Low-power-consumption long-distance communication method for hanging and detaching grounding wire of ultra-high-voltage unmanned aerial vehicle

Abstract

The invention provides a low-power-consumption long-distance communication method for hanging and detaching a ground wire of an ultra-high-voltage unmanned aerial vehicle, and relates to the field of wireless communication, and the method comprises the steps: designing a protocol stack; in combination with the protocol stack, acquiring a transmission signal between the ground wire hanging and detaching robot and the ground equipment; performing signal modulation on the transmission signal according to a discontinuous wave method; constructing a power consumption model of the ground wire hanging and detaching robot; demodulating the modulated transmission signal; and the ground wire hanging and detaching robot is controlled through the power consumption model and the demodulated transmission signal, and low-power-consumption and long-distance communication control of the ground wire hanging and detaching robot is achieved. The remote control of the robot is realized, and after the grounding wire is hung, the low power consumption operation of the robot is ensured by closing unnecessary modules.

Description

Technical Field

[0001] The present application relates to the field of wireless communications, and in particular to a low-power long-distance communication method for hanging and removing ground wires of ultra-high voltage unmanned aerial vehicles. Background Art

[0002] The height of an ultra-high voltage transmission line tower may exceed 100 meters. A drone carrying a ground wire hanging and removal robot needs to be controlled from a long distance. The robot may be mounted on the conductors and crossarms for a long time, so low power consumption is required to ensure that the robot can work normally when removing the ground wire.

[0003] WiFi technology, as the most widely used wireless communication method, is based on the IEEE 802.11 protocol standard and can provide a transmission rate of up to several Gbps. It is mainly used in indoor network environments. Bluetooth technology focuses on short-range communication, especially the emergence of low-power Bluetooth (BLE), making it the preferred solution for wearable devices and smart homes. In the field of wide-area networks, cellular network technology has developed from 2G to 5G, relying on operator infrastructure to provide wide-area coverage and high-quality mobile communication services. For IoT applications, ZigBee is widely used in sensor network construction due to its ultra-low power consumption and flexible networking characteristics; in terms of short-range secure communication, NFC technology provides a convenient and secure communication method through an extremely short working distance, playing an important role in scenarios such as mobile payment and access control systems.

[0004] These communication technologies all have their own limitations. Although WiFi has a high transmission rate, it consumes a lot of power, is easily affected by environmental interference, and has relatively weak wall penetration capabilities. Signal dead spots may occur in complex indoor environments. The transmission distance of Bluetooth technology is limited to the order of 10 meters, the transmission rate is low, and the number of devices connected at the same time is limited. These characteristics limit its application in large-scale data transmission scenarios. Although cellular networks have a wide coverage range, they require expensive infrastructure support, have high usage costs, and the power consumption problem of terminal devices is also prominent. Although ZigBee has low power consumption, its transmission rate and distance are very limited, and the complexity of the protocol also poses challenges to development. The communication distance of NFC is only a few centimeters, the transmission rate is limited, and it can only perform point-to-point communication. These characteristics severely limit its application scenarios. In order to overcome the shortcomings of existing wireless communications and ensure that the drone grounding wire robot can work for a long time in the field, the present invention proposes a low-power, long-distance communication method. Summary of the invention

[0005] The purpose of the present invention is to provide a low-power long-distance communication method for hanging and removing ground wires of ultra-ultra-high voltage (UHV) transmission line towers by using an UHV drone to solve the problem that the existing wireless communication technology is difficult to take into account both low-power communication and long-distance communication in the wireless communication scenario of a UHV transmission line tower ground wire hanging and removing robot.

[0006] The above-mentioned purpose of the present application is achieved through the following technical solutions: S1: Design protocol stack; S2: Combined with the protocol stack, the transmission signal between the ground wire hanging and removing robot and the ground equipment is obtained; the transmission signal is modulated according to the non-continuous wave method; S3: Construct a power consumption model for the ground wire hanging and removing robot; S4: demodulate the modulated transmission signal; S5: The ground wire hanging and removing robot is controlled through the power consumption model and the demodulated transmission signal, so as to realize low-power and long-distance communication control of the ground wire hanging and removing robot.

[0007] Optionally, step S1 includes: The protocol stack includes: application layer, transport layer and network layer; S11: The design of the application layer specifically includes: Design a lightweight application data format, which includes device ID, timestamp, data type, and payload, as defined below:

[0008] in, A data packet representing a transmission signal, is the device ID, is the timestamp, is the data type, is the payload; The encapsulation process of the transmission signal is:

[0009] in, is the data packet sent; It is the application layer header information, including: source address, destination address and data length; The decapsulation process of the transmission signal is as follows:

[0010] in, is the received data packet, is the parsed payload; Design a data transmission error handling mechanism as follows:

[0011] in, Indicates confirmation response; status indicates the receiving status, including: success or failure; If ACK is not received, retransmit the data; S12: The design of the transport layer specifically includes: An event-based transmission strategy is used to realize the message transmission control between the ground wire hanging and removing robot and the ground equipment, as follows:

[0012] in, is the time of transmission, It is an event-based trigger function; When data transmission is idle, the sensor node of the ground wire hanging and removing robot is placed in sleep mode, and data transmission is performed through timed wake-up;

[0013] in, Indicates an idle state, putting the node into sleep mode to save energy; S13: The design of the network layer specifically includes: Use the gateway to forward data and reduce the energy consumption of terminal devices:

[0014] in, Indicates routing, including gateways and the best transmission path ; Monitor network status and node signal quality; Dynamically adjust the data transmission power according to the network status and node signal quality :

[0015] in, is the network status, is the node signal quality; Setting the threshold:

[0016] When the network load exceeds the set threshold , automatically switches to the preset transmission rate; Design a routing strategy based on signal strength and select the path with the highest signal strength to transmit data, as follows:

[0017] in Indicates that the path with the strongest signal strength is selected for data transmission; A timeout mechanism is used to handle unresponsive paths, specifically including: using a timeout mechanism, when a path is unresponsive for a long time, other available paths are automatically selected.

[0018] Optionally, step S2 includes: Assume the frequency of the transmitted signal is , the modulation rate is , the signal modulation is expressed as follows:

[0019] in Indicates the amplitude of the modulated signal; is the amplitude of the transmitted signal; represents the time variable; is the phase change function of the modulation signal.

[0020] Optionally, step S3 includes: The power consumption model is as follows:

[0021] in, is the transmission power, For a fixed power consumption, is a constant related to the environment and ground equipment characteristics, is the signal propagation distance, is the path loss index; is the signal gain obtained through the antenna and amplifier.

[0022] Optionally, step S4 includes: The received signal needs to be demodulated, and the process can be described as:

[0023] in is the demodulated signal amplitude, Represents the received modulated transmission signal, is the integration time window.

[0024] A low-power long-distance communication system for hanging and removing ground wires of ultra-high voltage unmanned aerial vehicles, the system comprising: Data acquisition module, data processing module and wireless communication module; The wireless communication module is used to design the protocol stack; The data acquisition module is used to obtain the transmission signal between the ground wire hanging and removing robot and the ground equipment based on the protocol stack; The data processing module is used for performing signal modulation on the transmission signal according to the non-continuous wave method; The data processing module is also used to build a power consumption model for the robot that hangs and removes the ground wire; The data processing module is also used to demodulate the modulated transmission signal; The data processing module is also used to control the grounding wire hanging and removing robot through the power consumption model and the demodulated transmission signal, so as to realize low-power and long-distance communication control of the grounding wire hanging and removing robot.

[0025] An electronic device comprises a processor, a memory, a user interface and a network interface, wherein the memory is used to store instructions, the user interface and the network interface are used to communicate with other devices, and the processor is used to execute the instructions stored in the memory so that the electronic device executes a low-power long-distance communication method for hanging and removing ground wires of ultra-high voltage unmanned aerial vehicles.

[0026] A computer-readable storage medium stores instructions. When the instructions are executed, a low-power consumption long-distance communication method for hanging and removing ground wires of ultra-high voltage unmanned aerial vehicles is executed.

[0027] The beneficial effects of the technical solution provided by this application are: By designing the protocol stack and power consumption model, a long-distance, low-power communication method is realized between the ground wire hanging and removing robot and the ground equipment, which can enable the ground wire hanging and removing robot to work for a long time in the field. The long-distance communication ensures that the robot working on the ultra-high voltage transmission line tower with a height of more than 100 meters can also be effectively controlled under the tower. Low-power communication ensures that the battery will not run out of power even when working for a long time in the field. When the drone removes the ground wire hanging and removing robot, it turns on the motor through remote control to control the opening and closing of the wire clamp. Through this method, there is no need to manually go up the tower to hang and remove, eliminating the safety risks of manual tower climbing, while also saving labor costs, with extremely high economic benefits and social value. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The present application will be further described below with reference to the accompanying drawings and embodiments, in which: Figure 1 is a step diagram in an embodiment of the present application; Figure 2 It is a schematic diagram of the structure of an electronic device in an embodiment of the present application. DETAILED DESCRIPTION

[0029] In order to have a clearer understanding of the technical features, purposes and effects of the present application, the specific implementation methods of the present application are now described in detail with reference to the accompanying drawings.

[0030] An embodiment of the present application provides a low-power long-distance communication method for an ultra-high voltage unmanned aerial vehicle (UAV) with a grounding wire.

[0031] Please refer to Figure 1 , Figure 1 This is a step diagram of a method for low-power long-distance communication of an ultra-high voltage UAV with a ground wire attached or detached in an embodiment of the present application, comprising: S1: Design protocol stack; Step S1 includes: The protocol stack includes: application layer, transport layer and network layer; S11: The design of the application layer specifically includes: Design a lightweight application data format, which includes device ID, timestamp, data type, and payload, as defined below:

[0032] in, A data packet representing a transmission signal, is the device ID, is the timestamp, is the data type, is the payload; The encapsulation process of the transmission signal is:

[0033] in, is the data packet sent; It is the application layer header information, including: source address, destination address and data length; The decapsulation process of the transmission signal is as follows:

[0034] in, is the received data packet, is the parsed payload; Design a data transmission error handling mechanism as follows:

[0035] in, Indicates confirmation response; status indicates the receiving status, including: success or failure; If ACK is not received, retransmit the data; In one embodiment of the present application, a simplified JSON or a customized binary format is used to reduce the size of the data packet.

[0036] S12: The design of the transport layer specifically includes: In one embodiment of the present application, the transport layer: low-latency and low-power data transmission management. The message transmission control between the ground wire hanging and removing robot and the ground equipment adopts an event-based transmission strategy, sending data only when the data is generated, reducing the communication overhead during idle time. Lightweight flow control is implemented to prevent overload.

[0037] An event-based transmission strategy is used to realize the message transmission control between the ground wire hanging and removing robot and the ground equipment, as follows:

[0038] in, is the time of transmission, It is an event-based trigger function; When data transmission is idle, the sensor node of the ground wire hanging and removing robot is placed in sleep mode, and data transmission is performed through timed wake-up;

[0039] in, Indicates an idle state, putting the node into sleep mode to save energy; S13: The design of the network layer specifically includes: Use the gateway to forward data and reduce the energy consumption of terminal devices:

[0040] in, Indicates routing, including gateways and the best transmission path ; Monitor network status and node signal quality; Dynamically adjust the data transmission power according to the network status and node signal quality :

[0041] in, is the network status, is the node signal quality; Setting the threshold:

[0042] When the network load exceeds the set threshold , automatically switches to the preset transmission rate; Design a routing strategy based on signal strength and select the path with the highest signal strength to transmit data, as follows:

[0043] in Indicates that the path with the strongest signal strength is selected for data transmission; A timeout mechanism is used to handle unresponsive paths, specifically including: using a timeout mechanism, when a path is unresponsive for a long time, other available paths are automatically selected.

[0044] S2: Combined with the protocol stack, the transmission signal between the ground wire hanging and removing robot and the ground equipment is obtained; the transmission signal is modulated according to the non-continuous wave method; Step S2 includes: Assume the frequency of the transmitted signal is , the modulation rate is , the signal modulation is expressed as follows:

[0045] in Indicates the amplitude of the modulated signal; is the amplitude of the transmitted signal; represents the time variable; is the phase change function of the modulation signal.

[0046] In one embodiment of the present application, the signal modulation formula describes the process of modulation by a sine wave, and the phase change function of the modulated signal is is the key and is used to define the phase state of the signal at different points in time.

[0047] S3: Construct a power consumption model for the ground wire hanging and removing robot; Step S3 includes: The power consumption model is as follows:

[0048] in, is the transmission power, For a fixed power consumption, is a constant related to the environment and ground equipment characteristics, is the signal propagation distance, is the path loss index; is the signal gain obtained through the antenna and amplifier.

[0049] As an example, during signal transmission, in order to ensure the low power consumption characteristics of long-distance communication, a power consumption model is designed. Through high-gain antenna design, the transmission power can achieve lower consumption at a longer distance. Directional antenna configuration can also be used to optimize the signal transmission path and reduce path loss. The power consumption model formula is used to calculate the required transmission power at different distances. Fixed power represents the basic communication power consumption, and The other part shows the effect of signal transmission distance on power consumption.

[0050] S4: demodulate the modulated transmission signal; Step S4 includes: The received signal needs to be demodulated, and the process can be described as:

[0051] in is the demodulated signal amplitude, Represents the received modulated transmission signal, is the integration time window.

[0052] As an embodiment, the demodulation process extracts effective information by performing integral calculation on the received signal, thereby restoring the original signal.

[0053] S5: The ground wire hanging and removing robot is controlled through the power consumption model and the demodulated transmission signal, so as to realize low-power and long-distance communication control of the ground wire hanging and removing robot.

[0054] A low-power long-distance communication system for hanging and removing ground wires of ultra-high voltage unmanned aerial vehicles, the system comprising: Data acquisition module, data processing module and wireless communication module; The wireless communication module is used to design the protocol stack; The data acquisition module is used to obtain the transmission signal between the ground wire hanging and removing robot and the ground equipment based on the protocol stack; The data processing module is used for performing signal modulation on the transmission signal according to the non-continuous wave method; The data processing module is also used to build a power consumption model for the robot that hangs and removes the ground wire; The data processing module is also used to demodulate the modulated transmission signal; The data processing module is also used to control the grounding wire hanging and removing robot through the power consumption model and the demodulated transmission signal, so as to realize low-power and long-distance communication control of the grounding wire hanging and removing robot.

[0055] The present application also discloses an electronic device. Figure 2 , Figure 2 The electronic device 500 may include: at least one processor 501 , at least one network interface 504 , a user interface 503 , a memory 505 , and at least one communication bus 502 .

[0056] The communication bus 502 is used to realize the connection and communication between these components.

[0057] The user interface 503 may include a display screen, and the optional user interface 503 may also include a standard wired interface or a wireless interface.

[0058] The network interface 504 may optionally include a standard wired interface or a wireless interface (such as a WI-FI interface).

[0059] The present application also discloses a computer-readable storage medium storing a plurality of instructions suitable for loading by a processor to execute the above-mentioned low-power consumption long-distance communication method for hanging and removing ground wires of ultra-high voltage unmanned aerial vehicles.

[0060] The above are only exemplary embodiments of the present disclosure and cannot be used to limit the scope of the present disclosure. That is, any equivalent changes and modifications made according to the teachings of the present disclosure are still within the scope of the present disclosure.

[0061] This application is intended to cover any variation, use or adaptation of the present disclosure, which follows the general principles of the present disclosure and includes common knowledge or customary technical means in the art not described in the present disclosure. The description and examples are to be regarded as exemplary only, and the scope and spirit of the present disclosure are defined by the claims.

Claims

1. A low-power long-distance communication method for ultra-high voltage unmanned aerial vehicle hanging and removing ground wires, characterized in that: The method comprises the following steps: S1: Design protocol stack; S2: Combined with the protocol stack, the transmission signal between the ground wire hanging and removing robot and the ground equipment is obtained; the transmission signal is modulated according to the non-continuous wave method; S3: Construct a power consumption model for the ground wire hanging and removing robot; S4: demodulate the modulated transmission signal; S5: The ground wire hanging and removing robot is controlled through the power consumption model and the demodulated transmission signal, so as to realize low-power and long-distance communication control of the ground wire hanging and removing robot.

2. A low-power long-distance communication method for ultra-high voltage unmanned aerial vehicle with hanging and removing ground wires as claimed in claim 1, characterized in that: Step S1 includes: The protocol stack includes: application layer, transport layer and network layer; S11: The design of the application layer specifically includes: Design a lightweight application data format, which includes device ID, timestamp, data type, and payload, as defined below: in, A data packet representing a transmission signal, is the device ID, is the timestamp, is the data type, is the payload; The encapsulation process of the transmission signal is: in, is the data packet sent; It is the application layer header information, including: source address, destination address and data length; The decapsulation process of the transmission signal is as follows: in, is the received data packet, is the parsed payload; Design a data transmission error handling mechanism as follows: in, Indicates confirmation response; status indicates the receiving status, including: success or failure; If ACK is not received, retransmit the data; S12: The design of the transport layer specifically includes: An event-based transmission strategy is used to realize the message transmission control between the ground wire hanging and removing robot and the ground equipment, as follows: in, is the time of transmission, It is an event-based trigger function; When data transmission is idle, the sensor node of the ground wire hanging and removing robot is placed in sleep mode, and data transmission is performed through timed wake-up; in, Indicates an idle state, putting the node into sleep mode to save energy; S13: The design of the network layer specifically includes: Use the gateway to forward data and reduce the energy consumption of terminal devices: in, Indicates routing, including gateways and the best transmission path ; Monitor network status and node signal quality; Dynamically adjust the data transmission power according to the network status and node signal quality : in, is the network status, is the node signal quality; Setting the threshold: When the network load exceeds the set threshold , automatically switches to the preset transmission rate; Design a routing strategy based on signal strength and select the path with the highest signal strength to transmit data, as follows: in Indicates that the path with the strongest signal strength is selected for data transmission; A timeout mechanism is used to handle unresponsive paths, specifically including: using a timeout mechanism, when a path is unresponsive for a long time, other available paths are automatically selected.

3. A low-power long-distance communication method for UAV grounding wire installation as claimed in claim 1, characterized in that: Step S2 includes: Assume the frequency of the transmitted signal is , the modulation rate is , the signal modulation is expressed as follows: in Indicates the amplitude of the modulated signal; is the amplitude of the transmitted signal; represents the time variable; is the phase change function of the modulation signal.

4. A low-power consumption long-distance communication method for UHV UAV grounding wire installation as claimed in claim 1, characterized in that: Step S3 includes: The power consumption model is as follows: in, is the transmission power, For a fixed power consumption, is a constant related to the environment and ground equipment characteristics, is the signal propagation distance, is the path loss index; is the signal gain obtained through the antenna and amplifier.

5. The method for low-power consumption and long-distance communication of an ultra-high voltage unmanned aerial vehicle with a ground wire as claimed in claim 1, characterized in that: Step S4 includes: The received signal needs to be demodulated, and the process can be described as: in is the demodulated signal amplitude, Represents the received modulated transmission signal, is the integration time window.

6. A low-power long-distance communication system for hanging and removing ground wires of ultra-ultra-high voltage unmanned aerial vehicles, used to implement a low-power long-distance communication method for hanging and removing ground wires of ultra-ultra-high voltage unmanned aerial vehicles as described in any one of claims 1-5, characterized in that: The system comprises: Data acquisition module, data processing module and wireless communication module; The wireless communication module is used to design the protocol stack; The data acquisition module is used to obtain the transmission signal between the ground wire hanging and removing robot and the ground equipment based on the protocol stack; The data processing module is used for performing signal modulation on the transmission signal according to the non-continuous wave method; The data processing module is also used to build a power consumption model for the robot that hangs and removes the ground wire; The data processing module is also used to demodulate the modulated transmission signal; The data processing module is also used to control the grounding wire hanging and removing robot through the power consumption model and the demodulated transmission signal, so as to realize low-power and long-distance communication control of the grounding wire hanging and removing robot.

7. An electronic device, characterized in that: The electronic device comprises a processor (501), a memory (505), a user interface (503) and a network interface (504), wherein the memory (505) is used to store instructions, the user interface (503) and the network interface (504) are used to communicate with other devices, and the processor (501) is used to execute the instructions stored in the memory (505) so that the electronic device executes the method according to any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores instructions, and when the instructions are executed by a computer, the method according to any one of claims 1 to 5 is executed.

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