High-altitude spraying method and system for spraying insulating material based on unmanned aerial vehicle

Abstract

The invention provides a high-altitude spraying method and system for spraying an insulating material based on an unmanned aerial vehicle, and belongs to the technical field of power transmission lines, and the high-altitude spraying method comprises the steps that an easy-to-discharge area on the surface of a tower is divided into a first-stage area, a second-stage area and a third-stage area; the first-stage area performs spraying operation according to a surrounding path and a fixed-point path, the second-stage area performs spraying operation according to a parallel reciprocating path, and the third-stage area performs spraying operation according to a spiral rising path; the first-stage area is subjected to bottoming spraying at low pressure and then subjected to thickening spraying at high pressure, the second-stage area and the third-stage area are subjected to spraying at constant pressure, and the spraying angle is adjusted in the spraying process; and the leakage spraying area is inspected through visual inspection, a withstand voltage test is carried out to verify the insulation performance of the spot check position, and the unqualified area is repaired. According to the high-altitude spraying method for spraying the insulating material based on the unmanned aerial vehicle, dependence on manual boarding is eliminated, the safety risk of high-altitude operation is reduced, the operation efficiency is improved, and meanwhile the adaptability of the coating quality and the risk area is guaranteed.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of power transmission lines, and more particularly relates to a high-altitude spraying method and system for spraying insulating materials based on unmanned aerial vehicles. BACKGROUND

[0002] As key infrastructure of power systems, power transmission line towers are long-term exposed to complex outdoor environments, and their surfaces are prone to produce insulation performance degradation due to atmospheric corrosion, electric field distortion, mechanical wear and other factors, thereby causing safety hazards such as discharge and short circuit. In order to ensure the insulation reliability of the towers, insulating materials need to be sprayed on the surfaces of the towers to form protective coatings, and traditional spraying operations mainly rely on manual climbing operations or ground long-arm device assistance.

[0003] Currently, the insulating materials are sprayed on the towers mainly by manual climbing operation, which requires the operator to carry spraying tools to climb the tower, and has high labor intensity, low operation efficiency, and poor spraying effect, and meanwhile, the high-altitude operation faces safety risks such as falling and electric shock. Therefore, a new spraying method is urgently needed to solve the problems of low efficiency, poor safety and insufficient coating adaptability in the prior art. SUMMARY

[0004] The purpose of the present application is to provide a high-altitude spraying method and system for spraying insulating materials based on unmanned aerial vehicles, to solve the technical problems of poor safety and insufficient coating adaptability in the prior art of spraying insulating materials on towers.

[0005] To achieve the above-mentioned purpose, the technical solution adopted by the present application is: a high-altitude spraying method for spraying insulating materials based on unmanned aerial vehicles is provided, comprising S1: stratified calibration of tower risk areas, dividing the tower surface discharge prone areas into first, second and third regions according to risk levels, and drawing a two-dimensional distribution map; S2: planning the spraying path of each region, taking the tower central axis as the reference, the first region is sprayed by the surrounding path and the fixed point path, the second region is sprayed by the parallel back-and-forth path, and the third region is sprayed by the spiral ascending path, and an overlap zone is reserved between each path; S3: controlling the spraying pressure of each region, the first region is first sprayed by low pressure for base spraying, and then sprayed by high pressure for thickening spraying, the second region and the third region are sprayed by constant pressure, and the spraying angle is adjusted by the unmanned aerial vehicle hovering observation during the spraying process; S4: verifying the operation quality of each region, first checking the missed spraying area by visual inspection, then uniformly sampling the coating thickness according to the two-dimensional distribution map, and performing a withstand voltage test to verify the insulation performance of the sampling position, and repairing the unqualified area.

[0006] In a possible implementation, in S1, the risk area of the tower is determined by artificial climbing combined with ground observation, the bolt connection points are checked by using a detector, and the corrosion range is confirmed. The rust is removed in one direction along the texture direction of the tower in the first-level area, and impurities on the surface of each area are removed. Three non-collinear reference points on the tower are marked to mark the boundary of each risk area, and a side view, a top view and a front view are drawn on the tower.

[0007] In a possible implementation, in S2, the unmanned aerial vehicle first flies around the extension of the boundary of the first-level area in a surrounding path to form a closed contour coating, and then selects the position of the point-to-point path in a triangular shape in the first-level area. When the unmanned aerial vehicle hovers, the nozzle first rotates 90° clockwise to spray, and then rotates 90° counterclockwise to spray.

[0008] In a possible implementation, in S2, when the second-level area is sprayed, the forward and return path directions are set based on the horizontal tangent of the corresponding area of the tower, and the forward and return path directions are perpendicular to the central axis of the tower. Each time the unmanned aerial vehicle sprays uniformly along the path in the forward direction, and after reaching the edge of the area, the unmanned aerial vehicle is laterally translated to the starting position of the next path, and the nozzle is kept closed during the translation process. Then, the unmanned aerial vehicle sprays uniformly in the reverse direction to form a continuous parallel coverage path. The spacing between the two adjacent forward and return paths is matched with the spraying range of the nozzle, and the end of the previous path is aligned with the starting end of the next path in the axial direction of the tower. When the two ends are aligned, the visual positioning module of the unmanned aerial vehicle captures the marker points on the surface of the tower to ensure that the trajectory offset is less than 1 / 5 of the spraying range.

[0009] In a possible implementation, in S2, when the third-level area is sprayed, when the spiral ascending path surrounds the node of the tower, the unmanned aerial vehicle first reduces the flight speed, completes the surrounding spraying at the node, and then uniformly climbs into the next segment of the spiral ascending path. During the climbing process, the nozzle maintains a constant distance from the surface of the tower to ensure the continuity of spraying. The overlapping bands are located in the edge regions of adjacent paths, and the overlapping bands between the parallel forward and return paths are continuously arranged in the length direction of the trajectory. The overlapping bands between the spiral ascending paths are arranged in the spiral circumferential direction. When the overlapping bands are sprayed, the unmanned aerial vehicle maintains a constant flight speed, and the spraying material coverage range is extended to the side of the adjacent trajectory by adjusting the spraying angle of the nozzle, so as to ensure that the coating thickness of the overlapping area is consistent with that of the non-overlapping area.

[0010] In a possible implementation, in S3, when the primary area is sprayed at a constant pressure, a base coating stage is first performed in a low-pressure mode, a transverse spraying trajectory is adopted to uniformly cover the surface with the coating, and the UAV hovers at the side of the area to monitor the coating state during the drying period of the coating; a thickening stage is then performed in a high-pressure mode, a longitudinal spraying trajectory is adopted, and an intersecting texture is formed with the base coating; when the secondary area is sprayed at a constant pressure, the distance between the nozzle and the surface of the structure is kept consistent by adjusting the attitude of the UAV body, the length of the spraying trajectory is shortened, and the uniform coverage of the coating on the complex surface is ensured; when the tertiary area is sprayed at a constant pressure, the flow rate is increased in proportion to the increase in the pitch of the helical ascending path, and the flow rate is decreased in proportion to the decrease in the pitch, so as to ensure the consistency of the material usage per unit area and the uniformity of the coating thickness; when the UAV switches from the secondary area to the tertiary area or from the secondary area to the tertiary area, the constant pressure parameters are kept unchanged, the UAV first sprays a transition path along the boundary line at the junction of the two areas, and then sprays in the specified path of the secondary area or the tertiary area, and the spraying speed of the transition path is consistent with the spraying speed of the specified path.

[0011] In a possible implementation, when the UAV sprays a planar area, the nozzle is kept vertical by horizontal adjustment of the UAV body; when the UAV sprays a corner area, the UAV is first shifted to one side of the corner, the nozzle is aimed at the edge of the corner, and then the UAV is shifted to the other side for repeated operation; when the UAV sprays a curved surface area, the UAV dynamically adjusts the attitude of the body to keep the nozzle vertical to the tangent of the curved surface.

[0012] In a possible implementation, in S4, the edges of the missed spraying or unqualified area are first polished to remove burrs and dust; a circle is first sprayed along the outside of the polished edge, then the center area is gradually filled, and finally the edges of the sprayed area are sprayed to form a sprayed coating layer, which is consistent with the original coating layer; the pressure test includes a pre-pressing stage, a pressure increasing stage, and a pressure maintaining stage; in the pre-pressing stage, the rated voltage is applied at 30-50%, and surface moisture interference is excluded; in the pressure increasing stage, the voltage is gradually increased to 1.5-2 times of the rated voltage at a rate of 5-8% of the rated voltage per second; in the pressure maintaining stage, the voltage is maintained for 1-2 minutes; the discharge phenomenon is observed through the real-time picture returned by the UAV, and if sparks appear, the voltage is immediately reduced and the discharge position is marked as a key spraying area.

[0013] In a possible implementation, S5 is further included: coating data is analyzed in multiple dimensions and correlated with electric field data and meteorological environment data of the tower in real time, a correlation model is established, the insulation performance decay trend of the coating under different operating conditions is predicted based on the model, and a differentiated proactive maintenance strategy is generated, and the UAV is triggered for preventive reinforcement spraying when it is predicted that the insulation performance of a certain area is lower than a safety threshold.

[0014] The high-altitude spraying method for spraying insulating materials based on unmanned aerial vehicles provided in the application has the beneficial effects that, compared with the prior art, the high-altitude spraying method for spraying insulating materials based on unmanned aerial vehicles provided in the application firstly stratifies and calibrates the tower risk area, accurately identifies the easy discharge area (such as the corner fittings, bolt connection points, and rusted areas), and divides the area into a first level (high risk), a second level (medium risk), and a third level (low risk) according to the risk level, and a two-dimensional distribution map is drawn to provide accurate basis for subsequent differentiated processing and to avoid insufficient protection of the high-risk area or waste of materials in the low-risk area. Secondly, different spraying paths are planned according to the characteristics of different areas, the first level area adopts a composite path of combination of surrounding and fixed points to ensure full coverage of the key parts of the complex structure, the second level area adopts a parallel back-and-forth path to adapt to efficient spraying of the larger planar area, and the third level area adopts a spiral ascending path to adapt to the overall curved surface structure of the tower, and each path reserves an overlapping zone to effectively solve the problem of spraying dead angle and low coverage rate in a single path and to improve the spraying integrity. Thirdly, the spraying pressure is adjusted according to the risk level of the area, the first level area forms a high-strength insulating layer by low-pressure bottoming and high-pressure thickening to meet the protection needs of the high-risk area, and the second level area and the third level area adopt constant pressure spraying to ensure the uniformity of the coating, and the spraying angle is adjusted by the hovering of the unmanned aerial vehicle to solve the problems of uneven coating thickness and poor adaptability caused by traditional fixed parameter spraying and to ensure that the coating performance of different areas matches the risk level. Finally, a multi-level verification method of visual inspection of missed spraying, sampling inspection of coating thickness, and withstand voltage test verification of insulating performance is adopted, accurate sampling inspection is realized in combination with the two-dimensional distribution map, unqualified areas are repaired in time, a quality closed loop is formed, the problem of poor quality control caused by traditional appearance inspection is solved, and the insulating performance of the coating is ensured to meet the standards. The method breaks the dependence on manual climbing, reduces the safety risk of high-altitude operation, improves the operation efficiency, ensures the adaptability of the coating quality and the risk area through targeted processing, and significantly improves the reliability and durability of the tower insulation protection.

[0015] Another object of the application is to provide a high-altitude spraying system for spraying insulating materials based on unmanned aerial vehicles.

[0016] The high-altitude spraying system for spraying insulating materials based on unmanned aerial vehicles provided in the application adopts the high-altitude spraying method for spraying insulating materials based on unmanned aerial vehicles, breaks the dependence on manual climbing through accurate risk identification, differentiated path planning, dynamic pressure regulation, and multi-level quality verification, reduces the safety risk of high-altitude operation, improves the operation efficiency, ensures the adaptability of the coating quality and the risk area through targeted processing, and significantly improves the reliability and durability of the tower insulation protection. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or prior art description will be briefly introduced. Obviously, the drawings in the following description only constitute some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort.

[0018] Figure 1 The flowchart of the high-altitude spraying method based on unmanned aerial vehicle spraying insulating material provided by the embodiments of the present application is shown. DETAILED DESCRIPTION

[0019] In order to make the technical problems, technical solutions and beneficial effects of the present application more clearly understood, the present application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, and are not used to limit the present application.

[0020] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0021] It should be understood that the terms "length", "width", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only used to facilitate the description of the present application and simplify the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0022] In addition, the terms "first", "second" are only used for description purpose, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise specifically limited.

[0023] Please refer to Figure 1The application provides a high-altitude spraying method based on unmanned aerial vehicle spraying of insulating materials. The method comprises the following steps: S1, stratified calibration of a tower risk area, the easy-to-discharge area of a tower surface is divided into a first-level area, a second-level area and a third-level area according to risk levels, and a two-dimensional distribution map is drawn; S2, planning of a spraying path for each area, taking the central axis of the tower as a reference, the first-level area is sprayed by surrounding path spraying and fixed-point path spraying, the second-level area is sprayed by parallel reciprocating path spraying, and the third-level area is sprayed by spiral ascending path spraying, and an overlapping zone is reserved between each path; S3, regulation of spraying pressure for each area, the first-level area is first sprayed by low-pressure base spraying, and then sprayed by high-pressure thickening spraying, the second-level area and the third-level area are sprayed by constant pressure, and the spraying angle is adjusted by unmanned aerial vehicle hovering observation during the spraying process; and S4, verification of the work quality of each area, first, the missed spraying area is checked by visual inspection, then the coating thickness is uniformly sampled by referring to the two-dimensional distribution map, and a withstand voltage test is performed to verify the insulation performance of the sampling position, and the unqualified area is repaired.

[0024] The high-altitude spraying method based on unmanned aerial vehicle spraying insulating material provided in the application, compared with the prior art, first, the risk area of the tower is stratified and calibrated, the easy discharge area (such as corner fittings, bolt connection points, and rusted areas) is accurately identified, and is divided into a first level (high risk), a second level (medium risk), and a third level (low risk) area according to the risk level, and a two-dimensional distribution map is drawn, which provides accurate basis for subsequent differentiated processing and avoids insufficient protection in high-risk areas or material waste in low-risk areas. Secondly, different spraying paths are planned according to the characteristics of different areas. The first level area adopts a composite path of surrounding and fixed point combination to ensure full coverage of the key parts of the complex structure; the second level area adopts a parallel return path to adapt to efficient spraying of large planar areas; the third level area adopts a spiral ascending path to adapt to the overall curved surface structure of the tower, and each path has a reserved overlapping zone, effectively solving the problem of single path easy to produce spraying dead angle and low coverage, and improving the spraying integrity. Thirdly, the spraying pressure is adjusted according to the risk level of the area. The first level area forms a high-strength insulating layer through low-pressure bottoming and high-pressure thickening to meet the protection needs of high-risk areas; the second level area and the third level area adopt constant pressure spraying to ensure the uniformity of the coating, and through the adjustment of the spraying angle by the unmanned aerial vehicle hovering, the problems of uneven coating thickness and poor adaptability caused by traditional fixed parameter spraying are solved, ensuring that the coating performance of different areas matches the risk level. Finally, through the multi-level verification mode of visual inspection of missed spraying, sampling inspection of coating thickness, and withstand voltage test verification of insulating performance, combined with the two-dimensional distribution map, accurate sampling inspection is realized, and unqualified areas are repaired in time to form a quality closed loop, solving the problem of poor quality control caused by traditional visual inspection only, and ensuring that the coating insulating performance meets the standards. The method realizes accurate identification of risks, differentiated planning of paths, dynamic regulation of pressure, and multi-level verification of quality, which breaks the dependence on manual climbing, reduces the safety risk of high-altitude operation, improves the operation efficiency, and ensures the adaptability of coating quality and risk area through targeted processing, significantly improving the reliability and durability of tower insulation protection.

[0025] Please refer to Figure 1As a specific embodiment of the high-altitude spraying method based on unmanned aerial vehicle spraying insulating material provided in the present application, in S1, the risk area of the tower is determined by manual climbing combined with ground observation, the bolt connection points are checked by using a detector, and the rust range is confirmed, the first-level area is rusted in one direction along the texture direction of the tower, and impurities on the surface of each area are removed; three non-collinear reference points on the tower are marked to mark the boundaries of each risk area, and a side view, a top view and a front view are drawn based on the tower; through the two-way cooperation of manual climbing and ground observation, the bolt connection points are checked by using the detector, and the rust range is confirmed, so as to realize the risk area identification without dead angle; the first-level area is rusted in one direction along the texture of the tower and the surface impurities are removed, so as to avoid damaging the tower structure during pretreatment; three-point positioning method (three non-collinear reference points) is used to mark the boundaries, and three views of side view, top view and front view are drawn, so as to ensure the accuracy and traceability of the area division. The advantage lies in breaking through the extensive limitations of traditional manual visual inspection, forming a closed loop of risk identification, pretreatment and positioning, standardizing the operation process and being easy to implement. This method solves the problems of risk point omission, surface impurity residue and boundary marking ambiguity in traditional operation, provides accurate basis for subsequent differentiated spraying, improves the adhesion of the coating to the tower surface, reduces the risk of coating peeling and failure in the later period, and ensures the stability and long-term effectiveness of the insulation protection.

[0026] Preferably, 3 reference points (P1, P2, P3) are marked, which are all fixed and easily identifiable nodes on the tower, wherein P1 is the connection between the cross arm and the tower body (top node); P2 is the center fixed point of the corner fitting (middle node); P3 is the center of the standard connection flange plate at the lower part of the tower body (lower node); P1, P2 and P3 are connected by a dashed line to form a non-collinear triangle. When measuring and positioning, the first reference point is taken as the origin, and the distance and angle to the edge of the risk area are measured; the second reference point is taken as the reference, and the distance and angle to the edge of the same risk area are measured again; the third reference point is used for cross verification to ensure the positioning accuracy. When marking the boundary, three points are determined at the edge of the risk area, so that the three points form a specific geometric relationship (usually an equilateral triangle or a right triangle) with the three reference points, and the three points are connected by special marking paint to form the boundary line of the risk area, and the deviation of each marking point from the actual risk area edge is controlled within ±2 cm.

[0027] Please refer to Figure 1As a specific embodiment of the high-altitude spraying method based on unmanned aerial vehicle spraying insulating material provided in the application, in S2, the unmanned aerial vehicle first flies in a surrounding path around the extension of the first-level region boundary to form a closed contour coating, and then selects the position of the point path in the form of a triangular shape in the first-level region. When the unmanned aerial vehicle hovers, the nozzle first rotates 90° clockwise to spray, and then rotates 90° counterclockwise to spray. In view of the characteristics of the first-level high-risk region (such as corner fittings and bolt dense areas) that the structure is complex and the insulation demand is high, the composite path of surrounding contour and triangular-shaped point reinforcement is adopted, and the fine operation of bidirectional rotation spraying of the nozzle is matched. This way first flies in a surrounding path at the extension of the first-level region boundary to build a closed contour coating in advance to form a protective foundation, and then selects the point position in the form of a triangular shape. Through the hovering operation of the unmanned aerial vehicle, combined with the 90° clockwise and counterclockwise rotation spraying action of the nozzle, double coverage of the point region is realized. Among them, the surrounding path can avoid boundary overspray, the triangular shape layout can accurately lock the high-risk core part, and the bidirectional rotation spraying can effectively eliminate the nozzle blind area. The operation process is highly adaptable to the protection needs of the first-level region, which not only ensures the flexibility of the operation, but also improves the spraying pertinence.

[0028] This way makes the first-level region coating form a three-dimensional protective structure with a closed contour and a thickened core, improves the compactness and adhesion of the insulating layer in the high-risk region, and significantly reduces the risk of later discharge and short circuit. At the same time, the closed contour coating provides a smooth connection basis for subsequent second-level and third-level spraying, indirectly improves the overall operation efficiency, and ensures the stability and reliability of the whole-pole tower insulation protection system.

[0029] Please refer to Figure 1, as a specific embodiment of the high-altitude spraying method based on unmanned aerial vehicle spraying insulating material provided in the present application, in S2, when spraying the secondary area, the return path direction is set based on the horizontal tangent of the corresponding area of the tower, and the return path is perpendicular to the central axis of the tower. Each time the unmanned aerial vehicle sprays uniformly along the path in the forward direction, and after reaching the edge of the area, it is transversely translated to the starting position of the next path, and the nozzle remains closed during the translation process, and then sprays uniformly in the reverse direction to form a continuous parallel coverage path. The spacing between the adjacent two return paths is matched with the spraying range of the nozzle, and the end of the previous path is aligned with the starting end of the next path along the axial direction of the tower. When aligned, the visual positioning module of the unmanned aerial vehicle captures the marker points on the surface of the tower to ensure that the trajectory deviation does not exceed 1 / 5 of the spraying range. The spraying operation of the secondary risk area is set to return path direction based on the horizontal tangent of the corresponding area of the tower to ensure that the trajectory is strictly perpendicular to the central axis of the tower, and the spraying direction is accurately matched with the structural characteristics of the area. Each return follows the coherent process of uniform forward spraying, transverse translation (nozzle closed), and uniform reverse spraying to avoid material waste or coating accumulation during translation. At the same time, strictly control the spacing between adjacent paths to match the spraying range of the nozzle, capture the marker points on the surface of the tower through the visual positioning module of the unmanned aerial vehicle, realize the precise alignment of the end of the previous path and the starting end of the subsequent path along the axial direction, and the trajectory deviation does not exceed 1 / 5 of the spraying range, to ensure the accuracy of path connection. This standardized path setting reduces the operation threshold and improves the consistency of the operation. Precise visual positioning avoids overspray or excessive overlap, and the translation mode with the nozzle closed reduces material loss. The overall operation not only adapts to the structural characteristics of the secondary area, but also balances efficiency and quality. This method forms a continuous and uniform coverage coating in the secondary area, improving the consistency of insulation protection in the high-risk area. Precise path connection and matching spacing form a smooth transition for spraying in the first high-risk area and the third low-risk area, ensuring the integrity and sealing of the overall tower coating, avoiding weak points in the protection of the connection between different areas, and further reducing the risk of insulation failure in the later period.

[0030] Please refer to Figure 1, as a specific embodiment of the high-altitude spraying method based on unmanned aerial vehicle spraying insulating material provided in the application, in S2, when spraying the three-level area, when the spiral ascending path surrounds the tower node, the unmanned aerial vehicle first reduces the flight speed, completes the surrounding spraying at the node, and then uniformly climbs into the next spiral ascending path, and the nozzle keeps the distance from the tower surface unchanged during the climbing process, ensuring the continuity of spraying; the overlapping bands are located at the edge regions of adjacent paths, and the overlapping bands between the parallel reciprocating paths are continuously arranged along the length direction of the track, and the overlapping bands between the spiral ascending paths are arranged along the spiral circumference; when spraying the overlapping bands, the unmanned aerial vehicle keeps the flight speed unchanged; the low-risk three-level area is mainly the tower main body curved surface, and the structure is relatively regular, when the spiral ascending path surrounds the structure mutation position such as tower node (such as flange plate, reinforcing rib), the unmanned aerial vehicle first actively reduces the flight speed, ensures that there is no omission at the node, and the coating is dense, and then uniformly climbs after completing the node spraying, and the nozzle distance from the tower surface is strictly kept unchanged during the climbing process, avoiding the fluctuation of the spraying distance caused by the change of height. At the same time, the overlapping band layout is designed, the overlapping bands between the spiral ascending paths are continuously arranged along the spiral circumference, the unmanned aerial vehicle maintains stable flight speed when spraying the overlapping bands, the spraying material coverage range is extended to the side of the adjacent track by adjusting the nozzle spraying angle, and the coating thickness of the overlapping area is ensured to be consistent with that of the non-overlapping area.

[0031] The node speed reduction spraying adapts to the protection requirements of the structure mutation position, the fixed nozzle spacing guarantees the spraying continuity, the differential overlapping band design is combined with the angle adjustment, which avoids missing spraying and prevents material waste, realizes the accurate balance of efficiency and quality. This way solves the problems of weak protection at the node in the traditional three-level area spraying and the uneven coating thickness at the path connection, so that the three-level area forms a continuous, uniform and dense overall insulating coating; the fine processing at the node reduces the risk of electric field distortion at the structure mutation position, and the uniform overlapping band guarantees the integrity and sealing of the coating, forming a seamless connection with the coating of the first-level area and the second-level area to form a whole-tower protection system.

[0032] Please refer to Figure 1As a specific embodiment of the high-altitude spraying method for insulating materials based on drones provided in this application, in S3, when performing constant-pressure spraying on the primary area, a low-pressure base coat stage is first performed using a lateral spraying trajectory to ensure uniform surface coverage of the coating. During the coating drying period, the drone hovers at the side of the area to monitor the coating status. Then, a high-pressure thickening stage is performed using a longitudinal spraying trajectory, forming a cross-texture with the base coat. When performing constant-pressure spraying on the secondary area, the curved or protruding structures within the secondary area maintain a constant pressure parameter, and the distance between the nozzle and the structural surface is kept consistent by fine-tuning the drone's attitude. Meanwhile, the trajectory length of a single spray is shortened to ensure uniform coverage of the coating on complex surfaces under constant pressure. When spraying under constant pressure in the tertiary region, the flow rate increases proportionally when the pitch of the spiral upward path increases, and decreases proportionally when the pitch decreases, ensuring consistent material usage per unit area and uniform coating thickness under constant pressure. When the UAV switches from the primary region to the secondary region or from the secondary region to the tertiary region, the constant pressure parameters remain unchanged. The UAV first sprays a transition path along the boundary line at the junction of the two regions, and then enters the predetermined path of the secondary or tertiary region for spraying. The spraying speed of the transition path is consistent with the spraying speed of the predetermined path. For high-risk areas (Level 1), a two-stage approach is adopted: low-pressure horizontal priming followed by high-pressure vertical thickening. The priming stage ensures uniform coating coverage, while the drone hovers to monitor the drying process. The thickening stage creates cross-textures to enhance adhesion. For curved or protruding structures in medium-risk (Level 2) areas, constant pressure is maintained. Fine-tuning of the drone's attitude ensures consistent nozzle-to-surface distance and shortens the trajectory length for each spray, ensuring uniform coating coverage on complex surfaces under constant pressure. For low-risk (Level 3) areas, the pitch and flow rate are linked, with pitch adjustments synchronously regulating flow rate. When switching areas, a boundary transition path is used to maintain constant pressure and spraying speed. Based on stable pressure, adjustments to trajectory direction, drone attitude, flow rate linkage, and transition paths allow the constant pressure mode to adapt to the structural differences and protection requirements of different areas, ensuring both operational standardization and flexible adaptability. In this way, the density and adhesion of the cross-textured coating in the primary area are significantly improved, the coating in the complex structure of the secondary area is uniform and without dead corners, the material usage per unit area in the tertiary area is precise and consistent, and there are no obvious seams at the transition between areas. Overall, it achieves the dual goals of constant pressure stability and precise adaptation, solving the problems of uneven coating thickness, poor adhesion, and abrupt transitions caused by insufficient structural adaptation in traditional constant pressure spraying. It greatly improves the coating quality of each area and the overall protection continuity, and further enhances the reliability and long-term effectiveness of the tower insulation system.

[0033] Please see Figure 1As a specific embodiment of the high-altitude spraying method based on unmanned aerial vehicle spraying insulating material provided in the present application, when spraying a planar area, the unmanned aerial vehicle keeps the nozzle vertical by horizontal fine adjustment of the unmanned aerial vehicle body; when spraying a corner area, the unmanned aerial vehicle is first offset to one side of the corner, the nozzle is aimed at the edge of the corner for spraying, and then the unmanned aerial vehicle is offset to the other side for repeated operation; when spraying a curved surface area, the unmanned aerial vehicle dynamically adjusts the body posture following the curvature of the curved surface, so that the nozzle is always perpendicular to the tangent of the curved surface; when spraying a planar area, the nozzle is always perpendicular to the planar surface by horizontal fine adjustment of the unmanned aerial vehicle body, thereby ensuring uniform spreading of the coating; when spraying a corner area, the operation of bilateral offset alignment is adopted, the unmanned aerial vehicle is first offset to one side of the corner and precisely aligned with the edge for spraying, and then the unmanned aerial vehicle is switched to the other side for repeated operation, thereby avoiding missed spraying or coating accumulation at the corner; when spraying a curved surface area, the unmanned aerial vehicle dynamically adjusts the body posture following the curvature of the curved surface, so that the nozzle is always perpendicular to the tangent of the curved surface, thereby adhering to the curved surface profile to achieve full coverage. Through fine adjustment of the posture and position, the spraying operation is precisely matched with different surface characteristics, which not only ensures the flexibility of the operation, but also improves the precision of the spraying. The coating thickness of the planar area is uniform without thickness difference, the corner area is protected without dead angle, the coating is dense, the curved surface area is completely covered without omission, thereby solving the problems of poor coating adaptability of different structural surfaces and easy occurrence of weak protection points in traditional spraying; at the same time, the precise perpendicular relationship between the nozzle and the spraying surface greatly improves the adhesion of the insulating material, thereby reducing the risk of coating peeling and cracking in the later period.

[0034] Please refer to Figure 1, as a specific embodiment of the high-altitude spraying method based on unmanned aerial vehicle spraying insulating material provided by the present application, in S4, the edges of the oversprayed or unqualified areas are polished first to remove burrs and floating dust; when re-spraying, a circle is first sprayed along the outside of the polished edge, then gradually filled to the center area, and finally the nozzle is used to re-spray along the edge of the re-sprayed area to form a re-sprayed layer, which is consistent with the original coating layer; the pressure test is divided into three stages of pre-pressing, voltage rising and voltage stabilizing, the rated voltage of 30-50% is applied in the pre-pressing stage, and the surface moisture interference is excluded; the voltage is gradually increased to 1.5-2 times the rated voltage at a rate of 5-8% of the rated voltage per second in the voltage rising stage; the voltage is maintained for 1-2 minutes in the voltage stabilizing stage; the discharge phenomenon is observed through the picture returned by the unmanned aerial vehicle in real time, if sparks appear, the voltage is immediately reduced and the discharge position is marked as the key re-sprayed area; before re-spraying, the edges of the oversprayed or unqualified areas are polished to remove burrs and dust, and during re-spraying, the process of outside encircling, center gradually filling and edge trimming is followed to ensure the consistency of the re-sprayed layer with the original coating layer; the pressure test is strictly divided into three stages of pre-pressing (30-50% rated voltage, moisture removal), voltage rising (5-8% rate per second to 1.5-2 times rated voltage), and voltage stabilizing (1-2 minutes), and the discharge phenomenon is monitored through the real-time picture of the unmanned aerial vehicle to accurately mark the key re-sprayed position. The re-spraying process takes into account the adhesion and continuity, the three-stage pressure test can exclude interference and verify the insulation performance comprehensively, and the unmanned aerial vehicle monitoring realizes accurate positioning of the discharge point, which not only ensures the operation standardization, but also improves the defect processing pertinence. The polishing pretreatment enhances the adhesion of the re-sprayed layer, the layered re-spraying makes the re-sprayed area seamlessly connected with the original coating layer without obvious boundary, the three-stage pressure test thoroughly investigates the weak insulation points, and the real-time monitoring of the unmanned aerial vehicle avoids missing discharge hazards; the problems of easy falling off and abrupt connection of traditional re-spraying, as well as inaccurate pressure detection and lagging defect positioning are solved, and the re-spraying quality and the reliability of insulation performance verification are greatly improved.

[0035] Please refer to Figure 1, as a specific embodiment of the high-altitude spraying method based on unmanned aerial vehicle spraying insulating material provided by the present application, further comprises S5: multi-dimensional analysis of the coating data and the real-time running electric field data and meteorological environment data of the tower, and establishing a correlation model, predicting the insulation performance decay trend of the coating under different operating conditions based on the model, and generating a differentiated active maintenance strategy, and automatically triggering the unmanned aerial vehicle preventive reinforcement spraying when predicting that the insulation performance of a certain area is lower than the safety threshold; the coating data (thickness, insulation performance) and the real-time running electric field data and outdoor meteorological environment data of the tower are deeply fused, a correlation model is established through multi-dimensional analysis, the insulation performance decay trend of the coating under different operating conditions is accurately predicted, and then a differentiated active maintenance strategy suitable for each region is generated, and the unmanned aerial vehicle preventive reinforcement spraying is automatically triggered before the insulation performance is lower than the safety threshold. Data-driven to realize the foresight and accuracy of maintenance, and the unmanned aerial vehicle reinforces and continues the high efficiency and safety advantages of the original operation. This way predicts and reinforces the weak insulation area in advance, avoids discharge, short circuit and other faults caused by coating failure from the source, greatly reduces the risk of unplanned shutdown of the power transmission line; reduces the frequency of blind inspection and after-maintenance, and significantly reduces the operation and maintenance cost.

[0036] Not shown in the figure, the embodiment of the present application also provides a high-altitude spraying system based on unmanned aerial vehicle spraying insulating material, the high-altitude spraying system based on unmanned aerial vehicle spraying insulating material comprises any one of the high-altitude spraying methods based on unmanned aerial vehicle spraying insulating material.

[0037] The high-altitude spraying system based on unmanned aerial vehicle spraying insulating material comprises a control module and a computer connected with the control module, the control module is connected with the unmanned aerial vehicle, the spraying equipment, the pressure pump and the like, and the data of the unmanned aerial vehicle, the spraying equipment and the pressure pump is uploaded to the control module, and the data is uploaded to the computer by the control module.

[0038] The high-altitude spraying system based on unmanned aerial vehicle spraying insulating material provided by the embodiment of the present application adopts the high-altitude spraying method based on unmanned aerial vehicle spraying insulating material described above, through accurate risk identification, differentiated path planning, dynamic pressure regulation and multi-layer quality verification, the dependence on manual climbing is eliminated, the safety risk of high-altitude operation is reduced, the operation efficiency is improved, and the adaptability of coating quality and risk area is ensured through targeted processing, thereby significantly improving the reliability and durability of tower insulation protection.

[0039] The above is only a preferred embodiment of the present application, and is not used to limit the present application, any modification, equivalent replacement and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A high-altitude spraying method for applying insulating materials using unmanned aerial vehicles (UAVs), characterized in that, The process includes: S1: Layering and labeling the risk areas of the tower, dividing the easily discharged areas on the tower surface into Level 1, Level 2, and Level 3 areas according to risk level, and drawing a two-dimensional distribution map; S2: Planning the spraying path for each area, using the tower's central axis as a reference, Level 1 areas are sprayed using a circular path and a fixed-point path, Level 2 areas are sprayed using a parallel reciprocating path, and Level 3 areas are sprayed using a spiral ascending path, with overlap zones reserved between each path; S3: Adjusting the spraying pressure for each area, Level 1 areas are first sprayed with a low-pressure base coat, followed by a high-pressure thickening coat, while Level 2 and Level 3 areas are sprayed with constant pressure, and the spraying angle is adjusted by hovering a drone during the spraying process. S4: Verify the work quality of each area. First, visually inspect the areas where spraying is missed. Then, refer to the two-dimensional distribution map to uniformly check the coating thickness and conduct a withstand voltage test to verify the insulation performance of the sampled locations. Repair any unqualified areas.

2. The high-altitude spraying method for applying insulating materials using a drone as described in claim 1, characterized in that, In S1, the risk areas of the tower are determined by a combination of manual climbing and ground observation. The bolt connection points are checked with a detector and the extent of corrosion is confirmed. Rust is removed unidirectionally along the texture direction of the tower in the first-level area, and impurities on the surface of each area are removed. The boundaries of each risk area are marked with three non-collinear reference points on the tower, and side view, top view and front view of the tower are drawn.

3. The high-altitude spraying method for applying insulating materials using a drone as described in claim 1, characterized in that, In S2, the drone first flies around the outer edge of the primary area boundary in a circular path to form a closed contour coating. Then, it selects the position of the fixed point path in a triangular pattern within the primary area. When the drone hovers, the nozzle first rotates 90° clockwise to spray, and then rotates 90° counterclockwise to spray again.

4. The high-altitude spraying method for applying insulating materials based on unmanned aerial vehicles as described in claim 3, characterized in that, In S2, when spraying the secondary area, the direction of the round trip path is set based on the horizontal tangent of the corresponding area of ​​the tower. The round trip path is perpendicular to the central axis of the tower. Each time the drone returns, it first sprays at a constant speed along the path. After reaching the edge of the area, it moves laterally to the starting position of the next path. During the translation, the nozzle is kept closed. Then, it sprays at a constant speed in the opposite direction to form a continuous parallel coverage path. The spacing between two adjacent round trip paths is adapted to the spraying amplitude of the nozzle. The end of the previous path and the beginning of the next path are aligned along the tower axis. When aligned, the drone's visual positioning module captures the marking points on the tower surface to ensure that the trajectory offset does not exceed 1 / 5 of the spraying amplitude.

5. The high-altitude spraying method for applying insulating materials using a drone as described in claim 4, characterized in that, In S2, when spraying the three-level area, when the spiral ascent path circles to the tower node, the UAV first reduces its flight speed, completes the circumferential spraying at the node, and then climbs at a constant speed to enter the next spiral ascent path. During the climb, the nozzle maintains a constant distance from the tower surface to ensure continuous spraying. The overlapping zone is located at the edge area of ​​adjacent paths. The overlapping zone between parallel back-and-forth paths is continuously set along the track length direction, and the overlapping zone between spiral ascent paths is set along the spiral circumference. When spraying the overlapping zone, the UAV maintains a constant flight speed and adjusts the nozzle spray angle to extend the coverage area of ​​the sprayed material to the adjacent track side, ensuring that the coating thickness of the overlapping area is consistent with that of the non-overlapping area.

6. The high-altitude spraying method for applying insulating materials using a drone as described in claim 1, characterized in that, In S3, when the primary area is sprayed with constant pressure, a base coat is first applied in a low-pressure manner, using a horizontal spray trajectory to ensure that the coating evenly covers the surface. During the coating drying process, the drone hovers on the side of the area to monitor the coating status. The thickening stage is then carried out under high pressure, using a longitudinal spraying trajectory, and forming a cross-texture with the base coat. When performing constant-pressure spraying on the secondary region, the constant-pressure parameters are kept constant for the curved or protruding structures within the secondary region. The distance between the nozzle and the structural surface is kept consistent by fine-tuning the attitude of the UAV body, while shortening the trajectory length of a single spraying pass, ensuring uniform coverage of the coating on complex surfaces under constant pressure. When performing constant-pressure spraying on the tertiary region, the flow rate increases proportionally when the pitch of the spiral upward path increases, and decreases proportionally when the pitch decreases, ensuring consistent material usage per unit area and uniform coating thickness under constant pressure. When the UAV switches from the secondary region to the tertiary region, the constant-pressure parameters remain constant. The UAV first sprays a transition path along the boundary line at the junction of the two regions before entering the predetermined path of the secondary or tertiary region for spraying. The spraying speed of the transition path is consistent with the spraying speed of the predetermined path.

7. The high-altitude spraying method for applying insulating materials based on unmanned aerial vehicles as described in claim 6, characterized in that, When spraying flat areas, the drone keeps the nozzle vertical by making slight horizontal adjustments to the drone body; when spraying angular areas, the drone is first shifted to one side of the angular area, the nozzle is aligned with the edge of the angular area, and then the drone is shifted to the other side and the operation is repeated; when spraying curved areas, the drone dynamically adjusts its body posture to follow the curvature of the curved area so that the nozzle is always perpendicular to the tangent of the curved surface.

8. The high-altitude spraying method for applying insulating materials based on unmanned aerial vehicles as described in claim 1, characterized in that, In S4, the edges of the missed or substandard areas are first sanded to remove burrs and dust. When re-spraying, a ring is first sprayed around the outside of the sanded edge, and then gradually filled towards the center area. Finally, the nozzle is used to re-spray along the edge of the re-sprayed area to form a re-sprayed coating, which is consistent with the original coating. The pressure test is divided into three stages: pre-pressure, voltage increase, and voltage stabilization. In the pre-pressure stage, 30-50% of the rated voltage is applied, and surface moisture interference is eliminated. In the voltage increase stage, the voltage is gradually increased to 1.5-2 times the rated voltage at a rate of 5-8% of the rated voltage per second. In the voltage stabilization stage, it is maintained for 1-2 minutes. The discharge phenomenon is observed through the real-time images transmitted by the drone. If sparks appear, the voltage is immediately reduced and the discharge location is marked as the key re-spray area.

9. The high-altitude spraying method for applying insulating materials based on unmanned aerial vehicles as described in claim 1, characterized in that, It also includes S5: to perform multi-dimensional analysis of coating data with real-time electric field data and meteorological environmental data of the tower and establish a correlation model, predict the insulation performance degradation trend of the coating under different operating conditions based on the model, and generate differentiated active maintenance strategies. When the insulation performance of a certain area is predicted to be lower than the safety threshold, the drone will be automatically triggered to carry out preventive reinforcement spraying.

10. A high-altitude spraying system for applying insulating materials using unmanned aerial vehicles (UAVs), characterized in that, The high-altitude spraying method for applying insulating materials based on unmanned aerial vehicles, as described in any one of claims 1-9, is adopted.

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