Air multi-domain fusion intelligent interactive inspection device based on block chain communication

Abstract

The invention relates to the technical field of intelligent inspection equipment, in particular to an air multi-domain fusion intelligent interactive inspection device based on block chain communication, which comprises the following modules: an intelligent mooring flight platform module, the power supply conversion unit is used for converting input ground alternating current into airborne direct current; the mooring interface is connected with a ground automatic winch; and the fluid operation execution module is carried on the platform, comprises a high-pressure plunger pump and a multi-angle servo injection mechanism, and is used for outputting high-pressure fluid and generating a recoil dynamic response. According to the invention, by fusing the cable stability control model and the fluid recoil fingerprint consensus, the operation quantification proof based on the dynamic response is established, so that the problems that most of the traditional devices only record track data, and the authenticity of the actual working load cannot be verified, and the reliability is poor are solved. Therefore, the reliability of the workload data is low due to the fact that the invalid operation state is difficult to identify.

Description

Technical Field

[0001] This invention relates to the field of intelligent inspection equipment technology, and in particular to an intelligent interactive inspection device based on blockchain communication and multi-domain fusion in the air. Background Technology

[0002] With the increasing demand for high-rise building maintenance and industrial facility inspection, tethered drones, with their advantages of long endurance and strong operational capabilities, are widely used in high-altitude operations such as exterior wall cleaning and flaw detection. Under the existing commercial settlement and quality audit model, the contractor usually relies on the flight trajectory logs recorded by the drone or video data taken by the onboard camera as proof of completion to demonstrate the workload and apply for payment.

[0003] However, most traditional devices only record trajectory data. Since they cannot verify the authenticity of the actual work load, they make it difficult to identify invalid work states, resulting in low reliability of workload data. Summary of the Invention

[0004] To overcome the above shortcomings, this invention provides an intelligent interactive inspection device based on blockchain communication that integrates multiple domains in the air. It aims to improve the problem that most traditional devices only record trajectory data and cannot verify the authenticity of the actual work load, resulting in difficulty in identifying invalid work states and low reliability of workload data.

[0005] This invention provides the following technical solution: an intelligent interactive inspection device based on blockchain communication and multi-domain fusion in the air, comprising the following modules: The intelligent tethered flight platform module integrates a power conversion unit that converts input ground AC power into airborne DC power and a tethering interface that connects to the ground automatic winch. The fluid operation execution module, mounted on the platform, includes a high-pressure plunger pump and a multi-angle servo injection mechanism, used to output high-pressure fluid and generate a recoil dynamic response; The multi-domain heterogeneous sensing network module includes an RTK unit for acquiring spatial pose, a visual sensor for acquiring images, and a physical sensor group for acquiring voltage difference, tension, and fluid pressure at both ends of the tethered cable. The edge computing control module is used to calculate the physical length of the cable based on the voltage difference and loop current, establish a catenary model based on the spatial pose, and generate attitude feedforward compensation commands. The physical fingerprint consensus module is used to extract the cross-correlation features between fuselage recoil acceleration and fluid pressure under stable control conditions as physical fingerprints, and package the physical fingerprints with spatiotemporal data to generate working blocks; The encrypted communication link module is used to establish a connection between the device and the distributed blockchain node and broadcast the work block to the chain; The holographic augmented interactive terminal module is used to establish a virtual-real mapping matrix based on RTK positioning data and to overlay a visual trust layer on the real-world scene according to the on-chain verification status of the blockchain.

[0006] By adopting the above technical solution, integrating the cable stability control model and fluid backwash fingerprint consensus, a work quantification proof based on dynamic response is established. This improves the problem that traditional devices mostly only record trajectory data, and because they cannot verify the authenticity of the actual work load, it is difficult to identify invalid work states, resulting in low reliability of workload data.

[0007] Preferably, the intelligent tethered flight platform includes: The three-phase AC high-voltage power transmitted from the ground is received through the tethered interface, and electromagnetic interference noise is filtered out using an EMI filter. The three-phase AC high-voltage electricity is converted into airborne DC bus voltage through the full-bridge rectifier circuit and DC-DC step-down circuit in the power conversion unit, and then distributed to the power motor driver and airborne electronic equipment. The system monitors the cable connection status at the mooring interface in real time. When a mechanical trip signal or power interruption signal is detected, it automatically switches to the onboard backup battery power supply mode and triggers the emergency landing logic.

[0008] Preferably, the fluid operation includes: Receive the operation intensity command and spray angle command issued by the edge computing control module; The motor speed of the high-pressure plunger pump is adjusted according to the work intensity command so that the pressure value of the output fluid is maintained within the preset work range; The joint rotation angle of the multi-angle servo injection mechanism is calculated based on the injection angle command, and the servo motor is driven to adjust the nozzle direction to be perpendicular to the surface of the target. During the injection process, the current instantaneous flow rate data and nozzle attitude data are fed back to the multi-domain heterogeneous sensing network module in real time.

[0009] Preferably, the multi-domain heterogeneous sensing network includes: By using a Hall current sensor and voltage sampling circuit connected in series at the airborne power input terminal, the airborne side input voltage value and power supply circuit current value are simultaneously acquired at a microsecond sampling rate. The ground-side output voltage value is obtained by using a voltage monitoring unit connected in parallel to the ground power output terminal, and the ground-side output voltage value is received through a power line carrier communication channel; The instantaneous pressure waveform data of the fluid medium is acquired using a high-frequency pressure transmitter installed at the outlet of the fluid operation execution module at a preset sampling frequency. Using a tension sensor integrated into the tethering interface of the intelligent tethered flight platform, the actual tension vector data of the tethering cable acting on the intelligent tethered flight platform module is collected.

[0010] Preferably, the edge computing control includes: Calculate the scalar difference between the ground-side output voltage value and the airborne-side input voltage value; The pre-stored resistivity per unit length of the mooring cable and the current ambient temperature coefficient are retrieved. Based on the scalar difference and the power supply circuit current value, the current physical extension length of the mooring cable is calculated by inversion according to Ohm's law. Extract the linear density parameter per unit length of the tethered cable, substitute the physical extension length and the relative height in the spatial pose data into the hyperbolic cosine catenary equation, and reconstruct the geometric curve shape of the tethered cable in the gravitational field.

[0011] Preferably, the edge computing control further includes: The tangent vector at the mooring interface is obtained for the reconstructed geometric curve shape, and the tangent vector is multiplied by the tension component of the mooring cable to generate the theoretical tension vector; Calculate the difference vector between the actual tension vector data and the theoretical tension vector; The difference vector is projected from the geographic coordinate system to the body coordinate system of the intelligent tethered flight platform module using a coordinate transformation matrix, and decomposed into pitch axis moment components and roll axis moment components. The pitch axis torque component and the roll axis torque component are used as feedforward control quantities and directly superimposed on the output of the PID controller in the flight attitude control loop.

[0012] Preferably, the physical fingerprint consensus includes: High-pass filtering is performed on the airborne IMU data of the intelligent tethered flight platform module to remove the gravity component and separate the fuselage recoil vibration acceleration sequence; Align the instantaneous pressure waveform data of the fluid medium with the fuselage recoil vibration acceleration sequence on the same time axis; Within a preset time sliding window, perform cross-correlation calculations on the aligned pressure waveform data and acceleration sequence, and calculate the peak value of the cross-correlation coefficient; The peak values ​​of the cross-correlation coefficients and their corresponding time lags are combined to generate a unique physical operation fingerprint that characterizes the current fluid operation intensity.

[0013] Preferably, the encrypted communication link includes: The peak value of the cross-correlation coefficient in the physical job fingerprint is compared with the preset minimum job confidence threshold; If the comparison result is greater than, then lock the RTK 3D coordinate data and the work surface feature vector collected by the vision sensor at the current moment. According to the preset data structure, the RTK three-dimensional coordinate data, the work surface feature vector, the physical work fingerprint and the current UTC timestamp are concatenated into a string to be verified, and the SHA-256 hash operation is performed to generate a work block; The work block is digitally signed using a pre-set device private key and distributed to multiple consensus nodes in the blockchain network via the TCP / IP protocol stack.

[0014] Preferably, the holographic augmented interactive terminal includes: Obtain the GPS coordinates and attitude quaternions of the holographic augmented interactive terminal module itself; Calculate the relative translation vector of the intelligent tethered flight platform module with respect to the holographic augmented interactive terminal module; A rotation matrix is ​​constructed based on the attitude quaternion, and the relative translation vector is converted into coordinates in the camera coordinate system of the holographic augmented interactive terminal module. By combining the camera intrinsic parameter matrix of the holographic augmented interactive terminal module, a perspective projection transformation model is constructed to map three-dimensional spatial points to a two-dimensional display plane.

[0015] Preferably, the holographic augmented interactive terminal further includes: The real-world scene within the current field of view of the holographic augmented interactive terminal module is discretized into several spatial grid units; Using the geographic coordinates corresponding to each spatial grid unit as the index key, retrieve locally stored blockchain ledger data; If a block containing a valid physical operation fingerprint is found, a semi-transparent texture of the first color is generated in the video memory and covers the pixel area corresponding to that grid cell. If no block is found or the physical job fingerprint in the block is invalid, a second-color mesh texture is generated in the video memory and covers the pixel area corresponding to the mesh unit.

[0016] The present invention has the following beneficial effects: 1. In this invention, by integrating the cable stability control model and the fluid backwash fingerprint consensus, a work quantification proof based on dynamic response is established, thereby improving the problem that most traditional devices only record trajectory data, and because they cannot verify the authenticity of the actual work load, it is difficult to identify invalid work states, resulting in low reliability of workload data.

[0017] 2. In this invention, the edge computing control module calculates the physical length of the cable based on the voltage difference and establishes a catenary model, thereby generating feedforward commands to suppress nonlinear interference. This improves the problem that traditional technologies mostly use GPS data feedback for adjustment, which cannot detect cable deformation lag, thus causing the fuselage attitude to easily oscillate and become unstable in complex environments.

[0018] 3. In this invention, a visual trust layer is superimposed on the real-world image by the holographic enhanced interactive terminal module based on the blockchain verification status, thereby realizing intuitive holographic feedback of the work results. This improves the problem that traditional terminals mostly use video stream monitoring, which lacks visual guidance based on data verification, resulting in operators having difficulty identifying blind spots in the work, leading to missed detections or repeated work.

[0019] 4. In this invention, spatial pose and electrical and physical parameters of the mooring cable are collected synchronously through a multi-domain heterogeneous sensing network, thereby providing multi-dimensional data support for stability control calculation. This improves the problem that traditional systems mostly use single inertial navigation data, which lack real-time observation of the physical state of the mooring cable, resulting in incomplete perception of external environmental disturbances and insufficient system safety. Attached Figure Description

[0020] Figure 1 This is a module architecture diagram of an intelligent interactive inspection device based on blockchain communication and multi-domain fusion in the air proposed in this invention. Figure 2 This is a flowchart of the stability control algorithm for an intelligent interactive inspection device based on blockchain communication and multi-domain fusion in the air, as proposed in this invention. Figure 3 This is a flowchart illustrating the physical fingerprint generation process of an intelligent interactive inspection device based on blockchain communication and multi-domain fusion in the air, as proposed in this invention. Figure 4 This is an AR interaction logic diagram of an intelligent interactive inspection device based on blockchain communication and multi-domain fusion in the air proposed in this invention. Detailed Implementation

[0021] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] Example 1: In a first embodiment of the present invention, the present invention provides an intelligent interactive inspection device based on blockchain communication and multi-domain fusion in the air, such as... Figures 1-4 As shown, it includes the following modules: The intelligent tethered flight platform module integrates a power conversion unit that converts input ground AC power into airborne DC power and a tethering interface that connects to the ground automatic winch. Furthermore, the intelligent tethered flight platform includes: The system receives three-phase AC high-voltage electricity transmitted from the ground via a tethered interface and uses an EMI filter to filter out electromagnetic interference noise. The three-phase AC high-voltage electricity is converted into airborne DC bus voltage through the full-bridge rectifier circuit and DC-DC step-down circuit in the power conversion unit, and then distributed to the power motor drive and airborne electronic equipment. The system monitors the cable connection status at the mooring interface in real time. When a mechanical trip signal or power interruption signal is detected, it automatically switches to the onboard backup battery power supply mode and triggers the emergency landing logic.

[0023] Specifically, the intelligent tethered flight platform module serves as the system's airborne carrier and energy hub. Its core logic lies in constructing a power conversion link between high-voltage transmission and low-voltage applications, as well as establishing a millisecond-level switching mechanism between primary and backup power supplies.

[0024] The intelligent tethered flight platform connects to an armored optical-electric composite cable on the ground via a physical tethering interface. Three-phase AC high-voltage power transmitted from the ground reaches the airborne end via the composite cable. An EMI filter is connected in series in the input circuit before entering the power conversion stage. This filter, composed of a common-mode inductor and a differential-mode capacitor, attenuates high-frequency electromagnetic interference signals coupled during long-distance power transmission, preventing power line noise from interfering with the signal-to-noise ratio of the airborne RTK positioning unit and communication link.

[0025] The power conversion unit adopts a two-stage topology of AC-DC rectification + DC-DC buck conversion. The first stage is a full-bridge rectifier circuit, which converts the input three-phase AC power into pulsating DC high voltage. The second stage is a DC-DC buck circuit, which modulates the pulsating DC high voltage into a stable onboard DC bus voltage through the on / off control of a high-frequency switching transistor, and then shunts it to the power supply terminals of the motor driver and onboard electronic equipment.

[0026] In this process, the output voltage regulation model of the DC-DC conversion stage follows the following transfer function relationship: ; in This indicates the output airborne DC bus voltage value; The overall conversion efficiency coefficient of the power conversion stage typically ranges from 0.85 to 0.95. Indicates the number of turns in the secondary coil of a high-frequency transformer; Indicates the number of turns in the primary coil of a high-frequency transformer; This indicates the duty cycle of the PWM control signal, which is adjusted in real time by the voltage regulator controller according to load changes; This indicates the rectified voltage value output by the full-bridge rectifier circuit.

[0027] The edge computing control module executes power management logic at a preset frequency. Input data flow: The system acquires analog voltage signals from the voltage sensor at the tethering interface in real time. and the Hall sensor status position of the mechanical lock. Logical judgment process: comparison With the preset power interruption threshold ; detection Whether the signal transitions from high to low. Output control flow: If the result is... or Upon state reversal, the power management unit immediately outputs a high-level trigger signal to the bidirectional thyristor or MOSFET switch, activating the connection circuit between the onboard backup battery pack and the DC bus. Simultaneously, the flight control system receives a power mode change signal, forcibly switching the flight mode to a constant altitude descent state, controlling the rotor speed to decrease according to a preset deceleration curve until ground contact and shutdown. Through the cascading of hardware circuits and the logical judgment of the state machine, the issues of high-voltage transmission compatibility and survivability under abnormal power outages are solved at the physical level.

[0028] The fluid operation execution module, mounted on the platform, includes a high-pressure plunger pump and a multi-angle servo injection mechanism, used to output high-pressure fluid and generate a recoil dynamic response; Furthermore, fluid operation execution includes: Receives operation intensity and spray angle commands from the edge computing control module; Adjust the motor speed of the high-pressure plunger pump according to the work intensity command so that the pressure value of the output fluid is maintained within the preset work range; The joint rotation angle of the multi-angle servo injection mechanism is calculated based on the injection angle command, and the servo motor is driven to adjust the nozzle direction to be perpendicular to the surface of the target. During the injection process, the current instantaneous flow rate data and nozzle attitude data are fed back to the multi-domain heterogeneous sensing network module in real time.

[0029] Specifically, the fluid operation execution module is the physical work unit of the device, responsible for converting digital control signals into physical jets with specific dynamic characteristics. This module ensures that the cleaning operation achieves the required intensity and precise targeting through pressure closed-loop and attitude compensation mechanisms.

[0030] The high-pressure plunger pump is driven by a brushless DC motor. The module receives a workload command from the edge computing control module, which is parsed into a target pressure value for the fluid system. Due to the impedance characteristics of the fluid loop, there is a non-linear coupling relationship between the output pressure and the motor speed. The controller uses a closed-loop feedback algorithm to adjust the motor speed to eliminate pressure deviations caused by load fluctuations.

[0031] The calculation of the motor drive signal adjustment follows the discrete PID control model: ; in Indicates the first Each control cycle outputs a PWM duty cycle adjustment signal to the motor driver; This indicates the deviation between the target pressure value and the measured pressure value fed back by the pressure sensor; This represents the proportional gain coefficient, used to respond to instantaneous pressure deviations; This represents the integral gain coefficient, used to eliminate steady-state pressure error; This represents the differential gain coefficient, used to suppress pressure overshoot oscillations; This indicates the sampling time interval of the control cycle.

[0032] The controller is based on the calculations The controller adjusts the motor speed in real time. When the measured pressure is lower than the lower limit of the target range, the controller increases the motor speed to increase the fluid discharge; when the measured pressure is higher than the upper limit of the target range, the controller reduces the speed to prevent overpressure in the pipeline.

[0033] The multi-angle servo injection mechanism is used to compensate for the attitude tilt of the flight platform. The injection angle command contains the normal vector information of the target surface. The calculation unit within the module needs to calculate the deflection angle of the nozzle relative to the aircraft body, so that the final jet vector is parallel to and opposite in direction to the normal vector of the target surface.

[0034] The target rotation angle calculation model for servo joints is based on coordinate transformation theory: ; in This indicates the target rotation angle that the servo motor needs to execute; This represents the initial pointing vector of the nozzle in the body coordinate system; This represents the normal vector of the target surface in the machine coordinate system; This represents the aircraft's current attitude angle in the jet plane, as fed back by the inertial measurement unit; specifically, the pitch or roll component. The actuator relies on... The servo motor is controlled to rotate, causing the nozzle to mechanically deflect and counteract the influence of changes in the machine's attitude on the jet direction. This module performs one-way command reception and two-way data exchange.

[0035] The system receives control messages containing the target pressure value and target normal vector via the CAN bus interface. Data output process: A Hall effect flow meter integrated into the pipeline acquires the fluid velocity in real time, and the absolute encoder of the servo motor acquires the current nozzle angle in real time. This data is encapsulated into a status feedback frame and sent to the multi-domain heterogeneous sensing network module. This feedback data provides the basic physical domain parameters for subsequent generation of physical operation fingerprints, ensuring the quantifiability and traceability of the operation process.

[0036] The multi-domain heterogeneous sensing network module includes an RTK unit for acquiring spatial pose, a visual sensor for acquiring images, and a physical sensor group for acquiring voltage difference, tension, and fluid pressure at both ends of the tethered cable. Furthermore, multi-domain heterogeneous sensing networks include: By using a Hall current sensor and voltage sampling circuit connected in series at the airborne power input terminal, the airborne side input voltage value and power supply circuit current value are simultaneously acquired at a microsecond sampling rate. The ground-side output voltage value is obtained by using a voltage monitoring unit connected in parallel to the ground power output terminal, and the ground-side output voltage value is received through a power line carrier communication channel; The instantaneous pressure waveform data of the fluid medium is acquired using a high-frequency pressure transmitter installed at the outlet of the fluid operation execution module at a preset sampling frequency. Using a tension sensor integrated into the tethering interface of the intelligent tethered flight platform, the actual tension vector data of the tethering cable acting on the intelligent tethered flight platform module is collected.

[0037] Specifically, the multi-domain heterogeneous sensing network module constructs the device's underlying data acquisition layer, responsible for converting non-electrical physical quantities into digital signals, providing raw data support for subsequent stability control calculations and consensus storage.

[0038] This section is used to acquire the electrical variables required to calculate the physical length of the mooring cable. Airborne side acquisition: A Hall current sensor is connected in series in the airborne power input circuit to sense the bus current using the principle of magnetic balance; simultaneously, a resistor-divider voltage sampling circuit is connected in parallel. The analog-to-digital converter is synchronously triggered at a microsecond-level sampling rate to acquire the instantaneous value of the airborne side input voltage. Instantaneous value of loop current Ground-side data acquisition and transmission: A voltage monitoring unit is connected in parallel to the ground power output terminal to measure the ground-side output voltage in real time. The data, after being encoded by a modem, is loaded onto a tethered cable via a power line carrier communication channel and transmitted to the airborne terminal for demodulation.

[0039] The edge computing control module receives the above three variables and establishes a model for calculating the physical length of the cable based on Ohm's law: ;in This indicates the current physical extension length of the mooring cable obtained from the solution; Indicates the output voltage value on the ground side; Indicates the airborne input voltage value; Indicates the current value of the power supply circuit; This indicates the standard resistivity per unit length of the tethered cable at 20 degrees Celsius. This represents the temperature coefficient of resistance of a conductor material; This indicates the current ambient temperature, provided by an onboard temperature sensor.

[0040] The high-frequency pressure transmitter is installed in the outlet pipeline after the pump in the fluid operation execution module. This sensor uses a piezoresistive or capacitive sensing element to continuously sample the fluid medium at a preset sampling frequency, outputting instantaneous pressure waveform data. Data output process: After low-pass filtering and noise reduction, the raw pressure signal is sent to the fluid operation execution module for closed-loop speed control, and the other stream, retaining high-frequency characteristics, is sent to the physical fingerprint consensus module. The data stream retaining high-frequency characteristics is used for subsequent cross-correlation analysis with fuselage vibration data to extract the pulsation fingerprint unique to fluid operations.

[0041] The tension sensor is integrated into the physical tethering interface of the intelligent tethered flight platform, typically employing an S-shaped or spoke-type force measurement structure. This sensor measures the actual tension vector exerted by the tethering cable on the aircraft. In the body coordinate system, the tension vector is decomposed into three-axis components: ;in , It reflects the drag component of the cable on the machine body in the horizontal direction and is used to calculate the roll and pitch moment compensation. It reflects the vertical gravity component of the cable and is used to assist in height control.

[0042] Data flow: The above electrical parameters, pressure waveforms and tensile vector data are aggregated via SPI or I2C bus, stamped with a unified timestamp, and transmitted in parallel to the edge computing control module for stability calculation, and to the physical fingerprint consensus module for feature extraction.

[0043] The edge computing control module is used to calculate the physical length of the cable based on the voltage difference and loop current, establish a catenary model based on the spatial pose, and generate attitude feedforward compensation commands. Furthermore, edge computing control includes: Calculate the scalar difference between the ground-side output voltage and the airborne-side input voltage; The pre-stored resistivity per unit length of the mooring cable and the current ambient temperature coefficient are retrieved. Based on the scalar difference and the power supply circuit current value, the current physical extension length of the mooring cable is calculated by inversion according to Ohm's law. Extract the linear density parameter per unit length of the tethered cable, substitute the relative height in the physical extension length and spatial pose data into the hyperbolic cosine catenary equation, and reconstruct the geometric curve shape of the tethered cable in the gravitational field.

[0044] Edge computing control also includes: The tangent vector at the mooring interface is obtained for the reconstructed geometric curve shape, and the tangent vector is multiplied by the tension component of the mooring cable to generate the theoretical tension vector; Calculate the difference vector between the actual tension vector data and the theoretical tension vector; The difference vector is projected from the geographic coordinate system to the body coordinate system of the intelligent tethered flight platform module using a coordinate transformation matrix, and decomposed into pitch axis moment components and roll axis moment components. The pitch axis torque component and the roll axis torque component are used as feedforward control quantities and directly superimposed on the output of the PID controller in the flight attitude control loop.

[0045] Specifically, the edge computing control module runs in the independent core of the airborne main control unit and is responsible for establishing a multi-physics coupling model of the tethered system and suppressing nonlinear interference by solving the cable state.

[0046] The module first performs parameter mapping from the electrical domain to the geometric domain. Although the ground winch has an encoder, the encoder data often has cumulative deviations due to the elastic deformation of the cable at high altitudes and the error in cable stacking. This implementation utilizes the impedance characteristics of the tethered cable to perform length inversion.

[0047] Module reads airborne side input voltage Ground-side output voltage and loop current Calculate the scalar voltage difference between the two ends. Call the pre-stored resistivity per unit length of cable. and current ambient temperature correction factor .

[0048] Current physical extension length of the tether cable Calculate based on the following derivation of Ohm's law: ;in This represents the real-time physical length of the cable obtained through inversion; This indicates the voltage monitoring value at the output terminal of the ground power supply; This represents the voltage sample value at the airborne power input terminal; This indicates the real-time current value of the power supply circuit; This represents the resistance per unit length of the cable conductor at standard temperature. Indicates based on the current ambient temperature The resistivity correction factor typically satisfies a linear relationship. , This represents the material's temperature coefficient.

[0049] After obtaining the physical length, the module combines spatial position and attitude data to build a mechanical model. The relative altitude of the UAV relative to the ground winch is obtained using the RTK unit. and horizontal displacement Introducing the linear density parameter per unit length of tethered cables. The module will , , and Substituting the hyperbolic cosine catenary equation, we reconstruct the geometry of the cable in the gravitational field. For the mooring interface, its tangent vector... The slope and the magnitude of the theoretical tension The solution can be obtained through the tension relationship at the apex of the catenary.

[0050] Theoretical tension vector The calculation model is as follows: ; in This represents the theoretical tension vector under conditions of no wind and no additional disturbance. This represents the theoretical tensile modulus at the tip of the cable; This represents the unit tangent vector at the top of the cable, characterizing the direction of the theoretical tensile force. The horizontal tension component of the catenary is represented and solved using an iterative method. It is a hyperbolic cosine function.

[0051] This step aims to eliminate the discrepancy between the model and the actual environment. The module reads the actual tension vector data collected by the tension sensor. Calculate the difference vector between the actual vector and the theoretical vector. This difference vector characterizes the unintended disturbance force exerted on the organism by the current environment. Because... Located in the geographic coordinate system, the module uses Euler angles provided by the attitude sensor to construct a rotation matrix. Project it onto the body coordinate system: ; in This represents the disturbance force vector in the body coordinate system; This represents the rotation matrix from the navigation coordinate system to the body coordinate system; , These are the pitch angle and yaw angle of the aircraft, respectively.

[0052] Module extraction The components along the X and Y axes of the aircraft, combined with the position of the aircraft's center of gravity, are decomposed into corresponding pitch axis moment components. With the roll axis torque component These two components serve as feedforward control variables. Without integrating the error, the result is directly added to the output of the PID controller in the flight attitude control loop. This forms the final control command. .

[0053] ; in This is the feedforward gain coefficient. This logic generates an anti-torque the instant the tension sensor detects a sudden change in tension, thus offsetting the attitude overshoot caused by cable hysteresis.

[0054] The physical fingerprint consensus module is used to extract the cross-correlation features between fuselage recoil acceleration and fluid pressure under stable control conditions as physical fingerprints, and package the physical fingerprints with spatiotemporal data to generate working blocks; Furthermore, physical fingerprint consensus includes: High-pass filtering was performed on the airborne IMU data of the intelligent tethered flight platform module to remove the gravity component and separate the fuselage recoil vibration acceleration sequence; Align the instantaneous pressure waveform data of the fluid medium with the fuselage recoil vibration acceleration sequence on the same time axis; Within a preset time sliding window, perform cross-correlation calculations on the aligned pressure waveform data and acceleration sequence, and calculate the peak value of the cross-correlation coefficient; By combining the peak values ​​of the cross-correlation coefficients with their corresponding time lags, a unique physical operation fingerprint is generated that characterizes the intensity of the current fluid operation.

[0055] Specifically, the physical fingerprint consensus module runs within the edge computing unit and aims to solve the technical problem of verifying the authenticity of operational data. This module generates unforgeable physical anti-counterfeiting identifiers by analyzing the causal coupling relationship between fluid work and machine response.

[0056] The module's data input receives raw accelerometer data from the flight control IMU. This raw data contains a gravitational acceleration component of approximately 9.8 m / s², as well as low-frequency motion acceleration generated by flight maneuvers. These components are relatively large and can overwhelm the high-frequency, minute vibration characteristics caused by fluid recoil. The module incorporates a first- or second-order digital high-pass filter. This filter processes the raw acceleration sequence, with a cutoff frequency set higher than the flight platform's maneuver control bandwidth. Through this filtering process, the DC component (gravity component) and the low-frequency maneuver components in the raw signal are removed, and the output contains only the high-frequency acceleration sequence exhibiting fuselage recoil vibration characteristics. .

[0057] The module synchronously caches instantaneous fluid pressure waveform data from the multi-domain heterogeneous sensing network module. Because the pressure sensor and IMU sensor are located on different bus nodes and have different response times in their signal conditioning circuits, there is an inherent system delay in the acquisition time of the two sets of data. The module performs time-axis shift compensation on the pressure waveform data and the recoil vibration acceleration sequence based on pre-calibrated hardware transmission delay parameters. After compensation, the two data sequences are aligned in the time dimension, ensuring that data points at the same moment reflect the same physical process.

[0058] On the aligned data stream, the module defines a fixed-length time sliding window. Within this window, the module performs cross-correlation calculations on the pressure and acceleration data to quantify their waveform similarity and causal relationship.

[0059] The mathematical model for cross-correlation is as follows: ;in This indicates that the time lag is The cross-correlation function value at time; This represents the total number of discrete sampling points contained within the sliding window; Indicates the index of the sampling point within the window; This represents the first [number] in the aligned fluid instantaneous pressure data sequence. Values ​​of each sampling point; This indicates the lag in the fuselage recoil vibration acceleration sequence after high-pass filtering. The value of each sampling point.

[0060] Different module traversal calculations Cross-correlation function under value And search for the maximum value of the function, i.e., the peak value of the cross-correlation. And the optimal time lag corresponding to this peak value. . The magnitude of this value represents the confidence level that the fuselage vibration is directly caused by fluid injection. If there is only a change in fluid pressure without corresponding fuselage vibration, or only vibration without pressure change, this value tends to be zero. The module will calculate the cross-correlation peak value. With the optimal time lag The generated physical job fingerprint is constructed as a two-dimensional vector. Data output process: The generated physical job fingerprint is sent to the block packaging unit. The packaging unit encapsulates the fingerprint with the current spatiotemporal data, only when... The job block will only be marked as valid and broadcast to the communication link when it exceeds the preset validity threshold.

[0061] The encrypted communication link module is used to establish a connection between the device and the distributed blockchain node and broadcast the work block to the chain; Furthermore, the encrypted communication link includes: The peak value of the cross-correlation coefficient in the physical task fingerprint is compared with the preset minimum task confidence threshold; If the comparison result is greater than, then lock the RTK 3D coordinate data and the work surface feature vector collected by the vision sensor at the current moment. According to the preset data structure, the RTK three-dimensional coordinate data, the work surface feature vector, the physical work fingerprint and the current UTC timestamp are concatenated into a string to be verified, and the SHA-256 hash operation is performed to generate a work block; The work block is digitally signed using a pre-set device private key and distributed to multiple consensus nodes in the blockchain network via the TCP / IP protocol stack.

[0062] Specifically, the encrypted communication link module operates within the communication processing unit, serving as a trusted gateway connecting the physical terminal and the digital consensus network. This module filters valid data through a conditional triggering mechanism and employs cryptographic methods to ensure the data's non-repudiation.

[0063] The module input continuously receives the physical job fingerprint output by the physical fingerprint consensus module. The comparator reads the peak value of the cross-correlation coefficient in the fingerprint vector. And compare it with the minimum job confidence threshold preset in the register. Perform numerical comparison. Logical decision process: Only if the condition is met. At this time, the comparator outputs a high-level trigger signal. This signal activates the data latch logic, instructing the RTK positioning unit to freeze the current 3D coordinate data and the vision processing unit to freeze the current frame's work surface feature vector. If the threshold condition is not met, the module discards the current data and does not perform subsequent on-chain operations, thereby filtering out redundant data in non-working states.

[0064] After the latch is triggered, the data processing unit performs serialization and concatenation of multi-source heterogeneous data. The module assembles each discrete data segment into a string to be verified according to a preset byte order and data bit width.

[0065] Serialization splicing model: ;in This represents the completed binary string to be verified. This represents a data concatenation operator; Binary encoding representing RTK 3D coordinate data; Binary encoding representing visual feature vectors; This represents a physical fingerprint data segment containing the cross-correlation peak and hysteresis. This indicates the current internationally coordinated timestamp.

[0066] Subsequently, the module invokes the SHA-256 hash algorithm core to perform... Perform a digest operation to generate a fixed-length job block hash value. Hash operation model: ;in This represents the generated 256-bit job block hash value, which serves as the unique identifier of the block. Any change to any bit of the original data will cause the hash value to avalanche.

[0067] To establish data ownership and integrity, the module invokes the device's internal security unit, utilizing a pre-programmed, non-exportable device private key. hash value of the job block Perform digital signature.

[0068] Signature operation model: ;in This represents the generated digital signature data segment; This represents an asymmetric encryption signature function; This represents the device's unique private key.

[0069] Data output process: The module will digitally sign... Compared with the original data The data packet is encapsulated into a data packet conforming to the blockchain network communication protocol. The TCP / IP protocol stack encapsulates this data packet into an IP message, which is then routed via a wireless communication link to a pre-configured list of IP addresses for blockchain network consensus nodes. Upon receiving the message, the consensus node verifies the signature using the corresponding device public key. If the signature is correct, the node writes the block into the distributed ledger.

[0070] The holographic augmented interactive terminal module is used to establish a virtual-real mapping matrix based on RTK positioning data and to overlay a visual trust layer on the real scene according to the on-chain verification status of the blockchain. Furthermore, holographic augmented interactive terminals include: Obtain the GPS coordinates and attitude quaternions of the holographic augmented interactive terminal module itself; Calculate the relative translation vector of the intelligent tethered flight platform module with respect to the holographic augmented interactive terminal module; A rotation matrix is ​​constructed based on attitude quaternions to convert the relative translation vector into coordinates in the camera coordinate system of the holographic augmented interactive terminal module; By combining the camera intrinsic parameter matrix of the holographic augmented interactive terminal module, a perspective projection transformation model is constructed to map three-dimensional spatial points to a two-dimensional display plane.

[0071] Holographic augmented interactive terminals also include: The real-world scene within the current field of view of the holographic augmented interactive terminal module is discretized into several spatial grid units; Using the geographic coordinates corresponding to each spatial grid unit as the index key, retrieve locally stored blockchain ledger data; If a block containing a valid physical operation fingerprint is found, a semi-transparent texture of the first color is generated in the video memory and covers the pixel area corresponding to that grid cell. If no block is found or the physical job fingerprint in the block is invalid, a second-color mesh texture is generated in the video memory and covers the pixel area corresponding to the mesh unit.

[0072] Specifically, the holographic augmented interactive terminal module is the human-computer interaction interface of the system. Its core logic lies in establishing a mapping relationship between three-dimensional geographic space and two-dimensional screen pixel space, and transforming abstract blockchain verification data into a visual graphic overlay.

[0073] This module first addresses the spatial registration problem, specifically calculating the pixel positions of 3D coordinate points in the real world on the terminal screen. Data input process: The positioning unit within the module outputs the terminal's own Global Positioning System (GPS) coordinates in real time. and attitude quaternions provided by the inertial measurement unit Simultaneously, it receives real-time RTK coordinates from the intelligent tethered flight platform module via a communication link. .

[0074] The calculation unit first calculates the terminal coordinates. with target coordinates Transform to a unified local tangent plane coordinate system in the northeast, and calculate the relative translation vector between the two. .

[0075] ; Using the terminal's attitude quaternion Construct rotation matrix This matrix describes the rotational transformation relationship from the world coordinate system to the terminal camera coordinate system.

[0076] ; in For scalar part, This is the vector part.

[0077] Module combined with camera intrinsic parameter matrix Construct a complete perspective projection model to map points in the world coordinate system to the pixel coordinate system.

[0078] ; in Represents the horizontal and vertical coordinates of pixels on the screen; Indicates the scaling factor; This represents the camera intrinsic parameter matrix, including focal length. and principal point coordinates ; The extrinsic parameter matrix is ​​composed of the aforementioned rotation matrix and translation vector; This represents the three-dimensional coordinates of the target in the world coordinate system.

[0079] This section is used to overlay a trust layer on the screen. Spatial discretization processing: The graphics processor divides the current real-world scene captured by the camera into... Each grid cell is a spatial grid unit. Using the inverse transformation of the projection model described above, the geographic coordinate index corresponding to the center pixel of each grid unit is calculated. .

[0080] Ledger data retrieval: The module is based on Using the index key, query the locally synchronized blockchain light node ledger database. The retrieval logic checks whether a latest job block exists at this coordinate and verifies whether the physical job fingerprint within the block is valid.

[0081] Memory Texture Generation: The rendering engine draws an overlay layer in video memory based on the retrieval results: Case 1: If a valid block is found, i.e., the verification status is passed, the engine calls the shader program to render a texture of the first color in the corresponding mesh area, indicating that the operation quality in that area is reliable. Case 2: If no block is found or the fingerprint is invalid, i.e., the verification status is unreliable, the engine renders a mesh texture of the second color in the corresponding mesh area, indicating that the operation in that area is not completed or the data is questionable.

[0082] Data output process: The synthesized image frame contains a real-scene video layer and a color-coded trust layer. It is output to the terminal screen through the display driver circuit, allowing operators to intuitively judge the completion status of the work surface and the authenticity of the data.

[0083] Example 2: This invention is applied to the facade maintenance and asset auditing of super high-rise buildings, employing an intelligent tethered flight platform integrating high-pressure cleaning components, which coordinates with a ground power supply system and an augmented reality interactive terminal to perform operations. In such complex environments, existing technologies mainly face three coupled challenges: physical stabilization, data storage, and interactive feedback. First, due to signal obstruction by high-rise buildings and strong airflow disturbances, traditional flight control systems cannot perceive the physical lag and nonlinear resistance of long-distance tethered cables, making it difficult to maintain stable aircraft attitude in satellite signal blind spots. Second, in a workload-based business model, relying solely on trajectory recording cannot effectively verify the authenticity of the actual workload, making it difficult to distinguish whether the equipment is in a full-load output state or an ineffective standby state, leading to doubts about the reliability of workload data. Finally, due to the vast work area and indistinct visual differences, ground personnel lack intuitive feedback methods based on verification data, making it difficult to accurately identify missed areas or avoid repetitive work. To solve these problems, this invention provides an intelligent interactive inspection device based on blockchain communication, with a multi-domain fusion architecture, the structure of which is as follows... Figure 1As shown. The specific implementation process of this device is as follows: The intelligent tethered flight platform module, serving as the system's aerial carrier and energy hub, solves the problem of limited operational endurance in traditional UAVs. This module establishes a physical connection with ground equipment via a tethering interface. The power conversion unit demodulates and steps down the high-voltage AC power transmitted from the ground into onboard DC power, providing continuous energy for long-term hovering and high-power operations. This structure not only supports flight but also acts as the load-bearing component for the tension of the tethering cable, providing a fundamental mechanical environment for subsequent physical stabilization.

[0084] The fluid operation execution module is the physical work unit of the device. An onboard high-pressure plunger pump pressurizes the fluid medium and delivers it to the jetting mechanism. A multi-angle servo mechanism adjusts the nozzle direction according to commands to cover the work surface. When this module outputs a high-pressure jet for cleaning or operation, according to Newton's third law, a reverse dynamic recoil response is inevitably generated on the machine body. This physical response is no longer considered a mere disturbance, but rather a physical source verifying the authenticity of the operation.

[0085] A multi-domain heterogeneous sensing network module constructs the device's underlying data acquisition layer. RTK units provide centimeter-level spatial coordinates, while visual sensors capture environmental textures. The physical sensor group simultaneously acquires voltage drops, cable tension, and fluid pipeline pressure at both ends of the tethered cable. This data, encompassing the spatial, visual, and physical domains, provides raw data support for calculating cable status and verifying operational fingerprints.

[0086] The edge computing control module runs on the airborne core, and its core function is to solve the stability problem caused by nonlinear interference from tethered cables. This module utilizes Ohm's law to calculate the real-time physical length of the cable by inverting the voltage difference and current at both ends, thus avoiding GPS altitude measurement errors. Based on the determined physical length and the UAV's attitude, the module reconstructs the catenary mechanical model of the cable, calculates the theoretical drag force of the cable on the fuselage, and generates feedforward compensation commands that directly apply to the flight control loop, maintaining attitude stability before interference occurs.

[0087] The physical fingerprint consensus module solves the technical problem of falsifying operational data. This module extracts vibration acceleration data of the aircraft under stable conditions and performs time-domain cross-correlation analysis with the fluid pressure waveform. A physical fingerprint is generated only when the fluid jet pressure change shows a high correlation with the aircraft's recoil vibration. This mechanism ensures that the on-chain data not only contains location information but also unforgeable proof of work done, achieving digital anti-counterfeiting of the operational process.

[0088] The encrypted communication link module is responsible for the secure transmission and distributed storage of data. This module establishes a connection channel between the device and the blockchain network, broadcasting job blocks containing physical fingerprints and spatiotemporal coordinates to consensus nodes, ensuring that job records are immutable once generated.

[0089] The holographic augmented interactive terminal module provides visualized feedback on the work status. Utilizing RTK data to calculate the virtual-real occlusion and projection matrix, it accurately maps the blockchain verification results from the digital world to the physical world. If the block verification passes, the terminal renders a trust layer at the corresponding location in the operator's view of the real-world scene, intuitively displaying blind spots and completed areas, thus achieving a closed-loop interaction from physical work to digital evidence storage and then to visual feedback.

[0090] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An intelligent interactive inspection device based on air multi-domain fusion of blockchain communication, characterized in that, The system comprises the following modules: An intelligent tethered flight platform module integrated with a power conversion unit for converting input ground alternating current into onboard direct current and a tether interface connected to a ground automatic winch; A fluid operation execution module mounted on the platform, comprising a high-pressure piston pump and a multi-angle servo injection mechanism, for outputting high-pressure fluid and generating recoil dynamics response; A multi-domain heterogeneous perception network module, comprising an RTK unit for collecting spatial pose, a visual sensor for collecting images, and a physical sensor group for collecting voltage difference, tension, and fluid pressure at both ends of the tether cable; An edge computing control module for calculating the physical length of the cable according to the voltage difference and loop current, establishing a catenary model in combination with the spatial pose, and generating attitude feedforward compensation instructions; A physical fingerprint consensus module for extracting the cross-correlation characteristics of the body recoil acceleration and fluid pressure in the stable control state as physical fingerprints, packaging the physical fingerprints with space-time data to generate operation blocks; An encrypted communication link module for establishing a connection between the device and a distributed blockchain node and broadcasting the operation blocks to the blockchain; A holographic augmented interactive terminal module for establishing a virtual-real mapping matrix based on RTK positioning data, and superimposing a visual trust layer in the real scene picture according to the verification status on the blockchain. 2.The smart interactive inspection device based on blockchain communication and air multi-domain fusion according to claim 1, wherein, The intelligent tethered flight platform comprises: Through the tether interface, three-phase alternating high-voltage power transmitted from the ground is received, and electromagnetic interference noise is filtered out by an EMI filter; Through the full-bridge rectifier circuit and DC-DC step-down circuit in the power conversion unit, the three-phase alternating high-voltage power is converted into onboard direct bus voltage, and is shunted to the power motor driver and onboard electronic equipment; The cable connection state at the tether interface is monitored in real time, and when a mechanical tripping signal or power supply interruption signal is detected, the onboard backup battery power supply mode is automatically switched to and the emergency landing logic is triggered. 3.The smart interactive inspection device based on blockchain communication and air multi-domain fusion according to claim 1, characterized in that, The fluid operation execution comprises: Receiving the operation intensity instructions and injection angle instructions issued by the edge computing control module; Adjusting the motor speed of the high-pressure piston pump according to the operation intensity instructions to maintain the pressure value of the output fluid within the preset operation interval; According to the injection angle instructions, the joint rotation angle of the multi-angle servo injection mechanism is calculated, and the servo motor is driven to adjust the nozzle pointing direction to be perpendicular to the surface of the operation target; In the injection process, the current instantaneous flow data and nozzle attitude data are fed back to the multi-domain heterogeneous perception network module in real time. 4.The smart interactive inspection device based on blockchain communication and air multi-domain fusion according to claim 1, wherein, The multi-domain heterogeneous perception network comprises: Using a Hall current sensor and a voltage sampling circuit connected in series to the onboard power input to synchronously obtain the onboard input voltage value and the supply loop current value at a microsecond-level sampling rate; Using a voltage monitoring unit connected in parallel to the ground power output to obtain the ground-side output voltage value, and receiving the ground-side output voltage value through the power carrier communication channel; Using a high-frequency pressure transmitter installed at the outlet of the fluid operation execution module to collect instantaneous pressure waveform data of the fluid medium at a preset sampling frequency; Using a tension sensor integrated in the tether interface of the intelligent tethered flight platform to collect actual tension vector data of the tether cable acting on the intelligent tethered flight platform module. 5.The smart interactive inspection device based on blockchain communication and multi-domain fusion in the air according to claim 1, wherein, The edge computing control comprises: Calculate the scalar difference between the ground-side output voltage value and the airborne-side input voltage value; Call the pre-stored tethered cable unit length resistivity and current environmental temperature coefficient, based on the scalar difference and the power supply loop current value, and according to Ohm's law to inversely calculate the current physical extension length of the tethered cable; Extract the unit length line density parameter of the tethered cable, and substitute the physical extension length and the relative height in the spatial pose data into the hyperbolic cosine catenary equation to reconstruct the geometric curve form of the tethered cable in the gravitational field. 6.The smart interactive inspection device based on blockchain communication and air multi-domain fusion according to claim 1, wherein, The edge computing control further includes: Calculate the tangent vector at the reconstructed geometric curve form at the tethering interface, and multiply the tangent vector by the tension component of the tethered cable to generate a theoretical tension vector; Calculate the difference vector between the actual tension vector data and the theoretical tension vector; Use the coordinate transformation matrix to project the difference vector from the geographic coordinate system to the body coordinate system of the intelligent tethered flight platform module, and decompose it into pitch axis torque component and roll axis torque component; The pitch axis torque component and the roll axis torque component are directly superimposed on the PID controller output end of the flight attitude control loop as the feedforward control amount. 7.The smart interactive inspection device based on blockchain communication and air multi-domain fusion according to claim 1, wherein, The physical fingerprint consensus includes: Perform high-pass filtering on the airborne IMU data of the intelligent tethered flight platform module to remove the gravity component and separate the body recoil shock acceleration sequence; Align the instantaneous pressure waveform data of the fluid medium with the body recoil shock acceleration sequence on the same time axis; In the preset time sliding window, perform cross-correlation operation on the aligned pressure waveform data and acceleration sequence to calculate the peak value of the cross-correlation coefficient; Combine the peak value of the cross-correlation coefficient and its corresponding time lag to generate a physical work fingerprint that uniquely represents the current fluid work intensity. 8.The smart interactive inspection device based on blockchain communication and multi-domain fusion in the air according to claim 1, wherein, The encrypted communication link includes: Compare the peak value of the cross-correlation coefficient in the physical work fingerprint with the preset minimum work confidence threshold; If the comparison result is greater than, lock the RTK three-dimensional coordinate data and the work surface feature vector collected by the visual sensor at the current time; According to the preset data structure, the RTK three-dimensional coordinate data, the work surface feature vector, the physical work fingerprint and the current UTC timestamp are spliced into a verification string, and SHA-256 hash operation is performed to generate a work block; Use the pre-set device private key to digitally sign the work block, and distribute it to multiple consensus nodes in the blockchain network through the TCP / IP protocol stack. 9.The smart interactive inspection device based on blockchain communication and air multi-domain fusion according to claim 1, wherein, The holographic augmented interaction terminal includes: Obtain the GPS coordinates and attitude quaternion of the holographic augmented interaction terminal module itself; Calculate the relative translation vector of the intelligent tethered flight platform module relative to the holographic augmented interaction terminal module; Based on the attitude quaternion, construct a rotation matrix to convert the relative translation vector into coordinates in the camera coordinate system of the holographic augmented interaction terminal module; Combine the camera intrinsic parameter matrix of the holographic augmented interaction terminal module to construct a perspective projection transformation model that maps three-dimensional space points to a two-dimensional display plane. 10.The smart interactive inspection device based on blockchain communication and air multi-domain fusion according to claim 1, wherein, The holographic augmented interaction terminal further includes: Discretize the real scene picture in the current field of view of the holographic enhanced interactive terminal module into a plurality of spatial grid units; Take the geographical coordinates corresponding to each spatial grid unit as an index key to retrieve the locally stored blockchain account data; If a block containing a valid physical operation fingerprint is retrieved, a first color semi-transparent texture is generated in the video memory and covers the pixel area corresponding to the grid unit; If no block is retrieved or the physical operation fingerprint in the block is invalid, a second color grid texture is generated in the video memory and covers the pixel area corresponding to the grid unit.

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