An intelligent detection UAV for communication lines

Abstract

The present invention belongs to the technical field of communication line inspection, and specifically discloses an intelligent detection unmanned aerial vehicle (UAV) for communication lines, which is composed of a UAV, an inspection terminal and a control terminal arranged on the UAV. By planning multiple inspection paths and dividing them into main inspection paths and alternative inspection paths, and at the same time reasonably arranging safety points on the inspection paths, the communication quality is monitored in real time when the UAV conducts inspections along the main inspection path. Once communication anomalies are identified, the system will immediately perform a temporary prediction of communication anomalies and an evaluation of the urgency of data transmission. Furthermore, according to the evaluation results, the system decides whether the UAV should fly to a safety point nearby or continue to conduct inspections along the original path, thereby realizing the flight adjustment of the UAV based on communication quality anomaly detection. This method can maximize the avoidance of interruption of inspection data transmission, ensure the continuity of inspection tasks and data integrity, and thus improve the repair efficiency of communication lines and the overall inspection efficiency.

Description

Technical Field

[0001] The present invention belongs to the technical field of communication line inspection, and specifically discloses an intelligent detection unmanned aerial vehicle for communication lines. Background Art

[0002] As a key infrastructure connecting various communication nodes, communication lines cover various transmission media such as optical fibers, cables, and microwave links, which support daily voice, data, and video communications. Any fault in the communication lines may lead to service interruption, thus affecting the normal operation of society. Therefore, ensuring the stability and reliability of communication lines is crucial, and regular inspection of communication lines is an important means to achieve this goal.

[0003] Given the extensive distribution and complex environment of communication lines, traditional ground inspection methods have many limitations. To overcome these challenges, modern communication line inspections usually use unmanned aerial vehicles for efficient inspections. When using an unmanned aerial vehicle for communication line inspection, inspection data needs to be transmitted to a ground station or control center in real time to ensure that relevant operation and maintenance personnel can obtain and master the inspection situation in a timely manner. For this purpose, the unmanned aerial vehicle must be equipped with a dedicated communication module to achieve stable and efficient real-time data transmission.

[0004] In the prior art, there are also inspection unmanned aerial vehicles equipped with communication modules. For example, Chinese Patent No. CN105292470B discloses a power line detection unmanned aerial vehicle, which includes a remotely controlled unmanned aerial vehicle, 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 a special antenna structure design and an external antenna, the communication quality of the unmanned aerial vehicle during line detection is significantly improved, thereby improving the accuracy and precision of detection.

[0005] Another Chinese Patent No. CN208630848U discloses an intelligent unmanned aerial vehicle with information monitoring function, which is equipped with a fuselage, a support plate, a propeller, a battery box, a processor, a temperature detector, a gyroscope, a camera, and symmetrically arranged communication modules. Remote control is achieved through 4G wireless technology, and the temperature and local specific conditions in the power line can be transmitted in real time, facilitating the informatization monitoring of the power system.

[0006] Although both of the above two solutions are equipped with communication modules to achieve the transmission of inspection data, they lack a comprehensive consideration of communication quality in their designs. Since communication lines usually involve complex geographical environments and electromagnetic interference sources, these factors may lead to the deterioration of communication quality. If the deterioration of communication quality fails to be identified and addressed in a timely manner, it will result in the interruption of inspection data transmission, which not only affects the continuity of inspection tasks and the integrity of data, but also delays fault diagnosis and maintenance response times, and affects the repair efficiency of communication lines. In addition, communication interruptions or delays will extend the inspection time, increase the uncertainty of task completion, and reduce the overall inspection efficiency. Summary of the Invention

[0007] To solve the above technical problems or at least partially solve the above technical problems, the present application provides an intelligent inspection unmanned aerial vehicle for communication lines, which can detect communication quality in real time during the inspection process and make targeted inspection adjustments when communication anomalies are identified, maximizing the continuity and integrity of inspection data transmission.

[0008] The object of the present invention can be achieved through the following technical solutions: An intelligent inspection unmanned aerial vehicle for communication lines, which consists of an unmanned aerial vehicle, an inspection terminal and a control terminal arranged on the unmanned aerial vehicle, and includes the following modules: An inspection path planning module, which is used to plan several inspection paths for the communication line and divide them into main inspection paths and alternative inspection paths.

[0009] A safety point layout module, which is used to layout safety points according to the planned inspection paths.

[0010] An inspection detection module, which is used for the unmanned aerial vehicle to perform inspections according to the main inspection path, and use the inspection terminal to detect the operating status and communication quality of the communication line during the inspection process.

[0011] A communication anomaly identification module, which is used to identify communication anomalies based on the communication quality detection results and record the inspection positions with communication anomalies as abnormal inspection positions.

[0012] A temporary communication anomaly prediction module, which is used to predict whether a communication anomaly is temporary.

[0013] A temporary communication anomaly handling module, which is used to control the unmanned aerial vehicle to stay at the abnormal inspection position when it is predicted that the communication anomaly is temporary, and continue the inspection after the communication quality is restored.

[0014] A continuous communication anomaly handling module, which 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 operating status information of the communication line obtained from the inspection. When the evaluation is urgent, it controls the unmanned aerial vehicle to go to a safety point nearby for data transmission, and when the evaluation is not urgent, it controls the unmanned aerial vehicle to continue flying along the original path.

[0015] The communication quality comparison and 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 deteriorates. If the communication quality deteriorates, the path is switched according to the alternative inspection path. If the communication quality does not deteriorate, the communication line operation status information cached at the current inspection position is transmitted.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: (1) By planning multiple inspection paths and dividing them into the main inspection path and the alternative inspection path, and reasonably arranging safety points on the inspection path, the communication quality is monitored in real time when the UAV conducts inspections along the main inspection path. Once communication anomalies are identified, the system will immediately perform a temporary prediction of communication anomalies and an evaluation of the criticality of data transmission. Then, based on the evaluation results, the system decides whether the UAV should fly to a safety point nearby or continue to conduct inspections along the original path, thereby realizing the flight adjustment of the UAV based on the detection of communication quality anomalies. This method can maximize the avoidance of interruption of inspection data transmission, ensure the continuity and data integrity of the inspection task, and thus improve the repair efficiency of communication lines and the overall inspection efficiency.

[0017] (2) When the system decides that the UAV continues to conduct inspections along the original path based on the evaluation results, the communication quality detection results after the UAV continues to fly are compared with the detection results when communication quality anomalies are identified to judge whether the communication quality further deteriorates. When it is evaluated that the communication quality deteriorates, the path is switched according to the alternative inspection path. When it is evaluated that the communication quality does not deteriorate, the communication line operation status information cached at the current inspection position is transmitted. This deepened adjustment strategy for the UAV flight based on the detection of communication quality anomalies can reduce the impact of deteriorating communication quality on the inspection progress by timely adjusting the inspection path, ensuring the sustainability 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 following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

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

[0020] Figure 2 It is an operation diagram of the UAV inspection adjustment for predicting whether communication anomalies are temporary in the present invention.

[0021] Figure 3 It is a schematic diagram of the inspection operation for judging whether the communication quality deteriorates in the present invention. Detailed Embodiment

[0022] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0023] Refer to Figure 1 As shown, an intelligent detection drone for communication lines consists 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 operating state detection terminal and a communication detection terminal.

[0025] Among them, the operating state detection terminal is a device for inspecting communication lines to obtain the operating state of communication lines. Specifically, it includes a high-definition camera, an infrared thermal imager, an ultrasonic sensor, etc. The high-definition camera is used to photograph the physical structure of communication lines, such as poles, insulators, conductors, etc., to identify whether there are physical damages (such as fractures, corrosion, deformations) or aging phenomena. The infrared thermal imager is a non-contact temperature detection device that can capture the infrared radiation on the surface of an object and generate a thermal image, and can detect overheating points in communication lines, such as temperature anomalies at joints, connectors, transformers, etc. The ultrasonic sensor uses 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 damages in communication lines, such as wear, cracks, and broken strands of conductors, and can also detect loose connections in communication lines, such as looseness at bolts, clamps, etc.

[0026] Among them, the communication detection terminal is a device for detecting communication quality, 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 a communication link, the signal-to-noise ratio detector is used to measure the signal-to-noise ratio in a communication link. The signal-to-noise ratio is an important parameter for measuring signal quality and reflects the ratio relationship between the 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 a communication link. The packet loss rate is a key indicator for measuring the proportion of lost data packets and reflects the reliability and stability of the communication link. The delay detector is used to measure the delay duration in a 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 takeoff and landing points of the drone, multiple inspection paths are planned in combination with the arrangement order of the inspection targets and the marked obstacle positions.

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

[0035] Using the expression Obtain the selection priority of the inspection path where represents the length of the route covered by vegetation along the inspection path, represents the total length of the inspection path, represents the sum of the total lengths of all inspection paths.

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

[0037] It should be noted that when using the drone to inspect the communication line, due to the line-of-sight range limitation of the ground station, the flight altitude of the drone cannot be too high, which increases the risk that the inspection path is 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 situation where the inspection path is blocked by vegetation.

[0038] Compare the selection priorities of each inspection path, and select the inspection path corresponding to the maximum selection priority as the main inspection path, and regard other inspection paths as alternative inspection paths.

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

[0040] It should be pointed out that due to no obstruction and being open, the open area reduces the interference of terrain, vegetation and other obstacles on the wireless signal, making the communication quality relatively stable. Even in a complex environment, the communication link in the open area can maintain high reliability, ensuring unobstructed data transmission between the drone and the ground station, and also providing safe takeoff and landing conditions for the drone. Therefore, the open area can be used as a safety point.

[0041] Summarize the number of open areas along the inspection path of the main body, calculate the distance between adjacent open areas, and compare it with the set allowable distance threshold. Exemplarily, the allowable distance threshold is 1m. If the distance between a certain adjacent open area reaches the allowable distance threshold, it indicates that there is a certain distance between the adjacent open areas, then safety points are arranged in these adjacent open areas, which provides more docking options for the UAV and ensures that there is always a safety point available for selection after a long flight; if the distance between a certain adjacent open area is less than the allowable distance threshold, it indicates that the adjacent open areas are too close to each other, and only one open area needs to be selected as a safety point from them, which can avoid overcrowding of safety points, reduce unnecessary resource waste, 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 open area among the adjacent open areas falls on the alternative inspection path, select this open area from the adjacent open areas for safety point arrangement; if both open areas among 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 arrangement.

[0042] It should be understood that arranging safety points in the open areas on the inspection path is to provide a reliable docking platform for the UAV in case of abnormal communication quality during the inspection process, and can ensure the timely transmission of the data collected during the inspection.

[0043] Furthermore, it should be understood that when two adjacent open areas on the main body inspection path are too close to each other and one open area 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. Especially when the main inspection path is abnormal, the safety points on the alternative path can provide additional protection for the UAV and ensure the smooth completion of the task. When both adjacent open areas fall on the alternative inspection path, select the open area that falls on the most alternative inspection paths from these areas for safety point arrangement, which can maximize the utilization of the safety points on the alternative path and improve the reliability of the overall inspection task.

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

[0045] The inspection and detection module is used for the UAV to perform inspections according to the main body inspection path, and during the inspection process, use the inspection terminal to detect the operating status and communication quality of the communication line.

[0046] Specifically, the operating state of the communication line is whether there are physical damages, loose connections, operating temperature, etc. in the inspection target. When detecting the operating state of the communication line, a large number of camera images, infrared images, ultrasonic images and other images or video streams will be generated. Based on the analysis and processing of these image information, the operating state of the communication line is obtained. The communication quality detection mainly includes the detection of these indicators such as signal strength, signal-to-noise ratio, packet loss rate, and delay duration.

[0047] The communication anomaly recognition module is used to recognize communication anomalies based on the communication quality detection results, and record the inspection positions with communication anomalies as abnormal inspection positions.

[0048] As a preferred implementation of the above solution, the communication anomaly recognition refers to the following process: obtaining the normal communication quality data corresponding to the communication bandwidth based on the communication bandwidth used in the UAV inspection.

[0049] It should be noted that the communication bandwidth refers to the range of data transmission rates that a communication channel can support. Since the communication bandwidth directly affects the data transmission rate, the spectral resources occupied by the signal, and the sensitivity to noise and interference, there are significant differences in the normal communication quality under different bandwidths. To ensure the accuracy of communication anomaly detection, it is crucial to obtain the normal communication quality data under the communication bandwidth as a reference. However, even under the same communication bandwidth, the normal communication quality in different communication environments will also be different. For example, in complex terrains such as mountains, the normal communication quality is usually lower than that in relatively open environments such as cities. Therefore, the present invention emphasizes that when obtaining the normal communication quality data corresponding to the communication bandwidth, it must be evaluated in combination with the specific inspection environment. Specifically, some of the usage instructions of communication devices will be accompanied by environmental adaptability descriptions or test reports. Based on these contents, the corresponding normal communication quality data in the current inspection environment can be determined.

[0050] Compare the communication quality detection results obtained from the real-time inspection with the normal communication quality data. If there is a certain communication quality detection result that does not conform to the normal communication quality data, then the communication anomaly is recognized.

[0051] The communication anomaly temporary prediction module is used to predict whether the communication anomaly is temporary. The specific process is as follows: using the control terminal to control the UAV to stay at the abnormal inspection position for a preset duration. Exemplarily, the preset duration can be 5 minutes, and continuous communication quality detection is carried out within the time window formed by the moment when the communication anomaly is recognized and the preset duration.

[0052] In the above, the formed time window can allow the UAV to continuously monitor the communication quality within the time window, ensuring that there are enough data samples for analysis.

[0053] It should be noted that during the inspection process, when communication anomalies are detected, considering that some anomalies may be caused by factors such as multipath effects, transient electromagnetic interference, or signal reflection, these factors usually lead to a temporary decline in communication quality and may recover on their own within a short period. If inspection adjustments are blindly made immediately upon identifying communication anomalies, it may result in unnecessary waste of resources and task interruptions. Therefore, it is necessary to evaluate and predict whether the communication anomalies are temporary to ensure reasonable decisions on whether to make inspection adjustments based on the evaluation results, so as to ensure that each adjustment is made as needed and effectively.

[0054] Compare the communication quality detection results within the time window with the initial communication quality detection results to judge whether the communication quality has improved. 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 moment of the time window, it is predicted that the communication anomaly is not temporary. If the communication quality improves at a certain moment within the time window, record this moment as the improvement moment, and then calculate the proportion of this moment in the entire time window, which is recorded as the improvement duration proportion, and compare it with the set proportion threshold. Exemplarily, the proportion threshold is 0.5. If the improvement duration proportion reaches the proportion threshold, it is predicted that the communication anomaly is temporary; otherwise, it is predicted that the communication anomaly is not temporary.

[0055] The judgment process for whether the communication quality has improved is as follows: Compare each moment's communication quality detection result within the time window with the initial communication quality detection result item by item, and thus screen out the communication quality index items that are better than the initial communication quality detection result. Then, count the proportion of such communication quality index items and compare it 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 communication quality improvement is identified within the time window, it is not immediately determined that the communication anomaly is temporary. Instead, the improvement duration is further considered. This is to avoid making premature conclusions due to accidental and non-persistent improvements, thereby preventing misjudging the nature of the communication anomaly and ensuring the accuracy and reliability of the evaluation results.

[0057] It should be noted that when an improvement in communication quality is recognized at the end of the time window, since the current time window has ended, the duration of the improvement cannot be evaluated. Considering that the preset drone stay duration is short, adding an additional 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 communication quality improvement, avoiding unnecessary risks or resource waste caused by blind decision-making. However, to prevent the drone from staying for too long and affecting the inspection efficiency and power support, the number of additional time windows should be limited. For example, at most 2 additional time windows are allowed.

[0058] See Figure 2 As shown, the communication anomaly temporary handling module is used to control the drone to stay at the abnormal inspection position when it is predicted that the communication anomaly is temporary, and continue the inspection after the communication quality is restored.

[0059] The communication anomaly continuous handling 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 from the inspection. When the evaluation is urgent, control the drone to go to a safe point nearby for data transmission. When the evaluation is not urgent, control the drone to continue flying along the original path.

[0060] Among the ways in which the above solution can be implemented, the process of evaluating the urgency of data transmission is as follows: Classify the communication line operation status information obtained during the inspection according to the preset priority division rules to determine its belonging priority.

[0061] In the embodiments of the above method, the priority division can be divided into three categories: highest priority, medium priority, and low priority. Specifically as follows: Highest priority: Data related to safety issues, such as insulator breakage, wire fracture, temperature anomaly, etc. These situations may directly affect the normal operation of the communication line or pose potential safety hazards and must be processed immediately.

[0062] Medium priority: Routine inspection data, such as tower inclination, bolt looseness, etc. Although these problems will not immediately cause safety risks, if not processed in time, they may gradually evolve into more serious faults, affecting 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, mainly used for subsequent analysis and archiving, providing a reference basis for future maintenance and optimization.

[0064] Compare the priority to which the communication line operation status information belongs with the highest priority in the priority division rules. If the priority to which the communication line operation status information belongs reaches the highest priority, then evaluate the data transmission as urgent; otherwise, evaluate the data transmission as not urgent.

[0065] It should be understood that when evaluating the urgency of data transmission, data needs to be transmitted as soon as possible to achieve the purpose of timely operation and maintenance. However, the current communication anomaly is persistent. If data is forcibly transmitted at the anomaly inspection location in this case, it may lead to transmission interruption, not only failing to achieve the expected operation and maintenance effect, but also possibly causing data loss. Therefore, when evaluating the urgency of data transmission, the drone is controlled to fly to a safe point nearby for data transmission. For non-urgent data transmission, the data can be cached first, the inspection task can be continued, and data transmission can be carried out again in an area with normal communication quality during subsequent inspections. In this way, the data transmission task can be ensured to be successfully completed without interrupting the inspection.

[0066] See Figure 3 As shown, the communication quality comparison and processing module is used to compare the communication quality detection result after the drone continues to fly along the original path with the communication quality detection result at the anomaly inspection location to judge whether the communication quality deteriorates. If the communication quality deteriorates, path switching is performed according to the alternative inspection path. If the communication quality does not deteriorate, the cached communication line operation status information is transmitted at the current inspection location.

[0067] The process of comparing the communication quality detection result after the drone continues to fly along the original path with the communication quality detection result at the anomaly inspection location to judge whether the communication quality deteriorates is as follows: Extract the communication quality items that do not conform to the normal communication quality data from the communication quality detection result at the anomaly inspection location as abnormal items, and extract the communication quality items that conform to the normal communication quality data from the same detection result as normal items.

[0068] Compare the abnormal item data in the communication quality detection result after the drone continues to fly along the original path with the abnormal item data in the communication quality detection result at the anomaly inspection location to calculate the abnormal increase rate of the abnormal items. Exemplarily, when the abnormal item is the signal strength, the calculation formula for the abnormal increase rate is , where represents the abnormal increase rate, represents the signal strength after the drone continues to fly along the original path, represents the signal strength at the anomaly inspection location. Another example, when the abnormal item is the packet loss rate, the calculation formula for the abnormal increase rate is , where represents the packet loss rate after the drone continues to fly along the original path, represents the packet loss rate at the anomaly inspection location.

[0069] Compare the normal item data in the communication quality detection result after the drone continues to fly along the original path with the normal item data in the communication quality detection result at the anomaly inspection location to calculate the abnormal manifestation degree of the normal items. Exemplarily, when the normal item is the signal-to-noise ratio, the calculation formula for the abnormal manifestation degree is , where Indicates the anomaly manifestation degree, Indicates the signal-to-noise ratio after the UAV continues to fly along the original path, Indicates the signal-to-noise ratio at the abnormal inspection position.

[0070] As another example, when the abnormal item is the delay duration, the calculation formula for the anomaly manifestation degree is , where Indicates the delay duration after the UAV continues to fly along the original path, Indicates the delay duration at the abnormal inspection position.

[0071] It should be noted that the anomaly increase amplitude reflects the deterioration ratio of the abnormal item after continued flight, and the anomaly manifestation degree reflects the degree to which the normal item begins to show anomalies after continued flight.

[0072] The weighted average of the anomaly increase amplitude of the abnormal item and the anomaly manifestation degree of the normal item is calculated to obtain the communication quality deterioration degree. Exemplarily, the weight values of the anomaly increase amplitude and the anomaly manifestation degree are 0.4 and 0.6 respectively. By assigning a greater weight to the anomaly manifestation degree, the immediacy of potential risks can be more emphasized when evaluating the communication quality deterioration degree, ensuring that the evaluation result can respond in a timely manner to problems that may have a significant impact on the mission in the future although they have not yet manifested currently.

[0073] Compare the communication quality deterioration degree after the UAV continues to fly along the original path with the set allowable deterioration degree. Exemplarily, 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, it is judged that the communication quality has deteriorated, indicating that continuing to fly along the original path may lead to more serious communication problems and the inspection path needs to be switched. Otherwise, it is judged that the communication quality has not deteriorated, indicating that there is a certain feasibility in continuing to fly 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 endurance of the UAV is limited, unnecessary path switching may cause the UAV to run out of power in advance, affecting the completion of subsequent tasks.

[0074] Further preferably, the path switching according to the alternative inspection paths is as follows: The inspection position judged to have deteriorated communication quality in the main inspection path is used as the starting switching position, which ensures that the system can trigger path adjustment in a timely manner when the communication quality is poor, avoiding more communication problems caused by continuing to fly along the original path.

[0075] Capture the position opposite to the starting switching position from each alternative inspection path as the switching replacement position of each alternative inspection path.

[0076] It should be added that by selecting a replacement position that is as close as possible in space to the starting adjustment position, the additional 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, minimum Euclidean distance, etc.) can be used to select the most suitable switching replacement position.

[0077] Measure the flight distance between the switching replacement position and the starting switching position in each alternative inspection path as the switching distance.

[0078] Intercept the length from the switching replacement position to the end point of the path from the total length of each alternative inspection path as the remaining inspection length.

[0079] It should be noted that the remaining inspection length reflects the amount of inspection tasks that the UAV still needs to complete after switching to the alternative path. The shorter the remaining inspection length, usually the faster the task can be completed.

[0080] Obtain the length of the route covered by vegetation along each alternative inspection path from the three-dimensional geographical model of the communication line.

[0081] Substitute the switching distance, remaining inspection length, and the length of the route covered by vegetation along each alternative inspection path into the formula to obtain the selection value degree of each alternative inspection path , represents the number of the alternative inspection path, , , , , respectively represent the switching distance, remaining inspection length, length of the route covered by vegetation along the path, and total length corresponding to the th alternative inspection path.

[0082] Compare the selection value degrees of each alternative inspection path, and select the alternative inspection path with the maximum selection value degree as the required switching inspection path, and then switch according to this inspection path.

[0083] Furthermore, preferably, the following operations are performed on the communication line operation status information cached at the current inspection position: classify the cached communication line operation status information according to the preset priority division rules to determine the priority to which the communication line operation status information belongs.

[0084] Arrange them in descending order of priority as the transmission order of the communication line operation status information.

[0085] By transmitting the operating state of the communication line by dividing priorities, the present invention can delay the transmission of non-urgent information, free up more bandwidth resources for critical information, and ensure the efficient utilization of the communication link. This not only improves the overall efficiency of data transmission, but also avoids occupying valuable communication resources due to the transmission of a large amount of non-urgent information, resulting in the inability to transmit critical information in a timely manner.

[0086] The above content is only an example and illustration of the concept of the present invention. Those skilled in the art of the present technology can make various modifications or supplements to the described specific embodiments or use similar methods for substitution, as long as they do not deviate from the concept of the invention or exceed the scope defined by the present invention, they should all fall within the protection scope of the present invention.

Claims

1. An intelligent detection UAV for communication lines, which is composed of a UAV, an inspection terminal and a control terminal arranged on the UAV, and is characterized in that, Including: An inspection path planning module, which is used to plan several inspection paths of the communication line and divide them into main inspection paths and alternative inspection paths; A safety point layout module, which is used to layout safety points according to the planned inspection paths, specifically as follows: mark the open areas existing along the main inspection path from the three-dimensional geographical model of the communication line; Summarize the number of open areas existing 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 a certain adjacent open area reaches the allowable distance threshold, safety points are laid out in these adjacent open areas. Otherwise, check whether the adjacent open areas fall on the alternative inspection path. If only one open area among the adjacent open areas falls on the alternative inspection path, select this open area from the adjacent open areas for safety point layout. If both open areas among 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 layout; An inspection detection module, which is used to perform inspections by the drone according to the main inspection path and detect the operation status and communication quality of the communication line by using the inspection terminal during the inspection process; A communication anomaly identification module, which is used to identify communication anomalies based on the communication quality detection results and record the inspection positions with communication anomalies as abnormal inspection positions; A communication anomaly temporary prediction module, which is used to predict whether the communication anomaly is temporary; A communication anomaly temporary processing module, which is used to control the drone to stay at the abnormal inspection position when it is predicted that the communication anomaly is temporary and continue the inspection after the communication quality is restored; A communication anomaly continuous processing module, which 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 operation status information of the communication line obtained from the inspection. When the evaluation is urgent, control the drone to fly to a nearby safety point for data transmission. When the evaluation is not urgent, control the drone to continue flying along the original path; A communication quality comparison and processing module, which is used to compare the communication quality detection results after the drone continues to fly along the original path with the communication quality detection results at the abnormal inspection position to judge whether the communication quality deteriorates. If the communication quality deteriorates, perform path switching according to the alternative inspection path. If the communication quality does not deteriorate, transmit the cached operation status information of the communication line at the current inspection position.

2. The intelligent detection UAV for communication lines according to claim 1, wherein: The process of planning several inspection paths of the described communication line is as follows: Call the three-dimensional geographical model of the communication line, mark the inspection targets and obstacle positions separately from the model, and arrange the marked inspection targets in the order of their positions on the communication line; Start from the takeoff and landing point of the drone and plan multiple inspection paths in combination with the arrangement order of the inspection targets, the marked obstacle positions, and the set flight height.

3. The intelligent detection UAV for communication lines according to claim 2, characterized in that: The division of the main inspection path and the alternative inspection path is as follows: Obtain the length of the route covered by vegetation along each inspection path and the total length of each inspection path from the three-dimensional geographical model of the communication line; Using the expression to obtain the selection priority of the inspection path , where represents the length of the route covered by vegetation along the inspection path, represents the total length of the inspection path, represents the sum of the total lengths of all inspection paths; Compare the selection priorities of each inspection path, and select the inspection path corresponding to the maximum selection priority as the main inspection path, and regard the other inspection paths as alternative inspection paths.

4. The intelligent detection drone for communication lines according to claim 2, wherein: The process of arranging safety points according to the planned inspection path is as follows: Mark the open areas along the main inspection path from the three-dimensional geographical 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 a certain adjacent open area reaches the allowable distance threshold, safety points are arranged in these adjacent open areas. If the distance between a certain adjacent open area is less than the allowable distance threshold, check whether the adjacent open area falls on the alternative inspection path. If only one open area in the adjacent open areas falls on the alternative inspection path, select this open area from the adjacent open areas for safety point arrangement. If both open areas in 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 arrangement.

5. The intelligent detection UAV for communication lines according to claim 1, wherein: The process of identifying communication anomalies is as follows: Obtain the normal communication quality data corresponding to the communication bandwidth based on the communication bandwidth used in the UAV inspection; Compare the communication quality detection results obtained from the real-time inspection with the normal communication quality data. If there is a communication quality detection result that does not conform to the normal communication quality data, identify a communication anomaly.

6. The intelligent detection UAV for communication lines according to claim 5, wherein: The process of predicting whether the communication anomaly is temporary is as follows: Use the control terminal to control the UAV to stay at the abnormal inspection position for a preset duration, and continuously perform communication quality detection within the time window formed by the moment of identifying the communication anomaly and the preset duration; Compare the communication quality detection results within the time window with the initial communication quality detection results to judge whether the communication quality has improved. If the communication quality has not improved until the end moment of the time window, predict that the communication anomaly is not temporary. If the communication quality improves at a certain moment within the time window, record this moment as the improvement moment, and then calculate the proportion of it in the entire time window as the improvement duration proportion, and compare it with the set proportion threshold. If the improvement duration proportion reaches the proportion threshold, predict that the communication anomaly is temporary, otherwise predict that the communication anomaly is not temporary.

7. The intelligent detection UAV for communication lines according to claim 1, wherein: The process of evaluating the urgency of data transmission is as follows: Classify the communication line operation status information obtained during the inspection according to the preset priority division rules to determine its belonging priority; Compare the priority of the communication line operation status information with the highest priority in the priority division rules. If the priority of the communication line operation status information reaches the highest priority, evaluate that the data transmission is urgent, otherwise evaluate that the data transmission is not urgent.

8. The intelligent detection UAV for communication lines according to claim 5, wherein: The process of judging whether the communication quality deteriorates is as follows: Extract the communication quality items that do not conform to the normal communication quality data from the communication quality detection results at the abnormal inspection position as abnormal items, and extract the communication quality items that conform to the normal communication quality data from the same detection results as normal items; Compare the abnormal item data in the communication quality detection results after the UAV continues to fly along the original path with the abnormal item data in the communication quality detection results at the abnormal inspection position to calculate the abnormal increase amplitude of the abnormal items; Compare the normal item data in the communication quality detection results after the UAV continues to fly along the original path with the normal item data in the communication quality detection results at the abnormal inspection positions, and calculate the abnormal manifestation degree of the normal items; Perform a weighted average calculation on the abnormal increase amplitude of the abnormal items and the abnormal manifestation degree of the normal items to obtain the communication quality deterioration degree; Compare the communication quality deterioration degree after the UAV continues to fly along the original path 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, it is judged that the communication quality has deteriorated; otherwise, it is judged that the communication quality has not deteriorated.

9. The intelligent detection unmanned aerial vehicle for communication lines according to claim 3, wherein: The process of path switching according to the alternative inspection paths is as follows: Take the inspection position where the communication quality is judged to have deteriorated in the main inspection path as the starting switching position; Capture the positions corresponding to the starting switching position from each alternative inspection path as the switching replacement positions of each alternative inspection path; Measure the flight distance between the switching replacement position and the starting switching position in each alternative inspection path as the switching distance; Intercept the length from the switching replacement position to the end point of the path from the total length of each alternative inspection path as the remaining inspection length; Obtain the route lengths covered by vegetation along each alternative inspection path from the three-dimensional geographical model of the communication line; Substitute the switching distance, remaining inspection length, and the length of the route covered by vegetation along each alternative inspection path into the formula to obtain the selection value of each alternative inspection path , where represents the number of the alternative inspection path, , , , respectively represent the switching distance, remaining inspection length, length of the route covered by vegetation along the th alternative inspection path, and the total length; Compare the selection value degrees of each alternative inspection path, and select the alternative inspection path with the maximum selection value degree as the required switching inspection path for path switching.

10. The intelligent detection UAV for communication lines according to claim 7, wherein: The operations for transmitting the cached communication line operation status information at the current inspection position are as follows: Classify the cached communication line operation status information according to the preset priority classification rules to determine the priority to which the communication line operation status information belongs; Arrange them in descending order of priority as the transmission order of the communication line operation status information.

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