Unmanned aircraft system, method for identifying and registering assets and monitoring and inspecting power transmission and distribution lines

Abstract

The invention relates to an unmanned aircraft system (UAS) comprising a robotic platform, an automatic charging subsystem, an intelligent integrated management subsystem, an on-board intelligence module and command and control stations. In addition, the invention also defines a method for identifying and registering assets and monitoring and inspecting power transmission and distribution lines which comprises the steps of automatically identifying and differentiating assets remotely and using the information collected to generate real-time situational analysis reports and asset loss prospecting and maintenance reports. This makes the processes, database and management of maintenance resources more effective.

Description

DESCRIPTIVE REPORT Patent Application for "UNMANNED AERIAL VEHICLE SYSTEM, METHOD FOR IDENTIFICATION AND REGISTRATION OF ASSETS, MONITORING AND INSPECTION OF POWER TRANSMISSION AND DISTRIBUTION LINES" FIELD OF THE INVENTION

[0001] The invention is multidisciplinary in nature, involving the fields of Aeronautical Engineering, Computer Science, Electrical Engineering, and Electronics, in the development of tools for the inspection of power transmission and distribution lines, more specifically an Unmanned Aerial Vehicle (UAV) system for asset registration, maintenance, and network inspection, featuring an automatic recharging system and an Intelligent Integrated Management System. STATE OF THE ART

[0002] Currently in the area of ​​high and low voltage distribution, images are collected for analysis by the operator, so that, at a later stage, defects can be analyzed via software. Unmanned Aerial Vehicles (UAVs) are mainly used for collecting images over long distances.

[0003] Furthermore, there are also projects for conducting visual inspections on distribution lines. However, in these studies, the robots are fixed to the line and / or do not allow for the collection of 3D images, or even a geolocation system being processed in real time, which in a way increases the accuracy of the images and the quality of the information obtained.

[0004] The self-loading UAV developed performs flights close to distribution and transmission networks, collecting images. Georeferenced images in the visible and / or multispectral spectrum, such as thermal images with radiometry. The collection of these images allows for 3D mapping of the asset, analyzing it, identifying it, registering it sequentially, and simultaneously identifying potential defects.

[0005] 3D analysis, automatic real-time asset registration, and vegetation growth mapping, combined with an Intelligent Integrated Management System, is an innovative approach not yet implemented in R&D projects in Brazil.

[0006] In summary, the system and method developed work with algorithms for automatic analysis and identification of defects and inconsistencies, diagnosis, and application of artificial intelligence for asset registration using 3D mapping, vegetation growth mapping, and self-loading of the UAV using distribution and transmission lines.

[0007] Patent application PI 0904898-7, held by the same applicant as the present application, discloses a Multipurpose Aerial Monitoring Platform that allows the controller to remotely control an aircraft or other robotic devices through a command and control station.

[0008] The multi-purpose aerial monitoring platform has diverse applications in military and civilian areas, such as aerial monitoring of high-voltage transmission lines, roads, gas pipelines, urban areas, topographic surveys, various mapping tasks, including environmental and risk area mapping, and also as a development platform for robotic, aeronautical and similar systems where a mobile and versatile aerial platform is needed, which may or may not allow its integration with other technological systems.

[0009] However, it should be noted that the aforementioned prior art document does not reveal or suggest a self-loading system, with 3D mapping, vegetation growth mapping, and corona effect analysis.

[0010] Document BR 10 2015 032214 3 refers to an image generation system, with globally georeferenced registration, obtained from a small UAV. The use of such a system allows the use of small aircraft for mapping and monitoring areas of the Earth's surface.

[0011] The invention described in document BR 10 2015 032214 3 comprises the development and construction of a prototype aircraft specifically designed to contain components related to mapping and monitoring applications, as well as an image processing system dedicated to the global georeferenced registration of images obtained from the aircraft, without the use of a stabilization and balance device, and with the storage of the generated and post-processed images at the control station, using the image mosaic reconstruction technique and subsequent conversion into a georeferenced mosaic.

[0012] Document BR 10 2015 032214 3 does not disclose a self-loading UAV (Unmanned Aerial Vehicle) system that performs remote automatic asset registration and uses the collected information to generate asset loss reports as well as reports for asset maintenance.

[0013] Document CN114604110A discloses a system and method for wireless charging control of an unmanned aerial vehicle; and the system comprises an unmanned aerial vehicle comprising an unmanned aerial vehicle coil; the charging platform comprises a parking pad, a plurality of power transmission coils and a plurality of induction sensing coils.

[0014] An induction sensing coil coincides with a power transmission coil, and each induction sensing coil is connected. to a voltage detector; after the unmanned aerial vehicle lands on the parking apron, the unmanned aerial vehicle's coil is coupled to all the induction detection coils, energy is wirelessly transmitted to all the induction detection coils, and then the position of the unmanned aerial vehicle is determined according to the voltage value of each induction detection coil.

[0015] The power transmission coil corresponding to the induction detection coil with the maximum voltage detection value wirelessly transmits power to the unmanned aerial vehicle's coil in order to charge the unmanned aerial vehicle; the position of the unmanned aerial vehicle does not need to be moved by adopting a centering mechanism.

[0016] Wireless power transmission is achieved for the unmanned aerial vehicle by detecting a power transmission coil located in a parking area. This coil has the highest degree of coupling with the unmanned aerial vehicle's coil, thus improving charging efficiency. When the induction detection coil is in operation, only a small current is required, saving electrical energy.

[0017] Document CN114604110A also does not disclose a self-loading UAV (Unmanned Aerial Vehicle) system that performs remote automatic asset registration and uses the collected information to generate asset loss reports as well as reports for asset maintenance.

[0018] The self-loading UAV (Unmanned Aerial Vehicle) system developed has two main purposes: monitoring for the automated surveying and registration of assets, such as transformers, insulators, cables, poles, public lighting, and... other assets and their respective inspections on distribution and transmission lines.

[0019] Additionally, through an Integrated Intelligent Management System (SIGI), the UAV will use the collected information to generate reports based on the real-time situational analysis found by the robotic platform during mapping. These reports may reference asset losses as well as maintenance reports. To enable the UAV to fulfill both listed purposes, a self-loading system will increase efficiency, allowing for greater operational autonomy compared to systems currently available on the market.

[0020] Thus, the proposed development reduces costs in the asset registration process. The innovations proposed in this patent application are directly related to the UAV's self-loading system, the vegetative control of easement areas and similar areas, and the automatic registration of assets.

[0021] Furthermore, in order to register assets, Computer Vision and Artificial Intelligence algorithms (also related to Big Data) are applied to process, analyze, and report what the data is.

[0022] The proposed development considers low-voltage power distribution systems and high-voltage transmission lines. DESIGNS

[0023] Figure 1 shows the basic diagram of the Integrated Intelligent Management System (SIGI) software, with the interfaces and relationships between the devices.

[0024] Figure 2 illustrates the schematic diagram of the developed system, where it is possible to observe the receiving and transmitting coils of the circuit.

[0025] Figure 3 shows the BRV-03 robotic platform, indicating the data connections, anti-collision system, front camera, and GPS.

[0026] Figure 4 shows the Mobile Command and Control Station, developed on a vehicle platform and fully customized for this operation.

[0027] Figure 5 shows the Portable Command Station, developed on a portable platform, being installed at the location of interest to provide local infrastructure for operation. DETAILED DESCRIPTION OF THE INVENTION

[0028] The invention describes a Multipurpose Aerial Monitoring Platform (UAV) for asset registration and inspection of power transmission and distribution lines, with an automatic recharging system and an intelligent integrated management system.

[0029] The Automated Power Line Inspection tool aims to solve the problem of maintenance inspection and management of power line infrastructure and related assets, where UAVs and related tools, such as SIGI management software, Artificial Intelligence procedures, and Computer Vision, assist predictive maintenance procedures, increasing the robustness of the power grid.

[0030] The development of this tool addresses the problem of maintenance, inspection, and management of power line assets automatically, using robotic platforms to fly over selected areas and perform data acquisition and processing.

[0031] Furthermore, it is worth highlighting that the systems are monitored by dedicated software running within the Command and Control Station (CCS), to increase the effectiveness of this technology.

[0032] The entire process is monitored and controlled by customizable software called the Integrated Intelligent Management System (SIGI), an integrated enterprise management system (ERP). The SIGI software can manage data, connect sensors (IoT), and analyze results according to authority requests.

[0033] Based on data collected from areas of interest, the SIGI software displays a real-time situational analysis of these areas, allowing the administrator to optimize resources (material and human), improving the efficiency of resource allocation in these areas.

[0034] In addition to the development of management software, the invention relates to the development of sensors to collect information in the field and update this information in the management software's database.

[0035] Furthermore, the invention relates to the development of a wireless robotic platform charging station, such as a drone, navigation and control methodology using Artificial Intelligence and Computer Vision based on COTS (Commercial-Of-The-Shelf) type equipment and management software.

[0036] The developed system incorporates technologies that refine the self-charging process, making it intelligent and enabling the use of various battery types on different robotic platforms.

[0037] These technologies involve an intelligent and adaptive microprocessor circuit that identifies the type of robotic platform, automatically configures the autocharger, and provides internet connectivity. It allows the user to remotely control and monitor the recharging of the robotic platform.

[0038] The robotic platform developed has a modular architecture, based on COTS (Commercial-of-the-Shelf) equipment, meaning off-the-shelf equipment, where Corona sensors can be added without altering the system characteristics of the equipment.

[0039] Furthermore, the system also has embedded intelligence, through the use of Artificial Intelligence, for the recognition and identification of assets, in a parameterized and regionalized manner. Additionally, the methods used perform post-processing of the data to obtain greater accuracy and improve the intended results.

[0040] The multi-purpose monitoring platform developed is an Unmanned Aerial Vehicle (UAV) system. Specifically, it is important to note that the Unmanned Aerial Vehicle (UAV) system comprises, as its main elements, a robotic platform, an automatic loading system, an intelligent integrated management subsystem, an embedded intelligence module, and a Command and Control Station.

[0041] The robotic platform has a modular design and uses a COTS (Commercial-off-the-Shelf) concept for simple maintenance and component replacement. The structure is made of composite materials, making it strong and lightweight. The robotic platforms are capable of performing small internal data processing tasks, such as image acquisition, georeferencing and object identification, scanning / mapping areas, remap redirection, and other machine learning functions. In other words, the robotic platform is interchangeable with various applications and performs operational redirection according to demand.

[0042] The robotic platform comprises a geolocation system, which can be of the GPS - RTK / PPK type, 4x RGB camera, optronic sensors (such as RGB, thermal, Corona), thermal camera, NIR camera, anti-collision system, laser scanning system, embedded computer (intelligent robotic platform), 4G LTE communication (BVLOS), where the sensors can be customized according to the application and new market demands.

[0043] The automatic charging system works by transmitting electrical energy from one point to another through a vacuum or the atmosphere without the use of electrical wires or any other contact material.

[0044] Wireless power transmission (WPT) is the process that occurs in any system where electromagnetic (EM) energy is transmitted from a power source to an electrical load without artificial interconnecting conductors.

[0045] Robotic platforms can be equipped with various devices that use electricity, such as sensors, high-resolution and infrared cameras, tracking systems, and global positioning systems. They can be used as equipment for monitoring agricultural fields, railway lines, and power transmission lines.

[0046] In the developed system, the battery can be charged at the robotic platform's base station via a self-inductance system. Furthermore, a circuit model using a low-frequency core induction coil is implemented to power batteries wirelessly, aiming to supply energy to the robotic platform's battery.

[0047] The intelligent integrated management subsystem (SIGI) is responsible for the entire process of monitoring the inspection and management of power line asset infrastructure. SIGI can manage... From the data, the connection between the sensors (IoT) and the analysis of the results according to the authority's requests. Furthermore, it is noteworthy that the intelligent integrated management subsystem comprises a multi-user and multi-system Interface Module.

[0048] Based on data collected from areas of interest, the SIGI (Integrated Management System) displays a real-time situational analysis of these areas, allowing the administrator to optimize resources (material and human), improving the efficiency of resource allocation in these areas. In addition to the development of management software, plans include the development of sensors to collect information in the field and update this information in the management software's database.

[0049] As seen in Figure 1, the basic SIGI diagram relates to interfaces and devices, and also includes:

[0050] SIGI Main Module: This software is designed like an ERP system, with a modular concept that allows for customization of functionalities according to the application. The main block of this module contains the core ERP software, with web access, database, connectivity with Drone software, and APP software.

[0051] Interface Module: Enables connectivity between SIGI and field Command and Control Centers (C2), such as Camera Monitoring Rooms, ground crew connectivity, and communication with any type of infrastructure, whether local or remote, with internet access.

[0052] Field Module: Represents the devices that will be used in the field, collecting information generated by sensors (IoT), robotic platforms, customized according to the mission profile.

[0053] Operational results: The diagram shown in Figure 1 represents the results of the application, in terms of reports and models. Predictive analytics and big data are used to assist managers in decision-making. In this case, operational results will be obtained through system customizations, according to the definition of the object to be managed.

[0054] Robotic platform: In this example, a quadcopter (which can vary according to operational demand, from aerial to surface or terrestrial platforms), shown in Figure 3, acquires images and executes artificial intelligence procedures on the inspected areas.

[0055] Furthermore, the UAV System includes an embedded intelligence module, which is developed through the use of Artificial Intelligence and Computer Vision, for the recognition and identification of assets, in a parameterized and regionalized manner.

[0056] Furthermore, Command and Control Stations stand out, such as the Mobile Command and Control Vehicle, in Figure 4, and the DroneBox, in Figure 5. The Mobile Command and Control Vehicle involves the development of computational devices mounted on a mobile platform, capable of constantly monitoring the operation of the robotic platform, collecting data in the field, and interfacing with the Integrated Command and Control Center through data links, such as the internet. The same resource applies to the DroneBox, but its main characteristic is that the DroneBox is used in a fixed and punctual manner.

[0057] The Command and Control Station (CCS) monitors the Unmanned Aerial System in real time, from takeoff to landing.

[0058] Furthermore, the proposed invention also defines a method for remote automatic registration of assets, such as transformers, insulators, cables and other assets, and inspections of distribution lines, poles (for shared use) and public lighting. Additionally, the method allows, through an Intelligent Integrated Management System (SIGI), the use of the information. collected to generate asset loss reports as well as reports for the maintenance of these assets.

[0059] Thus, it is clarified that the developed method performs data acquisition in the field, embedded processing (Embedded Intelligence), and, in a complementary way, performs post-processing of the data in the integrated management system (SIGI), where there is an interface with the data from the Distributor's Geographic Database (BDGD) and, in a comparative way, performs data analysis, generating specific maintenance reports, asset losses, and illustrates the efficiency of the tool through statistical data.

Claims

CLAIMS 1. Unmanned Aerial Vehicle (UAV) System characterized by comprising a robotic platform, an automatic charging system, an intelligent integrated management subsystem, an onboard intelligence module and Command and Control Stations.

2. Unmanned Aerial Vehicle (UAV) system, according to claim 1, characterized in that it can be used with different types of batteries on different robotic platforms.

3. Unmanned Aerial Vehicle (UAV) System, according to claim 1, characterized by the fact that the robotic platform comprises a geopositioning system, cameras, optronic sensors (such as RGB, thermal, Corona), anti-collision system, laser scanning system, on-board computer and digital data communication links.

4. Unmanned Aerial Vehicle (UAV) system, according to claim 1, characterized in that the robotic platform is interchangeable with various applications and performs operational reconfiguration according to demand.

5. Unmanned Aerial Vehicle (UAV) system according to claim 1, characterized in that the automatic charging subsystem comprises an intelligent and adaptive microprocessor circuit.

6. Unmanned Aerial Vehicle (UAV) system, according to claim 5, characterized in that the intelligent microprocessor circuit automatically configures an auto charger to charge the batteries of the aerial platform and adjacent systems.

7. Unmanned Aerial Vehicle (UAV) system, according to claim 1, characterized in that the architecture modular ERP type containing the intelligent integrated management subsystem as the main module.

8. Unmanned Aerial Vehicle (UAV) System, according to claim 1, characterized in that the intelligent integrated management subsystem comprises a multi-user and multi-system Interface Module.

9. Unmanned Aerial Vehicle (UAV) System, according to claim 9, characterized in that the Interface Module connects the SIGI to the Command and Control Centers, the Control Stations and the sensors (IoT).

10. Unmanned Aerial Vehicle (UAV) System, according to claim 1, characterized by the fact that the embedded intelligence module is developed through the use of Artificial Intelligence and Computer Vision, for the recognition and identification of assets, in a parameterized and regionalized manner.

11. Unmanned Aerial Vehicle (UAV) System, according to claim 1, characterized in that the Command and Control Stations comprise computing devices mounted on a mobile platform.

12. Unmanned Aerial Vehicle (UAV) System, according to claim 1, characterized by the fact that it acts with analysis algorithms and automatic identification of defects, inconsistencies, diagnosis and application of artificial intelligence for asset registration, using 3D mapping to map vegetation growth.

13. Method of identifying and registering assets, monitoring and inspecting energy transmission and distribution lines, characterized by the fact that it includes the steps of remote automatic identification and differentiation of assets and use of information collected to generate real-time situational analysis reports and asset loss prospecting, as well as reports for asset maintenance.

14. Method of identifying and registering assets, monitoring and inspecting energy transmission and distribution lines, according to claim 14, characterized by the fact that it performs post-processing of the data in the integrated management system (SIGI).

15. Method for identifying and registering assets, monitoring and inspecting energy transmission and distribution lines, according to claim 14, characterized by the fact that it works with analysis algorithms and automatic identification of defects, inconsistencies, diagnosis and application of artificial intelligence for asset registration, using 3D mapping to map vegetation growth.

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