A Method for Assisting Flying and Landing on the Line of a Flying-away Type Inspection Robot

Abstract

The present invention discloses a method for assisting the flight and wire landing of a flying inspection robot. The method includes: performing path planning on a pre-established operation map and segmenting it, generating an optimal path and control quantities with time, safety, and energy as objective functions in different stages. By calculating the position error and angle error in real time, the process of the operator going online is guided in real time with the optimal control quantity as the fluctuation range, and real-time visual guidance is provided to assist the operator to complete the entire flight online process. This method can provide visual guidance on the amplitude of the joystick direction during the remote operation of the flying inspection robot, reducing the training and assessment difficulty for operators, and enabling operators to operate the flying inspection robot to fly and land the wire quickly, safely, accurately, and energy-efficiently.

Description

Technical Field

[0001] The invention belongs to the field of electric power equipment, and relates to a line-dropping system of a flying inspection robot and an auxiliary flying line-dropping method, which are used to assist an operator in performing the flying line-dropping of a flying inspection robot for overhead power transmission cables. Background Art

[0002] In the power system, power lines are an important part of it, and its safe and reliable operation is directly related to the stable development of a country's economy. Transmission lines can be divided into overhead transmission lines and cable lines according to their structures. Compared with cables, overhead transmission lines are known for their simple structure, short construction period, low construction cost, convenient maintenance and large transmission capacity, and are mostly used for long-distance transmission lines. Overhead power lines are exposed to the environment for a long time. They are made of steel-core aluminum stranded wire. In addition to bearing the normal mechanical load and internal pressure of the power load, they also have to withstand external damage such as dirt, lightning strikes, strong winds, landslides, subsidence, and intrusion. If they are not discovered and eliminated in time, various faults may occur, affecting the safe and stable operation of the power lines. Therefore, efficiently monitoring the working status and surrounding environment of power lines and discovering and eliminating potential risks are effective methods to ensure the safe operation of power grids. The existing inspection methods include manual inspection, helicopter inspection, drone inspection, and robot inspection. Compared with other inspection methods, robot inspection can significantly reduce the labor intensity of inspection personnel and improve the inspection accuracy. Robot inspection is divided into flying, walking, and flying robot inspection.

[0003] The flying robot autonomously plans navigation to inspect power lines and records relevant information. Its advantage is strong obstacle-crossing ability, but its disadvantage is short battery life. The walking robot contacts the power lines through its walking wheels and is driven by a motor to walk along the lines. Its advantage is strong battery life, but its disadvantage is poor obstacle-crossing ability. The flying inspection robot is an organic combination of a flying robot and a crawling robot. It has the advantages of both flying robots and walking robots, and has strong obstacle-crossing ability while ensuring battery life.

[0004] During the flight and launch of the flying inspection robot, the operator needs to remotely control the robot to avoid obstacles encountered during the flight, fly close to the power lines, and finally land on the line. However, due to the particularity and professionalism of the inspection task, operators often need to undergo a certain period of training and pass the assessment before they are qualified to operate. The training and assessment process consumes a lot of manpower and material resources, and the operator ultimately needs to have the ability to respond quickly, flexibly control, and deal with emergencies. At present, there are mainly the following methods for flying inspection robots from flight to launch:

[0005] 1. Mechanical device assistance method: Using a mechanical guiding mechanism to reduce operation accuracy, with the assistance of an on-board camera, the cable to be hung is inserted into a guiding groove with a larger opening, and the guiding mechanism is used to complete the cable threading. However, the guiding mechanism of this method will greatly increase the weight of the robot itself, resulting in reduced battery life.

[0006] 2. Mechanical optoelectronic switch assistance method: Using sequential optoelectronic signals to determine the current position of the robot, and inserting the cable to be hung into the chute through optoelectronic signals to complete the cable threading. However, this method has limited judgment on the state of the robot.

[0007] 3. Image assistance method: The operator visually flies the inspection robot to a position close to the cable to be hung, and then the inspection robot feeds back an image of the cable to be hung from a specific perspective to the operator. The operator remotely controls the robot to align the screen positioning line with the cable to be hung to complete the cable threading process.

[0008] Among them, the image assistance method has high accuracy and good real-time performance. However, the positioning camera of the image assistance method is only turned on during the cable threading process to guide the operator, and it is difficult to ensure the safety, efficiency, and energy conservation of the flight and cable threading processes. The existing image assistance method has limited auxiliary functions for operators. How to assist and guide operators during the flight and cable threading processes has not been involved yet. Therefore, solving this problem has become extremely urgent. Summary of the Invention

[0009] The problem solved by the present invention in the prior art is to provide a flying inspection robot-assisted cable dropping system and an assisted flying cable dropping method, enabling the remote operator to obtain guidance during the cable threading process, and can quickly, safely, and accurately operate the flying inspection robot to drop the cable, thus effectively solving the problems of high learning cost, long learning time, difficult operation, long time consumption, and easy collision during the cable threading process of the flying inspection robot.

[0010] To solve the above problems, the present invention provides a flying inspection robot-assisted flying cable dropping system, which includes a flight module, a pressing module, a control module, a detection module, a communication module, and a remote control module. Among them, the flight module includes: a cabin, rotor arms, rotor motors, and rotors; the pressing module includes: a main pressing wheel and a secondary pressing wheel; the control module includes: a graphics processor and a motion controller; the communication module includes a wireless receiver and a wireless transmitter. The detection module includes: a binocular camera, a positioning camera, and positioning sensors, where the positioning sensors include GPS and IMU. The remote control module includes an auxiliary remote controller: a left joystick, a right joystick, an auxiliary remote controller indicator LED, an auxiliary remote controller screen, and a ground station. The binocular camera is installed on the cable hanging arm, and the positioning camera is installed on the surface of the cabin directly below the main pressing wheel. There is a circle of LED lights around the operation lever of the auxiliary remote controller.

[0011] The present invention also provides a method for remotely assisting in wire dropping of a flying inspection robot. By using the aforementioned wire dropping assistance system, the method includes the following steps:

[0012] S1 Based on the current position of the flying inspection robot obtained by the positioning sensors GPS and RTK, perform pre-flight environmental modeling. Using the binocular camera data, establish a three-dimensional map of the wire dropping environment through the ground station, and determine the wire dropping coordinates.

[0013] S2 Establish an energy consumption model of the flying inspection robot through the dynamics model of the flying inspection robot and the rotor motor drive model. .

[0014] S3 Using the three-dimensional map established in S1, apply a path planning algorithm in the ground station to plan safe waypoints, and obtain N waypoints from the take-off point to the wire dropping point.

[0015] S4 Calculate the distances of the waypoints obtained in S3 from the starting point and the ending point , and classify them into three categories according to the standard: starting section, middle section, and ending section.

[0016] S5 Take the energy function obtained in S2 as the energy performance index function, and apply different performance index functions in the three categories of waypoints obtained in S4 to generate a sequence of path points for the trajectory, and obtain the optimal control sequence .

[0017] S6 Through , respectively obtain the fluctuation ranges of the control sequences for the starting section, middle section, and ending section, and convert the fluctuation range of the control quantity into the joystick amplitude limit value.

[0018] S7 Select the next path point with the shortest distance in the current heading, calculate the position deviation , calculate the direction and amplitude of the guiding joystick according to the deviation, display the recommended direction on the indicator LED of the auxiliary remote controller, instruct the operator to complete the rough adjustment, and further convert the recommended direction and amplitude into a directed line segment and display it on the screen of the auxiliary remote controller to instruct the operator to complete the fine adjustment.

[0019] S8 When the flying inspection robot approaches the safe wire hanging position and enters the ending section under auxiliary control, the binocular camera identifies the cable to be hung, obtains the position deviation between the gap of the main pressing wheel and the auxiliary pressing wheel and the cable to be hung, calculates the direction and amplitude of the guiding joystick according to the deviation, and the auxiliary remote controller displays the recommended direction and amplitude of the joystick. The operator embeds the gap between the main pressing wheel and the auxiliary pressing wheel for wire hanging into the cable to be hung under the instruction. At this time, the positioning camera screen is displayed on the screen of the auxiliary remote controller, and the graphics processor identifies the cable to be hung and calculates the angle deviation between the cable to be hung and the flying inspection robot , calculate the direction and amplitude of the guiding joystick according to the deviation, and assist the remote controller to instruct the operator to make the gap between the main pressing wheel and the auxiliary pressing wheel parallel to the cable to be hung until the angle deviation becomes zero, and the pre-positioning for the fly-away switch is completed.

[0020] For S9 fly-away switch, the robot slowly reduces the thrust. When the length of the ground wire in the positioning camera no longer changes, at this time, the fly-away power is completely cut off, the auxiliary pressing wheel rises and merges with the main pressing wheel to press the ground wire, and the wire-laying operation is completed. The robot switches to the walking mode.

[0021] First, based on the dynamic model of the fly-away inspection robot, establish the relationship between the state variables, control variables and rotor speed of the robot:

[0022]

[0023] where is the rotor motor speed , is the dynamic equation of the fly-away inspection robot, is the state variable of the inspection robot .

[0024] Based on the model of the rotor motor (4), establish the relationship between the speed and the current :

[0025]

[0026] where: represents the current, represents the motor speed, represents the torque constant, represents the frictional torque, represents the moment of inertia of the rotor and the rotor blades, represents the load torque at the speed , is the minimum time span.

[0027] Based on the model of the rotor motor (4), establish the relationship between the speed and the voltage :

[0028]

[0029] where: R represents the internal resistance of the rotor motor winding, represents the back electromotive force constant, is the inductance.

[0030] Motor power consumption model is expressed as:

[0031]

[0032] The final energy consumption model is expressed as :

[0033] .

[0034] The flying inspection robot is simplified into a bounding box. In an environment with known obstacles, between the starting point and the ending point, using the PRM planning algorithm based on the sampling space, initially plan a set of N collision-free waypoints .

[0035] Adopt the Euclidean distance d of the flying inspection robot from the hanging wire point. By setting classification criteria , the waypoints in the process of flying onto the line are divided into three stages, namely the starting segment , the middle segment , and the ending segment , and classify the waypoints accordingly. The distance calculation uses the Euclidean distance as follows:

[0036]

[0037] where represents the coordinates of the waypoint to be classified, represents the starting point coordinates. When the waypoint belongs to the starting segment, when the waypoint belongs to the middle segment, and when the waypoint belongs to the ending segment.

[0038] Using the obtained waypoints, generate trajectories in different stages, respectively using the starting segment index, the middle segment index, and the ending segment index. In the process of landing on the line, generate the optimal trajectory and the optimal control quantity through the comprehensive performance index function. The objective function and constraints of the optimal problem are as shown in the formula.

[0039]

[0040] Among them, in the objective function, is the comprehensive performance index function, is the time to reach the end point, is the energy index, is the distance between the trajectory point and the obstacle, represents the safety index, , , are adjustment coefficients. Consider the shortest time in the starting segment and let , , The middle section considers minimizing energy, and let , , . The end section considers safety and let , , . In the constraint conditions, represents the state quantity, is the control input, is the starting state constraint, is the ending state constraint, is the middle state constraint, which includes dynamic constraints and obstacle avoidance constraints. Solve the trajectory and the optimal control quantity .

[0041] Map the control quantity obtained in the previous step to the rocker amplitude limit value through a linear function:

[0042]

[0043] where: , A is the scaling matrix, B is the bias matrix, and A and B are obtained through actual calibration.

[0044] Subtract the current position from the nearest waypoint of the ending position to obtain the position error , and obtain the throttle, yaw, roll, and pitch correction values through the following formula ,

[0045]

[0046]

[0047]

[0048]

[0049] where is the scaling coefficient, is obtained through calibration tests and adjusted according to the desired speed.

[0050] When the waypoint belongs to the stage , compare the correction value with the rocker amplitude limit value , and take the smaller of the two as the indicated amplitude for output. It is expressed by the formula as follows:

[0051]

[0052]

[0053]

[0054]

[0055] And Synthesis is indicated by the left joystick. And is indicated by the right joystick through synthesis. The auxiliary guidance direction is displayed on the auxiliary remote controller (18) and the auxiliary remote controller indication LED (12). On the auxiliary remote controller screen, the black arrow shows the current joystick strength and direction, and the white arrow shows the recommended joystick strength and direction.

[0056] Compared with the prior art, the implementation of the present invention has the following beneficial effects:

[0057] 1. During the online process, visual LEDs and an auxiliary operation screen are used to provide graphical and operable guidance for the operator, reducing the learning cost for the fly-away inspection robot and shortening the training cycle for the operator.

[0058] 2. By introducing energy indicators, safety indicators, and accuracy indicators to calculate the optimal control amount, and converting the optimal control amount into the joystick amplitude limit, different limit levels are applied at different stages, ensuring the safety, efficiency, and energy conservation of the online process.

[0059] 3. By automatically pre-planning waypoints as target points and real-time adjusting the remote controller joystick guidance direction, the operator does not need to consider the global path direction and only needs to pay attention to the graphical guidance displayed on the auxiliary screen, simplifying the operation difficulty. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following briefly introduces the drawings required for the description of the embodiments or the prior art. The drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, obtaining other drawings without creative efforts still belongs to the scope of the present invention.

[0061] Figure 1 It is a schematic structural diagram of the fly-away inspection robot in the embodiment of the present invention.

[0062] Figure 2 It is a schematic system diagram of the fly-away inspection robot in the embodiment of the present invention.

[0063] Figure 3 It is a schematic diagram of the auxiliary remote controller of the fly-away inspection robot in the embodiment of the present invention.

[0064] Figure 4 It is a partial enlarged view of the screen of the auxiliary remote controller of the flying inspection robot in the embodiment of the present invention.

[0065] Figure 5 It is a flow chart of the auxiliary flight line-laying method of the flying inspection robot in the embodiment of the present invention.

[0066] Figure 6 It is a schematic diagram of the flying inspection robot approaching the cable in the embodiment of the present invention.

[0067] Figure 7 It is the picture taken by the positioning camera during the line-laying stage of the flying inspection robot in the embodiment of the present invention.

[0068] Figure 8 It is a schematic diagram of the working path of the flying inspection robot in the embodiment of the present invention.

[0069] In the figure: 1. Main pressing wheel; 2. Auxiliary pressing wheel; 3. Positioning sensor; 4. Rotor motor; 5. Rotor; 6. Motion controller; 7. Binocular camera; 8. Positioning camera; 9. Communication module; 10. Graphics processor; 11. Auxiliary remote controller screen; 12. Auxiliary remote controller indicating LED; 13. Right joystick; 14. Left joystick; 15. Cable to be hung; 16. Gap between the main pressing wheel and the auxiliary pressing wheel; 17. Ground station; 18. Auxiliary remote controller; 19. Flying inspection robot; 20. Starting section; 21. Intermediate section; 22. End section. Detailed implementation manners

[0070] Next, the technical solutions in the embodiments of the present invention will be further clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention.

[0071] As Figure 1 Figure 2 Figure 3 shown, the present invention provides an auxiliary line-laying system for a flying inspection robot, which includes a flight module, a pressing module, a control module, a detection module, a communication module, and a remote control module. The flight module includes: a cabin, a rotor arm, a rotor motor 4, and a rotor 5; the pressing module includes: a main pressing wheel 1 and an auxiliary pressing wheel 2; the control module includes: an image processing controller 10 and a motion controller 6; the communication module 9 includes a wireless transceiver. The detection module includes: a binocular camera 7, a positioning camera 8, and a positioning sensor 3. The remote control module includes: an auxiliary remote controller 18 and a ground station 17. The binocular camera 7 is installed parallel to the gap 16 between the main pressing wheel and the auxiliary pressing wheel, and the positioning camera 8 is installed on the surface of the cabin directly below the main pressing wheel 1. There is a circle of LED 12 lights around the operation lever of the auxiliary remote controller, and the auxiliary remote controller screen 11 specifies and displays the manipulation amplitude amount.

[0072] As Figure 5The present invention also provides a method for remotely assisting a flying inspection robot to land on a line, including the following steps:

[0073] S1 Obtain the current position of the flying inspection robot 19 according to the positioning sensor 3. First, perform pre-flight environmental modeling, use the data of the binocular camera 7, and establish a three-dimensional map of the landing line environment through the ground station 17 to determine the coordinates of the landing line point.

[0074] Use GPS 3 and RTK multi-sensor fusion to determine the robot's position, use the prior information of the overhead transmission line cable, and the binocular camera to obtain the environmental information available for path planning, and use GPS 3 and RTK multi-sensor fusion to determine the robot's position information. S2 Establish an energy consumption model of the take-off and flying inspection robot 19 through the dynamic model of the flying inspection robot 19 and the driving model of the rotor motor 4 .

[0075] Specifically, first establish the relationship between the state quantity, control quantity and rotor speed of the robot from the dynamic model of the flying inspection robot:

[0076]

[0077] Where is the rotor motor speed , is the dynamic equation of the flying inspection robot, is the state quantity of the inspection robot .

[0078] Establish the relationship between the rotational speed and the current according to the model of the rotor motor (4):

[0079]

[0080] Where: represents the current, represents the motor speed, represents the torque constant, represents the frictional torque, represents the moment of inertia of the rotor and the rotor blade, represents the rotational speed under the load torque, is the minimum time span.

[0081] Establish the relationship between the rotational speed and the voltage according to the model of the rotor motor (4):

[0082]

[0083] Among them: R represents the internal resistance of the rotor motor winding, represents the back electromotive force constant, and

[0084] is the inductance. The motor power consumption model

[0085]

[0086] The final energy consumption model is expressed as :

[0087] .

[0088] S3 uses the three-dimensional map built by S1, and applies a path planning algorithm at the ground station 17 to plan safe waypoints, obtaining N waypoints from the takeoff point to the landing point.

[0089] The inspection robot is simplified to a bounding box. In an environment with known obstacles, between the start and end positions, the sampling-based planning algorithm PRM is used to initially plan N collision-free waypoints .

[0090] S4 As Figure 8 shown, calculate the distances of the waypoints obtained in S3 from the start and end points , and classify them into three categories according to the standard: the starting section 20, the middle section 21, and the ending section 22.

[0091] The Euclidean distance d of the flying-away type inspection robot from the hanging point is adopted. By setting up a classification standard , the waypoints in the flight online process are divided into three stages, namely the starting section , the middle section , and the ending section , and the waypoints are classified accordingly. The distance calculation uses the Euclidean distance as follows:

[0092]

[0093] Among them represents the coordinates of the waypoint to be classified, represents the starting point coordinates. When the waypoint belongs to the starting section, when the waypoint belongs to the middle section, and when the waypoint belongs to the ending section.

[0094] S5 Take the energy function obtained in S2 Taking the energy performance index function, adding the time index and the safety index simultaneously, and applying different performance index functions to generate the path point sequence of the trajectory among the three types of waypoints obtained in S4 to obtain the optimal control sequence 。

[0095] Using the obtained waypoints, generate the trajectory in different stages, respectively using the start segment index, the middle segment index, and the end segment index. The landing process implements the generation of the optimal trajectory and the optimal control amount through the comprehensive performance index function, and the objective function and constraints of the optimal problem are as shown in the formula

[0096]

[0097] Among them, in the objective function is the comprehensive performance index function is the time to reach the end point is the energy index is the distance between the trajectory point and the obstacle represents the safety index 、 、 are the adjustment coefficients. Considering the shortest time in the start segment, let 、 、 Considering the minimum energy in the middle segment, let 、 、 , considering the safety in the end segment, let 、 、 。In the constraint conditions represents the state quantity is the control input is the starting state constraint is the end state constraint is the intermediate state constraint, which includes the dynamic constraint and the obstacle avoidance constraint. Solve the trajectory and the optimal control amount 。

[0098] S6 passes through to obtain the control sequences of the start segment 20, the middle segment 21, and the end segment 22 respectively of the fluctuation range, and convert the control amount fluctuation range into the rocker amplitude limit value

[0099] Map the optimal control amount to the rocker amplitude limit value through a linear function:

[0100]

[0101] Among them: , A is a scaling matrix and B is a bias matrix.

[0102] S7 selects the next waypoint with the shortest distance in the current heading and calculates the position deviation. S7 selects the next waypoint with the shortest distance in the current heading and calculates the position deviation , calculates the direction and amplitude of the guiding joystick based on the deviation, displays the recommended direction on the indicator LED 12 of the auxiliary remote controller to instruct the operator to complete the rough adjustment, and further converts the recommended direction and amplitude into a directed line segment for display on the screen of the auxiliary remote controller 18 to instruct the operator to complete the fine adjustment.

[0103] The LED12 displays the recommended direction. Specifically, there are 8 left indicator LEDs and 16 right indicator LEDs.

[0104] Use the current position and the waypoint closest to the end position to make a difference to obtain: , and obtains the throttle, yaw, roll, and pitch correction values through the following formula ,

[0105]

[0106]

[0107]

[0108]

[0109] where is the scaling coefficient, obtained through a calibration test and adjusted according to the desired speed.

[0110] When the waypoint belongs to the stage , compare the correction value with the joystick amplitude limit value and take the smaller one as the indicated amplitude for output, which is expressed by the formula as follows:

[0111]

[0112]

[0113]

[0114]

[0115] Such as Figure 4 shown, and Synthesis is indicated by the left joystick 14. and is indicated by the right joystick 13 through synthesis. The auxiliary guidance direction is displayed on the auxiliary remote controller 18 and the auxiliary remote controller indicating LED 12. On the auxiliary remote controller screen 11, the black arrow shows the current joystick strength and direction, and the white arrow shows the recommended joystick strength and direction.

[0116] S8 When the flying inspection robot 19 approaches the safety hanging wire position and enters the end section 22 under auxiliary control, the binocular camera 7 identifies the cable to be hung 15, obtains the position deviation between the main pressing wheel and the auxiliary pressing wheel gap 16 and the cable to be hung 15, calculates the guiding joystick direction and amplitude according to the deviation, and the auxiliary remote controller 18 displays the recommended joystick direction and amplitude. The operator embeds the hanging wire main pressing wheel and the auxiliary pressing wheel gap 16 into the cable to be hung 15 under the indication. At this time, the auxiliary remote controller screen 11 displays the image of the positioning camera 8, and the graphics processor 10 identifies the cable to be hung 15 and calculates the angle deviation between the cable to be hung 15 and the flying inspection robot 19. According to the deviation, the guiding joystick direction and amplitude are calculated, and the auxiliary remote controller instructs the operator to make the main pressing wheel and the auxiliary pressing wheel gap 16 parallel to the cable to be hung 15 until the angle deviation becomes zero, and the pre-positioning for flying away switching is completed.

[0117] S9 Flying away switching: The flying inspection robot 19 slowly reduces the thrust. When the length of the cable to be hung 15 in the positioning camera 8 no longer changes, the flying power is completely cut off at this time. The auxiliary pressing wheel 2 rises and merges with the main pressing wheel 1 to press the cable to be hung 15. The wire dropping operation is completed, and the robot switches to the walking mode.

Claims

1. A method for remotely controlling and assisting a flying inspection robot to land on a wire, characterized in that Including the following steps: S1 Obtain the current position of the flying inspection robot (19) according to the positioning sensor (3). First, perform pre-flight environmental modeling. Using the data of the binocular camera (7), establish a three-dimensional map of the wire-laying environment through the ground station (17) to determine the coordinates of the wire-laying point; S2 establishes the energy consumption model E of the flying and walking inspection robot (19) through the dynamic model of the flying and walking inspection robot (19) and the drive model of the rotor motor (4). i ; S3 Using the three-dimensional map established in S1, apply a path planning algorithm at the ground station (17) to plan safe waypoints and obtain N waypoints from the take-off point to the wire-laying point; S4 Calculate the distances l of the waypoints obtained in S3 from the starting point and the ending point, and classify them into three categories according to the standard: starting section (20), middle section (21), and ending section (22); The energy function E obtained from S2 is taken as S5 i As an energy performance index function, the time index and the safety index are added at the same time. Different performance index functions are applied to the three types of waypoints obtained in S4 to generate a sequence of path points for the trajectory, and the optimal control sequence u is obtained i ; S6 obtains the starting segment (20), the middle segment (21), and the end segment (22) control sequences u respectively through u i , and obtains the fluctuation range of the control quantity fluctuation range u i , and converts the control quantity fluctuation range u i into a rocker amplitude limit value; S7 Select the next path point with the shortest distance in the current heading, calculate the position deviation ΔP, calculate the direction and amplitude of the guiding joystick according to the deviation, display the recommended direction on the auxiliary remote controller's indicating LED (12) to instruct the operator to complete the rough adjustment, and further convert the recommended direction and amplitude into a directed line segment to be displayed on the screen of the auxiliary remote controller (18) to instruct the operator to complete the fine adjustment; S8 When the flying inspection robot (19) approaches the safe wire-hanging position under auxiliary control and enters the ending section (22), the binocular camera (7) identifies the cable to be hung (15) to obtain the position deviation between the gap (16) between the main pressing wheel and the auxiliary pressing wheel and the cable to be hung (15). Calculate the direction and amplitude of the guiding joystick according to the deviation, and the auxiliary remote controller (18) displays the recommended direction and amplitude of the joystick; The operator embeds the gap (16) between the main pressing wheel and the auxiliary pressing wheel for hanging the cable into the cable to be hung (15) under the instruction. At this time, the screen (11) of the auxiliary remote controller displays the image of the positioning camera (8), and the graphics processor (10) identifies the cable to be hung (15), calculates the angular deviation Δα between the cable to be hung (15) and the flying inspection robot (19), calculates the direction and amplitude of the guiding joystick according to the deviation, and the auxiliary remote controller instructs the operator to make the gap (16) between the main pressing wheel and the auxiliary pressing wheel parallel to the cable to be hung (15) until the angular deviation Δα becomes zero to complete the pre-positioning for flying-to-walking switching; S9 Flying-to-walking switching. The flying inspection robot (19) slowly reduces the thrust. When the length of the cable to be hung (15) in the positioning camera (8) no longer changes, at this time, the flying power is completely cut off, the auxiliary pressing wheel (2) rises and merges with the main pressing wheel (1) to press the cable to be hung (15), and the wire-laying operation is completed. The robot switches to the walking mode.

2. The method according to claim 1, wherein First, based on the dynamic model of the flying inspection robot (19), establish the relationship between the state variables, control variables of the robot and the rotational speed of the rotor motor (4): [Ω] = f(X, u) Among them, Ω is the rotational speed of the rotor motor (4) being [Ω1Ω2Ω3Ω4Ω5Ω6], f(X,u) is the dynamic equation of the flying inspection robot, and X is the state quantity of the flying inspection robot (19) being Based on the model of the rotor motor (4), the relationship between the rotational speed ω i and the current i i is established as follows: Where: i i represents current, ω i represents the motor speed, K T represents the torque constant, D f represents the frictional torque, J m represents the moment of inertia of the rotor and the rotor blades, m L represents the load torque at the rotational speed ω i Δt is the minimum time span, Based on the model of the rotor motor (4), the relationship between the rotational speed ω i and the voltage e i is established as follows: Where: R represents the internal resistance of the winding of the rotor motor (4), K E represents the back electromotive force constant, L is the inductance, The motor power consumption model p(ω i ) is expressed as: p(ω i ) = e i i i The final energy consumption model is expressed as E i : E i = p(ω i )Δt.

3. The method according to claim 1, wherein First, simplify the flying inspection robot (19) into a bounding box. In an environment with known obstacles, between the starting point and the ending point, use a planning algorithm to preliminarily plan a sequence P of N collision-free waypoints.

4. The method according to claim 1, characterized in that Using the Euclidean distance d of the flying inspection robot (19) from the wire hanging point, and by setting the classification standard D s (s = 1, 2), the waypoint P during the flight upward process is divided into three stages, namely the starting stage P1, the middle stage P2, and the ending stage P3. The distance calculation uses the Euclidean distance as follows: where (x i , y i , z i ) represents the coordinates of the waypoint to be classified, (x0, y0, z0) represents the starting point coordinates, when 0 < d i ≤ D1, waypoint i belongs to the starting segment, when D1 < d i ≤ D2, waypoint i belongs to the middle segment, when D1 < d i ≤ D2, waypoint i belongs to the ending segment.

5. The method according to claim 1, wherein Using the waypoints obtained in S3, generate trajectories at different stages, respectively use the starting section index, middle section index, ending section index, and calculate the optimal trajectory and optimal control quantity through the comprehensive performance index function during the wire-laying process. The objective function and constraints of the optimal problem are: Among them, in the objective function, J is the comprehensive performance index function, t f is the time to reach the end point, E(t) is the energy index, D is the distance between the trajectory point and the obstacle, represents the safety index, a, b, and c are adjustment coefficients. Considering the shortest time in the starting section, let a = 1, b = 0, c = 0; considering the minimum energy in the middle section, let a = 0, b = 1, c = 0; considering safety in the end section, let a = 0, b = 0, c = 1. In the constraint conditions, X represents the state quantity, u is the control input, x(t = 0) = x0(t = 0) is the starting state constraint, x(t = t f ) = x N (t = t f ) is the end state constraint, g min ≤ g(x, x N ) ≤ g max is the middle state constraint, which includes dynamic constraints and obstacle avoidance constraints. Solve the trajectory and the optimal control quantity u i .

6. The method according to claim 1, characterized in that Map the obtained control quantity u i to the rocker amplitude limit value through a linear function as follows: [p max , ψ max , φ max , θ max j T = Au max + B​ Where: j = 1, 2, 3 represent the starting segment, the middle segment, and the ending segment respectively; u = [f t , τ x , τ y , τ z T , A is a scaling matrix, and B is a bias matrix.​ 7. The method according to claim 1, wherein Subtract the current position [x, y, z] from the waypoint closest to the end position [x i , y i , z i to obtain the position deviation ΔP = [Δx, Δy, Δz]. The throttle, yaw, roll, and pitch correction values [p c , ψ c , φ c , θ c are obtained through the following formula i , p c = μ1(Δz) φ c = μ3(Δx cos(ψ) + Δy sin(ψ)) θ c = μ4(Δy cos(ψ) - Δx sin(ψ)) where μ i is a scaling factor, which is obtained through a calibration test and adjusted according to the desired speed.

8. The method according to claim 1, characterized in that When the waypoint i belongs to stage j, the correction value [p c , ψ c , φ c , θ c i is compared with the joystick amplitude limit value [p max , ψ max , φ max , θ max j , and the smaller one is taken as the indicated amplitude [p d , ψ d , φ d , θ d i for output. It is expressed by the formula as follows:​​​ p d = min(p c , p max ) ψ d = min(ψ c , ψ max ) φ d = min(φ c , φ max ) θ d = min(θ c , θ max ) p d with ψ d The synthesis is indicated on the left joystick. Combine φ d with θ d The synthesis is indicated on the right joystick, and the auxiliary guidance direction is displayed on the auxiliary remote controller (18) and the auxiliary remote controller indication LED (12). On the auxiliary remote controller screen, the black short arrow shows the current joystick strength and direction, and the white long arrow shows the recommended joystick strength and direction.

9. An auxiliary remote controller (18) for implementing the method of claim 1, characterized in that, The left joystick (14) and the right joystick (13) of the auxiliary remote controller (18) are surrounded by a ring of LED lights (12), and the auxiliary remote controller screen (11) is specified to display the current joystick amplitude and direction and the guiding joystick amplitude and direction.

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