CN116661488A - Unmanned aerial vehicle autonomous inspection method for transformer substation based on laser point cloud model - Google Patents
Unmanned aerial vehicle autonomous inspection method for transformer substation based on laser point cloud model Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
- Y04S10/00—Systems supporting electrical power generation, transmission or distribution
- Y04S10/50—Systems or methods supporting the power network operation or management, involving a certain degree of interaction with the load-side end user applications
Abstract
The invention provides a substation unmanned aerial vehicle autonomous inspection method based on a laser point cloud model, which comprises the following steps: acquiring laser point cloud data of a no-fly area in a transformer substation; generating a three-dimensional laser point cloud model of the no-fly area based on the laser point cloud data; converting the laser point cloud model into a three-dimensional cylindrical model; determining a routing inspection point position for each device to be inspected, and carrying out route planning on the routing inspection point position of the device based on a shortest path principle to generate an initial routing inspection sub-path of a single device; judging whether the initial patrol sub-path passes through a no-fly zone in the three-dimensional cylindrical model, if so, setting obstacle avoidance points in the initial patrol sub-path to obtain the patrol sub-path; and planning to obtain a substation inspection path by taking the position of the machine nest as a starting point and an ending point based on the inspection sub path. The three-dimensional all-dimensional automatic inspection of the transformer substation is realized by combining a route planning technology of the unmanned aerial vehicle and a modeling technology based on a laser point cloud model.
Description
Technical Field
The invention relates to the technical field of intelligent inspection, in particular to a substation unmanned aerial vehicle autonomous inspection method based on a laser point cloud model.
Background
The traditional inspection means of the transformer substation mainly comprise means of manual inspection, robot inspection, fixed video monitoring and the like, and the traditional inspection means are put into power production in batches at present. However, the conditions such as the inspection route, the inspection observation angle and the like of the traditional inspection means are relatively fixed, and a certain inspection blind area exists, so that a certain pressure is brought to the management work of substation inspection personnel.
Disclosure of Invention
One or more embodiments of the present specification describe a precise marketing method and system based on vehicle information, which can partially solve the above-described problems of the prior art.
One or more embodiments of the present disclosure provide a substation unmanned aerial vehicle autonomous inspection method based on a laser point cloud model, the method including:
acquiring laser point cloud data of a no-fly area in a transformer substation;
generating a three-dimensional laser point cloud model of the no-fly area based on the laser point cloud data;
converting the laser point cloud model into a three-dimensional cylindrical model, wherein the internal space of the three-dimensional cylindrical model is a no-fly area;
determining a routing inspection point position for each device to be inspected, and carrying out route planning on the routing inspection point position of the device based on a shortest path principle to generate an initial routing inspection sub-path of a single device;
judging whether the initial patrol sub-path passes through a no-fly area in the three-dimensional cylindrical model, if so, setting an obstacle avoidance point in the initial patrol sub-path to obtain a patrol sub-path;
and planning to obtain a substation inspection path by taking the position of the machine nest as a starting point and a finishing point based on the inspection sub-path.
As an optional implementation manner of the substation unmanned aerial vehicle autonomous inspection method based on the laser point cloud model, the generating step of the three-dimensional laser point cloud model specifically includes:
determining the position coordinates of the object to be bypassed in the no-fly area as a center point;
based on the determined central point, clustering the laser point cloud data by adopting a kmeans clustering algorithm, and taking the generated coordinate cluster as the three-dimensional laser point cloud model.
As an optional implementation manner of the substation unmanned aerial vehicle autonomous inspection method based on the laser point cloud model, the generating step of the three-dimensional cylindrical model specifically includes:
selecting two points with the farthest distance in a cluster aiming at each three-dimensional laser point cloud model, and setting the path direction between the two points as the height direction of a three-dimensional cylindrical model;
selecting a plane perpendicular to the height direction as a two-dimensional projection plane, and projecting other points in the three-dimensional laser point cloud model onto the two-dimensional projection plane;
clustering the point cloud data in the two-dimensional projection plane, determining a point with the farthest distance from the circle center by taking a clustering center as the circle center, and generating a cross section of the three-dimensional cylindrical model by taking the distance between the point and the circle center as a radius;
and translating the cross section according to the height direction to obtain the three-dimensional cylindrical model.
As an optional implementation manner of the autonomous inspection method of the substation unmanned aerial vehicle based on the laser point cloud model, the specific method for setting the obstacle avoidance point comprises the following steps:
determining a crossing starting point and a crossing ending point of the single equipment initial tour inspection route passing through a no-fly area inside the three-dimensional cylindrical model;
determining the midpoints of the traversing starting point and the traversing ending point;
and selecting a point closest to the end point on the outer wall of the three-dimensional cylindrical model as an obstacle avoidance point.
As an optional implementation manner of the substation unmanned aerial vehicle autonomous inspection method based on the laser point cloud model, the planning method of the substation inspection path includes:
determining the inspection priority of equipment to be inspected in the transformer substation according to each inspection task;
based on the inspection priority and inspection points in the inspection sub-path, initially planning the substation inspection path to obtain an inspection matrix: d= [ S, C1', C2', C3 '], wherein S represents the starting point, cm' represents the patrol sub-path of the mth device;
traversing the inspection matrix from the starting point S of the substation inspection path, and planning the path by taking the shortest distance between the end point of the former inspection sub-path and the starting point of the latter inspection sub-path as the principle to obtain an updated inspection matrix:
D＝{s，[(x 11 ，y 11 ，z 11 )(x 12 ，y 12 ，z 12 )(x 13 ，y 13 ，z 13 )...]，[(x 21 ，y 21 ，z 21 )(x 22 ，y 22 ，z 22 )(x 23 ，y 23 ，z 23 )...]，...}
wherein, (x) ij ,y ij ,z ij ) And the coordinates of the j-th inspection point in the i-th inspection sub-route are represented.
As an optional implementation manner of the substation unmanned aerial vehicle autonomous inspection method based on the laser point cloud model, the planning method of the substation inspection path further includes:
after the last patrol sub-path is completed, taking the end point of the last patrol sub-path as a starting point, taking the nest position as the end point, and planning a return path based on a shortest path principle;
and judging whether the return path passes through a no-fly zone in the three-dimensional cylindrical model, if so, setting an obstacle avoidance point in the return path to obtain a final return path.
As an optional implementation mode of the autonomous inspection method of the unmanned aerial vehicle of the transformer substation based on the laser point cloud model, the method further comprises the step of correcting the inspection route of the transformer substation based on historical track data, and specifically comprises the following steps:
acquiring historical track data in a preset time period aiming at each inspection point in the power station inspection route;
and clustering the historical track data of the patrol points, and replacing the patrol points in the substation patrol route by cluster centers of the generated cluster to obtain a corrected substation patrol route.
The beneficial effects are that: one or more embodiments of the present disclosure provide a method for autonomous inspection of a substation unmanned aerial vehicle based on a laser point cloud model, which combines a route planning technology of the unmanned aerial vehicle with a modeling technology based on the laser point cloud model, and realizes three-dimensional all-dimensional automatic inspection of the substation. The method can monitor the running state of the substation equipment in a short-distance and omnibearing way, find defects in time, effectively make up the defects of the traditional inspection mode, lighten the workload of operators and improve the inspection quality of the substation.
Drawings
In order to more clearly illustrate the embodiments of the present description or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are some embodiments of the present description, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a substation unmanned aerial vehicle autonomous inspection method based on a laser point cloud model, as referred to in one embodiment of the present description;
FIG. 2 is a schematic diagram of three-dimensional cylindrical model generation involved in one embodiment of the present description;
fig. 3 is a schematic diagram of obstacle avoidance point placement as referred to in one embodiment of the present disclosure.
Detailed Description
At present, the traditional inspection means of the transformer substation mainly comprises means such as manual inspection, robot inspection, fixed video monitoring and the like, but the conditions such as inspection route, inspection observation angle and the like of the traditional inspection means are relatively fixed, a certain inspection blind area exists, and a certain pressure is brought to management work of inspection personnel of the transformer substation.
In recent years, unmanned aerial vehicle technology is more and more mature, and unmanned aerial vehicle has the advantages that flight height is higher, the visual angle is wider, inspection does not have dead angle, no blind area, utilizes unmanned aerial vehicle to carry out inspection can closely all-round monitoring substation equipment running state, in time discovers the defect.
However, the complex equipment in the transformer substation may have many areas unsuitable for the unmanned aerial vehicle to fly, and how to plan the flight path of the unmanned aerial vehicle so as to avoid the areas is a technical problem to be solved by one or more embodiments of the present disclosure. In view of this, one or more embodiments of the present disclosure provide a method for autonomous inspection of a substation unmanned aerial vehicle based on a laser point cloud model.
The following describes the scheme provided in the present specification with reference to the drawings.
It is first noted that the terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in this application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be understood that the term "and/or" as used herein is merely one relationship describing the association of the associated objects, meaning that there may be three relationships, e.g., a and/or B, may represent: a exists alone, A and B exist together, and B exists alone. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship.
Fig. 1 is a flowchart of a substation unmanned aerial vehicle autonomous inspection method based on a laser point cloud model according to an embodiment of the present disclosure, including the following steps:
s100: and acquiring laser point cloud data of a no-fly area in the transformer substation.
In the step S100, first, laser point cloud data of a transformer substation area is collected, and then, a no-fly area in the transformer substation is carded to determine laser point cloud data corresponding to the no-fly area.
S200: and generating a three-dimensional laser point cloud model of the no-fly area based on the laser point cloud data.
In the step S200, a kmeans clustering algorithm is adopted to cluster the laser point cloud data, and the specific steps are as follows:
s201: setting a space Euclidean distance according to a three-dimensional coordinate system, wherein the space Euclidean distance is shown in the following formula:
wherein d (x, y, z) represents the coordinate point (x, y, z) and the cluster center coordinate (x k ,y k ,z k ) And m represents the total number of clusters. The cluster center coordinates may select the installation location coordinates of the energy storage station.
S202: the method comprises the steps of determining the number of substation inspection objects as n, and finding the clustering number with the smallest distance error within a range of n+/-10% by considering the space connectivity among the inspection objects, wherein an objective function is sigma=min [ d (x, y) ].
S203: and selecting an optimal clustering scheme based on the objective function to obtain a corresponding laser spot and cluster identification under the clustering scheme, wherein the clustering scheme is as follows:
wherein P represents a clustering result matrix, C1-Cm represent the identification of each clustering cluster and represent actual substation equipment, (x) ij ，y ij ，z ij ) And the coordinates of the device points under each laser point cloud model.
S300: and converting the laser point cloud model into a three-dimensional cylindrical model, wherein the internal space of the three-dimensional cylindrical model is a no-fly area.
In this step S300, according to the coordinate structure in the coordinate cluster, the three-dimensional column shape is used to perform equivalent replacement for the three-dimensional coordinate cluster. And the laser point cloud model is equivalent to a three-dimensional cylindrical model, and the inside of the cylinder is set to be a no-fly area. The principle of the laser point cloud model equivalent to the three-dimensional cylindrical model is shown in fig. 2, and the specific steps are as follows:
s301: for each cluster, two points with the farthest distance are selected from a series of laser points in the cluster, and the path direction between the two points is set to be the high direction of a three-dimensional column. Under the condition of a large number of coordinate points, a convex hull or a Kak algorithm is selected to perform operation processing.
S302: selecting a plane vertical to the height direction of the three-dimensional column graph as a two-dimensional projection plane, and carrying out two-dimensional projection processing on coordinate points in the cluster;
s303: clustering point cloud data in a two-dimensional projection plane, determining a point with the farthest distance from a circle center by taking a clustering center as the circle center, and generating a cross section circle of a three-dimensional cylindrical model by taking the distance between the point and the circle center as a radius;
s304: and (3) translating the cross section obtained in the step (S303) according to the height direction determined in the step (S301) to obtain a three-dimensional cylindrical model, wherein the space inside the three-dimensional cylindrical model is the equivalent unmanned plane no-fly zone of the coordinate cluster.
S400: and determining a routing inspection point position for each device to be inspected, and carrying out route planning on the routing inspection point position of the device based on a shortest path principle to generate an initial routing inspection sub-path of a single device.
In this step, it is necessary to determine the inspection requirements of a single device of the substation, such as a transformer, a breaker, and the like, and inspect and observe the device at different angles and different positions. And carrying out route planning on the inspection point position of the single equipment based on the shortest path principle according to the inspection point position required by the single equipment, and generating an initial inspection sub-path of the single equipment. The specific method comprises the following steps:
s401: initializing, namely marking inspection points of equipment manually, wherein the inspection points are marked in a flyable range and are marked as [ (x) j1 ，y j1 ，z j1 )(x j2 ，y j2 ，z j2 )(x j3 ，y j3 ，z j3 )...]。
S402: the two points with the farthest distance are selected as a starting point T1 and an ending point T2. And planning the sequence of the inspection points by using a Dijkstra algorithm (the prior art) according to the path shortest principle. The new inspection point is marked as [ (x) j1 ′，y j1 ′，z j1 ′)(x j2 ′，y j2 ′，z j2 ′)(x j3 ′，y j3 ′，z j3 ′)...]。
S500: and judging whether the initial patrol sub-path passes through a no-fly area in the three-dimensional cylindrical model, if so, setting an obstacle avoidance point in the initial patrol sub-path to obtain the patrol sub-path.
As shown in fig. 3, if the initial tour inspection sub-path passes through the no-fly area inside the three-dimensional cylindrical model, there will necessarily be a start point and an end point of the traversal, denoted as traversal point 1 and traversal point 2. And determining the midpoints of the traversing starting point and the traversing end point, and selecting the point closest to the end point on the outer wall of the three-dimensional cylindrical model as an obstacle avoidance point. If a certain space margin needs to be considered, the device can also translate along the vertical original direction and be set as an obstacle avoidance point for crossing an obstacle.
Through the steps, the routing inspection path of each device of the transformer substation is generated as follows:
s600: and planning to obtain a substation inspection path by taking the position of the machine nest as a starting point and a finishing point based on the inspection sub-path.
In an actual inspection task, the equipment to be inspected is also subjected to sorting of inspection priorities according to space coordinates, and then an inspection route of a transformer substation is generated according to an inspection route of a single equipment, wherein the specific steps are as follows:
s601: according to the actual equipment needs of patrolling and examining, select different equipment of patrolling and examining in P', regard unmanned aerial vehicle nest S as the transformer substation and patrol and examine the starting point, mark as D= [ S, C1, C2, C3.. ]. Taking the central coordinates of the machine nest and the inspection equipment as references, planning an inspection main route of the equipment by using a Dijkstra algorithm, and recording as D= [ S, C1', C2', C3' ].
S602: traversing the group D from the starting node S, and adjusting the start and stop point positions of the sub-routing inspection paths of the follow-up equipment to generate a substation routing inspection path by taking the shortest distance between the end point of the former routing inspection sub-path and the start point of the latter routing inspection sub-path as a principle:
D＝{S，[(x 11 ，y 11 ，z 11 )(x 12 ，y 12 ，z 12 )(x 13 ，y 13 ，z 13 )...]，[(x 21 ，y 21 ，z 21 )(x 22 ，y 22 ，z 22 )(x 23 ，y 23 ，z 23 )...]，...}
s603: after the execution of the end point of the last inspection device is finished, taking the end point of the last inspection sub-path as a starting point, taking the position of the machine nest as the end point, and carrying out return path planning based on the shortest path principle;
judging whether the return path passes through a no-fly zone inside the three-dimensional cylindrical model, if so, setting an obstacle avoidance point in the return path to obtain a final return path as follows:
[(x f1 ，y f1 ，z f1 )(x f2 ，y f2 ，z f2 )...S]
adding the return path to D, to obtain:
D＝{S，[(x 11 ，y 11 ，z 11 )(x 12 ，y 12 ，z 12 )(x 13 ，y 13 ，z 13 )...]，[(x 21 ，y 21 ，z 21 )(x 22 ，y 22 ，z 22 )(x 23 ，y 23 ，z 23 )...]，
…[(x f1 ，y f1 ，z f1 )(x f2 ，y f2 ，z f2 )...S]}。
as an optional implementation mode of the autonomous inspection method of the unmanned aerial vehicle of the transformer substation based on the laser point cloud model, the method further comprises the step of correcting the inspection route of the transformer substation based on historical track data, and specifically comprises the following steps:
acquiring historical track data in a preset time period aiming at each inspection point in the power station inspection route;
and clustering the historical track data of the patrol points, and replacing the patrol points in the substation patrol route by cluster centers of the generated cluster to obtain a corrected substation patrol route.
The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above examples, and all technical solutions belonging to the concept of the present invention belong to the protection scope of the present invention. It should be noted that modifications and adaptations to the present invention may occur to one skilled in the art without departing from the principles of the present invention and are intended to be within the scope of the present invention.
Claims (7)
1. A substation unmanned aerial vehicle autonomous inspection method based on a laser point cloud model is characterized by comprising the following steps:
acquiring laser point cloud data of a no-fly area in a transformer substation;
generating a three-dimensional laser point cloud model of the no-fly area based on the laser point cloud data;
converting the laser point cloud model into a three-dimensional cylindrical model, wherein the internal space of the three-dimensional cylindrical model is a no-fly area;
determining a routing inspection point position for each device to be inspected, and carrying out route planning on the routing inspection point position of the device based on a shortest path principle to generate an initial routing inspection sub-path of a single device;
judging whether the initial patrol sub-path passes through a no-fly area in the three-dimensional cylindrical model, if so, setting an obstacle avoidance point in the initial patrol sub-path to obtain a patrol sub-path;
and planning to obtain a substation inspection path by taking the position of the machine nest as a starting point and a finishing point based on the inspection sub-path.
2. The method according to claim 1, wherein the generating step of the three-dimensional laser point cloud model specifically comprises:
determining the position coordinates of the object to be bypassed in the no-fly area as a center point;
based on the determined central point, clustering the laser point cloud data by adopting a kmeans clustering algorithm, and taking the generated coordinate cluster as the three-dimensional laser point cloud model.
3. The method according to claim 2, wherein the generating step of the three-dimensional cylindrical model specifically comprises:
selecting two points with the farthest distance in a cluster aiming at each three-dimensional laser point cloud model, and setting the path direction between the two points as the height direction of a three-dimensional cylindrical model;
selecting a plane perpendicular to the height direction as a two-dimensional projection plane, and projecting other points in the three-dimensional laser point cloud model onto the two-dimensional projection plane;
clustering the point cloud data in the two-dimensional projection plane, determining a point with the farthest distance from the circle center by taking a clustering center as the circle center, and generating a cross section of the three-dimensional cylindrical model by taking the distance between the point and the circle center as a radius;
and translating the cross section according to the height direction to obtain the three-dimensional cylindrical model.
4. The method of claim 1, wherein the specific method for setting the obstacle avoidance point comprises:
determining a crossing starting point and a crossing ending point of the single equipment initial tour inspection route passing through a no-fly area inside the three-dimensional cylindrical model;
determining the midpoints of the traversing starting point and the traversing ending point;
and selecting a point closest to the end point on the outer wall of the three-dimensional cylindrical model as an obstacle avoidance point.
5. The method according to claim 1, wherein the substation inspection path planning method comprises:
determining the inspection priority of equipment to be inspected in the transformer substation according to each inspection task;
based on the inspection priority and inspection points in the inspection sub-path, initially planning the substation inspection path to obtain an inspection matrix: d= [ S, C1', C2', C3 '], wherein S represents the starting point, cm' represents the patrol sub-path of the mth device;
traversing the inspection matrix from the starting point S of the substation inspection path, and planning the path by taking the shortest distance between the end point of the former inspection sub-path and the starting point of the latter inspection sub-path as the principle to obtain an updated inspection matrix:
D＝{S，[(x 11 ，y 11 ，z 11 ) (x 12 ，y 12 ，z 12 ) (x 13 ，y 13 ，z 13 )...]，[(x 21 ，y 21 ，z 21 ) (x 22 ，y 22 ，z 22 ) (x 23 ，y 23 ，z 23 )...]，...}
wherein, (x) ij ,y ij ,z ij ) And the coordinates of the j-th inspection point in the i-th inspection sub-route are represented.
6. The method of claim 5, wherein the substation inspection path planning method further comprises:
after the last patrol sub-path is completed, taking the end point of the last patrol sub-path as a starting point, taking the nest position as the end point, and planning a return path based on a shortest path principle;
and judging whether the return path passes through a no-fly zone in the three-dimensional cylindrical model, if so, setting an obstacle avoidance point in the return path to obtain a final return path.
7. The method of claim 1, further comprising performing substation inspection route correction based on historical track data, and specifically comprising:
acquiring historical track data in a preset time period aiming at each inspection point in the power station inspection route;
and clustering the historical track data of the patrol points, and replacing the patrol points in the substation patrol route by cluster centers of the generated cluster to obtain a corrected substation patrol route.
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| CN117557931B (en) * | 2024-01-11 | 2024-04-02 | 速度科技股份有限公司 | Planning method for meter optimal inspection point based on three-dimensional scene |
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