Research On UAV Inspection Path Planning Of ±500kV Converter Station

The operation and maintenance of converter station is of great significance to the safe and stable operation of HVDC system.Affected by the perspective,the traditional manual inspection is difficult to inspect the upper part of the large equipment in the converter station.UAV can complete all kinds of high-altitude photography,effectively solve the inspection blind area of high-level equipment,and greatly improve the inspection quality and efficiency.The equipment of converter station is complex,there are many kinds of equipment,and the electromagnetic environment is relatively complex.The UAV may have problems such as communication interruption and positioning failure in the area with large electromagnetic field strength.Therefore,this paper first establishes a three-dimensional model of the converter station,simulates and analyzes the electromagnetic field in different areas of the converter station,and plans the inspection path of the UAV according to the minimum safe distance between the UAV and the equipment,so as to avoid the area where the electromagnetic field intensity exceeds the threshold,and ensure the safe and reliable operation of the UAV.The main research contents are as follows :(1)According to the drawings of a converter station,a 1:1 three-dimensional model is established,and a suitable UAV is selected for the inspection work of the converter station.The electromagnetic field of the converter station is simulated and analyzed by using the finite element method,and the electromagnetic field distribution at different heights above the equipment is obtained.The electric and magnetic field strength above the equipment is the largest,and gradually decreases with the increase of the distance,The electric and magnetic field strength of the area above the equipment will drop to the maximum electric field strength of 20 k V / M and the maximum magnetic field strength of 50 ut that the UAV can bear when it works normally.The sub model method is used to analyze the influence of the UAV on the space background electric field of the converter station and the electric field distribution of the two UAVs.The background electric field between the UAV and the equipment will increase,Especially in the vicinity of the tripod,the electric field increases significantly,but the electric field intensity near the main body of the electric field sensitive UAV is within the threshold,which will not affect the UAV.The smaller the volume of UAV,the smaller the electric field,which verifies that the small volume of UAV is more suitable for converter station inspection.(2)According to the electromagnetic field simulation analysis of converter station,the minimum safe distance between UAV and the whole converter station is 4000 mm,the minimum safe distance between UAV and smoothing reactor is 5000 mm and 6000 mm respectively,the minimum safe distance between UAV and DC filter is 3000 mm and 4000 mm respectively,and the minimum safe distance between UAV and disconnector is 5000 mm and6000 mm respectively,The minimum safe distance between the UAV and the converter transformer is 3000 mm.Based on this,the UAV take-off and landing positions are defined as the coordinate origin,and the system coordinate system is established.A total of 84 inspection points are generated according to the inspection requirements of each equipment.The coordinates of these inspection points and the corresponding attitude angle of the camera pan tilt are preliminarily calculated,Finally,according to the location distribution of the equipment,the inspection points are connected in the shortest straight line between the two points in the DC field area and in the converter transformer area in a horizontal and vertical way,and a UAV inspection path is planned,The results show that the UAV can fly safely according to the planned inspection path,and the images are accurate,which verifies the feasibility and rationality of the path.