CN-121981354-A - Intelligent inspection path planning and executing method and system for new energy transformer substation

CN121981354ACN 121981354 ACN121981354 ACN 121981354ACN-121981354-A

Abstract

The invention relates to the technical field of new energy power construction and operation and maintenance, in particular to an intelligent routing inspection path planning and executing method and system of a new energy transformer substation. And carrying out mathematical modeling based on the internal environment of the transformer substation, and generating a space topological graph comprising new energy equipment, roads, restricted areas and forbidden areas. A multi-source security potential field is constructed to quantify the impact of risk factors in the environment on patrol security. Introducing a time dimension to build a time expansion safety diagram, combining a mixed path planning algorithm to perform path optimization, generating an initial solution through large neighborhood search, resolving equipment task conflict by utilizing conflict base search, modifying a path through local destruction and reconstruction, and setting a feasible solution output mechanism at any time. And binding the optimal inspection path and inspection equipment to form a task and issuing the task to execute, so that efficient and safe inspection operation is realized. The method integrates space topology, risk potential fields and dynamic planning, and improves inspection efficiency and safety.

Inventors

ZHANG JIAHUI
Dong Enlei
XUE HANGUANG
SHI YONGLI
LI JIADONG
SONG ZICHEN

Assignees

华能包头新能源发电有限公司
西安热工研究院有限公司

Dates

Publication Date: 20260505
Application Date: 20260110

Claims (10)

1. The intelligent routing inspection path planning and executing method for the new energy transformer substation is characterized by comprising the following steps of: Acquiring three-dimensional space data and multi-source operation data of a new energy transformer substation, and performing mathematical modeling based on the three-dimensional space data of the new energy transformer substation to obtain a space topological graph, wherein the space topological graph comprises new energy equipment, a road, a restricted area and a forbidden area; constructing a multi-source safety potential field based on the space topological graph and multi-source operation data, wherein the multi-source safety potential field is used for reflecting risk factors affecting the security of the inspection task in the transformer substation environment; The method comprises the steps of introducing a time dimension into a space topological graph containing a multi-source safety potential field, establishing a time expansion safety graph, carrying out path planning on the time expansion safety graph by utilizing a mixed path planning algorithm to obtain an optimal routing inspection path, generating an initial solution according to the large neighborhood search time expansion safety graph, searching and resolving routing inspection equipment path conflict based on the initial solution introducing conflict basis, carrying out local destruction and reconstruction on a failure path which is dynamically changed due to the environment, and setting a feasible solution output mechanism at any moment; Forming an inspection task by the optimal inspection path and the inspection equipment, and issuing the inspection task to the inspection equipment; and the inspection equipment executes the inspection task based on the received optimal inspection path.
2. The intelligent patrol path planning and execution method of the new energy transformer station according to claim 1, wherein the mathematical modeling based on the internal environment of the new energy transformer station comprises: And fusing the point cloud data of the three-dimensional laser radar with the BIM model, generating a grid topological graph with set spatial resolution, and taking the grid topological graph as a spatial topological graph.
3. The intelligent patrol path planning and execution method of the new energy transformer substation according to claim 2, wherein the multi-source safety potential field includes a live gap potential field, an electromagnetic interference potential field, a predicted risk potential field, a ticket and construction state potential field and a meteorological environment potential field; the charged gap potential field is used for determining the minimum safety distance of the charged gap according to equipment with different voltage levels, and calculating the risk cost of an area exceeding the minimum safety distance by adopting a negative power function model of the distance; The electromagnetic interference potential field is obtained by diffusion in an electromagnetic interference distribution map through a spatial interpolation method, and the electromagnetic interference distribution map is formed based on electromagnetic sensors arranged in a new energy transformer substation; the predicted risk potential field predicts hot spot diffusion, electromagnetic interference enhancement or weather deterioration conditions possibly occurring in the next time period based on a time sequence prediction model, and maps the prediction result to a grid topological graph to form a risk evolution oblique wave; the ticket and construction state potential field is used for determining a risk area according to the restricted area and the forbidden area; the meteorological environment potential field is used for acquiring meteorological data according to a meteorological monitoring station in the new energy transformer station, obtaining an environment risk factor according to the meteorological data, and applying corresponding risk cost to the inspection equipment based on the environment risk factor.
4. The intelligent patrol path planning and execution method of a new energy substation according to claim 1, wherein the establishing a time-extended safety graph comprises: determining the length of a single time slice according to a space topological graph, a patrol area and patrol equipment, and dividing a planning period to be patrol into a plurality of continuous and non-overlapping time slices by taking the planning period to be patrol as a boundary to obtain a time slice sequence; Extracting all space nodes in a space topological graph, associating each space node with a time segment in a time slice sequence to obtain four-dimensional nodes, forming a time expansion edge based on the communication relation of the space nodes in the space topological graph, and forming an initial time expansion safety graph based on the four-dimensional nodes and the time expansion edge; Mapping the multi-source safety potential field into a time segment corresponding to the initial time expansion safety map to form the time expansion safety map.
5. The intelligent patrol path planning and execution method of the new energy transformer substation according to claim 4, wherein in the time expansion security graph, four-dimensional nodes and time expansion edges also impose a time window constraint, a patrol equipment occupation constraint, an energy supply constraint and a task connection node constraint.
6. The intelligent patrol path planning and execution method of a new energy substation according to claim 1, wherein the patrol equipment executes the patrol task based on the received optimal patrol path, comprising: The inspection equipment comprises an unmanned ground vehicle and an unmanned aerial vehicle, wherein the unmanned ground vehicle executes an inspection task by adopting a track tracking method based on model predictive control; the unmanned aerial vehicle executes the patrol task by adopting a track tracking method based on nonlinear model predictive control.
7. The intelligent patrol path planning and execution method of the new energy transformer substation according to claim 6, wherein after the patrol equipment executes the patrol task based on the received optimal patrol path, the method further comprises triggering an online re-planning mechanism to re-plan the path on the time-extended safety map when an abnormal event is detected, wherein the abnormal event comprises a communication interruption, a weather condition mutation, a change of a limited area/forbidden area or entry of a patrol personnel into the limited area/forbidden area.
8. The intelligent routing inspection path planning and executing system of the new energy transformer substation is characterized by comprising a multi-source data acquisition device, at least one edge computing node, a plurality of routing inspection devices and a central scheduling server which are in communication connection; the multi-source data acquisition device is used for acquiring three-dimensional space data and multi-source operation data of the new energy transformer substation; The edge computing node is used for receiving the inspection task of the central dispatching server and distributing the inspection task and the optimal inspection path to inspection equipment; the inspection equipment is used for executing the inspection task based on the received optimal inspection path; A central scheduling server for performing: The method comprises the steps of carrying out mathematical modeling on three-dimensional space data of a new energy transformer substation to obtain a space topological graph, constructing a multi-source safety potential field based on the space topological graph and multi-source operation data, introducing a time dimension into the space topological graph containing the multi-source safety potential field to establish a time expansion safety graph, carrying out path planning on the time expansion safety graph by utilizing a mixed path planning algorithm to obtain an optimal patrol path, generating an initial solution according to the large neighborhood search time expansion safety graph, searching and resolving path conflict of the patrol equipment based on the initial solution, carrying out local destruction and reconstruction on the failure path which is dynamically changed due to the environment, and providing a feasible solution output mechanism at any moment, wherein the optimal patrol path and the patrol equipment form a patrol task.
9. A computer readable storage medium storing one or more programs, the one or more programs comprising instructions, which when executed by a computing device, cause the computing device to perform the intelligent patrol route planning and execution method of the new energy substation of any one of claims 1-7.
10. A computing device, comprising: One or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs including steps in the intelligent patrol path planning and execution method for executing the new energy substation of any one of claims 1 to 7.

Description

Intelligent inspection path planning and executing method and system for new energy transformer substation Technical Field The invention relates to the technical field of new energy power construction and operation and maintenance, in particular to an intelligent routing inspection path planning and executing method and system of a new energy transformer substation. Background With the development of new energy, large-scale wind power, photovoltaic power and other power sources are gradually connected into a power system, and the number and the scale of new energy substations are continuously increased. The substation inspection work is an important link for guaranteeing the safe operation of the power equipment, the inspection task not only relates to the comprehensive inspection of the electrical equipment and auxiliary facilities in the substation, but also comprises environmental safety monitoring and operation state recording, and the result is directly related to the stability and reliability of the power grid. Traditional manual inspection methods are limited by efficiency and personnel safety risks, so that the operation requirements of modern new energy substations are difficult to meet. At present, intelligent equipment such as unmanned ground vehicles, unmanned aircrafts and the like are gradually introduced into the industry for inspection, and the operation efficiency is improved by combining a path planning algorithm. However, most of the prior art adopts a static path planning method, and dynamic factors such as electrified safety clearance, electromagnetic interference, construction ticket management, meteorological environment and the like cannot be fully considered. Meanwhile, collaborative planning and execution control among multiple robots are limited, once communication interruption, weather mutation or operation area state change are encountered, inspection task interruption or potential safety hazard is often caused, and the overall stability and robustness are insufficient. Therefore, the main problem to be solved in the prior art is how to realize the routing inspection path planning and execution control for unmanned ground vehicles and unmanned aircrafts in a complex and dynamic operation environment of a new energy transformer substation, and ensure that the routing inspection task is effectively ensured in the aspects of safety, instantaneity and continuity. Disclosure of Invention The invention aims to solve the technical problems that aiming at the defects in the prior art, an intelligent routing inspection path planning and executing method and system of a new energy transformer substation are provided, and the intelligent routing inspection path planning and executing method and system are used for solving the technical problems that routing inspection paths depend on fixed routes, dynamic risk modeling is lacked, multi-robot coordination is insufficient and a real-time adjustment mechanism is lacked in an executing stage in the prior art. The invention aims at realizing the following technical scheme: in a first aspect, the present invention provides an intelligent patrol path planning and executing method for a new energy transformer substation, including: Acquiring three-dimensional space data and multi-source operation data of a new energy transformer substation, and performing mathematical modeling based on the three-dimensional space data of the new energy transformer substation to obtain a space topological graph, wherein the space topological graph comprises new energy equipment, a road, a restricted area and a forbidden area; constructing a multi-source safety potential field based on the space topological graph and multi-source operation data, wherein the multi-source safety potential field is used for reflecting risk factors affecting the security of the inspection task in the transformer substation environment; The method comprises the steps of introducing a time dimension into a space topological graph containing a multi-source safety potential field, establishing a time expansion safety graph, carrying out path planning on the time expansion safety graph by utilizing a mixed path planning algorithm to obtain an optimal routing inspection path, generating an initial solution according to the large neighborhood search time expansion safety graph, searching and resolving routing inspection equipment path conflict based on the initial solution introducing conflict basis, carrying out local destruction and reconstruction on a failure path which is dynamically changed due to the environment, and setting a feasible solution output mechanism at any moment; Forming an inspection task by the optimal inspection path and the inspection equipment, and issuing the inspection task to the inspection equipment; and the inspection equipment executes the inspection task based on the received optimal inspection path. As a further improvement of the present invention, the mathemat