A transmission line drone intelligent inspection management platform

Abstract

The present invention provides a transmission line UAV intelligent inspection management platform, the inspection management platform includes a server, and multiple UAVs, the inspection management platform also includes a task management module, an association module, a guidance module, and an interaction module, the task allocation module is used to allocate the inspection tasks of multiple UAVs to realize the allocation of inspection points and inspection routes of each UAV; the association module is used to allocate the inspection tasks of multiple UAVs and the task allocation module to realize the association of inspection points, inspection points and inspection routes; the guidance module guides multiple UAVs according to the data of the task allocation module and the association module; the interaction module is used to interact between multiple UAVs to realize the coordination and cooperation between multiple UAVs. The present invention allocates tasks based on the status data of the UAV through the task management module, so as to promote the reliability of the inspection task allocation.

Description

Technical Field

[0001] The present invention relates to the technical field of drone management, and in particular to an intelligent drone inspection and management platform for power transmission lines. Background Art

[0002] The drone technology currently used in the market can achieve GPS positioning, simple image processing, image transmission and other technologies. However, the magnetic field of the transmission lines and towers interferes with the transmission signals of the drone. Therefore, maintaining a high distance between the drone and the transmission lines can effectively reduce interference and promote the smooth implementation of transmission inspection work.

[0003] For example, the prior art CN103824340B discloses a drone-based intelligent inspection system and method for power transmission lines. Currently, there are many problems with using drones for intelligent inspections of power transmission lines: different inspection tasks correspond to different inspection transmission lines and inspection purposes, and the inspection equipment and models used are also different. The inspection involves complex and scattered equipment that is easily forgotten or lost. The lack of accessories during the inspection process frequently occurs, seriously affecting the efficiency of the inspection. Given limited inspection resources, especially when there are many inspection tasks and strong constraints between them, it is necessary to rationally dispatch inspection resources and equipment.

[0004] Another typical example is the prior art disclosed in CN107067489B, which discloses an intelligent inspection control system for drones. The existing drone inspection control system assigns drones that meet the inspection requirements to a task plan within a period of time. For example, drone No. 1 is responsible for inspecting a certain section of the transmission line from 10:00 to 12:00, and for temperature detection from 12:00 to 15:00. This shows that the prior art requires pre-arranging drone inspection tasks, and cannot achieve real-time scheduling of drones. This can easily lead to situations where no drone can complete some sudden inspection tasks, thereby reducing the efficiency and flexibility of drone inspections. Currently, there is no way to effectively associate drone inspection images with the transmission line information being inspected. Therefore, inspection images cannot be retrieved based on transmission line information, and inspection images cannot be effectively managed, resulting in confusion in the management and processing of inspection results, affecting the efficiency of defect judgment and defect elimination.

[0005] The present invention is made to solve the problems of poor interactivity, chaotic scheduling, inability to associate inspection routes, low efficiency in task allocation, and inaccurate inspection position guidance commonly found in drones in this field. Summary of the Invention

[0006] The purpose of the present invention is to address the existing deficiencies and propose an intelligent inspection and management platform for transmission line drones.

[0007] The present invention adopts the following technical solutions:

[0008] A transmission line UAV intelligent inspection management platform, the inspection management platform includes a server and multiple UAVs, the inspection management platform also includes a task management module, an association module, a guidance module, and an interaction module.

[0009] The task allocation module is used to allocate inspection tasks to multiple drones to realize the allocation of inspection points and inspection routes to each drone;

[0010] The association module is used to assign multiple drones to the inspection tasks of the task assignment module to achieve the association of the inspection points, inspection points and inspection routes;

[0011] The guidance module guides the plurality of drones according to the data of the task assignment module and the association module;

[0012] The interaction module is used to interact with multiple drones to achieve coordination and cooperation between the multiple drones;

[0013] The task assignment module includes a task generation unit and an assignment unit. The task generation unit generates an inspection task according to the location and inspection distance of the transmission line; the assignment unit assigns the inspection task to multiple drones according to the inspection task of the task generation unit.

[0014] A patrol point is generated according to the position of the transmission line and the patrol distance, wherein the patrol point is represented as an n-dimensional vector:

[0015] Task=(S1,S2,...,S a ) T ,

[0016] Among them, S a is the detection point of the transmission line, a∈1,2,…,v; determine the inspection distance D between each inspection point a , inspection distance D a Calculate according to the following formula:

[0017]

[0018] Where, Inspection point S a-1 and inspection point S a The straight-line distance between them; j∈a; a is the total number of inspection points;

[0019] The task arrangement index In_Tasks of each inspection route is calculated according to the inspection points, wherein the task arrangement index In_Tasks is calculated according to the following formula:

[0020] In_Tasks=G0·D a ·t

[0021] Where t is the inspection duration; G0 is the drone endurance adjustment base, whose value is related to the drone's battery capacity and current battery status, and satisfies:

[0022]

[0023] Where λ is the inspection environment temperature compensation coefficient; γ is the UAV battery aging compensation coefficient; C N is the rated capacity of the UAV battery; τ is the UAV charging and discharging efficiency; C0 is the current charge of the battery when the UAV is cruising; i(t) is the current output of the battery during the inspection process of the UAV;

[0024] The task generation unit allocates inspection tasks corresponding to different inspection distances according to the order of the task scheduling index In_Tasks of each drone, and cooperates with the association module and the guidance module to guide and manage multiple drones so that the inspection tasks can be completed.

[0025] Optionally, the association module includes an association unit and a matching unit, wherein the association unit is used to associate the task data of the task assignment module with the drone; the matching unit matches the association data of the association unit with the verification data of the drone to achieve data synchronization;

[0026] The association unit includes an associator and a data storage device. The associator associates the task data of the allocation module with each of the drones to generate a task association graph to bind the task data with each drone; the data storage device is used to store the task association graph between the task data and each drone.

[0027] Optionally, the guiding module includes a guiding unit and an angle adjustment unit, wherein the guiding unit is used to guide the inspection positions of the plurality of drones; and the angle adjustment unit is used to adjust the guiding angle of the guiding unit;

[0028] The angle adjustment unit includes a support plate, a rotating member and a lifting member. The support plate is used to support the guide unit, the rotating member and the lifting member; the rotating member is used to rotate the lifting member and the guide unit to achieve horizontal adjustment; the lifting member is used to adjust the pitch angle of the guide unit.

[0029] Optionally, the interaction module includes an interaction unit and a status detection unit, wherein the status detection unit is used to detect the real-time status of the drone to achieve real-time feedback of status data; the interaction unit is used to interact between multiple drones to exchange the status data of the drones and the completion status of the inspection tasks;

[0030] The status detection unit includes a locator and a status self-test device. The locator is used to locate the current position of the drone; the status self-test device is used to self-test the status data of the drone; wherein the status data includes the remaining battery capacity, load capacity, inspection range and current inspection point.

[0031] Optionally, the interaction unit includes a signal transmitter and a receiver, wherein the signal transmitter is used to send interaction instructions to the drone; and the receiver is used to receive the interaction instructions from the signal transmitter;

[0032] The UAV identifies the interactive instructions and responds to the interactive instructions to feed back its own status data and the completion status of the inspection task.

[0033] Optionally, the matching unit includes a matching manager, an ID base library and an ID generation protocol, and the matching manager is used to bind the drone with the task association graph; the matching manager has the ID generation protocol built in, and generates a matching authorization code according to the ID generation protocol, and compares it with the ID base library. If the comparison is successful, the matching between the task data and the drone is granted.

[0034] Optionally, the matching unit further includes a refresh program, which is used to update the completion status in the task association graph and feed back the task status of the drone to the server in real time.

[0035] The beneficial effects achieved by the present invention are:

[0036] 1. The task management module allocates tasks based on the status data of drones, thereby improving the reliability of inspection task allocation;

[0037] 2. Through the cooperation of the matching unit and the association unit, the drone is associated with the inspection task, and the completed inspection tasks or unfinished tasks are dynamically monitored in real time, so that the inspection status of the inspection points can be accurately monitored;

[0038] 3. The angle of the guidance unit is rotated by the rotating member to guide the drone at various angles;

[0039] 4. The interactive unit enables interaction between drones to achieve the transfer of drone tasks and the interaction of inspection data, improving data transmission between drones and the redistribution of tasks;

[0040] 5. By using an angle control unit to guide the drone, the drone's precise control over inspection points is improved, thereby improving the drone's inspection accuracy and the quality of the collected inspection data;

[0041] 6. By adopting the guidance module, each drone can interact with each other through the interaction module, thereby improving the data interaction and collaborative cooperation capabilities between each drone.

[0042] To further understand the features and technical contents of the present invention, please refer to the following detailed description and drawings of the present invention. However, the drawings provided are only for reference and illustration and are not intended to limit the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The present invention can be further understood from the following description in conjunction with the accompanying drawings. The components in the figures are not necessarily drawn to scale, but rather the emphasis is placed on illustrating the principles of the embodiments. In different views, the same reference numerals designate corresponding parts.

[0044] Figure 1 It is an overall block diagram of the present invention.

[0045] Figure 2 Schematic diagram of the application scenario of the UAV and guidance module of the present invention.

[0046] Figure 3 It is a partial cross-sectional schematic diagram of the guide unit of the present invention.

[0047] Figure 4 Schematic diagram of the structure of the guide unit of the present invention.

[0048] Figure 5 This is a schematic diagram of an application scenario when multiple drones of the present invention interact with each other.

[0049] Explanation of the accompanying figures: 1-transmission line; 2-UAV; 3-guidance unit; 4-support plate; 5-guidance probe; 6-first support frame; 7-lifting rod; 8-second support frame; 9-rotating seat; 10-fixed seat. DETAILED DESCRIPTION

[0050] The following is an explanation of the embodiments of the present invention through specific embodiments. Those skilled in the art can understand the advantages and effects of the present invention from the contents disclosed in this specification. The present invention can be implemented or applied through other different specific embodiments, and the details in this specification can also be modified and changed based on different viewpoints and applications without departing from the spirit of the present invention. In addition, the drawings of the present invention are only simple schematic illustrations and are not depicted according to actual dimensions. It is stated in advance. The following embodiments will further explain the relevant technical contents of the present invention in detail, but the disclosed contents are not intended to limit the scope of protection of the present invention.

[0051] Example 1.

[0052] according to Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 The embodiment shown provides a transmission line UAV intelligent inspection management platform, which includes a server and multiple UAVs. The inspection management platform also includes a task management module, an association module, a guidance module, and an interaction module.

[0053] The task allocation module is used to allocate inspection tasks to multiple drones to realize the allocation of inspection points and inspection routes to each drone;

[0054] The association module is used to assign multiple drones to the inspection tasks of the task assignment module to achieve the association of the inspection points, inspection points and inspection routes;

[0055] The guidance module guides the plurality of drones according to the data of the task assignment module and the association module;

[0056] The interaction module is used to interact with multiple drones to achieve coordination and cooperation between the multiple drones;

[0057] The server is connected to the task management module, association module, guidance module, interaction module and drone respectively to achieve synchronous transmission or storage of various data;

[0058] The inspection management platform further includes a processor, which is respectively connected to the server, the plurality of drones, the task management module, the association module, the guidance module, and the interaction module, and centrally controls the server, the plurality of drones, the task management module, the association module, the guidance module, and the interaction module based on the processor;

[0059] The association module cooperates with the task management module to associate the inspection tasks assigned by the task management module, thereby improving the efficiency of task allocation of the inspection tasks of each drone and further improving the correlation between the drone and the inspection points, thereby preventing the drone from causing the inspection points to be lost or missed during the inspection process.

[0060] It is particularly noted that the UAV includes a microprocessor, a flight control unit, and a collection unit. The collection unit is used to collect image or video data from the inspection location to form inspection data. The flight control unit provides lift for the UAV flight, enabling the UAV to fly according to the inspection route and cooperate with the collection unit to collect image or video data from the inspection points. The microprocessor is connected to the flight control unit and the collection unit respectively.

[0061] In this embodiment, the interaction module is provided on each of the drones to enable interaction between the drones and achieve coordination and cooperation between the drones.

[0062] In addition, the guidance module and each of the drones cooperate with each other, so that each drone can perform accurate inspections according to the guidance direction. At the same time, the guidance module enables the drone to receive the guidance signal of the guidance unit to improve the inspection accuracy of the inspection points.

[0063] In addition, the guidance module is provided on each of the drones, so that each drone can interact with each other through the interaction module, thereby improving the data interaction and coordination capabilities between the drones.

[0064] After determining the number of drones participating in the inspection and the status of the drones, the status data of the drones is transmitted to the task allocation module to improve the efficiency of the inspection task allocation; at the same time, the task management module allocates tasks based on the status data of the drones and the status, thereby promoting the reliability of the completion of the inspection task;

[0065] The task assignment module includes a task generation unit and an assignment unit. The task generation unit generates an inspection task according to the location and inspection distance of the transmission line; the assignment unit assigns the inspection task to multiple drones according to the inspection task of the task generation unit.

[0066] A patrol point is generated according to the position of the transmission line and the patrol distance, wherein the patrol point is represented as an n-dimensional vector:

[0067] Task=(S1,S2,...,S a ) T ,

[0068] Among them, S a is the detection point of the transmission line, a∈1,2,…,v; determine the inspection distance D between each inspection point a , inspection distance D a Calculate according to the following formula:

[0069]

[0070] Where, Inspection point S a-1 and inspection point S a The straight-line distance between them; j∈a; a is the total number of inspection points;

[0071] The task arrangement index In_Tasks of each inspection route is calculated according to the inspection points, wherein the task arrangement index In_Tasks is calculated according to the following formula:

[0072] In_Tasks=G0·D a ·t

[0073] Where t is the inspection duration; G0 is the drone endurance adjustment base, whose value is related to the drone's battery capacity and current battery status, and satisfies:

[0074]

[0075] Where λ is the inspection environment temperature compensation coefficient; γ is the UAV battery aging compensation coefficient; C N is the rated capacity of the UAV battery; τ is the UAV charging and discharging efficiency; C0 is the current charge of the battery when the UAV is cruising; i(t) is the current output of the battery during the inspection process of the UAV;

[0076] The task generation unit allocates tasks to drones with different inspection distances according to the order of the task scheduling index In_Tasks of each drone, so as to achieve accurate allocation of inspection tasks, and cooperates with the association module and the guidance module to guide and manage multiple drones so that the inspection tasks can be completed;

[0077] After the task management module assigns the inspection task to the drone, the drone performs inspection of the transmission line according to the inspection task path and inspection points;

[0078] At the same time, after each of the UAVs inspects the transmission line, the collected inspection data is uploaded to the server or transmitted to the ground receiving platform to monitor the transmission line in real time;

[0079] In addition, in order to promote the closeness of the association of the drone with the task, the inspection task is also associated through the association module to improve the monitoring of the inspection task by the drone;

[0080] The association module includes an association unit and a matching unit, and the association unit is used to associate the task data of the task assignment module with the drone;

[0081] The matching unit matches the verification data of the drone based on the association data of the association unit to achieve data synchronization; through the matching unit and the association unit, the drone can be associated with the inspection task, and the completed inspection tasks or unfinished tasks can be associated in real time, so that the inspection can be monitored;

[0082] The association unit includes a correlator and a data storage device. The correlator generates a task association graph by associating the task data of the allocation module with each of the drones to bind the task data to each drone. The data storage device is used to store the task association graph between the task data and each drone.

[0083] Among them, the task association diagram includes but is not limited to the following: inspection height, inspection point positioning position, inspection obstacle avoidance turning angle and minimum turning radius, etc.; at the same time, the task association diagram can also be adjusted according to the parameters set for each of the drones; the parameters include the drone's obstacle avoidance distance, obstacle avoidance angle and inspection safety distance, etc.; in addition, the operator can adjust the drone's safety distance from the inspection position according to actual needs, so that the drone will not be affected by the magnetic field generated around the power transmission line during the inspection process, causing the drone's inspection data collection accuracy to be poor; since the obstacle avoidance accuracy of each drone is different, the different setting parameters of each drone correspond to different task association diagrams;

[0084] Optionally, the matching unit includes a matching manager, an ID base library, and an ID generation protocol. The matching manager is used to bind the drone to the mission association graph. The matching manager has the ID generation protocol built in, generates a matching authorization code according to the ID generation protocol, and compares the matching authorization code with the ID base library. If the comparison is successful, the matching between the mission data and the drone is granted.

[0085] The matching manager generates a matching authorization code according to the following formula:

[0086]

[0087] Where p iis the total number of visits by drone i; access i is the number of visits made by drone i on the day; a i is the current time; d i is the deadline; b i The waiting time triggered when drone i visits; g i The passcode of drone i’s last visit, which satisfies:

[0088]

[0089] Among them, series j is the value corresponding to the jth bit of the drone's ID; N∈20; and when a new pass code is generated, the pass code is updated; wherein the total number of digits of the drone's ID is 20;

[0090] The matching unit also includes a refresh program, which is used to update the completion status in the task association map and feed back the drone's task status to the server in real time; wherein, the refresh program refreshes the task association map at a certain refresh cycle, so that the completion status of the inspection task in the association map corresponding to each drone is determined; if the inspection task is completed, the inspection point is removed from the association map or the status of the inspection point is marked as completed; wherein, for the inspection point that has been completed, the drone will not repeat the inspection of the inspection point;

[0091] In this embodiment, the guiding module is set on the ground and arranged in plurality along the inspection route to guide each of the drones during inspection; wherein the guiding module includes a guiding unit and an angle adjustment unit, the guiding unit is used to guide the inspection positions of the plurality of drones; the angle adjustment unit is used to adjust the guiding angle of the guiding unit;

[0092] The angle adjustment unit includes a support plate, a rotating member, and a lifting member. The support plate is used to support the guide unit, the rotating member, and the lifting member. The rotating member is used to rotate the lifting member and the guide unit to achieve horizontal adjustment. The lifting member is used to adjust the pitch angle of the guide unit.

[0093] The guiding unit includes a guiding probe and a support rod, wherein the support rod is used to support the guiding probe so that the guiding probe is fixed on the support plate; the guiding probe is used to send a guiding instruction to each of the UAVs to establish a guiding signal with the UAV so that the UAV is guided according to the moving direction of the guiding probe;

[0094] At the same time, the guidance probe can also establish a signal transmission link with each of the drones, so that each of the drones can guide the power transmission line according to the transmission link;

[0095] The lifting component includes a plurality of lifting rods, an angle detection member, a plurality of lifting drive mechanisms, a first support frame and a second support frame, each of the lifting rods is arranged between the first support frame and the second support frame, and both ends of each lifting rod are hinged to the first support frame and the second support frame respectively; the angle detection member is used to detect the extension amount of each lifting rod; the lifting drive mechanism is driven and connected to each lifting rod respectively; in addition, the support plate is hinged to the edge of the first support frame, so that the support plate can achieve different angles of displacement under the adjustment of the lifting rod;

[0096] In this embodiment, the lifting rods are configured to be retractable, and are driven by a lifting drive mechanism so that each lifting rod can be retracted to achieve different guiding angles; each lifting rod can be adjusted to the east, west, south, north, northeast, southwest, southeast, and northwest directions;

[0097] The rotating member includes a fixed seat, a rotating seat, a rotating drive mechanism and a rotating angle detection member, the rotating seat is used to rotate the lifting member and the lifting member; the rotating angle detection member is used to detect the rotation angle of the rotating seat; the fixed seat is used to support the rotating seat and the rotating drive mechanism; wherein, the fixed seat has an accommodating cavity toward the direction of the main body, and the rotating seat and the rotating drive mechanism are arranged in the accommodating cavity; the rotating drive mechanism is arranged on the fixed seat and is drivingly connected to the rotating seat; the angle of the guiding unit is rotated by the rotating member to achieve guidance of the drone at various angles;

[0098] Optionally, the interaction module includes an interaction unit and a status detection unit, wherein the status detection unit is used to detect the real-time status of the drone to achieve real-time feedback of status data; the interaction unit is used to interact between multiple drones to exchange the status data of the drones and the completion status of the inspection tasks;

[0099] The state detection unit includes a locator and a state self-detector. The locator is used to locate the current position of the drone; the state self-detector is used to self-detect the state data of the drone; wherein the state data includes the remaining battery capacity, load capacity, inspection range and current inspection point;

[0100] At the same time, if the battery status meets the conditions for continuing cruising and the established tasks have been completed, it will receive other task interaction requests from the drone. Then, through task interaction, the drone can perform new tasks after exchanging tasks. At the same time, when interaction is carried out and tasks need to be carried out, they need to be reallocated through the task management module so that the interacting drones can share the load, thereby improving the inspection efficiency of the entire transmission line.

[0101] For drones in interactive state, they can interact with nearby drones to achieve task interaction to cooperate with other drones in the formation to perform inspections, thereby improving the inspection efficiency of the entire drone formation;

[0102] Optionally, the interaction unit includes a signal transmitter and a receiver, wherein the signal transmitter is used to send interaction instructions to the drone; and the receiver is used to receive the interaction instructions from the signal transmitter;

[0103] The drone identifies the interactive instruction and responds to the interactive instruction to feed back its own status data and the completion status of the inspection task; wherein the interactive instruction includes sending an instruction to the drone to confirm the completion status of the drone task.

[0104] Example 2.

[0105] This embodiment should be understood to include at least all the features of any of the above embodiments, and further improve upon them. Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 As shown, the interaction unit further includes a scheduler, which is used to verify the current task completion status of the drone during the interaction process, and after the verification conditions are met, schedule the drone and reassign the task; wherein the verification conditions include: the drone's task has been completed and its endurance can still complete a new task;

[0106] During the task scheduling process, the scheduler starts a program related to information exchange, which is used to return the task control right of the drone to the processor and the task generation unit to reallocate the inspection task; after the drone completes the previous task, the task allocation right of the drone that has completed the task is returned to the processor and the task generation unit; when the allocation right is returned to the processor and the task generation unit, it is verified that the task of the drone has been completed to set the drone to an interactive state; the inspection tasks and inspection routes are reallocated by the processor and the task generation unit, so that each inspection point of each inspection route can be accurately inspected, thereby improving the efficiency of the inspection and further improving the inspection accuracy of the inspection position and inspection point;

[0107] In addition, the interaction unit interacts with the drones to achieve the transfer of drone tasks and the interaction of inspection data, thereby improving data transmission between drones and the redistribution of tasks;

[0108] In addition, the guidance module also includes an angle control unit, which is used to control the guidance angle of the guidance unit to guide the drones that enter the guidance range; through the cooperation between the angle control unit and the guidance unit, the precise guidance of each drone is improved, further improving the inspection efficiency of the entire transmission line;

[0109] The angle control unit includes a sensor, a transmitter, and a controller. The sensor is used to sense the drone that enters the identification range; the transmitter transmits the control data of the controller to the drone to guide the drone; the controller calculates the position to be guided to the drone based on the position data of the drone sensed by the sensor, the position data of the drone, and the position of the inspection point in the inspection task;

[0110] The angle control unit guides the drone to improve the angle control of the drone over the inspection points, so as to improve the inspection accuracy and the quality of inspection data collected at each inspection point;

[0111] How the controller guides based on the data of the current position of the drone and the inspection points of the transmission line is a technical means well known to technicians in this field. Technicians in this field can refer to relevant technical manuals to learn about this technology, so it will not be described in detail in this embodiment.

[0112] The contents disclosed above are only preferred feasible embodiments of the present invention and do not limit the scope of protection of the present invention. Therefore, all equivalent technical changes made using the contents of the present invention description and drawings are included in the scope of protection of the present invention. In addition, the elements therein can be updated as technology develops.

Claims

1. A transmission line UAV intelligent inspection management platform, the inspection management platform includes a server and multiple UAVs, characterized in that: The inspection management platform also includes a task allocation module, an association module, a guidance module, and an interaction module. The task allocation module is used to allocate inspection tasks to multiple drones to achieve inspection point and inspection route allocation for each drone; The association module is used to assign multiple drones to the inspection tasks of the task assignment module to achieve the association between the inspection points and inspection routes; The guiding module guides the plurality of drones according to the data of the task assignment module and the association module; The interaction module is used to interact between multiple drones to achieve coordination between the multiple drones; The task assignment module includes a task generation unit and an assignment unit, wherein the task generation unit generates an inspection task according to the location and inspection distance of the transmission line; The allocating unit allocates the inspection tasks to a plurality of drones according to the inspection tasks of the task generating unit; A patrol point is generated according to the position of the transmission line and the patrol distance, wherein the patrol point is represented as an n-dimensional vector: ， Among them, S a is the detection point of the transmission line, a∈1,2,…,v; determine the inspection distance D between each inspection point a , inspection distance D a Calculate according to the following formula: ； In the formula, S is the inspection point a-1 And inspection point S a The straight-line distance between them; j∈a; a is the total number of inspection points; The task arrangement index In_Tasks of each inspection line is calculated according to the inspection points, wherein the task arrangement index In_Tasks is calculated according to the following formula: ； Where t is the duration of the inspection; G0 is the adjustment base of the drone's endurance, and its value is related to the drone's battery capacity and current battery status, satisfying: ； Where, λ is the inspection environment temperature compensation coefficient; γ is the UAV battery aging compensation coefficient; C N is the rated capacity of the drone battery; τ is the drone charging and discharging efficiency; C0 is the current power of the battery when the drone is cruising; i(t) is the current output of the battery during the inspection process of the drone; The task generation unit allocates inspection tasks corresponding to different inspection distances according to the order of the task scheduling index In_Tasks of each drone, and cooperates with the association module and the guidance module to guide and manage multiple drones so that the inspection tasks can be completed.

2. According to claim 1, a transmission line UAV intelligent inspection management platform is characterized in that: The association module includes an association unit and a matching unit, wherein the association unit is used to associate the task data of the task assignment module with the drone; the matching unit matches the verification data of the drone based on the association data of the association unit to achieve data synchronization; The association unit includes an associator and a data storage device, wherein the associator associates the task data of the allocation module with each of the drones to generate a task association graph, so as to bind the task data with each of the drones; The data storage device is used to store the mission data and the mission association diagram of each drone.

3. The power transmission line UAV intelligent inspection management platform according to claim 2 is characterized in that: The guiding module includes a guiding unit and an angle adjustment unit, wherein the guiding unit is used to guide the inspection positions of the plurality of drones; and the angle adjustment unit is used to adjust the guiding angle of the guiding unit; The angle adjustment unit includes a support plate, a rotating member and a lifting member, the support plate is used to support the guiding unit, the rotating member and the lifting member; the rotating member is used to rotate the lifting member and the guiding unit to achieve horizontal adjustment; the lifting member is used to adjust the pitch angle of the guiding unit.

4. The power transmission line UAV intelligent inspection management platform according to claim 3 is characterized in that: The interaction module includes an interaction unit and a status detection unit. The status detection unit is used to detect the real-time status of the drone to realize the real-time feedback of status data; the interaction unit is used to interact between multiple drones to interact the status data of the drones and the completion status of the inspection tasks; The status detection unit includes a locator and a status self-detector, wherein the locator is used to locate the current position of the drone; the status self-detector is used to self-detect the status data of the drone; wherein the status data includes the remaining battery capacity, load capacity, inspection range and current inspection point.

5. The power transmission line UAV intelligent inspection management platform according to claim 4 is characterized in that: The interaction unit includes a signal transmitter and a receiver, wherein the signal transmitter is used to send interaction instructions to the drone; and the receiver is used to receive the interaction instructions from the signal transmitter; The drone identifies the interactive command and responds to the interactive command to feed back its own status data and the completion status of the inspection task.

6. The power transmission line UAV intelligent inspection management platform according to claim 5 is characterized in that: The matching unit includes a matching manager, an ID basic library and an ID generation protocol. The matching manager is used to bind the drone to the task association graph; the ID generation protocol is built into the matching manager, and a matching authorization code is generated according to the ID generation protocol, and compared with the ID basic library. If the comparison is successful, the matching of the task data and the drone is granted.

7. The transmission line UAV intelligent inspection management platform according to claim 6 is characterized in that: The matching unit also includes a refresh program, which is used to update the completion status in the task association diagram and feed back the task status of the drone to the server in real time.

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