20 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 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 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 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 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 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 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.

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.

The application discloses an intelligent unmanned system and a flight inspection method for power grid distribution room inspection, relates to the technical field of distribution room inspection, and solves the technical problem that the distribution room inspection is completed by manual inspection, which consumes a large amount of human resources. By applying intelligent equipment and algorithms, the traditional manual operation mode is replaced, the occupation of human resources is greatly reduced, the error rate under frequent repeated operation of personnel is avoided, the inspection frequency is improved, the fault risk is reduced, the shooting data is processed and analyzed in real time, different levels of alarms are completed through analysis results, so that external personnel can timely understand the situation inside the distribution room space, timely action corresponding protection measures, the inspection data is classified and archived, the fault and data traceability and data sharing are facilitated, the inspection results are opened, and are provided for multiple use departments to avoid repeated operation and reduce operation cost.

The invention discloses a pre-navigation inspection method, electronic equipment and a computer readable storage medium. The method comprises the following steps: performing communication check on a flight control system, and determining a communication check result of the flight control system; when the communication check result of the flight control system is that the check is passed, controlling the flight controller to enter a response limiting state, performing control check on a control component of the aircraft, and determining a control check result of the control component; when the control inspection result of the control component is that the inspection is passed, the flight controller is controlled to exit the limited response state, actuation inspection is carried out on a flight actuator of the aircraft, and an actuation inspection result of the flight actuator is determined; and when the actuation inspection result of the flight actuator is that the inspection is passed, determining that the pre-flight inspection result of the aircraft is that the inspection is passed. According to the method, non-fault links can be eliminated layer by layer, the workload of repeated inspection is greatly reduced, the inspection efficiency is improved, and fault positioning can be quickly realized.

The invention discloses a bridge inspection method based on digital twinning and unmanned aerial vehicle cooperation. The method comprises the following steps: S1, constructing a digital twinning model; s2, recording a rehearsal route track; s3, generating an optimized inspection route; s4, the optimized inspection route is issued to the inspection unmanned aerial vehicle and the reference unmanned aerial vehicle to execute a cooperative flight inspection task; s5, adaptively switching between a cooperative positioning mode and a GNSS positioning mode according to the GNSS signal state of the inspection unmanned aerial vehicle when the task is executed; and S6, carrying out disease intelligent identification, three-dimensional positioning and model closed-loop correction. According to the method, dependence on experience of operators is reduced, inspection safety in a complex environment is improved, the problem of positioning precision attenuation in GNSS rejection scenes such as under-bridge scenes is effectively solved, deployment cost is low, adaptability is high, dynamic mapping of bridge states is achieved, an air route knowledge base, a signal shielding map, a disease feature library and the like are continuously optimized, and the positioning accuracy is improved. Therefore, the bridge inspection precision, safety and intelligent level are improved.