Unmanned aerial vehicle power transmission and transformation equipment inspection method and system in non-structural environment

Abstract

The invention discloses an unmanned aerial vehicle power transmission and transformation equipment inspection method and system in a non-structural environment. The method comprises the steps that S1, environment information is collected through a sensor; s2, performing feature extraction on the environment information image, marking the power transmission and transformation equipment needing to be detected as candidate inspection points, if the candidate inspection points exist, turning to S3, and if the candidate inspection points do not exist, turning to S4; s3, selecting an optimal inspection point from all the candidate inspection points, driving to the point, marking the point as inspected, and turning to S1; s4, the inspection robot inquires whether candidate inspection points exist again, if yes, the step S3 is executed, and if not, the step S5 is executed; s5, checking whether all candidate inspection points are marked as inspected, if an unknown candidate inspection point exists, enabling the inspection robot to run to the point, turning to S1, and if the unknown candidate inspection point does not exist, ending inspection; while the optimal planning of the inspection path is realized, the unknown inspection environment can be explored in the inspection process, so that the self-service inspection in the unknown non-structural environment is realized.

Description

Technical field: [0001] The invention relates to the field of inspection of power transmission and transformation equipment, in particular to a method and system for inspection of UAV power transmission and transformation equipment in an unstructured environment. Background technique: [0002] In order to ensure a stable supply of electricity, maintenance personnel need to regularly inspect the power supply and transformation lines to find defects in the power supply and transformation equipment. With the development of unmanned robots, the inspection method is changing from manual inspection to machine inspection. Transformation, the way of machine inspection greatly improves the inspection efficiency, reduces the labor intensity of people, and can even directly locate and alarm the location of defects and faults, which greatly improves the efficiency of maintenance personnel to deal with faults and ensures the stable supply of power , where machine inspections include aeri...

AI Technical Summary

Problems solved by technology

[0003] The technical problem to be solved by the present invention is to sense the unknown structural environment through its own sensors, and select the optimal inspection point for inspection among the obtained power supply and transformation equipment that needs to be inspected, so as to realize the optimal inspection path. While planning, it is also possible to explore the unknown inspection environment during the inspection process, so as to realize self-service inspection in unknown unstructured environments, and solve the excessive power consumption and human resources caused by manual remote inspection and inspection point inspection. waste problem

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