An unmanned power line inspection device and method based on high-throughput satellite

Abstract

The present invention discloses an unmanned line patrol device and method for an electric power system based on a high-throughput satellite, the device comprising an unmanned aerial vehicle inspection terminal, a high-throughput satellite system and a ground processing terminal; the unmanned aerial vehicle inspection terminal obtains inspection instructions by using an onboard high-throughput satellite communication terminal; according to the inspection instructions, an image information acquisition module acquires on-site image information of the electric power system; an image recognition algorithm embedded in a control processing module compares and identifies the on-site image information with preset standard image information, and when it is found that the equipment is damaged, the on-site image information is forwarded to the ground processing terminal by using the high-throughput satellite system, and the on-site image information received by the high-throughput satellite communication ground terminal is processed to obtain a fault report; it can be seen that the present invention uses high-throughput satellites to improve the information transmission speed, improve the real-time monitoring of the electric power system status, improve the comprehensive maintenance efficiency, reduce safety risks, and save enterprise maintenance costs.

Description

Technical Field

[0001] The present invention relates to the field of satellite communication and electric power technology, and in particular to an unmanned line patrol device and method for an electric power system based on a high-throughput satellite. Background Art

[0002] Since power stations are often located in remote areas, traditional network coverage is insufficient, and it is difficult to monitor and manage the facilities of the power generation part. Many power infrastructures are located in remote areas such as mountainous areas and deserts. Communication base stations and optical fibers are difficult to cover due to terrain restrictions, and communication with the outside world is difficult and costly. Since existing drones mostly rely on public networks or ad hoc networks with short communication distances, the communication distance of drones is a difficulty in realizing unmanned line inspection of power systems. At present, the line inspection status monitoring of power systems in complex environments mostly adopts manual inspections, which have difficult working conditions and high safety risks. In addition, due to human factors, there will be disadvantages of untimely discovery of power system problems, and the inspection efficiency is low. It is no longer suitable for development and safety needs in the current development environment. Since satellite communication has the characteristics of long communication distance and no need for ground facility support, satellite communication is the preferred communication method for providing information transmission under complex terrain conditions. However, due to the constraints of drone load limitations and flight control difficulties, satellite communication system terminals are difficult to perfectly integrate with unmanned line inspection systems. Summary of the invention

[0003] The problem to be solved by the present invention is to provide a power system line inspection method and device which are not restricted by infrastructure and can realize power system inspection in complex terrain environments.

[0004] To achieve the above-mentioned purpose, the first aspect of the embodiment of the present invention discloses an unmanned line inspection device for a power system based on a high-throughput satellite, the device comprising an unmanned aerial vehicle inspection terminal, a high-throughput satellite system and a ground processing terminal;

[0005] The UAV inspection terminal includes a UAV body, an onboard control processing module, an onboard high-throughput satellite communication terminal and an image information acquisition module; the UAV inspection terminal inspects the power system according to the inspection instructions received by the onboard high-throughput satellite communication terminal; the image information acquisition module is used to collect images; the onboard control processing module is used to control the UAV inspection terminal and process the collected images and data; the onboard high-throughput satellite communication terminal is used to provide data sending and receiving functions for the UAV inspection terminal; the inspection instructions include inspection tracks and inspection methods; the power system includes power generation equipment, power transmission equipment and power consumption equipment.

[0006] The ground processing terminal includes an upper-layer application system, a high-throughput satellite communication ground terminal and a data storage and processing module; the upper-layer application system is used to visualize the power system status and report faults, and send control instructions to control the UAV inspection mode according to user operations; the high-throughput satellite communication ground terminal is used to provide data transceiver functions for the ground processing terminal; the data storage and processing module is used for data storage and processing;

[0007] The high-throughput satellite system is connected to the onboard high-throughput satellite communication terminal and the high-throughput satellite communication ground terminal in a two-way satellite communication manner.

[0008] As an optional implementation, in the first aspect of the embodiment of the present invention, the on-board control processing module is embedded with an image recognition model; the image recognition model is used to perform recognition processing on the image information collected by the image information acquisition module to obtain a recognition result; the recognition result is normal, or damaged.

[0009] Optionally, the image recognition model adopts a target detection algorithm based on YOLO; the image recognition model divides the image into grids, predicts multiple boundaries for each grid, and predicts its category probability and position information, and finally uses non-maximum suppression to identify the target fault location;

[0010] Based on the preset standard image information, the image recognition model performs comparative recognition processing on the image information collected by the image information collection module to obtain a recognition result.

[0011] As an optional implementation, the onboard high-throughput satellite communication terminal is provided with an antenna pointing correction module, which calculates the directional angle deviation between the electromagnetic wave orientation and the antenna main beam based on the received carrier information; the antenna pointing correction module controls the antenna base to adjust according to the directional angle deviation, so that the onboard high-throughput satellite communication terminal is always aimed at the high-throughput satellite.

[0012] As an optional implementation, in the first aspect of the embodiment of the present invention, the onboard high-throughput satellite communication terminal adopts a CDMA system, and the modulation mode is BPSK, so that different users can communicate simultaneously on the same channel without interfering with each other; the sporadic interference problem is reduced by small spread spectrum, and the spread spectrum mode adopts direct sequence spread spectrum + frequency modulation spread spectrum hybrid spread spectrum, and the spectrum of the signal is expanded at the transmitting end through a pseudo-random sequence code, and the carrier frequency is repeatedly switched during the radio transmission process, so as to reduce the interference problem of adjacent satellites and facilitate the realization of multiple access communication;

[0013] The coding method adopts LDPC, and the communication frequency band is Ka band; it has low error floor characteristics, low complexity, high throughput, and high-speed decoding capabilities, which can help realize real-time monitoring of power status based on high-throughput satellite systems;

[0014] As an optional implementation, the onboard high-throughput satellite communication terminal is powered by the drone body, and a battery module is no longer provided in the onboard high-throughput satellite communication terminal, thereby reducing the weight of the onboard terminal.

[0015] The size of the onboard high-throughput satellite communication terminal is no more than 240*180*40mm, the peak power consumption is no more than 150W, it uses a 12V DC regulated power supply, the transmission frequency range is 28.7-20.2GHz, the receiving frequency range is 29.46-30GHz, and the maximum information transmission rate is no less than 10Mbps.

[0016] As an optional implementation, in the first aspect of the embodiment of the present invention, the minimum operating temperature of the drone inspection terminal is not higher than -40°C, the maximum operating temperature is not lower than 55°C, the weight of the whole machine is not more than 2 kilograms, and the maximum cruising range is not less than 50 kilometers.

[0017] As an optional implementation, in the first aspect of the embodiment of the present invention, the navigation mode of the UAV inspection terminal is GPS navigation and / or Beidou navigation.

[0018] As an optional implementation, in a first aspect of an embodiment of the present invention, the high-throughput satellite communication ground terminal comprises an antenna unit, a radio frequency unit, and a Ka-band switch matrix that are sequentially circuit-connected;

[0019] The antenna unit is used to send the electromagnetic signal of the radio frequency unit in a specified direction and with a preset gain, and to receive the electromagnetic signal from the high-throughput satellite communication system;

[0020] The radio frequency unit is used to convert the information to be sent into electromagnetic signals, which are then transmitted to the antenna through the feeder, and to combine the satellite signals received by the antenna and transmit them to the corresponding module for processing;

[0021] The ka-band switch matrix is ​​used to direct the radio frequency signals to different radio frequency units or filters according to the received signal bandwidth and preset rules, so as to process the multiple signals separately;

[0022] The satellite communication control unit is used to receive electromagnetic signals from the Ka-band switch matrix, process them into digital signals and transmit them to the data storage and processing module, and convert the digital signals into electromagnetic signals and send them to the Ka-band switch matrix.

[0023] As an optional implementation, in the first aspect of the embodiment of the present invention, the high-throughput satellite system is connected to the onboard high-throughput satellite communication terminal and the high-throughput satellite communication ground terminal via a satellite-to-ground link, the communication frequency band is the Ka band, and the inter-satellite link communication frequency band of the high-throughput satellite system is the Ka band.

[0024] As an optional implementation, in the first aspect of the embodiment of the present invention, the maximum data upload rate of the onboard high-throughput satellite communication terminal and the high-throughput satellite communication ground terminal is 150Mbps and the maximum data download rate is 12Mbps.

[0025] As an optional implementation, in the first aspect of the embodiment of the present invention, the drone body is provided with a laser obstacle avoidance radar to acquire surrounding environment data in real time to achieve the purpose of obstacle avoidance for the drone body.

[0026] A second aspect of an embodiment of the present invention discloses an unmanned line inspection method for a power system based on a high-throughput satellite, which is applied to the unmanned line inspection device for a power system based on a high-throughput satellite disclosed in the first aspect of an embodiment of the present invention, and the method comprises:

[0027] S1. The UAV inspection terminal uses the high-throughput satellite communication terminal on board to obtain the inspection instruction; the inspection instruction includes the inspection track and the inspection method;

[0028] S2. According to the inspection instruction, the UAV inspection terminal uses the image information acquisition module to collect on-site image information of the power system; the power system includes power generation equipment, power transmission equipment and power consumption equipment; the image information includes pictures and / or videos;

[0029] S3. The UAV inspection terminal uses the image recognition algorithm embedded in the control processing module to compare and identify the on-site image information with the preset standard image information to obtain a recognition result; the recognition result is normal, or damaged;

[0030] If the recognition result is normal, execute step S2;

[0031] If the identification result is damaged, execute step S4;

[0032] S4. The UAV inspection terminal uses the high-throughput satellite communication terminal on board to send the on-site image information to the high-throughput satellite system;

[0033] S5. The high-throughput satellite system forwards the on-site image information to a high-throughput satellite communication ground terminal;

[0034] S6. The ground processing terminal processes the on-site image information received by the high-throughput satellite communication ground terminal to obtain a fault report.

[0035] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0036] The present invention discloses an unmanned line inspection method and device for a power system based on a high-throughput satellite, which is applied in the inspection of power grid equipment. When the power system is inspected, there is no need to manually check each device one by one. When the unmanned aerial vehicle inspection terminal is working, the image and video data of the power equipment can be collected according to the control instruction, and the damaged equipment data can be transmitted to the ground data processing terminal through the satellite communication terminal and the high-throughput satellite system according to the recognition algorithm. After the data is processed and analyzed, it is sent to the upper application and visualized. Through actual testing, using the technical solution provided by the present invention, the entire information transmission process is completed within 0.3s, which greatly improves the real-time monitoring of the power system status. It can be seen that the unmanned line inspection device and method for a power system based on a high-throughput satellite provided by the present invention uses a high-throughput satellite-based unmanned aerial vehicle for inspection, which can break through the restrictions on the ground communication system, adapt to the power system line inspection in complex terrain and long-distance areas, and has the characteristics of high efficiency and timely fault reporting. The inspection route and inspection cycle can be customized according to demand. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 A schematic diagram of the structure of an unmanned line inspection device for a power system based on a high-throughput satellite disclosed in an embodiment of the present invention;

[0038] Figure 2 A schematic diagram of the structure of a ground data processing terminal disclosed in an embodiment of the present invention;

[0039] Figure 3 A schematic diagram of the structure of another ground data processing terminal disclosed in an embodiment of the present invention;

[0040] Figure 4 The present invention discloses a flow chart of an unmanned power system patrol method based on a high-throughput satellite.

[0041] Reference numerals and descriptions:

[0042] 100-UAV inspection terminal, 200-high-throughput satellite system, 300-ground processing terminal, 400-power system, 101-UAV body, 102-onboard high-throughput satellite communication terminal, 301-upper-layer application system, 302-high-throughput satellite communication ground terminal, 303-data storage and processing module, 3021-antenna unit, 3022-RF unit, 3023-ka-band switch matrix, 3024-satellite communication control unit. DETAILED DESCRIPTION

[0043] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0044] Embodiment 1

[0045] See also Figure 1 . Figure 1 A schematic diagram of the structure of an unmanned line inspection device for a power system based on a high-throughput satellite disclosed in an embodiment of the present invention;

[0046] An unmanned power system line inspection device based on a high-throughput satellite disclosed in an embodiment of the present invention includes an unmanned aerial vehicle inspection terminal 100, a high-throughput satellite system 200 and a ground processing terminal 300;

[0047] The drone inspection terminal 100 includes a drone body 101, an onboard control processing module (not shown in the figure), an onboard high-throughput satellite communication terminal 102 and an image information acquisition module (not shown in the figure); the drone inspection terminal 100 inspects the power system 400 according to the inspection instructions received by the onboard high-throughput satellite communication terminal 102; the power system 400 includes power generation equipment, power consumption equipment and power transmission equipment, etc.

[0048] The above-mentioned image information acquisition module is used to acquire images; the above-mentioned on-board control processing module is used to control the UAV inspection terminal 100 and process the acquired images and data; the on-board high-throughput satellite communication terminal 102 is used to provide data sending and receiving functions for the UAV inspection terminal 100; the above-mentioned inspection instructions include inspection tracks and inspection methods; the above-mentioned power system 400 includes power generation equipment, power transmission equipment and power consumption equipment.

[0049] The ground processing terminal 300 includes an upper application system 301, a high-throughput satellite communication ground terminal 302 and a data storage and processing module 303; the upper application system 301 is used to visualize the power system status and report faults, and send control instructions to control the UAV inspection mode according to user operations; the high-throughput satellite communication ground terminal 302 is used to provide data transceiver functions for the ground processing terminal 300; the data storage and processing module 303 is used for data storage and processing;

[0050] The high-throughput satellite system 200 is connected to the onboard high-throughput satellite communication terminal 102 and the high-throughput satellite communication ground terminal 302 via two-way satellite communication.

[0051] It can be seen that when the unmanned line inspection device for the power system based on high-throughput satellite described in this embodiment is implemented, the ground processing terminal 300 generates an inspection task and uses the high-throughput satellite system 200 to achieve long-distance communication with the drone inspection terminal 100. The drone inspection terminal 100 uses the on-board control processing module, the on-board high-throughput satellite communication terminal 102 and the image information acquisition module to achieve real-time acquisition and processing of the physical image of the power system 400. When a problem occurs, the on-site picture is sent to the ground processing terminal 300, thereby realizing unmanned inspection of the power system in a complex terrain environment.

[0052] In another optional embodiment, the on-board control processing module is embedded with an image recognition model; the image recognition model is used to perform recognition processing on the image information collected by the image information acquisition module to obtain a recognition result; the recognition result is normal, or damaged.

[0053] Optionally, the image recognition model adopts a YOLO target detection algorithm; the image recognition model divides the image into grids, predicts multiple boundaries for each grid, and predicts its category probability and location information, and finally uses non-maximum suppression to identify the target fault location;

[0054] Based on the preset standard image information, the image recognition model performs comparative recognition processing on the image information collected by the image information collection module to obtain a recognition result.

[0055] It can be seen that the unmanned line inspection device for the power system based on the high-throughput satellite described in this embodiment uses the image recognition model embedded in the on-board control processing module to compare and identify the collected on-site image information with the preset standard image information to obtain a recognition result. When the recognition result is a damaged state, the damaged state is reported to the ground processing terminal 300 via the high-throughput satellite system 200.

[0056] In another optional embodiment, the onboard high-throughput satellite communication terminal 102 adopts a CDMA system and a BPSK modulation mode, so that different users can communicate simultaneously on the same channel without interfering with each other; sporadic interference problems are reduced by small spread spectrum, and the spread spectrum method adopts a direct sequence spread spectrum + frequency modulation spread spectrum hybrid spread spectrum, and the signal spectrum is expanded at the transmitting end through a pseudo-random sequence code, and the carrier frequency is repeatedly switched during the radio transmission process, thereby reducing the problem of interference from adjacent satellites and facilitating multiple access communication; the coding method adopts LDPC, and the communication frequency band is the Ka band, which has a lower error floor characteristic, lower complexity, high throughput, and high-speed decoding capability, which can help to realize real-time monitoring of the power status based on a high-throughput satellite system.

[0057] It can be seen that the implementation of the high-throughput satellite-based unmanned power system line patrol device described in this embodiment can effectively reduce sporadic interference problems, provide high throughput, and improve the robustness of the high-throughput satellite-based unmanned power system line patrol device.

[0058] In another optional embodiment, the onboard high-throughput satellite communication terminal 102 is provided with an antenna pointing correction module (not shown in the figure), which calculates the deviation of the electromagnetic wave orientation from the pointing angle of the antenna main beam according to the received carrier information; the antenna pointing correction module controls the antenna base to adjust according to the pointing angle deviation, so that the high-throughput satellite antenna of the onboard high-throughput satellite communication terminal 102 is always aligned with the high-throughput satellite;

[0059] It can be seen that the implementation of the high-throughput satellite-based unmanned power system patrol device described in this embodiment uses an antenna pointing correction module to achieve automatic satellite tracking, which can achieve fast and automatic pointing and tracking of satellites and establish a two-way communication link with a high-throughput satellite system.

[0060] In another optional embodiment, the onboard high-throughput satellite communication terminal 102 is connected to the drone body 101 by bolts.

[0061] In another optional embodiment, the onboard high-throughput satellite communication terminal 102 is not provided with a battery module, and is powered by a drone power supply, thereby reducing the weight of the onboard terminal;

[0062] In another optional embodiment, the above-mentioned onboard high-throughput satellite communication terminal 102 adopts a patch heat dissipation method, and the patch size is 40mm*30mm*10mm, which is respectively attached to the front and back sides of the PCB board of the onboard high-throughput satellite communication terminal 102; compared with the water-cooling and air-cooling methods, the patch heat dissipation method has low power consumption and light weight, thereby achieving the purpose of reducing power consumption and reducing weight.

[0063] In another optional embodiment, the above-mentioned onboard high-throughput satellite communication terminal 102 is provided with a power consumption detection module. When the power consumption detection module detects that the overall power consumption of the terminal is high, for example, the power consumption increases due to a large amount of data that needs to be processed and sent, the onboard control processing module reduces the resolution of some images and videos after processing, thereby achieving the purpose of reducing power consumption; the power consumption detection module controls the peak power consumption of the onboard high-throughput satellite communication terminal 102 to be less than 150W.

[0064] In another optional embodiment, the high-throughput satellite antenna is an integrated phased array antenna, which has 16 antenna subunits, among which the microstrip antenna adopts a circular patch antenna to achieve the purpose of reducing size and reducing cost; a DSP chip is used to digitally control each antenna subunit to reduce the size of the device, and the size of the phased array antenna used is less than 40mm*40mm*4mm, and the size of the terminal PCB board is approximately 180mm*80mm*4mm; the transmitting frequency range is 28.7-20.2GHz, the receiving frequency range is 29.46-30GHz, and the maximum information transmission rate is not less than 10Mbps.

[0065] Through the above miniaturization process, the size of the onboard high-throughput satellite communication terminal 102 is no more than 240mm*180mm*40mm, and the peak power consumption is no more than 150W.

[0066] In another optional embodiment, the minimum operating temperature of the above-mentioned drone inspection terminal 100 is not higher than -40°C, the maximum operating temperature is not lower than 55°C, the weight of the whole machine is not more than 2 kilograms, and the maximum cruising range is not less than 50 kilometers, so as to meet the needs of extending the working time under complex environmental conditions.

[0067] In another optional embodiment, the navigation mode of the above-mentioned drone inspection terminal 100 is GPS navigation and / or Beidou navigation.

[0068] Optionally, the above-mentioned unmanned aerial vehicle inspection terminal 100 adopts a combined navigation method of GPS and Beidou to prevent the GPS navigation system or the Beidou navigation system from being unable to perform positioning under certain conditions, thereby increasing the cruising reliability of the unmanned aerial vehicle inspection terminal 100.

[0069] It can be seen that the unmanned line patrol device for the power system based on high-throughput satellite described in this embodiment can quickly capture satellites; through miniaturization processing, it achieves the goals of high integration, light weight and low energy consumption, and realizes the installation of an onboard high-throughput satellite communication terminal on the unmanned aerial vehicle inspection terminal, thereby expanding the inspection range of the unmanned line patrol device.

[0070] In another optional embodiment, the data storage and processing module 303 processes the received data, uses efficient data processing algorithms and technologies to clean and integrate the data, has storage and processing capabilities, provides power system status data to upper-level applications, realizes visualization of the entire power grid, extracts valuable information and indicators, diagnoses power system faults, and provides support for power resource management and decision-making. The storage capacity of the data storage and processing module 303 should be configured according to actual needs. The data storage and processing module 303 needs to store a large number of photos and videos. For example, the data generated by 1,000 drones patrolling for 1 hour every day in 1 month is about 200TB, and storing 400 power system data for two months requires at least 400TB.

[0071] In yet another alternative embodiment, see Figure 2 , Figure 2 FIG. 1 is a schematic diagram of a high-throughput satellite communication ground terminal structure disclosed in an embodiment of the present invention. Figure 2 As shown, the high-throughput satellite communication ground terminal 302 includes an antenna unit 3021, a radio frequency unit 3022, a Ka-band switch matrix 3023, and a satellite communication control unit 3024 which are sequentially connected in circuit.

[0072] The antenna unit 3021 is used to send the electromagnetic signal of the radio frequency unit 3022 in a specified direction and preset gain, and receive electromagnetic signals from the high-throughput satellite communication system. The radio frequency unit 3022 is used to convert the information to be sent into an electromagnetic signal, and then transmit it to the antenna through the feeder, and merge the satellite signals received by the antenna and transmit them to the corresponding module for processing. The ka-band switch matrix 3023 is used to direct the radio frequency signal to different radio frequency units 3022 or filters according to the received signal bandwidth and preset rules, and process multiple signals separately. The satellite communication control unit 3024 is used to receive the electromagnetic signal from the ka-band switch matrix 3023, process it into a digital signal and transmit it to the data storage and processing module 303, and convert the digital signal into an electromagnetic signal and send it to the ka-band switch matrix 3023.

[0073] In yet another alternative embodiment, see Figure 3 , Figure 3 FIG. 2 is a schematic diagram of another high-throughput satellite communication ground terminal structure disclosed in an embodiment of the present invention. Figure 3 As shown, the above-mentioned radio frequency unit 3022 includes a first beam radio frequency unit and a second beam radio frequency unit;

[0074] The satellite communication control unit 3024 includes a network management subsystem, a first beam control unit, a second beam control unit and a service resource control unit.

[0075] In another optional embodiment, the graphics card of the ground data processing terminal uses 20 NVID IA RTXA6000s to improve the terminal's processing capabilities for images and videos, and render the power system 400 status diagram in real time. Its maximum power consumption is approximately 20*300W, and the processor used is five dual-core Intel 8280s with a power consumption of approximately 10*200W. To increase the heat dissipation effect, the ground data processing terminal has a water-cooled and air-cooled hybrid heat dissipation system to effectively reduce the temperature inside the terminal when it is running.

[0076] The above-mentioned ground data processing terminal consumes no more than 15KW of power, has a storage capacity of 500TB, a volume of 200cm*100cm*250cm, and weighs approximately 150 kg. The operating system of the processing terminal is Ubuntu. The above-mentioned terminal has high processing power and storage capacity, and sends the processed information to the upper-layer application to facilitate the monitoring of the power system status; or receives instructions from the upper-layer application, encrypts and modulates them, and sends them to the high-throughput satellite, and finally sends them to the UAV inspection terminal 100 terminal to control its inspection mode. The upper-layer application can visualize the power grid status based on the data analyzed by the terminal, monitor various parts of the power system, and control the UAV inspection terminal 100 to perform specified operations.

[0077] In another optional embodiment, the high-throughput satellite system 200 is connected to the onboard high-throughput satellite communication terminal 102 and the high-throughput satellite communication ground terminal 302 via a satellite-to-ground link, the communication frequency band is the Ka band, and the inter-satellite link communication frequency band of the high-throughput satellite system 200 is the Ka band.

[0078] In yet another optional embodiment, the maximum data upload rate of the onboard high-throughput satellite communication terminal 102 and the high-throughput satellite communication ground terminal 302 is 150 Mbps and the maximum data download rate is 12 Mbps.

[0079] It can be seen that in the unmanned line inspection device of the power system based on high-throughput satellite described in this embodiment, the unmanned aerial vehicle inspection terminal 100 sends the inspection data to the satellite communication system through the satellite-to-ground link, and transmits it to the ground data processing terminal through satellite forwarding. The high-throughput satellite communication system has high-speed and stable data transmission capabilities, and the service area can cover remote areas where power facilities are located. Through satellite system transmission, the power system data can be quickly transmitted to the ground data processing terminal, realizing low-cost, efficient and real-time status monitoring of the power system.

[0080] In another optional embodiment, a plurality of laser obstacle avoidance radars are arranged in the six directions of front, back, left, right, up and down in the above-mentioned drone body 101, which are used to acquire surrounding environment data in real time and judge the obstacle conditions around the drone body 101; according to the detected obstruction conditions around the drone body 101, the drone body 101 is controlled to select a space with fewer surrounding obstructions to conduct power system 400 inspections, thereby reducing the poor communication quality caused by obstructions.

[0081] Embodiment 2

[0082] See also Figure 4 , Figure 4 The following is a flow chart of an unmanned power line inspection method based on a high-throughput satellite disclosed in an embodiment of the present invention. Figure 4 As shown, the method may include:

[0083] S1. The unmanned aerial vehicle inspection terminal 100 uses the onboard high-throughput satellite communication terminal 102 to obtain an inspection instruction; the inspection instruction includes an inspection track and an inspection method;

[0084] S2. According to the inspection instruction, the drone inspection terminal 100 uses the image information acquisition module to collect on-site image information of the power system 400; the power system 400 includes power generation equipment, power transmission equipment and power consumption equipment; the image information includes pictures and / or videos;

[0085] S3. The drone inspection terminal 100 uses the image recognition algorithm embedded in the control processing module to compare and identify the on-site image information with the preset standard image information to obtain a recognition result; the recognition result is normal, or damaged;

[0086] If the recognition result is normal, execute step S2;

[0087] If the identification result is damaged, execute step S4;

[0088] S4, the UAV inspection terminal 100 uses the onboard high-throughput satellite communication terminal 102 to send the on-site image information to the high-throughput satellite system 200;

[0089] S5. The high-throughput satellite system 200 forwards the on-site image information to the high-throughput satellite communication ground terminal 302;

[0090] S6. The ground processing terminal 300 processes the on-site image information received by the high-throughput satellite communication ground terminal 302 to obtain a fault report.

[0091] It can be seen that in the unmanned line inspection method of the power system based on high-throughput satellite described in this embodiment, the unmanned aerial vehicle inspection terminal 100 collects on-site image information, identifies the on-site image information and the standard image information through an image recognition algorithm, and obtains a recognition result; once the recognition result is detected to be abnormal, the high-throughput satellite system 200 is used to transmit the on-site image information to the ground data processing terminal, which can monitor the operating status of the equipment in real time. By processing the data, the fault location and related information can be discovered and reported in time for maintenance and processing, so as to ensure the normal operation of the power facilities.

[0092] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "mode", "specific mode", or "some modes" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or mode are included in at least one embodiment or mode of the embodiment of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or mode. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or modes in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or modes described in this specification and the features of the different embodiments or modes, without contradiction.

[0093] Finally, it should be noted that the unmanned line inspection device and method for an electric power system based on a high-throughput satellite disclosed in the embodiment of the present invention discloses only a preferred embodiment of the present invention, which is only used to illustrate the technical solution of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments can still be modified, or some of the technical features therein can be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. An unmanned power line inspection device based on high-throughput satellite, characterized in that: The device comprises an unmanned aerial vehicle inspection terminal (100), a high-throughput satellite system (200) and a ground processing terminal (300); The unmanned aerial vehicle inspection terminal (100) comprises an unmanned aerial vehicle body (101), an onboard control processing module, an onboard high-throughput satellite communication terminal (102), and an image information acquisition module; the unmanned aerial vehicle inspection terminal (100) inspects the power system (400) according to an inspection instruction received by the onboard high-throughput satellite communication terminal (102); the image information acquisition module is used to acquire images; the onboard control processing module is used to control the unmanned aerial vehicle inspection terminal (100) and process the acquired images and data; the onboard high-throughput satellite communication terminal (102) is used to provide the unmanned aerial vehicle inspection terminal (100) with a data transceiver function; The ground processing terminal (300) comprises an upper layer application system (301), a high-throughput satellite communication ground terminal (302) and a data storage and processing module (303); the upper layer application system (301) is used to visualize the power system status and report faults, and to send control instructions to control the inspection mode of the unmanned aerial vehicle according to user operations; the high-throughput satellite communication ground terminal (302) is used to provide the ground processing terminal (300) with a data transceiver function; the data storage and processing module (303) is used for data storage and processing; The high-throughput satellite system (200) is connected to the onboard high-throughput satellite communication terminal (102) and the high-throughput satellite communication ground terminal (302) in a two-way satellite communication manner; The onboard high-throughput satellite communication terminal (102) is miniaturized, so that the size of the onboard high-throughput satellite communication terminal (102) is no more than 240mm*180mm*40mm, the peak power consumption is no more than 150W, the weight of the unmanned aerial vehicle inspection terminal (100) is no more than 2 kilograms, and the maximum cruising range is no less than 50 kilometers; the miniaturized design includes: the onboard high-throughput satellite communication terminal (102) adopts a patch heat dissipation method, which is respectively attached to the front and back sides of the PCB board of the onboard high-throughput satellite communication terminal 102; the onboard high-throughput satellite communication terminal (102) is provided with a power consumption detection module, and when the power consumption detection module detects that the overall power consumption of the terminal is greater than 150W, the onboard control processing module reduces the processing of pictures and videos The resolution is improved to reduce power consumption; the phased array antenna of the onboard high-throughput satellite communication terminal (102) has 16 antenna subunits, wherein the microstrip antenna adopts a circular patch antenna to reduce size and cost; a DSP chip is used to digitally control each antenna subunit to reduce the size of the device; the size of the phased array antenna is less than 40mm*40mm*4mm, and the size of the terminal PCB board is 180mm*80mm*4mm; the transmission frequency range is 28.7-20.2GHz, the receiving frequency range is 29.46-30GHz, and the maximum information transmission rate is not less than 10Mbps; the onboard high-throughput satellite communication terminal (102) is powered by the drone body (101); The on-board control processing module is embedded with an image recognition model; the image recognition model is used to perform recognition processing on the image information collected by the image information collection module to obtain a recognition result; The unmanned aerial vehicle inspection terminal (100) uses an image information acquisition module to collect on-site image information of the power system (400); the image information includes pictures and / or videos; When arriving at the inspection location, the unmanned aerial vehicle inspection terminal (100) uses the image recognition model embedded in the control processing module to compare and identify the on-site image information with the preset standard image information to obtain an identification result; the identification result is normal, or damaged; If the identification result is normal, continue to perform inspection according to the inspection instruction; If the identification result is damaged, the unmanned aerial vehicle inspection terminal (100) uses the onboard high-throughput satellite communication terminal (102) to send the on-site image information to the ground processing terminal (300).

2. The unmanned line inspection device for a power system based on a high-throughput satellite according to claim 1 is characterized in that: The onboard high-throughput satellite communication terminal (102) is provided with an antenna pointing correction module, which calculates the deviation of the electromagnetic wave orientation and the pointing angle of the antenna main beam according to the received carrier information; the antenna pointing correction module controls the antenna base to adjust according to the pointing angle deviation, so that the onboard high-throughput satellite communication terminal (102) is always aligned with the high-throughput satellite; the onboard high-throughput satellite communication terminal (102) adopts a CDMA system, a modulation mode of BPSK, and a coding mode of low-density parity check code.

3. The unmanned line inspection device for a power system based on a high-throughput satellite according to claim 1 is characterized in that: The high-throughput satellite communication ground terminal (302) comprises an antenna unit (3021), a radio frequency unit (3022), a Ka-band switch matrix (3023) and a satellite communication control unit (3024) which are sequentially connected in circuits; The antenna unit (3021) is used to send the electromagnetic signal of the radio frequency unit (3022) in a specified direction and at a preset gain, and to receive the electromagnetic signal from the high-throughput satellite communication system; The radio frequency unit (3022) is used to convert the information to be sent into an electromagnetic signal, which is then transmitted to the antenna through a feeder line, and to combine the satellite signals received by the antenna and transmit them to the corresponding module for processing; The ka-band switch matrix (3023) is used to direct the radio frequency signals to different radio frequency units (3022) or filters according to the received signal bandwidth and preset rules, so as to process the multiple signals separately; The satellite communication control unit (3024) is used to receive electromagnetic signals from the Ka-band switch matrix (3023), process them into digital signals and transmit them to the data storage and processing module (303), and convert the digital signals into electromagnetic signals and send them to the Ka-band switch matrix (3023).

4. The unmanned line inspection device for a power system based on a high-throughput satellite according to claim 1 is characterized in that: The minimum operating temperature of the drone inspection terminal (100) is not higher than -40°C, and the maximum operating temperature is not lower than 55°C.

5. The unmanned line inspection device for electric power system based on high-throughput satellite according to claim 1 is characterized in that: The navigation mode of the unmanned aerial vehicle inspection terminal (100) is GPS navigation and / or Beidou navigation.

6. The unmanned line inspection device for a power system based on a high-throughput satellite according to claim 1 is characterized in that: The high-throughput satellite system (200) is connected to the onboard high-throughput satellite communication terminal (102) and the high-throughput satellite communication ground terminal (302) via a satellite-to-ground link, the communication frequency band is the Ka band, and the inter-satellite link communication frequency band of the high-throughput satellite system (200) is the Ka band.

7. The unmanned power system patrol device based on high-throughput satellite according to claim 1 is characterized in that: The maximum data upload rate of the onboard high-throughput satellite communication terminal (102) and the maximum data download rate of the high-throughput satellite communication ground terminal (302) is 150 Mbps and 12 Mbps, respectively.

8. The unmanned line inspection device for electric power system based on high-throughput satellite according to claim 1 is characterized in that: The drone body (101) is provided with a laser obstacle avoidance radar.

9. An unmanned power line inspection method based on high-throughput satellite, characterized in that: The method applied to the unmanned line patrol device of a power system based on a high-throughput satellite as claimed in any one of claims 1 to 8 comprises: S1. The unmanned aerial vehicle inspection terminal (100) uses the onboard high-throughput satellite communication terminal (102) to obtain an inspection instruction; the inspection instruction includes an inspection track and an inspection method; S2. According to the inspection instruction, the unmanned aerial vehicle inspection terminal (100) uses an image information acquisition module to collect on-site image information of the power system (400); the image information includes pictures and / or videos; S3, the unmanned aerial vehicle inspection terminal (100) uses the image recognition model embedded in the control processing module to compare and recognize the on-site image information with the preset standard image information to obtain a recognition result; the recognition result is normal, or damaged; If the recognition result is normal, execute step S2; If the identification result is damaged, execute step S4; S4, the unmanned aerial vehicle inspection terminal (100) uses the onboard high-throughput satellite communication terminal (102) to send the on-site image information to the high-throughput satellite system (200); S5. The high-throughput satellite system (200) forwards the on-site image information to a high-throughput satellite communication ground terminal (302); S6. The ground processing terminal (300) processes the on-site image information received by the high-throughput satellite communication ground terminal (302) to obtain a fault report.

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