CN117389307A - Automatic routing inspection route planning method and transformer substation unmanned aerial vehicle - Google Patents
Automatic routing inspection route planning method and transformer substation unmanned aerial vehicle Download PDFInfo
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Abstract
The invention discloses an automatic routing inspection route planning method and a transformer substation unmanned aerial vehicle, wherein the method comprises the following steps: acquiring an inspection task of the unmanned aerial vehicle, and analyzing the inspection task to obtain equipment to be inspected in a transformer substation; acquiring a three-dimensional data diagram of a transformer substation, and determining the position information of the equipment to be inspected in the three-dimensional data diagram; and determining the inspection priority of the equipment to be inspected according to the position information of the equipment to be inspected and combining the detection flow of each inspection equipment in the inspection task, and further planning an inspection route of the unmanned aerial vehicle according to the inspection priority. The invention solves the technical problems that the inspection efficiency of the unmanned aerial vehicle is low and the flexible inspection of different devices in a whole station cannot be accurately realized in the prior art, and can analyze and early warn the devices in real time by combining the detection flow in the inspection task, discover potential problems in time and take measures, thereby improving the reliability and stability of the devices.
Description
Technical Field
The invention relates to the technical field of inspection of unmanned aerial vehicles of substations, in particular to an automatic inspection route planning method and a unmanned aerial vehicle of a substation.
Background
At present, the transformer substation mostly relies on manual inspection, inspection efficiency is low, manual inspection is mostly the middle and lower layers of the transformer substation, and the operation condition of the upper equipment of the transformer substation is little known. Such as: defects such as cracks, pin missing, metal corrosion at the connecting part of the lead, loosening of nuts and the like of the upper insulator bring hidden trouble to the safe operation of the transformer substation. During inspection, an maintainer climbs to the structural support to inspect hidden dangers, so that personal safety risks are increased, and total station equipment cannot be covered.
At present, a substation generates a fixed equipment route through manual dotting to realize the inspection of fixed equipment, but the fixed equipment can not realize the flexible inspection among different equipment according to the in-station inspection requirement in time, so that the inspection efficiency of the unmanned aerial vehicle is low, and the flexible inspection of different equipment in the whole station can not be accurately realized.
Disclosure of Invention
The invention provides an automatic routing inspection route planning method and a transformer substation unmanned aerial vehicle, which are used for solving the technical problems that the routing inspection efficiency of the unmanned aerial vehicle is low and flexible routing inspection of different devices in a whole station cannot be accurately realized in the prior art.
In order to solve the technical problems, an embodiment of the present invention provides an automatic routing inspection route planning method, including:
acquiring an inspection task of the unmanned aerial vehicle, and analyzing the inspection task to obtain equipment to be inspected in a transformer substation;
acquiring a three-dimensional data diagram of a transformer substation, and determining the position information of the equipment to be inspected in the three-dimensional data diagram;
and determining the inspection priority of the equipment to be inspected according to the position information of the equipment to be inspected and combining the detection flow of each inspection equipment in the inspection task, and further planning an inspection route of the unmanned aerial vehicle according to the inspection priority.
As a preferred scheme, the acquiring the inspection task of the unmanned aerial vehicle, analyzing the inspection task to obtain equipment to be inspected in the transformer substation, specifically comprises:
acquiring a patrol task of the unmanned aerial vehicle; the inspection task comprises equipment to be inspected and equipment information, operation parameters, target detection parameters and detection test flows of the target detection parameters of the equipment to be inspected;
and analyzing the inspection task to obtain equipment to be inspected in the transformer substation.
As a preferred solution, the obtaining a three-dimensional data map of the substation, and determining the position information of the equipment to be patrolled and examined in the three-dimensional data map specifically includes:
acquiring a three-dimensional data graph of a transformer substation;
according to the point cloud data in the three-dimensional data diagram of the transformer substation, carrying out point cloud segmentation on the whole three-dimensional data diagram, and carrying out classification and identification on equipment in the three-dimensional data diagram after the point cloud segmentation according to preset point cloud data characteristics, equipment types and models of the equipment to be inspected, so as to mark the equipment to be inspected in the three-dimensional data diagram, and further obtaining corresponding point cloud position information of the equipment to be inspected in the three-dimensional data diagram from the marked equipment to be inspected;
obtaining position information with a patrol position according to the preset proportion of the three-dimensional data graph;
the construction method of the three-dimensional data graph comprises the following steps:
scanning all equipment and structures in the transformer substation and the transformer substation through a three-dimensional laser scanner to obtain initial point cloud data; the initial point cloud data comprise substation structure point cloud data and equipment point cloud data;
acquiring image data of actual positions of all devices and a transformer substation where the devices are positioned;
and carrying out point cloud segmentation on the initial point cloud data, extracting equipment characteristics of the segmented equipment point cloud data according to the image data of all the equipment and the actual position of the transformer substation where the equipment is located, and carrying out classification and identification on equipment types and models, so that the positions and the postures of all the equipment in the transformer substation are determined, and a three-dimensional data diagram of the transformer substation is constructed.
As a preferred solution, the determining, according to the location information of the to-be-inspected device and in combination with the detection flow of each inspection device in the inspection task, the inspection priority of the to-be-inspected device, and then planning an inspection route of the unmanned aerial vehicle according to the inspection priority, specifically includes:
according to the position information of the equipment to be inspected, and by combining the equipment to be inspected in the inspection task and the equipment information, the operation parameters, the target detection parameters and the detection test flow of the target detection parameters, the inspection priority of the equipment to be inspected is calculated;
constructing an initial inspection route in the three-dimensional data graph according to the inspection priority, and simulating the initial inspection route in the three-dimensional data graph;
when the inspection time is greater than a preset value in the simulation process, generating a timeout warning, and responding to the correction of the user, and carrying out the simulation of the inspection route again;
and when the inspection time is smaller than or equal to a preset value in the simulation process, taking the initial inspection route as a final inspection route of the unmanned aerial vehicle.
Correspondingly, the invention also provides a substation unmanned aerial vehicle, which is used for executing the automatic routing inspection route planning method according to any one of the above, and comprises the following steps: the unmanned aerial vehicle and the robot body arranged at the upper end of the unmanned aerial vehicle;
the control main board is installed in the bottom of the robot body, at least one monitoring camera is respectively installed on each surface of the upper end of the robot body along the circumferential direction of the robot body, and the control main board is electrically connected with each monitoring camera.
Preferably, the method further comprises: the field devices are distributed at all positions in the transformer substation;
the field device comprises an unmanned aerial vehicle landing plate and a supporting column arranged on the unmanned aerial vehicle landing plate, a field camera is installed on the upper end face of the supporting column, and a positioner is installed on the right end face of the field camera.
As a preferable scheme, an information storage module, a positioning module, a cruising module and an information receiving module are respectively arranged on the upper end face of the control main board;
the information storage module is used for storing the inspection task of the unmanned aerial vehicle and the acquired data information thereof;
the positioning module is used for positioning the unmanned aerial vehicle when the inspection task is executed;
the cruise module is used for automatically performing cruise flight control of the unmanned aerial vehicle according to the inspection route of the unmanned aerial vehicle;
the information receiving module is used for receiving signals of the field device and the unmanned aerial vehicle control system; the unmanned aerial vehicle control system is a system for manually controlling all unmanned aerial vehicles to fly and cruise.
As the preferable scheme, main panel is installed to unmanned aerial vehicle's interior bottom, infrared signal transmitter is installed to unmanned aerial vehicle's outer bottom, the infrared signal receiver that corresponds with it is installed to the lateral wall of support column.
As a preferable scheme, an alarm is arranged on the upper end face of the unmanned aerial vehicle, and the alarm is electrically connected with the cruising module;
the cruise module is further configured to: when the unmanned aerial vehicle is detected to not fly according to the routing inspection route, an alarm signal is generated and sent to the alarm, so that the alarm gives an alarm.
As a preferable scheme, a signal emitter is arranged behind the alarm, and the signal emitter is electrically connected with the robot body;
the signal transmitter is used for receiving the alarm signal forwarded after the alarm is given out, and sending the alarm signal to the unmanned aerial vehicle control system according to the alarm signal.
Compared with the prior art, the embodiment of the invention has the following beneficial effects:
according to the technical scheme, equipment needing to be inspected in the transformer substation can be rapidly determined by acquiring and analyzing the inspection task of the unmanned aerial vehicle, then the position information of the equipment is determined according to the three-dimensional data diagram, the optimal inspection route can be planned by combining the detection flow in the inspection task, so that the inspection efficiency is improved, meanwhile, the unmanned aerial vehicle is used for inspection, the labor cost can be reduced, the unmanned aerial vehicle can fly autonomously, personnel control is not needed, the inspection cost is reduced, personnel can be prevented from directly contacting high-voltage equipment and dangerous areas, the inspection safety is improved, the running state and the change condition of the equipment can be monitored in real time by acquiring the three-dimensional data diagram of the transformer substation, meanwhile, the equipment can be analyzed and early warned in real time by combining the detection flow in the inspection task, potential problems can be found in time, measures can be taken, and the reliability and the stability of the equipment are improved.
Drawings
Fig. 1: the method for automatically planning the routing inspection route comprises the following steps of a flow chart of the method for automatically planning the routing inspection route;
fig. 2: the structure front view of the transformer substation unmanned aerial vehicle provided by the embodiment of the invention;
fig. 3: the right view of the structure of the transformer substation unmanned aerial vehicle provided by the embodiment of the invention;
fig. 4: the transformer substation unmanned aerial vehicle is a schematic diagram of the transformer substation unmanned aerial vehicle provided by the embodiment of the invention;
fig. 5: the cross-section front view of the unmanned aerial vehicle of the transformer substation provided by the embodiment of the invention;
fig. 6: the cross-sectional top view of the unmanned aerial vehicle of the transformer substation provided by the embodiment of the invention;
wherein, the reference numerals of the specification drawings are as follows:
1. unmanned plane; 2. a robot body; 11. a control main board; 12. monitoring a camera; 13. a support column; 14. a field camera; 15. an information storage module; 16. a positioning module; 17. a cruise module; 18. an information receiving module; 19. a main panel; 21. an infrared signal transmitter; 22. an infrared signal receiver; 23. a positioner; 24. an alarm; 25. a signal transmitter.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
Referring to fig. 1, an automatic route planning method for inspection provided by an embodiment of the present invention includes steps S101-S103:
step S101: and acquiring an inspection task of the unmanned aerial vehicle, and analyzing the inspection task to obtain equipment to be inspected in the transformer substation.
As a preferred scheme of this embodiment, the acquiring the inspection task of the unmanned aerial vehicle, analyzing the inspection task, and obtaining the equipment to be inspected in the substation specifically includes:
acquiring a patrol task of the unmanned aerial vehicle; the inspection task comprises equipment to be inspected and equipment information, operation parameters, target detection parameters and detection test flows of the target detection parameters of the equipment to be inspected; and analyzing the inspection task to obtain equipment to be inspected in the transformer substation.
In this embodiment, the inspection tasks of the unmanned aerial vehicle are obtained, and the tasks are analyzed to determine the equipment to be inspected in the transformer substation, where the inspection tasks include, but are not limited to, information of the equipment to be inspected, operation parameters, target detection parameters and detection test flows corresponding to the target detection parameters, so that the efficiency and quality of inspection of the transformer substation can be improved, the inspection cost is reduced, the inspection safety is ensured, and the method has high practical value and application prospect.
In the embodiment, the detailed information and states of all the devices in the transformer substation, including the types, the positions, the running conditions and the like of the devices, are rapidly and accurately obtained, so that the efficiency of inspection work is greatly improved, and the waste of human resources is reduced. And utilize unmanned aerial vehicle to patrol and examine, not only can avoid artifical safety risk that patrol and examine and bring, can reach the region that the manual work is difficult to touch moreover and patrol and examine, guaranteed the comprehensiveness and the meticulousness of patrol and examine. Meanwhile, the unmanned aerial vehicle can be further provided with various sensors and detection equipment, such as a visual detection technology, a laser radar detection technology and the like, and is used for observing, detecting, monitoring, investigating and other tasks, so that the inspection accuracy can be improved, and richer data information can be obtained. In addition, by automatically generating a route according to preset rules and flows, an optimal routing inspection path is planned, and routing inspection plans can be adjusted according to real-time data and conditions, so that flexibility and strain capacity of routing inspection work are ensured.
Step S102: and acquiring a three-dimensional data diagram of the transformer substation, and determining the position information of the equipment to be inspected in the three-dimensional data diagram.
As a preferred solution of this embodiment, the obtaining a three-dimensional data map of the substation, and determining the location information of the equipment to be patrolled and examined in the three-dimensional data map specifically includes:
acquiring a three-dimensional data graph of a transformer substation; according to the point cloud data in the three-dimensional data diagram of the transformer substation, carrying out point cloud segmentation on the whole three-dimensional data diagram, and carrying out classification and identification on equipment in the three-dimensional data diagram after the point cloud segmentation according to preset point cloud data characteristics, equipment types and models of the equipment to be inspected, so as to mark the equipment to be inspected in the three-dimensional data diagram, and further obtaining corresponding point cloud position information of the equipment to be inspected in the three-dimensional data diagram from the marked equipment to be inspected; and obtaining the position information with the inspection position according to the preset proportion of the three-dimensional data graph.
In the embodiment, the equipment to be inspected can be automatically marked by acquiring the three-dimensional data diagram of the transformer substation and utilizing the methods of point cloud segmentation and equipment classification identification, and manual searching is not needed, so that the inspection efficiency and accuracy are improved. By marking the position information of the equipment to be inspected in the three-dimensional data graph, the position of the equipment can be accurately determined, and compared with the traditional two-dimensional plan, the three-dimensional data graph can provide more visual and more accurate equipment position information, so that the inspection personnel can better understand and operate the equipment. Furthermore, by combining the position information of the equipment to be inspected with the preset proportion, the position information with the inspection position can be intuitively displayed in the three-dimensional data diagram, so that inspection personnel can be helped to know the layout and the relative position relation of the equipment more clearly, and the inspection effect and the inspection safety are improved. By analyzing the three-dimensional data graph of the transformer substation, more equipment information and operation states can be obtained, wherein the data can provide reference basis for subsequent optimization work, such as equipment layout adjustment, inspection process improvement and the like, so that the operation efficiency and reliability of the transformer substation are improved.
The construction method of the three-dimensional data graph comprises the following steps of S201 to S203:
step S201: scanning all equipment and structures in the transformer substation and the transformer substation through a three-dimensional laser scanner to obtain initial point cloud data; the initial point cloud data comprise substation structure point cloud data and equipment point cloud data.
Step S202: and acquiring image data of the actual positions of all the devices and the transformer substation where the devices are positioned.
Step S203: and carrying out point cloud segmentation on the initial point cloud data, extracting equipment characteristics of the segmented equipment point cloud data according to the image data of all the equipment and the actual position of the transformer substation where the equipment is located, and carrying out classification and identification on equipment types and models, so that the positions and the postures of all the equipment in the transformer substation are determined, and a three-dimensional data diagram of the transformer substation is constructed.
In the embodiment, a three-dimensional laser scanner is used for scanning all equipment and structures in a transformer substation and acquiring initial point cloud data, image data of actual positions of all equipment and the transformer substation where the equipment is located are acquired, point cloud segmentation is performed on the initial point cloud data, equipment characteristics are extracted according to the image data, equipment types and models are identified in a classified mode, and therefore positions and postures of all equipment in the transformer substation are determined, and finally a three-dimensional data map of the transformer substation is constructed.
In the embodiment, the three-dimensional laser scanner is used for scanning, so that high-precision initial point cloud data can be obtained, the structure and the form of the transformer substation and equipment thereof can be accurately restored, the image data and a point cloud segmentation algorithm are utilized, the equipment characteristics can be automatically extracted, the equipment types and models can be classified and identified, the complexity and subjectivity of manual operation are avoided, the layout and the relative position relation of the transformer substation and equipment thereof can be intuitively displayed through constructing an obtained three-dimensional data diagram, the operation and the management of inspection personnel are facilitated, more equipment information and running states can be obtained through analyzing the three-dimensional data diagram, reference basis is provided for subsequent optimization work, and the running efficiency and the reliability of the transformer substation are improved.
Step S103: and determining the inspection priority of the equipment to be inspected according to the position information of the equipment to be inspected and combining the detection flow of each inspection equipment in the inspection task, and further planning an inspection route of the unmanned aerial vehicle according to the inspection priority.
As a preferred solution of this embodiment, the determining, according to the location information of the to-be-inspected device and in combination with the detection flow of each inspection device in the inspection task, the inspection priority of the to-be-inspected device, and then planning an inspection route of the unmanned aerial vehicle according to the inspection priority, specifically includes:
according to the position information of the equipment to be inspected, and by combining the equipment to be inspected in the inspection task and the equipment information, the operation parameters, the target detection parameters and the detection test flow of the target detection parameters, the inspection priority of the equipment to be inspected is calculated; constructing an initial inspection route in the three-dimensional data graph according to the inspection priority, and simulating the initial inspection route in the three-dimensional data graph; when the inspection time is greater than a preset value in the simulation process, generating a timeout warning, and responding to the correction of the user, and carrying out the simulation of the inspection route again; and when the inspection time is smaller than or equal to a preset value in the simulation process, taking the initial inspection route as a final inspection route of the unmanned aerial vehicle.
In this embodiment, the inspection priority of each inspection device is calculated through the position information of the inspection device and the inspection test flow of each inspection device to be inspected and the device information, the operation parameter, the target detection parameter and the target detection parameter thereof in the inspection task, so as to construct an initial inspection route in the three-dimensional data graph according to the inspection priority, and simulate the initial inspection route.
Further, if the inspection time is greater than a preset value in the simulation process, a timeout warning is generated, the simulation of the inspection route is conducted again in response to the correction of the user, the unmanned aerial vehicle can be ensured to complete the inspection task within a limited time, and the influence on the inspection effect due to overlong time is avoided. If the inspection time is smaller than or equal to a preset value in the simulation process, the initial inspection route is used as a final inspection route of the unmanned aerial vehicle, so that the unmanned aerial vehicle can be ensured to inspect according to the optimal route, and inspection efficiency and accuracy are improved. By using the technical scheme of the embodiment, the automatic inspection of the transformer substation equipment can be realized, the input of human resources is reduced, the inspection efficiency and accuracy are improved, meanwhile, a reasonable inspection route can be formulated according to different inspection tasks and equipment priorities, the inspection process is optimized, and the overall inspection effect is improved.
The implementation of the above embodiment has the following effects:
according to the technical scheme, equipment needing to be inspected in the transformer substation can be rapidly determined by acquiring and analyzing the inspection task of the unmanned aerial vehicle, then the position information of the equipment is determined according to the three-dimensional data diagram, the optimal inspection route can be planned by combining the detection flow in the inspection task, so that the inspection efficiency is improved, meanwhile, the unmanned aerial vehicle is used for inspection, the labor cost can be reduced, the unmanned aerial vehicle can fly autonomously, personnel control is not needed, the inspection cost is reduced, personnel can be prevented from directly contacting high-voltage equipment and dangerous areas, the inspection safety is improved, the running state and the change condition of the equipment can be monitored in real time by acquiring the three-dimensional data diagram of the transformer substation, meanwhile, the equipment can be analyzed and early warned in real time by combining the detection flow in the inspection task, potential problems can be found in time, measures can be taken, and the reliability and the stability of the equipment are improved.
Example two
Referring to fig. 2, a substation unmanned aerial vehicle provided by the present invention is configured to execute the routing inspection route automatic planning method according to the first embodiment, and includes: unmanned aerial vehicle 1 and install in robot body 2 of unmanned aerial vehicle 1 upper end.
The control main board 11 is installed in the bottom of the robot body 2, at least one monitoring camera 12 is respectively installed on each surface of the upper end of the robot body 2 along the circumferential direction of the surface, and the control main board 11 is electrically connected with each monitoring camera 12.
In this embodiment, the robot body 2 is installed to unmanned aerial vehicle 1 up end, and control mainboard 11 is installed to the bottom in the robot body 2, and a plurality of monitoring cameras 12 are installed along its circumference direction to robot body 2 up end, and during operation, unmanned aerial vehicle 1 drives robot body 2 in the transformer substation and voyages, shoots the monitoring to transformer substation interior equipment condition through detecting the camera.
As a preferable mode of the present embodiment, further comprising: the field devices are distributed at all positions in the transformer substation; the field device comprises an unmanned aerial vehicle landing plate and a supporting column 13 arranged on the unmanned aerial vehicle landing plate, a field camera 14 is installed on the upper end face of the supporting column 13, and a positioner 23 is installed on the right end face of the field camera 14.
In this embodiment, the right side of the site device where the unmanned aerial vehicle 1 is parked is provided with the support column 13, the upper end surface of the support column 13 is provided with the site cameras 14, during operation, a plurality of site cameras 14 are arranged in the transformer substation, a single site camera 14 is a single base point, and the plurality of site cameras 14 plan the transformer substation into a three-dimensional model, so that the automatic navigation route of the unmanned aerial vehicle 1 is planned according to the position of the site cameras 14.
Further, a positioner 23 is installed on the right end face of the site camera 14, and when the site camera 14 works, the positioner 23 performs positioning processing on the position of the power substation where the site camera 14 is located.
As a preferable mode of the present embodiment, the upper end face of the control main board 11 is respectively provided with an information storage module 15, a positioning module 16, a cruise module 17, and an information receiving module 18.
The information storage module 15 is configured to store the inspection task of the unmanned aerial vehicle and the acquired data information thereof.
The positioning module 16 is configured to position the unmanned aerial vehicle when performing the inspection task.
The cruise module 17 is configured to automatically perform cruise flight control of the unmanned aerial vehicle according to the inspection route of the unmanned aerial vehicle.
The information receiving module 18 is configured to receive signals of the field device and the unmanned aerial vehicle control system; the unmanned aerial vehicle control system is a system for manually controlling all unmanned aerial vehicles to fly and cruise.
In this embodiment, the upper end surface of the control main board 11 is respectively provided with an information storage module 15, a positioning module 16, a cruising module 17 and an information receiving module 18, and when in operation, the information storage module 15 stores the shooting information of the detection camera, and the positioning module 16 performs positioning processing on the position of the unmanned aerial vehicle 1.
As a preferable scheme of the embodiment, a main panel 19 is installed at the inner bottom of the unmanned aerial vehicle 1, an infrared signal transmitter 21 is installed at the outer bottom of the unmanned aerial vehicle 1, and an infrared signal receiver 22 corresponding to the outer side wall of the supporting column is installed.
In this embodiment, main panel 19 is installed to unmanned aerial vehicle 1 bottom, and during operation has compiled the PLC control program in the main panel 19, when unmanned aerial vehicle 1 leans on near field ground camera 14, main panel 19 control unmanned aerial vehicle 1 slows down for unmanned aerial vehicle 1 flight condition under the scene camera 14 can clearly shoot, avoids unmanned aerial vehicle 1 flying speed to be too fast to lead to scene camera 14 can not clearly shoot.
Further, an infrared signal transmitter 21 is installed at the bottom of the unmanned aerial vehicle 1, an infrared signal receiver 22 corresponding to the infrared signal transmitter is installed on the outer side wall of the supporting column 13, and when the unmanned aerial vehicle 1 reaches the site camera 14 on a specified route in operation, the infrared signal receiver 22 receives a signal emitted by the infrared signal transmitter 21, so that the unmanned aerial vehicle 1 is ensured to navigate according to a correct route.
As a preferable solution of this embodiment, an alarm 24 is installed on the upper end surface of the unmanned aerial vehicle 1, and the alarm 24 is electrically connected with the cruise module 17; the cruise module 17 is further configured to: when the unmanned aerial vehicle is detected to not fly according to the routing inspection route, an alarm signal is generated and sent to the alarm, so that the alarm gives an alarm.
In this embodiment, the positioner 23 is installed on the right end surface of the site camera 14, and when in operation, the positioner 23 performs positioning processing on the position of the site camera 14 where the substation is located.
The alarm 24 is installed to unmanned aerial vehicle 1 up end, and alarm 24 and cruising module 17 electric connection, during operation, when unmanned aerial vehicle 1 appears navigation deviation, control alarm 24 and report to the police, cruising module 17 adjusts according to unmanned aerial vehicle 1 place error position, carries out the automatic planning again according to place camera 14 position, makes it get back to the exact route of cruising fast.
As a preferable solution of this embodiment, a signal emitter 25 is disposed behind the alarm 24, and the signal emitter 25 is electrically connected to the robot body 2; the signal transmitter 25 is configured to receive an alarm signal forwarded after the alarm 24 alarms, and send the alarm signal to the unmanned aerial vehicle control system according to the alarm signal.
In this embodiment, a signal transmitter 25 is disposed behind the alarm 24, where the signal transmitter 25 is electrically connected with the robot body 2, and when in operation, the signal transmitter 25 sends the cruising information to the remote central control system, so as to uniformly classify and sort the information.
In this embodiment, during specific work, a plurality of site cameras 14 are arranged in the transformer substation, a single site camera 14 is a single base point, and the transformer substation is planned into a three-dimensional model by the plurality of site cameras 14, so that an automatic navigation route of the unmanned aerial vehicle 1 is planned according to the position of the site camera 14, the unmanned aerial vehicle 1 drives the robot body 2 to navigate in the transformer substation, equipment conditions in the transformer substation are monitored by shooting through detection cameras, when navigation deviation occurs to the unmanned aerial vehicle 1, the control alarm 24 alarms, the cruising module 17 adjusts according to the error position of the unmanned aerial vehicle 1, and the automatic navigation route is planned again according to the position of the site camera 14, so that the correct cruising route is returned quickly.
The implementation of the above embodiment has the following effects:
according to the technical scheme, the unmanned aerial vehicle comprehensively considers various factors such as the operation standard, the inspection efficiency, the equipment function and the like, the automatic planning capability of the inspection route of the unmanned aerial vehicle of the transformer substation is realized, manual intervention is not needed, the inspection work efficiency of the unmanned aerial vehicle of the transformer substation is improved, the influence of the human factors on the inspection route planning of the unmanned aerial vehicle is reduced, and the unmanned transformer substation is further subjected to unmanned.
The foregoing embodiments have been provided for the purpose of illustrating the general principles of the present invention, and are not to be construed as limiting the scope of the invention. It should be noted that any modifications, equivalent substitutions, improvements, etc. made by those skilled in the art without departing from the spirit and principles of the present invention are intended to be included in the scope of the present invention.
Claims (10)
1. An automatic planning method for a routing inspection route is characterized by comprising the following steps:
acquiring an inspection task of the unmanned aerial vehicle, and analyzing the inspection task to obtain equipment to be inspected in a transformer substation;
acquiring a three-dimensional data diagram of a transformer substation, and determining the position information of the equipment to be inspected in the three-dimensional data diagram;
and determining the inspection priority of the equipment to be inspected according to the position information of the equipment to be inspected and combining the detection flow of each inspection equipment in the inspection task, and further planning an inspection route of the unmanned aerial vehicle according to the inspection priority.
2. The automatic routing planning method of claim 1, wherein the acquiring the routing task of the unmanned aerial vehicle analyzes the routing task to obtain equipment to be routed in the transformer substation, specifically:
acquiring a patrol task of the unmanned aerial vehicle; the inspection task comprises equipment to be inspected and equipment information, operation parameters, target detection parameters and detection test flows of the target detection parameters of the equipment to be inspected;
and analyzing the inspection task to obtain equipment to be inspected in the transformer substation.
3. The automatic routing planning method according to claim 2, wherein the three-dimensional data map of the substation is obtained, and the position information of the equipment to be routed is determined in the three-dimensional data map, specifically:
acquiring a three-dimensional data graph of a transformer substation;
according to the point cloud data in the three-dimensional data diagram of the transformer substation, carrying out point cloud segmentation on the whole three-dimensional data diagram, and carrying out classification and identification on equipment in the three-dimensional data diagram after the point cloud segmentation according to preset point cloud data characteristics, equipment types and models of the equipment to be inspected, so as to mark the equipment to be inspected in the three-dimensional data diagram, and further obtaining corresponding point cloud position information of the equipment to be inspected in the three-dimensional data diagram from the marked equipment to be inspected;
obtaining position information with a patrol position according to the preset proportion of the three-dimensional data graph;
the construction method of the three-dimensional data graph comprises the following steps:
scanning all equipment and structures in the transformer substation and the transformer substation through a three-dimensional laser scanner to obtain initial point cloud data; the initial point cloud data comprise substation structure point cloud data and equipment point cloud data;
acquiring image data of actual positions of all devices and a transformer substation where the devices are positioned;
and carrying out point cloud segmentation on the initial point cloud data, extracting equipment characteristics of the segmented equipment point cloud data according to the image data of all the equipment and the actual position of the transformer substation where the equipment is located, and carrying out classification and identification on equipment types and models, so that the positions and the postures of all the equipment in the transformer substation are determined, and a three-dimensional data diagram of the transformer substation is constructed.
4. The automatic routing planning method of claim 3, wherein the determining the routing priority of the equipment to be inspected according to the position information of the equipment to be inspected and in combination with the detection flow of each inspection equipment in the inspection task, and further planning the routing of the unmanned aerial vehicle according to the routing priority specifically comprises:
according to the position information of the equipment to be inspected, and by combining the equipment to be inspected in the inspection task and the equipment information, the operation parameters, the target detection parameters and the detection test flow of the target detection parameters, the inspection priority of the equipment to be inspected is calculated;
constructing an initial inspection route in the three-dimensional data graph according to the inspection priority, and simulating the initial inspection route in the three-dimensional data graph;
when the inspection time is greater than a preset value in the simulation process, generating a timeout warning, and responding to the correction of the user, and carrying out the simulation of the inspection route again;
and when the inspection time is smaller than or equal to a preset value in the simulation process, taking the initial inspection route as a final inspection route of the unmanned aerial vehicle.
5. A substation unmanned aerial vehicle for performing the routing inspection route automatic planning method according to any one of claims 1 to 4, comprising: the unmanned aerial vehicle and the robot body arranged at the upper end of the unmanned aerial vehicle;
the control main board is installed in the bottom of the robot body, at least one monitoring camera is respectively installed on each surface of the upper end of the robot body along the circumferential direction of the robot body, and the control main board is electrically connected with each monitoring camera.
6. The unmanned aerial vehicle of claim 5, further comprising: the field devices are distributed at all positions in the transformer substation;
the field device comprises an unmanned aerial vehicle landing plate and a supporting column arranged on the unmanned aerial vehicle landing plate, a field camera is installed on the upper end face of the supporting column, and a positioner is installed on the right end face of the field camera.
7. The unmanned aerial vehicle of claim 6, wherein the upper end surface of the control main board is respectively provided with an information storage module, a positioning module, a cruising module and an information receiving module;
the information storage module is used for storing the inspection task of the unmanned aerial vehicle and the acquired data information thereof;
the positioning module is used for positioning the unmanned aerial vehicle when the inspection task is executed;
the cruise module is used for automatically performing cruise flight control of the unmanned aerial vehicle according to the inspection route of the unmanned aerial vehicle;
the information receiving module is used for receiving signals of the field device and the unmanned aerial vehicle control system; the unmanned aerial vehicle control system is a system for manually controlling all unmanned aerial vehicles to fly and cruise.
8. The substation unmanned aerial vehicle of claim 7, wherein the main panel is installed at the inner bottom of the unmanned aerial vehicle, the infrared signal transmitter is installed at the outer bottom of the unmanned aerial vehicle, and the infrared signal receiver corresponding to the infrared signal transmitter is installed at the outer side wall of the support column.
9. The unmanned aerial vehicle of claim 8, wherein an alarm is mounted on the upper end surface of the unmanned aerial vehicle, and the alarm is electrically connected with the cruise module;
the cruise module is further configured to: when the unmanned aerial vehicle is detected to not fly according to the routing inspection route, an alarm signal is generated and sent to the alarm, so that the alarm gives an alarm.
10. The unmanned aerial vehicle of claim 9, wherein a signal emitter is disposed behind the alarm, the signal emitter being electrically connected to the robot body;
the signal transmitter is used for receiving the alarm signal forwarded after the alarm is given out, and sending the alarm signal to the unmanned aerial vehicle control system according to the alarm signal.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311622412.4A CN117389307A (en) | 2023-11-29 | 2023-11-29 | Automatic routing inspection route planning method and transformer substation unmanned aerial vehicle |
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