CN111352440A - Unmanned aerial vehicle system used in transformer substation - Google Patents

Abstract

The invention discloses an unmanned aerial vehicle system used in a substation, belonging to the technical field of electric power equipment. There are detection points on it to reflect the operating status; the drone flies in the station according to the preset, passing through the internal equipment with detection points; the acquisition device moves with the drone, obtains the data of each detection point, and records the data of each detection point. The acquired data is transmitted to the processing device in real time; the processing device judges whether the internal equipment is normal through the data, and when the internal equipment is abnormal, it sends a control signal to control the execution device to eliminate the equipment failure operation; the application realizes the automatic cruise of the drone in the substation, and It can eliminate the faults of key points in time, improve the detection efficiency compared with the human patrol mode, and can meet the timeliness and normative requirements of the operation in the substation at the same time.

Description

UAV systems for use in substations

technical field

The invention relates to the technical field of power equipment, and in particular, to an unmanned aerial vehicle system used in a substation.

Background technique

In recent years, with the continuous improvement of the power industry's requirements for safe production, the development of drones, navigation technology, and communication technology has matured, and the application of drones in the power system has increased; many domestic and foreign companies are also trying UAVs are used as an auxiliary means to carry out the construction and operation and maintenance of the power system.

However, it is difficult to fully realize the drone cruise. First, because the drone is cruising indoors and is affected by the strong electromagnetic force in the substation, it is impossible to use GPS or other satellite technologies to locate the drone indoors; second It is the substation that is directly related to the safety of people's lives and property, and the situation in it is complicated. When a fault occurs, the drone cannot be given all the processing authority. Therefore, how to reasonably control the processing authority of the drone is also a big problem; the third is , how to process the collected data even after the drone collects the data to prevent the further expansion of faults in the substation; the fourth is how to improve the collection efficiency of the drone in the process of collecting data; these are to realize the drone cruise and need to be solved urgently The problem.

SUMMARY OF THE INVENTION

In view of the deficiencies in the above technologies, the present invention provides an unmanned aerial vehicle system for use in a substation, which can realize the automatic cruise of the unmanned aerial vehicle in the substation, detect the data of each key point in the substation, and eliminate the key points in time. It can improve the detection efficiency compared with the human patrol mode.

In order to achieve the above purpose, the present invention provides an unmanned aerial vehicle system for use in a substation, including an unmanned aerial vehicle and a plurality of internal equipment of the substation, and the internal equipment of the substation is provided with a detection point for reflecting the operating state;

Positioning device: The positioning device is used to position the UAV;

Acquisition device: The acquisition device is mounted on the UAV and moves with the UAV; and obtains the data information on the detection point;

Processing device: It is used to judge whether the internal equipment is normal through the detection point data, and send a control signal when the equipment is abnormal;

Execution device: used to receive the control signal sent by the processing device, and make corresponding actions to eliminate the fault of the detection point;

The drone flies in the changing station according to the preset, passing through the internal equipment with detection points; the acquisition device moves with the drone, acquires the data of each detection point, and transmits the acquired data to the processing device in real time; the processing device passes the The detection data determines whether the internal equipment is normal. When the internal equipment is abnormal, a control signal is sent to control the execution device to eliminate the equipment failure.

Wherein, the positioning device includes a positioning base station set on the ground, and the number of positioning base stations is at least 4; and the positioning base station and the UAV are connected through high-frequency communication.

Wherein, it is characterized in that the data collected by the collecting device includes the position information of the internal equipment; and at least one of the three parameters of voltage, image and temperature of the detection point on the interior.

Among them, the processing device includes a fault judging device. After the processing device receives the data received by the collecting device, if the fault judgment determines that the internal equipment is abnormal, it first divides the abnormal equipment into fault grades, and then sends out corresponding control signals; the fault grades include conventional Faults, medium faults, and critical faults.

Among them, it also includes an alarm device arranged on the ground. When the failure level is a serious failure, the processing device sends an alarm signal to the alarm device.

Among them, it also includes a fault solution generating device and an authority judging device. When the fault level is a common fault or an intermediate fault, the fault solution generating device first generates a fault solution, and the authority judging device judges the execution authority of the fault solution. If the execution authority of the drone is granted, the processing device directly sends out a control signal.

Among them, it also includes the central system of the substation and the requesting device. If the execution authority of the fault solution exceeds the execution authority of the drone, the requesting device will send the command to be executed to the central system; after the central system authorizes the request command, the processing device will Send a control signal.

Among them, it also includes a re-measurement device. The re-measurement device controls the acquisition device to re-collect the data of the detection points after the implementation device implements the solution, and the fault device determines whether the fault still exists; when the detection device determines that the fault exists, the fault solution generation device is based on The acquisition data of the acquisition device regenerates the fault solution.

Among them, when the UAV flies in the substation according to the preset route, it will conduct periodic inspections in the substation according to the set interval; there are multiple preset routes, and the UAV is selected to inspect the route without serious failure.

The execution device performs a troubleshooting operation after receiving the command sent by the processing device, or receives manual control to perform a troubleshooting operation.

The beneficial effects of the present invention are as follows: the unmanned aerial vehicle system used in the substation provided by the present invention includes an unmanned aerial vehicle and a plurality of internal equipment of the substation, and the internal equipment of the substation is provided with a detection point for reflecting the operating state; and a positioning device, Acquisition device, processing device, and execution device: The drone flies in the substation according to the preset, passing through the internal equipment with detection points; the acquisition device moves with the drone to obtain the data of each detection point, and will obtain the data Real-time transmission to the processing device; the processing device judges whether the internal equipment is normal by detecting data, and when the internal equipment is abnormal, it sends a control signal to control the execution device to eliminate the equipment failure; Automatic cruise, detects the data of each key point in the substation, and eliminates the fault of the key point in time, which improves the detection efficiency compared with the human patrol mode.

Description of drawings

Fig. 1 is a comparison table of the advantages and disadvantages of the present invention and robot cruise and UAV line inspection;

Fig. 2 is the schematic diagram of the communication between the unmanned aerial vehicle, the processing device and the central system of the present invention;

FIG. 3 is a block diagram showing the structural relationship of each device of the present invention.

The main component symbols are explained as follows:

1. UAV; 2. Central system; 3. Processing device; 4. Execution device; 11. Positioning device; 12. Acquisition device; 31. Identification device; 32. Fault solution generation device; 33. Authority judgment device; 34. Request device.

Detailed ways

In order to express the present invention more clearly, the present invention will be further described below with reference to the accompanying drawings.

The traditional on-duty patrol of substations is the human patrol mode. With the development of technology, the drone on-duty scheme of robot automatic patrol and the method of drone line inspection have appeared in the existing technology, but these two methods are both. It is suitable for the detection of external equipment in substations.

Power station inspection robots include organic electronic integration technology, electromagnetic compatibility technology, multi-sensor fusion technology, navigation and behavior planning technology, safety technology, robot vision technology, stable wireless transmission technology, etc., which are integrated into a fully autonomous or remotely controlled by personnel. In the system; inspection robots are mainly used for unattended or unattended substation inspections. Using a large number of inspection robots can reduce the use of personnel and reduce the loss of some human factors, thereby speeding up the operation speed and quality of the power grid and reducing the power supply. The personnel cost in the system is improved, and the operation efficiency of the power supply system is improved. Especially in some substations with harsh natural environment, such as relatively complex geographical conditions, long distances from towns, etc., the work of inspectors is relatively difficult, the quality of work is relatively difficult to guarantee, and more advanced inspection tools are needed to make the inspection cycle relatively short. Hidden dangers and defects are found in the process, and the use of robot inspection can make the power system work better.

UAV line inspection (RTK), mainly for the maintenance and inspection of power lines in transmission corridors with large spans and mountainous areas, UAV 1 has unique advantages, especially in bad weather, UAV 1 It can carry out key monitoring on disaster-prone areas, and send back on-site data from time to time; at the same time, UAV 1 can also be used for security inspections in high-risk places such as nuclear power plants, and UAV 1 with sufficient lift in complex terrain can be used for The erection of power lines provides great convenience.

However, whether it is robot cruise or drone inspection, it is impossible to perform inspection in the power station room; for the mode of trackless robot and drone line inspection, due to the strong electromagnetic interference in the power station room, GPS positioning is not accurate indoors. , so it cannot be used; at the same time, the indoor space of the substation is limited and it is difficult to set up the track, and it is difficult for the orbital robot to conduct inspections in the substation room; refer to Figure 1, which is the unmanned aerial vehicle system used in the substation of the application and the current There is a comparison table between the robot inspection in the technology and the outdoor inspection by the drone 1.

In addition to the inability to achieve GPS positioning, the processing of indoor equipment failures in substations must be timely and standardized, which is also an important reason why the existing technology cannot conduct inspections in substations.

The present invention provides an unmanned aerial vehicle system used in a substation, including an unmanned aerial vehicle 1 and a plurality of internal equipment of the substation, and the internal equipment of the substation is provided with a detection point for reflecting the operation state;

Positioning device 11: The positioning device 11 is used for positioning the UAV 1;

Acquisition device 12: The acquisition device 12 is mounted on the UAV 1 and moves with the UAV 1; and acquires data information on the detection point;

Processing device 3: used to judge whether the internal equipment is normal through the detection point data, and send a control signal when the equipment is abnormal;

Execution device 4: used to receive the control signal sent by the processing device 3, and perform corresponding actions to eliminate the fault of the detection point;

The UAV 1 flies in the changing station according to the preset, passing through the internal equipment with detection points; the acquisition device 12 moves with the UAV 1, acquires the data of each detection point, and transmits the acquired data to the processing device 3 in real time ; The processing device 3 judges whether the internal equipment is normal through the detection data, and when the internal equipment is abnormal, it sends a control signal to control the execution device 4 to eliminate the equipment failure.

In this embodiment, the positioning device 11 includes positioning base stations arranged on the ground, the number of positioning base stations is at least three, and each base station generates a local area network covering the substation. The drone 1 is provided with a navigation system, and the drone 1 is in Any position of the substation can be connected to the local area network of the base station, in which the positioning base station and the navigation system of UAV 1 are connected through high-frequency communication, and the positioning of UAV 1 is realized through TOF or TDOA algorithm; the number of base stations is 4-6 When the time is appropriate, it can not only meet the positioning accuracy requirements of UAV 1 when flying in the substation, but also control the cost; increasing the number of base stations cannot greatly improve the positioning accuracy.

In this embodiment, the positioning accuracy is high, up to 10cm, which can meet the operation requirements of the UAV 1 in a small and complex power station; the navigation system adopts ultra-high frequency and ultra-broadband radio communication, and it is easy to integrate positioning and communication. , has strong penetrating ability, and can accurately locate indoors and underground, while GPS positioning system can only work within the visible range of GPS positioning satellites. Unlike GPS, which provides absolute geographic location, ultra-short pulse locator can Given the relative position, its positioning accuracy can reach centimeter level.

In this embodiment, the smaller the wheelbase of the UAV 1, the safer it is, and it can maintain a safe enough distance from various equipment in the substation to facilitate detection; at the same time, the UAV 1 cannot be too small, and the carrying capacity will be insufficient if it is too small. To carry some communication or testing equipment; the wheelbase of UAV 1 is 500-650mm, and the carrying capacity is 3kg-10kg; at the same time, the body part of UAV 1 is made of non-conductive materials, and metal paper, metal mesh, and metal shell are added to other parts. , and other highly conductive materials for electromagnetic shielding; the body material of UAV 1 should have high specific strength and low density to reduce the structural weight of the aircraft, improve flight performance or increase economic benefits, and should also have good machinability It is easy to make the required parts; for example: carbon fiber composite materials, glass fiber composite materials, honeycomb sandwich composite materials, etc.

The ultra-high frequency communication method in this embodiment has strong anti-interference ability, can provide accurate positioning data, and the signal is stable; compared with GPS and Beidou system, the navigation data is provided, which eliminates the influence of weather, geographical location, electromagnetic radiation and other factors on the navigation signal. impact, ensuring the safety of UAV 1.

The navigation data is stable; the UHF and UWB ad hoc network system can provide persistent and stable data, which can not only meet the needs of navigation data, but also use its UHF and UWB characteristics to transmit the data obtained by UAV 1 for the power station. High-definition image and high-definition video data stream with good stability and no lag.

The navigation system is simple in structure; the system does not use a carrier, it transmits data signals by sending nanosecond pulses. The transmitter directly uses a small pulsed excitation antenna, which does not require the up-conversion required by traditional transceivers, does not require power amplifiers and mixers, and does not require intermediate frequency processing at the receiving end, and uses a very low-cost broadband transmitter. High efficiency, low cost and low failure rate.

The transmission rate is fast, up to 500Mbit/s, and the maximum transmission rate can be up to 1000Mbps. It is an ideal modulation technology to realize personal communication and wireless local area network. It trades a very wide frequency bandwidth for high-speed data transmission, and does not occupy the already crowded frequency resources alone, but shares the frequency band used by other wireless technologies.

High security; as the physical layer technology of the communication system, it has natural security performance. Since the energy of the navigation signal of the base station is dispersed in a very wide frequency band, it is equivalent to a white noise signal for a general communication system. In most cases, the power spectral density of the signal is lower than that of natural electronic noise. It is very difficult to detect the pulse signal. After the pulse parameters are pseudo-randomized by coding, the detection of the pulse will be more difficult, so the confidentiality is extremely strong.

Accurate positioning: Impulse has high positioning accuracy, using ultra-wideband radio communication, it is easy to integrate positioning and communication, which is difficult for conventional radios to achieve; Accurate positioning indoors and underground, while GPS positioning system can only work within the visible range of GPS positioning satellites; unlike GPS, which provides absolute geographic position, ultra-short pulse locator can give relative position, and its positioning accuracy can reach centimeters class.

In this embodiment, the data collected by the collection device 12 includes the position information of the internal equipment; and at least one of the three parameters of voltage, image and temperature of the detection point on the interior; in this embodiment, the drone 1 is detecting When using temperature data, use an infrared temperature measuring instrument to detect the temperature of the detection point, and use a voltage tester to detect the voltage of the detection belt; use a CCD camera and an infrared thermal imager to obtain the external visual image and infrared thermal image of the equipment detection point respectively. Figure; ordinary visual images can directly identify the external abnormality of the equipment, but it is difficult to intuitively detect the abnormality inside the equipment; therefore, infrared imaging images are needed to identify and judge the possible faults of the equipment; infrared images reflect the target and background The spatial distribution of infrared radiation is mainly determined by the temperature and emissivity of the observed scene, so the infrared image roughly reflects the temperature difference or radiation difference of the scene, and the location of the fault inside the equipment is obtained accordingly.

Please refer to Fig. 2, the UAV 1 acquires the data and transmits it to the processing device 3; the data is transmitted in real time, that is, uploading while detecting; The data is transmitted to the drone 1, and then to the processing device 3 through the drone 1; Data is transmitted wirelessly between the machine 1 or the detection device.

In this embodiment, the points to be detected in the substation usually include points on primary equipment and secondary equipment. The specific primary equipment refers to equipment that directly produces, transmits, distributes and uses electrical energy, mainly including transformers, high-voltage circuit breakers , isolating switches, busbars, arresters, capacitors, reactors, etc.; secondary equipment refers to equipment that measures, monitors, controls and protects the operating conditions of primary equipment and systems. It mainly consists of relay protection devices, automatic devices. , measurement and control devices (current transformers, voltage transformers), metering devices, automation systems, and DC equipment that provide power for secondary equipment.

Please refer to FIG. 3 , in this embodiment, the processing device 3 includes a fault judging device 31, a fault solution generating device 32 and an authority judging device 33; In the event of an abnormality, the abnormal equipment is first classified into the fault level, and then the corresponding control signal is issued; the fault level includes normal fault, intermediate fault and serious fault.

When judging the fault type, the fault type is judged according to the image information and voltage or/and temperature information. After the specific processing device 3 receives the data uploaded by the acquisition device 12, it first identifies the type of the data; if it is the value of voltage or temperature; Compare the data value with the data field value to determine the failure level; if the data is image information, the image recognition system should compare the uploaded picture with the stored picture in the original picture library to determine the failure level.

On the equipment of the substation, the temperature, voltage difference and image are the parameters that can best reflect the status of the equipment, but it cannot be judged that the equipment is working normally because one or two of the data are normal; only all the data can be obtained. The conclusion of the normal operation of the equipment; for example, when the temperature is high, the image recognition may not be abnormal; but if the temperature is too high, it will also cause oil leakage, and the image recognition will also fail at this time, so it needs to be based on the three. The data can jointly judge the fault level.

For example: when the data is a temperature or voltage value; if the data is within the first area value, it is no fault, indicating that the temperature or voltage of the device is normal, and if the image recognition judgment is also normal at this time, it means that the device is running normally; When the data value is within the second area value and the image information is normal, it is a normal fault; when the data value is within the third area value, it is judged as a mid-level fault; when judging the type of fault through the image, it is the drone 1 The collected image information is compared with the pre-stored pictures for intelligent identification; when it is judged that the image information is abnormal, it is further judged according to the voltage or/and temperature information. Within the third area value, it is judged as an intermediate fault, and when the data value is within the fourth area value (including the endpoint value), it is judged as a serious fault.

When the fault level is a normal fault or an intermediate fault, the fault solution generation device 32 generates a fault solution first, and the authority judgment device 33 judges the execution authority of the fault solution. If the execution authority of the UAV 1 is not exceeded, the processing device 3 The control signal is directly sent out, and the execution device 4 performs the corresponding action of eliminating the fault of the detection point.

If the execution authority of the fault solution exceeds the execution authority of the UAV 1, the requesting device 34 sends a command to request execution to the central system 2; after the central system 2 authorizes the requested command, the processing device 3 sends a control signal.

Example 1:

When the temperature value of the transformer is within the second area value (including the end point value); it can be characterized as a conventional fault, and the actuator first detects whether the equipment is overloaded; if it is determined to be overloaded, the fault solution generation device 32, An operation of closing a partial load is generated. If the execution of the closing operation is within the scope of authority, the processing device 3 sends a control signal to the executing device 4, and the executing device 4 executes the operation of closing the partial load.

Embodiment 2:

For example, when the detection point is a measurement and control device, and the temperature data is too high, the solution generated by the fault solution generation device 32 is to stop working for a few minutes, and the authority judgment device 33 judges that the execution authority is an unauthorized scheme; requesting the authorization device to send a permission request to the center In system 2, after the decision-maker agrees to authorize the central system 2, the processing device 3 sends a control signal to the execution device 4, and the execution device 4 controls the measurement and control device to power off for a few minutes.

In this embodiment, if the decision maker does not agree to the authorization, the fault is directly and manually processed separately; the processing device 3 does not send a control signal for the solution of the fault.

Example 3:

When the whole transformer is damaged due to an accident and needs to be replaced by power outage, the data collected by the acquisition device 12 at this time is to detect that the voltage value of the transformer and the equipment connected to it is within the fourth region value, and the fault determination device 31 determines that it is a serious fault; The processing device 3 sends a signal to the alarm device, and at the same time sends out an alarm to notify the personnel in the substation to maintain it in time; after receiving the alarm and knowing the reason, the substation personnel report to the superior in time, requesting power-off maintenance in a certain area; after the superior issued the approval document , the substation personnel issue orders through the control center in time to control the executive agency to perform the power-off operation in the designated area; in the event of a serious fault, the alarm function is added to ensure that the serious fault can be dealt with in the first time.

In addition to receiving commands sent by the processing device 3 and responding accordingly, the execution device 4 can also receive manual control to perform troubleshooting operations; it is suitable for manual processing and troubleshooting when a serious fault occurs.

In this embodiment, after receiving the detected data, the processing device 3 determines whether a fault occurs at the detection point, and if a fault occurs, a troubleshooting response is made; because the traditional mode optimization of "human patrol" is changed to the mode of "machine patrol" , UAV 1 cannot be as flexible as a human being. After a fault is found, it can immediately repair the fault according to the actual situation; therefore, it is necessary to report the detection data; if all faults are notified manually to troubleshoot the fault, the efficiency is not high; but many in the substation The operation is extremely strict, and it cannot all rely on machine control to eliminate faults; for example, some faults can only be repaired after a power failure, and the power failure can only be carried out after obtaining the instructions or documents issued by the superior competent department, and the personnel in the substation have no right to do it themselves. Power failure; if the machine is repaired at this time, the machine will automatically cut off the power for maintenance. This kind of unauthorized power failure will endanger the safety of people's lives and property; at the same time, the machine's ability to control and troubleshoot is limited, and it still requires human cooperation to complete the machine. Troubleshooting, when to let people cooperate with the machine to troubleshoot is also a problem. Therefore, in order to improve the efficiency of maintenance and ensure the progress of daily work, it is necessary to identify the level of the fault first, and then notify the substation staff according to the level of the fault. In order to achieve efficient and accurate maintenance of the normal operation of various equipment in the substation.

In the above-mentioned several examples, a re-measurement device is also included. The re-measurement device controls the acquisition device 12 to re-collect the data of the detection points after the implementation device 4 implements the solution, and the failure device determines whether the failure still exists; the detection device determines that the failure exists. , the fault solution generating device 32 regenerates the fault solution according to the collected data of the collecting device 12 . When the detection device determines that the fault is eliminated, the drone 1 flies to the next detection point.

When the UAV 1 flies in the substation according to the preset route, it will conduct periodic inspections in the substation according to the set interval time; there are multiple preset routes, and the UAV 1 will select the route that does not have serious faults before taking off. check.

Before UAV 1 cruises, stay in UAV 1's nest; and set different signs on different UAV 1 in advance to distinguish UAV 1; set UAV 1 according to Set the route to cruise once; after the cruise, return to the drone 1 nest. There is a robot in the drone 1 nest to replace the battery. The robot has a battery charging function and carries a spare battery. On the battery replacement platform, the robot will replace the battery and charge the battery, so as to meet the requirements of continuous inspection, which can carry out continuous inspection and reduce the work intensity of the inspection personnel; the cruise route of UAV 1 is preset to many It includes the default cruise route and the backup cruise route 1/2/3; UAV 1 can receive the manually set voyage before taking off, and the backup cruise route will be activated when the equipment of the default cruise route fails seriously. If the default cruise route If there is no serious failure of the equipment, it will fly according to the default cruise route.

In this embodiment, the acquisition device 12 includes a voltage detector, a thermal imager, an infrared camera, and a high-definition camera, which are respectively responsible for measuring voltage, temperature, and acquiring infrared images and visual pictures; thermal imager, infrared camera, and high-definition camera. All are set in the box; the lower part of the UAV 1 is provided with support legs, the main box and the support legs are rotatably connected, and infrared imaging images and visual pictures of different angles are obtained by rotating the angle between the main box and the support legs.

In this embodiment, after the acquisition device 12 transmits data to the processing device 3, the processor determines the fault type; at the same time, the detection data and the fault type data are uploaded to the central system 2, and the center stores the data of each detection, and generates a fault level detection log ; Substation personnel can query the inspection diary to form a scientific and reasonable inspection system. At the same time, they can judge the cause of a fault at a certain point through the inspection data of the inspection diary, so as to prevent the occurrence of the fault in the future.

In the actual detection process, the drone 1 flies from the starting point to the end point of the preset route for a complete detection. The substation sets the number of complete detections in each cycle of the drone 1 according to the actual situation, and the interval of each cycle cruise. The time, in a specific example, can be set to include at least 2 complete detections per cycle; to improve the scientificity of the detection of the UAV 1 .

The advantages of the present invention are:

1. The ultra-high frequency communication connection between the base station and the UAV is used to realize indoor positioning, with high positioning accuracy and stable data transmission, which solves the problem that GPS cannot be positioned indoors in substations;

2. Upload the collected data to the processing device in real time, and the processing device can control the execution device and perform the operation of troubleshooting, which can deal with the fault in the substation in the first time to avoid the expansion of the fault;

3. When the processing device controls the execution device, it is necessary to determine the execution authority to meet the requirements of high internal and high standardization in the substation;

4. Divide the fault level so that the fault can be handled as soon as possible, which is suitable for the timeliness of fault handling in the substation.

The above disclosures are only a few specific embodiments of the present invention, but the present invention is not limited thereto, and any changes that can be conceived by those skilled in the art should fall within the protection scope of the present invention.

Claims (10)

1. an unmanned aerial vehicle system for use in a substation, comprising an unmanned aerial vehicle and a plurality of internal equipment of the substation, the internal equipment of the substation is provided with a detection point for reflecting the operating state; it is characterized in that, also includes Positioning device: The positioning device is used to position the UAV; Acquisition device: The acquisition device is mounted on the UAV and moves with the UAV; and obtains the data information on the detection point; Processing device: It is used to judge whether the internal equipment is normal through the detection point data, and send a control signal when the equipment is abnormal; Execution device: used to receive the control signal sent by the processing device, and make corresponding actions to eliminate the fault of the detection point; The drone flies in the changing station according to the preset, passing through the internal equipment with detection points; the acquisition device moves with the drone, acquires the data of each detection point, and transmits the acquired data to the processing device in real time; the processing device passes the The detection data determines whether the internal equipment is normal. When the internal equipment is abnormal, a control signal is sent to control the execution device to eliminate the equipment failure. 2. The unmanned aerial vehicle system for use in a substation according to claim 1, wherein the positioning device comprises a ground positioning base station, and the number of positioning base stations is at least 4; and between the positioning base station and the unmanned aerial vehicle connected by high frequency communication. 3. The unmanned aerial vehicle system for use in a substation according to claim 1, wherein the data collected by the collecting device comprises internal equipment position information; and among the three parameters of voltage, image and temperature of the internal detection point at least one. 4. The unmanned aerial vehicle system used in the substation according to claim 3 is characterized in that, the processing device comprises a fault judging device, after the processing device receives the data received by the collecting device, if the fault judging and judging that the internal equipment is abnormal, the first The abnormal equipment is divided into fault grades, and then the corresponding control signals are sent out; the fault grades include normal faults, intermediate faults and serious faults. 5. The unmanned aerial vehicle system for use in a substation according to claim 4, further comprising an alarm device arranged on the ground, and when the failure level is a serious failure, the processing device sends an alarm signal to the alarm device. 6. The unmanned aerial vehicle system for use in a substation according to claim 4, further comprising a fault solution generating device and an authority judging device, when the fault level is a conventional fault or an intermediate fault, the fault solution generating device The device first generates a fault solution, and the authority judgment device judges the execution authority of the fault solution. If the execution authority of the drone is not exceeded, the processing device directly sends a control signal. 7. The unmanned aerial vehicle system for use in a substation according to claim 6, further comprising a central system and a requesting device of the substation, if the execution authority of the fault solution exceeds the execution authority of the unmanned aerial vehicle, then The requesting device sends a command for requesting execution to the central system; after the central system authorizes the requesting command, the processing device sends a control signal. 8. The unmanned aerial vehicle system for use in a substation according to claim 7, further comprising a re-measurement device, and the re-measurement device controls the acquisition device to re-collect the data of the detection point after the execution device implements the solution, The fault device determines whether the fault still exists; when the detection device determines that the fault exists, the fault solution generating device regenerates the fault solution according to the collected data of the collecting device. 9. The unmanned aerial vehicle system for use in a substation according to claim 5, characterized in that, when the unmanned aerial vehicle flies in the substation according to a preset route, periodic inspection is carried out in the substation according to a set interval; There are multiple preset routes, and the drone is selected to inspect the route without serious failure. 10 . The unmanned aerial vehicle system according to claim 1 , wherein the execution device executes a troubleshooting operation after receiving a command sent by the processing device, or receives manual control to execute a troubleshooting operation. 11 .

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