Rotorcraft power transmission line inspection method and device in an unknown environment

Abstract

The invention provides a rotorcraft power transmission line inspection method and device in an unknown environment, and the method comprises the steps: obtaining self information and the image information of a power transmission line at a position in real time, and transmitting the information to a ground control system, so that the ground control system generates model parameters and path information, and the flight control signals are sent back to the rotorcraft to be processed in combination with information of the rotorcraft to generate flight control signals; executing corresponding flight operation according to the flight control signal so as to inspect the power transmission line, sending generated increment information to a ground control system so as to generate new model parameters and path information, and sending the new model parameters and path information to the rotorcraft for updating; and processing according to the new model parameters and path information in combination with own information to generate a new flight control signal. According to the invention, tasks with large calculation amount are transmitted to the ground control system, so that the control delay of the rotorcraft control system is reduced, and the waste of electric energy is also reduced.

Description

technical field [0001] The invention belongs to the technical field of inspection of power transmission lines, and in particular relates to a method and device for inspection of power transmission lines of a rotorcraft in an unknown environment. Background technique [0002] At present, there are three common methods for inspection of power poles and towers in transmission lines: (1) Manual inspection method; traditional manual inspection is seriously affected by the region, and inspection workers need to walk or drive inspections, which is labor-intensive and difficult to work. The efficiency and detection accuracy are low, the management cost is high, and the reliability is poor, and when necessary, it is necessary to climb the power tower for inspection, which causes great safety hazards to the inspectors; (2) Manned helicopter inspection method: requires staff to take direct Helicopters fly along the power transmission line, use the naked eye or onboard camera equipment ...

AI Technical Summary

Problems solved by technology

[0005] In view of this, the present invention aims to solve the problem that the rotorcraft needs to process a large amount of environmental information when conducting transmission line inspections in an unknown environment, thereby causing waste of electric energy and reducing the airborne time of the aircraft

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