The invention relates to the technical field of unmanned aerial vehicle
electric power inspection, and discloses a man-
machine mixed
transformer substation collision-free intelligent inspection
system, which comprises the steps of
transformer substation inspection personnel intention recognition: performing operation intention judgment according to the propulsion amount and swing degree of an operator
control rod and the
heart rate of an operator input by a multi-
sensor system; and collision-
free flight under a man-
machine hybrid control algorithm: according to the intention recognition result of the inspection personnel, performing
convolution operation on the input data of the
millimeter wave radar carried by the unmanned aerial vehicle and the motion state of the unmanned aerial vehicle, and judging the autonomous auxiliary flight takeover degree of the unmanned aerial vehicle in combination with the
flight track prediction of the unmanned aerial vehicle to achieve collision-
free flight in the inspection process. By applying the unmanned aerial vehicle, a common substation inspector can be allowed to fly safely without collision in the process of operating the unmanned aerial vehicle to inspect, and compared with an existing passive defense unmanned aerial vehicle, a full-automatic unmanned aerial
vehicle inspection system which can only plan a
route in advance and other methods, the unmanned aerial
vehicle inspection system has the advantages of being low in operation threshold, high in safety, high in maneuverability and the like.