The invention belongs to the field of intelligent inspection of
power equipment, and particularly relates to a
transformer substation unmanned aerial vehicle dual-light inspection
route planning method. According to the method, original
laser point cloud of substation equipment is simplified, an equipment semantic lattice diagram containing high-altitude environment attributes and equipment semantic tags is constructed, dual-light inspection constraint parameters, namely
infrared temperature precision and visible light resolution, are analyzed, and a semantic-environment dual-constraint initial
route is generated; and flight and dual-
light equipment parameters are dynamically adjusted in combination with a high-altitude environment, and routing inspection coverage completeness and data qualification are ensured through semantic weight driven dynamic
obstacle avoidance and dual-light
data quality closed-loop
verification. According to the method, the
route coverage is larger than or equal to 99%, the dual-light data qualification rate is larger than or equal to 95%, the redundant route mileage is reduced by 30%, the method is adaptive to a high-altitude
transformer substation suspension type
porcelain insulator and composite insulator dual-light inspection scene, and high-
quality data support is provided for joint detection of insulator
infrared thermal defects and visible light surface defects.