CN112729312A - Unmanned aerial vehicle inspection method for high-voltage chamber of transformer substation - Google Patents
Unmanned aerial vehicle inspection method for high-voltage chamber of transformer substation Download PDFInfo
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Abstract
The invention aims to solve the problems of large occupied space, high construction cost, serious resource waste and the like in the current indoor inspection means of the transformer substation. The unmanned aerial vehicle inspection method for the high-voltage room of the transformer substation is provided for popularization of indoor inspection means of the unmanned aerial vehicle. The unmanned aerial vehicle inspection method for the high-voltage room of the transformer substation comprises the steps of space modeling, inspection route generation, return route generation and the like. The device can be matched with indoor environments of different types, and has high universality; meanwhile, after algorithm construction is completed, the indoor environment can be put into use only by modeling, construction cost is low, a large amount of equipment does not need to be additionally added, and occupied space is small.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle inspection, in particular to a transformer substation high-voltage room unmanned aerial vehicle inspection method.
Background
Along with the development of electric power system tour technique and means, equipment such as more and more track robot, tour camera, unmanned aerial vehicle are used to the transformer substation and are tourd the work, and at present, the indoor tour means of transformer substation mainly has following problem:
the patrol of the track robot depends on a robot guide rail, a large number of dead corners exist in patrol operation, and the patrol cannot be performed, so that after the patrol of the track robot is completed, the patrol dead corners of the track robot still need to be manually subjected to secondary patrol, only part of manual patrol work can be replaced, and the method is not an optimal solution for replacing a robot for patrol operation in a substation room; secondly, the track robot needs to build hardware equipment such as a robot track, a robot, a background server and the like, the equipment value of the robot and the like is high, the construction investment is large, the return is low, the later operation and maintenance investment is still large, and the national scientific development and sustainable development planning cannot be met.
Secondly, the inspection camera is a method for replacing manual inspection operation by a camera installed at a fixed point position, if the full coverage of video monitoring is to be realized, a large number of video monitoring cameras need to be built, and the construction cost is high; secondly, a camera needs to be independently installed at most of patrol points, so that a great deal of resource waste is caused; moreover, with the development of intelligent substations, more and more devices are installed in indoor areas such as relay protection rooms and high-voltage rooms of substations, and if a large number of cameras are installed in the areas to replace manual patrol operation, the indoor spaces such as the high-voltage rooms and the relay protection rooms of the substations, which are very low in cost, are more involved.
Thirdly, the unmanned aerial vehicle patrols the indoor application of apparent transformer substation and can solve the patrol means such as track robot, video camera and so on and not nimble enough, the construction cost is high, occupation space big scheduling problem. However, the following problems still exist in the application of unmanned aerial vehicle inspection in the substation room: (1) due to electromagnetic interference generated by a high-voltage electric field of a transformer substation and interference shielding of walls of a relay protection room, a high-voltage room and the like of the transformer substation on GPS signals, the GPS navigation precision of the indoor unmanned aerial vehicle for patrol is reduced; (2) the indoor relay protection screen cabinet of relay protection, the indoor GIS equipment casing of high-pressure chamber are steel material, also have the screen cabinet to GPS signal, UWB signal and shelter from the phenomenon, if will realize the indoor total coverage of UWB, then need to build a plurality of UWB basic stations, still have the construction cost height, the serious extravagant scheduling problem of resource.
Disclosure of Invention
In order to solve the problems, the invention provides a transformer substation high-voltage room unmanned aerial vehicle inspection method.
The technical scheme adopted by the invention is as follows:
a transformer substation high-voltage chamber unmanned aerial vehicle patrol method comprises the following steps: the method comprises the steps of performing space modeling, determining a takeoff position of the unmanned aerial vehicle, namely an original point of a space model, and establishing a space rectangular coordinate system of an x axis, a y axis and a z axis according to the distance measurement precision of the unmanned aerial vehicle by taking the distance measurement precision as unit length, wherein the space model is a limited coordinate set in the whole space rectangular coordinate system; secondly, generating a patrol route, determining coordinates of a plurality of patrol point positions according to a limited coordinate set in an x-axis, y-axis and z-axis space rectangular coordinate system, taking the patrol point position closest to the original point of the space as a first patrol point position, and sequentially connecting the plurality of patrol point positions to generate the patrol route, wherein the unmanned aerial vehicle patrols according to the patrol route; and thirdly, generating a return route, generating the return route according to the coordinates of the x-axis space rectangular coordinate system, the y-axis space rectangular coordinate system and the z-axis space rectangular coordinate system of the current position of the unmanned aerial vehicle and the original point of the space rectangular coordinate system, and returning the unmanned aerial vehicle to the original point of the space rectangular coordinate system according to the return route.
Preferably, in the second step, the unmanned aerial vehicle will move along the vertical direction of the coordinate system, or move along the vertical x-axis, or move along the vertical y-axis, or move along the vertical z-axis.
It is preferable thatIn the second step, the unmanned aerial vehicle calculates the distance between the coordinate of the patrol point position and the origin of the coordinate through the following steps to generate a patrol route of the unmanned aerial vehicle; step one, summing x, y and z coordinates: x is the number of2+y2+z2，x3+y3+z3，x4+y4+z4… …, respectively; step two, subtracting the sum of the x, y and z coordinates of the coordinate origin after summing the x, y and z coordinates: (x)2+y2+z2)-(x+y+z)，(x3+y3+z3)-(x+y+z)，(x4+y4+z4) - (x + y + z) … …; and step three, sequencing the values obtained in the step two, wherein the patrol point location coordinate corresponding to the minimum value is a first patrol viewpoint, and a second patrol viewpoint and a third patrol viewpoint … … are sequentially arranged until the patrol point location corresponding to the maximum value is a final patrol point location, and generating the patrol route of the unmanned aerial vehicle.
Preferably, the unmanned aerial vehicle safety distance m can be substituted in the step one, and a set of a limited number of coordinates in the unmanned aerial vehicle inspection flight space is obtained according to the safety distance m of the unmanned aerial vehicle, so that the obstacle avoidance inspection route is generated in the step two.
Preferably, the unmanned aerial vehicle cruises according to the third step when the patrol is finished or the electric quantity is not enough to support the unmanned aerial vehicle to continue the patrol.
Preferably, the spatial model is adapted to a finite space or an infinite space.
The invention has the beneficial effects that:
the unmanned aerial vehicle inspection method for the high-voltage room of the transformer substation comprises the steps of space modeling, inspection route generation, return route generation and the like. The device can be matched with indoor environments of different types, and has high universality; meanwhile, after algorithm construction is completed, the indoor environment can be put into use only by modeling, construction cost is low, a large amount of equipment does not need to be additionally added, and occupied space is small.
Drawings
FIG. 1 is a schematic diagram of a rectangular spatial coordinate system according to the present invention;
FIG. 2 is a schematic diagram of the present invention for establishing patrol location in a rectangular spatial coordinate system.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be obtained by a person skilled in the art without inventive effort based on the embodiments of the present invention, are within the scope of the present invention.
According to the method, indoor spaces such as a relay protection room and a high-voltage room of a transformer substation need to be modeled, and before modeling, the takeoff position of the unmanned aerial vehicle needs to be determined, namely the origin of a space model. The take-off position of the unmanned aerial vehicle is used as a space origin, a space rectangular coordinate system is established, the coordinate of the appointed space origin is (0, 0, 0), the space model is a set of a limited number of coordinates in the whole space rectangular coordinate system, and the x, y and z coordinates in the space rectangular coordinate system are used for describing the space model and determining the specific coordinates of the indoor patrol point position in the space model.
In the space model, objective objects such as GIS equipment and relay protection screen cabinets, and subjective attributes such as distance are described by space coordinates. As shown in fig. 1, in the space model, the distance of one coordinate (x, y, z) from the origin is described as: the coordinates are x lateral distances from the origin, y longitudinal distances from the origin, z vertical distances from the origin, and likewise, the coordinates (x + a, y + b, z + c) are x lateral distances from the origin (x + a), are y longitudinal distances from the origin (y + b), are z vertical distances from the origin (z + c), and are a lateral distances, b longitudinal distances, c vertical distances from the coordinates (x + a, y + b, z + c) from the coordinates (x, y, z).
For convenience of description, hereinafter, the maximum distance in the positive direction of the x-axis of the space origin in the appointed space model is a1The maximum distance in the negative direction is a2The maximum distance in the positive direction of the y axis is b1Maximum distance in negative direction is b2The maximum distance in the positive direction of the z-axis is c1Maximum distance in negative direction of c2And, the spatial model is:
{x，y，z|-a2<x<a1，-b2<y<b1，-c2<z<c1，x∈R，y∈R，z∈R}
wherein R represents a real number set. I.e. all points on the x, y, z coordinate axes.
The method of the invention secondly generates a tour route, and the navigation of the tour task is according to (x) in the space model1，y1，z1) The coordinate is confirmed, the inspection point position which is closest to the original point of the space is taken as a first inspection point position, inspection is sequentially carried out, a plurality of inspection point positions are sequentially connected to generate an inspection route, and the unmanned aerial vehicle inspects according to the inspection route. When the unmanned aerial vehicle patrols, according to patrolling the space model internal coordinate that the position corresponds, horizontal, vertical removal.
As shown in fig. 2, in the rectangular spatial coordinate system, each point corresponds to a coordinate (x, y, z), and a plurality of such points form a spatial model, which includes:
{x，y，z|-a2<x<a1，-b2<y<b1，-c2<z<c1，x∈R，y∈R，z∈R}
the point (x, y, z) is distant from the point (x)1，y1，z1) A transverse distance of 0, a longitudinal distance of 2, and a vertical distance of 2, i.e., (x, y, z) ═ x1，y1+2，z1-2)。
The method finally generates a return route according to the coordinates (x) of the current position of the unmanned aerial vehicle3，y3，z3) And intelligently calculating a return route and returning to the takeoff position of the unmanned aerial vehicle, namely the original point of space.
It should be noted that, among the above-mentioned process, unmanned aerial vehicle can be according to the space model coordinate that the position corresponds is tourd, can the accurate distance that calculates that unmanned aerial vehicle needs left, right, upper and lower, preceding, back removal, and unmanned aerial vehicle uses the range radar of unmanned aerial vehicle fuselage self-band according to the migration distance, arrives appointed place and tours.
To specifically explain the method of the present invention, a transformer substation high-voltage chamber with a length L, a width W and a height H is used as an embodiment of the present invention, and an indoor switch cabinet device with a length L1Width of w1High ish1The embodiments of the present invention are intended to embody the principles of the present invention.
A spatial modeling:
a space rectangular coordinate system is established by taking any corner of a high-pressure chamber as an original point, the original point is perpendicular to a range radar at the bottom of the unmanned aerial vehicle, the perpendicular distance between the x axis and the z axis of the space rectangular coordinate system and any point of a wall is greater than or equal to the safe distance m of the unmanned aerial vehicle, and the perpendicular distance between the x axis and the z axis of the space rectangular coordinate system and any point of a patrolled object is greater than or equal to the safe distance. The origin coordinates are set to (0, 0, 0).
According to unmanned aerial vehicle range finding precision n, use n to model as unit length to the indoor position of patrolling of hyperbaric chamber, there is the hyperbaric chamber to patrol the position model and do from this:
according to the unmanned aerial vehicle distance measurement precision n, modeling is carried out on the high-pressure indoor obstacle by taking n as unit length, and the coordinate of the angle of the obstacle close to the space origin is assumed to be (x)1，y1，z1) And substituting the safe distance m of the unmanned aerial vehicle into the model, so that the high-pressure chamber barrier model is as follows:
{x，y，z|x＝x1-m～x1+l1，y＝y1～y1+h1，z＝z1-m～z1+w1}
this makes it possible to obtain a spatial model of the high-pressure chamber.
Generating a tour route:
selecting (x) in the spatial model2，y2，z2)，(x3，y3，z3)，(x4，y4，z4) … …, the positions belong to the hyperbaric chamber patrol position model and do not belong to the hyperbaric chamber obstacle model, the system calculates the distance between the patrol position coordinates and the coordinate origin, the patrol position closest to the origin is taken as a first patrol point, the patrol position second closest to the origin is taken as a second patrol point, the sequencing is carried out in sequence, and the unmanned aerial vehicle patrol path is finally generatedA wire.
(1) In the method, the unmanned aerial vehicle tour moves along the vertical direction of the coordinate system, or moves along the vertical x axis, or moves along the vertical y axis, or moves along the vertical z axis.
(2) The calculation method of the distance between the patrol point coordinate and the coordinate origin comprises the following steps:
step one, summing x, y and z coordinates: x is the number of2+y2+z2，x3+y3+z3，x4+y4+z4……；
Step two, subtracting the sum of the x, y and z coordinates of the coordinate origin after summing the x, y and z coordinates:
(x2+y2+z2)-(x+y+z)，(x3+y3+z3)-(x+y+z)，
(x4+y4+z4)-(x+y+z)……
and step three, sequencing the values obtained in the step two, wherein the patrol point position coordinate corresponding to the minimum value is a first patrol viewpoint, and a second patrol viewpoint and a third patrol viewpoint … … are sequentially arranged until the patrol point position corresponding to the maximum value is a final patrol point position. And generating an unmanned aerial vehicle patrol route.
When the unmanned aerial vehicle is insufficient in cruising and needs to go back to a flight, the current patrol point position is recorded, after charging is completed, the patrol point position is taken as a first patrol point during the returning flight, and the patrol operation is continued until the unmanned aerial vehicle patrols the final patrol point.
Generating a return route:
when the unmanned aerial vehicle finishes the patrol or the electric quantity is not enough to support the unmanned aerial vehicle to continue the patrol, the unmanned aerial vehicle automatically returns, the return route is calculated according to the coordinates of the current point position where the unmanned aerial vehicle is located, and the coordinates of the point position where the unmanned aerial vehicle is located when the unmanned aerial vehicle returns are appointed to be (x)5，y5，z5) Then the unmanned plane needs to be raised by H-H1+ m height to (x)5，H-h1+m，z5) And coordinates, wherein the unmanned aerial vehicle can safely return in the plane of the x axis and the z axis where the coordinates are located.
Claims (6)
1. The unmanned aerial vehicle inspection method for the high-voltage room of the transformer substation is characterized by comprising the following steps: the unmanned aerial vehicle inspection method for the high-voltage room of the transformer substation comprises the following steps: the method comprises the steps of performing space modeling, determining a takeoff position of the unmanned aerial vehicle, namely an original point of a space model, and establishing a space rectangular coordinate system of an x axis, a y axis and a z axis according to the distance measurement precision of the unmanned aerial vehicle by taking the distance measurement precision as unit length, wherein the space model is a limited coordinate set in the whole space rectangular coordinate system; secondly, generating a patrol route, determining coordinates of a plurality of patrol point positions according to a limited coordinate set in an x-axis, y-axis and z-axis space rectangular coordinate system, taking the patrol point position closest to the original point of the space as a first patrol point position, and sequentially connecting the plurality of patrol point positions to generate the patrol route, wherein the unmanned aerial vehicle patrols according to the patrol route; and thirdly, generating a return route, generating the return route according to the coordinates of the x-axis space rectangular coordinate system, the y-axis space rectangular coordinate system and the z-axis space rectangular coordinate system of the current position of the unmanned aerial vehicle and the original point of the space rectangular coordinate system, and returning the unmanned aerial vehicle to the original point of the space rectangular coordinate system according to the return route.
2. The unmanned aerial vehicle patrol method for the substation high-voltage room according to claim 1, characterized in that: in the second step, the unmanned aerial vehicle patrols and moves along the vertical direction of the coordinate system, or moves along the vertical x axis, or moves along the vertical y axis, or moves along the vertical z axis.
3. The unmanned aerial vehicle patrol method for the substation high-voltage room according to claim 1, characterized in that: in the second step, the unmanned aerial vehicle calculates the distance between the coordinate of the patrol point position and the origin of the coordinate through the following steps to generate a patrol route of the unmanned aerial vehicle; step one, summing x, y and z coordinates:
，
，
… …, respectively; step two, subtracting the sum of the x, y and z coordinates of the coordinate origin after summing the x, y and z coordinates:
，
，
… …, respectively; and step three, sequencing the values obtained in the step two, wherein the patrol point location coordinate corresponding to the minimum value is a first patrol viewpoint, and a second patrol viewpoint and a third patrol viewpoint … … are sequentially arranged until the patrol point location corresponding to the maximum value is a final patrol point location, and generating the patrol route of the unmanned aerial vehicle.
4. The unmanned aerial vehicle patrol method for the substation high-voltage room according to claim 1, characterized in that: and substituting the safe distance m of the unmanned aerial vehicle in the step one, and obtaining a set of a limited number of coordinates in the unmanned aerial vehicle inspection flight space according to the safe distance m of the unmanned aerial vehicle so as to generate an obstacle avoidance inspection route in the step two.
5. The unmanned aerial vehicle patrol method for the substation high-voltage room according to claim 1, characterized in that: and the unmanned aerial vehicle returns according to the third step when the patrol is finished or the electric quantity is not enough to support the unmanned aerial vehicle to continue the patrol.
6. The unmanned aerial vehicle patrol method for the substation high-voltage room according to claim 1, characterized in that: the spatial model is applicable to finite space or infinite space.
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| US20170139410A1 (en) * | 2014-07-02 | 2017-05-18 | Mitsubishi Heavy Industries, Ltd. | Indoor monitoring system and method for structure |
| CN107146213A (en) * | 2017-05-08 | 2017-09-08 | 西安电子科技大学 | Unmanned plane image split-joint method based on suture |
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