Communication line intelligent detection unmanned aerial vehicle

Abstract

The invention belongs to the technical field of communication line inspection, and particularly discloses a communication line intelligent detection unmanned aerial vehicle, which is composed of an unmanned aerial vehicle, and an inspection terminal and a control terminal arranged on the unmanned aerial vehicle, and is characterized in that a plurality of inspection paths are planned and divided into main inspection paths and alternative inspection paths, and safety points are reasonably arranged on the inspection paths; the communication quality is monitored in real time when the unmanned aerial vehicle performs routing inspection along a main routing inspection path, once the communication abnormality is identified, the system immediately performs temporary prediction of the communication abnormality and data transmission urgency evaluation, and then the system determines whether the unmanned aerial vehicle flies to a safety point nearby or continues to perform routing inspection along an original path according to an evaluation result. Therefore, unmanned aerial vehicle flight adjustment based on communication quality anomaly detection is realized. According to the method, transmission interruption of inspection data can be avoided to the greatest extent, the continuity of inspection tasks and the data integrity are ensured, and the repair efficiency and the overall inspection efficiency of communication lines are further improved.

Description

Technical Field

[0001] The invention belongs to the technical field of communication line inspection, and specifically discloses a communication line intelligent inspection drone. Background Art

[0002] As a key infrastructure connecting various communication nodes, communication lines cover a variety of transmission media such as optical fiber, cable, and microwave links. These lines support daily voice, data, and video communications. Any failure in a communication line may cause service interruption, which in turn affects the normal operation of society. Therefore, it is crucial to ensure the stability and reliability of communication lines. Regular communication line inspections are an important means to achieve this goal.

[0003] Given the wide distribution and complex environment of communication lines, traditional ground inspection methods have many limitations. In order to overcome these challenges, modern communication line inspections usually use drones for efficient inspections. When using drones to inspect communication lines, it is necessary to transmit inspection data to the ground station or control center in real time to ensure that relevant operation and maintenance personnel can obtain and grasp the inspection situation in a timely manner. To this end, drones must be equipped with dedicated communication modules to achieve stable and efficient real-time data transmission.

[0004] There are also inspection drones equipped with communication modules in the prior art. For example, China's invention patent publication number CN105292470B proposes a power line inspection drone, which includes a remote-controlled drone, a rotatable camera, a main control device, a communication module and a power module. The communication module is used to receive flight command signals and transmit monitoring signals. Through the special antenna structure design and external antenna, the communication quality of the drone when detecting the line is significantly improved, thereby improving the precision and accuracy of the detection.

[0005] Another Chinese invention patent, CN208630848U, proposes an intelligent drone with information monitoring function, which is equipped with a fuselage, support plate, propeller, battery box, processor, temperature detector, gyroscope, camera and symmetrically arranged communication modules. It can realize remote control through 4G wireless technology, and can transmit the temperature and local specific conditions in the power line in real time, which is convenient for information monitoring of the power system.

[0006] Although both of the above solutions are equipped with communication modules to realize the transmission of inspection data, they lack comprehensive consideration of communication quality in their design. Since communication lines usually involve complex geographical environments and electromagnetic interference sources, these factors may cause communication quality to deteriorate. If the deterioration of communication quality is not identified and handled in time, it will lead to interruption of inspection data transmission, which will not only affect the continuity of inspection tasks and the integrity of data, but also delay fault diagnosis and maintenance response time, and affect the repair efficiency of communication lines. In addition, communication interruption or delay will prolong the inspection time, increase the uncertainty of task completion, and reduce the overall inspection efficiency. Summary of the invention

[0007] In order to solve the above technical problems or at least partially solve the above technical problems, the present application provides a communication line intelligent detection drone, which detects the communication quality in real time during the inspection process and performs targeted inspection adjustments when communication anomalies are identified, thereby maximizing the continuity and integrity of inspection data transmission.

[0008] The purpose of the present invention can be achieved through the following technical solutions: a communication line intelligent detection drone, consisting of a drone and an inspection terminal and a control terminal arranged on the drone, including the following modules: an inspection path planning module, used to plan several inspection paths of the communication line, and divide it into main inspection paths and alternative inspection paths.

[0009] The safety point layout module is used to layout safety points according to the planned inspection routes.

[0010] The inspection and detection module is used for the UAV to carry out inspections according to the main inspection route, and use the inspection terminal to detect the operation status and communication quality of the communication line during the inspection process.

[0011] The communication anomaly identification module is used to identify communication anomalies based on the communication quality detection results, and record the inspection position where the communication anomaly exists as an abnormal inspection position.

[0012] The communication anomaly temporary prediction module is used to predict whether the communication anomaly is temporary.

[0013] The communication anomaly temporary processing module is used to control the UAV to stay at the abnormal inspection location when the communication anomaly is predicted to be temporary, and continue the inspection after the communication quality is restored.

[0014] The communication anomaly continuous processing module is used to cache inspection data when it is predicted that the communication anomaly is not temporary, and evaluate the urgency of data transmission based on the communication line operation status information obtained through the inspection. When the assessment is urgent, the drone is controlled to go to the nearest safe point for data transmission. When the assessment is not urgent, the drone is controlled to continue flying along the original path.

[0015] The communication quality comparison processing module is used to compare the communication quality detection results after the UAV continues to fly along the original path with the communication quality detection results at the abnormal inspection position to judge whether the communication quality has deteriorated. If the communication quality has deteriorated, the path is switched according to the alternative inspection path. If the communication quality has not deteriorated, the cached communication line operation status information is transmitted at the current inspection position.

[0016] Compared with the prior art, the present invention has the following beneficial effects: (1) The present invention plans multiple inspection paths and divides them into main inspection paths and alternative inspection paths, and reasonably arranges safety points on the inspection paths. When the drone is inspecting along the main inspection path, the communication quality is monitored in real time. Once a communication anomaly is identified, the system will immediately make a temporary prediction of the communication anomaly and evaluate the urgency of data transmission. Then, based on the evaluation results, the system decides whether the drone should fly to the nearest safety point or continue to inspect along the original path, thereby realizing drone flight adjustment based on communication quality anomaly detection. This method can avoid interruption of inspection data transmission to the greatest extent, ensure the continuity of inspection tasks and data integrity, and thus improve the repair efficiency of communication lines and the overall inspection efficiency.

[0017] (2) When the present invention decides that the drone continues to inspect along the original route based on the evaluation results, the communication quality detection results after the drone continues to fly are compared with the detection results when the communication quality is identified as abnormal to judge whether the communication quality has further deteriorated. When the communication quality is evaluated to have deteriorated, the path is switched according to the alternative inspection path. When the communication quality is evaluated to have not deteriorated, the cached communication line operation status information is transmitted at the current inspection location. This drone flight deepening adjustment strategy based on communication quality anomaly detection can reduce the impact of communication quality deterioration on the inspection progress by timely adjusting the inspection path, thereby ensuring the continuity and effectiveness of the inspection task. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for describing the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0019] Figure 1 It is a schematic diagram of the connection of each module of the system of the present invention.

[0020] Figure 2 This is a UAV inspection adjustment operation diagram for predicting whether a communication anomaly is temporary in the present invention.

[0021] Figure 3 The figure is a schematic diagram of the inspection operation for judging whether the communication quality has deteriorated in the present invention. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0023] Reference Figure 1 As shown, a communication line intelligent detection drone is composed of a drone and an inspection terminal and a control terminal arranged on the drone.

[0024] In the description of the above solution, the inspection terminal includes an operation status detection terminal and a communication detection terminal.

[0025] The operation status detection terminal is a device used to inspect the communication line to obtain the operation status of the communication line, specifically a high-definition camera, an infrared thermal imager, an ultrasonic sensor, etc. The high-definition camera is used to shoot the physical structure of the communication line, such as poles, insulators, wires, etc., to identify whether there is physical damage (such as breakage, corrosion, deformation) or aging. The infrared thermal imager is a non-contact temperature detection device that can capture infrared radiation on the surface of an object and generate a thermal image. It can detect hot spots in the communication line, such as abnormal temperatures in joints, connectors, transformers, etc. Ultrasonic sensors use high-frequency sound waves for detection and can detect the surface and internal structure of an object without contact. It can be used to detect mechanical damage in the communication line, such as wear, cracks, broken strands of the wire, etc. It can also detect loose connections in the communication line, such as loose bolts, clamps, etc.

[0026] The communication detection terminal is a device used for communication quality detection, including a signal strength detector, a signal-to-noise ratio detector, a packet loss rate detector, a delay detector, etc. Specifically, the signal strength detector is used to measure the received signal strength of the communication link, and the signal-to-noise ratio detector is used to measure the signal-to-noise ratio in the communication link. The signal-to-noise ratio is an important parameter for measuring signal quality, reflecting the proportional relationship between signal and noise. A higher signal-to-noise ratio means better signal quality and more stable communication. The packet loss rate detector is used to measure the packet loss rate in the communication link. The packet loss rate is a key indicator for measuring the proportion of data packet loss, reflecting the reliability and stability of the communication link. The delay detector is used to measure the delay duration in the communication link.

[0027] The control terminal mentioned above is used to remotely control the inspection tasks of the UAV. In order to ensure that the UAV can still be effectively controlled when the communication quality is poor, a miniaturized local control terminal is deployed on the UAV. When the communication quality is good, the control terminal remotely controls the flight of the UAV through the communication link; when the communication quality is poor, the local control terminal takes over the control task and handles the navigation and operation of the UAV to avoid losing the ability to control the UAV inspection due to communication interruption.

[0028] A communication line intelligent detection drone comprises an inspection path planning module, a safety point layout module, an inspection detection module, a communication anomaly identification module, a communication anomaly temporary prediction module, a communication anomaly temporary processing module, a communication anomaly continuous processing module, and a communication quality comparison processing module when performing inspections, wherein the inspection path planning module is respectively connected to the safety point layout module and the inspection detection module, the inspection detection module is connected to the communication anomaly identification module, the communication anomaly identification module is connected to the communication anomaly temporary prediction module, the communication anomaly temporary prediction module is respectively connected to the communication anomaly temporary processing module and the communication anomaly continuous processing module, the safety point layout module is connected to the communication anomaly continuous processing module, and the communication anomaly continuous processing module and the inspection path planning module are both connected to the communication quality comparison processing module.

[0029] The inspection path planning module is used to plan several inspection paths for the communication line, and divide the planned inspection paths into main inspection paths and alternative inspection paths.

[0030] Applied to the above scheme, the following process is used to plan several inspection paths of the communication line: call the three-dimensional geographic model of the communication line, and mark the inspection targets and obstacle positions from the model respectively, and arrange the marked inspection targets in the order of their positions on the communication line.

[0031] The above-mentioned three-dimensional geographic model of the communication line is a three-dimensional model that contains information such as the layout of the communication line, the location of the tower, the direction of the conductor, and the distribution of the surrounding environment, which is generated by collecting and processing high-precision spatial data of the communication line and its surrounding environment. For example, the model can be captured by flying a large number of high-resolution images along the communication line with a drone equipped with a high-definition camera, and these images are spliced ​​into a three-dimensional model through photogrammetry technology. In another example, the communication line is measured on the spot by manually using total stations, GPS and other equipment to obtain accurate coordinates and elevation data, which can be imported into three-dimensional modeling software to generate a three-dimensional model of the communication line.

[0032] The above-mentioned inspection targets can be poles, insulators, wires, etc. of communication lines, and obstacles include buildings, substations, high-voltage equipment, etc.

[0033] Starting from the take-off and landing points of the drone, multiple inspection routes are planned based on the arrangement order of the inspection targets and the locations of marked obstacles.

[0034] Further applied to the above scheme, the planned inspection paths are divided into main inspection paths and alternative inspection paths as follows: the length of the route covered by vegetation along each inspection path and the total length of each inspection path are obtained from the three-dimensional geographic model of the communication line.

[0035] Using expressions Get the inspection path selection priority , where Indicates the length of the route covered by vegetation along the inspection path. Indicates the total length of the inspection path. Indicates the total length of all inspection paths.

[0036] It can be seen from the above formula that the shorter the length of the route covered by vegetation along the inspection path, the shorter the total length of the inspection path, and the greater the priority of the inspection path selection.

[0037] It is important to know that when using drones to inspect communication lines, the drone’s flight altitude cannot be too high due to the limited line of sight of the ground station, which increases the risk of the inspection path being covered by vegetation along the way, especially when the communication line passes through the woods. Even if the inspection path is planned in advance based on the marked obstacles, it is still difficult to completely avoid the inspection path being blocked by vegetation.

[0038] The selection priorities of the various inspection paths are compared, and the inspection path corresponding to the maximum selection priority is selected as the main inspection path, and the other inspection paths are selected as alternative inspection paths.

[0039] The safety point layout module is used to layout safety points according to the planned inspection path. The specific layout is as follows: the open areas along the main inspection path are marked from the three-dimensional geographic model of the communication line.

[0040] It should be pointed out that open areas, due to their unobstructed and open space, reduce the interference of terrain, vegetation and other obstacles on wireless signals, making the communication quality relatively stable. Even in complex environments, the communication links in open areas can maintain high reliability, ensuring unimpeded data transmission between drones and ground stations, and providing safe take-off and landing conditions for drones. Therefore, open areas can be used as safety points.

[0041] The number of open areas along the main inspection path is summarized, and the spacing between adjacent open areas is calculated and compared with the set allowable spacing threshold. For example, the allowable spacing threshold is 1m. If the spacing between adjacent open areas reaches the allowable spacing threshold, it means that there is a certain spacing between adjacent open areas. In this way, safety points are arranged in these adjacent open areas, which provides more docking options for drones and ensures that there are always safety points to choose from after a long flight. If the spacing between adjacent open areas is less than the allowable spacing threshold, it means that the adjacent open areas are too close to each other. Only one open area needs to be selected as a safety point. This can avoid excessive density of safety points, reduce unnecessary waste of resources, and ensure that each safety point can play its due role. At this time, check whether the adjacent open areas fall on the alternative inspection path. If only one of the adjacent open areas falls on the alternative inspection path, the open area is selected from the adjacent open areas for safety point layout; if both of the adjacent open areas fall on the alternative inspection path, the open areas that fall on the most alternative inspection paths are selected from the adjacent open areas for safety point layout.

[0042] It should be understood that the purpose of choosing open areas on the inspection route to set up safety points is to provide a reliable docking platform for the drone when communication quality abnormalities occur during the inspection process, ensuring that the data collected during the inspection process is transmitted back in a timely manner.

[0043] It is further necessary to understand that when two adjacent open areas on the main inspection path are too close to each other, one of the open areas needs to be selected as a safety point. The selection principle gives priority to those open areas that fall on the alternative inspection path. This can increase the safety of the alternative path without affecting the main inspection path. In particular, when an abnormality occurs on the main inspection path, the safety points on the alternative path can provide additional protection for the drone to ensure the smooth completion of the mission. When all adjacent open areas fall on the alternative inspection path, the open areas that fall on the most alternative inspection paths are selected from these areas for safety point layout. This can maximize the use of safety points on the alternative path and improve the reliability of the overall inspection task.

[0044] In the improved implementation of the above scheme, the layout of safety points is not fixed. When there is communication interference at a safety point, a new safety point can be temporarily added to ensure that the drone can find an alternative safe location in time.

[0045] The inspection and detection module is used for the drone to carry out inspections according to the main inspection path, and to use the inspection terminal to detect the operation status and communication quality of the communication line during the inspection process.

[0046] It should be specifically explained that the operating status of the communication line refers to whether the inspection target has physical damage, loose connection, operating temperature, etc., wherein a large number of camera images, infrared images, ultrasonic images and other images or video streams will be generated when detecting the operating status of the communication line. The operating status of the communication line is obtained based on the analysis and processing of these image information. The communication quality detection mainly includes the detection of indicators such as signal strength, signal-to-noise ratio, packet loss rate, and delay duration.

[0047] The communication anomaly identification module is used to identify communication anomalies based on the communication quality detection result, and record the inspection position where the communication anomaly exists as the abnormal inspection position.

[0048] As a preferred implementation of the above solution, communication anomaly identification refers to the following process: based on the communication bandwidth used by the drone inspection, normal communication quality data under the corresponding communication bandwidth is obtained.

[0049] It should be pointed out that the communication bandwidth refers to the range of data transmission rates that the communication channel can support. Since the communication bandwidth directly affects the data transmission rate, the spectrum resources occupied by the signal, and the sensitivity to noise and interference, there are significant differences in the normal communication quality under different bandwidths. In order to ensure the accuracy of communication anomaly detection, it is very important to obtain normal communication quality data under the communication bandwidth as a benchmark reference. However, even under the same communication bandwidth, the normal communication quality in different communication environments will be different. For example, in complex terrains such as mountainous areas, the normal communication quality is usually lower than in relatively open environments such as cities. Therefore, the present invention emphasizes that when obtaining the normal communication quality data under the corresponding communication bandwidth, it must be evaluated in combination with the specific inspection environment. Specifically, some of the instructions for use of the communication equipment will be accompanied by environmental adaptability instructions or test reports, based on which the corresponding normal communication quality data under the current inspection environment can be determined.

[0050] The communication quality detection results obtained by real-time inspection are compared with normal communication quality data. If there is a communication quality detection result that does not conform to the normal communication quality data, the communication abnormality is identified.

[0051] The communication anomaly temporary prediction module is used to predict whether the communication anomaly is temporary. The specific process is as follows: use the control terminal to control the drone to stay at the abnormal inspection location for a preset time. For example, the preset time can be 5 minutes, and continue to perform communication quality detection within the time window formed by the moment of identifying the communication anomaly and the preset time.

[0052] The time window constructed above allows the UAV to continuously monitor the communication quality within the time window, ensuring that there are sufficient data samples for analysis.

[0053] It should be explained that when communication anomalies are detected during the inspection process, it is considered that some anomalies may be caused by factors such as multipath effects, short-term electromagnetic interference or signal reflection, which usually cause a temporary decrease in communication quality and may recover by itself in a short time. If inspection adjustments are made blindly immediately when communication anomalies are identified, unnecessary waste of resources and task interruption may occur. Therefore, it is necessary to evaluate and predict whether the communication anomaly is temporary, so as to ensure that a reasonable decision is made on whether to make inspection adjustments based on the evaluation results, so as to ensure that each adjustment is made on demand and effective.

[0054] The communication quality detection result within the time window is compared with the initial communication quality detection result to judge whether the communication quality has improved, wherein the initial communication quality detection result refers to the communication quality detection result when the communication anomaly is identified. If the communication quality has not improved until the end of the time window, it is predicted that the communication anomaly is not temporary. If the communication quality improves at a certain moment in the time window, then the moment is recorded as the improvement moment, and then its proportion of the entire time window is calculated as the improvement duration ratio, and compared with the set ratio threshold. Exemplarily, the ratio threshold is 0.5. If the improvement duration ratio reaches the ratio threshold, it is predicted that the communication anomaly is temporary, otherwise it is predicted that the communication anomaly is not temporary.

[0055] The process of judging whether the communication quality has improved in the above-mentioned process is as follows: the communication quality detection results at each moment in the time window are compared with the initial communication quality detection results one by one, thereby screening out the communication quality index items that are better than the initial communication quality detection results, and then counting the proportion of such communication quality index items, and comparing them with the set effective proportion. Exemplarily, the effective proportion is 70%. When the proportion of such communication quality index items reaches the effective proportion, it is judged that the communication quality has improved, otherwise it is judged that the communication quality has not improved.

[0056] It should be added that when the moment of improvement in communication quality is identified within the time window, the communication anomaly is not immediately judged to be temporary. Instead, the duration of the improvement is further considered. This is to avoid drawing premature conclusions due to accidental and non-lasting improvements, thereby preventing misjudgment of the nature of the communication anomaly and ensuring the accuracy and reliability of the evaluation results.

[0057] It should be pointed out that when the improvement in communication quality is identified at the end of the time window, the duration of the improvement cannot be evaluated because the current time window has ended. Considering that the preset drone stay time is short, adding a time window for duration evaluation will not have a significant impact on the overall inspection efficiency. Therefore, in this case, an additional time window can be added to evaluate the persistence of the improvement in communication quality to avoid unnecessary risks or waste of resources due to blind decision-making. However, in order to prevent the drone from staying for too long, affecting the inspection efficiency and power support, the number of additional time windows should be limited, for example, a maximum of 2 additional time windows are allowed.

[0058] See also Figure 2 As shown, the communication anomaly temporary processing module is used to control the UAV to stay at the abnormal inspection position when the communication anomaly is predicted to be temporary, and continue the inspection after the communication quality is restored.

[0059] The communication anomaly continuous processing module is used to cache inspection data when it is predicted that the communication anomaly is not temporary, and evaluate the urgency of data transmission based on the communication line operation status information obtained through the inspection. When the evaluation is urgent, the drone is controlled to go to the nearest safe point for data transmission. When the evaluation is not urgent, the drone is controlled to continue flying along the original path.

[0060] In the manner in which the above scheme can be implemented, the urgency of data transmission is evaluated as follows: the communication line operation status information obtained during the inspection is classified according to a preset priority classification rule to determine the priority to which it belongs.

[0061] In the above embodiment, the priority division can be divided into three categories: highest priority, medium priority and low priority. Specifically as follows: Highest priority: data involving safety issues, such as insulator damage, wire breakage, temperature abnormality, etc. These situations may directly affect the normal operation of the communication line or have potential safety hazards and must be handled immediately.

[0062] Medium priority: routine inspection data, such as tower tilt, loose bolts, etc. Although these problems will not cause immediate safety risks, if they are not handled in time, they may gradually evolve into more serious faults and affect the long-term stability and reliability of the line.

[0063] Low priority: Auxiliary data, such as various images and video streams generated during the inspection process, are mainly used for subsequent analysis and archiving to provide a reference for future maintenance and optimization.

[0064] The priority of the communication line operation status information is compared with the highest priority in the priority division rule. If the priority of the communication line operation status information reaches the highest priority, data transmission is evaluated to be urgent, otherwise, data transmission is evaluated to be unimportant.

[0065] It should be understood that when assessing the urgency of data transmission, data needs to be transmitted as quickly as possible to achieve the purpose of timely operation and maintenance. However, the current communication anomalies are persistent. If data is forcibly transmitted at the abnormal inspection location under this circumstance, it may cause transmission interruption. Not only will the expected operation and maintenance effect not be achieved, but data loss may also be caused. Therefore, when assessing the urgency of data transmission, the drone is controlled to go to the nearest safe point for data transmission. For non-urgent data transmission, the data can be cached first, and the inspection task can continue to be performed. In the subsequent inspection process, the area with normal communication quality can be selected for data transmission. This ensures that the data transmission task is completed smoothly without interrupting the inspection.

[0066] See also Figure 3 As shown, the communication quality comparison processing module is used to compare the communication quality detection result after the UAV continues to fly along the original path with the communication quality detection result at the abnormal inspection position to judge whether the communication quality has deteriorated. If the communication quality has deteriorated, the path is switched according to the alternative inspection path. If the communication quality has not deteriorated, the cached communication line operation status information is transmitted at the current inspection position.

[0067] In the above, comparing the communication quality test results after the UAV continues to fly along the original path with the communication quality test results at the abnormal inspection position to judge whether the communication quality has deteriorated refers to the following process: communication quality items that do not meet the normal communication quality data are extracted from the communication quality test results at the abnormal inspection position as abnormal items, and communication quality items that meet the normal communication quality data are extracted from the same test results as normal items.

[0068] The abnormal item data in the communication quality detection result after the drone continues to fly along the original path is compared with the abnormal item data in the communication quality detection result of the abnormal inspection position to calculate the abnormal increase of the abnormal item. For example, when the abnormal item is signal strength, the abnormal increase calculation formula is: , where Indicates abnormal increase. Indicates the signal strength after the drone continues to fly along the original path. Indicates the signal strength of the abnormal inspection location. In another example, when the abnormal item is the packet loss rate, the abnormal increase calculation formula is , where Indicates the packet loss rate after the drone continues to fly along the original path. Indicates the packet loss rate of abnormal inspection locations.

[0069] The normal item data in the communication quality detection result after the drone continues to fly along the original path is compared with the normal item data in the communication quality detection result of the abnormal inspection position to calculate the abnormal visibility of the normal item. For example, when the normal item is the signal-to-noise ratio, the abnormal visibility calculation formula is: , where Indicates abnormal visibility. It indicates the signal-to-noise ratio after the drone continues to fly along the original path. Indicates the signal-to-noise ratio of the abnormal inspection location.

[0070] As another example, when the abnormal item is the delay time, the abnormal visibility calculation formula is: , where Indicates the delay time after the drone continues to fly along the original path. Indicates the delay time of abnormal inspection location.

[0071] It is important to note that the abnormality increase reflects the deterioration rate of the abnormal item after continued flight, and the abnormality manifestation reflects the degree to which the normal item begins to show abnormality after continued flight.

[0072] The communication quality deterioration is calculated by taking the weighted average of the abnormal increase of the abnormal item and the abnormal visibility of the normal item. For example, the weight values ​​of the abnormal increase and abnormal visibility are 0.4 and 0.6 respectively. By giving a greater weight to the abnormal visibility, more attention can be paid to the immediacy of potential risks when evaluating the communication quality deterioration, ensuring that the evaluation results can respond in a timely manner to those problems that may have a significant impact on the task in the future even though they have not yet appeared.

[0073] The communication quality deterioration degree after the UAV continues to fly along the original path is compared with the set allowable deterioration degree. For example, the allowable deterioration degree is 0.3. If the communication quality deterioration degree after the UAV continues to fly along the original path is greater than the allowable deterioration degree, the communication quality is judged to have deteriorated, indicating that continuing to fly along the original path may cause more serious communication problems and it is necessary to switch the inspection path. Otherwise, the communication quality is judged to have not deteriorated, indicating that there is a certain feasibility to continue flying along the original path. At this time, blindly switching the inspection path will increase the flight distance and time of the UAV, thereby increasing energy consumption. Especially when the UAV's endurance is limited, unnecessary path switching may cause the UAV to run out of power prematurely, affecting the completion of subsequent tasks.

[0074] Further preferably, the path switching is performed according to the alternative inspection path, referring to the following process: the inspection position in the main inspection path where the communication quality is judged to have deteriorated is used as the starting switching position. This ensures that the system can trigger the path adjustment in time when the communication quality is poor, avoiding continuing to fly along the original path and causing more communication problems.

[0075] A position relative to the initial switching position is captured from each candidate inspection path as a switching replacement position of each candidate inspection path.

[0076] It should be added that by selecting a succession position that is as close as possible in space to the starting adjustment position, the extra flight distance and time when the UAV switches paths can be reduced, and the adjustment efficiency can be improved. Specifically, a spatial matching algorithm (such as the nearest neighbor algorithm, the minimum Euclidean distance, etc.) can be used to select the most appropriate switching succession position.

[0077] The flight distance between the switching replacement position and the starting switching position in each candidate inspection path is measured as the switching distance.

[0078] The length from the switching position to the end point of the path is intercepted from the total length of each candidate inspection path as the remaining inspection length.

[0079] It is important to know that the remaining inspection length reflects the amount of inspection tasks that the drone needs to complete after switching to the alternative path. The shorter the remaining inspection length, the faster the task can be completed.

[0080] The length of each candidate inspection route covered by vegetation is obtained from the three-dimensional geographic model of the communication line.

[0081] Substitute the switching distance, remaining inspection length and the length of the route covered by vegetation along the way corresponding to each alternative inspection path into the formula Get the selection value of each alternative inspection path , Indicates the number of the alternative inspection path. , , , , Respectively represent The switching distance, remaining inspection length, length of the route covered by vegetation along the way, and the total length corresponding to the alternative inspection paths.

[0082] The selection values ​​of the alternative inspection paths are compared, and the alternative inspection path with the maximum selection value is selected as the inspection path to be switched, and then switching is performed according to the inspection path.

[0083] Still further preferably, the cached communication line operation status information is transmitted at the current inspection position as follows: the cached communication line operation status information is classified according to a preset priority classification rule to determine the priority to which the communication line operation status information belongs.

[0084] Arrange the transmission order of the communication line operation status information from high to low priority.

[0085] The present invention can postpone the transmission of non-critical information by dividing the priorities for the transmission of the operation status of the communication line, free up more bandwidth resources for critical information, and ensure the efficient use of the communication link. This not only improves the overall efficiency of data transmission, but also avoids the occupation of valuable communication resources due to the transmission of a large amount of non-critical information, resulting in the failure to transmit critical information in a timely manner.

[0086] The above contents are merely examples and explanations of the concept of the present invention. Those skilled in the art may make various modifications or additions to the specific embodiments described or replace them in a similar manner. As long as they do not deviate from the concept of the invention or exceed the scope defined by the present invention, they shall all fall within the protection scope of the present invention.

Claims

1. A communication line intelligent detection drone, consisting of a drone, an inspection terminal and a control terminal arranged on the drone, characterized in that: include: Inspection path planning module, used to plan several inspection paths for communication lines and divide them into main inspection paths and alternative inspection paths; Safety point layout module, used to layout safety points according to the planned inspection route; The inspection and detection module is used for the drone to carry out inspections according to the main inspection path, and use the inspection terminal to detect the operation status and communication quality of the communication line during the inspection process; A communication anomaly identification module is used to identify communication anomalies based on the communication quality detection results, and record the inspection position where the communication anomaly exists as an abnormal inspection position; A communication anomaly temporary prediction module is used to predict whether the communication anomaly is temporary; The communication anomaly temporary processing module is used to control the UAV to stay at the abnormal inspection location when the communication anomaly is predicted to be temporary, and continue the inspection after the communication quality is restored; The communication anomaly continuous processing module is used to cache inspection data when it is predicted that the communication anomaly is not temporary, and evaluate the urgency of data transmission based on the communication line operation status information obtained during the inspection. When the evaluation is urgent, the drone is controlled to go to the nearest safe point for data transmission. When the evaluation is not urgent, the drone is controlled to continue flying along the original path. The communication quality comparison processing module is used to compare the communication quality detection results after the UAV continues to fly along the original path with the communication quality detection results at the abnormal inspection position to judge whether the communication quality has deteriorated. If the communication quality has deteriorated, the path is switched according to the alternative inspection path. If the communication quality has not deteriorated, the cached communication line operation status information is transmitted at the current inspection position.

2. A communication line intelligent detection drone as claimed in claim 1, characterized in that: The several inspection paths of the planned communication line refer to the following process: Call the three-dimensional geographic model of the communication line, mark the inspection targets and obstacle positions from the model, and arrange the marked inspection targets in the order of their positions on the communication line; Starting from the take-off and landing points of the drone, multiple inspection routes are planned based on the order of inspection targets, marked obstacle locations and set flight altitudes.

3. A communication line intelligent detection drone as claimed in claim 2, characterized in that: The main inspection path and the alternative inspection path are divided into the following operations: The length of each inspection route covered by vegetation and the total length of each inspection route are obtained from the three-dimensional geographic model of the communication line; Using expressions Get the inspection path selection priority , where Indicates the length of the route covered by vegetation along the inspection path. Indicates the total length of the inspection path. Indicates the total length of all inspection paths; The selection priorities of the various inspection paths are compared, and the inspection path corresponding to the maximum selection priority is selected as the main inspection path, and the other inspection paths are selected as alternative inspection paths.

4. A communication line intelligent detection drone as claimed in claim 2, characterized in that: The process of deploying safety points according to the planned inspection route is as follows: Mark the open areas along the main inspection route from the 3D geographic model of the communication line; Summarize the number of open areas along the main inspection path, calculate the distance between adjacent open areas, and compare it with the set allowable distance threshold. If the distance between adjacent open areas reaches the allowable distance threshold, safety points are deployed in these adjacent open areas. If the distance between adjacent open areas is less than the allowable distance threshold, check whether the adjacent open areas fall on the alternative inspection path. If only one of the adjacent open areas falls on the alternative inspection path, select the open area from the adjacent open areas for safety point deployment. If both of the adjacent open areas fall on the alternative inspection path, select the open area that falls on the most alternative inspection paths from the adjacent open areas for safety point deployment.

5. The communication line intelligent detection drone according to claim 1, characterized in that: The communication anomaly identification refers to the following process: Based on the communication bandwidth used by the drone inspection, normal communication quality data under the corresponding communication bandwidth is obtained; The communication quality detection results obtained by real-time inspection are compared with normal communication quality data. If there is a communication quality detection result that does not conform to the normal communication quality data, the communication abnormality is identified.

6. A communication line intelligent detection drone as claimed in claim 5, characterized in that: The process of predicting whether the communication anomaly is temporary is as follows: The control terminal is used to control the drone to stay at the abnormal inspection location for a preset time, and to continuously perform communication quality detection within the time window formed by the moment of identifying the communication abnormality and the preset time; The communication quality detection result within the time window is compared with the initial communication quality detection result to judge whether the communication quality has improved. If the communication quality has not improved until the end of the time window, it is predicted that the communication anomaly is not temporary. If the communication quality improves at a certain moment in the time window, then this moment is recorded as the improvement moment, and then its proportion of the entire time window is calculated as the improvement duration ratio, and compared with the set ratio threshold. If the improvement duration ratio reaches the ratio threshold, it is predicted that the communication anomaly is temporary, otherwise it is predicted that the communication anomaly is not temporary.

7. A communication line intelligent detection drone as claimed in claim 1, characterized in that: The evaluation of the urgency of data transmission is described in the following process: Classify the communication line operation status information obtained during the inspection process according to the preset priority classification rules to determine its priority; The priority of the communication line operation status information is compared with the highest priority in the priority division rule. If the priority of the communication line operation status information reaches the highest priority, data transmission is evaluated to be urgent, otherwise, data transmission is evaluated to be unimportant.

8. A communication line intelligent detection drone as claimed in claim 5, characterized in that: The process of judging whether the communication quality has deteriorated is as follows: Extracting communication quality items that do not conform to normal communication quality data from the communication quality detection results of the abnormal inspection positions as abnormal items, and extracting communication quality items that conform to normal communication quality data from the same detection results as normal items; Compare the abnormal item data in the communication quality detection result after the UAV continues to fly along the original path with the abnormal item data in the communication quality detection result at the abnormal inspection position to calculate the abnormal increase degree of the abnormal item; Compare the normal item data in the communication quality detection result after the UAV continues to fly along the original path with the normal item data in the communication quality detection result at the abnormal inspection position to calculate the abnormal visibility of the normal item; The communication quality deterioration degree is calculated by taking a weighted average of the abnormal increase degree of the abnormal item and the abnormal appearance degree of the normal item; The communication quality deterioration degree after the UAV continues to fly along the original path is compared with the set allowable deterioration degree. If the communication quality deterioration degree after the UAV continues to fly along the original path is greater than the allowable deterioration degree, the communication quality is judged to have deteriorated, otherwise the communication quality is judged to have not deteriorated.

9. A communication line intelligent detection drone as claimed in claim 3, characterized in that: The path switching according to the alternative inspection path refers to the following process: The inspection position where the communication quality is judged to be deteriorated in the main inspection path is used as the starting switching position; Capturing the position relative to the initial switching position from each candidate inspection path as the switching replacement position of each candidate inspection path; The flight distance between the switching replacement position and the starting switching position in each candidate inspection path is measured as the switching distance; The length from the switching position to the end point of the path is intercepted from the total length of each candidate inspection path as the remaining inspection length; Obtain the length of each candidate inspection route covered by vegetation from the three-dimensional geographic model of the communication line; Substitute the switching distance, remaining inspection length and the length of the route covered by vegetation along the way corresponding to each alternative inspection path into the formula Get the selection value of each alternative inspection path , Indicates the number of the alternative inspection path. , , , , Respectively represent The switching distance, remaining inspection length, length of the route covered by vegetation along the way, and total length corresponding to the alternative inspection paths; The selection values ​​of various alternative inspection paths are compared, and the alternative inspection path with the maximum selection value is selected as the inspection path that needs to be switched for path switching.

10. A communication line intelligent detection drone as claimed in claim 7, characterized in that: The operation of transmitting the cached communication line operation status information at the current inspection position is as follows: Classifying the cached communication line operation status information according to a preset priority classification rule to determine the priority to which the communication line operation status information belongs; Arrange the transmission order of the communication line operation status information from high to low priority.

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