Unmanned aerial vehicle inspection system for power transmission line

Abstract

The invention discloses an unmanned aerial vehicle inspection system for a power transmission line, and particularly relates to the field of unmanned aerial vehicle cruise, which comprises an inspection unmanned aerial vehicle, a flight operation control system and a microcomputer nest. According to the invention, when the terminal processor monitors that the patrol unmanned aerial vehicle is lack of power, the UWB antenna queries a nearby microcomputer nest to form preliminary positioning, and then the correlation type photoelectric emitter and the correlation type photoelectric receiver are aligned to receive signals to form a signal source, so that the patrol unmanned aerial vehicle hovers and steers; according to the invention, a plurality of groups of opposite-type photoelectric emitters and opposite-type photoelectric receivers are formed, and the inspection unmanned aerial vehicle is accurately positioned and parked in the storage cavity, so that the set size of the micro nest is effectively reduced, a traditional nest platform type or large-size nest is avoided, the deployment cost and difficulty are reduced, and the deployment efficiency is improved. The industrial pain points of low cost performance, troublesome deployment and the like are efficiently overcome, and the method is suitable for wide-range full-coverage popularization.

Description

Technical Field

[0001] The present invention relates to the field of unmanned aerial vehicle (UAV) cruise technology, and more specifically, to an unmanned aerial vehicle (UAV) inspection system for power transmission lines. Background Art

[0002] The drone itself has the advantages of being easy to carry, simple to operate, quick to respond, rich in payload, wide range of mission uses, low environmental requirements for takeoff and landing, and autonomous flight. Applying drones to power line inspection can greatly improve the speed and efficiency of power maintenance and repair, so that many tasks can be completed quickly in a fully energized environment, ensuring the safety of electricity use. Drones are active in all walks of life due to their small size and convenient operation, effectively promoting the construction progress and efficiency of related industrial projects. The use of drones for conventional transmission line inspections can reduce labor intensity. Compared with manned helicopter line inspections, it can improve the safety of line inspection operators and reduce costs. In addition, drones have fast line inspection speed and emergency response speed, can promptly detect defects and provide information, avoid power outages caused by line accidents, and save high power outage costs.

[0003] Through the joint line inspection of rotary-wing and fixed-wing drones, a large-scale rapid survey of the transmission line corridor can be achieved, and high-definition line equipment photos can be efficiently obtained to clearly identify common transmission line defects, greatly enhancing the efficiency of transmission line inspections, and providing an advanced and practical technical means for modern transmission line maintenance. Using drones equipped with visible light to shoot infrared and ultraviolet detection tasks, the airborne equipment conducts flight inspections of transmission lines and transmits the on-site situation back to the ground monitoring system in real time, so that correct judgments can be made and line faults can be eliminated in a timely manner.

[0004] At present, the battery replacement robotic arms and aircraft push-pull structures on the market are very complex and have low reliability. The price of the charging nest is 200,000 to 300,000 yuan, and the price of the battery replacement nest is 500,000 to 800,000 yuan. The cost is much higher than the value of the aircraft itself. It only solves the technical problem of battery replacement, and has not made major innovations in key needs such as expanding the operating radius of the drone. The reliability and cost-effectiveness are low, and it is not suitable for large-scale full coverage promotion. Summary of the invention

[0005] In order to overcome the above-mentioned defects of the prior art, an embodiment of the present invention provides a UAV inspection system for power transmission lines. The technical problem to be solved by the present invention is: how to effectively reduce the size of the UAV nest and reduce the cost investment, so as to meet the needs of large-scale promotion.

[0006] To achieve the above-mentioned object, the present invention provides the following technical solution: a transmission line UAV inspection system, comprising an inspection UAV, a flight operation control system and a micro-machine nest, wherein the inspection UAV, the flight operation control system and the micro-machine nest are connected to each other via wireless communication module signals, wherein the micro-machine nest is used to hold the inspection UAV and charge the inspection UAV;

[0007] The inspection system consists of presentation layer, support platform, service layer, data layer and perception layer components; the presentation layer includes PC control terminal and monitoring screen; the support platform is the core of the whole inspection system and is deployed on the PC control terminal; the service layer analyzes and processes the data collected by the inspection drone during flight routes, missions and cruises, and provides power transmission line operation and maintenance services, machine nest data services, aircraft intelligent control services, equipment management services, data analysis services and inspection results management services to the outside world; the data layer is the data storage object of the whole system, mainly storing communication data, map data, equipment data, view data and business data; the perception layer is the controllable equipment and data acquisition equipment of the system;

[0008] The inspection drone includes a drone host and a plurality of propeller assemblies arranged at the housing of the drone host, and the drone host includes but is not limited to a housing, a terminal processor and a wireless charging receiving module, in addition, it also includes a battery and an information storage device, and each propeller assembly is provided with a beam-type photoelectric receiver at the bottom, and the drone host is also provided with a UWB antenna, a camera I and a quantum gyroscope;

[0009] The micro-machine nest includes a machine nest mainframe and a nest cover shell, a storage cavity for storing the inspection drone is formed between the inner cavity of the nest cover shell and the upper surface of the machine nest mainframe, a signal antenna and a camera II are arranged on the top of the nest cover shell, and a drop platform is arranged on the upper surface of the machine nest mainframe, and a number of opposite-type photoelectric transmitters equal to the number of opposite-type photoelectric receivers are also arranged on the drop platform;

[0010] The machine nest host includes a main body shell, a terminal processor and a wireless charging transmitting module, wherein the wireless charging transmitting module matches the wireless charging receiving module model, so that the micro machine nest can charge the inspection drone; and the opposite-beam photoelectric transmitter matches the opposite-beam photoelectric receiver model;

[0011] The flight operation control system is used to issue control commands to control the flight route planning and task management of the inspection drone. The flight operation control system uses BDS / GPS dual-mode differential technology to control the inspection drone to locate and land in the storage cavity, and the opposing photoelectric transmitter and the opposing photoelectric receiver are used in conjunction to adjust the precise position of the inspection drone.

[0012] The flight operation control system adjusts the route changes of related UAV hosts based on the route changes of the UAV host parked in the micro-machine nest.

[0013] In a preferred embodiment, the inspection drone further includes a support leg frame fixedly arranged at the bottom of the housing, which is used to raise the height of the drone host and support it stably, so as to prevent the bottom of the drone host from directly contacting the landing point and causing damage to the propeller assembly, camera I or quantum gyroscope;

[0014] The propeller assembly includes a propeller blade, a drive motor and a speed regulator acting on the drive motor, and is used for fixed-point cruising, hovering and route steering changes of the UAV host;

[0015] The UWB antenna is used for signal communication and control information transmission and reception between the inspection UAV and the flight operation control system and the micro-machine nest;

[0016] The camera I is used to take infrared photos / visible light photos and videos of the cruise route, and transmit or store them in real time via the UWB antenna;

[0017] The quantum gyroscope is used to maintain and monitor the flight stability and stable, more accurate direction perception and motion sensing of the drone host.

[0018] In a preferred embodiment, the micro-machine nest further comprises a driving member disposed in the inner cavity of the machine nest main body, the driving member is a driving motor, and the driving member is driven by a connecting rod connected to the nest cover shell to realize the opening and closing of the nest cover shell;

[0019] The signal antenna is connected to the UWB antenna signal for mutual signal transmission and positioning determination;

[0020] The camera II is used to record and shoot the inspection drone landing at the micro-machine nest position and being stored in the storage cavity at a fixed point.

[0021] In a preferred embodiment, the flight operation control system includes but is not limited to a PC control terminal and a monitoring large screen;

[0022] The PC control terminal marks the navigation inspection map based on the GPS / Beidou navigation system, and plans and designs the automatic flight operation route according to the requirements of different inspection tasks, so as to realize the cross-coordination of different inspection operations and improve the operation efficiency and quality;

[0023] The monitoring screen receives real-time video / image data from the flight mission, and broadcasts the inspection site in real time on the monitoring screen.

[0024] In a preferred embodiment, the flight operation control system uses BDS / GPS dual-mode differential technology to control the positioning and landing of the inspection UAV. Specifically, the BDS / GPS dual-mode differential technology is combined with the RTK algorithm to process the differential method between the inspection UAV and the micro-machine nest in real time, and the collected carrier phase is sent to the PC control terminal for difference calculation of coordinates, so that the inspection UAV can accurately query and fly to the nearest micro-machine nest.

[0025] In a preferred embodiment, the BDS / GPS dual-mode differential technology is combined with the GPS and BDS pseudorange and phase dual difference observation equations in the RTK algorithm as follows:

[0026]

[0027] Where Δ is the double difference operator; P i is the pseudorange observation value, and the subscript i represents the frequency; is the carrier phase observation value in cycles; λ i is the wavelength; ρ is the geometric distance between stations and satellites; N i is the integer ambiguity; d trop and d ion is the tropospheric and ionospheric delay error (which can be well eliminated in short-distance RTK positioning); n is the observation noise and multipath effect.

[0028] In a preferred embodiment, the inspection UAV is landed on the top of the landing platform of the micro-machine nest via the flight operation control system, and then the opposing photoelectric transmitter and the opposing photoelectric receiver are aligned to receive the signal to form a signal source, so that the inspection UAV can hover and turn, forming multiple groups of opposing photoelectric transmitters and opposing photoelectric receivers for fixed-point alignment, and completing the precise positioning and parking of the inspection UAV in the storage cavity.

[0029] In a preferred embodiment, the flight operation control system receives a signal from a micro-machine nest of a parking inspection UAV, and resets an unfinished cruise route based on the range of the parking micro-machine nest.

[0030] Technical effects and advantages of the present invention:

[0031] 1. When the terminal processor monitors the lack of power of the inspection drone, the present invention queries the UWB antenna to fly to the nearest micro-machine nest to form a preliminary positioning, and then the opposing photoelectric transmitter and the opposing photoelectric receiver align and receive the signal to form a signal source, so that the inspection drone hovers and turns, forming multiple groups of opposing photoelectric transmitters and opposing photoelectric receivers to align at fixed points, and the inspection drone is accurately positioned and parked in the storage cavity, thereby effectively reducing the set volume of the micro-machine nest, avoiding the traditional machine nest platform or large-volume machine nest, thereby reducing the deployment cost and difficulty, and effectively overcoming the industry pain points such as low cost performance and deployment troubles, which is suitable for large-scale full coverage promotion;

[0032] 2. During the synchronous flight inspection process of multiple inspection drones of the present invention, if one inspection drone stops at the micro-machine nest for power replenishment due to a defect, the flight operation control system changes the flight route of the inspection drone in the flight mission, and the flight operation control system allocates the inspection points on the unfinished inspection route, and rearranges the remaining cruise routes based on the principle of proximity, realizing the drone leapfrog inspection mode, ensuring that the operation radius is greatly improved and the use cost is reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 This is a topological diagram of the flight operation control system of the present invention.

[0034] Figure 2 This is a topological diagram of the UAV multi-point nest remote homing system of the present invention.

[0035] Figure 3 This is a diagram of the inspection system architecture of the present invention.

[0036] Figure 4 It is a schematic diagram of the structure of the inspection drone of the present invention.

[0037] Figure 5 This is a schematic diagram showing the returning-to-nest action of the inspection drone of the present invention.

[0038] Figure 6 Schematic diagram of the initial flight route of the system of the present invention.

[0039] Figure 7 The flight path schematic is modified for the system of the present invention.

[0040] Figure 8 It is a structural block diagram of the overall system homing action of the present invention.

[0041] The reference numerals are: 10 inspection drone, 20 flight operation control system, 30 micro-machine nest;

[0042] 101 UAV host, 102 support leg frame, 103 propeller assembly, 104 opposite-beam photoelectric receiver, 105 UWB antenna, 106 camera I, 107 quantum gyroscope;

[0043] 301 machine nest host, 302 nest cover shell, 303 signal antenna, 304 camera II, 305 drop platform, 306 opposite-beam photoelectric transmitter. DETAILED DESCRIPTION

[0044] 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.

[0045] Embodiment 1:

[0046] The present invention provides Figure 1-6 The UAV inspection system for power transmission lines shown in FIG8 includes an inspection UAV 10, a flight operation control system 20 and a micro-machine nest 30, wherein the inspection UAV 10, the flight operation control system 20 and the micro-machine nest 30 are connected to each other via wireless communication module signals, wherein the micro-machine nest 30 is used to hold the inspection UAV 10 and charge the inspection UAV 10;

[0047] like Figure 3 As shown, the inspection system consists of presentation layer, support platform, service layer, data layer and perception layer components; the presentation layer includes PC control terminal and monitoring screen, which are terminals for data display and control functions through terminal control and display screen; the support platform is the core of the whole inspection system, which is deployed on the PC control terminal; the service layer analyzes and processes the data collected by the inspection drone 10 during the flight route, mission and cruise, and provides power transmission line operation and maintenance services, machine nest data services, aircraft intelligent control services, equipment management services, data analysis services and inspection results management services for the support platform; the data layer is the data storage object of the whole system, which mainly stores communication data, map data, equipment data, view data and business data; the perception layer is the system controllable equipment and data acquisition equipment, including inspection drone 10, micro machine nest 30, camera I 106 and other intelligent devices;

[0048] like Figure 4As shown, the inspection drone 10 includes a drone host 101 and a plurality of propeller assemblies 103 arranged at the outer shell of the drone host 101, and the drone host 101 includes but is not limited to a housing, a terminal processor and a wireless charging receiving module, in addition, it also includes a battery and an information storage device, and each propeller assembly 103 is provided with a beam-type photoelectric receiver 104 at the bottom, and the drone host 101 is also provided with a UWB antenna 105, a camera I 106 and a quantum gyroscope 107; the inspection drone 10 also includes a support leg frame 102 fixedly arranged at the bottom of the housing, which is used to raise the height of the drone host 101 and support it stably, so as to avoid the bottom of the drone host 101 directly contacting the landing point and causing the propeller to fall. The damage of the component 103, the camera I 106 or the quantum gyroscope 107; the propeller component 103 includes a propeller blade, a drive motor and a speed regulator acting on the drive motor, which is used for the fixed-point cruise, hovering and route steering change of the UAV host 101; the UWB antenna 105 is used for signal communication and control information transmission and reception between the inspection UAV 10 and the flight operation control system 20 and the micro-machine nest 30; the camera I 106 is used to take infrared photos / visible light photos and videos of the cruise route, which are transmitted or stored in real time through the UWB antenna 105; the quantum gyroscope 107 is used to maintain and monitor the flight stability and stable, more accurate direction perception and motion sensing of the UAV host 101;

[0049] like Figure 5 As shown, the micro-machine nest 30 includes a machine nest host 301 and a nest cover shell 302. A storage cavity for storing the inspection drone 10 is formed between the inner cavity of the nest cover shell 302 and the upper surface of the machine nest host 301. A signal antenna 303 and a camera II 304 are provided on the top of the nest cover shell 302, and a drop platform 305 is provided on the upper surface of the machine nest host 301. The drop platform 305 is also provided with a corresponding number of opposite-type photoelectric transmitters 306 as the opposite-type photoelectric receivers 104; the micro-machine nest 30 also includes a driving member arranged in the inner cavity of the machine nest host 301. The driving member uses a driving motor, and the driving member is driven by a connecting rod connected to the nest cover shell 302 to realize the opening and closing of the nest cover shell 302; the signal antenna 303 is connected to the UWB antenna 105 for signal transmission and positioning between each other; the camera II 304 is used to record and shoot the inspection drone 10 descending to the position of the micro-machine nest 30 and storing it in the storage cavity at a fixed point;

[0050] The machine nest host 301 includes a main body shell, a terminal processor and a wireless charging transmitting module, wherein the wireless charging transmitting module matches the wireless charging receiving module model, so that the micro machine nest 30 can charge the inspection drone 10; and the opposite-beam photoelectric transmitter 306 matches the opposite-beam photoelectric receiver 104 model;

[0051] like Figure 2As shown, the monitoring center is set as the starting point A, and the intersection of the conventional cruise route is set as point B. Micro-machine nests 30 are set at points A and B to support the inspection drone 10 to take off from point A and land at the machine nest at point B;

[0052] The flight operation control system 20 is used to issue control instructions to control the flight route planning and task management of the inspection drone 10; and the flight operation control system 20 uses BDS / GPS dual-mode differential technology to control the inspection drone 10 to locate and land in the storage cavity, and the opposing photoelectric transmitter 306 and the opposing photoelectric receiver 104 are used in conjunction to adjust the precise position of the inspection drone 10; the flight operation control system 20 includes but is not limited to a PC control terminal and a monitoring screen; wherein the PC control terminal marks the navigation inspection map based on the GPS / Beidou navigation system, and plans and designs automatic flight operation routes according to different inspection task requirements, realizes cross-coordination of different inspection operations, improves operation efficiency and quality, and the data collected by the drone is automatically sent back for archiving management, and the data is managed and analyzed according to the task requirements, and a report is generated; the monitoring screen receives real-time video / picture data from the flight mission, and the monitoring screen broadcasts the inspection site in real time; during the execution of the task by the inspection drone 10, image data is sent back in real time, the monitoring screen broadcasts the inspection site in real time, and simultaneously displays the relevant parameters of the inspection drone 10;

[0053] The flight operation control system 20 uses BDS / GPS dual-mode differential technology to control the positioning and landing of the inspection drone 10. Specifically, the BDS / GPS dual-mode differential technology is combined with the RTK algorithm to process the differential method between the inspection drone 10 and the micro-machine nest 30 in real time, and the collected carrier phase is sent to the PC control terminal for differential coordinate calculation, so that the inspection drone 10 can accurately query and fly to the nearest micro-machine nest 30;

[0054] The BDS / GPS dual-mode differential technology combined with the GPS and BDS pseudo-range and phase dual-difference observation equations in the RTK algorithm are as follows:

[0055]

[0056] Where Δ is the double difference operator; P i is the pseudorange observation value, and the subscript i represents the frequency; is the carrier phase observation value in cycles; λ i is the wavelength; ρ is the geometric distance between stations and satellites; N i is the integer ambiguity; d trop and d ion is the tropospheric and ionospheric delay error (which can be well eliminated in short-distance RTK positioning); n is the observation noise and multipath effect;

[0057] The inspection drone 10 is landed on the top of the landing platform 305 of the micro-machine nest 30 via the flight operation control system 20, and then the opposing photoelectric transmitter 306 and the opposing photoelectric receiver 104 are aligned to receive signals to form a signal source, so that the inspection drone 10 hovers and turns, forming multiple groups of opposing photoelectric transmitters 306 and opposing photoelectric receivers 104 fixed-point alignment, and the inspection drone 10 is accurately positioned and parked in the storage cavity;

[0058] The flight operation control system 20 adjusts the route change of the related drone host 101 based on the route change of the drone host 101 parked in the micro-machine nest 30.

[0059] The specific implementation method is as follows: the PC control terminal sets and issues the cruise route of each inspection drone 10 based on the GPS / Beidou navigation system, the inspection drone 10 connects to the flight operation control system 20 via the UWB antenna 105 to download the inspection data, and the inspection drone 10 cruises on the exclusive cruise route based on the cruise route (i.e. Figure 6 Method), Route 1 formed by black dots is the set route of No. ① inspection drone 10, and the black dots are the inspection points of No. ① inspection drone 10; Route 2 formed by gray pentagonal dots is the set route of No. ② inspection drone 10, and the gray pentagonal dots are the inspection points of No. ② inspection drone 10; video / pictures are taken for each route at each inspection point;

[0060] During the inspection flight of the inspection drone 10, when the terminal processor detects that its own power is insufficient, the UWB antenna 105 retrieves the position of the nearest micro-machine nest 30, and the BDS / GPS dual-mode differential technology enables the inspection drone 10 to accurately query and fly to the nearest micro-machine nest 30. At this time, the camera II 304 detects the arrival of the inspection drone 10, and the terminal processor controls the drive part to work and open the nest cover 302. The inspection drone 10 hovers on the top of the landing platform 305, and the landing deviation in the horizontal direction is not more than 0.2m, forming a preliminary positioning, and then the opposite-beam photoelectric transmitter 306 and the opposite-beam photoelectric receiver 104 align the received signal to form a signal source, so that the inspection drone 10 The human-machine 10 hovers and turns, during which the quantum gyroscope 107 is used to maintain the flight stability and stability of the drone host 101, forming multiple groups of opposite-type photoelectric transmitters 306 and opposite-type photoelectric receivers 104 for fixed-point alignment, completing the precise positioning and parking of the inspection drone 10 in the storage cavity, thereby effectively reducing the set volume of the micro-machine nest 30. Compared with the huge volume of the mainstream multi-rotor drone machine nest in the market at this stage, the micro-machine nest has greatly reduced its volume due to the reduction of a large number of unnecessary mechanical structures, and its dexterity has been multiplied. It is suitable for deployment in more scenarios and is more convenient to deploy, avoiding the traditional machine nest platform or large-volume machine nest, thereby reducing the deployment cost and difficulty;

[0061] The inspection drone 10 parked in the storage cavity is matched and connected with the wireless charging receiving module via the wireless charging transmitting module, so that the micro-machine nest 30 charges the parked inspection drone 10 .

[0062] Embodiment 2:

[0063] Based on the flight operation control system 20 proposed in Example 1, the present invention provides a further technical solution.

[0064] See also Figure 1-7 The flight operation control system 20 receives the signal from the micro-machine nest 30 of the parking inspection UAV 10, resets the unfinished cruise route based on the range of the parking micro-machine nest 30; creates and issues corresponding tasks according to different inspection task requirements, and the UAV completes the inspection task autonomously, and can manage the tasks such as adding, deleting, checking and modifying;

[0065] The specific implementation method is as follows: Figure 7 As shown, during the synchronous flight inspection process of multiple inspection drones 10, inspection drone 10 No. 1 stops at the micro-machine nest 30 for power replenishment due to a defect during the inspection along route 1. At this time, the UWB antenna 105 of inspection drone 10 No. 1 sends a signal to the flight operation control system 20, and the flight operation control system 20 changes the flight route of the inspection drone 10 in the flight mission. The flight operation control system 20 allocates the inspection points on the unfinished inspection route. Based on the principle of proximity, half of the remaining inspection points in the surrounding area of ​​the micro-machine nest 30 are set as the subsequent flight route of inspection drone 10 No. 1, and the remaining inspection points are set as inspection points of inspection drone 10 No. 2, and the remaining routes 1 and 2 are rearranged to realize the drone leapfrog inspection mode, ensure that the operation radius is greatly improved, and reduce the use cost.

[0066] Finally, a few points should be explained: First, in the description of this application, it should be noted that, unless otherwise specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, which may refer to mechanical connection or electrical connection, or internal communication between two components, or direct connection. "upper", "lower", "left", "right", etc. are only used to indicate relative positional relationships. When the absolute position of the object being described changes, the relative positional relationship may change;

[0067] Secondly: In the drawings of the embodiments disclosed in the present invention, only the structures related to the embodiments disclosed in the present invention are involved, and other structures can refer to the general design. In the absence of conflict, the same embodiment and different embodiments of the present invention can be combined with each other;

[0068] Finally: The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. UAV inspection system for power transmission lines, characterized by: The invention comprises an inspection drone (10), a flight operation control system (20) and a micro-machine nest (30), wherein the inspection drone (10), the flight operation control system (20) and the micro-machine nest (30) are connected to each other via wireless communication module signals, wherein the micro-machine nest (30) is used to hold the inspection drone (10) and to charge the inspection drone (10); The inspection system consists of presentation layer, support platform, service layer, data layer and perception layer components; The presentation layer includes a PC control terminal and a monitoring screen; the support platform is the core of the overall inspection system and is deployed on the PC control terminal; the service layer analyzes and processes the data collected by the inspection drone (10) during the flight route, mission and cruise process, and provides the power transmission line operation and maintenance service, machine nest data service, aircraft intelligent control service, equipment management service, data analysis service and inspection result management service to the outside world provided by the support platform; The data layer is the data storage object of the whole system, mainly storing communication data, map data, device data, view data and business data; the perception layer is the system controllable devices and data acquisition devices; The inspection drone (10) comprises a drone host (101) and a plurality of propeller assemblies (103) arranged at the outer shell of the drone host (101), and the drone host (101) comprises but is not limited to a housing, a terminal processor and a wireless charging receiving module, and each propeller assembly (103) is provided with a beam-type photoelectric receiver (104) at the bottom, and the drone host (101) is also provided with a UWB antenna (105), a camera I (106) and a quantum gyroscope (107); The micro-machine nest (30) comprises a machine nest mainframe (301) and a nest cover shell (302), wherein a storage cavity for storing the inspection drone (10) is formed between the inner cavity of the nest cover shell (302) and the upper surface of the machine nest mainframe (301), a signal antenna (303) and a camera II (304) are arranged at the top of the nest cover shell (302), and a drop platform (305) is arranged on the upper surface of the machine nest mainframe (301), and the drop platform (305) is also provided with a number of opposite-type photoelectric transmitters (306) equal to the number of opposite-type photoelectric receivers (104); The machine nest host (301) comprises a main body shell, a terminal processor and a wireless charging transmitting module, wherein the wireless charging transmitting module and the wireless charging receiving module are matched in model, so that the micro machine nest (30) can charge the inspection drone (10); and the opposite-beam photoelectric transmitter (306) and the opposite-beam photoelectric receiver (104) are matched in model; The flight operation control system (20) is used to issue control instructions to control the flight route planning and task management of the inspection drone (10); and the flight operation control system (20) uses BDS / GPS dual-mode differential technology to control the inspection drone (10) to locate and land in the storage cavity, and the opposing photoelectric transmitter (306) and the opposing photoelectric receiver (104) are used in conjunction to adjust the precise position of the inspection drone (10); The flight operation control system (20) adjusts the route change of the related drone host (101) based on the route change of the drone host (101) parked in the micro-machine nest (30).

2. The UAV inspection system for power transmission lines according to claim 1 is characterized in that: The inspection drone (10) further comprises a support leg frame (102) fixedly arranged at the bottom of the housing, which is used to raise the height of the drone host (101) and support it stably, so as to prevent the bottom of the drone host (101) from directly contacting the landing point and causing damage to the propeller assembly (103), the camera I (106) or the quantum gyroscope (107); The propeller assembly (103) comprises propeller blades, a drive motor and a speed regulator acting on the drive motor, and is used for fixed-point cruising, hovering and route steering of the unmanned aerial vehicle host (101); The UWB antenna (105) is used for signal communication and the reception and transmission of control information between the inspection drone (10) and the flight operation control system (20) and the micro-machine nest (30); The camera I (106) is used to take infrared photos / visible light photos and videos of the cruise route, and transmit or store them in real time via the UWB antenna (105); The quantum gyroscope (107) is used to maintain and monitor the flight stability and stable, more accurate direction perception and motion sensing of the drone host (101).

3. The UAV inspection system for power transmission lines according to claim 1 is characterized in that: The micro-machine nest (30) further comprises a driving member arranged in the inner cavity of the machine nest main body (301), and the driving member is driven by a connecting rod connected to the nest cover shell (302) to realize the opening and closing of the nest cover shell (302); The signal antenna (303) is signal-connected to the UWB antenna (105) for mutual signal transmission and positioning; The camera II (304) is used to record and photograph the inspection drone (10) landing at the position of the micro-machine nest (30) and being stored in the storage cavity at a fixed point.

4. The UAV inspection system for power transmission lines according to claim 1 is characterized in that: The flight operation control system (20) includes but is not limited to a PC control terminal and a monitoring large screen; The PC control terminal marks the navigation inspection map based on the GPS / Beidou navigation system, and plans and designs the automatic flight operation route according to the requirements of different inspection tasks; The monitoring screen receives real-time video / image data from the flight mission, and broadcasts the inspection site in real time on the monitoring screen.

5. The UAV inspection system for power transmission lines according to claim 4 is characterized in that: The flight operation control system (20) uses BDS / GPS dual-mode differential technology to control the positioning and landing of the inspection drone (10) specifically by: using BDS / GPS dual-mode differential technology combined with RTK algorithm, real-time processing of the differential method between the inspection drone (10) and the micro-machine nest (30), sending the collected carrier phase to the PC control terminal for differential coordinate calculation, so that the inspection drone (10) can accurately query and fly to the nearest micro-machine nest (30).

6. The UAV inspection system for power transmission lines according to claim 5 is characterized in that: The BDS / GPS dual-mode differential technology combines the GPS and BDS pseudorange and phase dual difference observation equations in the RTK algorithm as follows: Where Δ is the double difference operator; P i is the pseudorange observation value, and the subscript i represents the frequency; is the carrier phase observation value in cycles; λ i is the wavelength; ρ is the geometric distance between stations and satellites; N i is the integer ambiguity; d trop and d ion is the tropospheric and ionospheric delay error; n is the observation noise and multipath effect.

7. The UAV inspection system for power transmission lines according to claim 1 is characterized in that: The inspection drone (10) is dropped to the top of the landing platform (305) of the micro-machine nest (30) via the flight operation control system (20), and then the opposing photoelectric transmitter (306) and the opposing photoelectric receiver (104) are aligned to receive signals to form a signal source, so that the inspection drone (10) hovers and turns, forming multiple groups of opposing photoelectric transmitters (306) and opposing photoelectric receivers (104) in fixed-point alignment, and the inspection drone (10) is accurately positioned and parked in the storage cavity.

8. The UAV inspection system for power transmission lines according to claim 7 is characterized in that: The flight operation control system (20) receives a signal from a micro-machine nest (30) of a parking inspection drone (10), and resets an unfinished cruise route based on the range demarcation of the parking micro-machine nest (30).

Images