Line inspection method and system for unmanned aerial vehicle airborne power grid X-ray detection equipment

Abstract

The invention belongs to the technical field of positioning and navigation, and particularly relates to a line inspection method and system for unmanned aerial vehicle airborne power grid X-ray detection equipment. According to the method, a positioning unmanned aerial vehicle is used for determining a hovering point of a transportation unmanned aerial vehicle on a power transmission line, after the hovering point is sent to a positioning navigation unit, the positioning navigation unit carries out coordinate system unification and flight path planning, and the transportation unmanned aerial vehicle receives a flight instruction sent by the positioning navigation unit; carrying the power grid X-ray detection equipment to fly to a hovering point according to the path planning of the positioning navigation unit; and releasing the power grid X-ray detection equipment, analyzing the acquired X-ray image by the power grid X-ray detection equipment, and transporting the unmanned aerial vehicle recovery equipment after the acquisition task is completed. According to the invention, the difficulty in releasing and recovering the power grid X-ray detection equipment can be reduced, and the detection efficiency is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of line inspection, and in particular relates to a line inspection method and system for an unmanned aerial vehicle (UAV)-mounted power grid X-ray detection device. Background Art

[0002] With the rapid development of the power industry, the scale of the power grid continues to expand, and the operation, maintenance and inspection requirements of power grid equipment have also increased. Traditional power grid inspection methods mainly rely on manual inspections. Operators need to climb poles or use large work vehicles to approach power grid equipment for inspection. This is not only inefficient, but also poses great safety hazards, such as the risk of falling from heights and electric shock. At the same time, ground detection equipment cannot achieve dynamic and comprehensive detection of transmission lines due to its fixed position and limited detection range. Especially for power grids in remote areas and complex terrain, the effectiveness of traditional methods is even more limited.

[0003] The rise of drone technology has brought new opportunities for power grid inspection. With its maneuverability, flexibility and efficiency, drones can quickly cover a large range of power grid areas and can achieve high-altitude operations, avoiding the safety hazards brought by manual inspections. Existing drone power grid detection technology mainly focuses on appearance inspections, using high-definition cameras, infrared thermal imaging and other equipment to inspect power grid facilities, which can improve inspection efficiency and reduce labor costs to a certain extent. However, for the detection of hidden defects inside the power grid, the existing drone power grid detection technology still has obvious shortcomings. For applications that require in-depth inspection of the internal structure of the power grid, the advantages of X-ray detection technology are becoming more and more significant. The drone power grid detection technology based on X-ray detection technology uses drones to carry power grid X-ray detection equipment. The method usually adopted is to manually control the drone to complete the flight operation task. Therefore, the detection operation process has high requirements on the skills of drone pilots. The control difficulty and external disturbances have a great impact on the positioning of the power grid X-ray detection equipment on the transmission line, resulting in inaccurate positioning. This has become a bottleneck restricting the improvement of the detection efficiency of drone power grid detection technology. Summary of the invention

[0004] The purpose of the present invention is to overcome the shortcomings of the prior art and provide a line inspection method and system for an unmanned aerial vehicle (UAV) airborne power grid X-ray detection device. The technical problem to be solved is that the UAV power grid detection solutions in the prior art mostly focus on external detection, while for high-quality X-ray detection, there is still a lack of an effective navigation and positioning system to complete accurate flight missions, especially for the deployment and adjustment of power grid X-ray detection equipment in complex environments (such as unstable factors generated under wind loads).

[0005] The purpose of the present invention is mainly achieved through the following technical solutions: A line inspection method for a power grid X-ray detection device mounted on a drone, comprising the following steps: Step S1, the positioning drone takes off and flies to the power transmission line of the detected section according to the preset cruising range or under the control of the pilot; during the flight, the positioning module is used to obtain the positioning coordinates and the position of the target to be detected of the positioning drone in real time, and the positioning coordinates and the position of the target to be detected are used for flight path planning; the position of the target to be detected on the transmission line is identified by the binocular camera system carried on the positioning drone, and after identifying the position of the target to be detected, the positioning drone flies above the line where the target to be detected is located, and the release point position of the power grid X-ray detection equipment on the line is obtained by triangulation method in a manner from near to far from the target to be detected on the transmission line, and the positioning navigation unit generates a hovering point located directly above the release point based on the position of the release point according to the overall size of the aircraft and the parameters of the execution unit, so that when the transport drone hovers to the hovering point under the navigation of the positioning navigation unit, the power grid X-ray detection equipment can be released onto the transmission line, and the hovering point of the transport drone at this time is sent to the positioning navigation unit; Step S2, the positioning and navigation unit controls the flight path of the transport UAV; after receiving the hovering point, the positioning and navigation unit unifies the coordinate system and plans the flight path, calculates the flight instruction, and sends the flight instruction to the transport UAV; Step S3: The transport UAV receives the flight instruction sent by the positioning and navigation unit, and carries the power grid X-ray detection equipment to fly to the hovering point according to the path planning of the positioning and navigation unit; during the flight, the position and status of the transport UAV and the positioning UAV are monitored in real time, and the flight path is corrected as needed (for example, according to the aircraft as a whole formed by the transport UAV and the airborne equipment including the power grid X-ray detection equipment, obstacles on the flight path are identified in real time during the flight, and when obstacle avoidance is required, an obstacle avoidance route is automatically generated to achieve flight path correction); when the transport UAV flies to the hovering point, an instruction is sent to the positioning UAV to fly to the next section of the power transmission line to be inspected according to the preset cruise route; Step S4, the flight path includes a hovering point located directly above the target position to be detected. When the transport drone arrives at the hovering point, the execution unit carried on the transport drone executes the action of lowering the power grid X-ray detection device, so that the power grid X-ray detection device is released under the rigid constraint of the execution unit and placed on the transmission line; Step S5: the power grid X-ray detection device starts to collect X-ray images of the target position to be detected in real time; the image recognition module works synchronously to analyze the collected X-ray images; Step S6: After completing the collection task, the transport drone flies again above the power grid X-ray detection equipment according to the flight path planning and the recognition result of the position of the power grid X-ray detection equipment. The execution unit controls the recovery of the power grid X-ray detection equipment and re-locks it under the transport drone.

[0006] Further preferably, the positioning drone finds the next target to be detected, and repeats steps S1 to S6 until the detection task of the entire power grid area is completed; the transport drone and the positioning drone return to the base station along the preset path.

[0007] Further preferably, the positioning and navigation unit includes a coordinate system module, a flight path planning module and a path correction module, which are used to control the flight paths of the transport UAV and the positioning UAV; the coordinate system module connects the transport UAV and the positioning UAV with the coordinate system of the power grid, and obtains the actual target position according to the positioning of the hovering point; the flight path planning module calculates the flight path planning of the transport UAV according to the hovering point, calculates the flight instructions, and transmits the flight instructions to the transport UAV; the path correction module makes adjustments according to the real-time position of the transport UAV and the flight path planning.

[0008] Further preferably, the coordinate system module uses the globally universal WGS-84 geodetic coordinate system adopted by the transport UAV and the positioning UAV as the reference coordinate system, and converts the longitude and latitude under the WGS-84 coordinate system into the spatial rectangular coordinates of the transmission line when performing maintenance tasks; in the initialization stage, the ground control station sends synchronous calibration instructions to the positioning UAV and the transport UAV; and uses the real-time dynamic positioning technology RTK of the ground base station to perform coordinate calibration.

[0009] Further preferably, the flight path planning module constructs a model for the three-dimensional geographic information of the transmission line, combines the terrain data and obstacle distribution, as well as the flight performance parameters of the transport UAV, adopts a dynamic programming algorithm, takes the current position of the transport UAV as the starting point and the hovering point as the target point, and selects the optimal path node for expansion through the distance from each node to the target point and the cost from the starting point to the node, thereby planning a safe and efficient flight path.

[0010] The path correction module establishes a real-time monitoring mechanism through the real-time position of the transport UAV, continuously obtains the position, attitude, and speed information of the transport UAV through real-time communication with the transport UAV, and compares and analyzes the actual flight path of the transport UAV with the preset path; when it is found that the transport UAV deviates from the preset path, a correction algorithm based on model predictive control MPC is adopted to predict the subsequent flight trajectory according to the current state and environmental information of the transport UAV, and return the transport UAV to the preset path through control input including the flight attitude and speed of the transport UAV.

[0011] Further preferably, in step S2, the coordinates of the hovering point are , are the X, Y, and Z axis coordinates of the hovering point, and the real-time coordinates of the transport drone are , They are the real-time X, Y, and Z axis coordinates of the transport drone.

[0012] Using a dynamic programming algorithm, we first take the real-time position of the transport UAV as the starting point and the coordinates of the hovering point as the end point to construct a search space containing the surrounding environment information and a three-dimensional environment model pre-constructed by a lidar; the search space is discretized into grid nodes, and each node is assigned a cost function value. The cost function calculates the distance to the end point and the obstacle distance around the node, and uses the heuristic function value of each node to obtain the Euclidean distance. Starting from the starting point, the Euclidean distance is used to use a greedy strategy to select nodes for expansion as adjacent nodes, and the search path is gradually expanded until the end point is reached, and a flight path for the transport UAV is obtained.

[0013] First calculate the target direction vector ; The current attitude angle of the transport drone includes the pitch angle , yaw angle , Roll Angle , the target direction vector is converted into the command vector in the body coordinate system through the trigonometric function relationship, where b represents the body coordinate system, and the three axes of the body coordinate system are , and , in the body coordinate system Axis direction command component , Axis direction command component , Axis direction command component , the instruction vector will be used for flight control. Further preferably, the execution unit includes a controller, an electric push rod, an electromagnet and a pressure sensor; the electric push rod and the electromagnet form a rigid connection device, and the electric push rod is used to control the extension and retraction of the rigid connection device; the electromagnetic lock is used to lock the power grid X-ray detection device during flight; the controller controls the action of the electric push rod and the electromagnetic lock according to the instruction sent by the positioning and navigation unit; the execution unit feeds back the state of the rigid connection device in real time through the pressure sensor, detects and determines whether to release or recover the device, when the transport drone reaches the hovering point and receives the release instruction sent by the positioning and navigation unit, the controller controls the electromagnetic lock to cut off the power, release the lock of the power grid X-ray detection device, and controls the electric push rod to slowly lower the detection device so that the mechanical wheel contacts the power transmission line; after the power grid X-ray detection device completes the detection task, the execution unit receives the recovery instruction; the controller controls the electric push rod to rise, and retracts the power grid X-ray detection device to the bottom of the transport drone; then, the electromagnetic lock is controlled to be powered on and re-lock the power grid X-ray detection device.

[0014] Further preferably, in step S5, the power grid X-ray detection equipment is moved on the transmission line by mechanical wheels. When the position of the power grid X-ray detection equipment does not meet the detection requirements, the position of the power grid X-ray detection equipment is adjusted by the mechanical wheel driving motor according to a preset adjustment strategy, and the detection head of the power grid X-ray detection equipment is aligned with the target position to be detected, and X-ray detection of the target position to be detected is started.

[0015] Applied to the above method, the present invention also provides a line inspection system of a drone-mounted power grid X-ray detection device, including a positioning drone unit, a positioning navigation unit, a transport drone unit, a power grid X-ray detection unit and an execution unit.

[0016] The positioning drone unit includes a positioning drone, a camera, a communication module and a positioning module, which is used to control the positioning drone to fly to the power transmission line of the detected section according to a preset cruising route to locate the target position to be detected; the positioning module adopts a positioning sensor to obtain geographic coordinate information in real time, including longitude, latitude and altitude; the location of the hovering point directly above the target position to be detected is used as the positioning coordinate, and the communication module is connected to the positioning navigation unit for communication, and the positioning coordinates of the hovering point are transmitted to the positioning navigation unit.

[0017] The positioning and navigation unit includes a coordinate system module, a flight path planning module and a path correction module, which are used to control the flight paths of the transport UAV and the positioning UAV; the coordinate system module connects the transport UAV and the positioning UAV with the coordinate system of the power grid, and obtains the actual target position according to the positioning of the hovering point; the flight path planning module calculates the flight path planning of the transport UAV according to the hovering point, calculates the flight instructions, and transmits the flight instructions to the transport UAV; the path correction module makes adjustments according to the real-time position of the transport UAV and the flight path planning.

[0018] The transport drone unit includes a transport drone, a communication module and a positioning module, which is used to control the transport drone to receive the flight instruction sent by the positioning and navigation unit, and carry the power grid X-ray detection unit through the execution unit to fly to the hovering point according to the path planning of the positioning and navigation unit; the communication module is connected to the positioning and navigation unit, and the positioning module adopts a positioning sensor; The power grid X-ray detection unit includes a power grid X-ray detection device, a mechanical wheel, and an image recognition module, which is used to perform X-ray image sampling and recognition on the target position to be detected; the power grid X-ray detection device collects X-ray images, the mechanical wheel adjusts the position of the power grid X-ray detection device according to the target position to be detected, and the image recognition module is responsible for real-time analysis and comparison of the X-ray images taken by the power grid X-ray detection device.

[0019] The execution unit includes a controller, an electric push rod, an electromagnet and a pressure sensor, which are used to control the action of a rigid connection device on the transport drone, wherein the rigid connection device includes an electric push rod and an electromagnet; when the transport drone arrives at the hovering point, the execution unit executes an action of lowering the power grid X-ray detection equipment to place the power grid X-ray detection equipment on the transmission line, and then the execution unit executes an action of releasing the power grid X-ray detection equipment to release the power grid X-ray detection equipment; when the power grid X-ray detection equipment completes the detection task, the execution unit executes a recovery instruction to retract the power grid X-ray detection equipment to the bottom of the transport drone and re-lock the power grid X-ray detection equipment.

[0020] The present invention also provides a computer device, including a memory, a processor and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of the line inspection method of the unmanned aerial vehicle airborne power grid X-ray detection equipment.

[0021] The present invention also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the line inspection method of the unmanned aerial vehicle airborne power grid X-ray detection device. The present invention also provides a computer program product, including a computer program, which, when executed by a processor, implements the steps of the line inspection method of the unmanned aerial vehicle airborne power grid X-ray detection device.

[0022] In summary, the present invention has the following beneficial effects compared with the prior art: 1. Because multiple drones work together and the positioning drone and transport drone have clear division of labor, the problem of overload of transport drones is solved and the stability of the detection equipment is ensured.

[0023] 2. Because of the use of mechanical wheels and image recognition technology to automatically adjust the position of the detection equipment, the problem of inaccurate positioning of the power grid X-ray detection equipment is solved, and the detection accuracy is further improved.

[0024] 3. The combination of multi-UAV collaborative operation and high-precision positioning solves the problems of low efficiency and poor safety of power grid X-ray detection.

[0025] 4. Because of the high-precision positioning and flight control technology, the inefficiency and safety hazards in traditional manual inspections are solved, and the accuracy and efficiency of power grid detection are improved.

[0026] 5. Because of the use of image recognition technology, the position of the detection equipment is calibrated in real time, which solves the problem of inaccurate positioning of the detection equipment and improves the image quality and detection accuracy.

[0027] 6. Because the drone flight can be remotely controlled by real-time monitoring and image collection, the task can be adjusted according to real-time data feedback, which solves the problem of low equipment utilization efficiency during power grid inspection and timely discovers potential faults. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The drawings described herein are used to provide a further understanding of the embodiments of the present invention, constitute a part of this application, and do not constitute a limitation of the embodiments of the present invention. In the drawings: Figure 1 A step diagram of a line inspection method of a UAV-mounted power grid X-ray detection device; Figure 2 This is a structural diagram of the line inspection system of the UAV-mounted power grid X-ray detection equipment. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical scheme and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the embodiments and the accompanying drawings. The exemplary embodiments of the present invention and their description are only used to explain the present invention and are not intended to limit the present invention. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0030] Most of the prior art UAV power grid detection solutions focus on external detection, while for high-quality X-ray detection, there is still a lack of an effective navigation and positioning system to complete accurate flight missions, especially for deploying and adjusting X-ray detection equipment in complex environments. The present invention provides a line inspection method and system for UAV airborne power grid X-ray detection equipment; in view of this, the present invention provides the following embodiments to solve the above-mentioned technical problems.

[0031] The purpose of this embodiment is to specifically target the UAV detection scenario of power transmission lines. On the basis of the existing UAV flight technology and power grid detection technology, the method is improved. Based on the collaborative operation of multiple UAVs and X-ray detection equipment, and taking into account the influence of factors such as the power grid environment, UAV performance, and obstacles, coordinate unification, path planning, and equipment control are comprehensively considered in the execution process of the power grid detection task, so as to reduce the detection errors and inefficiency caused by factors such as coordinate differences, path deviations, and equipment instability, and provide a line inspection method and system for a UAV-mounted power grid X-ray detection device suitable for power grid X-ray detection.

[0032] Reference Figure 1 In a first embodiment of the present invention, a line inspection method of an unmanned aerial vehicle airborne power grid X-ray detection device is provided, comprising the following steps: Step S1, the positioning drone takes off and flies to the power transmission line of the detected section according to the preset cruising range or under the control of the pilot; during the flight, the positioning module is used to obtain the positioning coordinates and the position of the target to be detected of the positioning drone in real time, and the positioning coordinates and the position of the target to be detected are used for the flight path planning of the transport drone; the position of the target to be detected on the transmission line is identified by the binocular camera system carried on the positioning drone, and after identifying the position of the target to be detected, the positioning drone flies to the top of the power transmission line where the target to be detected is located, and the release point position of the power grid X-ray detection equipment on the line is obtained by triangulation method in a manner from near to far from the target to be detected on the line, and the positioning navigation unit generates a hovering point located directly above the release point based on the position of the release point according to the overall size of the aircraft and the parameters of the execution unit, so that when the transport drone hovers to the hovering point under the navigation of the positioning navigation unit, the power grid X-ray detection equipment can be released onto the transmission line, and the hovering point of the transport drone at this time is sent to the positioning navigation unit; Step S2, the positioning and navigation unit controls the flight path of the transport UAV; after receiving the hovering point, the positioning and navigation unit unifies the coordinate system and plans the flight path, calculates the flight instruction, and sends the flight instruction to the transport UAV; Step S3: The transport UAV receives the flight instruction sent by the positioning and navigation unit, and carries the power grid X-ray detection equipment to fly to the hovering point according to the path planning of the positioning and navigation unit; during the flight, the position and status of the transport UAV and the positioning UAV are monitored in real time, and the flight path is corrected as needed (for example, according to the aircraft as a whole formed by the transport UAV and the airborne equipment including the power grid X-ray detection equipment, obstacles on the flight path are identified in real time during the flight, and when obstacle avoidance is required, an obstacle avoidance route is automatically generated to achieve flight path correction); when the transport UAV flies to the hovering point, an instruction is sent to the positioning UAV to fly to the next section of the power transmission line to be inspected according to the preset cruise route; Step S4, the flight path includes a hovering point located directly above the target position to be detected. When the transport drone arrives at the hovering point, the execution unit carried on the transport drone executes the action of lowering the power grid X-ray detection device, so that the power grid X-ray detection device is released under the rigid constraint of the execution unit and placed on the transmission line; Step S5: the power grid X-ray detection device starts to collect X-ray images of the target position to be detected in real time; the image recognition module works synchronously to analyze the collected X-ray images; Step S6: After completing the collection task, the transport drone flies again above the power grid X-ray detection equipment according to the flight path planning and the recognition result of the position of the power grid X-ray detection equipment. The execution unit controls the recovery of the power grid X-ray detection equipment and re-locks it under the transport drone.

[0033] The positioning drone finds the next target to be detected and repeats steps S1 to S6 until the detection task of the entire power grid area is completed; the transport drone and the positioning drone return to the base station along the preset path.

[0034] The working principle of this embodiment is: Specifically targeting the UAV inspection scenario of power transmission lines, based on the existing UAV flight technology and power grid inspection technology, methodological improvements are made. Based on positioning and path planning, an efficient navigation and positioning method is provided. The influence of factors such as positioning accuracy and equipment stability is considered during the flight process. The coordinated operation of the two UAVs and the positioning of the power grid X-ray inspection equipment are comprehensively considered in the overall inspection process to reduce the detection errors caused by flight path deviation and equipment shaking.

[0035] Specifically, the positioning drone and the transport drone fly in coordination through a unified coordinate system, and achieve synchronization of task execution through path planning and real-time correction mechanisms. The flight path and position of each drone are calculated and controlled in a unified geographic coordinate system, and dynamic path planning and real-time monitoring are used to ensure navigation and equipment positioning during flight.

[0036] Step S1, the positioning drone takes off and flies to the power transmission line of the detected section according to the preset cruising range or under the control of the pilot; during the flight, the positioning module is used to obtain the positioning coordinates and the position of the target to be detected of the positioning drone in real time, and the positioning coordinates and the position of the target to be detected are used for the flight path planning of the transport drone, that is, the transport drone and the positioning drone have overlapping routes. With the participation of the pilot, the flight path of the transport drone can be guaranteed to be reliable, safe and efficient; the position of the target to be detected on the transmission line is identified by the binocular camera system carried on the positioning drone, and when the target to be detected is identified, the positioning drone is located at the transmission line. After the position is marked, the positioning drone flies to the top of the power transmission line where the target to be detected is located, and obtains the release point position of the power grid X-ray detection equipment on the line by triangulation method in a manner from near to far distance from the target to be detected on the line. The positioning navigation unit generates a hovering point located directly above the release point based on the position of the release point, according to the overall size of the aircraft and the parameters of the execution unit, so that when the transport drone hovers to the hovering point under the navigation of the positioning navigation unit, the power grid X-ray detection equipment can be released onto the transmission line, and the hovering point of the transport drone at this time is sent to the positioning navigation unit; In step S1, when the position of the target to be detected on the transmission line is determined by the binocular camera system carried on the positioning drone, the position of the target to be detected on the transmission line that can carry the power grid X-ray detection equipment is obtained by a method of orthophotography from top to bottom, based on image feature recognition and camera binocular ranging (for example, for the power grid X-ray detection equipment with the mechanical wheel (wheel set with a power wheel), at this position, the wheel set of the power grid X-ray detection equipment is supported by at least two transmission lines at the same time, and the power grid X-ray detection equipment can move from the release position to the detection position during the rotation of the mechanical wheel and the movement of the power grid X-ray detection equipment). In this process, the position of the target to be detected is determined according to the principle of proximity to the target position. Determine the position of the power grid X-ray detection equipment, that is, the release site position; when the position on the transmission line that can carry the power grid X-ray detection equipment is obtained, the positioning coordinates of the positioning drone at the position and the position of the target to be detected are obtained through the positioning module, and then the triangulation method is used to generate a hovering point directly above the release point according to the overall size of the aircraft and the parameters of the execution unit. The hovering point satisfies the requirement that in step S4, after the transport drone carrying the power grid X-ray detection equipment flies to the positioning coordinates through the rigid connection device, the power grid X-ray detection equipment can be released to the position carrying the power grid X-ray detection equipment in a vertical upright manner from top to bottom under the constraint of the rigid connection device. In the above process, firstly, compared with using a drone to suspend the power grid X-ray detection equipment and fly directly above the power transmission line to find the release position of the power grid X-ray detection equipment, since the positioning drone does not have the power grid X-ray detection equipment load in the process of controlling the positioning drone to find the corresponding position (the prior art usually uses a flexible rope to suspend the power grid X-ray detection equipment under the drone), the airborne equipment on the positioning drone has a very small impact on the flight stability of the positioning drone during the control of the positioning drone. Therefore, this process can effectively reduce the difficulty of the pilot to control the drone, and the corresponding positioning coordinate acquisition is not only efficient, but also has the characteristics of low control requirements for the pilot. The positioning drone can be a common small multi-rotor drone.

[0037] Secondly, after finding the corresponding hovering point, the hovering point can be used to complete the route planning of the transport UAV. The transport UAV flies according to the planned route under the action of the flight control module. Under the condition that the route navigation and the power grid X-ray detection equipment carried by the rigid connection device do not affect the flight stability of the transport UAV, the transport UAV can accurately and efficiently fly to the position for releasing the power grid X-ray detection equipment. In the process of releasing the power grid X-ray detection equipment, since the rigid connection form only allows the power grid X-ray detection equipment to be released vertically downward relative to the transport UAV, after adjusting the azimuth of the transport UAV at the coordinate (the rigid connection makes the azimuth adjustment of the power grid X-ray detection equipment synchronized with the azimuth adjustment of the transport UAV), for example, based on the rigid connection device, the power grid X-ray detection equipment is prevented from deflecting during the release process. Since the swing or even deflection of the power grid X-ray detection equipment under the flexible rope suspension is avoided, the release timing is accidental. This method can efficiently and accurately release the power grid X-ray detection equipment to the transmission line, and ensure the efficiency of implementing power grid X-ray non-destructive testing in terms of positioning and releasing the power grid X-ray detection equipment.

[0038] The positioning module is equipped with high-precision positioning sensors, including but not limited to GPS, Beidou satellite positioning system and inertial measurement unit IMU. This embodiment adopts a combination of satellite positioning system and inertial measurement unit IMU.

[0039] The satellite positioning system calculates the exact position of each satellite based on the received GPS satellite signals, and then uses the propagation delay to estimate the distance to each satellite. In this way, triangulated positioning can be performed through the position and distance information of three or more satellites to obtain the longitude, latitude and altitude of the drone.

[0040] Receive signals from multiple satellites such as GPS and BeiDou. For each satellite, the receiver obtains its signal transmission timestamp and pseudorange raw data. Taking pseudorange measurement as an example, the distance between the drone and the satellite is preliminarily estimated based on the satellite signal propagation speed and the received pseudorange value.

[0041] Next, the least squares method is used to solve the satellite positioning equation. Assuming that n satellite signals are received, the three-dimensional coordinates of the drone are (x, y, z), x is the longitude of the drone, y is the latitude of the drone, z is the altitude of the drone, and the coordinates of satellite i are , is the longitude of satellite i, is the latitude of satellite i, is the altitude of satellite i, and the pseudorange measurement is , taking into account satellite clock error, receiver clock error and other factors, the corresponding correction terms are introduced to construct the following equations: ; Where c is the speed of light, is the receiver clock error, is the satellite clock error, is the geometric distance, is the error. The least squares method is used to iteratively solve the equations and gradually approach the real coordinates of the drone. In each iteration, the various terms in the equation are updated according to the current estimated coordinate values, the residual is recalculated, and the coordinate correction is adjusted until the residual meets certain convergence conditions. According to the experiment, the number of iterations is about 10, and the initial positioning result is obtained as the initial position information.

[0042] Equipped with an inertial measurement unit, this embodiment uses a six-axis inertial sensor that can measure the acceleration and angular velocity of the drone in real time. It works in conjunction with the positioning module, and uses inertial measurement data to perform dead reckoning to maintain positioning continuity when the satellite signal is temporarily lost or interfered with. The initial position information is obtained through the satellite positioning system, and the positioning deviation is corrected in real time using the IMU. The satellite positioning system data and the inertial measurement unit data are fused through the sensor fusion Kalman filter algorithm to ensure that the position coordinates of the drone can still be accurately obtained in complex electromagnetic environments and signal shielding conditions.

[0043] The positioning drone is equipped with a high-definition camera to capture images of power transmission lines, assist in positioning through image recognition technology, and can perform image acquisition and three-dimensional modeling of transmission lines. Through image recognition algorithms and three-dimensional model analysis, the target detection position is determined, and the positioning coordinates are transmitted to the positioning navigation unit in real time through a wireless communication link. At the same time, accurate distance information is obtained to build an environmental map and identify characteristic objects in the power grid (such as poles, insulators, etc.). Combined with image feature point matching and triangulation principles, the positioning drone's position in the power grid environment is determined and transmitted to the monitoring and analysis unit.

[0044] The positioning and navigation unit described in step S2 includes a coordinate system one module, a flight path planning module and a path correction module, which are used to control the flight paths of the transport UAV and the positioning UAV; the coordinate system one module connects the transport UAV and the positioning UAV with the coordinate system one of the power grid, and obtains the actual target position according to the positioning of the target position to be detected; the flight path planning module calculates the flight path planning of the transport UAV according to the hovering point, calculates the flight instructions, and transmits the flight instructions to the transport UAV; the path correction module makes adjustments according to the real-time position of the transport UAV and the flight path planning.

[0045] The coordinate system module 1 uses the globally universal WGS-84 geodetic coordinate system used by the transport drone and the positioning drone as the reference coordinate system. When performing maintenance tasks, the longitude and latitude under the WGS-84 coordinate system are converted into the spatial rectangular coordinates of the power transmission line; in the initialization stage, the ground control station sends a synchronous calibration instruction to the positioning drone and the transport drone; before taking off, the positioning drone and the transport drone are synchronously calibrated so that they share the same high-precision map data source. Through real-time differential positioning technology, the flight trajectory deviation of the drone is continuously corrected to ensure that the flight paths of the positioning drone and the transport drone in three-dimensional space are correct and the collaborative operation is smooth. The real-time dynamic positioning technology RTK of the ground base station is used for coordinate calibration. The real-time dynamic positioning technology RTK is that the ground base station is equipped with a high-precision satellite positioning device, which calculates its own coordinates in real time and sends the differential correction information to the two drones (positioning drone and transport drone) through a wireless communication link. After receiving the differential correction data, the drone corrects its own satellite positioning results to ensure that the two drones are positioned and navigated in the same coordinate system.

[0046] In step 2, the coordinate system module 1 converts the coordinates transmitted by the real-time UAV back to the positioning and navigation unit into spatial coordinates on the transmission line.

[0047] Set the real-time longitude and latitude of the drone in the WGS-84 coordinate system , converted to spatial rectangular coordinates The formula is as follows: , in, , a is the long semi-axis of the earth ellipsoid, e is the first eccentricity of the earth ellipsoid, λ is the longitude, is the latitude, h is the geodetic height, X is the X-axis coordinate of the spatial rectangular coordinate system, Y is the Y-axis coordinate of the spatial rectangular coordinate system, and Z is the Z-axis coordinate of the spatial rectangular coordinate system.

[0048] The converted coordinate data is compared with the known reference point or actual position to check the accuracy of the conversion result. The error value can be calculated by setting check points at known tower positions, detection points, etc. of the power grid, comparing the converted coordinates with the actual coordinates.

[0049] The flight path planning module is a three-dimensional geographic information model of the transmission line, combined with terrain data and obstacle distribution, which includes mountain peaks in mountainous areas, high-rise buildings in cities, and flight performance parameters of transport drones, including maximum flight speed, turning radius, and endurance. The A* search algorithm is used as a dynamic planning algorithm, with the current position of the transport drone as the starting point and the position of the target to be detected as the target point. The optimal path node is selected for expansion through the distance from each node to the target point and the cost from the starting point to the node, thereby planning a safe and efficient flight path. For example, when encountering an obstacle, the algorithm will automatically search for a path that bypasses the obstacle and has the shortest distance.

[0050] The path correction module establishes a real-time monitoring mechanism through the real-time transport drone position, continuously obtains the transport drone's position, attitude, and speed information through real-time communication with the transport drone, and compares and analyzes the actual flight path of the transport drone with the preset path in combination with environmental data (such as real-time wind speed and wind direction data); when it is found that the transport drone deviates from the preset path, a correction algorithm based on model predictive control MPC is used to predict the subsequent flight trajectory based on the current state and environmental information of the transport drone, and return the transport drone to the preset path through control inputs including the transport drone's flight attitude and speed. At the same time, considering the dynamic performance and flight safety of the transport drone, the correction algorithm will avoid drastic changes in control input while ensuring the correction effect.

[0051] In step S2, the coordinates of the hovering point are , are the X, Y, and Z axis coordinates of the hovering point, and the real-time coordinates of the transport drone are , They are the real-time X, Y, and Z axis coordinates of the transport drone.

[0052] Using a dynamic programming algorithm, we first take the real-time position of the transport UAV as the starting point and the coordinates of the hovering point as the end point to construct a search space containing the surrounding environment information and a three-dimensional environment model pre-constructed by a lidar; the search space is discretized into grid nodes, and each node is assigned a cost function value. The cost function calculates the distance to the end point and the obstacle distance around the node, and uses the heuristic function value of each node to obtain the Euclidean distance. Starting from the starting point, the Euclidean distance is used to use a greedy strategy to select nodes for expansion as adjacent nodes, and the search path is gradually expanded until the end point is reached, and a flight path for the transport UAV is obtained.

[0053] First calculate the target direction vector ; The current attitude angle of the transport drone includes the pitch angle , yaw angle , Roll Angle , the target direction vector is converted into the command vector in the body coordinate system through the trigonometric function relationship, where b represents the body coordinate system, and the three axes of the body coordinate system are , and , in the body coordinate system Axis direction command component , Axis direction command component , Axis direction command component , the command vector will be used for flight control.

[0054] The positioning and navigation unit also includes a task coordination and synchronization module and a data communication and management module.

[0055] The task coordination and synchronization module is responsible for coordinating the task execution sequence and time synchronization between the positioning UAV and the transport UAV, ensuring that the transport UAV starts to perform the flight mission after the positioning UAV completes the positioning task and accurately transmits the positioning coordinates to the transport UAV. Message queues, event triggers and other mechanisms can be used to achieve task coordination and synchronization.

[0056] The data communication and management module establishes a stable communication link with the positioning drone, transport drone and other related equipment to ensure real-time transmission and reliable reception of data. It verifies, parses and stores the transmitted data, including positioning coordinates, flight status information, test results, etc. It also designs a data backup and recovery mechanism to prevent data loss and damage.

[0057] Several ground base stations are pre-deployed around the detection area, and the base stations and positioning drones communicate in real time via 4G / 5G links adopted by wireless data links. The base stations continuously receive satellite signals and solve their own positions, and send differential correction data to the positioning drones. The drones use these data to correct their own positioning results, achieving high-precision positioning at the centimeter or even millimeter level. This high-precision positioning is crucial for locking the detection position of subtle components of the power grid, such as being able to locate the connection parts of insulators and the connection points of wires.

[0058] During the flight, the entire aircraft formed by the transport UAV and the onboard equipment including the power grid X-ray detection equipment can identify obstacles on the flight path in real time. When an obstacle is detected and obstacle avoidance operation is required, the aircraft as a whole can automatically generate an obstacle avoidance route to correct the original flight path and realize flight path correction. At the same time, during the entire flight process, the transport UAV maintains real-time communication with the positioning and navigation unit. The positioning and navigation unit provides real-time guidance for the transport UAV based on the real-time position, posture and surrounding environment information of the entire aircraft. Combined with the real-time guidance of the positioning and navigation unit, the transport UAV combines these real-time guidance to actively and flexibly avoid various obstacles, continuously correct the flight path, actively avoid various obstacles, and finally fly to the target position to be detected, ensuring the accuracy and stability of the flight.

[0059] The transport drone is made of high-strength, lightweight composite materials, with strong load-bearing capacity and stable flight performance, ensuring that the equipment does not loosen or get damaged during flight. According to the coordinates provided by the positioning and navigation unit, the transport drone flies to the target location to be detected based on the navigation information.

[0060] In step S4, in the power grid detection task, the flight path of the transport drone includes a hovering point located directly above the target position to be detected. When the transport drone arrives at the hovering point, the execution unit carried thereon begins to execute the action of lowering the power grid X-ray detection equipment.

[0061] The execution unit adopts a retractable rigid frame structure with the upper end mounted on the transport drone. When the transport drone flies to the hovering point, the execution unit is always in a retracted state to ensure the stability of the transportation process. When the transport drone arrives at the hovering point and is ready to release the power grid X-ray detection equipment, the action end of the execution unit connected to the power grid X-ray detection equipment is rigidly extended, so that the power grid X-ray detection equipment is rigidly constrained by the execution unit during the release process and can be released and placed on the transmission line in the specified direction and posture.

[0062] This rigid constraint method effectively prevents the power grid X-ray detection equipment from twisting or swinging when released. In the past, the twisting and swinging of the equipment often made it difficult to locate it on the transmission line, resulting in low detection efficiency. Now, thanks to the rigid constraint design of the execution unit, the power grid X-ray detection equipment can be released and placed on the transmission line smoothly and accurately.

[0063] The rigid connection device used in the execution unit is made of high-strength aluminum alloy. Through mechanical processing technology, bolt connection and positioning pins are combined to prevent the power grid X-ray detection equipment from shaking or falling off during flight, ensuring the tightness and reliability of the connection. In the body structure design, a special rigid connection interface is reserved, and the connector made of high-strength aluminum alloy is used to ensure a stable connection with the power grid X-ray detection equipment, and the connection will not loosen due to vibration and other factors during flight, ensuring the stability of the detection equipment during flight.

[0064] Equipped with an advanced flight control system, it can receive the coordinate information and flight instructions of the target location to be detected sent by the positioning and navigation unit, and control the flight attitude, speed and direction of the transport drone based on this information. The flight control system has a high degree of autonomy and adaptability, and can achieve autonomous flight and obstacle avoidance functions in complex environments.

[0065] The execution unit controls the release and recovery of the rigid connection device on the transport drone to ensure the smooth release and recovery of the power grid X-ray detection equipment. The execution unit includes a controller, an electric push rod, an electromagnet and a pressure sensor. The electric push rod and the electromagnet form a rigid connection device, and the electric push rod is used to control the extension and retraction of the rigid connection device to realize the lowering and recovery of the power grid X-ray detection equipment. The electromagnetic lock is used to lock the detection equipment during flight to ensure its safety. The controller controls the actions of the electric push rod and the electromagnetic lock according to the instructions sent by the positioning and navigation unit to ensure the smooth release and recovery of the power grid X-ray detection equipment. The execution unit uses the pressure sensor to feedback the state of the rigid connection device in real time, detects and determines whether to release or recover the equipment, and adjusts the action according to the feedback information to ensure that the equipment is safely in contact with the power grid. When the transport drone reaches the target position to be detected and receives the release instruction sent by the positioning and navigation unit, the controller controls the electromagnetic lock to cut off the power, releases the lock on the detection equipment, and controls the electric push rod to slowly lower the detection equipment so that the mechanical wheel contacts the transmission line. The stroke and speed of the electric push rod can be controlled according to the actual situation to ensure the smooth lowering of the rigid connection device. Through the rigid connection device, the shaking problem when the transport drone carries the power grid X-ray detection equipment is reduced, and the stability of the equipment is improved. The mechanical wheel installed on the detection equipment adjusts the sampling position according to the sampling effect, thereby improving the accuracy of the detection results.

[0066] After the power grid X-ray detection equipment completes the detection task, the execution unit receives a recovery command; the controller controls the electric push rod to rise and retract the detection equipment to the bottom of the transport drone; then, the electromagnetic lock is powered on to relock the detection equipment; the entire recovery process also ensures the safe and accurate recovery of the detection equipment by controlling the speed and stroke of the electric push rod.

[0067] The control mechanism of the rigid connection device is composed of an electric push rod, an electromagnet, etc. When the transport drone reaches the designated position, the release command issued by the receiving system is activated, the electric push rod is activated, and the unlocking component of the rigid connection device is pushed. The electromagnet is powered off to release the lock, so that the power grid X-ray detection equipment is separated from the transport drone; when recovering, the opposite is true. The electromagnet is powered on to attract the lock, and the electric push rod is retracted to drive the power grid X-ray detection equipment back to its original position. The controller uses a single-chip microcomputer and executes according to the preset timing logic control to ensure the reliability and accuracy of the action.

[0068] The control system of the rigid connection device is mainly composed of core components such as electric push rods and electromagnets. When the transport drone arrives at the designated location, it immediately receives the release command issued by the system. At this time, the electric push rod responds quickly, forcefully pushes the unlocking component of the rigid connection device, and the electromagnet is powered off synchronously to release the lock, so that the power grid X-ray detection equipment and the transport drone are separated smoothly; the recovery stage is the opposite operation, the electromagnet is powered on to attract the lock, the electric push rod shrinks, and the detection equipment returns to its position smoothly. The entire process is controlled by the single-chip microcomputer and proceeds in an orderly manner in strict accordance with the preset timing logic, ensuring the reliability of the action in all aspects, and escorting the deployment and recovery of the equipment.

[0069] When releasing the power grid X-ray detection equipment, the execution unit acts according to the preset program, the electromagnetic lock is unlocked instantly, and the force feedback sensor monitors the connection status in real time to ensure that the equipment is smoothly detached; when recovering, it is also controlled to achieve fast and reliable docking and locking.

[0070] The execution unit is responsible for controlling the release and recovery of the rigid connection device on the transport drone, ensuring that the power grid X-ray detection equipment can be released and successfully recovered. The execution unit collaborates with the transport drone system in real time to ensure the smooth operation of the power grid X-ray detection equipment during flight.

[0071] In step S5, the power grid X-ray detection equipment is moved on the transmission line by mechanical wheels. When the position of the power grid X-ray detection equipment does not meet the detection requirements, the position of the power grid X-ray detection equipment is adjusted by the mechanical wheel driving motor according to the preset adjustment strategy, and the sampling angle is changed to ensure that the acquired image can clearly and comprehensively reflect the internal conditions of the power grid; the image recognition module is used to adjust the collection position, and the detection head of the power grid X-ray detection equipment is aligned with the target position to be detected, and X-ray detection of the target position to be detected is started.

[0072] The power grid X-ray detection equipment is fixed above the transmission line by mechanical wheels to ensure that the power grid X-ray detection equipment is stable and reliable. Through the image recognition module, the power grid X-ray detection equipment can automatically identify the target position during flight and adjust the relative position to ensure high-quality X-ray sampling and avoid detection errors caused by inaccurate equipment position.

[0073] The mechanical wheel is made of rubber with anti-skid patterns on the surface. It is driven by a motor to achieve retraction and movement adjustment on the transmission line. The power grid X-ray detection equipment is equipped with a high-resolution X-ray detector, which has the characteristics of high sensitivity and fast response, and can capture clear images of the internal structure of the power grid. The control unit has a built-in microprocessor, which corrects the angle according to the preset detection process and the received self-image recognition module. The image recognition module compares the collected image with the historical and common circuit fault images based on the pre-established database, and analyzes the real-time detection results and detection progress. The motor driving the mechanical wheel works in conjunction with the X-ray detector to complete the full range of X-ray detection of power grid equipment.

[0074] The image recognition module uses deep learning algorithms and convolutional neural networks to perform real-time analysis on the X-ray images collected by the detection equipment. A large number of different types of power grid defect images are collected in advance, and the CNN model is trained to enable it to accurately identify various defect types, including cracks, internal corrosion, etc., as well as the relative position deviation between the detection equipment and the target position to be detected.

[0075] The image recognition module is connected to the drive motor of the mechanical wheel. When a position deviation is detected, it automatically calculates the distance and direction that need to be adjusted, and sends a control instruction to the drive motor to drive the mechanical wheel to adjust the position of the detection device to ensure the accuracy of X-ray sampling. For example, when the image recognition module detects that the detection device deviates from the target position by 10 mm, it will calculate the corresponding motor control parameters and drive the mechanical wheel to move the detection device to the correct position.

[0076] The mechanical wheel is driven by a drive motor and moves forward and backward and left and right through a gear transmission mechanism. The drive motor uses a high-precision servo motor, which can control the movement speed and position of the mechanical wheel. The servo motor has high positioning accuracy and fast response speed, which can meet the high-precision requirements of the detection equipment for position adjustment.

[0077] After the power grid X-ray detection equipment is adjusted to the appropriate position, the X-ray source is started to emit X-rays. The X-rays penetrate the power grid components and are received by the detector. The detector converts the received X-ray signal into an electrical signal, which is then converted into a digital signal through analog-to-digital conversion (A / D).

[0078] The collected digital signals are preprocessed, such as denoising and enhancement. Filtering algorithms are used to remove noise interference in the signal and improve the clarity of the image. The processed signals are then transmitted to the ground control center or storage device for subsequent analysis and diagnosis. For example, the collected X-ray image data is stored in the solid-state hard drive built into the detection equipment, and after the detection task is completed, it is transmitted to the monitoring and analysis unit for detailed analysis.

[0079] The power grid X-ray detection equipment will feed back the collected data, image recognition module recognition results, detection progress and results to the monitoring and analysis unit through wireless communication.

[0080] Step S6: After completing the collection task, the transport drone flies again above the power grid X-ray detection equipment according to the flight path planning and the recognition result of the position of the power grid X-ray detection equipment, and the execution unit controls the recovery of the power grid X-ray detection equipment and re-locks it under the transport drone.

[0081] The release position of the X-ray detection equipment on the transmission line serves as its initial position for carrying out detection work. In actual power grid detection tasks, in order to achieve comprehensive detection of multiple targets to be detected at different positions of the transmission line, the power grid X-ray detection equipment in this embodiment has the ability to move autonomously on the transmission line. In this way, after the equipment is released to the initial position of the transmission line, it can be flexibly moved to each target to be detected according to the detection requirements, without relying on additional equipment for secondary positioning or adjustment, which greatly improves the efficiency and flexibility of the detection and ensures that the detection tasks at different positions of the transmission line can be completed efficiently and accurately. After completion, the transport drone uses the camera to perform image recognition to confirm the position of the power grid X-ray detection equipment. The transport drone flies above the power grid X-ray detection equipment again to recover the power grid X-ray detection equipment. In the second embodiment of the present invention, Figure 2 As shown, the line inspection system of the drone-mounted power grid X-ray detection equipment includes a positioning drone unit, a positioning navigation unit, a transport drone unit, a power grid X-ray detection unit and an execution unit.

[0082] The positioning drone unit includes a positioning drone, a camera, a communication module and a positioning module, which is used to control the positioning drone to fly to the power transmission line of the detected section according to a preset cruising route to locate the target position to be detected; the positioning module adopts a positioning sensor to obtain geographic coordinate information in real time, including longitude, latitude and altitude; the location of the target position to be detected is used as the positioning coordinate, and the communication module is connected to the positioning navigation unit for communication, and the positioning coordinates of the target position to be detected are transmitted to the positioning navigation unit.

[0083] The positioning and navigation unit includes a coordinate system module, a flight path planning module and a path correction module, which are used to control the flight paths of the transport UAV and the positioning UAV; the coordinate system module connects the transport UAV and the positioning UAV with the coordinate system of the power grid, and obtains the actual target position according to the positioning of the target position to be detected; the flight path planning module calculates the flight path planning of the transport UAV according to the hovering point, calculates the flight instructions, and transmits the flight instructions to the transport UAV; the path correction module makes adjustments according to the real-time position of the transport UAV and the flight path planning.

[0084] The transport drone unit includes a transport drone, a communication module and a positioning module, which is used to control the transport drone to receive the flight instructions sent by the positioning and navigation unit, and carry the power grid X-ray detection unit through the execution unit to fly to the target position to be detected according to the path planning of the positioning and navigation unit; the communication module is communicatively connected with the positioning and navigation unit, and the positioning module adopts a positioning sensor.

[0085] The power grid X-ray detection unit includes a power grid X-ray detection device, a mechanical wheel, and an image recognition module, which is used to perform X-ray image sampling and recognition on the target position to be detected; the power grid X-ray detection device collects X-ray images, the mechanical wheel adjusts the position of the power grid X-ray detection device according to the target position to be detected, and the image recognition module is responsible for real-time analysis and comparison of the X-ray images taken by the power grid X-ray detection device.

[0086] The execution unit includes a controller, an electric push rod, an electromagnet and a pressure sensor, which are used to control the action of a rigid connection device on the transport drone, wherein the rigid connection device includes an electric push rod and an electromagnet; when the transport drone arrives above the target position to be detected, the execution unit executes an action of lowering the power grid X-ray detection equipment to place the power grid X-ray detection equipment on the transmission line, and then the execution unit executes an action of releasing the power grid X-ray detection equipment to release the power grid X-ray detection equipment; when the power grid X-ray detection equipment completes the detection task, the execution unit executes a recovery instruction to retract the power grid X-ray detection equipment to the bottom of the transport drone and re-lock the power grid X-ray detection equipment.

[0087] Specifically, in the embodiment, it also includes a monitoring and analysis unit for human-computer interaction and storage of historical data, so that the operator can remotely monitor the system in real time and call historical data. The monitoring and analysis unit is electrically connected to the positioning drone unit, the positioning navigation unit, the transport drone unit, the power grid X-ray detection unit and the execution unit respectively.

[0088] This embodiment can be applied to more drones at the same time, improve the efficiency of power grid inspection, and effectively reduce the safety hazards existing in traditional methods, promoting the technological progress and intelligent development of the power industry. The power grid X-ray detection unit is responsible for performing the X-ray detection function of the power grid equipment by controlling the mechanical wheel under the equipment and the image acquisition of the equipment. It can automatically adjust the sampling angle and the emission intensity of the X-ray according to the actual location and environment of the power grid to achieve the best power grid detection effect.

[0089] The third embodiment of the present invention provides a computer device, including a memory, a processor and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of the line inspection method of the unmanned aerial vehicle airborne power grid X-ray detection equipment.

[0090] A fourth embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the line inspection method of the unmanned aerial vehicle airborne power grid X-ray detection equipment.

[0091] It should be understood that various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above embodiments, multiple steps or methods can be achieved by software or firmware stored in a memory and executed by an adapted instruction execution system. For example, if hardware is used for implementation, as in another embodiment, any one or a combination of the following techniques known in the art can be used to accomplish the implementation.

[0092] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A line inspection method for an unmanned aerial vehicle airborne power grid X-ray detection device, characterized in that: The following steps are involved: Step S1: The positioning drone takes off and flies to the power transmission line of the detected section according to the preset cruising range or under the control of the pilot; During the flight, the positioning module is used to obtain the positioning coordinates and the position of the target to be detected of the positioning drone in real time, and the positioning coordinates and the position of the target to be detected are used for flight path planning; the position of the target to be detected on the transmission line is identified by the binocular camera system carried on the positioning drone. After identifying the target to be detected, the positioning drone flies above the line where the target to be detected is located, and obtains the release point position of the power grid X-ray detection equipment on the line in a manner from near to far from the target to be detected on the transmission line by triangulation method. The positioning navigation unit generates a hovering point located directly above the release point according to the release point position, so that when the transport drone hovers to the hovering point under the navigation of the positioning navigation unit, the power grid X-ray detection equipment can be released onto the transmission line, and the hovering point of the transport drone at this time is sent to the positioning navigation unit; Step S2, the positioning and navigation unit controls the flight path of the transport UAV; after receiving the hovering point, the positioning and navigation unit unifies the coordinate system and plans the flight path, calculates the flight instruction, and sends the flight instruction to the transport UAV; Step S3: The transport UAV receives the flight instruction sent by the positioning and navigation unit, and carries the power grid X-ray detection equipment to fly to the hovering point according to the path planning of the positioning and navigation unit; during the flight, the position and status of the transport UAV and the positioning UAV are monitored in real time, and the flight path is corrected as needed; Step S4, the flight path includes a hovering point located directly above the target position to be detected. When the transport drone arrives at the hovering point, the execution unit carried on the transport drone executes the action of lowering the power grid X-ray detection device, so that the power grid X-ray detection device is released under the rigid constraint of the execution unit and placed on the transmission line; Step S5: the power grid X-ray detection device starts to collect X-ray images of the target position to be detected in real time; the image recognition module works synchronously to analyze the collected X-ray images; Step S6: After completing the collection task, the transport drone flies again above the power grid X-ray detection equipment according to the flight path planning and the recognition result of the position of the power grid X-ray detection equipment. The execution unit controls the recovery of the power grid X-ray detection equipment and re-locks it under the transport drone.

2. The line inspection method of the unmanned aerial vehicle airborne power grid X-ray detection equipment according to claim 1 is characterized in that: The positioning and navigation unit includes a coordinate system module, a flight path planning module and a path correction module, which are used to control the flight paths of the transport UAV and the positioning UAV; the coordinate system module connects the transport UAV and the positioning UAV with the coordinate system of the power grid, and obtains the actual target position according to the positioning of the hovering point; the flight path planning module calculates the flight path planning of the transport UAV according to the hovering point, calculates the flight command, and transmits the flight command to the transport UAV; The path correction module makes adjustments based on the real-time position and flight path planning of the transport UAV.

3. The line inspection method of the unmanned aerial vehicle airborne power grid X-ray detection equipment according to claim 2 is characterized in that: The coordinate system module uses the globally universal WGS-84 geodetic coordinate system used by the transport UAV and the positioning UAV as the reference coordinate system. When performing maintenance tasks, the longitude and latitude under the WGS-84 coordinate system are converted into spatial rectangular coordinates of the transmission line; during the initialization stage, synchronous calibration instructions are sent to the positioning UAV and the transport UAV through the ground control station; and coordinate calibration is performed using the real-time dynamic positioning technology RTK of the ground base station.

4. The line inspection method of the unmanned aerial vehicle airborne power grid X-ray detection equipment according to claim 2 is characterized in that: The flight path planning module constructs a model of the three-dimensional geographic information of the transmission line, combines the terrain data and the obstacle distribution, and the flight performance parameters of the transport UAV, adopts a dynamic programming algorithm, takes the current position of the transport UAV as the starting point and the hovering point as the target point, and selects the path node for expansion to obtain the flight path through the distance from each node to the target point and the cost from the starting point to the node; The path correction module establishes a real-time monitoring mechanism through the real-time position of the transport UAV, continuously obtains the position, attitude, and speed information of the transport UAV through real-time communication with the transport UAV, and compares and analyzes the actual flight path of the transport UAV with the preset path; when it is found that the transport UAV deviates from the preset path, a correction algorithm based on model predictive control MPC is adopted to predict the subsequent flight trajectory according to the current state and environmental information of the transport UAV, and return the transport UAV to the preset path through control input including the flight attitude and speed of the transport UAV.

5. The line inspection method of the unmanned aerial vehicle airborne power grid X-ray detection equipment according to claim 1 is characterized in that: In step S2, the coordinates of the hovering point are , are the X, Y, and Z axis coordinates of the hovering point, and the real-time coordinates of the transport drone are , They are the real-time X, Y, and Z axis coordinates of the transport drone respectively; Using a dynamic programming algorithm, firstly, the real-time position of the transport UAV is taken as the starting point and the coordinates of the hovering point are taken as the end point, and a search space containing the surrounding environment information and a three-dimensional environment model pre-constructed by the laser radar is constructed; the search space is discretized into grid nodes, and each node is assigned a cost function value. The cost function calculates the distance to the end point and the obstacle distance around the node, and uses the heuristic function value of each node to obtain the Euclidean distance. Starting from the starting point, the Euclidean distance is used to select nodes for expansion as adjacent nodes with a greedy strategy, and the search path is gradually expanded until the end point is reached, and a flight path for the transport UAV is obtained; First calculate the target direction vector ; The current attitude angle of the transport drone includes the pitch angle , yaw angle , Roll Angle , the target direction vector is converted into the command vector in the body coordinate system through the trigonometric function relationship, where b represents the body coordinate system, and the three axes of the body coordinate system are , and , in the body coordinate system Axis direction command component , Axis direction command component , Axis direction command component , the command vector will be used for flight control.

6. The line inspection method of the unmanned aerial vehicle airborne power grid X-ray detection equipment according to claim 1 is characterized in that: The execution unit includes a controller, an electric push rod, an electromagnet and a pressure sensor; the electric push rod and the electromagnet form a rigid connection device, and the electric push rod is used to control the extension and retraction of the rigid connection device; the electromagnetic lock is used to lock the power grid X-ray detection equipment during flight; the controller controls the action of the electric push rod and the electromagnetic lock according to the instructions sent by the positioning and navigation unit; the execution unit feeds back the state of the rigid connection device in real time through the pressure sensor, detects and determines whether to release or recover the equipment, and when the transport drone reaches the hovering point and receives the release instruction sent by the positioning and navigation unit, the controller controls the electromagnetic lock to cut off the power, release the lock on the power grid X-ray detection equipment, and controls the electric push rod to slowly lower the detection equipment so that the mechanical wheel contacts the power transmission line; after the power grid X-ray detection equipment completes the detection task, the execution unit receives the recovery instruction; the controller controls the electric push rod to rise, and retracts the power grid X-ray detection equipment to the bottom of the transport drone; then, the electromagnetic lock is controlled to be powered on to re-lock the power grid X-ray detection equipment.

7. The line inspection method of the unmanned aerial vehicle airborne power grid X-ray detection equipment according to claim 1 is characterized in that: In step S5, the power grid X-ray detection device is moved on the transmission line by mechanical wheels. When the position of the power grid X-ray detection device does not meet the detection requirements, the position of the power grid X-ray detection device is adjusted by the mechanical wheel driving motor according to a preset adjustment strategy, and the detection head of the power grid X-ray detection device is aligned with the target position to be detected, and X-ray detection of the target position to be detected is started.

8. A line inspection system of a UAV-mounted power grid X-ray detection device, comprising a positioning UAV unit, a positioning navigation unit, a transport UAV unit, a power grid X-ray detection unit and an execution unit; characterized in that: The positioning drone unit includes a positioning drone, a camera, a communication module and a positioning module, which is used to control the positioning drone to fly to the power transmission line of the detected section according to a preset cruising route to locate the target position to be detected; The positioning module uses a positioning sensor to obtain geographic coordinate information in real time, including longitude, latitude and altitude; the location of the hovering point directly above the target position to be detected is used as the positioning coordinate, and the communication module is connected to the positioning and navigation unit to transmit the positioning coordinate of the hovering point to the positioning and navigation unit; The positioning and navigation unit includes a coordinate system module, a flight path planning module and a path correction module, which are used to control the flight paths of the transport UAV and the positioning UAV; the coordinate system module connects the transport UAV and the positioning UAV with the coordinate system of the power grid, and obtains the actual target position according to the positioning of the hovering point; the flight path planning module calculates the flight path planning of the transport UAV according to the hovering point, calculates the flight command, and transmits the flight command to the transport UAV; The path correction module makes adjustments based on the real-time position and flight path planning of the transport drone; The transport drone unit includes a transport drone, a communication module and a positioning module, which is used to control the transport drone to receive the flight instruction sent by the positioning and navigation unit, and carry the power grid X-ray detection unit through the execution unit to fly to the hovering point according to the path planning of the positioning and navigation unit; the communication module is connected to the positioning and navigation unit, and the positioning module adopts a positioning sensor; The power grid X-ray detection unit includes a power grid X-ray detection device, a mechanical wheel, and an image recognition module, which is used to perform X-ray image sampling and recognition on the target position to be detected; the power grid X-ray detection device collects X-ray images, the mechanical wheel adjusts the position of the power grid X-ray detection device according to the target position to be detected, and the image recognition module is responsible for real-time analysis and comparison of the X-ray images taken by the power grid X-ray detection device; The execution unit includes a controller, an electric push rod, an electromagnet and a pressure sensor, which are used to control the action of a rigid connection device on the transport drone, wherein the rigid connection device includes an electric push rod and an electromagnet; when the transport drone arrives at the hovering point, the execution unit executes an action of lowering the power grid X-ray detection equipment to place the power grid X-ray detection equipment on the transmission line, and then the execution unit executes an action of releasing the power grid X-ray detection equipment to release the power grid X-ray detection equipment; when the power grid X-ray detection equipment completes the detection task, the execution unit executes a recovery instruction to retract the power grid X-ray detection equipment to the bottom of the transport drone and re-lock the power grid X-ray detection equipment.

9. A computer device comprising a memory, a processor and a computer program stored in the memory, characterized in that: The processor executes the computer program to implement the steps of the line inspection method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the line inspection method described in any one of claims 1 to 7 are implemented.

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