Research On Substation Detection Planning Method Based On Incremental Sampling

The drone's efficient execution capability,reliable safety and low cost make it the main research object of the power industry inspection mission.The main content of the use of drones for substation inspections is that the drones are equipped with observation equipment and fly to the substation to collect information on the substation equipment.Therefore,planning a fully covered collision-free drone inspection path is critical to accomplishing such a task.This paper studies the division method of substation space,the streamlined filtering of substation site cloud,collision-free track generation and full coverage track generation.Firstly,according to the free space that the UAV can reach in the substation environment,the free space is divided reasonably.At the same time,the modeling of the UAV in the simulation experiment is introduced.Secondly,because the number of original point clouds is huge,direct use will result in the algorithm running very slowly,and it is not conducive to environmental modeling.Therefore,this paper proposes a point cloud filtering algorithm to reduce the original substation site cloud files.Again.after fully considering the safety distance between the UAV and the substation equipment,the obstacles in the substation environment are modeled.Finally,aiming at the shortcomings of the general solution to the full coverage path planning problem,this paper proposes an improved full coverage collision-free path planning algorithm,which can quickly find a random tree connecting all the observation areas in the divided free space.And find a full coverage collision-free inspection path during the flight.The simulation results show that the proposed algorithm can effectively solve the problem of full coverage path planning,and complete the full coverage inspection of substation under the premise of ensuring the flight safety of substation and UAV.