Visually recognizable unmanned aerial vehicle-mechanical arm collaborative operation device for cable maintenance

Abstract

The invention relates to the technical field of intelligent maintenance of power equipment, and particularly discloses a visually recognizable unmanned aerial vehicle-mechanical arm collaborative operation device for cable maintenance. The device aims to solve the problems of high electric shock risk, low efficiency and missing detection of small defects in traditional manual maintenance. According to the technical scheme, the system comprises an unmanned aerial vehicle module for providing flight and attitude control; the sensing module is integrated with a visible light camera, an infrared thermal imager, an ultraviolet sensor and a laser radar and is combined with a YOLOv11 algorithm to realize real-time classification and positioning of cable surface cracks, local overheating and discharge faults; the control module coordinates the flight of the unmanned aerial vehicle and the action of the mechanical arm through path planning and an obstacle avoidance algorithm; the execution module adopts a multi-degree-of-freedom mechanical arm and a replaceable clamping jaw to grab cable obstacles; the communication module supports real-time data interaction with a ground station; the energy module dynamically distributes electric power to guarantee endurance. The system has the beneficial effects that the fault detection precision is improved through multi-sensor fusion, the aerial work stability is ensured through unmanned aerial vehicle-mechanical arm cooperative control, the manual intervention risk is reduced through remote real-time monitoring, and the system is suitable for efficient cable overhaul and maintenance in the complex environment.

Description

Technical Field:

[0001] The present invention relates to the technical field of intelligent maintenance of power equipment, and specifically relates to a visually recognizable drone-intelligent robotic arm collaborative operation device for cable maintenance. Background Art:

[0002] Traditional cable maintenance relies on manual climbing or handheld equipment for detection. When the cable fault area is at a high altitude and troubleshooting is carried out in a live scenario, electric shock accidents are extremely likely to occur. In addition, manual inspection is inefficient, and there is a possibility of missing small cracks when the cable cracks are small; while the current drone and robotic arm collaborative operation devices with visual recognition can not only be applied to daily cable inspection, but also quickly reach the fault location when a fault occurs for fault analysis and certain on-site processing. Summary of the Invention:

[0003] The purpose of the present invention is to achieve the technical pursuit of "precision and efficiency" in the maintenance of power equipment, and provide a visually recognizable drone-robotic arm collaborative operation device for cable maintenance.

[0004] The technical solution adopted by the present invention is: a visually recognizable drone-robotic arm collaborative operation device for cable maintenance includes: a drone, a sensing module, a control module, an execution module, a communication module, and an energy management module.

[0005] The drone consists of a fuselage structure, a brushless DC motor, and a rotor directly connected to the motor shaft.

[0006] The sensing module consists of a visible light camera, an infrared thermal imager, an ultraviolet sensor, and a lidar.

[0007] Furthermore: The sensing module integrates the YOLOv11 algorithm, which can accurately classify the fault types.

[0008] Furthermore: The lidar in the sensing module can perform three-dimensional imaging of the surrounding area and plan the forward path of the drone-robotic arm system.

[0009] Furthermore: The visible light camera is used to capture conventional images, the infrared is used to detect thermal signals, and the ultraviolet is used to detect discharges and other fault phenomena.

[0010] The control module consists of a main control board integrated with path planning and obstacle avoidance algorithms and an electronic speed controller.

[0011] Furthermore: The main control board integrates a flight control system, which can maintain the flight attitude stability of the drone while receiving signals from the sensing module and controlling the robotic arm to perform predefined actions.

[0012] Furthermore: The main control board is built-in with a real-time operating system and a fault diagnosis system.

[0013] Furthermore: The electronic speed governor in the UAV-manipulator collaborative system is responsible for converting the instructions sent by the flight control system into motor power output, directly affecting the attitude adjustment, flight stability, and dynamic response ability of the UAV.

[0014] The described execution module consists of a multi-degree-of-freedom manipulator and an end effector (gripper).

[0015] Furthermore: The multi-degree-of-freedom manipulator consists of main structural components (arm rods) and joints (motors and reducers).

[0016] Furthermore: The role of the end effector (gripper) is to grab and process the obstacles covering the cable.

[0017] The described communication module undertakes the two-way communication function of the ground system, and real-time transmits the high-definition image data of the cable operation status collected by the sensing module, providing a basis for real-time analysis and operation and maintenance decision-making for ground personnel.

[0018] Furthermore: The communication module provides a reliable data interaction channel for the UAV-manipulator system, realizing core functions such as real-time instruction transmission, multi-modal data backhaul, and cross-device collaboration.

[0019] Furthermore: The communication module supports multi-modal data transmission.

[0020] The described energy management module is the core energy center of the UAV-manipulator system, responsible for the efficient distribution, storage, and recovery of electric energy, ensuring the continuous and stable operation of the system in complex operation scenarios.

[0021] The beneficial effects of the present invention are as follows:

[0022] First, when the sensing module of the present invention collaborates with the UAV, when the UAV flies to the high-altitude fault area, the sensing module synchronously collects the image data of the cable operation status, realizes the online recognition of cable defects and other abnormal targets through the integrated improved YOLOv11 algorithm, automatically marks the targets to be processed and transmits them to the control module, supporting the subsequent precise operation of the manipulator.

[0023] Second, the execution module of the present invention is controlled by the control module, and the latter generates precise instructions based on the target signals recognized by the sensing module, driving the UAV-manipulator system to complete the high-precision visual recognition and basic maintenance operations (such as foreign object removal) of the cable surface defects, realizing the intelligent maintenance function in the live working scenario. Description of the drawings:

[0024] Figure 1 It is a structural diagram of the UAV and its manipulator collaborative operation device;

[0025] Figure 2 This is the working process diagram of the UAV-mechanical arm collaborative operation device; Specific implementation method:

[0026] Specific implementation method: Combination Figure 1 Working principle diagram of the UAV and its robotic arm collaborative operation device Figure 2 The structural diagram of the UAV and its mechanical arm collaborative operation device is used to illustrate the implementation method. A visually identifiable UAV-mechanical arm collaborative operation device for cable maintenance includes: a UAV, a perception module, a control module, an execution module, a communication module and an energy management module;

[0027] The UAV system of the present invention is composed of a fuselage structure, a brushless DC motor and a matching rotor to form a main frame. The motor speed is precisely controlled by an electronic speed controller (ESC) to dynamically adjust the rotor lift, thereby achieving precise positioning of the UAV-mechanical arm collaborative device, and providing basic support conditions for subsequent intelligent identification of cable faults and targeted maintenance operations of the mechanical arm.

[0028] The five core functional modules of this system - perception module, control module, execution module, communication module and energy management module - are Figure 2 All-weather reliable operation and high-precision mission execution;

[0029] This system uses an intelligent closed-loop control strategy to achieve accurate cable fault inspection and repair. The specific process is as follows:

[0030] 1. The ground monitoring center or cloud platform detects a line anomaly and sends the fault coordinates to the drone-robotic arm system.

[0031] 2. After the drone arrives at the target area, the laser radar quickly builds a high-precision 3D point cloud model and uploads it to the ground monitoring center simultaneously; the energy management module detects the remaining power of the battery pack in real time and dynamically optimizes the power distribution strategy to ensure the smooth completion of the mission.

[0032] 3. The path planning algorithm generates the optimal inspection path to avoid static obstacles such as high-voltage towers; the flight control system maintains the flight attitude of the drone.

[0033] 4. The multi-spectral sensor array collects data synchronously; the improved YOLOv11 deep learning model classifies fault defects.

[0034] 5. The main control board receives the fault signal and generates a maintenance command to control the execution module to clean up the cable attachments.

[0035] 6. After the fault is eliminated, the drone returns automatically.

[0036] The above is only a specific implementation manner of the present invention patent, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention patent can easily think of transformations and substitutions, which should all be covered within the protection scope of the present invention patent: Without conflict, the embodiments of the present invention, that is, the features in this embodiment, can be combined with each other. Therefore, the protection scope of the present invention patent shall be subject to the protection scope of the claims.

Claims

1. A visually recognizable drone-manipulator collaborative operation device for cable maintenance, characterized in that, Including: A drone module, consisting of a frame, a brushless DC motor, a rotor, and an electronic speed controller, is used to provide flight power and control the flight attitude; a sensing module, integrating a visible light camera, an infrared thermal imager, an ultraviolet sensor, and a lidar, is used to collect visible light images, thermal signals, discharge signals, and environmental three-dimensional data of the cable, and realizes real-time classification and positioning of cable defects through the fusion of the YOLOv11 algorithm; a control module, including a main control board and a flight control system, the main control board integrates a path planning algorithm and an obstacle avoidance algorithm, is used to receive data from the sensing module and generate robotic arm action instructions, and the flight control system adjusts the drone attitude through the electronic speed controller to maintain operation stability; An execution module, including a multi-degree-of-freedom robotic arm and an end effector, the robotic arm consists of arm rods, joint motors, and reducers, and is used to perform the grasping and processing of obstacles attached to the cable according to the instructions of the control module; A communication module, used for real-time interaction with a ground station or a cloud platform, transmitting fault images, control instructions, and operation status data; an energy management module, including a battery and a power management unit, is used to provide stable power supply for the drone, the robotic arm, and each module.

2. The device according to claim 1, wherein The lidar in the sensing module generates an environmental point cloud map through three-dimensional imaging and combines with the path planning algorithm to provide dynamic obstacle avoidance and path optimization functions for the drone-robotic arm system.

3. The device according to claim 1, wherein The visible light camera and the infrared thermal imager work together to detect surface cracks and local overheating faults of the cable, and the ultraviolet sensor is used to identify cable discharge phenomena.

4. The device according to claim 1, characterized in that The end effector is a replaceable gripper, supporting the grasping and cleaning of obstacles in different forms.

5. The device according to claim 1, characterized in that, The main control board is built with a real-time operating system and a fault diagnosis system, and can detect the drone attitude in real time during the operation of the robotic arm and trigger an emergency pause or return-to-base instruction.

6. The device according to claim 1, characterized in that, The communication module supports multi-modal data transmission, including visible light, infrared, ultraviolet signals, and robotic arm action feedback.

7. The device according to claim 1, characterized in that, The battery management unit can dynamically allocate energy according to the task priority to extend the battery life.

8. The device according to claim 1, characterized in that, The YOLOv11 algorithm improves the accuracy and generalization ability of defect classification through continuous learning.

9. The device according to claim 1, characterized in that, The flight control system and the robotic arm control system adopt a cooperative control strategy, and when the robotic arm executes an action, the rotor power compensation is used to offset the torque disturbance generated by the movement of the robotic arm.

10. The device according to claim 1, characterized in that, The device is linked with the ground station.

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