and position positioning.

[0032] Furthermore, the environmental monitoring and early warning device 7 includes a temperature sensor 71 for detecting the ambient temperature, a rainfall sensor 72 for detecting the amount of rain, and a smoke sensor 73 for detecting smoke in the substation. The temperature sensor 71 and the rainfall sensor 72 are respectively connected to the control module and send early warning signals to the inspection control platform 5 through the early warning signal transceiver module 43.

[0033] The environmental monitoring and early warning device 7 is used to detect the weather environment on the one hand, and monitor the working environment of the substation on the other hand.

[0034] In detail, the inspection robot 2 is provided with a positioning module 21, a Bluetooth transmission module 22 and a network sharing module 23, and the positioning modules 21 on two adjacent inspection robots 2 are connected through a data network to form the above-mentioned RTK base station network, and the RTK base station network sends location information to the inspection drone 1 through the data network.

[0035] On the one hand, the inspection drone 1 uses Beidou satellites for positioning and navigation. When it is subject to strong electromagnetic interference when approaching the substation, it provides accurate positioning and navigation through the RTK reference station network.

[0036] Preferably, the inspection robot 2 is provided with a robot inspection and collection system 8, which includes an inspection camera 81 and an infrared scanner 82. The inspection camera 81 and the infrared scanner 82 are connected to the data monitoring management center 6 and perform remote transmission of inspection information.

[0037] In addition, the data monitoring management center 6 includes a local data storage module 61, which receives the inspection data information collected by the drone inspection collection device 3 and uploads it to the cloud server 62, and the local data storage module 61 is connected to the data training model 63 for inspection data transmission, and the local data storage module 61 is connected to the inspection control platform 5 for data output and display.

[0038] The data training model 63 is deeply trained based on the inspection data information, accurately identifying photos of potential defects and defect locations, and continuously optimizing the inspection routes.

[0039] More specifically, the inspection control platform 5 includes an information display screen 51, which is connected to the data monitoring management center 6 for inspection data display, and the information display screen 51 is connected to the local console 52, the local console 52 has a built-in remote control module 53, and the remote control module 53 is connected to the signal transceiver component 4 of the inspection drone 1 through a data network to transmit control signals and warning signals.

[0040] The local console 52 configures, manages, and plans inspection routes for the inspection drone 1 and the inspection robot 2 .

[0041] The inspection control platform 5 is connected to an image recognition unit, which is connected to an original image storage unit. When the inspection drone 1 or the inspection robot 2 transmits inspection data information to the data monitoring management center 6, the original image is obtained through the original image storage unit for comparison.

[0042] The original image storage unit is used to store the status of substation components under normal conditions, and compare it with the inspection data information collected in real time to determine whether the components are abnormal or damaged.

[0043] In summary, the principle of this embodiment is as follows: by setting up an inspection robot 2 in each substation, using the inspection robot 2 to form an RTK base station network and transmit positioning signals to the inspection drone 1, the inspection route of the inspection drone 1 is planned through the inspection control platform 5, the inspection drone 1 performs inspections according to the planned route, and uses the drone inspection collection device 3 to collect inspection data information, uses the signal transceiver component 4 to send the inspection data information to the data monitoring management center 6, and uses the environmental monitoring and early warning device to monitor the substation working environment and the inspection environment in real time, and immediately issues an early warning when an abnormality is found;

[0044] Secondly, the inspection drone 1 uses Beidou satellites for navigation and positioning during the inspection process. When it is close to the substation and loses the signal due to strong electromagnetic interference, it provides navigation and positioning information through the RTK base station network.

[0045] The specific embodiments described herein are merely examples of the spirit of the present invention. Those skilled in the art may make various modifications or additions to the specific embodiments described or replace them in similar ways, but they will not deviate from the spirit of the present invention or exceed the scope defined by the appended claims.

[0046] Although this article uses more terms such as inspection drone 1, drone control module 11, inspection robot 2, positioning module 21, Bluetooth transmission module 22, network sharing module 23, drone inspection and collection device 3, infrared camera 31, ultraviolet detection module 32, transparent protective frame 33, positioning bracket 34, laser radar 35, millimeter wave radar 36, signal transceiver component 4, control signal receiving module 41, inspection signal transmission module 42, warning signal transceiver module 43, positioning signal transceiver module 44, inspection control platform 5, information display screen 51, local console 52, remote control module 53, data monitoring management center 6, local data storage module 61, cloud server 62, data training model 63, environmental monitoring and early warning device 7, temperature sensor 71, rainfall sensor 72, smoke sensor 73, robot inspection and collection system 8, inspection camera 81, infrared scanner 82, etc., it does not exclude the possibility of using other terms. These terms are used only to more conveniently describe and explain the essence of the present invention; any additional limitations interpreted as these terms are contrary to the spirit of the present invention.

Claims

1. An intelligent inspection platform for UAVs under strong electromagnetic interference in substations, comprising an inspection UAV (1), wherein the inspection UAV (1) is connected to an inspection robot (2) arranged in each substation by signal, and characterized in that: The inspection drone (1) is provided with a drone inspection data collection device (3) and a signal transceiver component (4), the signal transceiver component (4) is connected to an inspection control platform (5), and the inspection control platform (5) is connected to a data monitoring management center (6), the inspection drone (1) is provided with an environmental monitoring early warning device (7), and the inspection robot (2) forms an RTK base station network and transmits positioning signals to the inspection drone (1).

2. According to claim 1, a UAV intelligent inspection platform for substations under strong electromagnetic interference is characterized in that: The unmanned aerial vehicle inspection and collection device (3) comprises an infrared camera (31) and an ultraviolet detection module (32), wherein the infrared camera (31) and the ultraviolet detection module (32) are arranged in a transparent protective frame (33), and the transparent protective frame (33) is connected to a positioning bracket (34) of a unmanned aerial vehicle gimbal, wherein the upper end of the positioning bracket (34) is connected to a rotation driving motor, and a laser radar (35) and a plurality of millimeter wave radars (36) are arranged on the upper end of the transparent protective frame (33).

3. The UAV intelligent inspection platform for substations under strong electromagnetic interference according to claim 2 is characterized in that: The signal transceiver component (4) is connected to the drone control module (11), and the signal transceiver component (4) specifically includes a control signal receiving module (41), an inspection signal transmission module (42), an early warning signal transceiver module (43) and a positioning signal transceiver module (44).

4. The UAV intelligent inspection platform for substations under strong electromagnetic interference according to claim 3 is characterized in that: The control signal receiving module (41) receives the control signal from the inspection control platform (5), the inspection signal transmission module (42) is connected to the unmanned aerial vehicle inspection collection device (3) and transmits the collected inspection data information to the data monitoring management center (6), the early warning signal transceiver module (43) receives the early warning signal from the environmental monitoring early warning device (7) and sends it to the inspection control platform (5), and the positioning signal transceiver module (44) receives the positioning information of the Beidou satellite and sends the position information to the inspection control platform (5) and the inspection robot (2).

5. The UAV intelligent inspection platform for substations under strong electromagnetic interference according to claim 4 is characterized in that: The environmental monitoring and early warning device (7) comprises a temperature sensor (71) for detecting the ambient temperature, a rainfall sensor (72) for detecting the amount of rain, and a smoke sensor (73) for detecting smoke in the substation. The temperature sensor (71) and the rainfall sensor (72) are respectively connected to the control module and send an early warning signal to the inspection control platform (5) through the early warning signal transceiver module (43).

6. The UAV intelligent inspection platform for substations under strong electromagnetic interference according to claim 1 is characterized in that: The inspection robot (2) is provided with a positioning module (21), a Bluetooth transmission module (22) and a network sharing module (23), and the positioning modules (21) on two adjacent inspection robots (2) are connected via a data network to form the above-mentioned RTK base station network, and the RTK base station network sends position information to the inspection drone (1) via the data network.

7. The UAV intelligent inspection platform for substations under strong electromagnetic interference according to claim 6 is characterized in that: The inspection robot (2) is provided with a robot inspection and data collection system (8), and the robot inspection and data collection system (8) comprises an inspection camera (81) and an infrared scanner (82). The inspection camera (81) and the infrared scanner (82) are connected to a data monitoring management center (6) and perform remote transmission of inspection information.

8. The UAV intelligent inspection platform for substations under strong electromagnetic interference according to claim 1 is characterized in that: The data monitoring management center (6) includes a local data storage module (61), the local data storage module (61) receives the inspection data information collected by the unmanned aerial vehicle inspection collection device (3) and uploads it to the cloud server (62), and the local data storage module (61) is connected to the data training model (63) to transmit the inspection data, and the local data storage module (61) is connected to the inspection control platform (5) to output and display the data.

9. The UAV intelligent inspection platform for substations under strong electromagnetic interference according to claim 8 is characterized in that: The inspection control platform (5) comprises an information display screen (51), the information display screen (51) is connected to a data monitoring management center (6) for displaying inspection data, and the information display screen (51) is connected to a local control console (52), the local control console (52) has a built-in remote control module (53), and the remote control module (53) is connected to a signal transceiver component (4) of the inspection drone (1) via a data network for transmission of control signals and warning signals.

10. The UAV intelligent inspection platform for substations under strong electromagnetic interference according to claim 9 is characterized in that: The inspection control platform (5) is connected to an image recognition unit, and the image recognition unit is connected to an original image storage unit. When the inspection drone (1) or the inspection robot (2) transmits inspection data information to the data monitoring management center (6), the original image storage unit is used to obtain the original image input and output image comparison.

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