Unmanned Aerial Vehicle System for Power Line Inspection Based on Visual Obstacle Avoidance Technology

Abstract

The present invention relates to a transmission line inspection UAV system based on visual obstacle avoidance technology applied in the field of regulation systems, comprising an inspection and monitoring platform and a UAV coordinated with the inspection and monitoring platform. A camera group is fixedly installed at the lower end of the UAV, and an environmental sensing component, a laser probe, a moisture absorption series block, an environmental sensing unit and a laser assisted obstacle avoidance unit are coordinated. On the one hand, in special environments, the reliability of environmental data collection can be promoted through the dual data coordination of visual obstacle avoidance by image acquisition and assisted obstacle avoidance by laser sensing, and the accuracy and reliability of obstacle avoidance of the UAV in special weather conditions can be improved, and the safety of the UAV in the inspection process can be promoted. On the other hand, in normal weather conditions, a single visual obstacle avoidance function of image acquisition can be adopted, which can promote the adaptability of the UAV to the environment during the inspection process, effectively reduce the energy loss of the UAV, extend the inspection time of the UAV, and promote the inspection efficiency.

Description

Technical Field

[0001] The present invention relates to a transmission line inspection UAV system, and in particular to a transmission line inspection UAV system based on visual obstacle avoidance technology and applied in the field of regulation systems. Background Art

[0002] The advanced nature of drone technology ensures its wide applicability in power inspections. Modern drones integrate a variety of high technologies, with capabilities such as automatic tracking and identification, intelligent obstacle avoidance, aerial photography sensors, and wireless communication remote control. Compared with traditional inspections, drone inspections have significant advantages. Traditional manual inspection methods are labor-intensive, and some inspection lines have harsh natural environments, posing a threat to the personal safety of inspectors, and there is also the phenomenon of missing defects. Drone inspections not only greatly improve efficiency, but can also effectively deal with uncontrollable factors such as complex terrain and extreme weather, greatly expanding the scope of inspections and improving efficiency.

[0003] The application of drones in high-voltage power inspections has greatly improved work efficiency, but how to prevent drones from colliding with power equipment is a key technical challenge. The drone obstacle avoidance algorithm based on binocular stereo vision is an effective means to solve this problem. This algorithm mainly completes the accurate perception of obstacle depth information under the long-baseline binocular vision system, providing an action basis for the flight control system. Specifically, the binocular vision system design includes stereo calibration of a large calibration plate and a long-baseline binocular vision system. The visual ranging experiment is carried out on the preset targets within a long range using the visual system, verifying the correctness of the calibration results and the reliability of long-distance visual ranging.

[0004] However, when the UAV system uses visual obstacle avoidance technology to solve the collision problem between the UAV and power equipment, since the visual obstacle avoidance system relies on the environmental images captured by the camera, in the complex and changeable outdoor environment, severe weather conditions such as rain, snow and fog may seriously affect the image quality, thereby reducing the accuracy and reliability of the obstacle avoidance system. Summary of the invention

[0005] In view of the above-mentioned prior art, the technical problem to be solved by the present invention is how to promote the environmental adaptability of the visual obstacle avoidance system of the UAV system when inspecting power transmission lines, so as to ensure the accuracy and reliability of the obstacle avoidance system.

[0006] In order to solve the above problems, the present invention provides a transmission line inspection drone system based on visual obstacle avoidance technology, including an inspection and monitoring platform and a drone coordinated with the inspection and monitoring platform, a camera group is fixedly installed at the lower end of the drone, four aircraft are installed at the outer end of the drone, a laser probe is fixedly installed at the upper end of the aircraft, an environmental sensing component is fixedly installed at the upper end of the drone, and a moisture absorption series block is arranged in the environmental sensing component;

[0007] The drone is equipped with a patrol control processing unit, the input end of which is connected to a patrol data input unit, a patrol route setting unit, an image acquisition unit, an environment sensing unit and a laser data acquisition unit, and the output end of which is connected to a flight control unit, a visual obstacle avoidance unit, a laser-assisted obstacle avoidance unit and a patrol data transmission unit;

[0008] The input ends of the patrol data input unit and the patrol route setting unit are connected to the patrol monitoring platform signal through the remote signal transmitter, the input end of the image acquisition unit is connected to the camera group signal, the input end of the environment sensing unit is connected to the moisture absorption series block signal, and the input end of the laser data acquisition unit is connected to the laser probe signal;

[0009] The output end of the flight control unit is connected to the aircraft signal, the output ends of the visual obstacle avoidance unit and the laser-assisted obstacle avoidance unit are both connected to the flight control unit signal, the output end of the laser-assisted obstacle avoidance unit is also connected to the laser probe signal, and the output end of the patrol data transmission unit is connected to the patrol monitoring platform signal through a remote signal transmitter.

[0010] In the above-mentioned transmission line inspection UAV system based on visual obstacle avoidance technology, the dual data coordination of visual obstacle avoidance through image acquisition and auxiliary obstacle avoidance through laser sensing can be used in special environments to promote the reliability of environmental data collection during the UAV inspection process and improve the accuracy and reliability of obstacle avoidance of the UAV in special weather conditions.

[0011] As a supplement to the present application, the environmental sensing component includes a sensing base fixedly installed on the upper end of the patrol monitoring platform, the upper end of the sensing base is fixedly connected to a sensing support sleeve, the upper end of the sensing support sleeve is fixedly connected to a sensing shell, the inner wall of the sensing shell is fixedly connected to a hygroscopic filling sleeve, and the outer end of the sensing shell is provided with a plurality of hygroscopic holes that cooperate with the hygroscopic filling sleeve.

[0012] As a supplement to the present application, a plurality of hygroscopic series blocks evenly distributed along the circumferential direction are embedded in the inner wall of the hygroscopic filler sleeve, and a series guide bar is fixedly connected between two adjacent hygroscopic series blocks, and the series guide bar does not contact the hygroscopic filler sleeve.

[0013] As a supplement to the present application, the output end of the patrol control processing unit is also connected to the patrol warning unit, and the output end of the patrol warning unit is connected to the patrol monitoring platform signal through a remote signal transmitter.

[0014] As a further improvement of the present application, a return material assembly that cooperates with the hygroscopic filling sleeve is arranged in the sensing support sleeve and the sensing shell, and the return material assembly includes a return material rod fixedly embedded in the sensing support sleeve, the upper end of the return material rod extends into the sensing shell, and is fixedly connected to two electric heating plates respectively located on the upper and lower sides of the hygroscopic series block, the outer end of the electric heating plate is fixedly connected to a heat conductive insert, and the outer end of the heat conductive insert is embedded in the hygroscopic filling sleeve, the output end of the inspection and control processing unit is also connected to a hygroscopic regeneration control unit, and the output end of the hygroscopic regeneration control unit is connected to the electric heating plate signal.

[0015] As a further improvement of the present application, the outer ends of the induction base and the return rod are fixedly adjusted with an interlayer sleeve, and the inner wall of the induction support sleeve is coated with a heat insulation coating.

[0016] As a further improvement of the present application, the hygroscopic filler sleeve and the hygroscopic series block are both made of hygroscopic silica gel, and the hygroscopic series block is also filled with conductor particles. A temperature sensing probe located between two electric heating plates is fixedly installed at the outer end of the return rod, and the input end of the inspection and control processing unit is also connected to a regeneration temperature collection unit, and the input end of the regeneration temperature collection unit is connected to the temperature sensing probe signal.

[0017] As a further improvement of the present application, a photoresistor sensor is fixedly installed on the upper end of the environmental sensing component, the input end of the patrol and control processing unit is also connected to a light intensity collection unit, the input end of the light intensity collection unit is connected to the photoresistor sensor signal, the output end of the patrol and control processing unit is also connected to a fill light control unit, and the output end of the fill light control unit is connected to the fill light signal arranged at the front end of the camera group.

[0018] As another improvement of the present application, the input end of the patrol and control processing unit is also connected to an external magnetic field acquisition unit, the input end of the external magnetic field acquisition unit is connected to a magnetic induction sensor installed at the front end of the patrol and monitoring platform, and the output end of the patrol and control processing unit is also connected to an emergency guidance unit, and the output end of the emergency guidance unit is connected to the flight control unit signal.

[0019] In summary, through the cooperation of environmental sensing components, laser probes, moisture-absorbing series blocks, environmental sensing units and laser-assisted obstacle avoidance units, the inspection environment of the UAV can be effectively sensed and monitored, and the UAV can be assisted in obstacle avoidance in a timely manner according to the actual environmental changes. On the one hand, in special environments, the dual data cooperation of visual obstacle avoidance by image acquisition and assisted obstacle avoidance by laser sensing can be used to promote the reliability of environmental data collection during the UAV inspection process, improve the accuracy and reliability of obstacle avoidance of the UAV in special weather, and promote the safety of the UAV inspection process. On the other hand, in normal weather, a single image acquisition visual obstacle avoidance function can be used to promote the adaptability of the UAV to the environment during the inspection process, while effectively reducing the energy loss of the UAV, extending the inspection time of the UAV, and promoting the inspection efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 Axonometric diagram of the power transmission line inspection drone system during inspection application according to the first and second embodiments of the present application;

[0021] Figure 2 This is a control logic diagram of the transmission line inspection drone system of the first and second implementation modes of this application;

[0022] Figure 3 This is an axonometric diagram of the inspection and monitoring platform of the first and second implementation modes of this application;

[0023] Figure 4 For the first and second embodiments of this application Figure 3 A partial enlarged view of the middle part;

[0024] Figure 5 For the first and second embodiments of this application Figure 3 A partial enlarged view of point B in the middle;

[0025] Figure 6 Exploded diagram of the environment sensing component of the first and second embodiments of the present application;

[0026] Figure 7 It is a top view cross-sectional view of the environment sensing component of the first and second embodiments of the present application;

[0027] Figure 8 Axonometric cross-sectional views of the environment sensing components of the first and second embodiments of the present application;

[0028] Fig. 9 This is a front cross-sectional view of the environmental sensing component of the first and second embodiments of the present application.

[0029] Description of the numbers in the figure:

[0030] 1 patrol monitoring platform, 2 drone, 3 camera group, 4 aircraft, 5 environmental sensing component, 51 sensing base, 52 sensing support sleeve, 53 sensing shell, 54 hygroscopic filler sleeve, 55 hygroscopic hole, 6 laser probe, 7 hygroscopic series block, 71 series guide bar, 8 return material component, 81 return material rod, 82 electric heating plate, 83 thermal conductive insert. DETAILED DESCRIPTION

[0031] Two implementation modes of the present application are described in detail below with reference to the accompanying drawings.

[0032] The first implementation method:

[0033] Figure 1 - Fig. 9The invention shows a transmission line inspection drone system based on visual obstacle avoidance technology, which includes an inspection and monitoring platform 1 and a drone 2 matched with the inspection and monitoring platform 1. A camera group 3 is fixedly installed at the lower end of the drone 2, four aircrafts 4 are installed at the outer end of the drone 2, a laser probe 6 is fixedly installed at the upper end of the aircraft 4, an environmental sensing component 5 is fixedly installed at the upper end of the drone 2, and a moisture absorption series block 7 is arranged in the environmental sensing component 5;

[0034] The drone 2 is equipped with a patrol control processing unit, the input end of which is connected to a patrol data input unit, a patrol route setting unit, an image acquisition unit, an environment sensing unit and a laser data acquisition unit, and the output end of which is connected to a flight control unit, a visual obstacle avoidance unit, a laser-assisted obstacle avoidance unit and a patrol data transmission unit;

[0035] The input ends of the patrol data input unit and the patrol route setting unit are both connected to the patrol monitoring platform 1 through a remote signal transmitter, the input end of the image acquisition unit is connected to the camera group 3, the input end of the environment sensing unit is connected to the moisture absorption series block 7, and the input end of the laser data acquisition unit is connected to the laser probe 6;

[0036] The output end of the flight control unit is connected to the aircraft 4 signal, the output ends of the visual obstacle avoidance unit and the laser-assisted obstacle avoidance unit are both connected to the flight control unit signal, and the command priority of the laser-assisted obstacle avoidance unit is higher than the command priority of the visual obstacle avoidance unit. The output end of the laser-assisted obstacle avoidance unit is also connected to the laser probe 6 signal, and the output end of the patrol data transmission unit is connected to the patrol monitoring platform 1 signal through a remote signal transmitter. Through the cooperation of the environmental sensing component 5, the laser probe 6, the moisture absorption series block 7, the environmental sensing unit and the laser-assisted obstacle avoidance unit, the patrol environment of the drone 2 can be effectively sensed and monitored. According to the actual environment On the one hand, it can promote the reliability of environmental data collection during the inspection process of UAV 2 through the dual data coordination of visual obstacle avoidance by image acquisition and auxiliary obstacle avoidance by laser sensing in special environments, improve the accuracy and reliability of obstacle avoidance of UAV 2 in special weather conditions, and promote the safety of UAV 2 in the inspection process. On the other hand, it can adopt the visual obstacle avoidance function of single image acquisition in normal weather conditions, which can not only promote the adaptability of UAV 2 to the environment during the inspection process, but also effectively reduce the energy loss of UAV 2, extend the inspection time of UAV 2, and promote inspection efficiency.

[0037] Figure 6 - Fig. 9The environmental sensing component 5 is shown to include a sensing base 51 fixedly installed on the upper end of the patrol monitoring platform 1, a sensing support sleeve 52 is fixedly connected to the upper end of the sensing base 51, a sensing shell 53 is fixedly connected to the upper end of the sensing support sleeve 52, a hygroscopic filling sleeve 54 is fixedly connected to the inner wall of the sensing shell 53, and a plurality of hygroscopic holes 55 matching the hygroscopic filling sleeve 54 are opened at the outer end of the sensing shell 53. Figure 6 - Fig. 9 It is shown that the inner wall of the hygroscopic filling sleeve 54 is embedded with multiple hygroscopic series blocks 7 evenly distributed in the circumferential direction, and a series conductor bar 71 is fixedly connected between two adjacent hygroscopic series blocks 7, and the series conductor bar 71 does not contact the hygroscopic filling sleeve 54. The input end of the environmental sensing unit is signal-connected with the hygroscopic series block 7. The hygroscopic filling sleeve 54 and the hygroscopic series block 7 are both made of hygroscopic silica gel, and the hygroscopic series block 7 is also filled with conductor particles. The hygroscopic filling sleeve 54 can absorb moisture from the external environment through the hygroscopic holes 55. When the external humidity is high, it can absorb moisture to form conduction to the hygroscopic series block 7, so that multiple hygroscopic series blocks 7 are formed to be conductive with the cooperation of the series conductor bar 71, and then the laser assisted obstacle avoidance unit can be triggered through the environmental sensing unit to take effect, and the environment can be actively monitored during the inspection of the UAV 2. After the environmental changes occur, the conditions are actively triggered to start the auxiliary environmental monitoring function, thereby improving the obstacle avoidance accuracy of the UAV 2 under adverse weather conditions such as rain, snow and fog, avoiding economic losses caused by collisions, and increasing the safety of the UAV 2 during the inspection.

[0038] Figure 2 It is shown that the output end of the inspection and control processing unit is also connected to the inspection warning unit, and the output end of the inspection warning unit is connected to the inspection monitoring platform 1 through a remote signal transmitter. The setting of the inspection warning unit can provide feedback to the inspection monitoring platform 1 in time when the UAV 2 has flight or obstacle avoidance abnormalities, so that the inspection technicians can forcibly control the UAV 2 through the inspection monitoring platform 1, thereby improving the safety of the UAV 2 in emergency situations and avoiding damage to the transmission line due to the abnormality of the UAV 2.

[0039] Figure 1 - Figure 3It is shown that a photoresistance sensor is fixedly installed on the upper end of the environment sensing component 5, and the input end of the inspection and control processing unit is also connected to a light intensity collection unit, and the input end of the light intensity collection unit is connected to the photoresistance sensor signal. The output end of the inspection and control processing unit is also connected to a fill light control unit, and the output end of the fill light control unit is connected to the fill light signal arranged at the front end of the camera group 3. The setting of the photoelectric group sensor can further monitor the inspection environment of the drone 2. When the light intensity is high, the laser probe 6 is used to increase the obstacle avoidance safety and reliability. When the light intensity is low, the brightness is increased by the fill light to promote the obstacle avoidance safety and reliability, effectively ensure the operation stability of the drone 2 during the inspection process, increase the environmental applicability of the drone 2 based on visual obstacle avoidance, and further ensure the reliability and safety of the drone 2 during the inspection process.

[0040] Figure 2 It is shown that the input end of the inspection and control processing unit is also connected to an external magnetic field acquisition unit, and the input end of the external magnetic field acquisition unit is connected to a magnetic induction sensor installed at the front end of the inspection and monitoring platform 1. The output end of the inspection and control processing unit is also connected to an emergency guidance unit, and the output end of the emergency guidance unit is connected to the flight control unit signal, and the command priority of the emergency guidance unit is higher than the command priority of the laser-assisted obstacle avoidance unit. The cooperation of the external magnetic field acquisition unit and the magnetic induction sensor can judge the inspection position of the UAV 2, avoid the UAV 2 from being too close to the transmission line, and reduce the damage caused by the strong magnetic field on the transmission line to the flight unit and the visual obstacle avoidance unit in the UAV 2. While ensuring the effectiveness of the inspection purpose, the damage to components caused by the strong magnetic field is reduced to ensure the safety of the UAV 2 and the transmission equipment. In addition, the intelligent level of the UAV 2 inspection can be effectively improved by actively monitoring the magnetic field, and its autonomous judgment can be promoted. The setting of the emergency guidance unit can generate emergency flight control measures after the UAV 2 is disturbed by the strong magnetic field of the transmission line, control the UAV 2 to evacuate the strong magnetic field area, improve emergency measures, and promote the safety of the UAV 2 and the transmission line.

[0041] Figure 1 - Fig. 9 It is shown that in the process of applying the transmission line inspection drone system, the inspection technician inputs the inspection data about the transmission line to the inspection data input unit through the inspection monitoring platform 1, including but not limited to the basic parameters, location, inspection range and other data of the transmission line, and also inputs the inspection flight route of the drone 2 for inspecting the transmission line to the inspection route setting unit through the inspection monitoring platform 1. After processing and converting the received data, the inspection data input unit and the inspection route setting unit transmit them to the inspection control processing unit, which processes and judges these data, and then issues inspection instructions to the corresponding unit when the subsequent inspection is opened;

[0042] When the inspection begins, the inspection control processing unit sends a control instruction for the inspection flight to the flight control unit. The flight control unit drives the UAV 2 to produce a flight action by controlling the aircraft 4, and inspects the transmission line according to the flight route. During the inspection, the camera group 3 collects image data of the transmission line, and then transmits the image data to the image acquisition unit. The image acquisition unit transmits it to the inspection control processing unit. After the inspection control processing unit processes the image data, it transmits it to the visual obstacle avoidance unit and the inspection data transmission unit respectively. The visual obstacle avoidance unit determines the transmission line encountered by the UAV 2 during the flight according to the image data. The position and specific conditions of each component in the road are then transmitted to the flight control unit. The flight control unit controls the aircraft 4 according to the visual obstacle avoidance data, and controls the drone 2 to avoid obstacles that appear on the flight route, thereby ensuring the accuracy and reliability of the drone 2 flight, and also ensuring the safety of the drone 2 during the inspection process, as well as the safety of the power transmission line. The inspection data transmission unit transmits the inspection image data to the inspection monitoring platform 1 through a remote signal transmitter, and the inspection data is stored and displayed through the inspection monitoring platform 1, which is convenient for data tracing of the power transmission line and maintenance and guarantee of the power transmission line by inspection technicians;

[0043] During the inspection flight of the UAV 2, the hygroscopic filling sleeve 54 will absorb the humidity and moisture in the external environment of the UAV 2 through the hygroscopic holes 55. When the external environment is in adverse weather conditions such as rain, snow, fog, etc., the external humidity and moisture are relatively high, which will cause the hygroscopic filling sleeve 54 to absorb saturation, and then the hygroscopic series block 7 will also absorb saturation. After the hygroscopic series block 7 is saturated with water, it will generate an electric effect under the action of water molecules and conductor particles, resulting in a conduction loop between the multiple hygroscopic series blocks 7 and the series conductors 71, triggering the environmental sensing unit. The environmental sensing transmits the humidity conduction data to the inspection and control processing unit. The inspection and control processing unit determines that the UAV 2 is in a special weather environment based on the received data. In order to protect To ensure the safety of the drone 2 during the inspection process and increase the obstacle avoidance accuracy, the inspection control processing unit sends control auxiliary data to the laser assisted obstacle avoidance unit, so that the laser assisted obstacle avoidance unit starts the laser probe 6 to take effect, and monitors the environment of the drone 2 with laser data. Then the laser probe 6 transmits the monitored data to the laser data acquisition unit, and the laser data acquisition unit transmits the data to the inspection control processing unit. The inspection control processing unit analyzes and processes the data and then transmits it to the laser assisted obstacle avoidance unit. The laser assisted obstacle avoidance unit sends laser obstacle avoidance data to the flight control unit, so that the flight control unit now gives priority to executing the flight data of laser obstacle avoidance, thereby ensuring the flight safety of the drone 2 in this special environment.

[0044] In addition, during the flight of the drone 2, the photoresistor sensor can also collect data on the light intensity in the external environment, and then transmit the data to the light intensity collection unit. The light intensity collection unit transmits the data to the patrol control processing unit. The patrol control processing unit judges the light intensity. When the light intensity is strong, the laser-assisted control instruction is transmitted to the laser-assisted obstacle avoidance unit, so that the laser-assisted obstacle avoidance unit continues to control the laser probe 6 to produce an auxiliary monitoring effect. The laser sensing data fed back by the laser data collection unit is then transmitted to the flight control unit through the laser-assisted obstacle avoidance unit to assist the drone 2 in controlling the flight route and promote the flight safety of the drone 2 in strong light. After the light intensity is restored, the patrol control processing unit sends a shutdown instruction to the laser-assisted obstacle avoidance unit, so that the laser-assisted obstacle avoidance unit controls the laser probe 6 to produce an auxiliary monitoring effect. The laser probe 6 is turned off, and the visual obstacle avoidance control function of the visual obstacle avoidance unit is continued; when the light intensity is weak, the inspection control processing unit transmits the fill light data to the fill light control unit, and the fill light control unit controls the fill light to start, which can illuminate the collected image of the camera group 3, thereby improving the clarity and accuracy of the image data collected by the camera group 3. Then the camera group 3 transmits the image data to the inspection control processing unit through the image acquisition unit, so that the inspection control processing unit continues to control the flight and obstacle avoidance of the UAV 2 through the cooperation of the visual obstacle avoidance unit and the flight control unit, thereby ensuring the safety of the UAV 2 during flight. After the light intensity is restored, the inspection control processing unit will control the fill light to turn off through the fill light control unit, thereby reducing the energy loss during the inspection process; when it is judged that the light intensity is moderate, the control function of the visual obstacle avoidance unit at this time is continued;

[0045] During the flight and obstacle avoidance process of the drone 2, the magnetic induction sensor can also collect data on whether the drone 2 enters the strong magnetic field area of ​​the transmission line, so as to avoid the influence of the strong magnetic field of the transmission line on the flight control and obstacle avoidance of the drone 2, and ensure the operation stability of the drone 2 during the inspection process. The magnetic sensor will transmit its sensed data to the external magnetic field acquisition unit, and the external magnetic field acquisition unit will transmit the magnetic field sensing data to the inspection and control processing unit. The inspection and control processing unit judges the magnetic induction data, and after judging that the drone 2 flies and moves to the strong magnetic field area of ​​the transmission line, it transmits the emergency data to the emergency guidance unit, and the emergency guidance unit transmits the emergency start data to the flight control unit, so that the flight control unit gives priority to the emergency start flight data, and controls the drone 2 to generate a section of data control for returning to the original route through the aircraft 4, and then the inspection and control processing unit again performs the data control according to the external magnetic field acquisition unit. The data transmitted by the element determines whether the UAV 2 has evacuated successfully. After determining that the UAV 2 has evacuated successfully, the flight route and obstacle avoidance unit of the flight control unit are adjusted through the image or laser data through the visual obstacle avoidance unit or the laser-assisted obstacle avoidance unit. After determining that the UAV 2 has failed to evacuate, the data is transmitted to the patrol warning unit. The patrol warning unit sends warning data to the patrol monitoring platform 1 through the remote signal transmitter, so that the patrol technicians can perform forced flight control on the UAV 2 according to the warning data, or control the UAV 2 to withdraw and other controls to ensure the safety of the UAV 2; when it is determined that the UAV 2 is flying in a safe area and has not entered the strong magnetic field area of ​​the power transmission line, the flight control unit and the visual obstacle avoidance unit or the laser-assisted obstacle avoidance unit are used to cooperate to continuously control the UAV 2 for patrol flight, so as to prompt the UAV 2 to complete the patrol work;

[0046] Finally, during the inspection process of UAV 2, the inspection control processing unit not only transmits the image data of UAV 2 during the inspection process to the inspection monitoring platform 1 through the inspection data transmission unit via the remote signal transmitter, but also transmits the monitored environmental data and the generated control data to the inspection data transmission unit, so that subsequent inspection technicians can control the flight route of UAV 2 based on these data, and can also perform maintenance and repair on UAV 2 in a timely manner to ensure the stability and safety of subsequent operation of UAV 2.

[0047] Second implementation method:

[0048] Figure 1 - Fig. 9The figure shows a transmission line inspection drone system based on visual obstacle avoidance technology, which is an optional specification as a continuous improvement of the first embodiment. A return material assembly 8 that matches the hygroscopic filler sleeve 54 is provided in the induction support sleeve 52 and the induction shell 53. The return material assembly 8 includes a return material rod 81 fixedly embedded in the induction support sleeve 52. The upper end of the return material rod 81 extends into the induction shell 53 and is fixedly connected to two electric heating plates 82 respectively located on the upper and lower sides of the hygroscopic series block 7. The outer end of the electric heating plate 82 is fixedly connected to a heat conductive insert 83, and the outer end of the heat conductive insert 83 is embedded in Inside the hygroscopic filling sleeve 54, the output end of the inspection and control processing unit is also connected to a hygroscopic regeneration control unit, and the output end of the hygroscopic regeneration control unit is connected to the electric heating plate 82 signal. The cooperation between the electric heating plate 82 and the hygroscopic regeneration control unit can regenerate the saturated hygroscopic filling sleeve 54 for thermal desorption after the inspection of the UAV 2 is completed, so that the hygroscopic filling sleeve 54 can be recycled later. While reducing resource loss and inspection costs, it can also effectively ensure the application safety of the UAV 2 during the inspection process and promote the sensitivity of environmental monitoring.

[0049] Figure 6 - Fig. 9 It is shown that the outer ends of the induction base 51 and the return rod 81 are fixedly adjusted with an insulation sleeve, and the inner wall of the induction support sleeve 52 is coated with a thermal insulation coating. The setting of the thermal insulation sleeve and the thermal insulation coating can prevent the electric heating of the electric heating plate 82 from blocking the conduction of temperature, reduce the damage caused by the temperature to the drone 2, ensure the service life of various electrical components in the drone 2, and can also reduce the heat conduction loss during the regeneration heat desorption to promote the regeneration efficiency.

[0050] Figure 6 - Fig. 9 It is shown that a temperature sensing probe located between two electric heating plates 82 is fixedly installed at the outer end of the return rod 81, and the input end of the inspection and control processing unit is also connected to a regeneration temperature collection unit, and the input end of the regeneration temperature collection unit is connected to the temperature sensing probe signal. The setting of the regeneration temperature collection unit and the temperature sensing probe can ensure the safety of the regeneration heat desorption of the hygroscopic filler sleeve 54, and effectively play the role of temperature control and constant temperature. While ensuring the effectiveness of the regeneration heat desorption, it can also reduce energy loss and reduce inspection costs.

[0051] Figure 1 - Fig. 9It is shown that after the environment sensing unit is triggered and the laser assisted obstacle avoidance unit controls the laser probe 6 to produce an assisted obstacle avoidance effect, the circulation control processing unit sends a regeneration control instruction to the moisture absorption regeneration control unit after the drone 2 is withdrawn, so that the moisture absorption regeneration control unit inputs current into the electric heating plate 82, the electric heating plate 82 generates an electric heating effect, and the moisture absorption filler sleeve 54 is heated by the heat conduction effect of the heat conductive insert 83, and then the temperature sensing probe located on the return rod 81 transmits the temperature data to the regeneration temperature collection unit, and the regeneration temperature collection unit transmits the temperature data to the patrol control processing unit. Unit, so that the inspection and control processing unit can control the current size and time of the hygroscopic regeneration control unit delivered to the electric heating plate 82 according to the temperature, so as to realize the regenerative thermal desorption of the hygroscopic filling sleeve 54 and the hygroscopic series block 7. The temperature is controlled at about 150°C. After heating for a period of time, the regenerative thermal desorption of the hygroscopic filling sleeve 54 and the hygroscopic series block 7 is completed, and the drying and hygroscopic effects are restored. While being able to realize special environmental monitoring, it can also effectively reduce the inspection cost, promote the recyclability of environmental monitoring, and promote the environmental applicability of the UAV 2.

[0052] In view of current practical needs, the above-mentioned implementation mode adopted in this application is not limited to the scope of protection. Various changes made within the knowledge scope of technical personnel in this field without departing from the concept of this application still fall within the scope of protection of the present invention.

Claims

1. The transmission line inspection drone system based on visual obstacle avoidance technology is characterized by: The invention comprises a patrol monitoring platform (1) and a drone (2) matched with the patrol monitoring platform (1), wherein a camera group (3) is fixedly mounted on the lower end of the drone (2), four aircrafts (4) are mounted on the outer end of the drone (2), a laser probe (6) is fixedly mounted on the upper end of the aircraft (4), an environment sensing component (5) is fixedly mounted on the upper end of the drone (2), and a moisture absorption series block (7) is arranged inside the environment sensing component (5); The drone (2) is equipped with a patrol control processing unit, the input end of which is connected to a patrol data input unit, a patrol route setting unit, an image acquisition unit, an environment sensing unit and a laser data acquisition unit, and the output end of which is connected to a flight control unit, a visual obstacle avoidance unit, a laser-assisted obstacle avoidance unit and a patrol data transmission unit; The input ends of the inspection data input unit and the inspection route setting unit are both connected to the inspection monitoring platform (1) through a remote signal transmitter, the input end of the image acquisition unit is connected to the camera group (3), the input end of the environment sensing unit is connected to the moisture absorption series block (7), and the input end of the laser data acquisition unit is connected to the laser probe (6); The output end of the flight control unit is signal-connected to the aircraft (4), the output ends of the visual obstacle avoidance unit and the laser-assisted obstacle avoidance unit are both signal-connected to the flight control unit, the output end of the laser-assisted obstacle avoidance unit is also signal-connected to the laser probe (6), and the output end of the inspection data transmission unit is signal-connected to the inspection monitoring platform (1) via a remote signal transmitter; The environmental sensing component (5) comprises a sensing base (51) fixedly mounted on the upper end of the patrol monitoring platform (1); a sensing support sleeve (52) is fixedly connected to the upper end of the sensing base (51); a sensing shell (53) is fixedly connected to the upper end of the sensing support sleeve (52); a hygroscopic filler sleeve (54) is fixedly connected to the inner wall of the sensing shell (53); and a plurality of hygroscopic holes (55) matching the hygroscopic filler sleeve (54) are provided at the outer end of the sensing shell (53); The inner wall of the hygroscopic filler sleeve (54) is embedded with a plurality of hygroscopic series blocks (7) evenly distributed along the circumferential direction, and a series conductor (71) is fixedly connected between two adjacent hygroscopic series blocks (7), and the series conductor (71) does not contact the hygroscopic filler sleeve (54); A return material assembly (8) matched with the hygroscopic filling sleeve (54) is arranged in the induction support sleeve (52) and the induction shell (53). The return material assembly (8) includes a return material rod (81) fixedly embedded in the induction support sleeve (52). The upper end of the return material rod (81) extends into the induction shell (53) and is fixedly connected to two electric heating plates (82) respectively located on the upper and lower sides of the hygroscopic series block (7). The outer end of the electric heating plate (82) is fixedly connected to a heat conductive insert (83), and the outer end of the heat conductive insert (83) is embedded in the hygroscopic filling sleeve (54). The output end of the inspection and control processing unit is also connected to a hygroscopic regeneration control unit, and the output end of the hygroscopic regeneration control unit is connected to the electric heating plate (82) by signal.

2. The power transmission line inspection drone system based on visual obstacle avoidance technology according to claim 1 is characterized by: The outer ends of the induction base (51) and the return rod (81) are both fixedly and adjustedly provided with an interlayer sleeve, and the inner wall of the induction support sleeve (52) is coated with a heat insulation coating.

3. The power transmission line inspection drone system based on visual obstacle avoidance technology according to claim 1 is characterized by: The hygroscopic filler sleeve (54) and the hygroscopic series block (7) are both made of hygroscopic silica gel, and the hygroscopic series block (7) is also filled with conductive particles. A temperature sensing probe located between two electric heating plates (82) is fixedly mounted on the outer end of the return rod (81). The input end of the inspection and control processing unit is also connected to a regeneration temperature collection unit, and the input end of the regeneration temperature collection unit is connected to the temperature sensing probe signal.

4. The power transmission line inspection drone system based on visual obstacle avoidance technology according to claim 1 is characterized by: A photoresistance sensor is fixedly mounted on the upper end of the environment sensing component (5); the input end of the patrol control processing unit is also connected to a light intensity acquisition unit; the input end of the light intensity acquisition unit is connected to the photoresistance sensor signal; the output end of the patrol control processing unit is also connected to a fill light control unit; the output end of the fill light control unit is connected to the fill light signal arranged at the front end of the camera group (3).

5. The power transmission line inspection drone system based on visual obstacle avoidance technology according to claim 1 is characterized by: The input end of the inspection and control processing unit is also connected to an external magnetic field acquisition unit, and the input end of the external magnetic field acquisition unit is connected to a magnetic induction sensor installed at the front end of the inspection and monitoring platform (1). The output end of the inspection and control processing unit is also connected to an emergency guidance unit, and the output end of the emergency guidance unit is connected to the flight control unit signal.

6. The power transmission line inspection drone system based on visual obstacle avoidance technology according to claim 1 is characterized by: The output end of the inspection and control processing unit is also connected to a inspection and warning unit, and the output end of the inspection and warning unit is connected to the inspection and monitoring platform (1) through a remote signal transmitter.

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