Unmanned aerial vehicle control method and system for detecting conductivity of wind driven generator

Abstract

The invention discloses an unmanned aerial vehicle control method and system for detecting the conductivity of a wind driven generator, and relates to the technical field of unmanned aerial vehicles, and the method comprises the steps: an unmanned aerial vehicle collects a work admission data packet, carries out the timestamp calibration and field verification of the work admission data packet, and generates a work admission voucher; based on the operation admission voucher, setting a contact state rule of a docking stage for the unmanned aerial vehicle, writing a transfer criterion and a compliant impedance parameter, and packaging the transfer criterion and the compliant impedance parameter into a docking execution command; according to the docking execution command, executing inner ring scheduling according to a docking stage, and generating a measurement permission set in a retention stage; collecting a conduction resistance value through a measurement permission set, carrying out unification processing on the conduction resistance value and the operation admission certificate, and summarizing the conduction resistance value and the operation admission certificate into a conduction measurement credible token; and performing controlled separation and resource recovery through the conduction measurement credible token to obtain a conduction detection report. According to the invention, accurate control of the unmanned aerial vehicle is realized, and the docking action standardization degree and the contact stability are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle control method and system for wind turbine continuity detection. BACKGROUND

[0002] In the field of wind power generation, generator continuity detection is an important link to ensure the reliability of electrical connection of equipment. The traditional method usually adopts manual inspection or fixed detection device, and the operating personnel need to climb the tower to perform contact measurement. With the development of unmanned aerial vehicle technology, non-contact detection schemes based on unmanned aerial vehicles have gradually emerged, which preliminarily evaluate the external state of the generator through on-board vision or remote sensing means. This kind of method can reduce the risk of high-altitude operation and improve the detection coverage range with the mobility of unmanned aerial vehicles. The existing technology focuses on the basic functions of unmanned aerial vehicle positioning, obstacle avoidance and data back transmission, and has formed certain specifications in the automatic detection process, for example, flight control is realized through preset waypoints, and measurement data remote monitoring is realized in combination with wireless communication, which provides preliminary technical support for regular maintenance of wind turbines.

[0003] However, the conventional unmanned aerial vehicle detection method still has certain limitations when facing continuity detection which requires physical contact for precise measurement. On the one hand, at the interface control level, most schemes do not establish a phased state machine management mechanism, which is difficult to accurately constrain the continuous actions of the unmanned aerial vehicle from approaching, initial contact to pressing and holding, and is prone to insufficient contact stability due to fuzzy phase transition conditions, which affects the reliable docking of the measurement interface. On the other hand, at the data consistency level, the traditional method usually directly records the continuity resistance reading, and lacks the correlation binding of measurement timing, access credentials and fluctuation amplitude, which makes it difficult to verify the data traceability and credibility, and may affect the accuracy of subsequent diagnosis. SUMMARY

[0004] In view of the above existing problems, the present application is proposed.

[0005] Therefore, the present application provides an unmanned aerial vehicle control method for wind turbine continuity detection to solve the problems of insufficient docking control precision and weak measurement data credibility in the prior art.

[0006] To solve the above technical problems, the present application provides the following technical solutions:

[0007] In a first aspect, the present application provides an unmanned aerial vehicle control method for wind turbine continuity detection, comprising,

[0008] The unmanned aerial vehicle collects a job access data packet, timestamps and field checks the job access data packet, and generates a job access credential;

[0009] Based on the job access credential, the contact state rule of the docking stage is set for the unmanned aerial vehicle, and the transfer criterion and the compliant impedance parameter are engraved, and the docking execution order is packaged;

[0010] According to the docking execution order, the inner loop scheduling is executed according to the docking stage, and the measurement permission set is generated in the holding stage;

[0011] Through the measurement permission set, the on-resistance value is collected, and the on-resistance value is homogenized with the job access credential, and is summarized as the on-measurement trusted token;

[0012] Through the on-measurement trusted token, the controlled disengagement and resource recycling are carried out, and the on-detection report is obtained.

[0013] As a preferred scheme of the unmanned aerial vehicle control method for wind power generator on-resistance detection, wherein: the job access data packet includes distance and relative angle reading, contact sensor no-load state and compliant stroke zero position, propulsion redundancy and brake redundancy, communication link heartbeat, on-resistance test interface online state and distance and angle boundary of docking window.

[0014] As a preferred scheme of the unmanned aerial vehicle control method for wind power generator on-resistance detection, wherein: the generation of job access credential is as follows,

[0015] The field check is performed on the job access data packet, the communication link heartbeat continuity is checked, the on-resistance test interface online state is checked, the propulsion redundancy threshold and the brake redundancy threshold are set according to the historical propulsion redundancy and the historical brake redundancy, the propulsion redundancy and the brake redundancy availability are checked according to the propulsion redundancy threshold and the brake redundancy threshold, the distance reading and the relative angle reading stability are checked, and the fault rollback branch is set;

[0016] The job access data packet that completes the field check is time-stamped, the time offset is calculated, and the original record time of the job access data packet that completes the field check is offset corrected according to the time offset;

[0017] The job access data packet that completes the field check and the time stamp is packaged as the job access credential.

[0018] As a preferred scheme of the unmanned aerial vehicle control method for wind power generator on-resistance detection, wherein: the docking stage includes approach stage, initial contact stage, compression stage and holding stage.

[0019] As a preferred scheme of the unmanned aerial vehicle control method for wind power generator on-resistance detection, wherein: the contact state rule of the docking stage is set for the unmanned aerial vehicle, and the transfer criterion and the compliant impedance parameter are engraved, and the docking execution order is packaged as follows,

[0020] According to the job access credentials, the UAV writes in turn the approach stage, the initial contact stage, the compression stage and the holding stage, and sets the access conditions in turn;

[0021] For the approach stage, the initial contact stage, the compression stage and the holding stage, set the one-way transfer relationship from the approach stage to the initial contact stage, from the initial contact stage to the compression stage, and from the compression stage to the holding stage;

[0022] Set the duration condition for the holding stage, and complete the process of the contact state rule of the assembly docking stage.

[0023] As a preferred scheme of the UAV control method for wind power generator continuity detection, wherein: the package is a docking execution order, and the steps are as follows,

[0024] The approach stage to the initial contact stage, the initial contact stage to the compression stage, and the compression stage to the holding stage are recorded as transfer records, and the distance and angle boundary check of the docking window, the contact sensor display no longer empty, the propulsion redundancy and brake redundancy threshold check, the communication link heartbeat and continuity test interface online state check, and the second relative displacement of zero position no less than the compression relative displacement threshold are written into the transfer record as transfer criteria;

[0025] Calculate the compliance coefficient and the impedance coefficient for the approach stage, the initial contact stage, the compression stage and the holding stage respectively, and summarize the compliance coefficient and the impedance coefficient into a compliance impedance parameter;

[0026] The transfer record, the transfer criterion and the compliance impedance parameter are packaged into a docking execution order.

[0027] As a preferred scheme of the UAV control method for wind power generator continuity detection, wherein: the generation of the measurement permission set is as follows,

[0028] Return verification response is performed, and docking stage inner loop scheduling is started according to the docking execution order. In the approach stage, the distance boundary and the angle boundary of the docking window are compared based on the ranging reading and the relative angle reading, and the initial contact stage is entered after passing the access condition. In the initial contact stage, the contact sensor empty state is determined to be no longer empty to enter the compression stage. In the compression stage, the zero position relative displacement is no less than the compression relative displacement threshold to enter the holding stage, and the duration condition is registered for the holding stage;

[0029] The docking window check result, the contact check result, the duration condition check result and the compression threshold check result are combined to generate the measurement permission set.

[0030] As a preferred scheme of the UAV control method for wind power generator continuity detection, wherein: the summary is a continuity measurement trusted token, and the steps are as follows,

[0031] Based on the measurement permit set, the operation access certificate number and timestamp are used as a unified index. The conduction readings are read to form a conduction reading sequence. The median value of the conduction reading sequence is extracted as the conduction resistance value. The absolute deviation sequence is calculated based on the conduction reading sequence and the conduction resistance value, and the median value is extracted as the conduction fluctuation amplitude. The conduction fluctuation amplitude is registered as the acquisition quality record and written into the conduction measurement trust token along with the conduction resistance value.

[0032] The on-resistance value and on-fluctuation amplitude are used as data to be normalized and bound to the normalization index to complete the normalization process.

[0033] The operation access certificate number, timestamp calibration, on-resistance value and on-state fluctuation amplitude are summarized into a conduction measurement trusted token.

[0034] In a preferred embodiment of the UAV control method for conducting continuity testing of wind turbines according to the present invention, the steps for obtaining the continuity test report are as follows:

[0035] The controlled disconnection is initiated by using a trusted token for continuity measurement and the unloading and clamping process, the contact exit process, and the docking window exit process are executed sequentially. The communication link heartbeat continuity verification result and the online status verification result of the continuity test interface are verified to be passed. If the distance reading is greater than the upper boundary of the docking window, the docking window exit is completed and the inner loop scheduling of the docking phase is stopped. The continuous condition registration of the holding phase is released and the resource recovery is entered.

[0036] The results of the communication link heartbeat continuity verification, the online status verification of the continuity test interface, and the execution results of controlled disconnection are written into the job access certificate, and then summarized and encapsulated with the timestamp calibration, continuity resistance value, and continuity fluctuation amplitude to generate a continuity test report.

[0037] Secondly, the present invention provides a drone control system for detecting the continuity of wind turbine generators, comprising,

[0038] The job data acquisition module uses drones to collect job access data packets, timestamps and verifies fields in the data packets, and generates job access credentials.

[0039] The assembly and writing module, based on the operation access certificate, sets the contact state rules for the docking stage of the UAV, and writes the transfer criteria and compliance impedance parameters, and encapsulates them into a docking execution order;

[0040] The inner-loop scheduling module executes inner-loop scheduling according to the docking execution order and generates a set of measurement permission during the hold phase.

[0041] The continuity unification module collects continuity resistance values ​​through the measurement permission set, and unifies the continuity resistance values ​​with the operation access credentials, summarizing them into a continuity measurement trusted token;

[0042] The disconnection and recovery report module uses a continuity measurement trusted token to perform controlled disconnection and resource recovery, and obtains a continuity detection report.

[0043] The beneficial effects of this invention are as follows: by encapsulating it into a docking execution command, precise control of the UAV is achieved, improving the standardization of docking actions and the stability of contact; by summarizing it into a conduction measurement trust token, the credibility of single measurement data and the accuracy of the entire test report are enhanced. Attached Figure Description

[0044] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0045] Fig. 1 This is a flowchart of a drone control method for detecting the continuity of wind turbines.

[0046] Fig. 2 This is a schematic diagram of an unmanned aerial vehicle (UAV) control system used for conducting continuity testing of wind turbines.

[0047] Fig. 3 The flowchart is for encapsulating the interface execution command.

[0048] Fig. 4 This is a flowchart summarizing a trusted token for continuity measurement. Detailed Implementation

[0049] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0050] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0051] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments.

[0052] Reference Figs. 1-4As one embodiment of the present invention, this embodiment provides a UAV control method for detecting the continuity of a wind turbine generator, comprising the following steps:

[0053] S1. The UAV collects the operation access data packet, timestamps and verifies the fields of the operation access data packet, and generates the operation access certificate.

[0054] The operation access data packet is checked for field verification, the communication link heartbeat continuity is verified, the online status of the conduction test interface is verified, the propulsion redundancy threshold and the braking redundancy threshold are set according to the historical propulsion redundancy and the historical braking redundancy, the availability of propulsion redundancy and braking redundancy is verified according to the propulsion redundancy threshold and the braking redundancy threshold, the stability of the ranging reading and the relative angle reading is verified, and the fault backoff branch is set.

[0055] Furthermore, when the wind turbine is in the testing mode, the wind turbine's control system adjusts the blades of the wind turbine under test to a vertical position and stops it, and the drone collects the access data packet for the operation.

[0056] It should be noted that the operation access data package includes distance and relative angle readings, contact sensor no-load status and compliant stroke zero position, propulsion redundancy and braking redundancy, communication link heartbeat, online status of conduction test interface, and distance and angle boundaries of docking window.

[0057] It should be noted that a communication link heartbeat refers to a type of short message that is periodically exchanged between the UAV and the external control system on the communication link. It is used to prove that the communication link is connected and to provide a time reference.

[0058] The operation access data packet undergoes field verification, checking the communication link heartbeat continuity. If no prolonged interruptions or significant jitter occur, the communication link heartbeat continuity check passes. The online status of the continuity test interface is checked; if the received verification response indicates availability, the continuity test interface online status check passes. The availability of propulsion redundancy and braking redundancy is checked by reading historical propulsion redundancy and historical braking redundancy, respectively. The minimum historical propulsion redundancy and minimum historical braking redundancy are selected as the propulsion redundancy threshold and braking redundancy threshold, respectively. If the propulsion redundancy and braking redundancy are greater than the propulsion redundancy threshold and braking redundancy threshold, respectively, the propulsion redundancy and braking redundancy availability check passes. To verify the stability of the distance measurement readings and relative angle readings, continuously read the distance measurement readings in the verification window, calculate the distance range, and calculate the difference between adjacent distance measurement readings in the verification window to obtain an adjacent distance difference sequence. Take the median value of each adjacent distance difference sequence and calculate the absolute deviation with the adjacent distance difference sequence. Extract the maximum value of the absolute deviation result as the noise upper limit. If the window range does not exceed the noise upper limit, the stability of the distance measurement readings is verified. The stability of the relative angle readings is verified using the same method as the stability verification of the distance measurement readings. If any field fails the verification, a fault rollback branch is executed.

[0059] It should be noted that the fault rollback branch refers to controlling the drone to stop approaching the target direction and enabling the drone to choose between a safe hold state and a safe withdrawal state.

[0060] The job admission data packets that have completed field verification are timestamped, the time offset is calculated, and the original record time of the job admission data packets that have completed field verification is offset corrected based on the time offset.

[0061] Furthermore, the job admission data packets that have completed field verification are timestamped. Using the communication link heartbeat as a reference time, the original record time of other fields in the job admission data packets that have completed field verification is compared with the reference time to calculate the difference, thus obtaining the time offset of other fields. The original record time of other fields is compared with the time offset of other fields to calculate the difference, thus obtaining the record time of other fields after offset correction, and the timestamping is completed.

[0062] The completed job access data packet, after field verification and timestamp calibration, is encapsulated into a job access credential.

[0063] S2. Based on the operation access certificate, set the contact state rules for the UAV during the docking phase, and write the transfer criteria and compliance impedance parameters, and encapsulate them as docking execution orders.

[0064] Based on the operation access certificate, the drone is sequentially programmed with the approach phase, initial contact phase, pressing phase, and holding phase, and access conditions are set sequentially. For the approach phase, initial contact phase, pressing phase, and holding phase, a one-way transfer relationship is set from the approach phase to the initial contact phase, from the initial contact phase to the pressing phase, and from the pressing phase to the holding phase. For the holding phase, a continuous condition is set to complete the contact state rules of the assembly docking phase.

[0065] Furthermore, the UAV extracts ranging and relative angle readings, distance and angle boundaries of the docking window, contact sensor no-load status and compliance stroke zero position, propulsion redundancy, braking redundancy, communication link heartbeat, and online status of the conduction test interface to form the assembly input of the contact state rules for the docking stage.

[0066] It should be noted that the docking phase includes the approach phase, the initial contact phase, the compaction phase, and the holding phase.

[0067] It should be noted that the approach phase is the process of the drone approaching the wind turbine blade; the initial contact phase is the process of the drone making its first contact with the blade and determining the specific location of the blade; the pressing phase is the process of the drone establishing a connection with the blade; and the holding phase is the process of the drone performing a continuity test on the wind turbine.

[0068] The UAV is programmed with the approach phase, initial contact phase, clamping phase, and holding phase sequentially. For the approach phase, entry conditions are set, using distance and relative angle readings as verification objects and the distance and angle boundaries of the docking window as verification benchmarks. The approach phase is considered to have passed the entry conditions when both the distance reading and angle reading fall within the distance boundary of the docking window. For the initial contact phase, entry conditions are set, using the contact sensor's no-load state as the judgment switch and the compliant stroke zero position as the displacement starting point. The initial contact phase is considered to have passed the entry conditions when the contact sensor indicates it is no longer no-load, and the zero-position relative displacement is calculated based on the compliant stroke zero position. To establish entry conditions for the compaction phase, the compaction phase is considered to have passed the entry conditions when the propulsion redundancy exceeds the propulsion redundancy threshold, the braking redundancy exceeds the braking redundancy threshold, the communication link heartbeat does not experience prolonged interruption or significant jitter, and the verification response received by the online status of the continuity test interface is in an available state. To establish entry conditions for the holding phase, when the contact sensor indicates that it is no longer unloaded, the zero position of the compliant stroke and the compliant stroke reading are read and the difference is calculated to obtain the non-empty differential displacement. The non-empty differential displacement is used as the compaction relative displacement threshold. When the zero position relative displacement is not less than the compaction relative displacement threshold for the second time, the holding phase is considered to have passed the entry conditions. Following the sequence of approach phase to initial contact phase, initial contact phase to compaction phase, and compaction phase to hold phase, a unidirectional transfer relationship is established between adjacent phases. Each transfer relationship includes corresponding entry conditions as trigger criteria, ensuring that the next phase is triggered when the previous phase meets the entry conditions. The propulsion redundancy threshold, braking redundancy threshold, communication link heartbeat continuity verification results, and online status verification results of the conduction test interface are registered as the persistence conditions for the hold phase. A fault fallback branch is written for the UAV; when any entry or persistence condition is not met, the system switches to either a safe hold phase or a safe evacuation phase.

[0069] The transitions from the approach phase to the initial contact phase, from the initial contact phase to the pressing phase, and from the pressing phase to the holding phase are recorded as transfer criteria. The following criteria are also recorded as transfer criteria: verification of the distance and angle boundaries of the docking window, verification of the contact sensor indicating that it is no longer unloaded, verification of the thresholds for propulsion redundancy and braking redundancy, verification of the online status of the communication link heartbeat and conduction test interface, and verification that the zero-position relative displacement is not less than the pressing relative displacement threshold for the second time.

[0070] Furthermore, the approach phase to the initial contact phase, the initial contact phase to the clamping phase, and the clamping phase to the holding phase are treated as three transfer records. Transfer criteria are inscribed for each transfer record. In the transfer record from the approach phase to the initial contact phase, the criteria include: the ranging reading falling within the distance boundary of the docking window; the angle reading falling within the angle boundary of the docking window; and the contact sensor display no longer being unloaded. In the transfer record from the initial contact phase to the clamping phase, the criteria include: the contact sensor display no longer being unloaded; the propulsion redundancy exceeding the propulsion redundancy threshold; the braking redundancy exceeding the braking redundancy threshold; the communication link heartbeat not experiencing prolonged interruption or significant jitter; and the verification response received by the online status of the continuity test interface being in a usable state. In the transfer record from the clamping phase to the holding phase, the criteria include: the propulsion redundancy exceeding the propulsion redundancy threshold; the braking redundancy exceeding the braking redundancy threshold; the communication link heartbeat not experiencing prolonged interruption or significant jitter; the verification response received by the online status of the continuity test interface being in a usable state; and the zero-position relative displacement being not less than the clamping relative displacement threshold for the second time. When writing the transfer criteria, the UAV simultaneously writes the heartbeat arrival time of the communication link corresponding to the transfer criteria. If the recorded time after offset correction of any field cannot be aligned with the heartbeat arrival time of the communication link corresponding to the transfer criteria, the UAV determines that the current transfer record does not meet the writing conditions and triggers a fault rollback branch.

[0071] The compliance coefficient and impedance coefficient are calculated for the approach stage, initial contact stage, compression stage and holding stage respectively, and the compliance coefficient and impedance coefficient are summarized into compliance impedance parameters.

[0072] Furthermore, compliance resistance parameters were calculated for the approach phase, initial contact phase, compression phase, and holding phase respectively.

[0073] It should be noted that the compliance impedance parameter includes the compliance coefficient and the impedance coefficient.

[0074] The average of the upper and lower bounds of the distance boundary is calculated as the allowable distance deviation, and the average of the upper and lower bounds of the angle boundary is calculated as the allowable angle deviation. During the approach phase, the allowable distance and angle deviations are dimensionless, and the smaller one is selected as the compliance coefficient. The impedance coefficient is taken as the reciprocal of the compliance coefficient. During the initial contact phase, the zero-position and compliance stroke readings are read, and the difference is calculated to obtain the zero-position relative displacement. The zero-position relative displacement and the allowable distance deviation are dimensionless, and the smaller one is selected as the compliance coefficient. The impedance coefficient is taken as the reciprocal of the compliance coefficient. During the clamping phase, the difference between the propulsion redundancy and the propulsion redundancy threshold is calculated as the propulsion redundancy margin, and the difference between the braking redundancy and the braking redundancy threshold is calculated as the braking redundancy margin. The smaller of the propulsion redundancy margin and the braking redundancy margin is taken as the redundancy margin. The redundancy margin and the zero-position relative displacement are dimensionless, and the smaller one is selected as the compliance coefficient. The impedance coefficient is taken as the reciprocal of the compliance coefficient. During the holding phase, the relative displacement and relative angle readings of the zero position are read sequentially according to the heartbeat of the communication link. Within the holding phase, the absolute value of the difference between two adjacent relative displacements of the zero position is taken as the displacement fluctuation, and the absolute value of the difference between two adjacent relative angle readings is taken as the angle fluctuation. The displacement fluctuation is calculated by subtracting the displacement fluctuation from the first displacement fluctuation in the holding phase to obtain the displacement fluctuation increment. The angle fluctuation is calculated by subtracting the angle fluctuation from the first angle fluctuation in the holding phase to obtain the angle fluctuation increment. The displacement fluctuation increment and the angle fluctuation increment are dimensionless, and the larger one is selected as the compliance coefficient. The impedance coefficient is taken as the reciprocal of the compliance coefficient.

[0075] The transfer record, transfer criteria, and compliance impedance parameters are encapsulated into a docking execution command.

[0076] S3. According to the docking execution order, perform inner loop scheduling in the docking phase and generate a set of measurement permission during the hold phase.

[0077] The system performs a return verification response and initiates the inner loop scheduling of the docking phase according to the docking execution order. During the approach phase, it compares the distance and angle boundaries of the docking window based on the distance measurement reading and the relative angle reading. After passing the admission conditions, it enters the initial contact phase. During the initial contact phase, it determines that the contact sensor is no longer unloaded and enters the clamping phase. During the clamping phase, it enters the holding phase when the zero-position relative displacement is not less than the clamping relative displacement threshold, and registers the continuous conditions for the holding phase.

[0078] Furthermore, the docking window verification results, contact verification results, continuous condition verification results, and clamping threshold verification results are sent to the external control system along with the communication link heartbeat, and the corresponding offset-corrected recording time is sent synchronously each time the communication link heartbeat arrives; the external control system returns a verification response indicating an available or unavailable state for the docking window verification results, contact verification results, continuous condition verification results, and clamping threshold verification results; when the returned verification response indicates an available state, inner loop scheduling is performed; when the returned verification response indicates an unavailable state, inner loop scheduling is stopped, and a fault rollback branch is triggered.

[0079] The UAV initiates the inner-loop scheduling of the docking phase according to the docking execution command. During the approach phase, the UAV compares the distance reading with the distance boundary of the docking window and the relative angle reading with the angle boundary of the docking window. When the distance reading falls within the distance boundary of the docking window and the relative angle reading falls within the angle boundary of the docking window, the approach phase is deemed to have passed the access conditions and triggers entry into the initial contact phase. Upon entering the initial contact phase, the UAV uses the no-load status of the contact sensor as a judgment switch. When the contact sensor indicates that it is no longer no-load, the initial contact phase is deemed to have passed the access conditions. Simultaneously, using the zero position of the compliant stroke as the displacement starting point, the relative displacement of the zero position is calculated and written into the current phase record, thereby triggering entry into the clamping phase. Upon entering the clamping phase, the UAV sequentially checks that the propulsion redundancy exceeds the propulsion redundancy threshold, the braking redundancy exceeds the braking redundancy threshold, the communication link heartbeat continuity check is passed, and the online status check of the continuity test interface is passed. The check results are recorded as the conditions for the clamping phase's continuation. During the period when the continuation conditions are passed, the docking adjustment strength is determined according to the impedance coefficient corresponding to the clamping phase. The difference between the zero-position relative displacement and the clamping relative displacement threshold is calculated, and the absolute value of the calculation result is multiplied by the impedance coefficient of the clamping phase to obtain the docking adjustment strength. When the zero-position relative displacement is not less than the clamping relative displacement threshold, the clamping phase is deemed to have passed the entry conditions and triggers entry into the holding phase. The UAV continuously checks that the ranging reading falls within the distance boundary of the docking window, the relative angle reading still falls within the angle boundary of the docking window, the contact sensor remains in a non-idle state, the communication link heartbeat continuity check is passed, and the online status check of the continuity test interface is passed. The check results are recorded as the conditions for the holding phase's continuation.

[0080] The results of the docking window verification, contact verification, continuous condition verification, and compaction threshold verification are merged to generate a measurement permit set.

[0081] The UAV compares the distance reading with the distance boundary of the docking window and the relative angle reading with the angle boundary of the docking window to obtain the docking window verification result; it reads the no-load status of the contact sensor to confirm that the contact sensor is in a non-no-load state to obtain the contact verification result; it reads the communication link heartbeat continuity verification result and the conduction test interface online status verification result to obtain the continuity condition verification result; it compares the zero-position relative displacement with the clamping relative displacement threshold to obtain the clamping threshold verification result; it merges the docking window verification result, contact verification result, continuity condition verification result and clamping threshold verification result into a measurement permission set; when the admission condition or continuity condition of any stage is not met, the UAV stops the inner loop scheduling and switches to the safe hold state or safe evacuation state, and at the same time prohibits the generation of measurement permission sets.

[0082] S4. Collect the continuity resistance value through the measurement permission set, and unify the continuity resistance value with the operation access certificate to form a continuity measurement trust token.

[0083] Based on the measurement permit set, the operation access certificate number and timestamp are used as a unified index. The continuity readings are read to form a continuity reading sequence. The median value of the continuity reading sequence is extracted as the continuity resistance value. The absolute deviation sequence is calculated based on the continuity reading sequence and the continuity resistance value, and the median value is extracted as the continuity fluctuation amplitude. The continuity fluctuation amplitude is registered as the acquisition quality record and written into the continuity measurement trust token along with the continuity resistance value.

[0084] Furthermore, the operation access certificate number and timestamp corresponding to the UAV lock and measurement permission set are used as a unified index for collecting on-resistance values; the UAV opens the on-resistance sampling window with the communication link heartbeat as the sampling beat, and continuously reads the on-resistance readings returned by the on-resistance test interface in the on-resistance sampling window according to the communication link heartbeat. All on-resistance readings in the on-resistance sampling window are sorted in ascending order to obtain the on-resistance reading sequence, and the median value of the on-resistance reading sequence is extracted as the on-resistance value. The absolute deviation sequence is obtained by calculating the difference between each item in the conduction reading sequence and the conduction resistance value, and then calculating the absolute value. The median value of the absolute deviation sequence is used as the conduction fluctuation amplitude. The conduction fluctuation amplitude is recorded as the acquisition quality record of the conduction sampling window, and the conduction resistance value and the conduction fluctuation amplitude are written together into the conduction measurement trust token. To improve the stability verification capability of the conduction resistance value within the conduction sampling window, the UAV divides the conduction readings into a first group of conduction readings and a second group of conduction readings according to the heartbeat arrival order of the communication link within the conduction sampling window. The first group of conduction readings and the second group of conduction readings are then processed in ascending order. The system sorts the data to obtain two sets of window continuity reading sequences, and extracts the median value of each sequence. The median values ​​of the two sets are then compared and their absolute values ​​are calculated to obtain the group difference within the window. This group difference is compared to the continuity fluctuation amplitude. If the group difference does not exceed the continuity fluctuation amplitude, the median value of the continuity reading sequence within the continuity sampling window is confirmed to be consistent with the sampling rhythm of the communication link heartbeat drive. If the group difference exceeds the continuity fluctuation amplitude, the current acquisition is stopped and the system switches to a safe hold or safe withdrawal state, while simultaneously prohibiting the generation of continuity resistance value acquisition results. At the end of the continuity sampling window, the system checks that the online status of the continuity test interface and the communication link heartbeat continuity verification results are both passed. If the check passes, the continuity resistance value is confirmed as the acquisition result, and the homogenization index remains unchanged. If the check fails, the current acquisition is stopped and the system switches to a safe hold or safe withdrawal state, while simultaneously prohibiting the generation of continuity resistance value acquisition results.

[0085] The on-resistance value and on-fluctuation amplitude are used as data to be normalized and bound to the normalization index to complete the normalization process.

[0086] The on-resistance value and on-state fluctuation amplitude are used as data to be normalized. The data to be normalized is bound to the normalization index to ensure that the on-resistance value and on-state fluctuation amplitude correspond one-to-one with the corresponding job access certificate number and are consistent with the timestamp calibration. The consistency between the normalization index and the sampling cycle of the on-state sampling window is verified to confirm that the on-state sampling window is driven by the communication link heartbeat. The job access certificate number, timestamp calibration, on-resistance value and on-state fluctuation amplitude are summarized into a on-state measurement trusted token.

[0087] S5. Controlled disconnection and resource recovery are performed using a trusted token based on continuity measurement to obtain a continuity test report.

[0088] The controlled disconnection is initiated by using a trusted token for continuity measurement, and the unloading and clamping process, the contact exit process, and the docking window exit process are executed sequentially. The communication link heartbeat continuity verification result and the online status verification result of the continuity test interface are verified to be passed. If the distance reading is greater than the upper limit of the distance boundary of the docking window, the docking window exit is completed and the inner loop scheduling of the docking phase is stopped. The continuous condition registration of the holding phase is released and the resource reclamation is entered.

[0089] Furthermore, the drone initiates a controlled escape by using a trusted token measured by conduction.

[0090] It should be noted that controlled disengagement includes the unloading and clamping process, the exit from contact process, and the exit from the docking window process.

[0091] During the unloading and clamping process, the compliant stroke reading and compliant stroke zero position are continuously read and the differential displacement is calculated. The differential displacement is refreshed every time the communication link heartbeat arrives. Simultaneously, the continuity verification result of the communication link heartbeat and the online status verification result of the continuity test interface are continuously checked and confirmed to be passed. When the contact sensor's no-load state switches to no-load, the unloading and clamping process is confirmed to be complete, and the contact exit process begins. During the contact exit process, the no-load status of the contact sensor is continuously read and maintained, while the continuity verification result of the communication link heartbeat and the online status verification result of the continuity test interface are continuously checked and confirmed to be passed. During the exit from the docking window, the UAV continuously reads the ranging reading and compares it with the upper boundary of the distance limit of the docking window. When the ranging reading is greater than the upper boundary of the distance limit of the docking window, the exit from the docking window is confirmed to be complete. If at any moment the continuity verification result of the communication link heartbeat or the online status verification result of the continuity test interface fails, the controlled disengagement stops and switches to the safe holding state. After confirming the exit from the docking window, the inner-loop scheduling of the docking phase is stopped, the continuous condition registration of the holding phase is released, the controlled disengagement is completed, and resource recovery begins.

[0092] The results of the communication link heartbeat continuity verification, the online status verification of the continuity test interface, and the execution results of controlled disconnection are written into the job access certificate, and then summarized and encapsulated with the timestamp calibration, continuity resistance value, and continuity fluctuation amplitude to generate a continuity test report.

[0093] Furthermore, using the continuity measurement trusted token as the index object, the job access certificate number and timestamp are locked; the acquisition quality records corresponding to the continuity sampling window are frozen to ensure that the continuity resistance value and continuity fluctuation amplitude are no longer overwritten; the final status of the communication link heartbeat continuity verification result and the continuity test interface online status verification result are written into the job access certificate, and the execution result of controlled decoupling is also registered in the job access certificate; the job access certificate, timestamp calibration, continuity resistance value and continuity fluctuation amplitude are summarized and encapsulated to generate a continuity test report.

[0094] This embodiment also provides a drone control system for detecting the continuity of wind turbine generators, including:

[0095] The job data acquisition module uses drones to collect job access data packets, timestamps and verifies fields in the data packets, and generates job access credentials.

[0096] The assembly and writing module, based on the operation access certificate, sets the contact state rules for the docking stage of the UAV, and writes the transfer criteria and compliance impedance parameters, and encapsulates them into a docking execution order;

[0097] The inner-loop scheduling module executes inner-loop scheduling according to the docking execution order and generates a set of measurement permission during the hold phase.

[0098] The continuity unification module collects continuity resistance values ​​through the measurement permission set, and unifies the continuity resistance values ​​with the operation access credentials, summarizing them into a continuity measurement trusted token;

[0099] The disconnection and recovery report module uses a continuity measurement trusted token to perform controlled disconnection and resource recovery, and obtains a continuity detection report.

[0100] In summary, this invention achieves precise control of UAVs by encapsulating the data into a docking execution command, thereby improving the standardization of docking actions and the stability of contact; and by summarizing the data into a conduction measurement trust token, it enhances the reliability of individual measurement data and the accuracy of the entire test report.

[0101] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A drone control method for wind turbine conduction detection, characterized in that: The method comprises the following steps of: The UAV collects a work access data packet, timestamps the work access data packet, and checks a field of the work access data packet to generate a work access credential; Based on the work access credential, a contact state rule of a docking stage is set for the UAV, and a transfer criterion and a compliant impedance parameter are written and packaged into a docking execution order; According to the docking execution order, an inner loop is executed according to the docking stage, and a measurement permission set is generated in a holding stage; Through the measurement permission set, a conduction resistance value is collected, and the conduction resistance value is homogenized with the work access credential to be summarized as a conduction measurement trusted token; Through the conduction measurement trusted token, a controlled disengagement and resource recycling are performed to obtain a conduction detection report.

2. The UAV control method for wind turbine health detection as claimed in claim 1, wherein: The work access data packet comprises a ranging and relative angle reading, a contact sensor no-load state and a compliant stroke zero position, a propulsion redundancy and a brake redundancy, a communication link heartbeat, a conduction test interface online state, and a distance and angle boundary of a docking window.

3. The UAV control method for wind turbine health detection as claimed in claim 2, wherein: The work access credential is generated by the following steps: The work access data packet is subjected to field checking, the continuity of the communication link heartbeat is checked, the online state of the conduction test interface is checked, the propulsion redundancy threshold and the brake redundancy threshold are set according to the historical propulsion redundancy and the historical brake redundancy, the availability of the propulsion redundancy and the brake redundancy is checked according to the propulsion redundancy threshold and the brake redundancy threshold, the stability of the ranging reading and the relative angle reading is checked, and a fault rollback branch is set; The work access data packet that has completed the field checking is subjected to timestamping, a time offset is calculated, and the original record time of the work access data packet that has completed the field checking is offset corrected according to the time offset; The work access data packet that has completed the field checking and the timestamping is packaged into the work access credential.

4. The UAV control method for wind turbine health detection as claimed in claim 3, wherein: The docking stage comprises an approaching stage, an initial contact stage, a compression stage, and a holding stage.

5. The UAV control method for wind turbine health detection as claimed in claim 4, wherein: The contact state rule of the docking stage is assembled by the following steps: According to the work access credential, the approaching stage, the initial contact stage, the compression stage, and the holding stage are sequentially written in the UAV, and the access conditions are sequentially set; The approaching stage, the initial contact stage, the compression stage, and the holding stage are set to have a one-way transfer relationship from the approaching stage to the initial contact stage, from the initial contact stage to the compression stage, and from the compression stage to the holding stage; The holding stage is set to have a duration condition, and the process of assembling the contact state rule of the docking stage is completed.

6. The UAV control method for wind turbine health detection as claimed in claim 5, wherein: The docking execution order is packaged by the following steps: The approaching stage to the initial contact stage, the initial contact stage to the compression stage, and the compression stage to the holding stage are recorded as transfer records, and the distance and angle boundary of the docking window, the contact sensor display no longer being unloaded, the threshold checking of the propulsion redundancy and the brake redundancy, the communication link heartbeat and the online state of the conduction test interface, and the second relative displacement being not less than the compression relative displacement threshold are written into the transfer records as transfer criteria; The compliant coefficient and the impedance coefficient are calculated for the approaching stage, the initial contact stage, the compression stage, and the holding stage respectively, and the compliant coefficient and the impedance coefficient are summarized as the compliant impedance parameter; The transfer records, the transfer criteria, and the compliant impedance parameter are packaged into the docking execution order.

7. The UAV control method for wind turbine health detection as claimed in claim 6, wherein: The measurement permission set is generated by the following steps: The return check response is performed, the docking phase inner loop scheduling is started according to the docking execution order, the distance boundary and the angle boundary of the docking window are compared based on the ranging reading and the relative angle reading in the approach phase, and the initial contact phase is entered after passing the access condition, the contact sensor empty state is judged in the initial contact phase, the empty state is no longer judged to enter the compression phase, the relative displacement threshold value is not less than the zero relative displacement in the compression phase, the holding phase is entered, and the duration condition is registered for the holding phase; The docking window checking result, the contact checking result, the duration condition checking result and the compression threshold checking result are combined to generate a measurement permission set.

8. The UAV control method for wind turbine health detection as claimed in claim 7, wherein: The summary is a conduction measurement trusted token, and the steps are as follows, According to the measurement permission set, the operation access voucher number and the time stamp are marked as a homogenization index, a conduction reading sequence is formed by reading the conduction reading, a median value of the conduction reading sequence is extracted as a conduction resistance value, an absolute deviation sequence is calculated according to the conduction reading sequence and the conduction resistance value, and a median value is extracted as a conduction fluctuation amplitude, the conduction fluctuation amplitude is registered as a collection quality record, and the conduction resistance value is written into the conduction measurement trusted token; The conduction resistance value and the conduction fluctuation amplitude are used as to-be-homogenized data, and are bound with the homogenization index to complete homogenization processing; The operation access voucher number, the time stamp, the conduction resistance value and the conduction fluctuation amplitude are summarized as a conduction measurement trusted token.

9. The UAV control method for wind turbine health detection as claimed in claim 8, wherein: The conduction detection report is obtained, and the steps are as follows, The controlled disengagement is started through the conduction measurement trusted token, and the unloading compression process, the exit contact process and the exit docking window process are executed in sequence, the communication link heartbeat continuity check result and the conduction test interface online state check result are checked to be passed, the ranging reading is greater than the upper limit of the distance boundary of the docking window, the docking window is exited and the docking phase inner loop scheduling is stopped, and the duration condition registration of the holding phase is released to enter the resource recycling; The communication link heartbeat continuity check result, the conduction test interface online state check result and the execution result of the controlled disengagement are written into the operation access voucher, and are summarized and packaged with the time stamp, the conduction resistance value, the conduction fluctuation amplitude to generate a conduction detection report.

10. The UAV control system for wind turbine commissioning according to any one of claims 1 to 9, wherein the UAV control system is configured to: It includes, ​ The operation collection module collects the operation access data packet of the unmanned aerial vehicle, timestamps and fields the operation access data packet, and generates an operation access voucher; The assembly and writing module sets the contact state rule of the docking phase based on the operation access voucher, and writes the transfer criterion and the compliant impedance parameter, and encapsulates it as a docking execution order; The inner loop scheduling module executes the inner loop scheduling according to the docking execution order, and generates a measurement permission set in the holding phase; The conduction homogenization module collects the conduction resistance value through the measurement permission set, and homogenizes the conduction resistance value with the operation access voucher to summarize a conduction measurement trusted token; The disengagement recycling report module performs controlled disengagement and resource recycling through the conduction measurement trusted token to obtain a conduction detection report.

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