A cleaning system and method for unmanned aerial vehicle suitable for live-line work

Abstract

The application belongs to the technical field of unmanned aerial vehicle live working, and particularly discloses a kind of unmanned aerial vehicle cleaning systems suitable for live working, including: unmanned aerial vehicle body;Water spraying module is carried on unmanned aerial vehicle body;Visual perception module is set on unmanned aerial vehicle body and / or water spraying module;Driving module is carried in unmanned aerial vehicle body, output end is connected with water spraying module, and water spraying module is driven to rotate in horizontal plane or vertical plane;Immersive control terminal includes head-mounted display device and somatosensory control handle, for receiving and displaying the picture collected by visual perception module, and generating control instruction in response to pilot operation;Program control module is used for automatically identifying dirty area and dirt degree according to image information, and generating spraying pressure, spraying angle and spraying flow instruction.The unmanned aerial vehicle cleaning system of the application improves the spraying precision of unmanned aerial vehicle cleaning.The application further discloses a cleaning method of the above-mentioned unmanned aerial vehicle cleaning system suitable for live working.

Description

Technical Field

[0001] This invention belongs to the field of live-line operation technology for unmanned aerial vehicles (UAVs), specifically relating to a UAV cleaning system and cleaning method suitable for live-line operations. Background Technology

[0002] With the widespread application of power grids, transmission lines are exposed to the natural environment for extended periods. Dust, dirt, and other contaminants easily accumulate on the surface of insulators, which can easily trigger flashover accidents in humid weather, seriously threatening the safe and stable operation of the power grid. Regular cleaning of insulators is an important means of preventing flashover and improving power supply reliability.

[0003] Currently, insulator cleaning mainly involves three methods: power-off cleaning, power-on cleaning, and live-line water flushing. Power-off cleaning is a planned task and cannot handle emergencies; power-on cleaning is ineffective and poses high personal risks; live-line cleaning, as disclosed in Chinese invention patent CN114367487A, is a high-voltage live-line water flushing system, method, and storage medium for drones. This system includes a drone, a water tank, a water pump, a water spray device, a camera, and an obstacle avoidance radar, and the drone and water pump are controlled by a ground control terminal to perform the flushing operation.

[0004] However, existing technologies have the following problems: the nozzles in the water spraying devices are mostly fixed or simple rotating types, which cannot achieve the appropriate spray position on the insulator, and the cleaning of dirt dead spots such as the corners and gaps of the insulator is not thorough. Observing the operation scene through the ground display screen has visual blind spots and image delay problems, making it difficult for the drone operator to accurately judge the relative position of the nozzle and the dirty area, and unable to accurately spray a specific target point. The spraying process requires manual intervention throughout, which can easily lead to omissions or incomplete cleaning. Summary of the Invention

[0005] The purpose of this invention is to provide a drone cleaning system suitable for live-line operations, reducing manual intervention and improving the spraying accuracy of drone cleaning.

[0006] The objective of this invention is achieved through the following technical solution: a drone cleaning system suitable for live-line operations, comprising: The drone itself; Water spray module, mounted on the drone body; A visual sensing module is mounted on the drone body and / or the water jet module; The drive module is mounted in the drone body and its output end is connected to the water spray module to drive the water spray module to rotate horizontally or synchronously vertically. An immersive control terminal, including a head-mounted display device and a motion-sensing control handle, is used to receive and display images captured by the visual sensing module and generate control commands in response to pilot operations. The program control module, connected to the vision module, drive module, drone body and immersive control terminal, is used to automatically identify the dirty area and degree of dirt based on the image information provided by the vision module, and generate spray pressure, spray angle and spray flow instructions.

[0007] Preferably, the water spray module includes a carbon tube, a first mounting base, and a nozzle. The carbon tube is installed in the first mounting base, one end of the carbon tube is connected to the nozzle, and the other end is connected to the water source. The nozzle is made of high-voltage resistant insulating ceramic material.

[0008] Preferably, the water spray module further includes a second mounting base, and the drive module includes a first drive component and a second drive component. The first drive component is mounted in the UAV body and its output end is connected to the first mounting base. The second mounting base and the second drive component are mounted on the first mounting base. The output end of the second drive component is connected to the second mounting base. The carbon tube is mounted on the second mounting base. The first drive component drives the nozzle to rotate horizontally; the second drive component drives the nozzle to rotate vertically.

[0009] Preferably, it also includes a level sensor installed on the water spray module, and the level sensor is communicatively connected to the program control module.

[0010] Preferably, it also includes a first double-layer shielding cover for the UAV body and a second double-layer shielding cover for the water spray module. The first double-layer shielding cover and the second double-layer shielding cover are connected by an insulated shielding cable and are grounded together to form an equipotential suspension structure.

[0011] Preferably, the first double-layer shielding cover includes a copper mesh, aluminum foil, or stainless steel shielding mesh covering the surface of the UAV body, and a metal shielding layer embedded in the inner surface of the UAV body; the second double-layer shielding cover includes a copper mesh, aluminum foil, or stainless steel shielding mesh covering the surface of the water spray module, and insulating shielding layers covering the outer sides of the water spray module component and the drive module respectively.

[0012] Preferably, it also includes a first power supply and a first control motherboard that provide independent power to the UAV body, and a second power supply and a second control motherboard that provide independent power to the water spray module. The first control motherboard and the second control motherboard transmit signals to each other through a signal isolation module and an insulated shielded cable.

[0013] Preferably, the first power source is a lithium battery, and the second power source is an explosion-proof lithium battery; the first control motherboard is used to control flight attitude, flight path planning and obstacle avoidance, and the second control motherboard is used to control the start or stop of the water spray module, the spray pressure and the spray flow rate.

[0014] Because of the adoption of the above technical solution, the present invention has the following advantages: The system employs a visual sensing module to collect image information such as the spraying attitude of the water spray module, the state of dirt, and the relative position of the drone to the dirty area. This information is transmitted to the program control module, which has a built-in intelligent dirt judgment program. This program is equipped with a deep learning module and a large database of various cleaning materials to automatically determine the optimal spray pressure, spray angle, and spray flow rate, and send adjustment commands to the water spray module. The visual data and control commands processed by the intelligent judgment program are projected in real time onto the immersive control terminal for immersive observation. The drone operator can control the rotation of the water spray module using a motion-sensing control handle, which simultaneously controls the drone's flight attitude, solving the problems of blind spots and low control precision, reducing human intervention, and thus improving the spraying accuracy of drone cleaning.

[0015] Another objective of this invention is to provide a cleaning method for a drone cleaning system suitable for live-line work, thereby reducing human intervention and improving the cleaning effect of drones on dirty areas by using a drone cleaning system.

[0016] Another objective of this invention is achieved through such a technical solution, specifically providing a cleaning method for a drone cleaning system suitable for live-line operations, comprising the following cleaning steps: S1. Acquire the location information of the UAV itself and the image information of the target to be cleaned; S2. Analyze the image information to identify the soiled areas and degree of soiling of the target to be cleaned; S3. Generate cleaning information based on the drone's location information, the dirty area information, and the degree of dirtiness information. The cleaning information includes the drone's flight path information and water spraying method information. S4. Generate control commands based on the cleaning information and send the control commands to the UAV body, water spray module and drive module to control the UAV body to move to the cleaning position of the dirty area, and control the water spray module and drive module to perform water spraying operation on the dirty area according to the water spraying mode information to complete the cleaning of the target.

[0017] Preferably, the method further includes the following steps: The image information is synchronously transmitted to the immersive control terminal, and the adjustment commands issued by the immersive control terminal are monitored. When the adjustment command is detected, the water spray module and drive module are controlled to adjust the water spray direction, spray pressure and spray flow rate in response to the adjustment command.

[0018] Because of the adoption of the above technical solution, the present invention has the following advantages: By using a cleaning method, the water spray module can be adjusted omnidirectionally through a visual sensing module, a program control module, and an immersive control terminal, allowing for precise spraying of various locations in the soiled area and improving the spraying effect. Attached Figure Description

[0019] To more clearly illustrate the specific embodiments of the present invention, the accompanying drawings used in the specific embodiments will be briefly introduced below. In all the drawings, the elements or parts are not necessarily drawn to scale.

[0020] Figure 1 This is a schematic diagram of the structure of a drone cleaning system suitable for live-line operations according to the present invention; Figure 2 This is a schematic diagram of a high-voltage electrified water flushing system for unmanned aerial vehicles (UAVs). Figure 3 This is a schematic diagram of the structure of the drone body; Figure 4 This is a schematic diagram of the water spray module. Figure 5 A schematic diagram of the cleaning steps of a drone cleaning system; Figure 6 The cleaning steps for a drone cleaning system.

[0021] Figure label: 1- Drone body, 11- Panoramic auxiliary camera, 12- Support rod, 13- First power supply, 14- First control motherboard; 2- Spray module, 21- Carbon tube, 22- First mounting base, 221- Clearance groove, 23- Second mounting base, 24- Nozzle, 25- Horizontal sensor, 26- Second power supply, 27- Second control main board; 3- Vision sensing module, 31- AI camera, 32- LiDAR ranging radar; 4- Drive module, 41- First drive component, 42- Second drive component; 5- Immersive control terminal, 51- Head-mounted display device, 52- Motion-sensing control handle; 6- Program control module. Detailed Implementation

[0022] The embodiments of the technical solution of the present invention will now be described in detail with reference to the accompanying drawings.

[0023] Please see Figure 1 , Figure 2 and Figure 4 A drone cleaning system suitable for live-line operations includes: a drone body 1, a water spraying module 2, a visual sensing module 3, a drive module 4, an immersive control terminal 5, and a program control module 6.

[0024] The program control module 6 is mounted on the UAV body 1 or located on a cloud server. When located on a cloud server, the UAV body 1 establishes a data connection with the cloud server via a wireless communication network, transmits the collected image information to the cloud, and receives the generated spray parameter commands from the cloud. The water spray module 2, the vision sensor module 3, and the drive module 4 are mounted on the UAV body 1 to realize flight, positioning, cleaning, and communication with the immersive control terminal 5. Its fuselage is made of high-strength lightweight materials (such as carbon fiber) and has both autonomous flight path and manual control modes. The water spray module 2 is mounted on the UAV body 1, connected to a high-pressure water source, and sprays water onto the target contaminated area according to commands. The vision sensor module 3 is located on the UAV body 1 and / or the water spray module 2. This application includes an AI camera 31 and a laser ranging radar 32 integrated at the front end of the water spray module 2. The AI ​​camera 31 uses an 8-megapixel camera module of Sony IMX219, and the laser ranging radar 32 uses VL53L1X. The vision sensor module 3 also includes a panoramic auxiliary camera 11 located on the UAV body 1. The visual sensing module 3 is used to collect real-time image information such as the spray attitude of the water spray module 2, the distribution of dirt in the area to be polluted, and the relative position of the drone and the area to be polluted. The drive module 4 is mounted in the drone body 1, and its output end is connected to the water spray module 2. The drive module 4 drives the water spray module 2 to rotate in the horizontal plane (left and right rotation) and / or in the vertical plane (up and down rotation), thereby realizing the omnidirectional adjustment of the water spray module 2 to be in the optimal spray position. The immersive control terminal 5 includes a head-mounted display device 51 and a motion-sensing control handle 52, which are used to receive and display the image information collected by the visual sensing module 3, and respond to the control commands generated by the pilot through the motion-sensing handle, so as to realize precise control of the angle of the water spray module 2 and the flight attitude of the drone. The head-mounted display device 51 can be AR glasses or VR glasses to achieve the effect of superimposing control commands on real scene. The head-mounted display device 51 can be used with commercially available products such as head trackers and motion-sensing belts to enhance the immersive control experience. The program control module 6 is electrically connected to the visual sensing module 3, the drive module 4, the drone body 1, and the immersive control terminal 5. The program control module 6 has a built-in intelligent dirt judgment program, equipped with a deep learning module and a large model database of various cleaning materials. It includes dirt recognition, classification and intelligent matching of spray parameters, etc. It automatically identifies the dirty area and degree of dirt, and marks the key cleaning location. Based on the degree of dirt and the distance between the water spray module 2 and the dirty area, it automatically determines and generates spray pressure, spray angle and spray flow instructions.

[0025] This invention discloses a drone cleaning system suitable for live-line work. During operation, the pilot issues a takeoff command via a motion-sensing control handle 52 (or initiates an automatic task via ground station software). The drone itself 1, assisted by a panoramic auxiliary camera 11, autonomously flies to the vicinity of the area to be cleaned. An AI camera 31 captures a global image of the soiled area and transmits it to the program control module 6. The program control module 6 runs a soiling detection model to analyze the image information. If a target soiled area is identified, the pilot confirms the target and issues an approach command via the immersive control terminal 5. The drone automatically controls its approach process based on the ranging data from the laser ranging radar 32 and a preset safe distance, stopping upon reaching the optimal working position and entering a hovering cleaning state. Subsequently, the AI ​​camera 31 captures detailed images of the soiled area and transmits them to the program control module 6. The program control module 6 outputs the boundary of each soiled area, the type of soiling (e.g., dust, bird droppings, salt deposits, industrial soiling, etc.), and the degree of soiling (light, moderate, heavy), automatically marking key cleaning locations and displaying the marking results as highlighted blocks on the immersive control terminal 5 screen. The program control module 6 generates an instruction set based on the degree of contamination and the real-time distance feedback from the laser ranging radar 32. This set includes: target pressure value, target horizontal rotation angle, target pitch angle, target flow rate, cleaning duration, and cleaning path. Based on these instructions, the drive module 4 adjusts the left-right and / or up-down rotation angles of the water spray module 2 to ensure precise spatial positioning. Once the pilot confirms readiness, the cleaning start command is issued. During spraying, the AI ​​camera 31 records the posture video of the water jet from the water spray module 2 in real time and displays it in real-time through the immersive control terminal 5, allowing the pilot to adjust the drone's attitude and position accordingly to ensure accurate cleaning. The pilot can issue a "stop cleaning" command at any time via the motion-sensing handle. The AI ​​camera 31 continuously captures images of the cleaned insulator surface during spraying, and the program control module 6 compares the images before and after cleaning in real time to calculate the contamination removal rate. If the residual dirt in a certain area still exceeds the set threshold after cleaning (e.g., residual area > 5%), the program will automatically mark the area as requiring secondary cleaning and adjust the spray parameters accordingly (e.g., increase pressure, change angle). After completing the first round of cleaning, the program will automatically return to the area for secondary cleaning. During the cleaning process, the pilot can interrupt the cleaning or adjust the cleaning sequence at any time using the motion control, and the system will respond to the pilot's real-time operations and update the cleaning plan.

[0026] This invention identifies the soiled area that needs to be sprayed using an AI camera 31, measures the distance using a laser ranging radar 32, and adjusts the water spray module 2 omnidirectionally using a drive module 4 to precisely reach the location where spraying is needed. Through a program control module 6 with a built-in intelligent soil determination program and an immersive control terminal 5, the cleaning process can be automatically or finely adjusted, solving the problems of blind spots and low control precision, reducing human intervention, and thus improving the spraying accuracy of drone cleaning.

[0027] Further, please refer to Figure 4 and Figure 5 The water spray module 2 includes a carbon tube 21, a first mounting base 22, and a nozzle 24. The carbon tube 21 is installed in the first mounting base 22, providing lightweight and high-strength support. One end of the carbon tube 21 is connected to the nozzle 24, and the other end is connected to a water source. The water source comes from an onboard water tank or a ground-based water supply. A water pump is installed between the water source and the carbon tube 21, pressurizing the water and converting it into a high-pressure water flow that is delivered to the nozzle 24. The water pump is connected to a program control module 6 to control the pressure of the sprayed water. The nozzle 24 is made of high-voltage resistant insulating ceramic material, suitable for live cleaning of 0.4kV-500kV transmission lines. The water source is pressurized by the water pump and then sprayed from the nozzle 24, forming a fine columnar water flow, which helps to avoid high-voltage arcing caused by water flow diffusion.

[0028] Furthermore, the water spray module 2 also includes a second mounting base 23, and the drive module 4 includes a first drive assembly 41 and a second drive assembly 42. The first drive assembly 41 is mounted in the UAV body 1, and its output end is connected to the first mounting base 22 to drive the nozzle 24 to rotate in the horizontal plane (i.e., rotate left and right). The second drive assembly 42 and the second mounting base 23 are mounted on the first mounting base 22, and the output end of the second drive assembly 42 is connected to the second mounting base 23. The carbon tube 21 is sleeved in the second mounting base 23 and the first mounting base 22, and the second drive assembly 42 drives the nozzle 24 to rotate in the vertical plane. Specifically, the first drive assembly 41 is fixedly mounted on the support rod 12 by bolts, the first mounting base 22 is provided with a clearance groove 221, and the second mounting base 23 is mounted in the clearance groove 221. The second drive assembly 42 includes a second drive source, which includes, but is not limited to, a high-precision digital servo motor, a hydraulic press, and a cylinder. The second mounting base 23 is mounted on the output shaft of the second drive source, and the second drive source drives the second mounting base 23 to rotate, thereby moving the nozzle 24 up and down. Similarly, the first drive source drives the first mounting base 22 to rotate, thereby moving the nozzle 24 horizontally and achieving omnidirectional vector adjustment of the nozzle 24. This application uses this structure to achieve near 360° horizontal rotation and 90° vertical rotation of the nozzle 24, meeting the cleaning angle requirements.

[0029] Further, please refer to Figure 4The system also includes a horizontal sensor 25 installed on the water spray module, which is communicatively connected to the program control module 6. Specifically, the horizontal sensor 25 detects in real time the attitude changes (roll, pitch, yaw) of the UAV caused by gusts or airflow disturbances, and transmits the data to the program control module 6. The program control module 6 has stored vector differential rudder balance code and performs real-time position and steering compensation for the water spray module 2. The compensation command is superimposed on the drive command of the drive module 4 within 5ms, so that the nozzle 24 remains stable relative to the ground coordinate system and is not affected by the attitude disturbance of the UAV. For example, if the UAV rolls 2° to the right due to a gust of wind, the first drive component 41 automatically rotates 2° to the left to cancel it out. Ensuring that the nozzle 24 can still stably point to the target dirty area when the UAV body shakes helps to improve the spraying accuracy of UAV cleaning and ensure consistent cleaning results.

[0030] Furthermore, to address the issues of arcing and interference under high voltage and high magnetic field environments, this system also includes an inner and outer double-layer shielding protection system. This system comprises a first double-layer shielding cover for the UAV body 1 and a second double-layer shielding cover for the water spray module 2. The first and second double-layer shielding covers are connected by an insulated shielded cable and share a common ground, thus forming an equipotential suspension structure. Specifically, one end of the insulated shielded cable is connected to the common grounding terminal of the UAV body, and the other end is connected to the common grounding terminal of the water spray module 2, achieving potential equalization between the two through this cable.

[0031] Furthermore, the first double-layer shielding cover includes a copper mesh, aluminum foil, or stainless steel shielding mesh covering the surface of the UAV body 1, and a metal shielding layer embedded in the inner surface of the UAV body 1; the second double-layer shielding cover includes a copper mesh, aluminum foil, or stainless steel shielding mesh covering the surface of the water spray module (2), and insulating shielding layers covering the outer sides of the water spray module (2) and the drive module (4), respectively. Specifically, in this application, the UAV body 1 is made of carbon fiber, and the outer surface is entirely covered with a copper mesh, aluminum foil, or stainless steel shielding mesh as the first electromagnetic shielding barrier, reflecting / absorbing external electromagnetic waves, while providing a low-impedance path to conduct away induced current. Inside the outer shell wall (or on the inner wall surface) of the UAV body, a metal shielding layer is embedded through a molding process. The metal shielding layer includes, but is not limited to, copper foil and aluminum foil, to isolate residual magnetic field interference that penetrates the outer layer. Between the two shielding layers, the outer shell material serves as an intermediate layer, forming a three-layer composite structure: copper mesh (outer), carbon fiber fuselage (middle), and metal shielding layer (inner). This composite structure provides full protection for the UAV's flight control motherboard, sensors, communication modules, etc., isolating them from external magnetic field interference. In this application, "mold-embedding" refers to placing the metal shielding layer in the corresponding position of the mold during the UAV body mold forming process, where it is cured together with the carbon fiber prepreg, making the metal layer integrated with the carbon fiber fuselage. The second double-layer shielding cover consists of a high-voltage resistant metal shell and an externally wrapped copper mesh (or aluminum foil mesh, stainless steel shielding mesh). The control motherboard, power supply module, and drive module 4 inside the water spray module are all individually encapsulated with insulating shielding, forming a double-layer shielding structure that matches the UAV body. For example, if the water pump is installed on the UAV body 1, the water pump is also encapsulated with insulating shielding. In this embodiment, either the aluminum foil mesh (0.1mm thick, 60 mesh) or the stainless steel shielding mesh (304 material, 0.15mm wire diameter, 80 mesh) has been tested for electromagnetic compatibility and its shielding effectiveness in the 10kHz-1GHz frequency band is greater than 40dB, meeting the shielding requirements under high-voltage environments. Its working principle is as follows: During high-voltage live-line cleaning operations, when the high voltage arcs through the water spray module 2, the double-layer shielding cover forms a floating potential, placing the drone body 1 and the water spray module 2 at the same potential. This avoids high-voltage breakdown of the equipment, making it suitable for high-voltage live-line operations on 500kV and below transmission lines, eliminating problems such as high-voltage arcing and magnetic field interference, resulting in a zero drone accident rate. It also isolates magnetic field interference, with the shielding cover's shielding effectiveness in the 10kHz-1GHz frequency band exceeding 40dB. Even if the water spray module 2 is damaged by high voltage, the drone body 1 can still operate normally, achieving equipment safety redundancy. By isolating magnetic field interference and reducing the impact of magnetic fields on high-precision digital servos, the accuracy of target angles and water pump pressure regulation can be improved, thus enhancing the spraying precision of UAV cleaning. Further, please refer to Figure 3To achieve absolute safety redundancy in operation, this system also includes dual independent power supplies and operating systems. Specifically, it includes a first power supply 13 and a first control motherboard 14 that independently power the UAV body, and a second power supply 26 and a second control motherboard 27 that independently power the water spray module 2. The first control motherboard 14 and the second control motherboard 27 transmit signals through a signal isolation module and insulated shielded cables to prevent interference between the two. Specifically, the first power supply 13 is a high-capacity lithium battery specifically for the UAV, and the second power supply 26 is an explosion-proof lithium battery specifically for the water spray module 2. The two are not electrically connected and each has an independent charging port and power supply protection module, ensuring that their power supply voltages do not interfere with each other. The first control motherboard 14 is a dedicated flight controller motherboard. Flight controller motherboards are used in UAVs or aircraft to process sensor data in real time, run flight control algorithms, and output commands to drive motors, servos, and other actuators to achieve stable flight, autonomous navigation, and mission execution. The second control motherboard 27 is a dedicated control motherboard for the water spray module 2, responsible for all actions and process control of the water spray module. Even if the second power supply 26 or the second control motherboard 27 fails, the drone body 1 can still work normally, ensuring that the drone can return safely.

[0032] Please see Figure 6 The present invention also provides a cleaning method for a drone cleaning system suitable for live-line work, the cleaning steps of which are as follows: S1. Acquire the location information of the UAV itself and the image information of the target to be cleaned; S2. Analyze the image information to identify the soiled areas and degree of soiling of the target to be cleaned; S3. Generate cleaning information based on the drone's location information, the dirty area information, and the degree of dirtiness information. The cleaning information includes the drone's flight path information and water spraying method information. S4. Generate control commands based on the cleaning information and send the control commands to the UAV body, water spray module and drive module to control the UAV body to move to the cleaning position of the dirty area, and control the water spray module and drive module to perform water spraying operation on the dirty area according to the water spraying mode information to complete the cleaning of the target.

[0033] Specifically, the drone body 1 is equipped with a water spray module 2. Based on a preset flight path, or autonomously planned by the pilot using an immersive control terminal 5, the drone body 1 is controlled to fly and adjust its position. A panoramic auxiliary camera 11 collects the position information of the drone body 1 until the distance between the drone body 1 and the contaminated area is within the target distance range, preventing the drone from getting too close to the insulator. An AI camera 31 collects image information of the target to be cleaned, marking cleaning blind spots (such as corners and gaps). A laser ranging radar 32 detects the distance between the water spray module and the contaminated area, transmitting this information to the program control module 6. The program control module 6 runs a contamination judgment model, identifying the contaminated area and degree of contamination to generate cleaning information, including automatically matching and generating spray pressure, spray angle, and spray flow commands. The immersive control terminal receives the image information collected by the visual sensing module and displays it in real-time on a head-mounted display device. The water spray module 2, according to the control commands of the program control module 6, receives real-time distance feedback from the visual sensing module and adjusts the spray angle, spray pressure, and spray flow through the drive module 4, activating the water spray module to clean the contaminated area.

[0034] Furthermore, the image information is synchronously transmitted to the immersive control terminal, and the adjustment commands issued by the immersive control terminal are monitored. When an adjustment command is detected, the water spray module and drive module are controlled to adjust the water spray direction, spray pressure, and spray flow rate in response to the adjustment command. Specifically, during the cleaning process, the vision module monitors the attitude of the water jet from the water spray module in real time and displays it in real time through the immersive control terminal. The immersive control terminal 5 is also used to control the flight attitude of the drone, keeping the drone's flight attitude aligned with the insulator for rinsing, controlling the spray pressure, spray angle, and spray flow rate, checking the cleaning status, and realizing the effect of the real-scene superimposed program control module 6's control commands, thereby maintaining the spray accuracy of the drone cleaning. After cleaning is completed, the immersive control terminal 5 controls the water spray module 2 to disengage from the water spray state and controls the drone to return to the ground.

[0035] This invention discloses a drone cleaning system suitable for live-line operations. It employs an AI camera and a panoramic auxiliary camera to simultaneously acquire image information such as nozzle spray posture, the state of contamination in the soiled area, and the relative position of the drone to the soiled area. Information transmission utilizes insulated shielding technology, ensuring zero delay and distortion. The program control module 6 incorporates a built-in intelligent soiling judgment program, equipped with a deep learning module and a large database of various cleaning materials. This program automatically determines the optimal spray pressure, spray angle, and spray flow rate, and sends adjustment commands to the nozzles and water pump. The visual data and control commands processed by the intelligent judgment program are projected in real-time onto a head-mounted display device 51, enabling immersive observation. The pilot can control the rotation of the nozzle 24 and the pressurization of the water pump via a motion-sensing control handle, simultaneously coordinating with the drone's flight attitude. The delay between control actions and equipment response is ≤0.05s, completely solving the problems of blind spots and low control accuracy, thereby improving the spraying precision of drone cleaning. The first and second double-layer shielding covers address magnetic field interference issues under high voltage and high magnetic field environments. A horizontal sensor detects real-time attitude changes in the drone caused by gusts or airflow disturbances, all contributing to improved spraying precision during drone cleaning. The dual independent power supply and operating system, as well as the shielding layer of the drone body 1 and the water spray module 2, are connected by insulated shielded cables, which improves the operational safety of the drone.

[0036] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the scope of the present invention should be included within the protection scope of the present invention.

Claims

1. A drone cleaning system suitable for live-line operations, characterized in that, include: Unmanned aerial vehicle body (1); Water spray module (2) is mounted on the UAV body (1); A visual sensing module (3) is mounted on the UAV body (1) and / or the water spray module (2); The drive module (4) is mounted in the UAV body (1), and its output end is connected to the water spray module (2) to drive the water spray module (2) to rotate in the horizontal plane or rotate synchronously in the vertical plane. The immersive control terminal (5) includes a head-mounted display device (51) and a motion-sensing control handle (52), which is used to receive and display the images collected by the visual sensing module (3) and generate control commands in response to the pilot's operation; The program control module (6) is connected to the vision module (3), the drive module (4), the UAV body (1) and the immersive control terminal (5). It is used to automatically identify the dirty area and the degree of dirt based on the image information provided by the vision module (3), and generate spray pressure, spray angle and spray flow instructions.

2. The UAV cleaning system for live-line operations according to claim 1, characterized in that, The water spray module (2) includes a carbon tube (21), a first mounting base (22) and a nozzle (24). The carbon tube (21) is installed in the first mounting base (22). One end of the carbon tube (21) is connected to the nozzle (24) and the other end is connected to the water source. The nozzle (24) is made of high-voltage resistant insulating ceramic material.

3. The UAV cleaning system for live-line operations according to claim 2, characterized in that, The water spray module (2) also includes a second mounting base (23). The drive module (4) includes a first drive component (41) and a second drive component (42). The first drive component (41) is mounted in the UAV body (1) and its output end is connected to the first mounting base (22). The second mounting base (23) and the second drive component (42) are installed in the first mounting base (22). The output end of the second drive component (42) is connected to the second mounting base (23). The carbon tube (21) is installed on the second mounting base (23). The first drive component (41) drives the nozzle (24) to rotate horizontally. The second drive component (42) drives the nozzle (24) to rotate vertically.

4. The drone cleaning system suitable for live-line operations according to any one of claims 1 to 3, characterized in that, It also includes a level sensor (25) installed on the water spray module (2), and the level sensor (25) is connected to the program control module (6) for communication.

5. The drone cleaning system suitable for live-line operations according to any one of claims 1 to 3, characterized in that, It also includes a first double-layer shielding cover for the UAV body (1) and a second double-layer shielding cover for the water spray module (2). The first double-layer shielding cover and the second double-layer shielding cover are connected by an insulated shielding cable and grounded together to form an equipotential suspension structure.

6. The UAV cleaning system for live-line operations according to claim 5, characterized in that, The first double-layer shielding cover includes a copper mesh, aluminum foil or stainless steel shielding mesh covering the surface of the UAV body (1), and a metal shielding layer embedded in the inner surface of the UAV body (1); the second double-layer shielding cover includes a copper mesh, aluminum foil or stainless steel shielding mesh covering the surface of the water spray module (2), and an insulating shielding layer covering the outer side of the water spray module (2) and the drive module (4) respectively.

7. The UAV cleaning system for live-line operations according to claim 1, 2, 3 or 6, characterized in that, It also includes a first power supply (13) and a first control motherboard (14) that independently power the drone body (1), and a second power supply (26) and a second control motherboard (27) that independently power the water spray module (2). The first control motherboard (14) and the second control motherboard (27) transmit signals through a signal isolation module and an insulated shielded cable.

8. The UAV cleaning system for live-line operations according to claim 7, characterized in that, The first power source (13) is a lithium battery, and the second power source (26) is an explosion-proof lithium battery; the first control motherboard (14) is used to control flight attitude, flight path planning and obstacle avoidance, and the second control motherboard is used to control the start or stop of the water spray module (2), the spray pressure and the spray flow.

9. A cleaning method for a drone cleaning system suitable for live-line work, using the drone cleaning system for live-line work according to claims 1 to 8, characterized in that, The cleaning steps include the following: S1. Acquire the location information of the UAV itself and the image information of the target to be cleaned; S2. Analyze the image information to identify the soiled areas and degree of soiling of the target to be cleaned; S3. Generate cleaning information based on the drone's location information, the dirty area information, and the degree of dirtiness information. The cleaning information includes the drone's flight path information and water spraying method information. S4. Generate control commands based on the cleaning information and send the control commands to the UAV body, water spray module and drive module to control the UAV body to move to the cleaning position of the dirty area, and control the water spray module and drive module to perform water spraying operation on the dirty area according to the water spraying mode information to complete the cleaning of the target.

10. The cleaning method according to claim 9, characterized in that, It also includes the following steps: The image information is synchronously transmitted to the immersive control terminal, and the adjustment commands issued by the immersive control terminal are monitored. When the adjustment command is detected, the water spray module and drive module are controlled to adjust the water spray direction, spray pressure and spray flow rate in response to the adjustment command.

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