Power transmission line inspection method and system based on unmanned aerial vehicle cluster

Abstract

The invention discloses a power transmission line inspection method and system based on an unmanned aerial vehicle cluster, and relates to the technical field of image recognition, and the method comprises the steps: selecting an unmanned aerial vehicle cluster state according to an inspection task requirement, and carrying out the condition division of the unmanned aerial vehicle cluster based on the power transmission line of an inspection target; based on an unmanned aerial vehicle cluster, according to the divided power transmission line, a route is set for autonomous flight, and the power transmission line is inspected in the flight process according to a set inspection task; electrical defects of the power transmission line are collected based on the inspection result, a control center of the unmanned aerial vehicle cluster communication system is used for processing the electrical defects, and the processed electrical defects are evaluated. According to the invention, the inspection efficiency and accuracy are effectively improved, all-directional and multi-angle monitoring of the power transmission line is realized, physical and electrical defects of the line can be accurately identified, an accurate line state judgment basis is provided, and thus the operation safety of the power transmission line and the intelligent level of maintenance management are improved.

Description

Technical Field

[0001] The present invention relates to the field of image recognition technology, and in particular to a transmission line inspection method and system based on unmanned aerial vehicle clusters. Background Art

[0002] The power transmission network continues to expand, and the mileage of transmission lines has increased significantly. The traditional power inspection method can no longer meet the current inspection needs. The initial transmission line inspection method mainly relied on manual walking along the line or using transportation, using telescopes and infrared thermal imagers and other equipment to inspect and detect line equipment and channel environment. With the continuous maturity of drone technology, drones have made significant breakthroughs in remote control, endurance time and flight quality. These technological breakthroughs have provided good conditions for the application of drones in power inspection.

[0003] The existing method of UAV cluster inspection of transmission lines first carries out UAV cluster planning and deployment, and carries out task planning for UAV cluster according to the specific requirements of the inspection task, including inspection area, inspection content and inspection time, etc.; then the UAV self-inspection is carried out, the model of the UAV is selected, and whether the various equipment of the UAV is in good condition is ensured; then the UAV takes off and collaborative operation is carried out, and the take-off point and flight route of the UAV are determined according to the on-site survey results and the flight plan. Multiple UAVs take off according to the planned route and realize collaborative operation through the UAV cluster control system; then the inspection operation is carried out to obtain the appearance of the transmission line; finally, the collected data is processed and a report is generated, and the inspection data is analyzed and processed by using image recognition technology and data analysis software, the defects and hidden dangers of the transmission line are identified and summarized, a defect list is formed, and an inspection report is generated according to the results of defect identification and summary. The use of UAV cluster to inspect transmission lines can effectively improve inspection efficiency, reduce labor costs, enhance inspection safety and improve inspection accuracy.

[0004] However, there are still some shortcomings in its actual use. For example, the existing drone cluster inspection transmission line system lacks unified planning and management in task formulation, execution and result data processing, which limits its application in large-scale inspections. When performing inspection tasks, drones may collide with transmission lines, which may have an adverse impact on the safety of transmission lines. Summary of the invention

[0005] In view of the problems existing in the existing transmission line inspection method and system based on drone swarm, the present invention is proposed.

[0006] Therefore, the purpose of the present invention is to provide a transmission line inspection method and system based on drone swarms. In order to solve the problem that drones may collide with transmission lines when performing inspection tasks, which may have an adverse impact on the safety of transmission lines, the present invention adopts a transmission line inspection method based on drone swarms to solve the problem.

[0007] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0008] In a first aspect, an embodiment of the present invention provides a transmission line inspection method based on a drone cluster, which includes selecting a drone cluster state according to inspection task requirements, establishing a drone cluster communication system, and dividing the drone cluster into situations based on the transmission line of the inspection target;

[0009] Waiting for the controller to issue a command, the drone cluster sets a route and flies autonomously according to the divided transmission lines. During the flight, it inspects the transmission lines according to the set inspection tasks;

[0010] Based on the inspection results, the electrical defects of the transmission lines are collected, and the electrical defects are processed using the control center of the drone cluster communication system. The processed electrical defects are evaluated, and an evaluation index is generated. The evaluation index is imported into the database to complete the printing of the inspection report, and the printed inspection report is fed back to the staff for review.

[0011] As a preferred solution of the transmission line inspection method based on drone clusters described in the present invention, wherein: the selection of the drone cluster state includes collecting the load capacity, endurance and maneuverability of the drone according to the drone model, determining the equipment carried by the drone cluster, the equipment includes a high-definition camera, an infrared thermal imager, a laser radar and an ultraviolet detection probe, and using the equipment carried by the drone cluster to establish a drone cluster communication system, the high-definition camera includes collecting transmission line information by shooting at various angles, the infrared thermal imager includes checking the discharge of the transmission line, and the ultraviolet detection probe includes checking the temperature abnormality of the transmission line;

[0012] The establishment of the drone cluster communication system includes establishing it based on high-definition cameras, infrared thermal imagers, laser radars and ultraviolet detection probes.

[0013] As a preferred solution of the transmission line inspection method based on drone clusters of the present invention, wherein: the situation division of the drone cluster includes that during the inspection flight of the drone cluster based on the transmission line, the drone cluster selects a flight strategy that is autonomously adjusted with the terrain according to the mission requirements;

[0014] The flight strategy includes collecting the characteristics of the transmission line, including the line layout, topography and meteorological conditions, using a 3D navigation system and an automatic route planning algorithm, combined with the performance parameters of the drone cluster, to automatically generate a flight path.

[0015] As a preferred solution of the transmission line inspection method based on drone clusters described in the present invention, the inspection of the transmission line includes the drone cluster waiting for the control personnel to issue instructions, and inspecting the transmission line according to the set task requirements during the flight according to the automatically generated flight path, the drone clusters are numbered in sequence, marked as 1, 2...n, and the time of drone cluster detection is equally divided into sub-time areas, marked as 1, 2...k; during the flight process of the drone cluster's inspection of the transmission line, the flight strategy that is autonomously adjusted to the terrain is selected according to the task requirements, and multiple drone clusters share the collected information during flight, and perform collaborative operations based on the shared information.

[0016] As a preferred solution of the transmission line inspection method based on drone clusters described in the present invention, wherein: the electrical defects of the transmission line collected based on the inspection results include preprocessing the collected information using image recognition technology to obtain electrical defect data of the transmission line, and the defect content of the electrical defect data includes conductor defect parameters, tower defect parameters and insulator defect parameters, and the conductor defect parameters include the number of conductor fractures N f 、Number of foreign objects hanging on the wire h And the wire damage length L d The tower defect parameters include the number of tower tilts N g and the number of damaged tower components N t The insulator defect parameters include the number of damaged insulators N d .

[0017] As a preferred solution of the transmission line inspection method based on drone clusters of the present invention, wherein: the electrical defects after evaluation include physical defects used to determine the transmission line, and the specific steps are as follows:

[0018] Based on the collected data of the number of conductor fractures, the number of foreign objects hanging on the conductors, the length of the damaged conductors, the number of tilted pole towers, the number of damaged pole tower components, and the number of damaged insulators, the evaluation index of the transmission line is calculated, which is specifically expressed as:

[0019]

[0020] in, represents the physical defect assessment value of the target transmission line, P1 represents the conductor defect assessment value of the target transmission line, and N direpresents the number of damaged insulators detected by the i-th UAV, and P2 represents the tower defect assessment value of the target transmission line;

[0021] The physical defect evaluation value of the target transmission line includes a method for determining the electrical defect of the target transmission line. Based on the collected discharge energy of the transmission line and the temperature of the transmission line, the electrical defect evaluation value of the target transmission line is calculated. The specific calculation formula is:

[0022]

[0023] in, represents the electrical defect assessment value of the target transmission line, E di represents the transmission line discharge energy detected by the i-th UAV, T ij It means that the temperature of the transmission line is detected by the i-th UAV in the j-th sub-time.

[0024] As a preferred solution of the transmission line inspection method based on drone clusters described in the present invention, the electrical defects after evaluation processing also include calculating a comprehensive transmission line defect evaluation index based on the physical defect evaluation value of the target transmission line and the electrical defect evaluation value of the target transmission line. The specific calculation formula is:

[0025] φ=δ1φ1+δ2φ2

[0026] in, represents the comprehensive transmission line defect assessment index of the target transmission line, δ1 represents the influence coefficient of the physical defect assessment value on the comprehensive transmission line defect assessment index, and δ2 represents the influence coefficient of the electrical defect assessment value on the comprehensive transmission line defect assessment index;

[0027] The warning value of the integrated transmission line defect assessment index is marked as

[0028] when When , the comprehensive transmission line defect assessment index is less than the warning value of the comprehensive transmission line defect assessment index, and the transmission line is in normal working condition;

[0029] when When the comprehensive transmission line defect assessment index is greater than the warning value of the comprehensive transmission line defect assessment index, the transmission line is in an abnormal working state.

[0030] In a second aspect, an embodiment of the present invention provides a transmission line inspection system based on a drone cluster, which includes: a division module, which selects a drone cluster state according to the inspection task requirements, and divides the drone cluster into situations based on the transmission line of the inspection target;

[0031] The inspection module sets the route for autonomous flight based on the divided transmission lines by the drone cluster, and inspects the transmission lines according to the set inspection tasks during the flight;

[0032] The evaluation module collects electrical defects of the transmission line based on the inspection results, processes the electrical defects using the control center of the drone cluster communication system, and evaluates the processed electrical defects.

[0033] In a third aspect, an embodiment of the present invention provides a computer device, including a memory and a processor, wherein the memory stores a computer program, wherein: when the processor executes the computer program, it implements any step of the above-mentioned transmission line inspection method based on drone clusters.

[0034] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein: when the computer program is executed by a processor, any step of the above-mentioned transmission line inspection method based on drone clusters is implemented.

[0035] The beneficial effects of the present invention are as follows: the present invention effectively improves the inspection efficiency and accuracy through cluster state selection, route autonomous flight and intelligent collaborative operation, and realizes all-round and multi-angle monitoring of transmission lines through the comprehensive application of equipment such as high-definition cameras, infrared thermal imagers, lidars and ultraviolet detection probes. It can accurately identify the physical and electrical defects of the lines. The evaluation module calculates the comprehensive defect evaluation index based on the defect data, provides an accurate basis for judging the line status, and thus improves the operational safety of the transmission lines and the intelligent level of maintenance management. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. Among them:

[0037] Figure 1 A specific flow chart of a transmission line inspection method and system based on drone clusters provided for one embodiment of the present invention.

[0038] Figure 2 A schematic diagram of a transmission line inspection method and system based on drone swarms provided in accordance with an embodiment of the present invention. DETAILED DESCRIPTION

[0039] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the drawings of the specification. Obviously, the described embodiments are part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary persons in the art without creative work should fall within the scope of protection of the present invention.

[0040] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0041] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive with other embodiments.

[0042] The present invention is described in detail with reference to schematic diagrams. When describing the embodiments of the present invention, for the sake of convenience, the cross-sectional diagrams showing the device structure will not be partially enlarged according to the general scale, and the schematic diagrams are only examples, which should not limit the scope of protection of the present invention. In addition, in actual production, the three-dimensional dimensions of length, width and depth should be included.

[0043] At the same time, in the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "upper, lower, inner and outer" are based on the directions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first, second or third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0044] In the present invention, unless otherwise clearly specified and limited, the terms "install, connect, connect" should be understood in a broad sense, for example: it can be a fixed connection, a detachable connection or an integral connection; it can also be a mechanical connection, an electrical connection or a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0045] Example 1

[0046] Reference Figure 1 and Figure 2, which is the first embodiment of the present invention, and provides a transmission line inspection method based on a drone cluster, comprising:

[0047] S1: Select the drone cluster status according to the inspection task requirements, establish a drone cluster communication system, and divide the drone cluster into situations based on the transmission lines of the inspection target.

[0048] Among them, selecting the state of the drone cluster includes collecting the load capacity, endurance and maneuverability of the drone according to the drone model, determining the equipment carried by the drone cluster, including high-definition cameras, infrared thermal imagers, laser radars and ultraviolet detection probes, and using the equipment carried by the drone cluster to establish a drone cluster communication system. The high-definition camera includes collecting transmission line information by shooting at various angles, the infrared thermal imager includes checking the discharge of the transmission line, and the ultraviolet detection probe includes checking the temperature abnormality of the transmission line;

[0049] The establishment of a drone cluster communication system includes building it based on high-definition cameras, infrared thermal imagers, lidars and ultraviolet detection probes.

[0050] Furthermore, in the transmission line inspection task, the drone cluster state is selected according to the task requirements. First, the drone's load capacity, endurance and maneuverability need to be evaluated in detail. If the selected drone model has a maximum load capacity of 5 kg, a flight time of 45 minutes, and a flight speed of 15 m / s, in this case, the equipment configuration of the drone cluster includes a 1.5 kg high-definition camera, a 0.8 kg infrared thermal imager, a 1.2 kg laser radar and a 0.5 kg ultraviolet detection probe. Through the comprehensive application of these devices, inspections can be carried out within a 3 km transmission line range. The drone parameters are shown in Table 1 below:

[0051] Table 1 UAV parameter data table

[0052] parameter Specific data Maximum payload capacity of drone 5 kg Drone flight time 45 minutes Drone flight speed 15 m / s Device Configuration - HD Camera 1.5 kg Thermal imaging camera 0.8 kg LiDAR 1.2 kg UV detection probe 0.5 kg Inspection scope 3 km

[0053] The above table summarizes the key performance parameters and equipment configuration of the UAV in the transmission line inspection mission. The maximum payload capacity of the UAV is 5 kg, the flight time is 45 minutes, and the flight speed can reach 15 meters per second. According to these parameters, the UAV can carry a 1.5 kg high-definition camera, a 0.8 kg infrared thermal imager, a 1.2 kg lidar and a 0.5 kg ultraviolet detection probe, thereby performing effective inspection tasks within a 3 km transmission line range.

[0054] During the establishment of the communication system, the communication coverage range of the drone cluster is set to a radius of 10 kilometers to ensure stable signal transmission in complex terrain. The high-definition camera can capture 30 frames of images per second with a resolution of 4000×3000 pixels. The infrared thermal imager can detect discharges with a temperature difference of ±0.5 degrees Celsius, and the ultraviolet detection probe can detect temperature anomalies above 5 degrees Celsius. These precise equipment data provide guarantees for the effectiveness and accuracy of subsequent inspection work.

[0055] S1.1: The classification of UAV swarms includes the following: In the process of UAV swarms’ inspection flights based on power transmission lines, the UAV swarms select flight strategies that autonomously adjust to the terrain according to mission requirements;

[0056] The flight strategy involves collecting the characteristics of the transmission lines, including line layout, topography and meteorological conditions, and automatically generating a flight path using a 3D navigation system and automatic route planning algorithm combined with the performance parameters of the drone cluster.

[0057] Furthermore, during the inspection flight, the drone swarm autonomously adjusts its flight strategy according to mission requirements and terrain conditions. First, the drone swarm collects the characteristic data of the transmission line in real time through the 3D navigation system, including line length, altitude difference, terrain and meteorological conditions around the line. In mountainous terrain, drones need to adapt to altitude changes of 500 to 1,000 meters, and wind speeds may reach more than 10 meters per second. In this case, the automatic route planning algorithm will automatically generate the optimal flight path based on the drone's flight speed, endurance and load capacity, ensuring that each drone can cover a line range of 30 kilometers while avoiding high wind speed areas to improve the safety and efficiency of inspections.

[0058] S2: Waiting for the controller to issue instructions, the drone cluster sets the route and flies autonomously according to the divided transmission lines, and inspects the transmission lines according to the set inspection tasks during the flight.

[0059] Among them, the inspection of transmission lines includes the drone cluster waiting for the control personnel to issue instructions, following the automatically generated flight path, inspecting the transmission lines according to the set task requirements during the flight, numbering the drone clusters in sequence, marked as 1, 2...n, and dividing the time of the drone cluster detection into sub-time areas, marked as 1, 2...k; during the flight process of the drone cluster's inspection of the transmission lines, the flight strategy that autonomously adjusts to the terrain is selected according to the task requirements. Multiple drone clusters share the collected information during flight and perform collaborative operations based on the shared information.

[0060] Furthermore, when the drone cluster performs the transmission line inspection task, the control personnel first issue a command, and the drone cluster begins to fly autonomously according to the previously divided line area. Each drone is numbered. For example, there are 10 drones in the cluster, marked from 1 to 10, and each drone is responsible for a different line section. The time of the entire inspection task is divided into multiple sub-time areas in equal amounts. For example, if the total task time is 60 minutes, each sub-time area is 6 minutes, marked from 1 to 10 respectively, to ensure that each drone completes the inspection of the designated area within its respective time period.

[0061] S3: Collect electrical defects of the transmission line based on the inspection results, process the electrical defects using the control center of the drone cluster communication system, evaluate the processed electrical defects, generate an evaluation index, import the evaluation index into the database to complete the printing of the inspection report, and feed back the printed inspection report to the staff for review.

[0062] The electrical defects of the transmission line collected based on the inspection results include preprocessing the collected information using image recognition technology to obtain the electrical defect data of the transmission line. The defect content of the electrical defect data includes conductor defect parameters, tower defect parameters and insulator defect parameters. The conductor defect parameters include the number of conductor fractures N. f 、Number of foreign objects hanging on the wire h And the wire damage length L d , tower defect parameters include the number of tower tilts N g and the number of damaged tower components N t , the insulator defect parameters include the number of damaged insulators N d .

[0063] S3.1: The evaluation of electrical defects after treatment includes determining the physical defects of the transmission line. The specific steps are as follows:

[0064] Based on the collected data of the number of conductor fractures, the number of foreign objects hanging on the conductors, the length of the damaged conductors, the number of tilted towers, the number of damaged tower components, and the number of damaged insulators, the evaluation index of the transmission line is calculated, which is specifically expressed as:

[0065]

[0066] in, represents the physical defect assessment value of the target transmission line, P1 represents the conductor defect assessment value of the target transmission line, and N di represents the number of damaged insulators detected by the i-th UAV, and P2 represents the tower defect assessment value of the target transmission line;

[0067] The physical defect evaluation value of the target transmission line includes a method for judging the electrical defect of the target transmission line. Based on the collected discharge energy of the transmission line and the temperature of the transmission line, the electrical defect evaluation value of the target transmission line is calculated. The specific calculation formula is:

[0068]

[0069] in, represents the electrical defect assessment value of the target transmission line, E di represents the transmission line discharge energy detected by the i-th UAV, T ij It means that the temperature of the transmission line is detected by the i-th UAV in the j-th sub-time.

[0070] Furthermore,

[0071]

[0072] Among them, P1 represents the wire defect assessment value of the target transmission line, P2 represents the tower defect assessment value of the target transmission wire, and N fi represents the number of wire breaks detected by the i-th UAV, N hi represents the number of foreign objects hanging from wires detected by the i-th UAV, L di represents the length of the wire damage detected by the i-th UAV, N ti N represents the number of damaged tower components detected by the i-th UAV, gi Represents the number of tilted towers detected by the i-th UAV.

[0073] S3.2: The electrical defects after evaluation processing also include calculating a comprehensive transmission line defect evaluation index based on the physical defect evaluation value of the target transmission line and the electrical defect evaluation value of the target transmission line. The specific calculation formula is:

[0074] φ=δ1φ1+δ2φ2

[0075] in, represents the comprehensive transmission line defect assessment index of the target transmission line, δ1 represents the influence coefficient of the physical defect assessment value on the comprehensive transmission line defect assessment index, and δ2 represents the influence coefficient of the electrical defect assessment value on the comprehensive transmission line defect assessment index;

[0076] The warning value of the integrated transmission line defect assessment index is marked as

[0077] when When , the comprehensive transmission line defect assessment index is less than the warning value of the comprehensive transmission line defect assessment index, and the transmission line is in normal working condition;

[0078] when When the comprehensive transmission line defect assessment index is greater than the warning value of the comprehensive transmission line defect assessment index, the transmission line is in an abnormal working state.

[0079] Furthermore, after evaluating the electrical defects of the transmission line, the comprehensive transmission line defect assessment index is calculated by comprehensively analyzing the physical defect assessment value and the electrical defect assessment value. First, the physical defect assessment value and the electrical defect assessment value respectively reflect the potential problems of the transmission line in mechanical and electrical aspects. For example, the physical defect assessment value of a transmission line is 0.6, indicating that there are certain risks in the mechanical structure of the line, while the electrical defect assessment value is 0.8, which means that the hidden dangers of the line in electrical performance are more significant.

[0080] Next, based on the weight coefficients of the two evaluation values ​​(for example, the weight coefficient of physical defects is 0.4, and the weight coefficient of electrical defects is 0.6), the comprehensive transmission line defect assessment index is calculated. If the calculated comprehensive defect assessment index is 0.72, and the system pre-set warning value is 0.7, then the comprehensive defect index of the current transmission line has exceeded the warning value, indicating that the line is abnormal and maintenance measures need to be taken immediately.

[0081] If the evaluation index is lower than the warning value (for example, the calculated index is 0.65, while the warning value is 0.7), it means that the overall status of the transmission line is within an acceptable range and can continue to operate normally. Through this detailed evaluation and calculation process, the health status of the transmission line can be effectively monitored, and potential fault hazards can be discovered and handled in a timely manner to ensure the safe and stable operation of the power grid.

[0082] In a preferred embodiment, a transmission line inspection system based on drone clusters includes a division module, which selects the drone cluster state according to the inspection task requirements and divides the drone cluster into situations based on the transmission line of the inspection target; an inspection module, which sets a route for autonomous flight based on the divided transmission line based on the drone cluster, and inspects the transmission line according to the set inspection task during the flight; an evaluation module, which collects electrical defects of the transmission line based on the inspection results, processes the electrical defects using the control center of the drone cluster communication system, and evaluates the processed electrical defects.

[0083] The above-mentioned unit modules may be embedded in or independent of a processor in a computer device in the form of hardware, or may be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to the above-mentioned modules.

[0084] The computer device may be a terminal, and the computer device includes a processor, a memory, a communication interface, a display screen and an input device connected via a system bus. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be achieved through WIFI, an operator network, NFC (near field communication) or other technologies. The display screen of the computer device may be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device may be a touch layer covering the display screen, or a key, trackball or touchpad provided on the housing of the computer device, or an external keyboard, touchpad or mouse, etc.

[0085] In summary, the present invention effectively improves the inspection efficiency and accuracy through cluster state selection, autonomous route flight and intelligent collaborative operation. Through the comprehensive application of equipment such as high-definition cameras, infrared thermal imagers, lidars and ultraviolet detection probes, it realizes all-round and multi-angle monitoring of transmission lines, and can accurately identify the physical and electrical defects of the lines. The evaluation module calculates the comprehensive defect evaluation index based on the defect data, provides an accurate basis for judging the line status, and thus improves the operational safety of the transmission lines and the intelligent level of maintenance management.

[0086] Example 2

[0087] Reference Figure 1 and Figure 2 , which is the second embodiment of the present invention, and this embodiment provides a transmission line inspection method based on drone clusters. In order to verify the beneficial effects of the present invention, scientific demonstration is carried out through simulation experiments.

[0088] During the experiment, a drone cluster with a load capacity of 5 kg, a flight time of 45 minutes and a flight speed of 15 m / s was selected, equipped with a high-definition camera, an infrared thermal imager, a laser radar and a UV detection probe, weighing 1.5 kg, 0.8 kg, 1.2 kg and 0.5 kg respectively. The experiment first conducted a simulated inspection within a 3-kilometer transmission line range, and found that the flight time of the drone in actual operation can reach 42 minutes, and the inspection coverage rate reached 98%. In actual application, the infrared thermal imager successfully detected multiple tiny discharge anomalies, and the UV detection probe accurately identified the abnormal temperature area of ​​the line under high temperature conditions, and the inspection error was controlled at ±2%. The experiment showed that during the inspection process, the flexibility of the drone and the accuracy of the equipment enable the entire system to maintain efficient inspection performance under complex terrain. The experimental data of the present invention are shown in Table 2 below:

[0089] Table 2 Experimental data table of the present invention

[0090] Parameters / Equipment describe Experimental data UAV payload capacity Select the maximum payload capacity of the drone 5 kg Battery life Actual flight time of the drone 42 minutes Flight speed Drone flight speed 15 m / s Inspection scope Transmission line inspection scope in the experiment 3 km Camera weight Weight of HD Camera 1.5 kg Thermal imager weight Weight of thermal imaging camera 0.8 kg LiDAR Weight Weight of LiDAR 1.2 kg Detection probe weight Weight of UV detection probe 0.5 kg Inspection coverage Coverage rate of drone clusters during inspections 98％ Detection Error Detection error range ±2％ Anomaly Detection Number of abnormal discharge points detected by thermal imager Multiple Temperature anomaly identification Abnormal temperature areas identified by UV probe Accurate identification (quantity not listed)

[0091] The above table shows the key data in the UAV cluster transmission line inspection experiment. The maximum load capacity of the UAV is 5 kg, the actual endurance time is 42 minutes, the flight speed is 15 meters per second, and it can inspect within a 3-kilometer transmission line range. The equipment used in the experiment includes a 1.5-kilogram high-definition camera, a 0.8-kilogram infrared thermal imager, a 1.2-kilogram laser radar, and a 0.5-kilogram ultraviolet detection probe. The inspection coverage rate of the UAV reached 98%, and the detection error was controlled within the range of ±2%. The infrared thermal imager successfully detected multiple abnormal discharge points, and the ultraviolet detection probe accurately identified the temperature abnormality area. The overall experimental results show that the UAV cluster has excellent inspection performance in complex terrain and can effectively complete the predetermined inspection tasks. The comparison between the present invention and the prior art is shown in Table 3 below:

[0092] Table 3 Comparison between the present invention and the prior art

[0093]

[0094] The above table compares the main features of the technical solution of the present invention with the prior art. Compared with the traditional method, the present invention achieves a wider inspection range and significantly improved inspection efficiency through drone clusters. The drones can cover a range of 3 kilometers and increase the inspection coverage rate to 98%. In terms of equipment configuration, the present invention uses high-definition cameras, infrared thermal imagers, lidars and ultraviolet probes to improve detection accuracy, and the error is controlled within ±2%. In terms of data collection, drone clusters can collect and process data in real time, automatically generate reports, and significantly improve work efficiency. The present invention can autonomously adjust flight strategies in complex terrains, has strong adaptability, and reduces maintenance costs. It also has real-time abnormal alarm functions and faster response speeds. These advantages enable the present invention to perform well in transmission line inspections and is significantly superior to traditional technologies.

[0095] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A transmission line inspection method based on drone clusters, characterized by: include, Select the drone cluster status according to the inspection task requirements, establish a drone cluster communication system, and divide the drone cluster into different situations based on the transmission lines of the inspection targets; Waiting for the controller to issue a command, the drone cluster sets a route and flies autonomously according to the divided transmission lines. During the flight, it inspects the transmission lines according to the set inspection tasks; Based on the inspection results, the electrical defects of the transmission lines are collected, and the electrical defects are processed using the control center of the drone cluster communication system. The processed electrical defects are evaluated, an evaluation index is generated, the evaluation index is imported into the database to complete the printing of the inspection report, and the printed inspection report is fed back to the staff for review.

2. The power transmission line inspection method based on drone clusters according to claim 1, characterized in that: The selecting of the drone cluster state includes collecting the load capacity, endurance and maneuverability of the drone according to the drone model, determining the equipment carried by the drone cluster, the equipment including a high-definition camera, an infrared thermal imager, a laser radar and an ultraviolet detection probe, and establishing a drone cluster communication system using the equipment carried by the drone cluster. The high-definition camera includes collecting transmission line information by shooting at various angles, the infrared thermal imager includes checking the discharge of the transmission line, and the ultraviolet detection probe includes checking the temperature abnormality of the transmission line; The establishment of the drone cluster communication system includes establishing it based on high-definition cameras, infrared thermal imagers, laser radars and ultraviolet detection probes.

3. The power transmission line inspection method based on drone clusters as claimed in claim 2, characterized in that: The classification of the UAV cluster into situations includes that during the inspection flight of the UAV cluster based on the power transmission line, the UAV cluster selects a flight strategy that autonomously adjusts to the terrain according to the mission requirements; The flight strategy includes collecting the characteristics of the transmission line, including the line layout, topography and meteorological conditions, using a 3D navigation system and an automatic route planning algorithm, combined with the performance parameters of the drone cluster, to automatically generate a flight path.

4. The power transmission line inspection method based on drone clusters as claimed in claim 3 is characterized by: The inspection of the transmission line includes the drone cluster waiting for the control personnel to issue instructions, following the automatically generated flight path, inspecting the transmission line according to the set task requirements during the flight, numbering the drone clusters in sequence, marked as 1, 2...n, and dividing the time of the drone cluster detection into sub-time areas of equal amounts, marked as 1, 2...k; during the flight process of the drone cluster's inspection of the transmission line, the drone cluster selects a flight strategy that autonomously adjusts to the terrain according to the task requirements, and multiple drone clusters share the collected information during flight, and perform collaborative operations based on the shared information.

5. The power transmission line inspection method based on drone clusters as claimed in claim 4, characterized in that: The electrical defects of the transmission line collected based on the inspection results include preprocessing the collected information using image recognition technology to obtain electrical defect data of the transmission line. The defect content of the electrical defect data includes conductor defect parameters, tower defect parameters and insulator defect parameters. The conductor defect parameters include the number of conductor fractures N. f 、Number of foreign objects hanging on the wire h And the wire damage length L d The tower defect parameters include the number of tower tilts N g and the number of damaged tower components N t The insulator defect parameters include the number of damaged insulators N d .

6. The power transmission line inspection method based on drone clusters according to claim 5 is characterized in that: The electrical defects after the evaluation process include determining the physical defects of the transmission line, and the specific steps are as follows: Based on the collected data of the number of conductor fractures, the number of foreign objects hanging on the conductors, the length of the damaged conductors, the number of tilted pole towers, the number of damaged pole tower components, and the number of damaged insulators, the evaluation index of the transmission line is calculated, which is specifically expressed as: in, represents the physical defect assessment value of the target transmission line, P1 represents the conductor defect assessment value of the target transmission line, and N di represents the number of damaged insulators detected by the i-th UAV, and P2 represents the tower defect assessment value of the target transmission line; The physical defect evaluation value of the target transmission line includes a method for determining the electrical defect of the target transmission line. Based on the collected discharge energy of the transmission line and the temperature of the transmission line, the electrical defect evaluation value of the target transmission line is calculated. The specific calculation formula is: in, represents the electrical defect assessment value of the target transmission line, E di represents the transmission line discharge energy detected by the i-th UAV, T ij It means that the temperature of the transmission line is detected by the i-th UAV in the j-th sub-time.

7. The power transmission line inspection method based on drone clusters according to claim 6 is characterized in that: The electrical defects after the evaluation process also include calculating a comprehensive transmission line defect evaluation index according to the physical defect evaluation value of the target transmission line and the electrical defect evaluation value of the target transmission line. The specific calculation formula is: φ=δ1φ1+δ2φ2 in, represents the comprehensive transmission line defect assessment index of the target transmission line, δ1 represents the influence coefficient of the physical defect assessment value on the comprehensive transmission line defect assessment index, and δ2 represents the influence coefficient of the electrical defect assessment value on the comprehensive transmission line defect assessment index; The warning value of the integrated transmission line defect assessment index is marked as when When , the comprehensive transmission line defect assessment index is less than the warning value of the comprehensive transmission line defect assessment index, and the transmission line is in normal working condition; when When the comprehensive transmission line defect assessment index is greater than the warning value of the comprehensive transmission line defect assessment index, the transmission line is in an abnormal working state.

8. A transmission line inspection system based on drone swarm, based on the transmission line inspection method based on drone swarm according to any one of claims 1 to 7, characterized in that: include, A division module selects the state of the drone cluster according to the inspection task requirements and divides the drone cluster into different situations based on the transmission lines of the inspection targets; The inspection module sets the route for autonomous flight based on the divided transmission lines by the drone cluster, and inspects the transmission lines according to the set inspection tasks during the flight; The evaluation module collects electrical defects of the transmission line based on the inspection results, processes the electrical defects using the control center of the drone cluster communication system, and evaluates the processed electrical defects.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the transmission line inspection method based on drone cluster described in any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the transmission line inspection method based on drone clusters described in any one of claims 1 to 7 are implemented.

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