CN-121979278-A - Unmanned aerial vehicle autonomous inspection and live working cooperation method and system

CN121979278ACN 121979278 ACN121979278 ACN 121979278ACN-121979278-A

Abstract

The invention relates to a method and a system for cooperation of autonomous inspection and live working of an unmanned aerial vehicle, and relates to the field of intelligent operation and maintenance of electric power facilities, wherein the method comprises the steps of collecting inspection data of an unmanned aerial vehicle cluster and numbering of the unmanned aerial vehicle; identifying inspection defects and defect positions based on inspection data, responding to the inspection defects to generate required operation capability types, determining unmanned aerial vehicle operation capability based on unmanned aerial vehicle numbers, determining cooperative unmanned aerial vehicle numbers according to the required operation capability types and the unmanned aerial vehicle operation capability types, selecting safe ground reconstruction coordinates according to the defect positions and the cooperative unmanned aerial vehicle numbers, controlling unmanned aerial vehicles corresponding to the cooperative unmanned aerial vehicle numbers to fly to the safe ground reconstruction coordinates, and after the unmanned aerial vehicles arrive, performing ground physical docking at the safe ground reconstruction coordinates to form a combined operation platform in a combined mode, controlling the combined operation platform to go to the defect positions and executing cooperative processing operation. The invention has the effect of improving the efficiency of the operation and maintenance of the electric power facilities.

Inventors

LUO GUIYANG
FANG LING
LI NAN
Guo Shangxia
Xiao Linxian
HOU WEIWEI
LEI XIAOQIAN
LI JINLONG
GUO SONG
LI BINGHUI
LI CHENG
CAI QIANQIAN
WANG JING
AN YUE
CHANG YING

Assignees

北京房供电力工程有限责任公司

Dates

Publication Date: 20260505
Application Date: 20260209

Claims (10)

1. The unmanned aerial vehicle autonomous inspection and live working cooperation method is characterized by comprising the following steps of: Collecting inspection data of an unmanned aerial vehicle cluster and an unmanned aerial vehicle number; Identifying inspection defects and defect locations based on the inspection data; Generating a required type of job capability in response to the inspection defect; Determining unmanned aerial vehicle operation capacity based on the unmanned aerial vehicle number; determining a cooperative unmanned aerial vehicle number according to the type of the required operation capability and the unmanned aerial vehicle operation capability; Selecting safe ground reconstruction coordinates according to the defect positions and the serial numbers of the collaborative unmanned aerial vehicles; Controlling unmanned aerial vehicles corresponding to the cooperative unmanned aerial vehicle numbers to fly to the safe ground reconstruction coordinates, and after the unmanned aerial vehicles arrive, performing ground physical docking at the safe ground reconstruction coordinates to form a combined operation platform; And controlling the composite work platform to go to the defect position and executing the cooperative processing operation.
2. The unmanned aerial vehicle autonomous patrol and live working synergy method of claim 1, further comprising the step of, after determining the unmanned aerial vehicle working capacity based on the unmanned aerial vehicle number: Judging whether the inspection defect needs cooperative operation of at least two unmanned aerial vehicles based on the type of the required operation capability; When the unmanned aerial vehicle is not needed, determining the number of the selected unmanned aerial vehicle according to the type of the needed operation capability and the operation capability of the unmanned aerial vehicle, and controlling the unmanned aerial vehicle corresponding to the number of the selected unmanned aerial vehicle to go to the defect position for defect treatment; Determining at least two job capability subtypes based on the required job capability types when needed; and determining the corresponding collaborative unmanned aerial vehicle number according to at least two job capability subtypes and unmanned aerial vehicle job capabilities.
3. The unmanned aerial vehicle autonomous inspection and live working cooperation method according to claim 1, further comprising a physical docking method: Determining the unmanned aerial vehicle to be docked based on the cooperative unmanned aerial vehicle number, and collecting docking identification information of the unmanned aerial vehicle to be docked and the position of the unmanned aerial vehicle to be docked; calculating the relative attitude deviation among the unmanned aerial vehicles to be docked according to the docking identification information; generating a collaborative adjustment instruction based on the relative gesture deviation, and controlling each unmanned aerial vehicle to be docked to move and adjust the gesture so as to enable all docking mechanisms to form a preset docking gesture; determining a movement path of the unmanned aerial vehicle according to the position of the unmanned aerial vehicle to be docked; controlling the unmanned aerial vehicle to be docked to move along the moving path of the unmanned aerial vehicle, and collecting connection stability data when the docking mechanism completes locking operation; and when the connection stability data reach a preset stability threshold, judging that the physical docking is completed, and generating a composite operation platform ready signal.
4. The unmanned aerial vehicle autonomous patrol and live working cooperation method according to claim 3, further comprising a method for determining safe ground reconstruction coordinates: collecting environmental topography data within a radius range preset by a defect position; Performing planar region identification based on the environmental terrain data to generate a candidate coordinate set; generating a forward distance set of the unmanned aerial vehicle according to the candidate coordinate set and the position of the unmanned aerial vehicle to be docked; Calculating the arrival time of the unmanned aerial vehicle set corresponding to each candidate coordinate based on the unmanned aerial vehicle travel distance set; Collecting meteorological data and electromagnetic field intensity distribution data of an electrified region of an electric power facility; carrying out security risk assessment on each coordinate in the candidate coordinate set by combining meteorological data and electromagnetic field intensity distribution data to obtain a security risk assessment result; and carrying out comprehensive scoring and sorting on each candidate coordinate according to the security risk assessment result and the arrival time of the unmanned aerial vehicle set, and selecting the coordinate with the highest comprehensive scoring and sorting as the selected security ground reconstruction coordinate.
5. The unmanned aerial vehicle autonomous patrol and live working cooperation method according to claim 1, further comprising a foreign matter removal method on an electric power facility: Collecting inspection image information; When the fact that the electric power facilities in the inspection image information contain foreign matter features is detected, the foreign matter material information and the foreign matter winding information are identified based on the inspection image information and the foreign matter features; Judging whether a preset non-contact cleaning condition is met or not based on the foreign matter material information and the foreign matter winding information; when the non-contact cleaning condition is met, collecting the current ambient wind speed; generating vortex stripping parameters and collaborative capturing parameters according to the foreign matter material information, the foreign matter winding information and the current ambient wind speed; The method includes controlling the inspection drone to purge in response to the vortex shedding parameter and the co-capture parameter.
6. The unmanned aerial vehicle autonomous inspection and live working cooperation method according to claim 5, wherein the specific step of controlling the inspection unmanned aerial vehicle to clear in response to the vortex stripping parameter and the cooperative capturing parameter comprises: based on the vortex stripping parameters, stripping array position information, target air flow intensity information and cooperative time sequence information are obtained; acquiring interception path information and capture start time sequence information based on the cooperative capture parameters; Determining a standby position of the capturing unmanned aerial vehicle according to the interception path information, and controlling the capturing unmanned aerial vehicle to fly against the standby position; According to the stripped array position information, controlling the vortex generating unmanned aerial vehicle to fly against the corresponding array position, and simultaneously responding to the target air flow intensity information and the cooperative time sequence information, adjusting the running state of the vortex generating unmanned aerial vehicle so as to generate convergent directional air flow to act on the foreign matters; Collecting foreign matter peeling state information, and judging whether the foreign matter has been peeled from the electric power facility based on the foreign matter peeling state information; When the foreign matter is judged to be stripped, a stripping completion signal is generated, and the capturing unmanned aerial vehicle is controlled to start a capturing device to execute capturing action in response to the stripping completion signal and capturing starting time sequence information.
7. The method of claim 6, wherein the obtaining the interception path information and the capture initiation timing information based on the collaborative capture parameter comprises: Determining the geometric size and the estimated weight of the foreign matter based on the inspection image information and the foreign matter characteristics; calculating an expected initial motion vector according to the geometry of the foreign matter, the estimated weight, the current ambient wind speed and the vortex shedding parameters; Calculating the estimated drift track of the foreign matter in the air according to the estimated initial motion vector; determining an optimal intercept point based on the predicted drift trajectory; The optimal standby position and the arrival time window of the capturing unmanned aerial vehicle are reversely deduced by combining the predicted drifting track and the optimal interception point, so that interception path information is generated; The estimated time for the foreign matter to reach the optimal interception point is calculated based on the estimated drift trajectory, thereby calculating the capture start timing information.
8. The unmanned aerial vehicle autonomous patrol and live working cooperation method according to claim 1, further comprising a state maintenance method of key connection components: acquiring pretightening force data and identification information of an intelligent internet of things on a key connecting part; Judging whether the critical connecting component has insufficient pre-tightening force abnormality or not based on the combination of the pre-tightening force data; When judging that the abnormality exists, matching the corresponding non-contact energy excitation method based on the identification information of the Internet of things; According to the non-contact energy excitation method, the unmanned aerial vehicle is controlled to trigger the intelligent Internet of things to execute self-adjustment.
9. The unmanned aerial vehicle autonomous patrol and live working cooperation method according to claim 8, wherein the non-contact energy excitation method comprises: based on a non-contact energy excitation method, energy type information, focusing parameter information and irradiation duration information are obtained; Controlling the unmanned aerial vehicle to fly and hover at a working position near the intelligent internet of things, transmitting a focused energy beam corresponding to the energy type information according to the focusing parameter information, and continuously irradiating for a duration specified by duration information; Updating the pretension data during emission of the focused energy beam; Judging whether the pre-tightening force is restored to a normal range or not based on the updated pre-tightening force data; when it is judged that the normal range has been restored, the energy excitation device is controlled to stop emission, and a state maintenance completion signal is generated.
10. Unmanned aerial vehicle independently patrols and examines and live working cooperation system, its characterized in that includes: the acquisition module is used for acquiring inspection data and unmanned aerial vehicle numbers; A memory for storing a program for implementing a unmanned aerial vehicle autonomous patrol and live working cooperation method according to any one of claims 1 to 9; And the processor is used for loading and executing the programs stored in the memory.

Description

Unmanned aerial vehicle autonomous inspection and live working cooperation method and system Technical Field The invention relates to the field of intelligent operation and maintenance of electric power facilities, in particular to a method and a system for autonomous inspection and live working cooperation of an unmanned aerial vehicle. Background The unmanned aerial vehicle autonomous inspection and live working cooperation refers to a technical means for completing a closed-loop working process from defect identification to multi-machine collaborative inspection by utilizing an unmanned aerial vehicle through autonomous sensing, intelligent decision and cooperative control under the condition that an electric power facility is not powered off. With the maturation of unmanned aerial vehicle technique, its application in electric power facility inspection field is increasingly extensive. Unmanned aerial vehicle inspection is flexible, efficient and capable of reaching complex areas, unmanned aerial vehicle is utilized for automatic inspection, and defects are found through image recognition technology to be hot spots for research and application. However, the prior art scheme mainly focuses on inspection or simple operation of a single unmanned aerial vehicle, when complex defects exceeding the single-machine operation capability are found, automatic decision making and scheduling of a plurality of unmanned aerial vehicles to form effective coordination cannot be performed, and therefore the high efficiency of operation and maintenance of electric power facilities is reduced, and improvement is needed. Disclosure of Invention In order to improve the high efficiency of the operation and maintenance of the electric power facilities, the invention provides a method and a system for autonomous inspection and live working cooperation of an unmanned aerial vehicle. In a first aspect, the invention provides a method for cooperation of autonomous inspection and live working of an unmanned aerial vehicle, which adopts the following technical scheme: an unmanned aerial vehicle autonomous inspection and live working cooperation method comprises the following steps: Collecting inspection data of an unmanned aerial vehicle cluster and an unmanned aerial vehicle number; Identifying inspection defects and defect locations based on the inspection data; Generating a required type of job capability in response to the inspection defect; Determining unmanned aerial vehicle operation capacity based on the unmanned aerial vehicle number; determining a cooperative unmanned aerial vehicle number according to the type of the required operation capability and the unmanned aerial vehicle operation capability; Selecting safe ground reconstruction coordinates according to the defect positions and the serial numbers of the collaborative unmanned aerial vehicles; Controlling unmanned aerial vehicles corresponding to the cooperative unmanned aerial vehicle numbers to fly to the safe ground reconstruction coordinates, and after the unmanned aerial vehicles arrive, performing ground physical docking at the safe ground reconstruction coordinates to form a combined operation platform; And controlling the composite work platform to go to the defect position and executing the cooperative processing operation. Through adopting above-mentioned technical scheme, obtain required operation ability through the defect of inspection discovery to select the unmanned aerial vehicle cluster that possesses corresponding ability with this, the rethread selects safe ground to reconstruct the coordinate and control unmanned aerial vehicle and accomplish ground physics butt joint, form combined type operation platform, thereby realize the processing to complicated defect, improve the high efficiency of electric power facility fortune dimension. Optionally, the method further comprises the step of following the determination of the unmanned aerial vehicle operation capability based on the unmanned aerial vehicle number: Judging whether the inspection defect needs cooperative operation of at least two unmanned aerial vehicles based on the type of the required operation capability; When the unmanned aerial vehicle is not needed, determining the number of the selected unmanned aerial vehicle according to the type of the needed operation capability and the operation capability of the unmanned aerial vehicle, and controlling the unmanned aerial vehicle corresponding to the number of the selected unmanned aerial vehicle to go to the defect position for defect treatment; Determining at least two job capability subtypes based on the required job capability types when needed; and determining the corresponding collaborative unmanned aerial vehicle number according to at least two job capability subtypes and unmanned aerial vehicle job capabilities. Through adopting above-mentioned technical scheme, through judging whether need the multimachine cooperation earlier, know