Long-distance data transmission method and system for X-ray detection of power transmission and transformation equipment

Abstract

The present invention discloses a long-distance data transmission method and system for X-ray detection of power transmission and transformation equipment, the method comprising: a ground workstation controller generates a trigger signal for controlling the start of a ray machine and sends it to the ray machine; the ray machine emits an X-ray beam to irradiate the power transmission and transformation equipment to be tested; an imaging plate generates image data; a first wireless communication unit compares the acquired image data with preset verification image data, and if the comparison result is within a set threshold deviation range, a normal state signal of the power transmission and transformation equipment to be tested is generated; if the comparison result is not within the set threshold deviation range, the image data is transmitted; a second wireless communication unit receives the information sent by the first wireless communication unit; and the ground workstation controller feeds back the received information to the maintenance personnel. When the present invention is applied, it can improve the efficiency and accuracy of transmitting the detection data of aerial power transmission and transformation equipment to the ground workstation.

Description

Technical Field

[0001] The invention relates to electric power equipment detection technology, in particular to a long-distance data transmission method and system for X-ray detection of power transmission and transformation equipment. Background Art

[0002] Power transmission and transformation equipment is an important part of the power system. When it fails, it will pose a serious threat to the safe operation of the power system. Therefore, the detection of power transmission and transformation equipment is an important guarantee to ensure its safe operation. At present, X-ray digital imaging technology is generally used to detect gas insulated switchgear (GAS insulated SWITCHGEAR, referred to as GIS), tension clamp (tension clamp, strain clamp, dead-end clamp) and other equipment in power transmission and transformation equipment. However, in the actual detection process, when testing gas insulated switchgear, tension clamp and other equipment deployed in the air, the detection data cannot be efficiently and accurately transmitted to the ground workstation due to the influence of distance and external environmental factors. This makes it impossible for maintenance personnel to evaluate the status of power transmission and transformation equipment in a timely and accurate manner based on the detection data, which in turn affects the promotion and application of X-ray digital imaging technology for the detection of power transmission and transformation equipment deployed at high altitudes. Summary of the invention

[0003] The purpose of the present invention is to solve the problem that the detection data cannot be efficiently and accurately transmitted to the ground workstation when the existing X-ray digital imaging technology is used to detect the power transmission and transformation equipment deployed in the air, and a long-distance data transmission method for X-ray detection of power transmission and transformation equipment is provided. When applied, the method can improve the efficiency and accuracy of transmitting the detection data of the air power transmission and transformation equipment to the ground workstation, thereby facilitating the maintenance personnel to timely and accurately evaluate the status of the power transmission and transformation equipment according to the detection data. The present invention also discloses a system for realizing the above-mentioned long-distance data transmission method for X-ray detection of power transmission and transformation equipment.

[0004] The purpose of the present invention is mainly achieved through the following technical solutions:

[0005] A long-distance data transmission method for X-ray detection of power transmission and transformation equipment is implemented based on a first wireless communication unit arranged in the air and a second wireless communication unit arranged on the ground, wherein the first wireless communication unit and the second wireless communication unit are both provided with a microprocessor, the first wireless communication unit and the second wireless communication unit interact remotely, the first wireless communication unit is connected to a ray machine and an imaging plate, and the second wireless communication unit is connected to a ground workstation controller; the method comprises the following steps:

[0006] Step S1: The ground workstation controller generates a trigger signal for controlling the start of the X-ray machine and sends it to the X-ray machine via the second wireless communication unit and the first wireless communication unit in sequence;

[0007] Step S2: the X-ray machine receives a trigger signal sent by the ground workstation and starts up, emitting an X-ray beam to penetrate the power transmission and transformation equipment to be tested;

[0008] Step S3, the imaging board receives the X-ray signal transmitted through the power transmission and transformation equipment to be tested and generates image data and sends it to the first wireless communication unit;

[0009] Step S4, the first wireless communication unit compares the acquired image data with the preset verification image data. If the comparison result is within the set threshold deviation range, a normal state signal of the power transmission and transformation equipment to be tested is generated and fed back to the second wireless communication unit; if the comparison result is not within the set threshold deviation range, the acquired image data is divided into a preset number of image blocks, and then the image blocks are sorted according to the distribution position of each image block, and then each image block is independently compressed to generate a data packet with a sequence number, and the data packet is sent to the second wireless communication unit in sequence;

[0010] Step S5, the second wireless communication unit receives the normal state signal of the power transmission and transformation equipment to be tested sent by the first wireless communication unit and sends it to the ground workstation controller, and receives the data packet sent by the first wireless communication unit, decompresses the data packet into image blocks, and then performs image stitching and sends it to the ground workstation controller;

[0011] Step S6: The ground workstation controller receives the information sent by the second wireless communication unit and feeds it back to the maintenance personnel.

[0012] Furthermore, in step S2, after the X-ray machine receives the trigger signal sent by the ground workstation and starts, it generates a feedback signal indicating that the X-ray machine has started normally, which is sent to the ground workstation controller via the first wireless communication unit and the second wireless communication unit in sequence; if the ground workstation controller does not receive the feedback signal indicating that the X-ray machine has started normally within the first set time threshold, it generates a trigger signal for controlling the start of the X-ray machine again and sends it to the X-ray machine; if the ground workstation controller does not receive the feedback signal indicating that the X-ray machine has started normally within the second set time threshold, it generates a feedback signal indicating that the X-ray machine has not started normally to the maintenance personnel; wherein the second set time threshold is more than twice the value of the first set time threshold.

[0013] Furthermore, in the step S4, the acquired image data is compared with the preset verification image data based on feature extraction and matching; in the step S4, when the acquired image data is divided into a preset number of image blocks, image segmentation is performed using semantic segmentation.

[0014] Furthermore, in step S5, when the time after the second wireless communication unit receives the first data packet sent by the first wireless communication unit reaches the third set time threshold, it first confirms whether the number of data packets is consistent with the preset number. If they are consistent, the data packets are decompressed into image blocks and image stitching is performed; if they are inconsistent, the second wireless communication unit generates a retrieval instruction for the missing data packet and sends it to the first wireless communication unit. After obtaining the instruction, the first wireless communication unit sends the missing data packet to the second wireless communication unit again; the above steps are repeated until the number of data packets received by the second wireless communication unit is consistent with the preset number.

[0015] Furthermore, the ground workstation controller also realizes remote information interaction with a walking robot deployed in the air, wherein the walking robot is provided with a camera and a flight controller, the camera of the walking robot is used to collect image data and / or video data of the power transmission and transformation equipment to be tested, the X-ray machine and the imaging board, and the flight controller of the walking robot is used to control the walking robot to adjust the relative position of the X-ray machine and the imaging board with respect to the power transmission and transformation equipment to be tested, and the camera of the walking robot starts taking pictures and / or shooting videos; the step S1 also includes the following steps:

[0016] The ground workstation controller generates a trigger signal for controlling the start of the walking robot's camera and a control signal for the walking robot's movement, which are sent to the flight controller via the second wireless communication unit; the flight controller receives the control signal sent by the ground workstation controller to control the walking robot's movement to adjust the relative position of the X-ray machine and the imaging board relative to the power transmission and transformation equipment to be tested, and receives the trigger signal to control the camera to start taking pictures and / or video recording after the position adjustment is completed, and feeds back the captured image data and / or video data to the ground workstation controller; the ground workstation controller determines whether the position of the X-ray machine and the imaging board relative to the power transmission and transformation equipment to be tested is within a preset position range based on the fedback image data and / or video data; if so, directly enters step S1; if not, controls the ground workstation controller again to generate a trigger signal for controlling the start of the walking robot's camera and a control signal for the walking robot's movement, which are sent to the flight controller, and repeats the above steps until the position of the X-ray machine and the imaging board relative to the power transmission and transformation equipment to be tested is within the preset position range.

[0017] As the first implementation mode of the communication and interaction between the ground workstation controller and the flight controller of the walking robot of the present invention, the first wireless communication unit is connected to the flight controller of the walking robot, and the ground workstation controller realizes remote information interaction with the flight controller of the walking robot via the second wireless communication unit and the first wireless communication unit in turn.

[0018] As a second embodiment of the communication and interaction between the ground workstation controller and the flight controller of the walking robot of the present invention, the flight controller of the walking robot is connected to a third wireless communication unit with a microprocessor, and the ground workstation controller realizes remote information interaction with the flight controller of the walking robot via the second wireless communication unit and the third wireless communication unit in turn.

[0019] A system for implementing the above-mentioned long-distance data transmission method for X-ray detection of power transmission and transformation equipment includes a first wireless communication unit arranged in the air and a second wireless communication unit arranged on the ground, wherein the first wireless communication unit is connected to a ray machine and an imaging board, and the second wireless communication unit is connected to a ground workstation controller; the first wireless communication unit and the second wireless communication unit both include a long-distance WiFi module, a power supply module, a user identity recognition module, a PCIE connector and an Ethernet interface module, wherein the PCIE connector and the Ethernet interface module are both connected to the long-distance WiFi module, the user identity recognition module is connected to the long-distance WiFi module by connecting to the PCIE connector, the power supply module is connected to the long-distance WiFi module and the PCIE connector to supply power to the long-distance WiFi module and the PCIE connector, and the second wireless communication unit and the first wireless communication unit realize remote information interaction through the long-distance WiFi module; wherein the long-distance WiFi module has a microprocessor.

[0020] Furthermore, a long-distance data transmission system for X-ray detection of power transmission and transformation equipment also includes a third wireless communication unit, the structure of the third wireless communication unit is the same as that of the first wireless communication unit and the second wireless communication unit, and the third wireless communication unit and the second wireless communication unit realize remote information interaction through a long-distance WiFi module; the third wireless communication unit is connected to the flight controller of the walking robot.

[0021] In summary, compared with the prior art, the present invention has the following advantageous effects: (1) In the present invention, the first wireless communication unit compares the acquired image data with the preset verification image data, and when the comparison result is within the set threshold deviation range, only a normal signal of the state of the power transmission and transformation equipment to be tested is fed back to the ground workstation controller, and only when the comparison result is not within the set threshold deviation range, the acquired image data of the power transmission and transformation equipment to be tested is fed back to the ground workstation controller. In this way, when the present invention is applied, the image data that takes time to transmit is fed back only when the state of the power transmission and transformation equipment to be tested is abnormal, which can improve the detection efficiency when the present invention is applied.

[0022] (2) In the present invention, when the state of the power transmission and transformation equipment to be tested is abnormal, the first wireless communication unit divides the acquired image data into a preset number of image blocks, and then sorts each image block according to the distribution position of each image block, and then independently compresses each image block to generate a data packet with a serial number, and sends the data packet to the second wireless communication unit in sequence. The present invention compresses the image blocks for transmission, and the compression format can compress large files into small files, reducing the amount of data transmitted, thereby reducing the risk of network delay and data loss, and can further improve the data transmission efficiency of the present invention. In the present invention, when the data packet received by the second wireless communication unit is missing, it only needs to request to send the missing data packet again, instead of sending the entire image data acquired by the first wireless communication unit. In this way, the present invention can further ensure the accuracy of data transmission while improving the efficiency of transmitting the detection data of the aerial power transmission and transformation equipment to the ground workstation, thereby facilitating the maintenance personnel to timely and accurately evaluate the state of the power transmission and transformation equipment based on the detection data. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The drawings described herein are used to provide a further understanding of the embodiments of the present invention, constitute a part of this application, and do not constitute a limitation of the embodiments of the present invention. In the drawings:

[0024] Figure 1 is a system block diagram of Embodiment 1 of the present invention;

[0025] Figure 2 A framework diagram of a wireless communication unit in a specific embodiment of the present invention;

[0026] Figure 3 A flowchart of a specific embodiment of the present invention;

[0027] Figure 4 is a system block diagram of another specific embodiment of the present invention; DETAILED DESCRIPTION

[0028] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with embodiments and drawings. The exemplary embodiments of the present invention and their description are only used to explain the present invention and are not intended to limit the present invention.

[0029] Embodiment 1:

[0030] like Figure 1 As shown, a long-distance data transmission system for X-ray detection of power transmission and transformation equipment includes a first wireless communication unit arranged in the air and a second wireless communication unit arranged on the ground, wherein the first wireless communication unit is connected to the X-ray machine and the imaging board, and the second wireless communication unit is connected to the ground workstation controller. Figure 2As shown, the first wireless communication unit and the second wireless communication unit of this embodiment both include a long-distance WiFi module, a power supply module, a user identification module, a PCIE connector and an Ethernet interface module. The PCIE connector and the Ethernet interface module of this embodiment are both connected to the long-distance WiFi module. The user identification module is connected to the long-distance WiFi module by connecting to the PCIE connector. The power supply module is connected to the long-distance WiFi module and the PCIE connector to supply power to the long-distance WiFi module and the PCIE connector. The second wireless communication unit and the first wireless communication unit realize remote information interaction through the long-distance WiFi module. The long-distance WiFi module of this embodiment is implemented by the CV5200 wireless communication module. The CV5200 long-distance WiFi module is a two-way wireless communication system. This product is based on the 802.11 wireless communication standard, adopts the LR-WiFi (Long Rang WiFi long-distance WiFi) (2.4GHz frequency band) private protocol, and has ML, MRC, LDPC, MIMO-OFDM and other wireless technologies. The self-organizing network flat architecture design adopted by CV5200 accesses image data through the Ethernet interface, and meets the requirements of real-time high-definition transmission with extremely low latency. CV5200 has flexible networking modes such as point-to-point, point-to-multipoint, and MESH self-organizing network. CV5200 is implemented using SOC and has an independent microprocessor. The power supply module of this embodiment is implemented based on the MP4560DN-LF-Z power management chip, the PCIE connector is implemented based on PCIE-52P56H, and the user identity module is implemented using a USIM card.

[0031] The ground workstation controller of this embodiment also realizes remote information interaction with the walking robot deployed in the air, wherein the first wireless communication unit is connected to the flight controller of the walking robot, and the ground workstation controller realizes remote information interaction with the flight controller of the walking robot via the second wireless communication unit and the first wireless communication unit in sequence. The walking robot is provided with a camera and a flight controller, the camera of the walking robot is used to collect image data of the power transmission and transformation equipment to be tested, the X-ray machine and the imaging board, the flight controller of the walking robot is used to control the walking robot to adjust the relative position of the X-ray machine and the imaging board relative to the power transmission and transformation equipment to be tested, and the camera of the walking robot starts taking pictures / or videos.

[0032] like Figure 3As shown, a long-distance data transmission method for X-ray detection of power transmission and transformation equipment includes the following steps: step S1, the ground workstation controller generates a trigger signal for controlling the start of the X-ray machine, which is sent to the X-ray machine via the second wireless communication unit and the first wireless communication unit in sequence; step S2, the X-ray machine receives the trigger signal sent by the ground workstation and starts, and emits an X-ray beam to penetrate the power transmission and transformation equipment to be tested; step S3, the imaging plate receives the X-ray signal that penetrates the power transmission and transformation equipment to be tested and generates image data and sends it to the first wireless communication unit; step S4, the first wireless communication unit compares the acquired image data with the preset verification image data, and if the comparison result is within the set threshold deviation range, a normal state signal of the power transmission and transformation equipment to be tested is generated and fed back to the second wireless communication unit. Wireless communication unit; if the comparison result is not within the set threshold deviation range, the acquired image data is divided into a preset number of image blocks, and then the image blocks are sorted according to the distribution position of each image block, and then each image block is independently compressed to generate a data packet with a serial number, and the data packet is sent to the second wireless communication unit in sequence; step S5, the second wireless communication unit receives the normal state signal of the power transmission and transformation equipment to be tested sent by the first wireless communication unit and sends it to the ground workstation controller, and receives the data packet sent by the first wireless communication unit, and then decompresses the data packet into image blocks, and then performs image stitching and sends it to the ground workstation controller; step S6, the ground workstation controller receives the information sent by the second wireless communication unit and feeds it back to the maintenance personnel. In this embodiment, the first wireless communication unit performs image data recognition and comparison. When the comparison result is within the set threshold deviation range, only the normal state signal of the power transmission and transformation equipment to be tested is fed back to the second wireless communication unit; when the comparison result is not within the set threshold deviation range, the image data is divided and the divided image blocks are independently compressed and then independently transmitted to the second wireless communication unit, so that the image transmission efficiency of this embodiment can be improved.

[0033] In step S2 of this embodiment, after the X-ray machine receives the trigger signal sent by the ground workstation and starts, it generates a feedback signal that the X-ray machine has started normally and sends it to the ground workstation controller via the first wireless communication unit and the second wireless communication unit in sequence. If the ground workstation controller does not receive the feedback signal that the X-ray machine has started normally within the first set time threshold, it will generate a trigger signal to control the start of the X-ray machine again and send it to the X-ray machine. If the ground workstation controller does not receive the feedback signal that the X-ray machine has started normally within the second set time threshold, it will generate a feedback signal that the X-ray machine has not started normally to the maintenance personnel; wherein the second set time threshold is more than twice the value of the first set time threshold. In the specific implementation of this embodiment, if the X-ray machine has been started and has sent a feedback signal that the X-ray machine has started normally to the ground workstation controller, but the ground workstation controller has not received the signal, after the ground workstation controller sends the trigger signal again, the started X-ray machine will not be started again, and the feedback signal that the X-ray machine has started normally will be directly generated again and sent to the ground workstation controller via the first wireless communication unit and the second wireless communication unit in sequence. In this way, when this embodiment is applied, the feedback signal sent by the X-ray machine is used to confirm whether the trigger signal has been delivered, thereby ensuring the detection efficiency of this embodiment.

[0034] In step S4 of this embodiment, the acquired image data is compared with the preset verification image data based on feature extraction and matching. The specific implementation method is: use an image processing library (such as OpenCV) to extract the features of the picture (such as SIFT, SURF, ORB, etc.), and perform feature matching. The feature extraction-based method extracts the feature representation of the image by using a pre-trained deep learning model and calculates the similarity between the features. Common feature extraction models include VGG16, ResNet, Inception, etc. These models can extract high-level semantic information of the image, thereby more accurately measuring the similarity between images. In step S4 of this embodiment, when the acquired image data is divided into a preset number of image blocks, the image segmentation is performed by semantic segmentation, wherein each pixel in the semantic segmentation corresponds to a class label. Feature extraction and matching, semantic segmentation can be implemented based on the existing technology, which will not be repeated here.

[0035] In step S5 of this embodiment, when the time after the second wireless communication unit receives the first data packet sent by the first wireless communication unit reaches the third set time threshold, it first confirms whether the number of data packets is consistent with the preset number. If they are consistent, the data packets are decompressed into image blocks and image stitching is performed. If they are inconsistent, the second wireless communication unit generates a call instruction for the missing data packet and sends it to the first wireless communication unit. After the first wireless communication unit obtains the instruction, it sends the missing data packet to the second wireless communication unit again; repeat the above steps until the number of data packets received by the second wireless communication unit is consistent with the preset number. In this way, this embodiment can request to send the missing data packet again separately, instead of requesting to send the entire image data again. While ensuring the accuracy of the transmitted data, the transmission efficiency of this embodiment can be further ensured.

[0036] The present embodiment also includes the following steps before step S1: the ground workstation controller generates a trigger signal for controlling the start of the walking robot camera and a control signal for the walking robot movement, which are sent to the flight controller via the second wireless communication unit and the first wireless communication unit in sequence; the flight controller receives the control signal sent by the ground workstation controller to control the walking robot movement to adjust the relative position of the X-ray machine and the imaging board relative to the power transmission and transformation equipment to be tested, and controls the camera to start taking pictures and / or video recording after the position adjustment is completed after receiving the trigger signal, and feeds back the captured image data and / or video data to the ground workstation controller; the ground workstation controller determines whether the position of the X-ray machine and the imaging board relative to the power transmission and transformation equipment to be tested is within a preset position range based on the fedback image data and / or video data; if so, directly enters step S1; if not, controls the ground workstation controller again to generate a trigger signal for controlling the start of the walking robot camera and a control signal for the walking robot movement, which are sent to the flight controller; and repeats the above steps until the position of the X-ray machine and the imaging board relative to the power transmission and transformation equipment to be tested is within the preset position range. In the specific implementation of this embodiment, the image data captured by the camera and the video data of the camera in this embodiment are compressed into multiple independent compressed packages after image segmentation and video segmentation by the first wireless communication unit, and each compressed package is independently transmitted from the first wireless communication unit to the second wireless communication unit. In this embodiment, the ground workstation controller controls the walking robot by generating a control signal to control the relative position of the X-ray machine and the imaging board to the power transmission and transformation equipment to be tested. The operation is convenient, and the data detection and transmission steps are implemented when the preset position range is reached to further improve the accuracy of the application of this embodiment.

[0037] Embodiment 2:

[0038] like Figure 4As shown, the difference between this embodiment and embodiment 1 is that the flight controller of the walking robot in this embodiment is connected to a third wireless communication unit, and the ground workstation controller realizes remote information interaction with the flight controller of the walking robot via the second wireless communication unit and the third wireless communication unit in turn. Among them, the third wireless communication unit is also implemented based on the CV5200 wireless communication module. The structure of the third wireless communication unit of this embodiment is the same as that of the first wireless communication unit and the second wireless communication unit, and the third wireless communication unit and the second wireless communication unit realize remote information interaction through a long-distance WiFi module. In this way, when this embodiment is applied, the detection data and control signals of the power transmission and transformation equipment to be tested, as well as the sending and feedback of the control information of the walking robot are implemented using independent communication channels.

[0039] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A long-distance data transmission method for X-ray detection of power transmission and transformation equipment, characterized in that: The method is implemented based on a first wireless communication unit arranged in the air and a second wireless communication unit arranged on the ground, wherein the first wireless communication unit and the second wireless communication unit are both provided with a microprocessor, the first wireless communication unit and the second wireless communication unit interact remotely, the first wireless communication unit is connected to the ray machine and the imaging plate, and the second wireless communication unit is connected to the ground workstation controller; the method comprises the following steps: Step S1: The ground workstation controller generates a trigger signal for controlling the start of the X-ray machine and sends it to the X-ray machine via the second wireless communication unit and the first wireless communication unit in sequence; Step S2: the X-ray machine receives a trigger signal sent by the ground workstation and starts up, emitting an X-ray beam to penetrate the power transmission and transformation equipment to be tested; Step S3, the imaging board receives the X-ray signal transmitted through the power transmission and transformation equipment to be tested and generates image data and sends it to the first wireless communication unit; Step S4, the first wireless communication unit compares the acquired image data with the preset verification image data. If the comparison result is within the set threshold deviation range, a normal state signal of the power transmission and transformation equipment to be tested is generated and fed back to the second wireless communication unit; if the comparison result is not within the set threshold deviation range, the acquired image data is divided into a preset number of image blocks, and then the image blocks are sorted according to the distribution position of each image block, and then each image block is independently compressed to generate a data packet with a sequence number, and the data packet is sent to the second wireless communication unit in sequence; Step S5, the second wireless communication unit receives the normal state signal of the power transmission and transformation equipment to be tested sent by the first wireless communication unit and sends it to the ground workstation controller, and receives the data packet sent by the first wireless communication unit, decompresses the data packet into image blocks, and then performs image stitching and sends it to the ground workstation controller; Step S6: The ground workstation controller receives the information sent by the second wireless communication unit and feeds it back to the maintenance personnel; The ground workstation controller also realizes remote information interaction with the walking robot deployed in the air, wherein the walking robot is provided with a camera and a flight controller, the camera of the walking robot is used to collect image data and / or video data of the power transmission and transformation equipment to be tested, the X-ray machine and the imaging board, and the flight controller of the walking robot is used to control the walking robot to adjust the relative position of the X-ray machine and the imaging board relative to the power transmission and transformation equipment to be tested, and the camera of the walking robot starts taking pictures and / or shooting videos; the following steps are also included before step S1: The ground workstation controller generates a trigger signal for controlling the start of the walking robot's camera and a control signal for the walking robot's movement, which are sent to the flight controller via the second wireless communication unit; the flight controller receives the control signal sent by the ground workstation controller to control the walking robot's movement to adjust the relative position of the X-ray machine and the imaging board relative to the power transmission and transformation equipment to be tested, and receives the trigger signal to control the camera to start taking pictures and / or video recording after the position adjustment is completed, and feeds back the captured image data and / or video data to the ground workstation controller; the ground workstation controller determines whether the position of the X-ray machine and the imaging board relative to the power transmission and transformation equipment to be tested is within a preset position range based on the fedback image data and / or video data; if so, directly enters step S1; if not, controls the ground workstation controller again to generate a trigger signal for controlling the start of the walking robot's camera and a control signal for the walking robot's movement, which are sent to the flight controller, and repeats the above steps until the position of the X-ray machine and the imaging board relative to the power transmission and transformation equipment to be tested is within the preset position range.

2. A long-distance data transmission method for X-ray detection of power transmission and transformation equipment according to claim 1, characterized in that: In the step S2, after the X-ray machine receives the trigger signal sent by the ground workstation and starts, it generates a feedback signal indicating that the X-ray machine has started normally, which is sent to the ground workstation controller via the first wireless communication unit and the second wireless communication unit in sequence. If the ground workstation controller does not receive the feedback signal indicating that the X-ray machine has started normally within the first set time threshold, it generates a trigger signal for controlling the start of the X-ray machine again and sends it to the X-ray machine. If the ground workstation controller does not receive the feedback signal indicating that the X-ray machine has started normally within the second set time threshold, it generates a feedback signal indicating that the X-ray machine has not started normally to the maintenance personnel; wherein the second set time threshold is more than twice the value of the first set time threshold.

3. The long-distance data transmission method for X-ray detection of power transmission and transformation equipment according to claim 1 is characterized in that: In the step S4, the acquired image data is compared with the preset verification image data based on feature extraction and matching; in the step S4, the acquired image data is divided into a preset number of image blocks by using semantic segmentation to perform image segmentation.

4. The long-distance data transmission method for X-ray detection of power transmission and transformation equipment according to claim 1 is characterized in that: In the step S5, when the time reaches the third set time threshold after the second wireless communication unit receives the first data packet sent by the first wireless communication unit, it first confirms whether the number of data packets is consistent with the preset number. If they are consistent, the data packets are decompressed into image blocks and image stitching is performed. If they are inconsistent, the second wireless communication unit generates a call instruction for the missing data packet and sends it to the first wireless communication unit. After obtaining the instruction, the first wireless communication unit sends the missing data packet to the second wireless communication unit again; the above steps are repeated until the number of data packets received by the second wireless communication unit is consistent with the preset number.

5. The long-distance data transmission method for X-ray detection of power transmission and transformation equipment according to claim 1 is characterized in that: The first wireless communication unit is connected to the flight controller of the walking robot, and the ground workstation controller realizes remote information interaction with the flight controller of the walking robot via the second wireless communication unit and the first wireless communication unit in turn.

6. A long-distance data transmission method for X-ray detection of power transmission and transformation equipment according to claim 1, characterized in that: The flight controller of the walking robot is connected to a third wireless communication unit having a microprocessor, and the ground workstation controller realizes remote information interaction with the flight controller of the walking robot via the second wireless communication unit and the third wireless communication unit in turn.

7. A system for implementing a long-distance data transmission method for X-ray detection of power transmission and transformation equipment as described in any one of claims 1 to 6, characterized in that: It includes a first wireless communication unit arranged in the air and a second wireless communication unit arranged on the ground, the first wireless communication unit is connected to the ray machine and the imaging board, and the second wireless communication unit is connected to the ground workstation controller; the first wireless communication unit and the second wireless communication unit both include a long-distance WiFi module, a power supply module, a user identity recognition module, a PCIE connector and an Ethernet interface module, the PCIE connector and the Ethernet interface module are both connected to the long-distance WiFi module, the user identity recognition module is connected to the long-distance WiFi module by connecting to the PCIE connector, the power supply module is connected to the long-distance WiFi module and the PCIE connector to supply power to the long-distance WiFi module and the PCIE connector, and the second wireless communication unit and the first wireless communication unit realize remote information interaction through the long-distance WiFi module; wherein the long-distance WiFi module has a microprocessor.

8. The system for realizing a long-distance data transmission method for X-ray detection of power transmission and transformation equipment according to claim 7, characterized in that: It also includes a third wireless communication unit, the structure of the third wireless communication unit is the same as that of the first wireless communication unit and the second wireless communication unit, and the third wireless communication unit and the second wireless communication unit realize remote information interaction through a long-distance WiFi module; the third wireless communication unit is connected to the flight controller of the walking robot.

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