33 results about "Flight inspection" patented technology

The invention relates to a mapping system and method for flight inspection of indoor equipment, the system comprises a data acquisition end and an offline data processing end, the data acquisition end comprises an unmanned aerial vehicle and a sensing module, and the sensing module comprises a laser radar module, a binocular camera module, an inertial measurement module and an airborne recording module; the method comprises the following steps: synchronously acquiring multi-source data through layered flight; performing space-time alignment and preprocessing; self-adaptive sampling is carried out based on point cloud geometric prior guide image features, and laser-vision joint features are generated; fusing point cloud registration, joint features and inertial data, and carrying out joint estimation on adjacent frame pose increments; performing loopback detection based on the key frame to generate a closed-loop constraint; constructing and optimizing a pose map to eliminate cumulative drift; and finally fusing to generate a global point cloud map. According to the method, the space consistency and geometric accuracy of the map can be effectively improved, and a reliable data basis is provided for digital modeling and intelligent operation and maintenance of indoor equipment inspection.

The utility model discloses a photovoltaic station intelligent inspection tour device, which comprises an unmanned aerial vehicle, a base is arranged on the outer wall of the lower side of the unmanned aerial vehicle, a fixing mechanism is arranged on the base, the fixing mechanism comprises an abutting fixing rod and a sliding seat, the abutting fixing rod is installed on the base in a sliding mode, the sliding seat is movably installed on the base, and the abutting fixing rod is connected with the sliding seat. And a mounting seat is arranged on the sliding seat. According to the photovoltaic station intelligent inspection tour device provided by the utility model, when the photovoltaic station is inspected, the inspection tour device such as an optical camera shooting device and an infrared temperature detection device can be replaced through the mounting seat, and the inspection tour device is fixed on the unmanned aerial vehicle through the fixing port and a bolt according to needs. The unmanned aerial vehicle can be operated to carry out flight inspection in the station to obtain related information, in continuous inspection work, equipment on the mounting base is directly replaced, the next round of inspection work can be carried out, various conditions in the photovoltaic station can be rapidly known, and use is convenient.

The invention discloses an indoor unmanned aerial vehicle rapid routing inspection navigation method. The method comprises the following steps: S1, dividing indoor routing inspection areas; S2, setting a routing inspection sequence of the indoor routing inspection areas; S3, setting a routing inspection path of an unmanned aerial vehicle in each indoor routing inspection area; according to the invention, the indoor space is divided into a plurality of indoor inspection areas, the inspection sequence of the indoor inspection areas is set, fixed object survey is carried out on each indoor inspection area, an inspection path for avoiding fixed objects and inspecting each inspection point is set, and the unmanned aerial vehicle carries out flight inspection according to the set inspection sequence and inspection path. The workload of surveying and flight route setting of the unmanned aerial vehicle and the upper computer in the flight process of the unmanned aerial vehicle is reduced, the inspection navigation efficiency of the unmanned aerial vehicle is improved, and the situation that inspection points are omitted in the inspection process of the unmanned aerial vehicle is avoided.

The invention belongs to the technical field of aircraft control, and relates to a pre-flight inspection method for a four-axis main joystick, which comprises the following steps of: 1, state initialization: setting the total state of the main joystick as a periodic task, and reporting the periodic task to a flight control computer through a bus; step 2, judging whether a pre-navigation check starting condition is met or not, and the process is as follows: S11, if bus communication is normal and the CCDL has no fault, entering S12; otherwise, exiting; s12, if the air / ground state dual-redundancy voting value is ground, the flight control system pre-flight inspection state dual-redundancy voting value is pre-flight, and the pre-flight inspection input switch dual-redundancy voting value is effective, the main control lever pre-flight inspection starting condition is met, and the step S13 is executed; otherwise, if the starting condition of the pre-navigation check of the main joystick is not met, entering S14; s13, setting the total state of the main joystick as pre-flight inspection, and reporting to a flight control computer through a bus; and S14, pre-flight effective mark setting, and reporting to a flight control computer through a bus. And if so, carrying out pre-flight inspection on the control shaft, otherwise, exiting.

The present invention provides a system and method for verifying the accuracy of a circular array radar's omnidirectional array by using a single-direction flight of an unmanned aerial vehicle (UAV). By using an automatic control turntable and a data acquisition and analysis system, the accuracy of the circular array radar's omnidirectional array is verified by flying the UAV in a fixed direction. This reduces restrictions on the radar's installation environment, avoids problems and difficulties associated with multi-directional flight inspections of UAVs, improves test efficiency, and shortens the test cycle.

The application discloses a kind of unmanned plane line simulation flight waypoint search method, route planning method and system, comprising: first, the center line discrete point sequence of the inspection road is obtained, and the waypoint spacing of line simulation flight route is set.Then according to the center line discrete point sequence, the direction vector of the to-be-searched polyline segment is determined.After that, according to the current waypoint coordinate, direction vector and waypoint spacing, the coordinates of candidate waypoint are determined, and whether the candidate waypoint is on the to-be-searched polyline segment is verified.If yes, the candidate waypoint is included in the waypoint set, and the candidate waypoint is used as the current waypoint to continue searching the next waypoint.If no, the remaining distance that needs to be moved after moving to the end point of the to-be-searched polyline segment is calculated, and the target line segment is searched out.Finally, the waypoint that meets the waypoint spacing is searched out by combining the direction vector and starting point coordinate of the target line segment, the remaining distance, so as to automatically generate line simulation inspection waypoint, improve the line simulation flight inspection route planning efficiency of long linear road unmanned plane.

The invention discloses machine room dual-mode inspection equipment and a machine room dual-mode inspection switching method, and relates to the technical field of machine room inspection, the machine room dual-mode inspection equipment comprises a track body hung on a ceiling, the track body is in sliding fit with an inspection main body, the bottom of the inspection main body is provided with an execution mechanism, and the tail end of the execution mechanism is connected with a camera shooting holder. Through a dual-mode switching structure of the track body and the unmanned aerial vehicle, the seamless switching of the hanging track inspection and the flight inspection is realized by combining a control separation and visual positioning technology, and the unmanned aerial vehicle has the advantages that the deployment cost is reduced, the coverage blind area is eliminated, and the inspection flexibility is improved.

The application discloses a kind of based on reinforcement learning's building unmanned plane inspection route intelligent planning method, comprising the following steps: collecting building facade contour information data, generates three-dimensional semantic model;Based on three-dimensional semantic model, simulation environment is constructed, and dynamic inspection virtual scene is formed;Hierarchical reinforcement learning model is established in dynamic inspection virtual scene, and multiple candidate path set is formed;Introduce voxel hash ray space index, output route ruling document;Based on route ruling document, form continuous controllable executable track set;Executable track set is imported into unmanned plane control system, and generates task preparation file;According to task preparation file, route flight inspection task is executed, and task execution log is output;Task execution log is uploaded to cloud, track deviation is analyzed and counted, and intelligent planning and adaptive closed-loop evolution are realized.The application realizes building unmanned plane inspection route intelligent planning.

The utility model relates to a kind of based on MESH network's intelligent inspection unmanned aerial vehicle applied to comprehensive pipe gallery, and it is related to inspection unmanned aerial vehicle field, including: unmanned aerial vehicle body;Observation equipment is used to gather the multi-source information of unmanned aerial vehicle in comprehensive pipe gallery;Center controller realizes the control to observation equipment;MESH network communication equipment is used for the transfer of information;MESH network transfer equipment is used as transfer node, so that unmanned aerial vehicle keeps and remote network connection;When unmanned aerial vehicle is in flight inspection, carry out three-dimensional coordinate positioning by laying MESH node in pipe gallery interior;KNN algorithm is used to optimize unmanned aerial vehicle inspection route;Information is transferred using MESH network, and single node failure does not lead to data transmission failure, that is, the utility model has self-organizing self-recovery capability.The positioning effect of the inspection unmanned aerial vehicle is better, and information transmission is stable, and adaptability is stronger.

The invention belongs to the technical field of path planning, and more specifically relates to a limited space unmanned aerial vehicle bridge simulation inspection path planning method. The method comprises the following steps: sensing and subscribing point cloud information of an environment by an unmanned aerial vehicle, wherein the point cloud information comes from a laser radar, a depth camera or a fusion point cloud; filtering: carrying out point cloud noisy point self-adaptive multi-level filtering on the point cloud information, executing nine-step self-adaptive noisy point filtering, and outputting filtered point cloud and a free space F; planning and bridge-imitating inspection path generation are carried out, an initial path is generated through a narrow channel RRT *, a safe flight inspection corridor SFIC is constructed, and a middle bridge-imitating inspection path is generated in the SFIC in an optimized mode. The problems of insufficient environmental perception precision, low safety and efficiency of path planning, lack of dynamic adaptability of path planning and low path quality during the inspection process of an existing unmanned aerial vehicle in a limited space in a bridge are solved.

The invention discloses a highway intelligent inspection and abnormal state processing method based on an unmanned aerial vehicle, and belongs to the field of image processing and computer vision, and the method comprises the steps: carrying out the semantic disassembly and knowledge graph association retrieval of natural language input, and obtaining a situational inspection instruction; basic geographic information and a real-time dynamic environment are combined, and a dynamic safety corridor is generated through three-dimensional potential field repulsive force calculation; a sensor configuration scheme and a flight mode are extracted according to the associated scene features and mapped to a waypoint, and an optimized flight inspection task is generated; performing anomaly screening and fine identification on the video stream to generate anomaly confirmation information; and updating the knowledge graph and the configuration optimization relation by using the abnormal information and the disposal feedback data. According to the method, a closed-loop control technology integrating the knowledge graph, dynamic path planning and real-time image analysis is adopted, autonomous planning, accurate execution and intelligent feedback learning of the inspection task can be realized, and the utilization efficiency of image data in the inspection process and the accuracy of anomaly recognition are improved.

The embodiment of the application discloses a kind of intelligent cable inspection systems, the system includes: complexity determination module is configured to receive the area image photographed in unmanned aerial vehicle inspection process, the area image is identified to obtain area complexity, the area complexity includes image complexity and line complexity;Parameter determination module is configured to determine the inspection parameter of the unmanned aerial vehicle according to the area complexity, the inspection parameter includes flight height, flight speed, flight direction and image shooting accuracy;Control module is configured to send the inspection parameter to the unmanned aerial vehicle, to control the unmanned aerial vehicle according to the inspection parameter to carry out the shooting of area image.The scheme improves the flight inspection efficiency of unmanned aerial vehicle, and possible line fault can be found more timely.

The present application proposes a helicopter snow blindness visibility measurement method based on image processing, belonging to the field of helicopter flight test. The purpose is to solve the problem that the existing helicopter visibility measurement in the high-cold snow area is mainly based on the subjective and difficult to quantify continuous monitoring artificial observation method, which cannot meet the automatic and objective measurement requirements under this special working condition. The present application comprises the following steps: S1 selecting test environment and test site that meet the test conditions; S2 determining the flight condition; S3 test flight practice; S4, installing test equipment; S5 judging the snow condition; S6 pre-flight inspection; S7 take-off test; S8 landing test; S9 test end inspection of helicopter state; S10 confirming whether there is remaining experiment; S11 image processing after the end; S12 data analysis. The present application solves the problem that the existing technology is mainly based on subjective and difficult to quantify continuous monitoring artificial observation method, which cannot meet the automatic and objective measurement requirements under this special working condition.

The present invention provides a multimodal aircraft that can be used for pipeline surveying, belonging to the field of multimodal unmanned aerial vehicles. The multimodal aircraft comprises a foldable rotor mechanism, an auxiliary wheel mechanism, a Mecanum wheel ground running mechanism, and a fuselage detection mechanism. The Mecanum wheel ground running mechanisms are symmetrically mounted at both ends of the fuselage detection mechanism, each Mecanum wheel ground running mechanism is connected to a foldable rotor mechanism on the outside, and the two auxiliary wheel mechanisms are symmetrically rotatably connected to the fuselage detection mechanism. After the auxiliary wheel mechanism is deployed, the two Mecanum wheel ground running mechanisms rotate in the same direction to enable the multimodal aircraft to run on the ground. The two Mecanum wheel ground running mechanisms rotate in opposite directions to enable the multimodal aircraft to run in a pipeline. After the foldable rotor mechanism is deployed, the multimodal aircraft can fly in the air. A detection unit mounted on the fuselage detection mechanism can detect the pipeline. The present invention can realize flight inspection, ground inspection, and pipeline inspection, and is easy to use.

Embodiments of the present application provide a pre-flight inspection method, device, equipment and storage medium, wherein the method comprises: when a flight body is in a pre-flight inspection stage of a control mechanism, controlling a display device associated with the flight body to display an inspection guide interface of the control mechanism; the inspection guide interface displays a control guide animation of the control mechanism and corresponding prompt information; when response data fed back by the control mechanism being inspected is received, determining whether a current inspection operation of the control mechanism is consistent with an inspection operation prompted by a current inspection guide interface according to the response data; when the current inspection operation of the control mechanism is consistent with the inspection operation prompted by the current inspection guide interface, and the current inspection guide interface is not the last inspection guide interface in the pre-flight inspection stage, controlling the display device to display a next inspection guide interface of the control mechanism.

The embodiment of the invention provides a rail low-altitude inspection air-rail dual-purpose unmanned inspection device and method, and the device comprises a rail driving module which is used for driving under the condition of different rail gauges and slightly uneven rails in a rail driving inspection mode; the flight module is used for carrying out flight operation in a flight inspection mode; the module switching node is used for switching the unmanned aerial vehicle from a flight inspection mode to a track driving inspection mode; the energy management module is used for performing electric energy distribution and real-time electric quantity monitoring in an operation mode; the intelligent decision-making and sensing fusion module is used for acquiring sensor data during inspection, performing efficient fusion and intelligent response on multi-source information in a track environment based on the sensor data, and performing data communication with a ground station or a cloud end; accurate modeling and intelligent analysis are carried out on the surrounding environment, and path planning is carried out on the track driving module and the flight module.

Generally discussed herein are systems, apparatuses, and methods for aiding a pre-flight inspection of an aircraft. This includes a system with processor, a memory, a camera, a user interface and a communications device. The user interface can include a user input system and a user output system. The user interface can be configured for presenting a graphical checklist for the pre-flight inspection of the aircraft. The memory includes, instructions, the instructions, when executed by the processor, cause the processor to determine a result of the pre-flight inspection for display on the graphical checklist, wherein the result is based upon at least a first data obtained from imaging a first onboard system of aircraft using the camera.

The present disclosure provides a kind of inspection path planning method and device for operating wind turbine, it is related to control technical field.The method comprises: in the online inspection stage, according to the mapping relationship generated in advance in offline stage, the maximum displacement value of blade tip under current operating condition is generated;Based on operating signal, the rigid kinematic model of blade is constructed, and the basic no-fly zone is determined;Dynamic safety radius is determined;With dynamic safety radius as inflation distance, the basic no-fly zone is outwardly inflated and handled, and the remaining space after removing dynamic no-fly zone in the preset flight space is determined as three-dimensional safe flight space;The three-dimensional inspection path of unmanned aerial vehicle is planned under the constraint of three-dimensional safe flight space, and the three-dimensional safe flight space is updated in the process of unmanned aerial vehicle flight inspection, and flight trajectory is adjusted.Based on the technical scheme, the automatic inspection path planning of operating wind turbine can be carried out in the inspection process.

The present invention provides a control method for the production of medical insurance fund flight inspection data detection rule scripts, including a terminal, a functional module, a database, and a production database; the front-end page includes a preview area, an editing area, etc. The method automatically initiates a request for medical insurance fund test data and constructs a preview area table; responds to the operation instructions of the preview area table, generates a verification script fragment, and renders the editing area table based on the script execution result; responds to the operation instructions of the editing area table, expands the verification script, and renders the editing area table data; responds to the test instruction, re-renders the editing area table based on the current verification script, responds to the generation instruction, and saves the current verification script and related description information; the present invention significantly reduces the technical requirements for rule script production, and the visual interface operation improves the efficiency of script production, avoiding the problems of easy errors and low efficiency in manually written code. It effectively reduces the risk of leakage and misoperation of flight inspection data, and complies with the confidentiality and avoidance regulations of flight inspections.

The present application relates to the control or adjustment technical field, specifically relates to a kind of unmanned aerial vehicle path planning method and system for transmission line inspection, method includes: according to the trajectory point set of unmanned aerial vehicle in tower operation area determines the space redundancy factor of tower, according to the operation time window of tower and unmanned aerial vehicle reference speed, determine the time redundancy factor of tower;Space redundancy factor and time redundancy factor are combined to determine equivalent distance density, according to equivalent distance density and transition flight distance obtain the heterogeneous perception distance matrix between tower;According to heterogeneous perception distance matrix, determine the global access cost of tower, according to the global access cost of each tower, determine the cost imbalance degree of this task;According to adaptive equalization coefficient and heterogeneous perception distance matrix, adjust ant colony algorithm, generate the tower access sequence of each unmanned aerial vehicle using adjusted ant colony algorithm.The technical scheme of the present application can better balance the total flight inspection efficiency and single machine load balancing.

The invention relates to the technical field of unmanned aerial vehicle protection, and discloses an unmanned aerial vehicle protection device. The top frame is arranged on the upper portion of the bottom frame and connected with the bottom frame, and an interval between the top frame and the bottom frame is used for installing an unmanned aerial vehicle; the number of the lateral buffering pieces is at least three, the lateral buffering pieces are arranged on the periphery of the top frame and / or the bottom frame in the circumferential direction at intervals, and the lateral buffering pieces are connected with the outer side wall of the top frame and / or the outer side wall of the bottom frame; the number of the top buffering pieces is at least one, and all the top buffering pieces are connected to the top of the top frame; the number of the bottom buffering pieces is at least one, and all the bottom buffering pieces are connected to the bottom of the bottom frame; a three-dimensional protection system for multi-dimensional and high-strength collision such as lateral collision, upward collision, downward collision and falling possibly encountered by the unmanned aerial vehicle in the whole flight inspection process is formed, the service life of the unmanned aerial vehicle is prolonged, and the maintenance cost is reduced.

The invention provides a fan blade inspection method and device for a wind driven generator and a medium. The method comprises the steps that blade image information, real-time environment information of blades and real-time aerodynamic acoustic signals of the blades of the wind driven generator in an alpine region collected by an unmanned aerial vehicle in the flight inspection process are obtained; determining blade defect parameters according to the blade image information; determining a first risk index of the blade according to the blade defect parameter and the real-time environment information; determining a second risk index of the blade according to the real-time aerodynamic acoustic signal; determining a current risk state index of the blade according to the first risk index and / or the second risk index; and generating and sending an action control instruction of the wind driven generator according to the current risk state index of the blade. According to the invention, the real-time closed-loop response of the fan blade inspection in the alpine region is realized.

The invention provides a low-altitude flight wireless environment sensing method. Firstly, the antenna unit with the lowest gain value is selected to simulate a common unmanned aerial vehicle to receive signals, wireless signal scanning is carried out to obtain detection information containing various parameters such as signal strength, the detection information is compared with ideal signal strength, and whether the difference is smaller than a first threshold value or not is judged. If so, continuing flight inspection along the target channel; otherwise, the unmanned aerial vehicle is controlled to hover, the signal deterioration condition is determined according to the current antenna unit, alarm information is sent to the monitoring background in combination with the position information, the antenna units are switched from low to high according to the gain values, scanning and judgment are conducted again till the antenna unit which can make the signal strength reach the standard is switched, and the unmanned aerial vehicle can continue to fly in the target channel so as to continue to complete inspection. According to the scheme, the unmanned aerial vehicle carries the wireless signal monitoring equipment to realize wireless environment total sensing and analysis of a low-altitude air route, so that low-altitude normal operation is guaranteed, and the reliability and stability of a low-altitude wireless communication system are improved.

The invention relates to a power network inspection method and a related device, and the method comprises the steps: firstly, generating a task sequence for a plurality of unmanned aerial vehicles based on topographic features; during flight inspection, when obstacles such as severe weather are monitored, the unmanned aerial vehicle automatically rearranges an uncompleted task sequence; if it is judged that the task sequence after self-rearrangement does not meet the preset execution condition, a replanning request is sent to a cloud server through satellite communication; and the cloud server generates and distributes a new task sequence according to an optimization algorithm in combination with the real-time states of one or more other unmanned aerial vehicles. According to the invention, through a two-stage fault-tolerant mechanism combining local autonomous adjustment and cloud collaborative optimization and taking satellite communication as a reliable information link, the technical problem that dynamic re-planning is difficult to carry out due to unreliable communication in a complex dynamic environment in the prior art is solved.

The invention provides a railway line early warning method based on multi-source data fusion, and the method comprises the following steps: A, inputting a to-be-inspected railway line and a ramp map into an unmanned plane management platform, and making an inspection route; setting a flight task including time and an inspection route sequence; b, the unmanned aerial vehicle management platform controls the unmanned aerial vehicle to fly and inspect, and image acquisition is carried out through a high-definition camera on the unmanned aerial vehicle during inspection; c, the unmanned aerial vehicle management platform performs image algorithm analysis on the acquired image, determines the real-time position of inspection, marks a target when finding the early warning target, and automatically generates early warning information; d, polling the unloaded train at the stop platform, and checking whether remnants which are missed to be loaded and unloaded exist or not; and E, the control terminal pops up an early warning prompt based on each piece of early warning information. According to the invention, whether obstacles, personnel and animal invasion exist on railway lines, whether foreign matters are left on empty vehicles in station tracks, and whether landslides exist on side slopes can be inspected in a timed manner by the unmanned aerial vehicle.

The invention relates to the technical field of fire behavior inspection identification, solves the technical problems that the existing unmanned aerial vehicle fire behavior inspection technology is insufficient in autonomous operation capability and low in automation and intelligence level in a complex environment, and particularly relates to a full-automatic unmanned aerial vehicle fire behavior inspection early warning platform. The flight module is used for generating an autonomous flight route executed by the unmanned aerial vehicle; and the image transmission and identification module is used for receiving and processing a video stream returned by the unmanned aerial vehicle in real time in the process that the unmanned aerial vehicle executes the autonomous flight route so as to identify fire information in the video stream. According to the invention, autonomous flight inspection and fire real-time identification of the unmanned aerial vehicle are realized, and the autonomous flight route for execution of the unmanned aerial vehicle can be generated, so that the unmanned aerial vehicle can perform inspection of a preset path in a high-risk or complex environment without manual real-time command. The unmanned aerial vehicle can get rid of excessive dependence on ground operators, and the automation level and the intelligence level of routing inspection are remarkably improved.

Flight checklist assistance system which outputs checklists of aircraft and air sports equipment by means of voice output, characterized in that the hardware is installed in a housing and, depending on the configuration, is connected to the aircraft radio and / or the headset via a radio connection, for example Bluetooth or cable.

The present application provides a kind of test method for measuring the visible distance of helicopter cabin passengers during take-off and landing stage in snowfield, belongs to the field of helicopter flight test.The purpose is to solve the problem that the technical field of the severity of the existing helicopter flight in snowfield and the evaluation of snow blindness causes the obstruction of the field of view in the cockpit has not carried out relevant research.The present application includes the following steps: S1 selects test environment and test site that meet the test conditions;S2 determines flight conditions;S3 test flight practice;S4, install test equipment;S5 set up identification target;S6 paste identification on the fuselage;S7 measure the physical properties of snow in the test site;S8 pre-flight inspection;S9 carry out test;S10 test end check helicopter state;S11 end parameter measurement;S12 equipment arrangement after test;S13 analyze data.Through the present application, an operable and followable flight test method and requirement can be provided for helicopter flight in snowfield and snow blindness research, which has important engineering application and guiding value.

The invention discloses a self-inspection infrared unmanned aerial vehicle inspection method and device, and relates to the technical field of unmanned aerial vehicle damage detection. The self-inspection infrared unmanned aerial vehicle inspection method comprises the following steps: acquiring structural information of a to-be-detected tower crane boom, and analyzing to generate an inspection path comprising a plurality of inspection points; inputting the inspection path into the infrared unmanned aerial vehicle for flight inspection; when the infrared unmanned aerial vehicle arrives at each inspection point, respectively acquiring an infrared thermal imaging image and a visible light image at the boom of the corresponding to-be-detected tower crane, and carrying out multi-source fusion to obtain a corresponding multi-source fusion image; the multi-source fusion image is subjected to damage identification based on an improved YOLOv5 damage detection algorithm, and an inspection report is output. Structural information of the tower crane boom is obtained, coordinates of key parts and main components serve as inspection points, and an optimal inspection path is generated; the path planning ensures that high-risk areas such as connecting points, corners, stiffeners and the like are certainly covered, and the possibility of missing detection is fundamentally avoided.

The invention discloses a substation inspection system and method based on an unmanned aerial vehicle, and relates to the technical field of intelligent operation and maintenance of power systems. The system comprises an unmanned aerial vehicle, a ground control station and a data processing center which establish bidirectional data transmission and instruction interaction through a redundant communication link; the method comprises four steps of task planning, flight inspection, data transmission and processing, and result feedback and report generation, dynamic optimization of an inspection path and multi-source data fusion diagnosis are realized through an algorithm, and automatic and intelligent inspection of primary equipment of a transformer substation is achieved in combination with redundant communication and an active safety control mechanism; the modules and algorithm modules of the unmanned aerial vehicle, the ground control station and the data processing center solve the problems that traditional manual inspection is low in efficiency, high in safety risk, incomplete in coverage and insufficient in fault diagnosis accuracy, and the inspection efficiency and the operation and maintenance safety are remarkably improved.