Line maintenance system and method based on unmanned aerial vehicle

Abstract

The invention belongs to the technical field of high-altitude line inspection and maintenance, and particularly relates to a line maintenance system and method based on an unmanned aerial vehicle, and the method comprises the steps: obtaining high-altitude line information and related equipment information; wherein the high-altitude line information comprises a cable model, a cable laying area, a cable laying length and a cable laying height, and the related equipment information comprises arrangement positions of a cable overhead frame, an electric transformer, a ring main unit, a box-type substation, a low-voltage switch cabinet, a high-voltage switch cabinet and a distribution box and a cable connection mode. Calibrating the high-altitude line information and the related equipment information as standard data according to the appearance image information of the high-altitude line and the related equipment; and integrating the high-altitude line information and the related equipment information. According to the method, the unmanned aerial vehicle can be regularly controlled to go to a maintenance line to collect images and infrared data, whether the line and related equipment can operate normally or not is judged through data processing, and if not, maintenance information is generated to inform maintenance personnel to go to the maintenance line for maintenance.

Description

Technical Field

[0001] The present invention belongs to the technical field of high-altitude line inspection and maintenance, and in particular relates to a line maintenance system and method based on an unmanned aerial vehicle. Background Art

[0002] With the development of the times, the popularization of electricity is quite widespread. Due to the long history of popularization of electricity in my country, some areas have not replaced the latest lines and related equipment. The lines and related equipment used are relatively old, which makes the lines and related equipment very prone to failure, resulting in regional power outages. In order to avoid this situation, it is crucial to check and maintain the lines in advance. The most convenient way to check is to use drones to fly at high altitudes to shoot images of lines and related equipment. By observing the images, the appearance faults of lines and related equipment can be checked faster and more accurately.

[0003] However, this method requires human control of the drone to search the inspection area, which makes it difficult to implement regular inspections. It also takes up manpower time and can only inspect appearance defects, but cannot detect whether the line has short circuits, overloads, and other faults. Summary of the invention

[0004] The purpose of the present invention is to provide a line maintenance system and method based on drones, which can control the drones to go to the maintenance line to collect images and infrared data at a regular time, and determine whether the line and related equipment can operate normally through data processing. If not, maintenance information is generated to notify maintenance personnel to go for maintenance.

[0005] The technical solution adopted by the present invention is as follows:

[0006] A line maintenance method based on drone, comprising:

[0007] Acquire the overhead line information and related equipment information, wherein the overhead line information includes the cable model, cable laying area, cable laying length and cable laying height, and the related equipment information includes the installation location of the cable overhead frame, electric transformer, ring network cabinet, box-type substation, low-voltage switch cabinet, high-voltage switch cabinet and distribution box and the connection method with the cable, as well as the appearance image information of the overhead line and related equipment, and calibrate the overhead line information and related equipment information as standard data;

[0008] Integrate the aerial line information and related equipment information, and construct multiple maintenance routes, enter the maintenance route information into the terminal database, and number and classify each maintenance route;

[0009] Allocate drones according to the maintenance route, and obtain image information and infrared spectrum data of the high-altitude line in real time, and upload them to the terminal database synchronously, and mark the image information and infrared spectrum data of the high-altitude line as inspection data;

[0010] Inputting the inspection data into the evaluation model and comparing the standard data with the inspection data to obtain an evaluation result and a comparison result, and determining the evaluation result and the comparison result;

[0011] If an abnormality is determined, an abnormality report is generated, and the abnormality report is uploaded to the terminal database for task maintenance task allocation;

[0012] If it is determined that there is no abnormality, the drone will continue to inspect the maintenance route until the inspection mission is completed.

[0013] In a preferred embodiment, the step of obtaining the information of the high-altitude line and related equipment includes:

[0014] The step of obtaining the information of the high-altitude line and related equipment includes:

[0015] The obtained information such as cable model, cable laying area, cable laying length and cable laying height is summarized and sorted to generate high-altitude line information;

[0016] The acquired cable overhead racks, transformers, ring network cabinets, box-type substations, low-voltage switch cabinets, high-voltage switch cabinets and distribution boxes, as well as the connection methods with the cables are summarized and sorted to generate relevant equipment information;

[0017] And record the appearance image information of the aerial line and related equipment, obtain the temperature range when the above-mentioned related equipment is in operation, and summarize the aerial line information, related equipment information, appearance image information and temperature range into standard data.

[0018] In a preferred embodiment, the step of pairing the drone with the maintenance route includes:

[0019] The step of allocating drones according to the maintenance route comprises:

[0020] Obtain path data for each maintenance route, and set up a drone management platform at the starting point and end point of each maintenance route; the drone management platform is equipped with multiple drones, wherein several branch routes will appear in the maintenance route, and drones with appropriate flight time are allocated according to the length of the branch routes;

[0021] The drone management platform is used to send control instructions to the drone, and the drone management platform can receive control instructions issued by the terminal.

[0022] In a preferred embodiment, the step of inspecting and maintaining the line by using a drone includes:

[0023] The step of inputting the inspection data into the evaluation model and comparing the standard data with the inspection data comprises:

[0024] The standard data includes appearance information and standard operating temperature range of the aerial line and related equipment, the appearance information is marked as A, and the standard operating temperature range is marked as BC;

[0025] The inspection data includes inspection image information and infrared spectrum data of the aerial line and related equipment, wherein the infrared spectrum data is calculated to obtain the operating temperature of the aerial line and related equipment, the inspection image information is marked as D, and the operating temperature is marked as E;

[0026] First, the inspection image information is evaluated for appearance, including line breakage, line sagging, and equipment appearance damage, and an evaluation result is obtained. If the evaluation result is normal, A is compared with D to calculate the appearance similarity. If the appearance similarity is above 95%, it is determined to be normal, and if the appearance similarity is below 95%, it is determined to be abnormal.

[0027] If the evaluation result is abnormal, it will be directly judged as abnormal without comparing A and D;

[0028] At the same time, compare E with BC. If B>E>C, it is judged that there is no abnormality;

[0029] If B>C, it is judged as abnormal.

[0030] In a preferred embodiment, the inspection data analysis step includes:

[0031] The step of generating an abnormality report if an abnormality is determined includes:

[0032] The defect information in the abnormal report is collected and further evaluated to determine the defect level of the defect information. Level 1 defects affect the normal use of electricity and need immediate repair; level 2 defects do not affect the normal use of electricity in a short period of time and need reasonable allocation of time for repair; level 3 defects are appearance defects of cables and related equipment that do not affect the use of electricity and can be repaired when maintenance personnel are free.

[0033] In a preferred embodiment, comprising

[0034] A maintenance system, the maintenance system comprising a terminal database, an inspection allocation unit, a data processing unit and a maintenance task allocation unit;

[0035] The terminal database is used to integrate line maintenance data;

[0036] The inspection distribution unit

[0037] The data processing unit includes an image inspection module and an infrared inspection module;

[0038] A drone, wherein the drone is equipped with an information transmission module, and the image inspection module and the infrared inspection module are also integrated on the drone;

[0039] The drone is used to inspect high-altitude lines and equipment. The image inspection module and the infrared inspection module record images and infrared data respectively. The information transmission module is used to upload the data collected by the image inspection module and the infrared inspection module to a terminal database, which is used to identify and calculate the data to check for safety hazards in the lines and equipment.

[0040] In a preferred embodiment, the inspection allocation unit includes a UAV maintenance line allocation module, a UAV inspection management platform and a UAV high-altitude inspection control module. The UAV maintenance line allocation module is used to integrate the line and equipment distribution in the terminal database and divide the UAV inspection routes. The UAV inspection management platform is used to control the matching of the UAV with the inspection route and the start and stop of the UAV. The UAV high-altitude inspection control module is used to control the UAV to fly along the inspection route.

[0041] In a preferred embodiment, the data processing unit also includes an image comparison module, an image abnormality integration module, an infrared data processing module, a line equipment temperature abnormality integration module and a defect data recording module, wherein the image comparison module and the infrared data processing module are used to determine whether there are abnormalities in the high-altitude lines and related equipment in the maintenance line, the image abnormality integration module and the line equipment temperature abnormality integration module are used to integrate existing abnormalities, and the defect data recording module is used to record existing abnormal data.

[0042] The technical effects achieved by the present invention are:

[0043] The present invention can collect image data and infrared spectrum data of a set maintenance line, and compare and calculate the obtained data, so as to determine whether there are surface defects in the high-altitude line and related equipment in the maintenance line. It can also evaluate the defects on the surface, and determine whether the defects need immediate maintenance based on the evaluation results, so as to achieve reasonable allocation of maintenance work by maintenance personnel. Similarly, calculation of the obtained infrared spectrum data can obtain the operating temperature of the high-altitude line and related equipment in the maintenance line, and comparison with the temperature range during normal operation can determine whether the high-altitude line and related equipment are operating normally, thereby having a better detection effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 is a flow chart of the method provided by the present invention;

[0045] Figure 2 It is a system module diagram provided by the present invention. DETAILED DESCRIPTION

[0046] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0047] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0048] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure or characteristic that may be included in at least one implementation of the present invention. The phrase "in a preferred embodiment" that appears in different places in this specification does not refer to the same embodiment, nor is it a separate or selective embodiment that is mutually exclusive with other embodiments.

[0049] Secondly, the present invention is described in detail with reference to the schematic diagram. When describing the embodiments of the present invention in detail, for the sake of convenience, the cross-sectional diagrams showing the device structure will not be partially enlarged according to the general scale, and the schematic diagrams are only examples, which should not limit the scope of protection of the present invention. In addition, in actual production, the three-dimensional dimensions of length, width and depth should be included.

[0050] Please see attached Figure 1 and Figure 2 As shown, this embodiment provides a line maintenance method based on a drone, comprising:

[0051] S1. Acquire the overhead line information and related equipment information, wherein the overhead line information includes the cable model, cable laying area, cable laying length and cable laying height, and the related equipment information includes the installation location of the cable overhead rack, electric transformer, ring network cabinet, box-type substation, low-voltage switch cabinet, high-voltage switch cabinet and distribution box and the connection method with the cable, as well as the appearance image information of the overhead line and related equipment, and calibrate the overhead line information and related equipment information as standard data;

[0052] S2. Integrate the aerial line information and related equipment information, construct multiple maintenance routes, enter the maintenance route information into the terminal database, and number and classify each maintenance route;

[0053] S3. Allocate drones according to the maintenance route, and obtain image information and infrared spectrum data of the high-altitude line in real time, and upload them to the terminal database synchronously, and mark the image information and infrared spectrum data of the high-altitude line as inspection data;

[0054] S4, inputting the inspection data into the evaluation model and comparing the standard data with the inspection data, obtaining an evaluation result and a comparison result, and determining the evaluation result and the comparison result;

[0055] S5. If an abnormality is determined, an abnormality report is generated, and the abnormality report is uploaded to the terminal database for task maintenance task allocation;

[0056] S6. If it is determined that there is no abnormality, the drone continues to inspect the maintenance route until the inspection task is completed;

[0057] As shown in the above steps S1-S6, drones are mostly used in line maintenance to detect defects in the lines, that is, the mobility of drones is used to quickly detect the appearance defects of power system-related lines and equipment at higher locations, so as to quickly determine the damage points and facilitate maintenance personnel to quickly finalize the maintenance plan. However, this inspection method often means that the high-altitude lines and related equipment at the location have been damaged and affect the normal use of electricity, and it does not have the function of discovering defects before the power stops running. At the same time, since drones are often manually controlled during inspection, the ability to use drones for rapid inspection is greatly limited. In this embodiment, the high-altitude lines and related equipment in the power system are divided into batches and set as several maintenance routes. On each maintenance route, The line is equipped with a corresponding drone, which is controlled by terminal data and can set the inspection time without human control. During the inspection, it can record information on the maintenance route passed, including image information and infrared spectrum data. After recording, the above image information and infrared spectrum data will be directly transmitted to the terminal database to determine whether there are defects. In this way, defects in the line and related equipment can be found before the power system stops operating, thereby avoiding unnecessary losses caused by sudden power outages. If there are defects in the judgment, the defects will be fed back to the terminal database, and maintenance information will be generated and distributed to the maintenance personnel's client. In this way, the line can be checked regularly and line defects can be discovered in advance, and the time for manual control of drone inspection can be reduced.

[0058] In a preferred embodiment, the step of obtaining the information of the high-altitude line and related equipment includes:

[0059] S101, summarizing and arranging the acquired information such as cable model, cable laying area, cable laying length and cable laying height to generate high-altitude line information;

[0060] S102, summarizing and arranging the acquired locations of overhead cable racks, electric transformers, ring network cabinets, box-type substations, low-voltage switch cabinets, high-voltage switch cabinets, and distribution boxes, and the connection methods with the cables to generate relevant equipment information;

[0061] S103, and record the appearance image information of the aerial line and related equipment, obtain the temperature range during the operation of the above-mentioned related equipment, and summarize the aerial line information, related equipment information, appearance image information and temperature range into standard data;

[0062] As in the above steps S101-S103, while obtaining the construction path of the aerial line and the location of the installation of related equipment, it is necessary to draw the corresponding layout diagram, and when necessary, it is necessary to draw the corresponding 3D model diagram. In addition, the extracted initial impact data needs to ensure that high-definition pictures of the vulnerable points of the aerial line and related equipment can be extracted to facilitate analysis and comparison. The clarity of the initial impact data taken is preferably above 1080P, and the initial impact data and subsequent comparison data must include the image data on one side taken by the drone from the starting point to the end point and the impact data on the other side taken by the drone from the end point back to the starting point, which is conducive to all-round comparison and avoids incomplete inspection caused by shooting blind spots.

[0063] In a preferred embodiment, the step of allocating drones according to the maintenance route includes:

[0064] S301, obtaining the path data of each maintenance route, and setting up a drone management platform at the starting point and the end point of each maintenance route; the drone management platform is equipped with multiple drones, wherein several branch routes will appear in the maintenance route, and drones with appropriate flight time are allocated according to the length of the branch routes;

[0065] S302, wherein the drone management platform is used to send control instructions to the drone, and the drone management platform is capable of receiving control instructions sent by the terminal;

[0066] As in the above steps S301-S302, the acquired maintenance line path data is separated from the above-drawn layout diagram to form several maintenance lines with a starting point and a key point but with several branch lines in the middle. The above-mentioned drone management platform manages several drones at the same time. According to needs, multiple drones can be dispatched at the same time to check several lines, and can act as a transit node to transmit the drone's inspection results to the terminal database.

[0067] In a preferred embodiment, the step of inputting the inspection data into the evaluation model and comparing the standard data with the inspection data comprises:

[0068] S401, the standard data includes appearance information and operating standard temperature range of the aerial line and related equipment, the appearance information is marked as A, and the operating standard temperature range is marked as BC;

[0069] S402, the inspection data includes inspection image information and infrared spectrum data of the aerial line and related equipment, wherein the infrared spectrum data is calculated to obtain the operating temperature of the aerial line and related equipment, the inspection image information is marked as D, and the operating temperature is marked as E;

[0070] S403, firstly, the inspection image information is evaluated for appearance, including line breakage, line sagging and equipment appearance damage, and an evaluation result is obtained. If the evaluation result is normal, A is compared with D to calculate the appearance similarity. If the appearance similarity is above 95%, it is determined to be normal, and if the appearance similarity is below 95%, it is determined to be abnormal;

[0071] S404: If the evaluation result is abnormal, it is directly determined to be abnormal without comparing A with D;

[0072] S405, compare E with BC at the same time, if B>E>C, it is determined that there is no abnormality;

[0073] S406, if B>C, determine that it is abnormal;

[0074] As in the above steps S401-S406, after the drone completes the acquisition of the inspection data, it will transmit the inspection data to the terminal database, and the terminal database will classify the inspection data into inspection image information and infrared spectrum data. The inspection image information will be given priority for appearance evaluation, and will not proceed to the next step until the evaluation result of no defects in appearance is obtained. Otherwise, a defect report will be directly generated. The infrared spectrum data needs to be further calculated to obtain the operating temperature, and then the inspection image information and the operating temperature are compared with the appearance information and the operating standard temperature range respectively to obtain a comparison result, and determine whether there is an abnormality based on the result.

[0075] In a preferred embodiment, if an abnormality is determined, the step of generating an abnormality report includes:

[0076] S501 collects defect information in the abnormal report and further evaluates the defect information to determine the defect level of the defect information. Level 1 defects affect the normal use of electricity and need immediate repair; level 2 defects do not affect the normal use of electricity in a short period of time and need reasonable allocation of time for repair; level 3 defects are appearance defects of cables and related equipment that do not affect the use of electricity and can be repaired when maintenance personnel are free.

[0077] As in the above step S501, if a defect report is obtained when the inspection image information is preferentially evaluated for appearance, it means that the line in the line is broken or sagging and the appearance of related equipment is seriously damaged. In this case, it is often necessary to go for repair immediately, so this type of judgment result is prioritized as a first-level defect. When judging the appearance similarity, since the appearance evaluation has been performed in advance, the judgment similarity result will not be less than 90%, so this type of judgment result is prioritized as a third-level defect. When judging the operating temperature, if B>C, the result is judged based on the specific temperature at which B is greater than C. If B just exceeds the critical point of C, a secondary judgment is performed in combination with objective reasons such as weather temperature. This type of judgment result is preferably a third-level or second-level defect. If the temperature of B greatly exceeds that of C, it is judged as a third-level defect.

[0078] The present invention also provides a line maintenance system based on a drone, which is applied to the above-mentioned line maintenance method based on a drone, comprising:

[0079] Maintenance system, the maintenance system includes a terminal database, an inspection allocation unit, a data processing unit and a maintenance task allocation unit;

[0080] The terminal database is used to integrate line maintenance data, and the terminal database includes a first storage unit and a second storage unit, the first storage unit is used to store standard data, and the second storage unit is used to store inspection data;

[0081] Inspection distribution unit

[0082] The data processing unit includes an image inspection module and an infrared inspection module;

[0083] UAVs are equipped with information transmission modules, image inspection modules and infrared inspection modules.

[0084] The drone is used to inspect high-altitude lines and equipment. The image inspection module and infrared inspection module record images and infrared data respectively. The information transmission module is used to upload the data collected by the image inspection module and the infrared inspection module to the terminal database, which is then identified and calculated to check for safety hazards in lines and equipment.

[0085] The inspection distribution unit includes a drone maintenance line distribution module, a drone inspection management platform and a drone high-altitude inspection control module. The drone maintenance line distribution module is used to integrate the line and equipment distribution in the terminal database and divide the drone inspection routes. The drone inspection management platform is used to control the drone to match the inspection route and start and stop the drone. The drone high-altitude inspection control module is used to control the drone to fly along the inspection route.

[0086] Furthermore, the data processing unit also includes an image comparison module, an image anomaly integration module, an infrared data processing module, a line equipment temperature anomaly integration module and a defect data recording module, wherein the image comparison module and the infrared data processing module are used to determine whether there are abnormalities in the high-altitude line and related equipment in the maintenance line, the image anomaly integration module and the line equipment temperature anomaly integration module are used to integrate the existing anomalies, and the defect data recording module is used to record the existing abnormal data;

[0087] As mentioned above, when performing line maintenance through drones, several lines are now allocated through the drone maintenance line allocation module, and the line information is transmitted to the drone inspection management platform, which generates inspection information and transmits it to the drone high-altitude inspection module. The drone high-altitude inspection module controls the drone to fly along the maintenance route, and records data through the image inspection module and the infrared inspection module during the flight, and transmits the recorded data to the image comparison module and the infrared data processing module for further processing. If the result is abnormal, the data is transmitted to the image abnormality integration module and the line equipment temperature abnormality integration module for data integration, and the data is recorded through the defect data recording module, and the data is retransmitted to the terminal database, which organizes the defect data and generates maintenance information, transmits the maintenance information to the maintenance information data allocation module, and sends the maintenance information to the maintenance personnel's client.

[0088] And, a drone-based line maintenance terminal, including:

[0089] at least one processor;

[0090] and a memory communicatively coupled to the at least one processor;

[0091] Among them, the memory stores a computer program that can be executed by at least one processor, and the computer program is executed by at least one processor so that the at least one processor can execute the above-mentioned drone-based line maintenance method.

[0092] The above is only a preferred embodiment of the present invention. It should be noted that, for those skilled in the art, several improvements and modifications can be made without departing from the principles of the present invention, and these improvements and modifications should also be considered as the protection scope of the present invention. The structures, devices and operating methods not specifically described and explained in the present invention shall be implemented according to the conventional means in the art unless otherwise specified and limited.

Claims

1. A line maintenance method based on drones, characterized in that: The following steps are involved: Acquire the overhead line information and related equipment information, wherein the overhead line information includes the cable model, cable laying area, cable laying length and cable laying height, and the related equipment information includes the installation location of the cable overhead frame, electric transformer, ring network cabinet, box-type substation, low-voltage switch cabinet, high-voltage switch cabinet and distribution box and the connection method with the cable, as well as the appearance image information of the overhead line and related equipment, and calibrate the overhead line information and related equipment information as standard data; Integrate the aerial line information and related equipment information, and construct multiple maintenance routes, enter the maintenance route information into the terminal database, and number and classify each maintenance route; Allocate drones according to the maintenance route, and obtain image information and infrared spectrum data of the high-altitude line in real time, and upload them to the terminal database synchronously, and mark the image information and infrared spectrum data of the high-altitude line as inspection data; Inputting the inspection data into the evaluation model and comparing the standard data with the inspection data to obtain an evaluation result and a comparison result, and determining the evaluation result and the comparison result; If an abnormality is determined, an abnormality report is generated, and the abnormality report is uploaded to the terminal database for task maintenance task allocation; If it is determined that there is no abnormality, the drone will continue to inspect the maintenance route until the inspection mission is completed.

2. The line maintenance method based on drone according to claim 1, characterized in that: The step of obtaining the information of the high-altitude line and related equipment includes: The obtained information such as cable model, cable laying area, cable laying length and cable laying height is summarized and sorted to generate high-altitude line information; The acquired cable overhead racks, transformers, ring network cabinets, box-type substations, low-voltage switch cabinets, high-voltage switch cabinets and distribution boxes, as well as the connection methods with the cables are summarized and sorted to generate relevant equipment information; And record the appearance image information of the aerial line and related equipment, obtain the temperature range when the above-mentioned related equipment is in operation, and summarize the aerial line information, related equipment information, appearance image information and temperature range into standard data.

3. The line maintenance method based on drone according to claim 1, characterized in that: The step of allocating drones according to the maintenance route comprises: Obtain path data for each maintenance route, and set up a drone management platform at the starting point and end point of each maintenance route; the drone management platform is equipped with multiple drones, wherein several branch routes will appear in the maintenance route, and drones with appropriate flight time are allocated according to the length of the branch routes; The drone management platform is used to send control instructions to the drone, and the drone management platform can receive control instructions issued by the terminal.

4. The line maintenance method based on drone according to claim 1, characterized in that: The step of inputting the inspection data into the evaluation model and comparing the standard data with the inspection data comprises: The standard data includes appearance information and standard operating temperature range of the aerial line and related equipment, the appearance information is marked as A, and the standard operating temperature range is marked as BC; The inspection data includes inspection image information and infrared spectrum data of the aerial line and related equipment, wherein the infrared spectrum data is calculated to obtain the operating temperature of the aerial line and related equipment, the inspection image information is marked as D, and the operating temperature is marked as E; First, the inspection image information is evaluated for appearance, including line breakage, line sagging, and equipment appearance damage, and an evaluation result is obtained. If the evaluation result is normal, A is compared with D to calculate the appearance similarity. If the appearance similarity is above 95%, it is determined to be normal, and if the appearance similarity is below 95%, it is determined to be abnormal. If the evaluation result is abnormal, it will be directly judged as abnormal without comparing A and D; At the same time, compare E with BC. If B>E>C, it is judged that there is no abnormality; If B>C, it is judged as abnormal.

5. The line maintenance method based on drone according to claim 1, characterized in that: The step of generating an abnormality report if an abnormality is determined includes: The defect information in the abnormal report is collected and further evaluated to determine the defect level of the defect information. Level 1 defects affect the normal use of electricity and need immediate repair; level 2 defects do not affect the normal use of electricity in a short period of time and need reasonable allocation of time for repair; level 3 defects are appearance defects of cables and related equipment that do not affect the use of electricity and can be repaired when maintenance personnel are free.

6. A line maintenance system based on drones, applied to a line maintenance method based on drones as claimed in any one of claims 1 to 5, characterized in that: include A maintenance system, the maintenance system comprising a terminal database, an inspection allocation unit, a data processing unit and a maintenance task allocation unit; The terminal database is used to integrate line maintenance data; The inspection distribution unit The data processing unit includes an image inspection module and an infrared inspection module; A drone, wherein the drone is equipped with an information transmission module, and the image inspection module and the infrared inspection module are also integrated on the drone; The drone is used to inspect high-altitude lines and equipment. The image inspection module and the infrared inspection module record images and infrared data respectively. The information transmission module is used to upload the data collected by the image inspection module and the infrared inspection module to a terminal database, which is used to identify and calculate the data to check for safety hazards in the lines and equipment.

7. The line maintenance system based on drone according to claim 6, characterized in that: The inspection allocation unit includes a drone maintenance line allocation module, a drone inspection management platform and a drone high-altitude inspection control module. The drone maintenance line allocation module is used to integrate the line and equipment distribution in the terminal database and divide the drone inspection routes. The drone inspection management platform is used to control the drone to match the inspection route and start and stop the drone. The drone high-altitude inspection control module is used to control the drone to fly along the inspection route.

8. The line maintenance system based on drone according to claim 6, characterized in that: The data processing unit also includes an image comparison module, an image abnormality integration module, an infrared data processing module, a line equipment temperature abnormality integration module and a defect data recording module, wherein the image comparison module and the infrared data processing module are used to determine whether there are abnormalities in the high-altitude lines and related equipment in the maintenance line, the image abnormality integration module and the line equipment temperature abnormality integration module are used to integrate existing abnormalities, and the defect data recording module is used to record existing abnormal data.

9. A line maintenance terminal based on drone, characterized in that: include: at least one processor; and a memory communicatively coupled to at least one of the processors; Wherein, the memory stores a computer program that can be executed by at least one of the processors, and the computer program is executed by at least one of the processors so that at least one of the processors can execute the drone-based line maintenance method described in any one of claims 1 to 5.

Images