Machine based energy infrastructure inspections

Abstract

The invention relates to a method for energy infrastructure (6) inspections with an automated mission of at least one drone (4), comprising a first inspection path (10) and at least one other inspection path (20). Each inspection path (10, 20) having a starting position (11, 21 ) of the drone and at least one other position (12, 13, 14), (22, 23, 24) of the drone (4) for capturing at least one image of at least one asset (40, 50) with a high-resolution camera. Each inspection path (10, 20) is predefined, each inspection path (10, 20) is precise and each inspection path (10, 20) is repeatable across time and / or location.

Description

[0001] Machine Based Energy Infrastructure Inspections

[0002] Description

[0003] The invention relates to a method for energy infrastructure inspections with an automated mission of at least one drone, comprising a first predefined inspection path and at least one other predefined inspection path, each inspection path having a starting position of the drone and at least one other position of the drone for capturing at least one image of at least one asset with a high-resolution camera.

[0004] The energy infrastructure comprises a network for the transmission and distribution of electrical energy, in particular mainly so-called overhead lines. An overhead line is an electrical line whose live conductors are routed outdoors through the air and are usually insulated from each other and from the ground only by the surrounding air. As a rule, the conductors are supported by overhead line poles to which they are attached with insulators. The overhead line pole is an asset or a construction for the suspension of an overhead electrical line, especially distribution pole and / or transmission tower.

[0005] For modern and civilized life, a permanent energy supply through the energy infrastructure is obligatory. Maintenance of the facilities reduces the risk of disruptions in the energy supply and ensures the expected security of supply. Inspections serve to detect problems at an early stage before failures can occur. Therefore, energy infrastructure facilities are usually inspected at regular intervals to identify potential sources of risk. The inspection of the overhead lines is carried out as standard by means of inspections and / or aerial flights in a fixed cycle. Power lines and poles, the suspensions on the poles and the buildings around the power lines are regularly inspected by means of helicopter flights from the air. i From US 4,818,990 is known a monitoring system using a unique remotely piloted drone with dual counter rotating propellers and carrying electric field sensing, thermal infrared imaging, video imaging, acoustic and corona discharge sensing equipment. Tue compact remotely piloted drone flies along a power corridor and is maintained at a fixed distance from an outer phase conductor using on board electric field detection circuitry, video / infrared imagery and an RF / laser altimeter. The counter rotating, twin-turbo driven configuration for the propellers mounted on coaxial vertical shafts provides a highly stable platform, unlike conventional manned helicopters presently used for routine right-of-way patrols. Dual, counterrotating saucer-shaped aux-iliary propellers provide a degree of stability far supe-rior to a conventional helicopter, particularly in gusty winds. On board sensors and video cameras would permit electric utilities an economic approach to right-of-way monitoring, inspection of frayed conductors or deteriorated splices through infra-red sensing, detection of cracked insulators through acoustic / corona sensors, monitoring of critical, thermally limiting spans and other monitoring functions.

[0006] The US 2015 / 0353196 A1 shows airframe with electromagnetic field sensor, adjustable reference electromagnetic field strength, comparator, parachute, parachute trigger, and inspection camera inspecting a transmission line corridor containing towers, phase conductors and shield wires. Reference electromagnetic field strength is adjusted before the flight to set the minimum electromagnetic field strength before parachute trigger deploys parachute. The reference electromagnetic field strength corresponds to a radius, and thus virtual tunnel, outside of which airframe cannot fly without deploying parachute, regardless of the state of the autopilot, GPS signal, or radio link.

[0007] Occasionally, insulator chains that separate the power lines from the assets have to be replaced, as well as the spacers that ensure that there is enough space between the lines. But ageing cross arms and poles also need to be renewed or repaired. Usually, a very rough methodology of manual and ground-based inspection of assets has been applied so far. Here, with the help of stabilized binoculars, inspection and observation must be carried out from at least three directions for poles and visible line parts.

[0008] Relatively new is the possible additional inspection from the air with a helicopter or an unmanned aerial vehicle. Here, in particular the construction of the installations, especially the upper side of the cross arms and the pole head, are to be examined thoroughly and photo documented. During the photo documentation, special attention must be paid to the correct alignment of the camera and the resolution of the photo material for the time-delayed analysis.

[0009] Any defects found should be recorded using several photos taken from different perspectives. Documentation of the pole designation or another conclusive assignment of the defect location is relevant for the assignment. It is often challenging to image a defect in such a way that it can be clearly identified, and its severity assessed.

[0010] Aerial inspection with a helicopter or an unmanned aerial vehicle is usually done manually by pilots. As a result, the images are usually inconsistent in terms of angle and image quality. In addition, the manual acquisition process is dependent on the skills of the pilot and is also relatively slow or time consuming.

[0011] The object of the present invention is to provide a method for inspecting energy infrastructure that repeatedly captures relevant asset components in a timeefficient manner using high-resolution images. The images should be suitable for location-independent and time-independent evaluation. In addition, it should be possible to automate the inspection. According to the invention, this task is ensured by a method for inspecting energy infrastructure according to the main claim and a system according to the subordinate main claim. Preferred variants can be found in the subclaims, the description, the embodiments and the drawings.

[0012] According to the invention, each inspection path is predefined, each inspection path is precise, each inspection path is repeatable across time and / or location.

[0013] For example, the term energy infrastructure includes distribution poles, transmission towers and conductors. In addition, the term energy infrastructure can also include all so-called renewable energies, such as solar fields, wind turbines and solar towers. The invention is described below using distribution poles as an example, but can be read to apply to all energy infrastructure.

[0014] For example the positions in the first inspection path relative to each other compared to the positions in the other inspections path relative to each other are within a tolerance area, where the deviations in x- or y- or z-direction are less than 500 cm, preferably less than 100 cm, in particular less than 20 cm in the spatial alignement.

[0015] A mission comprises at least one inspection path for inspecting an asset of the energy infrastructure, especially distribution poles, during which images of the asset are captured.

[0016] For example, a mission may also comprise two inspection paths or a plurality of inspection paths of assets of the same type or assets of different types.

[0017] Preferably, an inspection path comprises at least one position at a short spatial distance from an asset where the drone stops its flight movement to capture an image. For example, an inspection path comprises all positions for inspecting an asset from which images are generated to assess the condition of the asset.

[0018] In a preferred embodiment of the invention, the inspection path comprises at least one position above the asset from which at least one image of the asset is generated from a bird's eye view, where the camera and the gimbal pointed directly down.

[0019] A drone is an unmanned aerial vehicle that can be operated and navigated autonomously by a computer or from the ground via remote control without a crew on board.

[0020] For example, remote control of the drone is realized by means of applicationbased control in the form of a controller. This controller can thus be supplemented with further applications via a download.

[0021] Ideally, the controller is android-based.

[0022] The drone also comprises a high-resolution camera and / or many sensors that can be oriented in all dimensions, especially with the help of a gimbal. A gimbal is a motorized gimbal suspension designed to make the movements of an optical device, usually a camera, less jerky and more fluid.

[0023] For example, the drone has a variety of sensors, such as rate of turn sensors, acceleration sensors, a compass, and an air pressure sensor, as well as a GPS sensor.

[0024] In addition, the drone may have collision protection based on obstacle detection.

[0025] For example, the images captured by the high-resolution camera have at least a resolution of 5472 x 3648 pixels and are preferably stored in JPEG format with at most minimal compression and at best uncompressed. In addition, the metadata of each image preferably includes the GPS coordinates, gimbal tilt, rotation and pan of the camera, date and time of capture.

[0026] In addition, the camera is also suitable for creating thermal imagery. The imagery have a resolution of at least 640 x 640 pixels.

[0027] Ideally, the existing energy infrastructure assets, especially the distribution poles, are already known in terms of their location, type and dimensions. The operators of such energy infrastructure usually already have high-resolution, three- dimensional maps that have been created using lidar measurements, for example.

[0028] Alternatively, the data for creating detailed maps of the distribution poles can also be collected by drone or helicopter flight using lidar technology and then made available.

[0029] An energy infrastructure operator preferably defines areas of assets to be inspected for preventive maintenance. Based on the high-resolution, three- dimensional maps and the defined inspection areas, for example, the platform generates a mission using a Smart Mission Planner, as a part of the platform.

[0030] The platform is a space that is accessible from all operator platforms of the energy infrastructure as well as from all controllers for drone control or from all drone parts via at least one application-independent interface as well as via at least one connection interface. The accessibility can be realized via all currently known forms of data transmission.

[0031] For example, the platform is a location or a space in a cloud with which a connection can be created from all locations worldwide. The Smart Mission Planner is a part of the platform that can create a 3D model of an inspection path or mission from the input data. For example, the Smart Mission Planner works with GPS-based data.

[0032] At the same time, the platform's Smart Mission Planner creates the necessary digital data that must be submitted to infrastructure authorities for approval for inspections of the energy infrastructure. The platform transmits the approval data directly to the approval authority, for example, and implements the approval data in the mission when approval is granted.

[0033] To carry out the inspection of the distribution poles, the mission is transferred, for example, to a drone pilot preferably of an inspection company and transferred to an application-based controller to control the drone.

[0034] In an advantageous embodiment of the invention, the mission is loaded from the controller to the drone so that the drone can fly the mission with the inspection paths in auto-flight mode.

[0035] For example, the drone is controlled directly via the controller. In this case, high- quality drones with controllers whose control system is trained on the basis of Android have proved particularly useful.

[0036] In an alternative variant of the invention, if the data connection is sufficiently stable, for example on any known mobile phone basis, the drone can also be controlled directly via the connection interface of the platform in real time.

[0037] In geodesy, real-time kinematics is a method for the precise determination of position coordinates using satellite navigation methods, which is used by the method according to the invention using the drone. On site at the energy infrastructure assets, the drone pilot initiates the drone flight after local conditions such as weather are deemed suitable for drone flight. To start the mission, the drone takes up any point and holds the position for alignment with the GPS data of the mission.

[0038] This point for matching the GPS data can be, for example, directly after take-off just above the ground or, for example, above the first asset, at a distance of 2 - 3 m above the asset.

[0039] After matching the GPS data, the drone automatically flies along at least one inspection path of the mission. In doing so, it stops the flight at each position defined in the inspection path, points the camera at the respective component of the asset and takes at least one high-resolution image.

[0040] For example, the mission may also comprise several inspection paths, whereby the drone pilot may manually execute the flight between the inspection paths. The drone moves from a first position to the next position along a geometric straight line on the shortest connection.

[0041] Within an inspection path or within a connection path the drone preferably moves from a first position to the next position along a geometric straight line on the shortest connection.

[0042] In an advantageous embodiment of the invention, the drone flies at least one connecting path between the inspection paths as part of the mission in an automated manner.

[0043] For example, an entire area of energy infrastructure assets can be inspected in an automated manner by means of drone flight. In doing so, the automated flying drone processes the inspection paths and connection paths in sequence one after the other. Such a fully automated drone flight is only limited by the energy supply for the flight and / or by the capacity for image acquisition. In this embodiment, the task of the drone pilot is limited only to starting the mission and receiving the drone at the end of the mission.

[0044] Advantageously, the captured images of the facilities or components of the energy infrastructure assets have at least a resolution of 5472 x 3648 pixels. Thus, the resolution corresponds to 5K, for example.

[0045] In a favourable variant of the invention, the images are stored uncompressed in JPEG format.

[0046] In addition, the metadata of each image contains, for example, among other things, the GPS coordinates, the gimbal tilt, the rotation and the pan of the camera, the date as well as the time of the recording.

[0047] In the simplest version of the invention, the drone creates an image above an asset of energy infrastructure, for example in the nadir. In the case of a power distribution pole and or transmission towers, the image includes the top of the pole, the cross arms, the hangers, the insulators and the power lines.

[0048] In an advantageous embodiment of the invention, at least one image is taken of each installation in each of five positions. This involves taking detailed imagery of, for example, each power line suspension, each cross arm and also the foundation of the pole and the pole itself. Ideally, each collection of images of assets is supplemented with a image taken from above looking down on the nadir of the asset.

[0049] Additionally or alternatively, the power lines between the distribution poles can also be inspected by means of imagery and / or video analysis. The method according to the invention for inspecting distribution poles with an automated use of at least one drone offers an unprecedented quality and repeatability of imagery generated, which can be used for condition-based maintenance of the installations.

[0050] This repeatability of quality and recording perspective is achieved, for example, in the case of assets of identical construction, in that the identical inspection path and the identical camera settings can be realized by the method.

[0051] In addition, when an inspection path of the same asset is repeated at a different time, the excellent method according to the invention makes it possible to achieve ideal repeatability of the quality and perspective of the imagery.

[0052] In the case of a repetition of an inspection flight on a structurally identical installation of assets at a later point in time in the form of a previously already defined inspection path, the positions of the inspection paths relative to each other lie within a tolerance area, whereby the deviations in the x or y or z direction are less than 500 cm, preferably less than 100 cm, in particular less than 20 cm in the spatial orientation.

[0053] The deviations of the positions in a temporal repetition of the inspection path to the positions exactly corresponding to the positions of the first inspection path are less than 500 cm, preferably less than 50 cm, in particular less than 10 cm, in the x- or y- or z-direction.

[0054] The deviations of the positions in a temporally and / or spatially staggered repetition of an inspection path, which correspond exactly to the positions of a first inspection path, are less than 500 cm in x- or y- or z-direction, preferably less than 100 cm, in particular less than 10 cm. When repeating an entire mission comprising a sequence of at least two inspection paths and, if applicable, at least one link path, the positions of each inspection path are within a tolerance range compared to the positions of a previous inspection path relative to each other, the deviations being less than 500 cm in x- or y- or z-direction, preferably less than 100 cm, in particular less than 20 cm in spatial orientation.

[0055] The deviations of the positions in a temporally and / or spatially offset repetition of an inspection path in each case in a mission are less than 5 cm, preferably less than 2 cm, in particular less than 1 cm, in the x- or y- or z-direction.

[0056] In a preferred variant of the invention, the relative distance and direction from a previous position is used as the basis for moving a drone to a next position within an inspection path and / or within a mission.

[0057] In this respect, the inspection path and / or the connection path is defined relative to the start position. The start position is determined by a comparison with the exact GPS position. For further movement and stopping at positions of the drone, the calculations of relative distance and direction are decisive.

[0058] The coordinates of the inspection path are thus recalculated based on a base point established at the beginning of a mission. The altitude, heading, latitude and longitude of this base point are recorded by the drone's sensors. For the next position, the altitude is added or subtracted from the base altitude and the new longitude and latitude are calculated as the distance to the base point.

[0059] The coordinates of the first position of the mission are preferably assigned to the coordinates of the base point.

[0060] For example, vectors are determined as the basis of the flight movement of the drone starting from the starting position. In another variant of the invention, vectors are determined as the basis of the flight movement of the drone starting from each position and thus each other position can be reached with a vector.

[0061] Ideally, the speed of the drone correlates with the vector determination of the platform.

[0062] In an alternative variant of the invention, the mission is based on absolute GPS positions and the linkage of these GPS positions.

[0063] In the alternative embodiment of the invention, the absolute GPS positions are used in combination with altitude to define the image capture positions and the flight motion of the drone. In this way, the image capture position or the current as well as the variable flight position is not based on the position of the drone relative to the previous position.

[0064] This defines the individual position for generating imagery of the energy infrastructure assets, especially of the distribution poles, as well as the angle and camera orientation in correlation to absolute GPS data. The positions based on GPS data are linked to vectors.

[0065] An inspection of multiple assets as part of a mission involves a number of inspection paths based on GPS coordinates to identify the location of each asset and the associated imagery capture positions.

[0066] Regardless of the execution of the automated mission, the mission of the drone inspection flight is initiated by taking any position for matching and locating with the GPS data of the mission. In a particularly advantageous variant of the invention, the drone stops its flight movement for taking at least one imagery, the camera being directed towards a component of the asset during the stationary flight position.

[0067] For example, at least one imagery is taken per position. Depending on the inspection requirements, two or more imagery can also be taken from the same orientation and / or slightly different orientation.

[0068] Ideally, the GPS coordinates are stored with the image data for each imagery and additionally linked to the imagery configuration in a flight log.

[0069] In a favourable variant of the invention, the transmission of at least one imagery as well as the data is carried out via the controller of the drone to the platform.

[0070] In an alternative variant of the invention the drone is directly controlled via the platform, the imagery are also transmitted directly to the platform in real time.

[0071] In an alternative variant of the invention, the data can also be received directly from the drone via the connection interface of the platform.

[0072] Preferably, the platform generates a 3D model of a mission for a drone flight based on GPS data obtained from previously collected accurate position data of at least one asset and depending on the definition of an inspection corridor.

[0073] In a convenient embodiment of the invention, the platform sends the data of the predefined automated inspection path or mission to the controller for controlling the drone, wherein the controller loads the data into the drone.

[0074] Ideally, the platform includes at least one application programming interface for communicating with the drone, with the monitoring center as well as with the platforms of the energy infrastructure operators and, if applicable, other defined interaction partners.

[0075] Preferably, the platform also generates mission information from at least one inspection path for the release of the system inspection at the responsible monitoring center.

[0076] At the same time, the platform takes over the transmission of the flight log data to the corresponding monitoring position of the distribution pole by means of a connection interface.

[0077] According to the invention, the distribution pole inspection system comprises at least one drone with a high-resolution camera that can be aligned, a controller with application-based control, and a platform adapted to automatically fly the drone along at least one inspection path of a mission predefined by the platform and to capture at least one imagery of a component of an asset.

[0078] According to the invention the drone is adapted to follow an automated mission comprising a first inspection path and at least one other inspection path, each inspection path having a starting position of the drone and at least one other position of the drone for capturing at least one image of at least one asset with the high-resolution camera, each inspection path is predefined, each inspection path is precise, each inspection path is repeatable across time and / or location.

[0079] For example, the platform includes a processor that, in a machine learning phase, identifies a prediction model for the probability of failure and thus the ideal time for maintenance of components of the asset that require maintenance. This capability of the platform is also referred to as artificial intelligence.

[0080] The platform's Al examines the imagery captured by the drone and generates a damage analysis and a recommendation for action. The imagery and the analyses are made available to the operator of energy infrastructure assets via an application-independent interface.

[0081] Ideally, the drone's high-resolution camera generates imagery that can be analyzed by the Al or prediction model. Here, the prediction model has the ability to identify components in need of inspection via pattern analysis and pattern recognition.

[0082] In an alternative embodiment of the invention, the mission of the drone flight is automated through the use of Al via at least one application-independent interface. This allows the drone to be directly controlled in real time via the platform.

[0083] Such accuracy in drone flight and image generation is previously unknown and is not achievable by a pilot in manual operation. The advantageous accuracy can only be achieved specifically by an automated flight program.

[0084] The repeatability of imagery according to the invention, which depict components of energy infrastructure assets, especially distribution poles, and were generated at different times and / or are generated by identical assets at different locations, is particularly advantageous and particularly favourable with regard to conditionbased maintenance.

[0085] Typically, the duration of a typical manual drone inspection is at least 200 seconds for a simple energy infrastructure asset, provided that the pilot is particularly experienced and very familiar with the acquisition requirements. With the method and system according to the invention, this time span can be reduced to less than 30 seconds for a comparable inspection. In a mission with multiple inspection paths in networking with connecting paths, the inspection times and the general flight times of the drone can be advantageously reduced.

[0086] Further advantages and features of the invention will be apparent from the description of an example embodiment with reference to drawings and from the drawings themselves.

[0087] Thereby shows

[0088] Fig. 1 a schematic illustration of a mission where each inspection path is repeatable across time,

[0089] Fig. 2 a schematic illustration of a mission where each inspection path is repeatable across location,

[0090] Fig. 3 a schematic illustration of the tolerance ranges during a mission,

[0091] Fig. 4 an exemplary inspection in a plan view,

[0092] Fig. 5 a representation of the system and method for the inspection of energy infrastructure installations.

[0093] Fig. 1 shows one exemplary assets 40 of the energy infrastructure in the power pole version as well as a schematic representation of an inspection flight 10, 20 of a drone. The asset 40 has at least one cross arm 41 for fixing a power line to an insulator.

[0094] In Fig. 1 shows a mission where each inspection path is repeatable across time. To start the mission, which comprises an inspection path 10, 20, the drone takes up any point and holds the position for matching with the GPS data of the mission. In the embodiment shown, the starting position 11 , 21 is directly above the asset 40. At this point, an imagery is generated from above with the viewing direction downwards.

[0095] Subsequently, the drone flies to other positions 12, 13, 14, stops the flight, points the camera at a component of the asset 40 and generates at least one imagery.

[0096] The first inspection path 10 comprises the positions 11 , 12, 13, 14. The positions 11 , 12, 13, 14 form a three-dimensional pattern.

[0097] The other inspection path 20 comprises the positions 21 , 22, 23, 24. The positions 21 , 22, 23, 24 form a three-dimensional pattern.

[0098] In a repetition of the inspection flight 10 at a later point in time in the form of the inspection flight 20, wherein the asset 40 is identical, the positions 11 , 12, 13, 14 in the first inspection path 10 are within a tolerance range 61 , 62, 63, 64 relative to each other in comparison to the positions 21 , 22, 23, 24 in the other inspection path 20, wherein the deviations in x- or y- or z-direction are smaller than 20 cm in spatial orientation.

[0099] The deviations of positions 21 , 22, 23, 24 during a repetition of the inspection path 20 in time to positions 11 , 12, 13, 14 of the first inspection flight 10, are less than 10 cm in x- or y- or z-direction.

[0100] This leads to excellently comparable imagery of components of energy infrastructure assets when an inspection is repeated after a distance in time. This repeatability is very advantageous for the evaluation of the image files, regardless of whether the evaluation is carried out by a human and / or an Al. Fig. 2 shows an example of two assets 40, 50 of the energy infrastructure in the execution variant distribution pole as well as a schematic representation of a mission for inspection of the energy infrastructure, in which the distribution poles are carried out locally one after the other on the basis of two inspection paths 10, 20.

[0101] In Fig. 2 shows a mission where each inspection path is repeatable location. The first inspection path 10 comprises the positions 11 , 12, 13, 14. The positions 11 , 12, 13, 14 form a three-dimensional pattern. The other inspection path 20 comprises the positions 21 , 22, 23, 24. The positions 21 , 22, 23, 24 form a three- dimensional pattern.

[0102] The mission comprises the inspection paths 10, 20, which are executed directly one after the other linked via a connection path 2. For take-off, the drone takes up any point and holds the position for comparison with the GPS data of mission. In the embodiment shown, the take-off position 11 is directly above the asset 40. At this point, an imagery is generated from above with the viewing direction downwards.

[0103] After the start position 11 , the drone flies to a other position 12, 13, 14 each, stops the flight, points the camera at a component of the asset 40, in this embodiment variant the component is formed as a crossbeam 41 and generates at least one imagery, for example of the suspension and the insulator of the power line.

[0104] In the context of mission, the drone automatically connects the inspection paths 10, 20 with a connecting path 2. The inspection path 20 starts with position 21 above the asset 50. At position 21 , the drone generates an imagery from above with a downward viewing direction. After position 21 , the drone flies to an other position 22, 23, 24 each, stops the flight, points the camera at a component of the asset 50, in this embodiment the component is formed as a crossbeam 51 and generates at least one imagery, for example of the suspension and the insulator of the power line.

[0105] In the embodiment shown, the assets 40 and 50 are identical in construction and design. In this respect, the inspection path 20 is a repetition of the inspection flight 10 at a later time at a different location. In this case, the positions 11 , 12, 13, 14 in the first inspection path 10 lie relative to each other within a tolerance range 61 , 62, 63, 64 in comparison to the positions 21 , 22, 23, 24 in the other inspection path 20, whereby the deviations in the x or y or z direction are smaller than 20 cm in the spatial orientation.

[0106] In a mission with multiple inspection paths 10, 20, this leads to outstandingly comparable imagery of components of identical distribution poles. This repeatability is very advantageous for the manual as well as automated evaluation of the imagery files.

[0107] Fig. 3 shows exemplarily two assets 40 and 50 of the energy infrastructure in the execution variant distribution pole as well as a schematic representation of two missions. In each mission, the inspection of the distribution pole will be carried out in succession, both in terms of location and time. The later Mission represents the repetition of the first mission at a later point in time and shows the precise repeatability of the inspection of the assets 40, 50 of the energy infrastructure with a time offset.

[0108] The mission comprises inspection paths 10, 20, which are executed in direct succession linked via a connection path 2. For take-off, the drone takes up any position and holds the position for comparison with the GPS data of mission 1 . In the embodiment shown, the take-off position 11 is directly above the asset 40. The execution of the mission corresponds to the embodiment shown in Fig. 2. When the mission is repeated as a later mission, the positions 91 , 92, 93, 94 in the first inspection path 10 are within a tolerance range 81 , 82, 83, 84 relative to the positions 11 , 12, 13, 14 of the first inspection path 10 of the first mission relative to each other, the deviations in the x or y or z direction being less than 10 cm in spatial orientation.

[0109] The deviations of the positions 21 , 22, 23, 24, in a temporally as well as spatially offset repetition of the inspection path 10 as inspection path 20 in each case in the missions, amount to less than 20 cm in the x or y or z direction.

[0110] In case of repetitions of a mission with several inspection paths 10, 20, this leads to excellently comparable imagery of components of structurally identical assets of the energy infrastructure, especially also at different points in time. This repeatability is very advantageous for the evaluation of the imagery files for condition-oriented maintenance of energy infrastructure systems, especially distribution poles.

[0111] Fig. 4 shows an exemplary inspection with an inspection path 10 of a mission of an asset 40 as part of the energy infrastructure in a plan view. The asset 40 is designed as a distribution pole which performs the task of suspending several power lines 5.

[0112] To start the mission with the inspection path 10, the drone 4 takes any position and holds the position for matching with the GPS data of the mission. In the embodiment shown, the start position 11 is directly above the asset 40. Then, at the position 11 , an imagery of the asset 40 is generated from above with the viewing direction downwards.

[0113] The drone 4 then flies along the inspection path 10 to an other position 12, 13, 14 and 15 position along a geometric straight line on the shortest connection. At positions 12, 13, 14 and 15, the drone 4 stops the flight, points the camera at at least one component of the asset 40 and generates three imagery with different camera orientations on the asset 40. The inspection path 10 is terminated by taking the start position 11 .

[0114] Fig. 5 shows a representation of the system and the method for inspecting assets 40, 50 of the energy infrastructure 6. The existing assets 40, 50 of the energy infrastructure 6 are usually known with regard to their location, type and dimensions. Often, high-resolution, three-dimensional maps, which have been captured with a lidar measurement, for example, are already known. Alternatively, this data 111 can also be generated by drone flight using lidar technology.

[0115] An operator of the energy infrastructure 6 preferably determines areas of assets 40, 50 to be inspected for preventive maintenance. Based on the high-resolution, three-dimensional maps and the defined inspection areas provided by the platform 7 of the energy infrastructure 6 operator, the platform 8 as part of the system generates a mission using the Smart Mission Planner 9.

[0116] At the same time, the Smart Mission Planner 9 of the platform 8 generates the necessary digital data to be submitted to infrastructure authorities for inspections of the energy infrastructure 6 for approval. For example, the platform 8 transmits the approval data 101 directly to the approval authority 100 and, if approval is granted, implements the approval data 101 in the mission 1.

[0117] To perform the inspection of the energy infrastructure 6, the mission is for example handed over to a drone pilot preferably of an inspection company 103 and transferred to an application-based controller 102. In an advantageous variant of the invention, the controller 102 is based on an Android operating system. In the illustrated embodiment, the mission is loaded 104 onto the drone 4 by the controller 103. On site, the drone pilot starts the drone flight after the local conditions, such as weather, are deemed suitable for drone flight. To start the mission, the drone takes up any point and holds the position for matching with the GPS data of the mission. This point can be, for example, just above the ground immediately after take-off or, for example, above the first asset 40, at a distance of 2 - 3 m above the asset 40.

[0118] After matching the GPS data, the drone 4 automatically flies along the inspection paths 10, 20 of the mission. In doing so, it stops the flight at each position 11 , 12, 13, 14, 15 defined in the inspection path 10, 20, points the camera at the respective component of the system 40, 50 and takes at least one high-resolution imagery.

[0119] In the embodiment shown, the captured imagery has at least a resolution of 5472 x 3648 pixels (corresponding to 5K with an aspect ratio of 3:2 in landscape mode) and are stored in JPEG format with at most minimal, and at best uncompressed, compression. In addition, the metadata of each imagery includes, but is not limited to, GPS coordinates, gimbal tilt, camera rotation and pan, date, and time of capture.

[0120] In the illustrated embodiment of the invention, three imagery of each asset 40, 50 are taken of each power line suspension, of each truss, of the foundation of the pole and of the pole itself, supplemented with an imagery taken from above looking down on the asset.

[0121] In the embodiment shown, the transmission 105 of the imagery and data to the platform 8 is carried out via the controller 103 after the data and imagery have been transmitted 106 from the drone 4 to the controller 103. In an alternative variant of the invention, the data can also be received directly from the drone 4 via the connection interface 107 of the platform 8. At the same time, the platform 8 takes over the transmission 108 of the flight log data to the corresponding monitoring point 100 of the energy infrastructure 6 by means of the connection interface 107. In the embodiment shown, the platform 8 has a processor with machine-learning elements for executing a prediction model for the failure of systems or components of assets 40, 50 of the energy infrastructure 6. At the same time, the prediction model provides a suggestion for condition-based maintenance of system components. This capability of the platform 8 is also referred to as artificial intelligence.

[0122] The Al of the platform 8 examines the imagery captured by the drone 4 and generates a damage analysis and a recommendation for action. The imagery and the analyses 110 are provided to the platform 7 to the operator of assets 40, 50 of the energy infrastructure 6 via an application-independent interface 109.

Claims

Claims1. A method for energy infrastructure (6) inspections with an automated mission of at least one drone (4), comprising a first inspection path (10) and at least one other inspection path (20), each inspection path (10, 20) having a starting position (11 , 21 ) of the drone and at least one other position (12, 13, 14), (22, 23, 24) of the drone (4) for capturing at least one image of at least one asset (40, 50) with a high- resolution camera, characterized in that each inspection path (10, 20) is predefined, each inspection path (10, 20) is precise, each inspection path (10, 20) is repeatable across time and / or location.

2. Method according to claim 1 , characterized in that, the positions (11 , 12, 13, 14) in the first inspection path (10) relative to each other compared to the positions (21 , 22, 23, 24) in the other inspection path (20) relative to each other are within a tolerance area (61 , 62, 63, 64) (81 , 82, 83, 84), where the deviations in direction of x or y or z are less than 500 cm, preferably less than 100 cm, in particular less than 20 cm in spatial alignment.

3. Method according to claim 1 or 2, characterized in that the drone moves from a first position to the next position along a geometric straight line on the shortest connection.

4. Method according to at least one of the preceding claims, characterized in that in each position the drone (4) stops and the high-resolution camera is precisely aligned to a component of the asset (40, 50) to capture at least one image having at least a resolution of 5472 x 3648 pixels.

5. Method according to at least one of the preceding claims, characterized in that the relative distance and direction from a previous position is the basis for moving the drone (4) to the next position.

6. Method according to at least one of the preceding claims, characterized in that the mission based on absolute GPS positions, where the location of each asset (40, 50) and / or each position is identified by GPS data.

7. Method according to at least one of the preceding claims, characterized in that a platform (8) generates a 3D model of the mission for a drone (4) flight bases on GPS data obtained from a previously collected accurate positional data (111 ) of the asset (40, 50) and the definition of an inspection corridor.

8. A system for distribution pole (6) inspection comprising:- a drone (4) with high resolution camera, that can be aligned- an application-based controller (103) - a platform (8), characterized in that, the drone (4) is adapted to follow an automated mission comprising a first inspection path (10) and at least one other inspection path (20), each inspection path (10, 20) having a starting position (11 , 21 ) of the drone and at least one other position (12, 13, 14), (22, 23, 24) of the drone (4) for capturing at least one image of at least one asset (40, 50) with the high- resolution camera, each inspection path (10, 20) is predefined, each inspection path (10, 20) is precise, each inspection path (10, 20) is repeatable across time and / or location.

9. System according to claim 8, characterized in that the platform (8) comprises a at least one application programming interface (107, 109).

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