CN-116149353-B - Automatic generation method and system for joint inspection points of substation robot and unmanned aerial vehicle

Abstract

The invention discloses a method and a system for automatically generating a joint inspection point of a substation robot and an unmanned aerial vehicle, wherein the method and the system comprise the steps of establishing a double intelligent equipment universal space point shooting potential model and a space relation model according to substation structure data; according to the model, combining shooting quality constraint and space constraint, designing a point selection method taking combined shooting quality and inspection efficiency as optimization targets, obtaining an optimal combined inspection point, and carrying out test verification on the optimal combined inspection point. The algorithm provided by the invention is verified in a virtual transformer station experimental platform, and the result shows that the method can flexibly, quickly and automatically generate high-quality inspection points suitable for intelligent equipment.

Inventors

• YAN YINGJIE
• LIU YADONG
• JIANG XIUCHEN
• ZHU JIAN

Assignees

• 上海交通大学

Dates

Publication Date

20260505

Application Date

20221128

Claims (6)

1. 1. The automatic generation method of the combined inspection points of the substation robot and the unmanned aerial vehicle is characterized by comprising the following steps of, According to the structure data of the transformer substation, a universal space point shooting potential model and a space relation model of the double intelligent equipment are established; According to the model and combining shooting quality constraint and space constraint, designing a point selection method taking combined shooting quality and inspection efficiency as optimization targets, and obtaining optimal combined inspection points; testing and verifying the optimal joint inspection point; The shooting quality constraints include, Wherein X b represents the point in space where the shooting potential is highest when the equipment face is the sole shooting potential source, For the spatial relationship state of the intelligent equipment and the equipment surface at the point X b , The spatial relation state of the intelligent equipment and the equipment surface at the point Y a is visible or invisible, Taking the equipment surface as the only shooting potential of the shooting potential source time point X b , Taking the equipment surface as the shooting potential of the unique shooting potential source time point Y a , wherein i is the number of substation equipment, j is the number of space grids, and t is a point selection threshold; When (when) If the space relation constraint is not satisfied, the equipment cannot find a shooting point position which satisfies the space relation constraint, namely the sight is not blocked, and a patrol point for patrol the surface is not generated; the spatial constraints include the number of spatial constraints, The road constraint includes that the road constraint includes, Wherein S road represents a road point set, S robot represents a robot inspection point, S UAV represents an unmanned plane inspection point, R F is a feasible space of intelligent equipment, The minimum flight height of the unmanned aerial vehicle; The space constraint also comprises a sight distance constraint and a safety constraint, the imaging equipment carried by the intelligent equipment has a maximum sight distance limit, the intelligent equipment does not shoot equipment outside the maximum sight distance at the inspection point, When intelligent equipment receives the influence of strong magnetic field and strong electric field in the transformer substation, patrol and examine work for guaranteeing the safety of power equipment in the station and intelligent equipment self, set up the constraint to the equipment face that will patrol and examine at the inspection point, its constraint can be expressed as: Wherein O ij is the center of the equipment surface, And The maximum viewing distances of the robot and the unmanned aerial vehicle respectively, And The safety distance between the power equipment and the robot and the safety distance between the power equipment and the unmanned aerial vehicle are respectively shown in S robot , wherein S UAV are the inspection points of the robot and the unmanned aerial vehicle; The optimization objective includes that the optimization objective includes, The objective function expression is as follows: G 3 ＝max(t robot ,t UAV )·m-(t robot m robot +t UAV m UAV ) G=u 1 w 1 G 1 +u 2 w 2 G 3 Wherein, G 1 is the shooting quality of the first optimized target inspection, G 3 is the time-consuming forward result of the second optimized target inspection, t robot and t UAV respectively represent the time spent by the robot and the unmanned aerial vehicle to shoot a single equipment surface, m robot and m UAV respectively represent the equipment surface numbers of inspection performed by the robot and the unmanned aerial vehicle, N robot and N UAV respectively represent the number of inspection points performed by the robot and the unmanned aerial vehicle, m is the equipment surface to be inspected covered by all inspection points, u 1 ,u 2 is a normalization factor, w 1 ,w 2 is a weight factor added to different emphasis of different optimized targets, and G is a final objective function.
2. 2. The method for automatically generating the joint inspection point of the transformer substation robot and the unmanned aerial vehicle according to claim 1, further comprising, Selecting a candidate point set and a tour inspection point set, and judging whether the candidate point set is empty or not; If the candidate set is empty, directly ending the inspection; If the candidate set is not empty, determining the point with the largest objective function value in the candidate set, and judging the current temperature and the termination temperature of each point by using a simulated annealing algorithm; If the current temperature is smaller than the termination temperature, selecting the maximum point of the objective function into a patrol point set; if the current temperature is higher than the termination temperature, using a simulated annealing algorithm, and selecting a patrol point according to the acceptance probability; and removing the selected points from the candidate point set, updating the states of the rest candidate points, and repeatedly judging whether the candidate set is empty.
3. 3. The method for automatically generating a joint inspection point of a transformer substation robot and an unmanned aerial vehicle according to claim 2, wherein the test verification comprises, Wherein, the Is a scheme for inspection of the unmanned aerial vehicle, The unmanned aerial vehicle inspection scheme is that S Equ is the inspection state of each device.
4. 4. A substation double intelligent equipment joint inspection point automatic generation system applying the method as claimed in claim 1 is characterized by comprising a model building module, an optimal inspection point acquisition module and a verification module, The model building module is used for building a double intelligent equipment universal space point shooting potential model and a space relation model according to the transformer substation structure data; The optimal inspection point acquisition module is used for designing a point selection method taking the combined shooting quality and the inspection efficiency as optimization targets according to the model and combining the shooting quality constraint and the space constraint to acquire an optimal combined inspection point; and the verification module is used for testing and verifying the optimal joint inspection point.
5. 5. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any one of claims 1 to 3 when the computer program is executed.
6. 6. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 3.

Description

Automatic generation method and system for joint inspection points of substation robot and unmanned aerial vehicle Technical Field The invention relates to the technical field of substation inspection, in particular to a method and a system for automatically generating a combined inspection point of a substation robot and an unmanned aerial vehicle. Background In recent years, students at home and abroad have made a great deal of researches on electric power inspection shooting by using intelligent inspection equipment, and have also obtained a lot of results. But the attention point is that the energy consumption of the intelligent equipment is reduced by fewer inspection points and shorter inspection distance, wherein the inspection points are generated according to the spatial relationship between the intelligent equipment and the power equipment so as to avoid shielding and backlight shooting during shooting, and the inspection points are reduced by an ant colony algorithm. The quality improvement technology of the aerial image of the unmanned aerial vehicle is mainly aimed at high-altitude navigation shooting, and is not applicable to short-distance shooting points of power equipment. At present, various intelligent equipment including a track type robot, a wheel type robot and a fixed camera are provided for intelligent body combined inspection to construct a three-dimensional inspection system, but a specific inspection point distribution method is not provided. The current automatic generation research of the high-shooting quality inspection point position of the intelligent equipment of the transformer substation has the following difficulties that firstly, the inspection point of the intelligent equipment is set to obtain an inspection image with high quality, but the evaluation of the image quality is usually qualitative rather than quantitative, which makes the quality of the inspection point difficult to evaluate. Secondly, the power equipment of the transformer substation is various in variety and huge in quantity, and complex electrical connection exists between the equipment, so that the space relation between the intelligent equipment and the equipment is very complex, the calculation complexity is high, and the solving difficulty is high. Finally, because constraint conditions of different intelligent equipment are different, and the setting of the inspection point and the shooting scheme needs to be compatible with low energy consumption and high shooting quality, the complexity of solving the joint inspection problem is increased. Disclosure of Invention This section is intended to outline some aspects of embodiments of the application and to briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section as well as in the description of the application and in the title of the application, which may not be used to limit the scope of the application. The present invention has been made in view of the above-described problems occurring in the prior art. Therefore, the invention provides the automatic generation method and the system for the joint inspection point of the substation robot and the unmanned aerial vehicle, which can solve the problems of insufficient shooting quality, high shooting energy consumption and the like. In order to solve the technical problems, the invention provides a method and a system for automatically generating a joint inspection point of a substation robot and an unmanned aerial vehicle, which comprise the following steps: According to the structure data of the transformer substation, a universal space point shooting potential model and a space relation model of the double intelligent equipment are established; According to the model and combining shooting quality constraint and space constraint, designing a point selection method taking combined shooting quality and inspection efficiency as optimization targets, and obtaining optimal combined inspection points; and testing and verifying the optimal joint inspection point. As a preferable scheme of the automatic generation method and the system for the combined inspection points of the double intelligent equipment of the transformer substation, the shooting quality constraint comprises, Wherein X b represents the point in space where the shooting potential is highest when the equipment face is the sole shooting potential source,For the spatial relationship state of the intelligent equipment and the equipment surface at the point X b,The spatial relation state of the intelligent equipment and the equipment surface at the point Y a is visible or invisible,Taking the equipment surface as the only shooting potential of the shooting potential source time point X b,Taking the equipment surface as the shooting potential of the unique shooting potential source time point Y a, wherein i is the number of substation equipment, j is the number of space grids, and t is a point s