Power transmission line on-line monitoring system with double master control architecture

Abstract

The invention relates to the technical field of power transmission line monitoring, and discloses a power transmission line on-line monitoring system of a double-master-control framework, which comprises a host module and a gripper module, the host module comprises a first master control sub-module and a second master control sub-module, and the first master control sub-module is in communication connection with the second master control sub-module; wherein the first main control sub-module uses an MCU chip, and the second main control sub-module uses an NPU chip; the gripper module is connected with the host module through a multi-core aviation connector and is used for energy taking and communication multiplexing between the gripper module and the host module; wherein the gripper module is in communication connection with a first main control sub-module of the host module through an MCU (Microprogrammed Control Unit); the host module further comprises a 4G sub-module which is used for providing 4G communication for the first master control sub-module and the second master control sub-module. The connection reliability between the modules can be improved, the failure rate of the device is reduced, the resource allocation efficiency is improved, and the performance and efficiency of the system are improved.

Description

Technical Field

[0001] The present application relates to the technical field of power transmission line monitoring, and in particular to an online power transmission line monitoring system with a dual-master control architecture. Background Art

[0002] With the continuous increase in the coverage of power grid construction, the total mileage of transmission lines has gradually increased. They are characterized by large scale, long distance, and wide distribution area. They are usually distributed in remote areas with relatively harsh operating environment. Natural disasters such as wildfires and landslides damage the normal operation of overhead transmission lines. At the same time, there is also the danger of external damage caused by construction machinery, overheight vehicles, wildfires, etc. The traditional method of manual line inspection has the problems of high labor intensity and low work efficiency, and the timeliness of responding to sudden external damage events is poor. With the development of intelligent monitoring technology, the method of transmission line inspection based on video and image has received more and more attention. In order to realize real-time online monitoring of the transmission channel, a transmission line monitoring device is usually installed on the conductor or tower, but the existing transmission line monitoring device is mostly a single main control architecture. When the energy extraction condition is not good, the time-space scheduling and resource allocation of the sensor module based on the energy extraction condition cannot be realized; in addition, the connection between the gripper module and the host module is prone to failure during long-term outdoor operation.

[0003] Therefore, the existing power transmission line monitoring device cannot realize the time-space scheduling and resource allocation of the sensor module based on the energy supply condition when the energy supply condition is poor, and the problem that failures are prone to occur during long-term outdoor operation needs to be solved urgently. Summary of the invention

[0004] The main purpose of this application is to provide an online monitoring system for transmission lines with a dual-master control architecture, aiming to solve the technical problems that existing transmission line monitoring devices are unable to realize the spatiotemporal scheduling and resource allocation of sensor modules based on energy access conditions when energy access conditions are poor, and are prone to failures during long-term outdoor operation.

[0005] The first aspect of the present application provides a transmission line online monitoring system with a dual-master control architecture, comprising:

[0006] Host module and gripper module;

[0007] The host module includes a first main control submodule and a second main control submodule, wherein the first main control submodule is communicatively connected with the second main control submodule; wherein the first main control submodule uses an MCU chip, and the second main control submodule uses an NPU chip;

[0008] The gripper module is connected to the host module through a multi-core aviation connector, which is used for energy acquisition and communication multiplexing between the gripper module and the host module; wherein the gripper module is communicatively connected to the first main control submodule of the host module through the MCU;

[0009] The host module also includes a 4G submodule, which is used to provide 4G communication for the first main control submodule and the second main control submodule.

[0010] Furthermore, the gripper module comprises:

[0011] The current collection unit uses a Rogowski coil to collect current on the power line;

[0012] The CT energy extraction unit uses Permalloy as the energy extraction magnetic core to extract energy from the power line;

[0013] Conductor temperature measurement unit, which combines NTC temperature measurement with infrared temperature measurement, is used to monitor the conductor temperature data of power cables;

[0014] A distributed fault location unit is used to analyze the current waveform changes in the line and locate the location where the fault occurs; wherein the current acquisition unit, the CT energy acquisition unit, the wire temperature measurement unit and the distributed fault location unit are electrically connected to the MCU in the gripper module, and are connected to the first main control submodule of the host module through the MCU.

[0015] Furthermore, the first main control submodule is connected to the 4G submodule via a USB bus protocol, and the second main control submodule is connected to the 4G submodule via a UART protocol; the second main control submodule controls the usage rights of the 4G submodule and shares the 4G submodule with the first main control submodule via a 4G mutex lock.

[0016] Furthermore, the 4G submodule is shared with the first main control submodule through a 4G mutex lock, including: when the first main control submodule uses the 4G submodule, a predefined 4G application register is set; the second main control submodule polls the register, and if the value of the 4G application register is set, it is determined whether the current 4G submodule is being used; if it is not being used, the second main control submodule sets the 4G available register; when the first main control submodule queries that the 4G available register is set, the 4G submodule is used and the 4G application register is reset; when the second main control submodule needs to use the 4G submodule, the second main control submodule queries whether the 4G application register is set, and if not, the 4G submodule is used directly, otherwise it will wait until the 4G application register is reset.

[0017] Furthermore, the host module is powered by a power board equipped with a super capacitor, and the power board uses a power management chip to manage the power supply of the entire machine.

[0018] Furthermore, when the supercapacitor voltage is lower than the first voltage threshold, the second main control submodule turns off the power of the first main control submodule, retaining only the 4G submodule power supply and the temperature and humidity sensor for regularly uploading environmental temperature and humidity data to maintain contact with the monitoring platform.

[0019] Furthermore, when the supercapacitor voltage is within the second voltage threshold range, the second main control submodule turns on the 4G submodule, RTK module, attitude sensor and temperature and humidity sensor, turns off the power of the first main control submodule, and monitors the wire dancing and sag data through the attitude sensor and RTK module and sends it to the platform through the 4G submodule to achieve low power consumption operation state of the system.

[0020] Furthermore, when the supercapacitor voltage is greater than a third voltage threshold, the second main control submodule turns on the power supplies of all peripherals and the first main control submodule, and sets the working mode of the first main control submodule based on a preset communication protocol.

[0021] Furthermore, the first main control submodule turns on the specified visible light camera module according to the working mode set by the second main control submodule, and the camera control adopts the MIPI selection chip to mount multiple cameras under the NPU chip encoding capability of the first main control submodule to realize the camera's patrol photography.

[0022] Furthermore, the camera takes photos in a patrol manner at a specified time interval. If a risk of external damage to the power transmission channel is identified, the alarm information and pictures are uploaded to the monitoring platform through the 4G submodule based on the file transfer protocol.

[0023] Beneficial effects:

[0024] This application can make full use of the low power consumption characteristics of the MCU chip by setting up a dual-master control architecture in the host module, and can realize terminal-side artificial intelligence recognition by integrating the powerful computing power of the NPU chip. The dual-master control architecture complements each other in terms of functions, and can realize the time-space scheduling and resource allocation of the sensor module based on energy status, further improving the performance and efficiency of the system. In addition, the structure of separating the gripper module and the host module makes it easier to repair device failures. The multi-core aviation connector realizes energy extraction and measurement multiplexing, improves the connection reliability between modules, and further reduces the failure rate of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a schematic block diagram of module connections of a power transmission line online monitoring system with a dual-master control architecture according to an embodiment of the present application;

[0026] Figure 2 This is a schematic block diagram of module connections of a power transmission line online monitoring system with a dual-master control architecture according to an embodiment of the present application;

[0027] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0029] It will be appreciated by those skilled in the art that, unless expressly stated, the singular forms "one", "above", and "the" used herein may also include plural forms. It should be further understood that the term "comprising" used in the specification of the present application refers to the presence of features, integers, steps, operations, elements, modules, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, modules, components, and / or groups thereof. It should be understood that when an element is said to be "connected" or "coupled" to another element, it may be directly connected or coupled to the other element, or there may also be an intermediate element. In addition, the "connection" or "coupling" used herein may include wireless connection or wireless coupling. The term "and / or" used herein includes all or any module and all combinations of one or more associated listed items.

[0030] It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as those generally understood by those skilled in the art to which this application belongs. It should also be understood that terms such as those defined in general dictionaries should be understood to have meanings consistent with those in the context of the prior art, and will not be interpreted with idealized or overly formal meanings unless specifically defined as here.

[0031] Reference Figure 1 - Figure 2 The embodiment of the present application provides a transmission line online monitoring system with a dual-master control architecture, including:

[0032] Host module and gripper module;

[0033] The host module includes a first main control submodule and a second main control submodule, wherein the first main control submodule is communicatively connected with the second main control submodule; wherein the first main control submodule uses an MCU chip, and the second main control submodule uses an NPU chip;

[0034] The gripper module is connected to the host module through a multi-core aviation connector, which is used for energy acquisition and communication multiplexing between the gripper module and the host module; wherein the gripper module is communicatively connected to the first main control submodule of the host module through the MCU;

[0035] The host module also includes a 4G submodule, which is used to provide 4G communication for the first main control submodule and the second main control submodule.

[0036] In this embodiment, as the hub of the system, the host module integrates the first main control submodule and the second main control submodule, which respectively adopt NPU (Neural Processing Unit) chip and MCU (Microcontroller Unit). Among them, the first main control submodule is responsible for functions such as multimedia data interaction (photos, videos), end-side AI recognition, file interaction, WIFI local debugging, and configuration file storage, and the chips used include RV1126 chip; accelerometer, temperature and humidity, current measurement data, power consumption mode management, etc. are managed by another MCU chip (second main control submodule). The main control 1 communicates with the main control 2, for example, including communication through the RS485 protocol. In this way, the dual main control architecture complements each other in terms of functions, and can realize the spatiotemporal scheduling and resource allocation of the sensor module based on energy status, further improving the performance and efficiency of the system. Specifically, the MCU chip of the second main control submodule communicates via a synchronous serial interface

[0037] The gripper module is closely connected to the host module through a multi-core aviation connector, including an 8-core shielded cable, of which 2 cores are responsible for RS485 communication of wire temperature, 4 cores are responsible for current acquisition, and 2 cores are responsible for power supply energy acquisition, realizing the multiplexing of measurement and energy acquisition. The gripper module is connected to the host module through a dedicated aviation connector, realizing plug-and-play (hot plug) of the gripper module, which is more convenient in installation and maintenance. The gripper module not only provides the necessary energy for the system, but also collects real-time data of the transmission line, such as current, temperature and fault information. The MCU in the gripper module exchanges data with the first main control submodule of the host module through a communication protocol to ensure the real-time and accuracy of the information. The separate design of the gripper module and the host module not only facilitates on-site installation and maintenance, but also improves the flexibility and scalability of the system. By replacing or upgrading the module, the system can easily adapt to different monitoring needs and environmental conditions. The gripper module contains an MCU, which is responsible for transmitting the wire temperature data collected in the gripper module to the host module.

[0038] As part of the host module, the 4G submodule provides high-speed wireless communication capabilities, supports real-time data transmission between the first main control submodule or the second main control submodule and the remote monitoring center, and ensures seamless connection between the system and the outside world. This enables the system to have long-distance, high-speed data transmission capabilities. Whether it is uploading daily monitoring data or real-time reporting in emergency situations, it can be quickly transmitted to the monitoring center, providing technical support for the power company's rapid response. Specifically, the gripper module can be composed of multiple parts, such as gripper 1, gripper 2, gripper 3 and gripper 4, each of which contains the same functions and hardware, such as Figure 2 As shown, the infrared temperature measurement of the wire: This part is an infrared sensor used to measure the temperature of the wire. This sensor can measure the temperature of the surface of an object without contact, which is very useful for high-temperature wires, avoiding the risk of damage caused by direct contact. CT energy extraction: Current transformer (CT) is an electromagnetic induction device used to measure AC current. It generates a proportional output signal by sensing the current passing through its ring-shaped iron core, and is commonly used to monitor current levels in power systems. Rectification and filtering: This refers to the process of converting an AC signal into a DC signal. Rectification is usually done through a diode bridge rectifier, and then the output voltage is smoothed by capacitor filtering to obtain a voltage closer to DC. Energy release: This part may refer to the energy release circuit. When the gripper module no longer needs energy, the stored energy can be released to prevent damage caused by overcharging or over-discharging. Rogowski coil: Rogowski coil is a passive linear current sensor used to accurately measure large currents. It senses the magnetic field generated by the current through a coil wrapped around a soft magnetic material and converts it into a voltage output. An 8-core aviation connector is used at the bottom to connect the interfaces of each gripper module to transmit electrical signals and power to the host module.

[0039] In the second main control submodule of the host module, the situation sensor is connected to the MUC chip through SPI (Serial Peripheral Interface), which is a full-duplex serial communication interface usually used for high-speed data transmission. In this circuit diagram, the situation sensor communicates with the MCU through the SPI interface. This means that the MCU can read or write data from the situation sensor through the SPI bus. The battery / capacitor / CT voltage detection is connected to the MUC chip through AD (analog-to-digital converter). After the battery / capacitor / CT voltage detection module converts the analog signal into a digital signal, it transmits the digital signal to the MCU through the AD interface. In this way, the MCU can process these digital signals and perform corresponding operations as needed. The ADC sampling chip is connected to the MUC chip through IIC (Inter-Integrated Circuit), and the MCU can control and read the status and data of the ADC sampling chip through the IIC protocol; the 4G submodule is connected to the MCU through UART (Universal Asynchronous Receiver / Transmitter), and the MCU can send commands to the 4G submodule or receive information returned by it through the UART protocol. The Beidou module is connected to the MCU through the SPI interface, which means that the MCU can control and read the status and data of the Beidou module through the SPI protocol. In the first main control submodule, the NPU power chip is responsible for providing a stable power supply for the NPU. The NPU power chip is also connected to the first main control submodule, that is, the first main control submodule controls the power supply to the second main control submodule through the NPU power chip. EMMC (Embedded MultiMediaCard) is a storage device that is connected to the NPU through the SDIO interface, allowing fast data exchange. The 4G submodule provides high-speed mobile network connection. It is connected to the NPU through the USB interface for data transmission. The short-range communication submodule is used for near-field communication technologies such as Bluetooth or NFC. It is also connected to the NPU through the UART interface and belongs to the communication module in the host module together with the 4G submodule. The WIFI module provides wireless LAN connection. It is connected to the NPU through the SDIO interface. Visible light camera × 2 and visible light camera × 3: These cameras may be used for image capture and video streaming. They are all connected to the NPU through the MIPI (Mobile Industry Processor Interface) interface, but different channels (MIPI1 and MIPI2) are used to support multi-camera settings.

[0040] In one embodiment, the gripper module comprises:

[0041] The current collection unit uses a Rogowski coil to collect current on the power line;

[0042] The CT energy extraction unit uses Permalloy as the energy extraction magnetic core to extract energy from the power line;

[0043] Conductor temperature measurement unit, which combines NTC temperature measurement with infrared temperature measurement, is used to monitor the conductor temperature data of power cables;

[0044] A distributed fault location unit is used to analyze the current waveform changes in the line and locate the location where the fault occurs; wherein the current acquisition unit, the CT energy acquisition unit, the wire temperature measurement unit and the distributed fault location unit are electrically connected to the MCU in the gripper module, and are connected to the first main control submodule of the host module through the MCU.

[0045] In this embodiment, the gripper module includes a current acquisition function (unit), a CT energy acquisition function (unit), a wire temperature measurement function (unit), and a distributed fault location function (unit). The current acquisition function uses a Rogowski coil, the CT energy acquisition function uses Permalloy as the energy acquisition magnetic core, and the wire temperature measurement function uses a combination of NTC temperature measurement and infrared temperature measurement. Since the system needs to collect the current of each split wire on the one hand, realize the wire energization state monitoring, and support further fault location and other functions; the gripper module includes an MCU, which is responsible for transmitting the wire temperature data collected in the gripper module to the host module. On the other hand, since the system integrates a variety of sensing functions and wireless long-distance communication functions, the system power consumption is large. If a single-wire inductive power supply scheme is adopted, there are problems such as large volume and weight of the power supply structure, which causes unbalanced force on several wires. Therefore, the scheme adopts the installation of a gripper module on each wire. The gripper module is connected to the host module through a dedicated 8-core dedicated aviation connector and a shielded cable to achieve highly reliable energy acquisition and communication multiplexing.

[0046] First, the current acquisition unit uses Rogowski coil technology to collect current data on the power line. Rogowski coil is a high-precision current sensor that can accurately measure AC and DC currents with minimal impact on the circuit being measured. In this way, the gripper module can obtain current information of the power line in real time, providing basic data for subsequent fault diagnosis and analysis.

[0047] The CT energy extraction unit uses Permalloy as the energy extraction magnetic core to extract energy from the power line and provide the power required for other units inside the gripper module. Permalloy has extremely high magnetic permeability and low coercivity, which can effectively sense the weak current changes on the power line, thereby achieving efficient energy extraction. This self-powered design makes the gripper module more convenient to install and maintain, without the need for additional power connection, greatly reducing the complexity and cost of the system.

[0048] The conductor temperature measurement unit combines NTC temperature measurement and infrared temperature measurement technology to monitor the conductor temperature data of power cables. NTC thermistors (Negative Temperature Coefficient) can change their resistance value as the temperature changes. By measuring the change in resistance value, the temperature information of the conductor can be accurately obtained. Infrared temperature measurement achieves non-contact temperature measurement by detecting infrared radiation on the surface of the conductor. This dual-mode temperature measurement method can more comprehensively evaluate the temperature condition of the conductor and promptly detect potential risks such as overheating.

[0049] The distributed fault location unit locates the fault location by analyzing the current waveform changes in the line. In the power system, faults often cause abnormal changes in the current waveform, such as short circuit, open circuit, etc. By real-time monitoring of the current waveform and combining advanced signal processing technology, the distributed fault location unit can quickly and accurately determine the fault point and provide precise guidance for emergency repair work.

[0050] All these units are electrically connected to the MCU (microcontroller unit) in the gripper module. As the control core of the gripper module, the MCU is responsible for processing and analyzing the data collected by each unit, and exchanging data with the first main control submodule of the host module through the communication interface. This includes transmitting the wire temperature data collected in the gripper module to the host module. This centralized data processing and communication method not only improves the efficiency of data processing, but also facilitates remote monitoring and management of the system.

[0051] The gripper module based on this embodiment has the advantages of realizing comprehensive monitoring and fault diagnosis of power lines, improving the operating efficiency and safety of the power system. At the same time, the modular design makes the gripper module have good scalability and compatibility, and can be flexibly configured according to different application scenarios.

[0052] In one embodiment, the first main control submodule is connected to the 4G submodule via a USB bus protocol, and the second main control submodule is connected to the 4G submodule via a UART protocol; the second main control submodule controls the usage rights of the 4G submodule and shares the 4G submodule with the first main control submodule via a 4G mutex lock.

[0053] In this embodiment, an intelligent scheduling and communication management mechanism is introduced, which is mainly optimized for the scenario where multiple main control submodules in the system share the same 4G submodule, ensuring the efficiency and security of data during transmission. Specifically, the first main control submodule and the second main control submodule are connected to the 4G submodule through different communication protocols (USB bus protocol and UART protocol), and this diversified connection method enhances the flexibility and compatibility of the system. However, in order to avoid communication conflicts and data loss caused by multiple main control submodules trying to access the 4G submodule at the same time, a 4G mutex mechanism is designed. The 4G mutex is used as a synchronization tool to control access rights to the 4G submodule. When any main control submodule needs to send or receive data through the 4G submodule, it will first try to obtain the 4G mutex. If the lock is currently held by another main control submodule, the main control submodule will be in a waiting state until the lock is released. In this way, it can be ensured that only one main control submodule can access the 4G submodule at any time, thereby effectively avoiding communication conflicts. In addition, the second main control submodule is designated as the main manager of the control 4G submodule usage rights. It is responsible for intelligently scheduling the access order of each main control submodule to the 4G submodule according to the real-time status and needs of the system. This centralized scheduling strategy not only improves communication efficiency, but also ensures the priority transmission of key data, providing strong support for emergency response and troubleshooting of the power system. In summary, by introducing the 4G mutex lock mechanism, the communication efficiency and stability of the system are further improved.

[0054] In one embodiment, the 4G submodule is shared with the first main control submodule through a 4G mutex lock, including: when the first main control submodule uses the 4G submodule, a predefined 4G application register is set; the second main control submodule polls the register, and if the value of the 4G application register is set, it is determined whether the current 4G submodule is being used; if it is not being used, the second main control submodule sets the 4G available register; when the first main control submodule queries that the 4G available register is set, the 4G submodule is used and the 4G application register is reset; when the second main control submodule needs to use the 4G submodule, the second main control submodule queries whether the 4G application register is set, and directly uses the 4G submodule if it is not set, otherwise it waits until the 4G application register is reset.

[0055] In this embodiment, first, a virtual state identifier is set in the use process of the 4G submodule, such as "idle", "applying", "in use", etc. These states are mapped to specific registers or memory areas so that each main control submodule can query in real time. When the first main control submodule needs to initiate a data transmission request, it will set the corresponding flag in the "4G application register" to indicate its willingness to use the 4G submodule. At this time, the module enters the "applying" state. Subsequently, the second main control submodule, as the main manager of the 4G submodule usage rights, will periodically poll these status registers. If it is detected that the "4G application register" has been set, and it is confirmed through other mechanisms (such as querying the current working status of the 4G submodule or detecting network signals, etc.) that the 4G submodule is not currently occupied by other modules, then the second main control submodule will be set in the "4G available register" to notify the first main control submodule that the 4G submodule can be safely used. This step ensures that even if multiple main control submodules make requests at the same time, conflicts can be avoided through reasonable scheduling. After the first master control submodule finds out that the "4G available register" is set, it will immediately start using the 4G submodule for data transmission. After the transmission is completed, it will actively reset the "4G application register" to release the right to use the 4G submodule and allow other master control submodules to apply. On the other hand, if the second master control submodule itself also needs to use the 4G submodule, it will first check the status of the "4G application register". If the register is not set (that is, no other master control submodule is applying to use the 4G submodule), the second master control submodule can directly use the 4G submodule for data transmission without waiting. If the "4G application register" has been set, the second master control submodule will enter a waiting state until the register is reset. In addition, in order to further enhance the robustness and reliability of the system, a timeout detection mechanism can be introduced. If a master control submodule does not release the 4G submodule for a long time after occupying it (i.e. the "4G application register" remains in the set state for a long time), the system will trigger a timeout warning and try to force the release of the module's use rights through software or hardware means to prevent the entire system communication from being blocked due to the failure of a single module. In summary, by introducing more refined state management and conflict detection strategies, as well as timeout detection mechanisms, we have further optimized the communication process of multiple master control submodules sharing the same 4G submodule, ensuring the efficiency, security and reliability of data transmission. This is of great significance for improving the overall performance and stability of the power monitoring system.

[0056] In one embodiment, the host module is powered by a power board equipped with a super capacitor, and the power board uses a power management chip to manage the power supply of the entire machine.

[0057] In this embodiment, the supercapacitor is a capacitor that can store a large amount of charge. Compared with traditional batteries, it has the advantages of fast charging and discharging speed, long cycle life and good low temperature performance. In the host module, the supercapacitor, as the main energy storage unit, can quickly absorb and release energy to provide instantaneous high power requirements for the system. At the same time, it can also supply power smoothly, and even in the case of unstable power supply or power outage, it can ensure the continuous operation of the system. The gripper module extracts energy from the power line through the CT energy acquisition unit, and this part of the energy is transmitted to the power board of the host module through the multi-core aviation connector to charge the supercapacitor. The supercapacitor can store the energy obtained from the gripper module and release it when needed to power the entire system, forming a closed-loop energy supply system. When the energy provided by the gripper module is sufficient, the supercapacitor is charged to reserve energy for the host module; when the energy supply is insufficient or the power line is abnormal, the supercapacitor releases energy to maintain the operation of the system until the gripper module provides energy again or the system enters low power consumption mode. The power management chip is responsible for monitoring and controlling the charging and discharging process of the supercapacitor and the power distribution of the entire host module. It can intelligently adjust the voltage and current according to the system requirements and the state of the supercapacitor to ensure that the system can get a stable power supply under various working conditions. In addition, the power management chip can also provide overvoltage and overcurrent protection to prevent damage to sensitive electronic components. Figure 2 , 2800F supercapacitor is used for energy storage and managed by the power management chip. The CPU-AD sampling chip is responsible for monitoring the voltage and current of the supercapacitor, i.e. energy monitoring; the power management chip decides when to turn on or off the device and controls the power supply based on the results of energy monitoring.

[0058] In one embodiment, when the supercapacitor voltage is lower than the first voltage threshold, the second main control submodule turns off the power of the first main control submodule, and only retains the 4G submodule power supply and the temperature and humidity sensor for periodically uploading environmental temperature and humidity data to maintain contact with the monitoring platform.

[0059] In this embodiment, the system designs an intelligent power management mode for the voltage level of the supercapacitor to ensure that the system can still maintain basic operating functions and communication with the monitoring platform in low power conditions. When the voltage of the supercapacitor drops below the preset first voltage threshold, the second main control submodule (MCU responsible for low power management and key data acquisition) will cut off the power supply of the first main control submodule. The first main control submodule is usually responsible for high-power tasks such as multimedia data interaction, end-side AI recognition, and file interaction. Turning it off can greatly reduce power consumption. Although the first main control submodule stops working, the system still needs to keep in touch with the remote monitoring platform to upload key environmental data. Therefore, the second main control submodule will ensure the power supply of the 4G submodule so that it can continue to work and maintain the communication link with the monitoring platform. As a key environmental monitoring device, the temperature and humidity sensor needs to keep running even in low power mode. The data collected by these sensors is crucial for evaluating the status of the environment in which the system is located and predicting environmental changes that may affect the performance of the device. The second main control submodule periodically uploads temperature and humidity data to the monitoring platform through the 4G submodule. This timed upload mechanism ensures that the system can provide the latest environmental information to the monitoring center even in low-power mode, which helps remote monitoring personnel to grasp the system status in a timely manner. Through the above measures, even if the voltage level of the supercapacitor is low, the system can maximize the operating time while ensuring basic communication and environmental monitoring functions. This intelligent power management strategy is particularly important for power transmission line monitoring systems deployed in remote areas or difficult to access frequently. It ensures that the system can still maintain key functions when energy cannot be replenished immediately, thereby improving the reliability and maintenance efficiency of the system. For example, when the voltage of the built-in supercapacitor of the device is <3.2V, the main control 2 turns off the power supply of the main control 1; only the 4G submodule power supply and the temperature and humidity sensor are retained, and the current environmental temperature and humidity data are uploaded every 10 minutes to retain the heartbeat signal. That is, the low power consumption characteristics of the main control 2 minimize the power consumption of the device, and only the minimum communication function with the monitoring system is retained to achieve ultra-low power operation.

[0060] In one embodiment, when the supercapacitor voltage is in the second voltage threshold range, the second main control submodule turns on the 4G submodule, RTK module, attitude sensor and temperature and humidity sensor, turns off the power of the first main control submodule, and monitors the wire dancing and sag data through the attitude sensor and RTK module and sends it to the platform through the 4G submodule to achieve low power consumption operation state of the system.

[0061] In this embodiment, when the voltage of the supercapacitor drops to the second voltage threshold range, the system automatically enters a state of low power consumption but maintaining key functions to ensure that the most important monitoring tasks can still be performed under limited power conditions. The specific steps are as follows: When the second main control submodule (MCU responsible for low power management and key data acquisition) detects that the voltage of the supercapacitor drops to the second voltage threshold, it will adjust the system to enter a low power operation state. In order to continue to perform key monitoring tasks, the second main control submodule will turn on the 4G submodule, RTK module (RTK module is a device for high-precision positioning, which receives signals from the global navigation satellite system (GNSS), such as GPS, GLONASS, Galileo or Beidou satellite system, combined with differential positioning technology, to achieve centimeter-level positioning accuracy.), attitude sensor (attitude sensor, usually including a combination of sensors such as gyroscopes, accelerometers and magnetometers, used to measure the spatial attitude of an object, that is, its direction and tilt angle) and temperature and humidity sensor (temperature and humidity sensor is used to monitor the temperature and humidity level of the environment), the turned-on attitude sensor and RTK module will continuously monitor the conductor dancing and sag of the transmission line, which are essential for assessing the health and safety of the line. At the same time, the temperature and humidity sensors will continuously monitor environmental conditions. This information helps to evaluate the operating environment of the equipment. In order to save power, the second main control submodule will turn off the power of the first main control submodule. The first main control submodule is usually responsible for high-power tasks such as multimedia data interaction and end-side AI recognition. These functions are not necessary in low-power mode and are therefore temporarily disabled. Through the 4G submodule, the system will upload the conductor dancing and sag data monitored by the attitude sensor and RTK module, as well as the environmental data collected by the temperature and humidity sensor, to the remote monitoring platform. The real-time transmission of these data ensures that the monitoring personnel can understand the status of the line in a timely manner so as to take necessary maintenance actions. Even in low-power mode, the continuous operation of the 4G submodule ensures the communication link between the system and the monitoring platform. It can achieve effective low-power operation by shutting down non-critical functions and focusing on maintaining critical monitoring and communication functions when power is limited, thereby extending the operating time of the equipment in the field while ensuring safe monitoring of the transmission line. For example, when the voltage of the built-in supercapacitor of the device is greater than 3.2V and less than 3.6V, the main control 2 turns on the 4G submodule, RTK module, attitude sensor, and temperature and humidity sensor peripherals, and turns off the power of the main control 1. At this time, the main control 2 can monitor the wire dancing and sag data through the attitude sensor and RTK module and send it to the platform through the 4G submodule, so as to achieve a low power consumption operation state of the device.

[0062] In one embodiment, when the supercapacitor voltage is greater than the third voltage threshold, the second main control submodule turns on the power of all peripherals and the first main control submodule, and sets the working mode of the first main control submodule based on a preset communication protocol.

[0063] In this embodiment, when the voltage of the supercapacitor rises back above the third voltage threshold, the system switches from energy-saving mode to full operation mode to restore all functions and maximize its monitoring and data processing capabilities. When the second main control submodule (MCU responsible for low-power management and key data acquisition) detects that the voltage of the supercapacitor is higher than the third voltage threshold, it will turn on the power of the first main control submodule and activate all previously turned off external devices, such as visible light cameras, ad hoc network modules, RTK modules, Beidou antennas, 9-axis attitude sensors, temperature and humidity sensors, accelerometers, etc. After the first main control submodule (NPU chip responsible for complex data processing and remote communication) is reactivated, the second main control submodule will send instructions to the first main control submodule according to the preset communication protocol to set its working mode. This may include turning on the AI ​​recognition function, starting the camera patrol photography, adjusting the data upload frequency, etc., to ensure that the system can fully perform its monitoring tasks. With the recovery of all devices, the system can perform comprehensive monitoring tasks, including but not limited to image acquisition, data processing, AI recognition, environmental data monitoring, etc. The first main control submodule can make full use of its powerful processing capabilities to process large amounts of data collected from various sensors and modules, identify potential risks of the transmission line, and upload important information to the monitoring platform through the 4G submodule.

[0064] With sufficient power support, the system can adjust resource allocation more flexibly. For example, the first main control sub-module can intelligently schedule camera shooting, data storage and uploading tasks based on real-time monitoring results to optimize overall operating efficiency and data quality.

[0065] In this way, the system can maximize its monitoring and processing capabilities when there is sufficient power, provide comprehensive and detailed real-time monitoring of the transmission line, and ensure timely upload of data, providing strong support for the maintenance and management of the power company. This design ensures stable operation and efficient energy management of the system under different power conditions.

[0066] In one embodiment, the first main control submodule turns on a specified visible light camera module according to the working mode set by the second main control submodule, and the camera control adopts a MIPI selection chip to mount multiple cameras under the NPU chip encoding capability of the first main control submodule to realize camera patrol photography.

[0067] In this embodiment, the first main control submodule (NPU chip) controls the opening and operation of the visible light camera module according to the working mode set by the second main control submodule (MCU chip). Specifically, this system design uses the MIPI (Mobile Industry Processor Interface) gating chip to realize the intelligent management and patrol photography functions of multiple cameras. MIPI is a standardized interface for mobile devices that supports high-speed data transmission while reducing the number of pins and power consumption. In this embodiment, the MIPI gating chip is used to switch between multiple cameras, and even if the encoding capability of the NPU chip is limited, it can support the connection and data processing of multiple cameras. The first main control submodule activates each camera in turn to take pictures according to the working mode set by the second main control submodule, according to the preset time interval or condition. This means that the system can cover a larger monitoring area or switch between different monitoring points without manual intervention. The second main control submodule is responsible for setting the working mode of the camera, including parameters such as shooting frequency, resolution, exposure time, and the order and conditions of patrol photography. This setting can be adjusted according to monitoring requirements and power conditions to optimize resource usage and data quality. The NPU chip of the first main control submodule is responsible for processing the image data captured by the camera, including but not limited to image recognition, analysis and compression. The processed data is uploaded to the monitoring platform through the 4G submodule for remote monitoring personnel to analyze and make decisions. Through the above mechanism, the system can efficiently utilize limited hardware resources, realize automatic patrol photography between multiple monitoring points, and ensure comprehensive monitoring of the surrounding environment of the transmission line. This design not only improves the coverage and flexibility of monitoring, but also reduces labor costs and enhances the system's autonomous operation capabilities.

[0068] In one embodiment, the camera performs patrol photography at a specified time interval. If a risk of external damage to the power transmission channel is identified, the alarm information and pictures are uploaded to the monitoring platform through the 4G submodule based on the file transfer protocol.

[0069] In this embodiment, the camera system is designed to automatically patrol and take photos at preset time intervals to continuously monitor the environment of the power transmission channel. When the system detects a possible risk of external damage (external damage) through AI recognition technology, it will automatically trigger the alarm mechanism and upload the relevant alarm information and pictures to the remote monitoring platform through the 4G submodule. Specifically, the visible light camera in the system automatically takes pictures of the surrounding environment of the power transmission channel according to the instructions of the first main control submodule (NPU chip) at preset time intervals. This patrol mechanism ensures continuous coverage of the monitoring area and can capture possible abnormal events. The first main control submodule uses a built-in AI algorithm to analyze the captured images to identify whether there is a risk of external damage, such as wildfires, smoke, cranes, excavators, and other factors that may threaten the safety of the line. Once the AI ​​recognition algorithm confirms that there is a risk of external damage, the system will immediately trigger the alarm mechanism, including generating an alarm message, which contains a detailed description of the identified abnormal situation and the corresponding image evidence. The alarm information and related pictures are encapsulated through the file transfer protocol (FTP) and uploaded to the remote monitoring platform through the 4G submodule. The high-speed data transmission capability of the 4G submodule ensures that alarm information can be delivered quickly and accurately so that monitoring personnel can respond in time. Through this series of automated processes, the online monitoring system for transmission lines can effectively prevent and promptly respond to external damage risks and ensure the safe and stable operation of transmission lines. This intelligent monitoring and rapid response mechanism is an indispensable part of modern power infrastructure maintenance. It greatly improves work efficiency, reduces reliance on manual inspections, and enhances the reliability of the power network.

[0070] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media provided in the present application and used in the embodiments can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double-speed data rate SDRAM (SSRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0071] The above description is only a preferred embodiment of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A transmission line online monitoring system with a dual-master control architecture, characterized in that: include: Host module and gripper module; The host module includes a first main control submodule and a second main control submodule, wherein the first main control submodule is communicatively connected with the second main control submodule; wherein the first main control submodule uses an MCU chip, and the second main control submodule uses an NPU chip; The gripper module is connected to the host module through a multi-core aviation connector, which is used for energy acquisition and communication multiplexing between the gripper module and the host module; wherein the gripper module is communicatively connected to the first main control submodule of the host module through the MCU; The host module also includes a 4G submodule, which is used to provide 4G communication for the first main control submodule and the second main control submodule.

2. The transmission line online monitoring system with dual master control architecture according to claim 1 is characterized in that: The gripper module comprises: The current collection unit uses a Rogowski coil to collect current on the power line; The CT energy extraction unit uses Permalloy as the energy extraction magnetic core to extract energy from the power line; Conductor temperature measurement unit, which combines NTC temperature measurement with infrared temperature measurement, is used to monitor the conductor temperature data of power cables; Distributed fault location unit, used to analyze the current waveform changes in the line and locate the location of the fault; The current acquisition unit, CT energy acquisition unit, wire temperature measurement unit and distributed fault location unit are electrically connected to the MCU in the gripper module, and are connected to the first main control submodule of the host module through the MCU.

3. The transmission line online monitoring system with dual master control architecture according to claim 1 is characterized in that: The first main control submodule is connected to the 4G submodule via a USB bus protocol, and the second main control submodule is connected to the 4G submodule via a UART protocol; The second main control submodule controls the use authority of the 4G submodule and shares the 4G submodule with the first main control submodule through a 4G mutex lock.

4. The transmission line online monitoring system with dual master control architecture according to claim 3 is characterized in that: The 4G submodule is shared with the first main control submodule through a 4G mutex lock, including: when the first main control submodule uses the 4G submodule, a predefined 4G application register is set; the second main control submodule polls the register, and if the value of the 4G application register is set, it is determined whether the current 4G submodule is being used; if it is not being used, the second main control submodule sets a value in the 4G available register; when the first main control submodule inquires that the 4G available register is set, the 4G submodule is used and the 4G application register is reset; when the second main control submodule needs to use the 4G submodule, the second main control submodule inquires whether the 4G application register is set, and if not, the 4G submodule is used directly, otherwise it will wait until the 4G application register is reset.

5. The online monitoring system for power transmission lines with dual master control architecture according to claim 1, characterized in that: The host module is powered by a power board equipped with a super capacitor, and the power board uses a power management chip to manage the power supply of the entire machine.

6. The online monitoring system for power transmission lines with dual master control architecture according to claim 5, characterized in that: When the supercapacitor voltage is lower than the first voltage threshold, the second main control submodule turns off the power of the first main control submodule, and only retains the 4G submodule power supply and the temperature and humidity sensor for regularly uploading environmental temperature and humidity data to maintain contact with the monitoring platform.

7. The online monitoring system for power transmission lines with a dual-master control architecture according to claim 5, characterized in that: When the supercapacitor voltage is within the second voltage threshold range, the second main control submodule turns on the 4G submodule, the RTK module, the attitude sensor and the temperature and humidity sensor, turns off the power of the first main control submodule, and monitors the wire dancing and sag data through the attitude sensor and the RTK module and sends them to the platform through the 4G submodule to achieve low power consumption operation of the system.

8. The transmission line online monitoring system with dual master control architecture according to claim 5, characterized in that: When the supercapacitor voltage is greater than the third voltage threshold, the second main control submodule turns on the power supplies of all peripherals and the first main control submodule, and sets the working mode of the first main control submodule based on a preset communication protocol.

9. The transmission line online monitoring system with dual master control architecture according to claim 8, characterized in that: The first main control submodule turns on the specified visible light camera module according to the working mode set by the second main control submodule. The camera control adopts the MIPI selection chip to mount multiple cameras under the NPU chip encoding capability of the first main control submodule to realize the camera's patrol photography.

10. The transmission line online monitoring system with dual master control architecture according to claim 9, characterized in that: The camera takes photos in a patrol manner at a specified time interval. If a risk of external damage to the power transmission channel is identified, the alarm information and pictures are uploaded to the monitoring platform through the 4G submodule based on the file transfer protocol.

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