技术领域Technical field
本发明涉及电网巡检技术领域，具体的，涉及一种电网多侧无人机协同巡检控制方法、系统及相关设备。The present invention relates to the technical field of power grid inspection. Specifically, it relates to a power grid multi-side drone coordinated inspection control method, system and related equipment.
背景技术Background technique
近年来，构建以新能源为主体的新型电力系统成为国家战略，电网设备管理面临新的变革和挑战。作为电网骨干的输电线路点多面广，设备规模快速增长，管理细度、巡检强度持续提高，结构性缺员问题日益突出，安全运行面临更大压力。作为为千家万户带来光明的配电线路，其线路密集交错，巡检难度高居不下。无人化值守变电站的增多，巡检人员的减少，给巡视提出了更高要求。In recent years, building a new power system with new energy as the main body has become a national strategy, and power grid equipment management is facing new changes and challenges. As the backbone of the power grid, transmission lines have many points, equipment scale is growing rapidly, management details and inspection intensity continue to increase, structural shortages are becoming increasingly prominent, and safe operations are facing greater pressure. As distribution lines that bring light to thousands of households, their lines are densely intertwined and difficult to inspect. The increase in unmanned substations and the decrease in inspection personnel have put forward higher requirements for inspections.
随着无人机巡检技术的发展，新一代机巢巡检技术的实用化，无人机巡检在输电、配电、变电上的应用数量越来越多，应用范围越来越广，应用成效越来越显著。但在无人机的规模化应用中，因专业和部门的不同，造成电网各侧各自发展使用无人机的局面，使得当前的运检模式无法与高速发展的无人机自主巡检规模化应用需求和技术水平相匹配，从而导致电网巡检资源浪费、数据共享性差，使得巡检效率低的问题。With the development of drone inspection technology and the practical implementation of the new generation of drone inspection technology, drone inspections are increasingly used in power transmission, distribution, and substation, and their application scope is getting wider and wider. , the application results are becoming more and more significant. However, in the large-scale application of drones, due to differences in majors and departments, each side of the power grid develops and uses drones independently, making the current operation inspection model unable to scale with the rapid development of autonomous drone inspections. The application requirements and technical level match, which leads to the waste of power grid inspection resources, poor data sharing, and low inspection efficiency.
发明内容Contents of the invention
本发明的目的是针对现有技术中电网各侧各自发展使用无人机的局面，使得当前的运检模式无法与高速发展的无人机自主巡检规模化应用需求和技术水平相匹配，从而导致电网巡检资源浪费、数据共享性差，使得巡检效率低的问题，提出电网多侧无人机协同巡检控制方法、系统及相关设备。通过融合次级供电中心、输电运检中心以及变电运检中心，建立基于机巢网格化的市县级巡检一体化调控平台，实现输电、变电及配电全专业协同发展，通过巡检一体化调控平台统一对电网多侧的机巢及无人机进行整体协同调度，以及以最大巡检范围为目标进行机巢调度优化，制定巡检任务序列，基于巡检任务序列控制网格化机巢与无人机对巡检区域中电力设备进行自主巡检，有利于实现资源利用最优化，提高数据共享性与无人机巡检效率，在能耗更低前提下提高巡检覆盖率。The purpose of this invention is to address the situation in the existing technology where each side of the power grid develops the use of drones independently, so that the current operation inspection mode cannot match the large-scale application requirements and technical level of the rapidly developing autonomous inspection of drones. This leads to the waste of power grid inspection resources and poor data sharing, resulting in low inspection efficiency. A multi-side drone coordinated inspection control method, system and related equipment for the power grid is proposed. By integrating the secondary power supply center, transmission transportation inspection center and substation transportation inspection center, an integrated inspection and control platform at the city and county level based on the machine nest grid is established to achieve the coordinated development of all majors in power transmission, transformation and distribution. The integrated inspection and control platform uniformly performs overall coordinated dispatching of machine nests and drones on multiple sides of the power grid, optimizes machine nest scheduling with the maximum inspection range as the goal, and formulates inspection task sequences. Based on the inspection task sequence control network The gridded machine nest and drones conduct autonomous inspections of power equipment in the inspection area, which is conducive to optimizing resource utilization, improving data sharing and drone inspection efficiency, and improving inspections with lower energy consumption. Coverage.
第一方面，本发明实施例中提供的一种技术方案是一种电网多侧无人机协同巡检控制方法，包括以下步骤：In the first aspect, a technical solution provided in the embodiment of the present invention is a multi-side UAV coordinated inspection and control method of the power grid, which includes the following steps:
获取巡检一体化调控平台根据待处理工单进行调控后下发的巡检任务序列，其中，所述待处理工单包括次级供电中心、输电运检中心、变电运检中心上传的工单；Obtain the inspection task sequence issued by the integrated inspection and control platform based on the work orders to be processed. The work orders to be processed include work uploaded by the secondary power supply center, power transmission transportation inspection center, and substation transportation inspection center. one;
对所述巡检任务序列进行任务拆分，生成多个包括巡检子任务且与各机巢及无人机对应的调度指令，所述巡检子任务包括无人机巡检路径，所述机巢包括协同巡检的固定式机巢以及移动式机巢；The inspection task sequence is divided into tasks to generate a plurality of scheduling instructions including inspection subtasks and corresponding to each aircraft nest and UAV. The inspection subtasks include UAV inspection paths. The machine nest includes fixed machine nests and mobile machine nests for collaborative inspection;
根据所述调控指令控制各机巢及无人机基于所述无人机巡检路径对巡检区域中的电力设备执行自主巡检任务。According to the control instructions, each machine nest and the drone are controlled to perform autonomous inspection tasks on the power equipment in the inspection area based on the drone inspection path.
进一步地，方法还包括步骤：Further, the method also includes steps:
实时获取所述机巢及无人机返回的设备状态信息，基于无人机的所述设备状态信息判断是否存在故障或需要补能；Obtain the equipment status information returned by the aircraft nest and the drone in real time, and determine whether there is a fault or need to recharge based on the equipment status information of the drone;
若判断为无人机存在故障或需要补能，则确定为异常无人机，并优先根据最临近无人机的设备状态信息确定是否能代替所述异常无人机完成剩余未巡检任务；If it is determined that the drone is faulty or needs energy replenishment, it is determined to be an abnormal drone, and priority is given to determining whether it can replace the abnormal drone to complete the remaining uninspected tasks based on the equipment status information of the nearest drone;
若最临近无人机能代替所述异常无人机完成剩余未巡检任务，则将最临近无人机作为辅助无人机，并向所述辅助无人机发出辅助调度指令，控制所述辅助无人机继续执行所述异常无人机的剩余未巡检任务。If the nearest UAV can replace the abnormal UAV to complete the remaining uninspected tasks, the nearest UAV will be used as the auxiliary UAV, and an auxiliary scheduling instruction will be issued to the auxiliary UAV to control the auxiliary UAV. The drone continues to perform the remaining uninspected tasks of the abnormal drone.
进一步地，在所述获取巡检一体化调控平台根据待处理工单进行调控后下发的巡检任务序列之前，还包括：Further, before obtaining the inspection task sequence issued by the integrated inspection and control platform after regulating according to the work order to be processed, it also includes:
获取所述次级供电中心、输电运检中心以及变电运检中心上传的待处理工单；Obtain the pending work orders uploaded by the secondary power supply center, transmission transportation inspection center and substation transportation inspection center;
以最大巡检范围为目标，根据多个所述待处理工单进行机巢调度最优规划，生成所述巡检任务序列。With the maximum inspection scope as the goal, optimal planning of machine nest scheduling is performed based on multiple of the work orders to be processed, and the inspection task sequence is generated.
进一步地，在所述获取所述次级供电中心、输电运检中心以及变电运检中心上传的待处理工单之后，还包括：Further, after obtaining the pending work orders uploaded by the secondary power supply center, the power transmission transportation inspection center and the substation transportation inspection center, it also includes:
获取机巡指挥中心对所述次级供电中心、输电运检中心、变电运检中心上传的待处理工单进行工单调节的工单调节结果，工单调节结果包括各侧上传的待处理工单的时间序列、工单紧急程度序列，其中，所述机巡指挥中心部署在所述输电运检中心。Obtain the work order adjustment results of the machine patrol command center's work order adjustment on the pending work orders uploaded by the secondary power supply center, transmission transportation inspection center, and substation transportation inspection center. The work order adjustment results include the pending work orders uploaded by each side. The time sequence of work orders and the urgency sequence of work orders, wherein the machine patrol command center is deployed in the power transmission inspection center.
进一步地，所述以最大巡检范围为目标，根据多个所述待处理工单进行机巢调度最优规划，生成巡检任务序列，包括：Further, with the maximum inspection range as the goal, the optimal planning of machine nest scheduling is carried out based on multiple of the to-be-processed work orders, and an inspection task sequence is generated, including:
根据所述多个待处理工单确定待巡检电力设备的整体巡检区域以及多个待巡检机巢；Determine the overall inspection area of the power equipment to be inspected and multiple machine nests to be inspected based on the multiple work orders to be processed;
根据所述待巡检电力设备的整体巡检区域中多个所述待巡检机巢的巡检范围，确定是否完整覆盖所述整体巡检区域；Determine whether the entire inspection area is completely covered according to the inspection ranges of multiple machine nests to be inspected in the overall inspection area of the power equipment to be inspected;
若完整覆盖所述整体巡检区域，则根据所述待巡检机巢中无人机的当前状态数据，以及所述整体巡检区域的各所述待巡检电力设备的位置信息及电力线路，确定无人机巡检路径；If the overall inspection area is completely covered, then based on the current status data of the drone in the nest to be inspected, as well as the location information and power lines of each of the power equipment to be inspected in the overall inspection area , determine the drone inspection path;
基于所述无人机巡检路径、所述待处理工单的时间序列及所述工单紧急程度序列生成所述巡检任务序列。The inspection task sequence is generated based on the drone inspection path, the time sequence of the work orders to be processed, and the urgency sequence of the work orders.
进一步地，所述基于所述无人机巡检路径、所述待处理工单的时间序列及所述工单紧急程度序列生成所述巡检任务序列，包括：Further, generating the inspection task sequence based on the drone inspection path, the time sequence of the work orders to be processed, and the urgency sequence of the work orders includes:
根据所述工单紧急程度序列确定各所述待处理工单中不同机巢及无人机的巡检任务执行优先级；Determine the execution priority of inspection tasks for different nests and drones in each of the pending work orders according to the urgency sequence of the work orders;
若处于同一所述执行优先级，则根据所述待处理工单的时间序列将所述待处理工单基于先后顺序排列；If they are at the same execution priority, then the work orders to be processed are arranged in sequence according to the time sequence of the work orders to be processed;
将排列后的每一所述待处理工单与对应的所述无人机巡检路径作为一个巡检子任务，根据多个巡检子任务基于排列顺序构建得到所述巡检任务序列，所述巡检任务序列为先入先出队列。Each of the arranged work orders to be processed and the corresponding drone inspection path are regarded as an inspection subtask, and the inspection task sequence is constructed based on the arrangement order based on multiple inspection subtasks, so The above inspection task sequence is a first-in-first-out queue.
进一步地，根据所述待巡检电力设备的整体巡检区域中多个所述待巡检机巢的巡检范围，确定是否完整覆盖所述整体巡检区域之后，还包括：Further, after determining whether the overall inspection area is completely covered according to the inspection ranges of multiple machine nests to be inspected in the overall inspection area of the power equipment to be inspected, the method further includes:
若未完整覆盖所述整体巡检区域，则获取未覆盖区域以及所述未覆盖区域中待巡检电力设备的位置信息与线路信息；If the overall inspection area is not completely covered, obtain the uncovered area and the location information and line information of the power equipment to be inspected in the uncovered area;
若未完整覆盖所述整体巡检区域，则获取未覆盖区域以及所述未覆盖区域中待巡检电力设备的位置信息与线路信息；If the overall inspection area is not completely covered, obtain the uncovered area and the location information and line information of the power equipment to be inspected in the uncovered area;
根据所述待巡检电力设备的位置信息与线路信息调度人机协同侧的无人机执行协同巡检。According to the location information and line information of the power equipment to be inspected, the drone on the human-machine collaborative side is scheduled to perform coordinated inspection.
第二方面，本发明实施例中还提供的一种技术方案是一种电网多侧无人机协同巡检控制系统，系统包括巡检一体化调控平台、无人机平台、网格化部署的机巢及无人机，每一网格中包括至少一个固定机巢及移动式机巢，其中：In the second aspect, a technical solution also provided in the embodiment of the present invention is a power grid multi-side drone coordinated inspection control system. The system includes an inspection integrated control platform, a drone platform, and a grid-deployed Machine nests and drones, each grid includes at least one fixed machine nest and mobile machine nest, including:
每一所述移动机巢与所述固定机巢中设有无人机，所述巡检一体化调控平台与所述无人机平台通信，所述无人机平台与所述移动式机巢及所述固定式机巢通信，所述移动式机巢及所述固定式机巢与无人机控制终端通信，所述无人机控制终端控制无人机执飞；Each of the mobile machine nests and the fixed machine nests is equipped with a drone, the inspection integrated control platform communicates with the drone platform, and the drone platform communicates with the mobile machine nest. And the fixed machine nest communicates, the mobile machine nest and the fixed machine nest communicate with the UAV control terminal, and the UAV control terminal controls the UAV to fly;
所述无人机平台用于根据所述巡检一体化调控平台基于待处理工单生成的任务序列，控制各机巢及无人机对目标区域中的电力设备执行自主巡检任务，其中，所述待处理工单包括次级供电中心、输电运检中心、变电运检中心上传的工单。The unmanned aerial vehicle platform is used to control each machine nest and the unmanned aerial vehicle to perform autonomous inspection tasks on the power equipment in the target area according to the task sequence generated by the inspection integrated control platform based on the work order to be processed, wherein, The work orders to be processed include work orders uploaded by the secondary power supply center, transmission transportation inspection center, and substation transportation inspection center.
第三方面，本发明实施例中还提供的一种技术方案是一种电子设备，包括：存储器、处理器及存储在所述存储器上并可在所述处理器上运行的计算机程序，所述处理器执行所述计算机程序时实现任一实施例中所述的电网多侧无人机协同巡检控制方法中的步骤。In a third aspect, a technical solution also provided in the embodiment of the present invention is an electronic device, including: a memory, a processor, and a computer program stored on the memory and executable on the processor, where When the processor executes the computer program, the steps in the multi-side drone coordinated inspection control method of the power grid described in any embodiment are implemented.
第四方面，本发明实施例中还提供的一种技术方案一种计算机可读存储介质，所述计算机可读存储介质上存储有计算机程序，所述计算机程序被处理器执行时实现任一实施例中所述的电网多侧无人机协同巡检控制方法中的步骤。In the fourth aspect, a technical solution also provided in the embodiment of the present invention is a computer-readable storage medium. A computer program is stored on the computer-readable storage medium. When the computer program is executed by a processor, any implementation can be realized. The steps in the multi-side drone coordinated inspection control method of the power grid described in the example.
本发明的有益效果：本申请通过融合次级供电中心、输电运检中心以及变电运检中心，实现输电、变电及配电全专业协同发展，通过巡检一体化调控平台及无人机平台统一对电网多侧的机巢及无人机进行整体协同调度，有利于实现资源利用最优化，提高数据共享性，提高无人机巡检效率；同时，以最大巡检范围为目标进行机巢调度优化，制定巡检任务序列，基于巡检任务序列控制网格化机巢与无人机对巡检区域中电力设备进行自主巡检，有利于提高巡检覆盖率。Beneficial effects of the present invention: This application realizes the coordinated development of all majors in power transmission, transformation and distribution by integrating the secondary power supply center, transmission and transportation inspection center and substation transportation and inspection center. Through the integrated inspection and control platform and UAV The platform uniformly performs overall coordinated dispatching of machine nests and drones on multiple sides of the power grid, which is conducive to optimizing resource utilization, improving data sharing, and improving drone inspection efficiency; at the same time, the drones are carried out with the maximum inspection range as the goal. Nest scheduling optimization, formulating inspection task sequences, and controlling gridded machine nests and drones to conduct autonomous inspections of power equipment in the inspection area based on the inspection task sequence, which is conducive to improving inspection coverage.
上述发明内容仅是本发明技术方案的概述，为了能够更清楚了解本发明的技术手段，而可依照说明书的内容予以实施，并且为了让本发明的上述和其它目的、特征和优点能够更明显易懂，以下特举本发明的具体实施方式。The above content of the invention is only an overview of the technical solutions of the present invention. In order to have a clearer understanding of the technical means of the present invention, they can be implemented according to the content of the description, and in order to make the above and other objects, features and advantages of the present invention more obvious and easy to understand. It should be understood that the specific embodiments of the present invention are listed below.
附图说明Description of drawings
通过阅读参照以下附图所作的对非限制性实施例所作的详细描述,本发明的其它特征、目的和优点将会变得更明显。附图仅用于示出优选实施方式的目的，而并不认为是对本发明的限制。而且在整个附图中，用相同的参考符号表示相同的部件。Other features, objects and advantages of the present invention will become more apparent upon reading the detailed description of non-limiting embodiments taken with reference to the following drawings. The drawings are for the purpose of illustrating preferred embodiments only and are not to be construed as limiting the invention. Also throughout the drawings, the same reference characters are used to designate the same components.
图1为本发明实施例提供的一种电网多侧无人机协同巡检控制方法的流程图；Figure 1 is a flow chart of a multi-side drone coordinated inspection control method for a power grid provided by an embodiment of the present invention;
图2为本发明实施例提供的一种无人机调度示意图；Figure 2 is a schematic diagram of drone scheduling provided by an embodiment of the present invention;
图3为本发明实施例提供的一种电网多侧无人机协同巡检控制系统示意图；Figure 3 is a schematic diagram of a power grid multi-side UAV collaborative inspection control system provided by an embodiment of the present invention;
图4为本发明实施例提供电子设备的结构示意图。FIG. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
具体实施方式Detailed ways
为使本发明的目的、技术方案以及优点更加清楚明白，下面结合附图和实施例对本发明作进一步详细说明，应当理解的是，此处所描述的具体实施方式仅是本发明的一种最佳实施例，仅用以解释本发明，并不限定本发明的保护范围，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention will be further described in detail below in conjunction with the accompanying drawings and examples. It should be understood that the specific implementation described here is only one of the best embodiments of the present invention. The embodiments are only used to explain the present invention and do not limit the scope of protection of the present invention. All other embodiments obtained by those of ordinary skill in the art without making creative efforts fall within the scope of protection of the present invention.
在更加详细地讨论示例性实施例之前，应当提到的是，一些示例性实施例被描述成作为流程图描绘的处理或方法。虽然流程图将各项操作(或步骤)描述成顺序的处理，但是其中的许多操作(或步骤)可以被并行地、并发地或者同时实施。此外，各项操作的顺序可以被重新安排。当其操作完成时所述处理可以被终止，但是还可以具有未包括在附图中的附加步骤；所述处理可以对应于方法、函数、规程、子例程、子程序等等。Before discussing example embodiments in more detail, it should be mentioned that some example embodiments are described as processes or methods depicted as flowcharts. Although the flowcharts describe various operations (or steps) as a sequential process, many of the operations (or steps) therein may be performed in parallel, concurrently, or simultaneously. Additionally, the order of operations can be rearranged. The process may be terminated when its operations are completed, but may also have additional steps not included in the figures; the process may correspond to a method, function, procedure, subroutine, subroutine, or the like.
本发明的说明书和权利要求书及上述附图中的术语“第一”、“第二”、“第三”、“第四”等(如果存在)是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便这里描述的本发明的实施例能够以除了在这里图示或描述的那些以外的顺序实施。还应当理解的是，在本发明的各种实施例中，各过程的序号的大小并不意味着执行顺序的先后，各过程的执行顺序应以其功能和内在逻辑确定，而不应对本发明实施例的实施过程构成任何限定。The terms "first", "second", "third", "fourth", etc. (if present) in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects without necessarily using Used to describe a specific order or sequence. It is to be understood that the data so used are interchangeable under appropriate circumstances so that the embodiments of the invention described herein are capable of being practiced in sequences other than those illustrated or described herein. It should also be understood that in various embodiments of the present invention, the size of the sequence numbers of each process does not mean the order of execution. The execution order of each process should be determined by its functions and internal logic, and should not be used in the present invention. The implementation of the examples does not constitute any limitations.
应当理解，在本发明中，“多个”是指两个或两个以上。“和/或”仅仅是一种描述关联对象的变量关系，表示可以存在三种关系，例如，和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。字符“/”一般表示前后关联对象是一种“或”的关系。“包含A、B和C”、“包含A、B、C”是指A、B、C三者都包含，“包含A、B或C”是指包含A、B、C三者之一，“包含A、B和/或C”是指包含A、B、C三者中任1个或任2个或3个。It should be understood that in the present invention, "plurality" means two or more. "And/or" is just a variable relationship that describes related objects, indicating that three relationships can exist. For example, and/or B can mean: A alone exists, A and B exist simultaneously, and B alone exists. . The character "/" generally indicates that the related objects are in an "or" relationship. "Includes A, B and C" and "includes A, B, C" means that it includes all three of A, B and C, and "includes A, B or C" means that it includes one of A, B and C. "Including A, B and/or C" means including any one, any two or three of A, B and C.
应当理解，在本发明中，“与A对应的B”、“与A相对应的B”、“A与B相对应”或者“B与A相对应”，表示B与A相关联，根据A可以确定B。根据A确定B并不意味着仅仅根据A确定B，还可以根据A和/或其他信息确定B。A与B的匹配，是A与B的相似度大于或等于预设的阈值。It should be understood that in the present invention, "B corresponding to A", "B corresponding to A", "A corresponding to B" or "B corresponding to A" means that B is associated with A. According to A B can be determined. Determining B based on A does not mean determining B only based on A, but can also determine B based on A and/or other information. The matching between A and B means that the similarity between A and B is greater than or equal to the preset threshold.
实施例一Embodiment 1
如图1所示，图1为本发明实施例提供的一种电网多侧无人机协同巡检控制方法的流程图。一种电网多侧无人机协同巡检控制方法，包括以下步骤：As shown in Figure 1, Figure 1 is a flow chart of a multi-side drone coordinated inspection control method for a power grid provided by an embodiment of the present invention. A multi-side drone coordinated inspection control method for the power grid, including the following steps:
S101、获取巡检一体化调控平台根据待处理工单进行调控后下发的巡检任务序列，其中，所述待处理工单包括次级供电中心、输电运检中心、变电运检中心上传的工单；S101. Obtain the inspection task sequence issued by the integrated inspection and control platform based on the work orders to be processed. The work orders to be processed include uploads from the secondary power supply center, power transmission transportation inspection center, and substation transportation inspection center. work order;
S102、对所述巡检任务序列进行任务拆分，生成多个包括巡检子任务且与各机巢及无人机对应的调度指令，所述巡检子任务包括无人机巡检路径，所述机巢包括协同巡检的固定式机巢以及移动式机巢；S102. Perform task splitting on the inspection task sequence, and generate a plurality of scheduling instructions including inspection subtasks and corresponding to each nest and drone. The inspection subtasks include drone inspection paths, The machine nest includes a fixed machine nest and a mobile machine nest for collaborative inspection;
S103、根据所述调控指令控制各机巢及无人机基于所述无人机巡检路径对巡检区域中的电力设备执行自主巡检任务。S103. Control each machine nest and the drone to perform autonomous inspection tasks on the power equipment in the inspection area based on the drone inspection path according to the control instruction.
本发明实施例提供的电网多侧无人机协同巡检控制方法可以用于电网设备巡检场景中，且运行电网多侧无人机协同巡检控制方法的电子设备可以通过无线连接/有线连接方式与其他电子设备进行通信。需要指出的是，上述无线连接方式包括但不限于4G/5G连接、WiFi连接、蓝牙连接、WiMAX连接、Zigbee连接、UWB连接、以及其他现在已知或将来开发的无线连接方式。The power grid multi-side drone collaborative inspection control method provided by the embodiment of the present invention can be used in power grid equipment inspection scenarios, and the electronic equipment running the power grid multi-side drone collaborative inspection control method can be connected through wireless/wired connections way to communicate with other electronic devices. It should be noted that the above wireless connection methods include but are not limited to 4G/5G connection, WiFi connection, Bluetooth connection, WiMAX connection, Zigbee connection, UWB connection, and other wireless connection methods now known or developed in the future.
具体的，在本实施例中，上述巡检一体化调控平台是以机巢网格化市县一体化立体巡检体系为目标建立的位于市级的平台。上述无人机平台统一使用PMS3.0系统，能在一个平台内实现各专业统一调度，各专业无人机均在PMS3.0系统互网大区内的输电全景智慧应用群内实现统一管理，能够形成机巢一体化协同巡检。巡检一体化调控平台可以接收次级供电中心、输电运检中心以及变电运检中心各自上传的待处理工单。电网线路中，供电设备、输电设备以及变电设备通过线路连接形成电网的整体。上述次级供电中心可以指与市级供电管理所关联的区县供电公司，通过区县供电公司对巡检区域进行供电。上述输电运检中心可以指对供电侧与用户端之间的输电设备进行输电运检的终端。上述变电运检中心可以指对供电侧到用户端之间的变电设备进行运检的终端，例如：变压器。次级供电中心、输电运检中心以及变电运检中心可以上传待处理工单至巡检一体化调控平台，也可以接收完成巡检任务后反馈回来的巡视照片。上述待处理工单可以包括次级供电中心、输电运检中心以及变电运检中心分别上传的巡检计划，例如：次级供电中心上传的待处理工单为对供电设备a-f进行拍照巡检；变电运检中心上传的待处理工单为对变压器1号至变压器10号以及变压器1至变压器10连接的电力线路进行拍照巡检。Specifically, in this embodiment, the above-mentioned integrated inspection and control platform is a city-level platform established with the goal of integrating the three-dimensional inspection system of cities and counties in a machine-nested grid. The above-mentioned drone platforms uniformly use the PMS3.0 system, which can realize unified dispatching of various professions within one platform. Each professional drone is unified managed within the power transmission panoramic smart application group within the PMS3.0 system Internet area. It can form an integrated coordinated inspection of the machine nest. The integrated inspection and control platform can receive pending work orders uploaded by the secondary power supply center, transmission transportation inspection center, and substation transportation inspection center. In the power grid lines, power supply equipment, power transmission equipment and transformer equipment are connected through lines to form the entire power grid. The above-mentioned secondary power supply center may refer to the district or county power supply company associated with the municipal power supply management, which supplies power to the inspection area through the district or county power supply company. The above-mentioned power transmission and transportation inspection center may refer to a terminal that performs power transmission and transportation inspection on the power transmission equipment between the power supply side and the user end. The above-mentioned substation operation and inspection center may refer to a terminal that performs operation and inspection of substation equipment between the power supply side and the user end, such as transformers. The secondary power supply center, transmission transportation inspection center and substation transportation inspection center can upload pending work orders to the inspection integrated control platform, and can also receive inspection photos fed back after completing inspection tasks. The above-mentioned pending work orders may include inspection plans uploaded respectively by the secondary power supply center, transmission transportation inspection center, and substation transportation inspection center. For example: the pending work orders uploaded by the secondary power supply center are photo inspections of power supply equipment a-f. ; The work order to be processed uploaded by the Substation Operation Inspection Center is to take photos and inspect the power lines connected from Transformer No. 1 to Transformer No. 10 and from Transformer 1 to Transformer 10.
更具体的，巡检一体化调控平台与无人机平台通信连接，巡检一体化调控平台可以根据待处理工单进行智能规划行程巡检任务序列发送给无人机平台。其中，巡检任务序列中包括用于有序调度各个机巢及无人机进行巡检所对应的多个任务。无人机平台基于巡检任务序列对应调度巡检区域中的机巢以及无人机。巡检的同时，无人机及机巢向无人机平台进行实时图传将巡检数据返回到无人机平台，在无人机平台的前端可以对实时图传的视频数据进行实时展示。无人机平台还会将巡检数据反馈到巡检一体化调控平台一侧，通过巡检一体化调控平台将与次级供电中心、输电运检中心以及变电运检中心的待处理工单分别对应的巡检数据反馈至次级供电中心、输电运检中心以及变电运检中心形成巡检回路。More specifically, the integrated inspection and control platform is connected to the UAV platform. The integrated inspection and control platform can intelligently plan the itinerary inspection task sequence according to the work order to be processed and send it to the UAV platform. Among them, the inspection task sequence includes multiple tasks corresponding to the orderly dispatching of each machine nest and drones for inspection. The UAV platform dispatches the aircraft nests and UAVs in the inspection area based on the inspection task sequence. During the inspection, the drone and the drone transmit real-time image data to the drone platform and return the inspection data to the drone platform. The video data of the real-time image transmission can be displayed in real time on the front end of the drone platform. The drone platform will also feed back the inspection data to the integrated inspection and control platform. Through the integrated inspection and control platform, it will communicate with the pending work orders of the secondary power supply center, transmission and transportation inspection center and substation transportation and inspection center. The corresponding inspection data are fed back to the secondary power supply center, transmission transportation inspection center and substation transportation inspection center to form an inspection loop.
其中，无人机可以设置在固定机巢或移动机巢中。在无人机平台中可以对巡检任务序列进行任务拆分后，分别得到任务序列中每个机巢及无人机的巡检子任务。巡检子任务包括无人机巡检路径，无人机根据无人机巡检路径执行巡检任务。巡检子任务还包括机巢子任务，例如：控制机巢进行图像回传，进行设备状态数据回传。在机巢中还可以设置有气象采集器实时采集并上传天气数据，包括：气温、气压、湿度和风速等。无人机平台实时收到气象信息并上传至巡检一体化调控平台，判断是否可以执行飞行任务。机巢上还可以安装摄像头，实时采集机巢外状态，监控机巢外的违法行为。在同一个巡检区域中，固定机巢与移动机巢相互协同巡检。在固定机巢无法到达的区域，通过移动机巢可以实现巡检覆盖。其中，固定机巢为固定在某一位置上的机巢，机巢内可以设置有停机坪，无人机未执行巡检任务时停放在停机坪上通过停机坪。上述移动式机巢可以加装在皮卡车上，能够接收无人机平台发送过来的指令，并根据指令起飞执行任务，最后依据指定地点降落，实现无人机起降和飞行的自动化。通过机巢可以实现无人机收纳，提供无人机起飞、降落平台，对无人机充电补能，支持多机巢联动控制，支持无人机精准降落，支持本地气象检测等功能。其中，无人机可以为建数M4型四旋翼无人机，无人机整体航程可以达到40KM，精细化巡检10KM，飞行时长达到80分钟。Among them, the drone can be set up in a fixed nest or a mobile nest. In the UAV platform, the inspection task sequence can be divided into tasks, and the inspection subtasks of each nest and UAV in the task sequence can be obtained. The inspection sub-task includes the drone inspection path, and the drone performs the inspection task according to the drone inspection path. Inspection subtasks also include machine nest subtasks, such as controlling the machine nest to transmit images and equipment status data. A weather collector can also be set up in the machine nest to collect and upload weather data in real time, including: temperature, air pressure, humidity, wind speed, etc. The UAV platform receives weather information in real time and uploads it to the integrated inspection and control platform to determine whether the flight mission can be performed. Cameras can also be installed on the machine nest to collect real-time status outside the machine nest and monitor illegal activities outside the machine nest. In the same inspection area, the fixed machine nest and the mobile machine nest coordinate inspections with each other. In areas that are inaccessible to fixed machine nests, inspection coverage can be achieved through mobile machine nests. Among them, the fixed nest is a nest fixed at a certain position. An apron can be provided in the nest, and the UAV is parked on the apron and passes through the apron when it is not performing inspection tasks. The above-mentioned mobile nest can be installed on a pickup truck and can receive instructions from the drone platform, take off and perform tasks according to the instructions, and finally land at the designated location to realize the automation of drone takeoff, landing and flight. The nest can be used to store drones, provide a platform for drones to take off and land, charge drones, support multi-nest linkage control, support precise landing of drones, and support local weather detection and other functions. Among them, the UAV can be a Jianshu M4 quad-rotor UAV. The overall range of the UAV can reach 40KM, the refined inspection can be 10KM, and the flight time can reach 80 minutes.
更具体的，无人机平台生成调度指令下发至对应的机巢及无人机，基于调度指令可以控制机巢启动推出无人机，无人机根据无人机控制终端发送的无人机巡检路径对巡检区域中的电力设备进行自主巡检，并实时与无人机平台进行巡检数据及设备状态数据回传，巡检数据包括巡检视频流、巡检抓拍等。无人机在巡检过程中，可以在作业过程中根据被拍摄部件调整无人机拍摄位置、相机拍摄角度、相机曝光、相机焦距等，以获取到更高质量的抓拍照片。巡检过程中可以有不同的巡检方式，例如：对配电线路通道中的外破、树障、异物等缺陷进行巡检时，可以加快飞行速度完成线路通道的粗巡，不拍照；也可以每基杆斜44°拍一张照片。再例如：对主要覆盖区域为平原区域进行巡检时，可以高频、低频方式对线路设备的精细化巡检，其中，高频指的是针对单杆非耐张塔拍摄3张照片，低频指的是针对耐张塔拍摄4-8张照片。此外，还可以进行红外巡视，通过结合线路负荷，对于日间负荷的线路，优先考虑日间开展测温，其他情况考虑夜间测温，有效避开日光干扰。More specifically, the UAV platform generates scheduling instructions and sends them to the corresponding aircraft nests and drones. Based on the scheduling instructions, the aircraft nest can be controlled to start and launch the drones. The drones follow the instructions sent by the drone control terminal. The inspection path conducts independent inspections of the power equipment in the inspection area, and transmits inspection data and equipment status data to the drone platform in real time. The inspection data includes inspection video streams, inspection snapshots, etc. During the inspection process of the drone, the drone shooting position, camera shooting angle, camera exposure, camera focus, etc. can be adjusted according to the parts being photographed during the operation to obtain higher quality snapshots. There can be different inspection methods during the inspection process. For example: when inspecting defects such as external damage, tree obstructions, foreign objects, etc. in the distribution line channel, you can speed up the flight speed to complete a rough inspection of the line channel without taking pictures; or You can take a photo at an angle of 44° for each base pole. Another example: When conducting inspections in plain areas where the main coverage area is, you can conduct refined inspections of line equipment in high-frequency and low-frequency methods. Among them, high-frequency refers to taking 3 photos of a single-pole non-tension tower, and low-frequency Refers to taking 4-8 photos of the tensile tower. In addition, infrared patrols can also be carried out. By combining the line load, for lines with daytime load, priority will be given to temperature measurement during the day, and in other cases, nighttime temperature measurement will be considered to effectively avoid sunlight interference.
在本发明实施例中，通过融合次级供电中心、输电运检中心以及变电运检中心，实现输电、变电及配电全专业协同发展，通过巡检一体化调控平台及无人机平台统一对电网多侧的机巢及无人机进行整体协同调度，有利于实现资源利用最优化，提高数据共享性，提高无人机巡检效率；同时，以最大巡检范围为目标进行机巢调度优化，制定巡检任务序列，基于巡检任务序列控制网格化机巢与无人机对巡检区域中电力设备进行自主巡检，有利于提高巡检覆盖率。In the embodiment of the present invention, by integrating the secondary power supply center, the transmission transportation inspection center and the substation transportation inspection center, the collaborative development of all majors in power transmission, transformation and distribution is realized. Through the inspection integrated control platform and the drone platform Unified overall coordinated dispatching of machine nests and drones on multiple sides of the power grid is conducive to optimizing resource utilization, improving data sharing, and improving drone inspection efficiency; at the same time, the machine nests are targeted to maximize the inspection range. Scheduling optimization, formulating an inspection task sequence, and controlling gridded machine nests and drones to conduct autonomous inspections of power equipment in the inspection area based on the inspection task sequence will help improve inspection coverage.
可选的，本实施例中，方法还包括步骤：Optionally, in this embodiment, the method further includes the steps:
S104、实时获取所述机巢及无人机返回的设备状态信息，基于无人机的所述设备状态信息判断是否存在故障或需要补能；S104. Obtain the equipment status information returned by the aircraft nest and the drone in real time, and determine whether there is a fault or need to recharge based on the equipment status information of the drone;
S104、若判断为无人机存在故障或需要补能，则确定为异常无人机，并优先根据最临近无人机的设备状态信息确定是否能代替所述异常无人机完成剩余未巡检任务；S104. If it is determined that the drone is faulty or needs energy replenishment, it is determined to be an abnormal drone, and priority is given to determining whether the remaining uninspected drone can be completed on behalf of the abnormal drone based on the equipment status information of the nearest drone. Task;
S106、若最临近无人机能代替所述异常无人机完成剩余未巡检任务，则将最临近无人机作为辅助无人机，并向所述辅助无人机发出辅助调度指令，控制所述辅助无人机继续执行所述异常无人机的剩余未巡检任务。S106. If the nearest UAV can replace the abnormal UAV to complete the remaining uninspected tasks, then use the nearest UAV as the auxiliary UAV, and issue auxiliary dispatch instructions to the auxiliary UAV to control all The auxiliary drone continues to perform the remaining uninspected tasks of the abnormal drone.
具体的，无人机在巡检过程中，与无人机平台实现实时图传以及设备状态信息回传，无人机平台根据无人机回传的设备状态信息可以判断无人机的剩余电量与剩余续航里程是否支持继续巡检，以及判断参数是否出现故障数据。当存在数据异常或电量及续航里程不足的情况，则确定为存在故障或需要补能。此时，可以将无人机确定为异常无人机，无人机平台可以发出控制指令让异常无人机回到固定机巢或移动机巢中待故障修复或补充电量。会根据与异常无人机相邻的至少一个无人机回传的设备状态信息判断是否可以继续执行异常无人机剩余未巡检任务，具体包括比较剩余续航里程是否大于剩余未巡检任务中的巡航路程。Specifically, during the inspection process, the drone realizes real-time image transmission and equipment status information transmission with the drone platform. The drone platform can determine the remaining power of the drone based on the equipment status information returned by the drone. Whether the remaining cruising range supports continued inspection, and whether fault data appears in the parameters. When there are abnormal data or insufficient power and cruising range, it is determined that there is a fault or that energy replenishment is required. At this time, the drone can be determined to be an abnormal drone, and the drone platform can issue control instructions to return the abnormal drone to a fixed or mobile nest for fault repair or replenishing power. It will be judged based on the equipment status information returned by at least one drone adjacent to the abnormal drone whether it can continue to perform the remaining uninspected tasks of the abnormal drone, specifically including comparing whether the remaining cruising range is greater than the remaining uninspected tasks. cruising distance.
更具体的，若最临近的至少一个无人机的剩余续航里程大于剩余未巡检任务中的巡航路程，则将其作为异常无人机的辅助无人机，无人机平台向辅助无人机发出辅助调度指令，控制辅助无人机根据辅助调度指令继续执行异常无人机的剩余未巡检任务。其中，辅助调度指令包括辅助巡检路径。结合图2所示，图2中对于电力设备g，可以通过A、B、C三架无人机实现巡检，其中任一无人机被确定为异常无人机时，其他两架无人机都可以作为辅助无人机进行辅助执行巡检任务。通过上述巡检方式可以保证巡检数据的全面性，且实现了资源利用最大化，提升了电网设备巡检效率。More specifically, if the remaining cruising range of at least one of the nearest UAVs is greater than the cruising distance in the remaining uninspected tasks, it will be used as the auxiliary UAV of the abnormal UAV, and the UAV platform will provide the auxiliary UAV with the cruising range. The aircraft issues auxiliary dispatch instructions and controls the auxiliary UAV to continue to perform the remaining uninspected tasks of the abnormal UAV according to the auxiliary dispatch instructions. Among them, the auxiliary scheduling instructions include auxiliary inspection paths. As shown in Figure 2, for the power equipment g in Figure 2, inspection can be achieved through three drones A, B, and C. When any one of the drones is determined to be an abnormal drone, the other two drones The drone can be used as an auxiliary drone to assist in performing inspection tasks. The above inspection methods can ensure the comprehensiveness of inspection data, maximize resource utilization, and improve the efficiency of power grid equipment inspection.
可选的，在步骤S101之前，还包括以下步骤：Optionally, before step S101, the following steps are also included:
S107、获取所述次级供电中心、输电运检中心以及变电运检中心上传的待处理工单；S107. Obtain the pending work orders uploaded by the secondary power supply center, transmission transportation inspection center and substation transportation inspection center;
S108、以最大巡检范围为目标，根据多个所述待处理工单进行机巢调度最优规划，生成所述巡检任务序列。S108. With the maximum inspection range as the goal, perform optimal planning of machine nest scheduling based on multiple to-be-processed work orders, and generate the inspection task sequence.
具体的，巡检一体化调控平台可以根据预设的时间间隔接收次级供电中心、输电运检中心以及变电运检中心上传的待处理工单，例如：10分钟、30分钟接收一次待处理工单数据。当次级供电中心、输电运检中心以及变电运检中心分别上传待处理工单后，在巡检一体化调控平台中可以对各待处理工单所涉及到的机巢进行最优规划，且最优规划的目标为最大巡检范围。以保证对巡检区域的最大巡检范围，减少人机协同的人力成本，提高无人机的巡检效率。例如：若输电运检中心以及变电运检中心上传的待处理工单中，所调动的机巢及无人机存在巡检范围重合的情况，则可以对巡检范围重合的部分通过调动一个机巢及无人机进行巡检，并将巡检后的数据回传至巡检一体化调控平台，通过巡检一体化调控平台发送给输电运检中心以及变电运检中心实现数据反馈，从而减少了资源浪费。机巢调度最优规划后，可以基于各待处理工单生成巡检任务序列下发至无人机平台。Specifically, the integrated inspection and control platform can receive pending work orders uploaded by the secondary power supply center, transmission transportation inspection center, and substation transportation inspection center according to preset time intervals. For example, it will receive pending work orders every 10 minutes or 30 minutes. Work order data. When the secondary power supply center, transmission transportation inspection center and substation transportation inspection center respectively upload work orders to be processed, the optimal planning of the machine nests involved in each work order to be processed can be carried out in the inspection integrated control platform. And the goal of optimal planning is the maximum inspection range. In order to ensure the maximum inspection scope of the inspection area, reduce the labor cost of human-machine collaboration, and improve the efficiency of drone inspections. For example: If in the pending work orders uploaded by the Power Transmission Transportation Inspection Center and the Substation Transportation Inspection Center, the inspection ranges of the mobilized drones and drones overlap, then the part where the inspection ranges overlap can be adjusted by mobilizing a The machine nest and drones conduct inspections and transmit the inspection data back to the integrated inspection and control platform. Through the integrated inspection and control platform, it is sent to the power transmission and transportation inspection center and the substation transportation and inspection center for data feedback. This reduces resource waste. After optimal planning of the machine nest dispatch, an inspection task sequence can be generated based on each pending work order and sent to the UAV platform.
在本实施例中，通过对配电、供电以及变电多侧上传的待处理工单以最大巡检范围为目标，根据多个所述待处理工单进行机巢调度最优规划，生成巡检任务序列，有利于保证最大化巡查范围，减少人力成本，且结合多侧进行统一规划有利于提高资源利用率。In this embodiment, by targeting the maximum inspection range for pending work orders uploaded from multiple sides of power distribution, power supply, and substation, optimal planning of the machine nest scheduling is performed based on multiple of the pending work orders, and the patrol is generated. The inspection task sequence is conducive to ensuring the maximum inspection scope and reducing labor costs, and unified planning combined with multiple parties is conducive to improving resource utilization.
可选的，在步骤S107之后，方法还包括以下步骤：Optionally, after step S107, the method also includes the following steps:
获取机巡指挥中心对所述次级供电中心、输电运检中心、变电运检中心上传的待处理工单进行工单调节的工单调节结果，工单调节结果包括各侧上传的待处理工单的时间序列、工单紧急程度序列。Obtain the work order adjustment results of the machine patrol command center's work order adjustment on the pending work orders uploaded by the secondary power supply center, transmission transportation inspection center, and substation transportation inspection center. The work order adjustment results include the pending work orders uploaded by each side. The time series of work orders and the urgency series of work orders.
具体的，机巡指挥中心可以挂设在输电运检中心，由机巡指挥中心统筹输配变多专业的网格化巡检需求，管理一体化平台，统筹平衡输电运建中心、变电运检中心、区县供电公司的巡检计划，指导开展市县一体网格化协同巡检。当次级供电中心、输电运检中心、变电运检中心上传待处理工单到巡检一体化调控平台后，机巡指挥中心可以从巡检一体化调控平台中获取次级供电中心、输电运检中心、变电运检中心上传的待处理工单，机巡指挥中心可以结合各个待处理工单进行工单调节，并将工单调节结果反馈至巡检一体化调控平台中。Specifically, the machine patrol command center can be installed in the power transmission and transportation inspection center. The machine patrol command center coordinates the multi-professional grid inspection needs of transmission and distribution transformers, manages an integrated platform, and coordinates and balances the power transmission and operation construction center, power substation and transformer transport. Inspection plans of the inspection center and district and county power supply companies will be implemented to guide the implementation of city-county integrated grid-based coordinated inspections. When the secondary power supply center, transmission transportation inspection center, and substation transportation inspection center upload the work orders to be processed to the inspection integrated control platform, the machine patrol command center can obtain the secondary power supply center, transmission inspection center, etc. from the inspection integrated control platform. For the pending work orders uploaded by the transportation inspection center and substation transportation inspection center, the machine patrol command center can adjust the work orders based on each pending work order, and feed back the work order adjustment results to the inspection integrated control platform.
更具体的，进行工单调节包括对所有待处理工单进行时间排列，还可以对待处理工单的处理紧急程度进行排列，工单的紧急程度为上传时自带，其中，紧急程度可以基于上次巡检时反馈的巡检数据中电力设备是否故障、外观是否破损、是否被遮挡以及巡检的间隔时间等进行紧急等级确定。例如：变电运检中心上传的待处理工单中的数据表示变压器G无故障、外观破损程度为3级、被树枝遮挡程度为1级，巡检间隔时间3个月，则可以确定紧急程度为高级，可以优先执行巡检任务。在本实施例中，通过机巡指挥中心对巡检一体化调控平台进行管理，并对次级供电中心、输电运检中心、变电运检中心上传的待处理工单进行工单调节生成工单调节结果，更有利于精细化巡检任务序列，实现对机巢及无人机的优化调度，提高巡检效率。More specifically, adjusting work orders includes arranging the time of all work orders to be processed, and also arranging the urgency of processing the work orders to be processed. The urgency of the work orders is provided when uploading, and the urgency can be based on the above. In the inspection data fed back during the first inspection, the emergency level is determined to determine whether the power equipment is faulty, whether the appearance is damaged, whether it is blocked, and the interval between inspections. For example: the data in the pending work order uploaded by the substation transportation inspection center indicates that transformer G has no fault, the appearance degree of damage is level 3, the degree of obstruction by branches is level 1, and the inspection interval is 3 months, the emergency level can be determined For advanced levels, inspection tasks can be performed with priority. In this embodiment, the machine patrol command center manages the integrated inspection and control platform, and adjusts and generates work orders for pending work orders uploaded by the secondary power supply center, power transmission transportation inspection center, and substation transportation inspection center. The single adjustment result is more conducive to refining the inspection task sequence, achieving optimal dispatch of the aircraft nest and drones, and improving inspection efficiency.
可选的，上述步骤S108，具体包括：Optional, the above step S108 specifically includes:
S1081、根据所述多个待处理工单确定待巡检电力设备的整体巡检区域以及多个待巡检机巢；S1081. Determine the overall inspection area of the power equipment to be inspected and multiple machine nests to be inspected based on the multiple work orders to be processed;
S1082、根据所述待巡检电力设备的整体巡检区域中多个所述待巡检机巢的巡检范围，确定是否完整覆盖所述整体巡检区域；S1082. Determine whether the entire inspection area is completely covered according to the inspection ranges of multiple machine nests to be inspected in the overall inspection area of the power equipment to be inspected;
S1083、若完整覆盖所述整体巡检区域，则根据所述待巡检机巢中无人机的当前状态数据，以及所述整体巡检区域的各所述待巡检电力设备的位置信息及电力线路，确定无人机巡检路径；S1083. If the overall inspection area is completely covered, then according to the current status data of the drone in the nest to be inspected, as well as the location information of each power equipment to be inspected in the overall inspection area and Power lines, determine the drone inspection path;
S1084、基于所述无人机巡检路径、所述待处理工单的时间序列及所述工单紧急程度序列生成所述巡检任务序列。S1084. Generate the inspection task sequence based on the drone inspection path, the time sequence of the work orders to be processed, and the urgency sequence of the work orders.
具体的，固定机巢与移动机巢为预先部署在巡检区域中的，每个固定机巢中以及移动机巢中的无人机都有各自的巡检范围，不同类型的无人机续航能力的不同对应的巡检范围不同。根据待处理工单可以确定供电、输电及变电三者共同包括的待巡检电力设备的整体巡检区域，并确定在整体巡检区域中的多个待巡检机巢，待巡检机巢包括固定机巢以及移动机巢。基于每个待巡检机巢的巡检范围可以判断是否能够对整体巡检区域进行巡检范围全覆盖。通过判断是否可以全覆盖能够实现查漏补缺，避免巡检遗漏，导致返回的巡检数据不完整。Specifically, the fixed drone nest and the mobile drone nest are pre-deployed in the inspection area. The drones in each fixed drone nest and the mobile drone nest have their own inspection ranges. Different types of drones have different battery lifes. Different capabilities correspond to different inspection scopes. According to the work order to be processed, the overall inspection area of the power equipment to be inspected including power supply, transmission and substation can be determined, and multiple machine nests to be inspected in the overall inspection area can be determined. Nests include fixed machine nests and mobile machine nests. Based on the inspection range of each machine nest to be inspected, it can be determined whether the entire inspection area can be fully covered. By judging whether full coverage is possible, leaks can be detected and filled to avoid inspection omissions, resulting in incomplete returned inspection data.
更具体的，当待巡检机巢的巡检范围覆盖整体巡检区域时，则可以根据返回的每个待巡检机巢中无人机的当前状态数据，以及各待巡检电力设备的位置信息及各待巡检电力设备之间的电力路线。其中，当前状态数据包括当前电量及续航里程，续航里程根据机身挂载的负载重量不同，其续航里程也不同，例如：巡航速度0-2-m/s，且空载时飞行85min，1KG飞行70min，1.5KG飞行65min，3KG飞行50min。根据各巡检电力设备的位置信息以及待巡检的电力线路可以确定巡检路程，将巡检里程与续航里程进行比较可以确定无人机是否可以完成其巡检范围内的巡检任务。在可以完成巡检任务的情况下，得到每个无人机的巡检路径，然后根据每个无人机的巡检路径计算得到整体巡检路径。在无法执行巡检任务时，可以调度相邻机巢中的无人机在完成本区域巡检范围后，协同无法完成巡检任务的无人机执行巡检任务，并生成协同无人机的巡检路径。More specifically, when the inspection scope of the nest to be inspected covers the entire inspection area, the current status data of the drones in each nest to be inspected can be returned, as well as the data of each power equipment to be inspected. Location information and power routes between the power equipment to be inspected. Among them, the current status data includes the current battery capacity and cruising range. The cruising range is different depending on the load weight mounted on the fuselage. For example: the cruising speed is 0-2-m/s, and the flight is 85min without load, 1KG The flight is 70 minutes, the flight with 1.5KG is 65 minutes, and the flight with 3KG is 50 minutes. The inspection distance can be determined based on the location information of each inspection power equipment and the power lines to be inspected. Comparing the inspection mileage with the cruising range can determine whether the drone can complete the inspection tasks within its inspection range. When the inspection task can be completed, the inspection path of each UAV is obtained, and then the overall inspection path is calculated based on the inspection path of each UAV. When the inspection task cannot be performed, the UAVs in the adjacent nests can be scheduled to complete the inspection range of the area, and then cooperate with the UAVs that cannot complete the inspection task to perform the inspection task, and generate the coordinates of the coordinated UAVs. Inspection path.
作为一种可能的实施方式，还可以预设续航里程固定余量，也即是在飞回到机巢中时必须留有的余量，避免电量不足无法返回机巢造成无人机损毁的情况，例如：预设续航里程固定余量为0.5KM，无人机A当前续航里程为10KM，巡检里程为9.8KM，则表示无人机A无法完成其巡检范围内的巡检任务。此时，可以判断是否存在与无人机A相邻且巡检范围有部分重合的无人机B。若存在，则可以确定重合巡检里程，若无人机A当前续航里程减去预设续航里程固定余量以及重合巡检里程之后大于剩下的待巡检里程，且无人机B的当前电量及续航里程足够完成巡检范围内的巡检任务时，则可以控制无人机B执行重合巡检范围内电力设备及电力线路的巡检任务，并将巡检数据同时反馈到与无人机A对应的次级供电中心、输电运检中心或变电运检中心。作为另一种可能的实施方式，若两个无人机A与B存在重合巡检范围，则可以通过无人机平台调度无人机A与B分别对巡检重合范围进行巡检，提高数据的可靠性。作为另一种可能的实施方式，若无人机A与B不存在重合区域，且无人机A存在故障或电量不足等情况无法执行巡检任务时，则可以控制无人机平台调度电量及续航里程足以完成无人机A巡检任务的无人机B执行巡检范围内电力设备的巡检工作，并将巡检数据返回到无人机平台，无人机平台将对应次级供电中心、输电运检中心或变电运检中心的巡检数据进行分类后上传至巡检一体化调控平台，通过巡检一体化调控平台发送给对应的应次级供电中心、输电运检中心或变电运检中心。As a possible implementation method, you can also preset a fixed margin of cruising range, that is, the margin that must be left when flying back to the nest, to avoid damage to the drone due to insufficient power and being unable to return to the nest. , for example: the preset fixed cruising range margin is 0.5KM, the current cruising range of UAV A is 10KM, and the inspection mileage is 9.8KM, which means that UAV A cannot complete the inspection tasks within its inspection range. At this time, it can be determined whether there is a drone B that is adjacent to drone A and whose inspection range partially overlaps. If it exists, the coincident inspection mileage can be determined. If the current cruising range of UAV A minus the fixed margin of the preset cruising range and the coincident inspection mileage is greater than the remaining mileage to be inspected, and the current cruising range of UAV B is When the power and cruising range are sufficient to complete the inspection tasks within the inspection range, UAV B can be controlled to perform inspection tasks of power equipment and power lines within the overlapping inspection range, and the inspection data can be fed back to the unmanned aerial vehicle at the same time. The secondary power supply center, transmission transportation inspection center or substation transportation inspection center corresponding to machine A. As another possible implementation, if two drones A and B have overlapping inspection ranges, drones A and B can be dispatched through the drone platform to inspect the overlapping inspection ranges respectively, thereby improving data reliability. As another possible implementation method, if there is no overlapping area between UAVs A and B, and UAV A is unable to perform inspection tasks due to malfunction or insufficient power, the UAV platform can be controlled to dispatch power and UAV B, which has a cruising range sufficient to complete the inspection mission of UAV A, performs inspections of power equipment within the inspection range and returns the inspection data to the UAV platform. The UAV platform will correspond to the secondary power supply center. Inspection data from , transmission and transportation inspection centers or substation inspection centers are classified and uploaded to the integrated inspection and control platform, and then sent to the corresponding secondary power supply center, transmission and transportation inspection center or substation through the integrated inspection and control platform. Electrical transportation inspection center.
其中，上述步骤S1084具体包括：Among them, the above step S1084 specifically includes:
根据所述工单紧急程度序列确定各所述待处理工单中不同机巢及无人机的巡检任务执行优先级；Determine the execution priority of inspection tasks for different nests and drones in each of the pending work orders according to the urgency sequence of the work orders;
若处于同一所述执行优先级，则根据所述待处理工单的时间序列将所述待处理工单基于先后顺序排列；If they are at the same execution priority, then the work orders to be processed are arranged in sequence according to the time sequence of the work orders to be processed;
将排列后的每一所述待处理工单与对应的所述无人机巡检路径作为一个巡检子任务，根据多个巡检子任务基于排列顺序构建得到所述巡检任务序列，所述巡检任务序列为先入先出队列。Each of the arranged work orders to be processed and the corresponding drone inspection path are regarded as an inspection subtask, and the inspection task sequence is constructed based on the arrangement order based on multiple inspection subtasks, so The above inspection task sequence is a first-in-first-out queue.
具体的，生成每个无人机巡检路径后，可以基于无人机巡检路径以及待处理工单的时间序列以及工单紧急程度序列生成巡检任务序列。其中，每一无人机巡检路径、工单时间以及紧急程度在巡检任务序列中作为一组数据。先根据工单紧急程度序列确定每个待处理工单中不同机巢及无人机的巡检任务执行优先级，执行优先级越高，表示越紧急。若不存在相同工单时间，则依次根据工单时间、执行优先级对待处理工单进行排列。若存在相同工单时间，则基于执行优先级由高到低对相同工单时间内的待处理工单进行排列。作为一种可能的实施方式，若工单时间在预设可跳跃时间区间时，可以将满足预设可跳跃时间区域间的待处理工单根据执行优先级的高低进行顺序调整，例如：工单时间相差在1秒内的待处理工单，可以将执行优先级从高到低进行依次排列。根据工单时间以及工单紧急程度确定排列顺序后，将对应每一待处理工单的无人机巡检路径插入到序列中，从而构成一个完整的巡检任务序列。构建得到调度所有无人机的巡检任务序列下发到无人机平台中，无人机平台再下发指令到对应的机巢及无人机。上述巡检任务序列为先入先出队列，便于无人机平台进行任务拆分时的有序性，以控制机巢及无人机根据拆分顺序依次下发指令控制无人机执行巡检任务。无人机由无人机控制终端接收指令，指令包括巡检路径。无人机控制终端包括但不限于手机、平板电脑、笔记本电脑等可以与无人机机体内控制器、机巢及无人机平台通信实现数据传输的智能电子设备。Specifically, after each drone inspection path is generated, an inspection task sequence can be generated based on the drone inspection path, the time sequence of the work orders to be processed, and the urgency sequence of the work orders. Among them, each drone inspection path, work order time and emergency level are used as a set of data in the inspection task sequence. First, determine the execution priority of the inspection tasks of different nests and drones in each pending work order based on the urgency sequence of the work order. The higher the execution priority, the more urgent it is. If there are no work orders with the same time, the work orders to be processed will be arranged according to the work order time and execution priority. If the same work order time exists, the pending work orders within the same work order time will be arranged based on execution priority from high to low. As a possible implementation, if the work order time is within the preset jumpable time interval, the order of pending work orders that meet the preset jumpable time interval can be adjusted according to the execution priority, for example: work orders Pending work orders whose time difference is within 1 second can be arranged in order from high to low execution priority. After determining the order according to the time of the work order and the urgency of the work order, the drone inspection path corresponding to each work order to be processed is inserted into the sequence to form a complete inspection task sequence. The inspection task sequence for scheduling all drones is constructed and sent to the drone platform, and the drone platform then issues instructions to the corresponding nests and drones. The above-mentioned inspection task sequence is a first-in-first-out queue, which facilitates the orderliness of the UAV platform when splitting tasks, so that the nest and the UAV can sequentially issue instructions according to the split sequence to control the UAV to perform inspection tasks. . The drone receives instructions from the drone control terminal, and the instructions include inspection paths. UAV control terminals include but are not limited to mobile phones, tablets, laptops and other intelligent electronic devices that can communicate with the controller in the UAV body, the nest and the UAV platform to achieve data transmission.
在本实施例中，通过协同调度各个机巢及无人机进行协同巡检，有利于实现资源利用最优化，提高数据共享性，提高无人机巡检效率；同时，以最大巡检范围为目标进行机巢调度优化，有利于提高巡检覆盖率。In this embodiment, collaborative inspections are carried out by collaboratively scheduling each aircraft nest and drones, which is beneficial to optimizing resource utilization, improving data sharing, and improving drone inspection efficiency. At the same time, the maximum inspection range is The goal is to optimize the machine nest scheduling, which is conducive to improving inspection coverage.
可选的，上述步骤S1082之后，还包括：Optionally, after the above step S1082, it also includes:
S1084、若未完整覆盖所述整体巡检区域，则获取未覆盖区域以及所述未覆盖区域中待巡检电力设备的位置信息与线路信息；S1084. If the overall inspection area is not completely covered, obtain the uncovered area and the location information and line information of the power equipment to be inspected in the uncovered area;
S1086、根据所述待巡检电力设备的位置信息与线路信息调度人机协同侧的无人机执行协同巡检。S1086: Schedule the drone on the human-machine collaboration side to perform collaborative inspection based on the location information and line information of the power equipment to be inspected.
具体的，当待巡检电力设备的整体巡检区域中多个待巡检机巢的巡检范围未完整覆盖整体巡检区域时，为了实现更大巡检范围的全面覆盖，保证每次巡检数据的完整性，还可以调动人机协同与固定机巢及移动机巢协同执行巡查任务。具体的，通过获取未覆盖区域，并提取未覆盖区域中待巡检电力设备的位置信息与路线信息，然后将其作为人机协同指令下发到人机协同测的终端设备中，人机协同侧的人员从终端设备上获取到人机协同指令后，便可以根据指令到达未覆盖区域，通过操控无人机对未覆盖区域中待巡查电力设备以及电力线路进行巡查，其中，人机协同侧的人员可以是定点巡查的人员，也可以是开装载移动机巢车辆的作业人员。对于移动机巢，作业人员通过驾车到达巡检范围近点区域，确认好现场具备起飞条件后，取出无人机，更换电池并开机，将替换的电池放置至机巢内部，将接收到的无人机巡检路径通过无人机控制终端下发至无人机，启动一键自动支飞任务，待无人机飞出后将车辆开至离巡检线路末段区域，更新降落点至无人机，实现降落位置更新。Specifically, when the inspection ranges of multiple machine nests in the overall inspection area of the power equipment to be inspected do not completely cover the entire inspection area, in order to achieve full coverage of the larger inspection range, it is ensured that each inspection Inspection data integrity can also be mobilized to coordinate human-machine collaboration with fixed and mobile nests to perform inspection tasks. Specifically, by obtaining the uncovered area, extracting the location information and route information of the power equipment to be inspected in the uncovered area, and then issuing it as a human-machine collaboration command to the terminal device for human-machine collaborative testing, human-machine collaboration After the personnel on the side obtain the human-machine collaboration instructions from the terminal device, they can follow the instructions to reach the uncovered area, and control the drone to inspect the power equipment and power lines to be inspected in the uncovered area. Among them, the human-machine collaborative side The personnel may be those conducting fixed-point inspections, or they may be operators operating vehicles loading mobile nests. For the mobile nest, the operator drives to the area close to the inspection range. After confirming that the site has conditions for takeoff, he takes out the drone, replaces the battery and turns it on. The replacement battery is placed inside the nest and the received drone is The human-machine inspection path is sent to the drone through the drone control terminal, and the one-click automatic flight mission is started. After the drone flies out, the vehicle is driven to the area away from the end of the inspection line, and the landing point is updated to None. Man-machine realizes landing position update.
实施例二Embodiment 2
如图3所示，图3为对应一种电网多侧无人机协同巡检控制方法提出的一种电网多侧无人机协同巡检控制系统，系统30包括：As shown in Figure 3, Figure 3 is a multi-side UAV collaborative inspection control system for the power grid proposed corresponding to a multi-side UAV collaborative inspection control method. The system 30 includes:
系统包括巡检一体化调控平台、无人机平台、网格化部署的机巢及无人机，每一网格中包括至少一个固定机巢及移动式机巢，其中：The system includes an integrated inspection and control platform, a drone platform, grid-deployed aircraft nests and drones. Each grid includes at least one fixed aircraft nest and a mobile aircraft nest, including:
每一所述移动机巢与所述固定机巢中设有无人机，所述巡检一体化调控平台与所述无人机平台通信，所述无人机平台与所述移动式机巢及所述固定式机巢通信，所述移动式机巢及所述固定式机巢与无人机控制终端通信，所述无人机控制终端控制无人机执飞；Each of the mobile machine nests and the fixed machine nests is equipped with a drone, the inspection integrated control platform communicates with the drone platform, and the drone platform communicates with the mobile machine nest. And the fixed machine nest communicates, the mobile machine nest and the fixed machine nest communicate with the UAV control terminal, and the UAV control terminal controls the UAV to fly;
所述无人机平台用于根据所述巡检一体化调控平台基于待处理工单生成的任务序列，控制各机巢及无人机对目标区域中的电力设备执行自主巡检任务，其中，所述待处理工单包括次级供电中心、输电运检中心、变电运检中心上传的工单。The unmanned aerial vehicle platform is used to control each machine nest and the unmanned aerial vehicle to perform autonomous inspection tasks on the power equipment in the target area according to the task sequence generated by the inspection integrated control platform based on the work order to be processed, wherein, The work orders to be processed include work orders uploaded by the secondary power supply center, transmission transportation inspection center, and substation transportation inspection center.
本实施例中，上述巡检一体化调控平台为以机巢网格化市县一体化立体巡检体系为目标建立的位于市级的平台，用于接收次级供电中心、输电运检中心以及变电运检中心各自上传的待处理工单并进行协同调度，向无人机平台下发任务序列。无人机平台用于根据所述巡检一体化调控平台基于待处理工单生成的任务序列，控制各固定机巢、移动机巢及无人机对目标区域中的电力设备执行自主巡检任务。其中，巡视区域中的机巢为网格化机巢，每个网格中包括至少一个固定机巢、至少一个移动机巢。当存在固定机巢与移动机巢无法覆盖的区域时，还包括人机协同无人机。In this embodiment, the above-mentioned integrated inspection and control platform is a platform at the municipal level established with the goal of a grid-based city and county integrated three-dimensional inspection system. It is used to receive secondary power supply centers, power transmission and transportation inspection centers and The substation transportation inspection center uploads the work orders to be processed and coordinates the dispatch, and issues the task sequence to the UAV platform. The UAV platform is used to control each fixed machine nest, mobile machine nest and UAV to perform autonomous inspection tasks on the power equipment in the target area according to the task sequence generated by the inspection integrated control platform based on the work order to be processed. . Among them, the machine nests in the inspection area are gridded machine nests, and each grid includes at least one fixed machine nest and at least one mobile machine nest. When there are areas that cannot be covered by fixed nests and mobile nests, human-machine collaborative drones are also included.
具体的，无人机在作业过程中，次级供电中心、输电运检中心以及变电运检中心上传待处理工单至巡检一体化调控平台生成任务序列下发至无人机平台。无人机平台中包括统一视频平台、物管平台以及OBS文件存储器，无人机平台根据任务序列生成调度指令，通过物管平台分别发送至对应的机巢及无人机控制终端，根据对应的调度指令控制机巢及无人机执行巡检任务。无人机巡检过程中，与统一视频平台进行实时图传，并反馈设备状态信息到物管平台，以及将巡检照片回传至OBS文件存储器进行存储。无人机平台将数据的巡视结果反馈至巡检一体化调控平台，巡检一体化调控平台将于次级供电中心、输电运检中心以及变电运检中心对应的巡视结果进行相应反馈。从而实现次级供电中心、输电运检中心以及变电运检中心到机巢及无人机之间的数据整体交互。Specifically, during the operation of the drone, the secondary power supply center, power transmission transportation inspection center and substation transportation inspection center upload pending work orders to the inspection integrated control platform to generate a task sequence and send it to the drone platform. The drone platform includes a unified video platform, a property management platform and an OBS file storage. The drone platform generates scheduling instructions according to the task sequence and sends them to the corresponding nest and drone control terminal through the property management platform. According to the corresponding Scheduling instructions control the nest and drones to perform inspection tasks. During the drone inspection process, real-time image transmission is performed with the unified video platform, equipment status information is fed back to the property management platform, and inspection photos are sent back to the OBS file storage for storage. The drone platform feeds back the inspection results of the data to the integrated inspection and control platform. The integrated inspection and control platform will provide corresponding feedback on the inspection results of the secondary power supply center, power transmission transportation inspection center and substation transportation inspection center. This enables the overall data interaction between the secondary power supply center, the power transmission and transportation inspection center and the substation transportation and inspection center to the machine nest and drones.
更具体的，无人机平台配有4G/5G路由器，无人机控制终端连接的无人机控制器通过4G/5G网络与部署在后台的无人机智能管控系统通信，其中，无人机控制器指的是无人机机体内的控制模块。无人机平台配有测点测向RTK设备，具备自动调节功能，对于移动机巢，在车辆行驶至RTK信号较差区域可以自动连接RTK基站，为无人机设备提供信号中转，同时在无人机设备起飞降落时为后台平台提供精准位置，实现无人机A点起飞和B点降落功能。More specifically, the drone platform is equipped with a 4G/5G router. The drone controller connected to the drone control terminal communicates with the drone intelligent management and control system deployed in the background through the 4G/5G network. Among them, the drone The controller refers to the control module inside the drone body. The UAV platform is equipped with measuring point and direction finding RTK equipment, which has an automatic adjustment function. For mobile nests, when the vehicle travels to areas with poor RTK signals, it can automatically connect to the RTK base station to provide signal relay for the UAV equipment. When the human-machine equipment takes off and lands, it provides the precise position for the background platform to realize the functions of the drone taking off from point A and landing at point B.
本发明实施例提供的电网多侧无人机协同巡检控制系统能够实现上述方法实施例中电网多侧无人机协同巡检控制方法实现的各个过程，且可以达到相同的有益效果。为避免重复，这里不再赘述。The power grid multi-side UAV collaborative inspection control system provided by the embodiment of the present invention can realize each process implemented by the power grid multi-side UAV collaborative inspection control method in the above method embodiment, and can achieve the same beneficial effects. To avoid repetition, they will not be repeated here.
参见图4，图4是本发明实施例提供的一种电子设备的结构示意图，如图4所示，包括：存储器402、处理器401及存储在存储器402上并可在处理器401上运行用于巡检一体化调控平台的一种电网多侧无人机协同巡检控制方法的计算机程序，其中：Referring to Figure 4, Figure 4 is a schematic structural diagram of an electronic device provided by an embodiment of the present invention. As shown in Figure 4, it includes: a memory 402, a processor 401, and a program stored in the memory 402 and capable of running on the processor 401. A computer program for a multi-side drone collaborative inspection control method of the power grid based on an integrated inspection and control platform, in which:
处理器401用于调用存储器402存储的计算机程序，执行如下步骤：The processor 401 is used to call the computer program stored in the memory 402 and perform the following steps:
获取巡检一体化调控平台根据待处理工单进行调控后下发的巡检任务序列，其中，所述待处理工单包括次级供电中心、输电运检中心、变电运检中心上传的工单；Obtain the inspection task sequence issued by the integrated inspection and control platform based on the work orders to be processed. The work orders to be processed include work uploaded by the secondary power supply center, power transmission transportation inspection center, and substation transportation inspection center. one;
对所述巡检任务序列进行任务拆分，生成多个包括巡检子任务且与各机巢及无人机对应的调度指令，所述巡检子任务包括无人机巡检路径，所述机巢包括协同巡检的固定式机巢以及移动式机巢；The inspection task sequence is divided into tasks to generate a plurality of scheduling instructions including inspection subtasks and corresponding to each aircraft nest and UAV. The inspection subtasks include UAV inspection paths. The machine nest includes fixed machine nests and mobile machine nests for collaborative inspection;
根据所述调控指令控制各机巢及无人机基于所述无人机巡检路径对巡检区域中的电力设备执行自主巡检任务。According to the control instructions, each machine nest and the drone are controlled to perform autonomous inspection tasks on the power equipment in the inspection area based on the drone inspection path.
可选的，处理器401还用于执行：Optionally, processor 401 is also used to execute:
实时获取所述机巢及无人机返回的设备状态信息，基于无人机的所述设备状态信息判断是否存在故障或需要补能；Obtain the equipment status information returned by the aircraft nest and the drone in real time, and determine whether there is a fault or need to recharge based on the equipment status information of the drone;
若判断为无人机存在故障或需要补能，则确定为异常无人机，并优先根据最临近无人机的设备状态信息确定是否能代替所述异常无人机完成剩余未巡检任务；If it is determined that the drone is faulty or needs energy replenishment, it is determined to be an abnormal drone, and priority is given to determining whether it can replace the abnormal drone to complete the remaining uninspected tasks based on the equipment status information of the nearest drone;
若最临近无人机能代替所述异常无人机完成剩余未巡检任务，则将最临近无人机作为辅助无人机，并向所述辅助无人机发出辅助调度指令，控制所述辅助无人机继续执行所述异常无人机的剩余未巡检任务。If the nearest UAV can replace the abnormal UAV to complete the remaining uninspected tasks, the nearest UAV will be used as the auxiliary UAV, and an auxiliary scheduling instruction will be issued to the auxiliary UAV to control the auxiliary UAV. The drone continues to perform the remaining uninspected tasks of the abnormal drone.
可选的，在所述获取巡检一体化调控平台根据待处理工单进行调控后下发的巡检任务序列之前，处理器401还用于执行：Optionally, before obtaining the inspection task sequence issued by the integrated inspection and control platform according to the work order to be processed, the processor 401 is also used to execute:
获取所述次级供电中心、输电运检中心以及变电运检中心上传的待处理工单；Obtain the pending work orders uploaded by the secondary power supply center, transmission transportation inspection center and substation transportation inspection center;
以最大巡检范围为目标，根据多个所述待处理工单进行机巢调度最优规划，生成所述巡检任务序列。With the maximum inspection scope as the goal, optimal planning of machine nest scheduling is performed based on multiple of the work orders to be processed, and the inspection task sequence is generated.
可选的，在所述获取所述次级供电中心、输电运检中心以及变电运检中心上传的待处理工单之后，处理器401还用于执行获取机巡指挥中心对所述次级供电中心、输电运检中心、变电运检中心上传的待处理工单进行工单调节的工单调节结果，工单调节结果包括各侧上传的待处理工单的时间序列、工单紧急程度序列，其中，所述机巡指挥中心部署在所述输电运检中心。Optionally, after obtaining the pending work orders uploaded by the secondary power supply center, power transmission transportation inspection center and substation transportation inspection center, the processor 401 is also configured to obtain the machine patrol command center's request for the secondary The work order adjustment results of work order adjustment for pending work orders uploaded by the power supply center, transmission transportation inspection center, and substation transportation inspection center. The work order adjustment results include the time sequence of the pending work orders uploaded by each side and the urgency of the work orders. Sequence, wherein the machine patrol command center is deployed at the power transmission transportation inspection center.
可选的，处理器401执行的以最大巡检范围为目标，根据多个所述待处理工单进行机巢调度最优规划，生成巡检任务序列，包括：Optionally, the processor 401 targets the maximum inspection range, performs optimal planning of machine nest scheduling based on multiple to-be-processed work orders, and generates an inspection task sequence, including:
根据所述多个待处理工单确定待巡检电力设备的整体巡检区域以及多个待巡检机巢；Determine the overall inspection area of the power equipment to be inspected and multiple machine nests to be inspected based on the multiple work orders to be processed;
根据所述待巡检电力设备的整体巡检区域中多个所述待巡检机巢的巡检范围，确定是否完整覆盖所述整体巡检区域；Determine whether the entire inspection area is completely covered according to the inspection ranges of multiple machine nests to be inspected in the overall inspection area of the power equipment to be inspected;
若完整覆盖所述整体巡检区域，则根据所述待巡检机巢中无人机的当前状态数据，以及所述整体巡检区域的各所述待巡检电力设备的位置信息及电力线路，确定无人机巡检路径；If the overall inspection area is completely covered, then based on the current status data of the drone in the nest to be inspected, as well as the location information and power lines of each of the power equipment to be inspected in the overall inspection area , determine the drone inspection path;
基于所述无人机巡检路径、所述待处理工单的时间序列及所述工单紧急程度序列生成所述巡检任务序列。The inspection task sequence is generated based on the drone inspection path, the time sequence of the work orders to be processed, and the urgency sequence of the work orders.
可选的，处理器401执行的基于所述无人机巡检路径、所述待处理工单的时间序列及所述工单紧急程度序列生成所述巡检任务序列，包括：Optionally, the processor 401 executes generating the inspection task sequence based on the drone inspection path, the time sequence of the work orders to be processed, and the urgency sequence of the work orders, including:
根据所述工单紧急程度序列确定各所述待处理工单中不同机巢及无人机的巡检任务执行优先级；Determine the execution priority of inspection tasks for different nests and drones in each of the pending work orders according to the urgency sequence of the work orders;
若处于同一所述执行优先级，则根据所述待处理工单的时间序列将所述待处理工单基于先后顺序排列；If they are at the same execution priority, then the work orders to be processed are arranged in sequence according to the time sequence of the work orders to be processed;
将排列后的每一所述待处理工单与对应的所述无人机巡检路径作为一个巡检子任务，根据多个巡检子任务基于排列顺序构建得到所述巡检任务序列，所述巡检任务序列为先入先出队列。Each of the arranged work orders to be processed and the corresponding drone inspection path are regarded as an inspection subtask, and the inspection task sequence is constructed based on the arrangement order based on multiple inspection subtasks, so The above inspection task sequence is a first-in-first-out queue.
可选的，根据所述待巡检电力设备的整体巡检区域中多个所述待巡检机巢的巡检范围，确定是否完整覆盖所述整体巡检区域之后，处理器401还用于执行：Optionally, after determining whether the overall inspection area is completely covered according to the inspection ranges of multiple machine nests to be inspected in the overall inspection area of the power equipment to be inspected, the processor 401 is also configured to implement:
若未完整覆盖所述整体巡检区域，则获取未覆盖区域以及所述未覆盖区域中待巡检电力设备的位置信息与线路信息；If the overall inspection area is not completely covered, obtain the uncovered area and the location information and line information of the power equipment to be inspected in the uncovered area;
根据所述待巡检电力设备的位置信息与线路信息调度人机协同侧的无人机执行协同巡检。According to the location information and line information of the power equipment to be inspected, the drone on the human-machine collaborative side is scheduled to perform coordinated inspection.
本发明实施例提供的电子设备能够实现上述方法实施例中电网多侧无人机协同巡检控制方法实现的各个过程，且可以达到相同的有益效果。为避免重复，这里不再赘述。The electronic equipment provided by the embodiments of the present invention can implement each process implemented by the multi-side drone coordinated inspection and control method in the above method embodiment, and can achieve the same beneficial effects. To avoid repetition, they will not be repeated here.
需要指出的是，本技术领域技术人员可以理解，这里的电子设备是一种能够按照事先设定或存储的指令，自动进行数值计算和/或信息处理的设备，其硬件包括但不限于微处理器、专用集成电路(Application Specific Integrated Circuit，ASIC)、可编程门阵列(Field－Programmable GateArray，FPGA)、数字处理器(Digital Signal Processor，DSP)、嵌入式设备等。电子设备可以是桌上型计算机、笔记本、掌上电脑及云端服务器等计算设备。电子设备可以通过键盘、鼠标、遥控器、触摸板或声控设备等方式进行人机交互。It should be pointed out that those skilled in the art can understand that the electronic device here is a device that can automatically perform numerical calculations and/or information processing according to preset or stored instructions. Its hardware includes but is not limited to microprocessors. processor, application specific integrated circuit (Application Specific Integrated Circuit, ASIC), programmable gate array (Field-Programmable GateArray, FPGA), digital processor (Digital Signal Processor, DSP), embedded devices, etc. Electronic devices can be computing devices such as desktop computers, notebooks, PDAs, and cloud servers. Electronic devices can provide human-computer interaction through keyboards, mice, remote controls, touch pads, or voice-activated devices.
本发明实施例还提供一种计算机可读存储介质，计算机可读存储介质上存储有计算机程序，该计算机程序被处理器执行时实现本发明实施例提供的电网多侧无人机协同巡检控制方法的各个过程，且能达到相同的技术效果，为避免重复，这里不再赘述。Embodiments of the present invention also provide a computer-readable storage medium. A computer program is stored on the computer-readable storage medium. When the computer program is executed by a processor, the multi-side unmanned aerial vehicle collaborative inspection control of the power grid provided by the embodiment of the present invention is implemented. Each process of the method can achieve the same technical effect. To avoid repetition, it will not be described again here.
需要说明的是，可读存储介质包括闪存、硬盘、多媒体卡、卡型存储器(例如，SD或DX存储器等)、随机访问存储器(RAM)、静态随机访问存储器(SRAM)、只读存储器(ROM)、电可擦除可编程只读存储器(EEPROM)、可编程只读存储器(PROM)、磁性存储器、磁盘、光盘等。在一些实施例中，存储器可以是电子设备的内部存储单元，例如该电子设备的硬盘或内存。在另一些实施例中，存储器也可以是电子设备的外部存储设备，例如该电子设备上配备的插接式硬盘，智能存储卡(Smart Media Card,SMC)，安全数字(Secure Digital,SD)卡，闪存卡(Flash Card)等。当然，存储器还可以既包括电子设备的内部存储单元也包括其外部存储设备。本实施例中，存储器通常用于存储安装于电子设备的操作装置和各类应用软件，例如电网多侧无人机协同巡检控制方法的程序代码等。此外，存储器还可以用于暂时地存储已经输出或者将要输出的各类数据。It should be noted that readable storage media include flash memory, hard disk, multimedia card, card-type memory (for example, SD or DX memory, etc.), random access memory (RAM), static random access memory (SRAM), read-only memory (ROM) ), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), magnetic memory, magnetic disks, optical disks, etc. In some embodiments, the memory may be an internal storage unit of the electronic device, such as a hard drive or memory of the electronic device. In other embodiments, the memory may also be an external storage device of the electronic device, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), or a secure digital (SD) card equipped on the electronic device. , Flash Card, etc. Of course, memory may also include both the internal storage unit of the electronic device and its external storage device. In this embodiment, the memory is usually used to store operating devices and various application software installed on electronic equipment, such as program codes for multi-side drone coordinated inspection control methods of the power grid, etc. In addition, the memory can also be used to temporarily store various types of data that have been output or will be output.
本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程，是可以通过计算机程序来指令相关的硬件来完成，的程序可存储于一计算机可读取存储介质中，该程序在执行时，可包括如上述各方法的实施例的流程。其中，的存储介质可为磁碟、光盘、只读存储记忆体(Read-Only Memory，ROM)或随机存取存储器(Random Access Memory，简称RAM)等。Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be implemented by instructing relevant hardware through a computer program. The program can be stored in a computer-readable storage medium, and the program can be executed when executed. When doing so, it may include the processes of the above method embodiments. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only memory (Read-Only Memory, ROM) or a random access memory (Random Access Memory, referred to as RAM), etc.
以上所述之具体实施方式为本发明电网多侧无人机协同巡检控制方法的较佳实施方式，并非以此限定本发明的具体实施范围，本发明的范围包括并不限于本具体实施方式，凡依照本发明之形状、结构所作的等效变化均在本发明的保护范围内。The specific implementations described above are preferred implementations of the power grid multi-side UAV collaborative inspection and control method of the present invention, and are not intended to limit the specific implementation scope of the present invention. The scope of the present invention includes but is not limited to the specific implementations. , all equivalent changes made in accordance with the shape and structure of the present invention are within the protection scope of the present invention.
| Application Number | Priority Date | Filing Date | Title |
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| CN202311053265.3ACN117111633A (en) | 2023-08-21 | 2023-08-21 | A multi-side drone coordinated inspection control method, system and related equipment for the power grid |
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| CN202311053265.3ACN117111633A (en) | 2023-08-21 | 2023-08-21 | A multi-side drone coordinated inspection control method, system and related equipment for the power grid |
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| CN119321770A (en)* | 2024-12-18 | 2025-01-17 | 广州新创航宇电子科技有限公司 | Distributed unmanned aerial vehicle detecting system |
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