Autonomous inspection and early warning system and method for key components of ground-air integrated power transmission line

Abstract

The invention discloses an autonomous inspection and early warning system and method for key components of a ground-air integrated power transmission line, and relates to the technical field of power transmission and distribution, and the system comprises an air inspection system, a ground inspection system, and a ground-air integrated system. The air inspection system comprises a modified unmanned aerial vehicle, a specific unmanned aerial vehicle nest, a 5G communication module, an embedded module and an unmanned aerial vehicle inspection platform. The over-the-ground inspection system comprises a modified unmanned vehicle, a sensor integrated assembly, a vehicle-mounted microcontroller, a power battery system and matched software. The ground-air integrated integration system comprises a centralized control information management system, a big data security risk assessment system and a three-dimensional map driving engine. According to the method, the problems of mobile take-off and landing, autonomous intelligent inspection and the like of the unmanned aerial vehicle during inspection are considered, the bottleneck that the inspection distance of the unmanned aerial vehicle is short is overcome, an advanced hardware and embedded software integration technology is adopted, and the efficient, safe and accurate power transmission line key component abnormality inspection process is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of power transmission and distribution, and in particular to an autonomous inspection and early warning system and method for key components of a ground-to-air integrated power transmission line. Background Art

[0002] Safe power supply is related to the national economy and people's livelihood. As the main channel for power transmission, transmission lines are responsible for the safe and rapid development of power construction. Since most of the transmission lines are located in remote mountainous areas, the geographical location is severe and the weather is relatively bad. Under the influence of these environments, the transmission lines and their key components are very susceptible to damage to varying degrees. Abnormal heating failure of insulator strings, broken pole tower cables, and loose nuts caused by pin shedding often occur. Under the vicious cycle of long-term thermal effects, insulator strings may explode or break down, seriously affecting the safe operation of the power grid. The breakage of the transmission tower cable will cause the tower to be unstable and induce the disintegration of key components of the transmission line. Among the more failure accidents, pin shedding is the most common, and it is also the least likely to be discovered compared to abnormal heating failure of insulators and broken pole tower cables. Although the pin is small in size and has a simple working principle, it is a key component for fixing nuts. Many components of the transmission line are fixed by nuts. Once the pin becomes loose or even falls off, the nut will lose its barrier, resulting in the risk of unstable connection between the components, which will bring great hidden dangers to the safe operation of the power transmission network. If the hidden danger is not discovered and handled in time, the nut at the fixed point will loosen, which will cause a serious accident in serious cases.

[0003] In summary, inspecting and warning the status of key components of transmission lines through appropriate and effective means can reduce risks and enable early detection and timely handling.

[0004] At present, most of the inspections of the key components of power transmission lines in China are completed by drones. By taking images of various components of the power transmission lines by drones and identifying them, the operating status of the power transmission system can be effectively grasped, potential safety hazards can be eliminated, and the operating stability of the power system can be effectively improved. Data from the State Grid Corporation shows that compared with traditional manual inspections, drone inspections far exceed manual inspections in terms of speed and accuracy. And for inspection tasks in some extreme environments, drone inspections are the preferred method. However, when performing inspection tasks, many small drones still need to be operated by inspection personnel, and the lack of intelligence seriously restricts the further promotion and application of drone inspections. On the other hand, the inspection distance of drones is short, and the location of the machine nest will limit the formulation of drone inspection tracks to a certain extent. For mountainous areas, it is not advisable to build drone nests for inspections, and the manpower, material and financial resources required for the operation and maintenance of the machine nests are also a large expense. Therefore, for the inspection tasks of power transmission lines in a large area in mountainous areas, considering the mobility, take-off and landing, and autonomous intelligence of UAVs during inspection, designing an autonomous inspection and early warning system for key components of ground-to-air integrated power transmission lines is the core problem to be solved by the present invention. Summary of the invention

[0005] In view of the above-mentioned problems, the present invention is proposed.

[0006] Therefore, the problem to be solved by the present invention is: how to solve the problem of short inspection distance of drones in existing methods.

[0007] To solve the above technical problems, the present invention provides the following technical solutions: an autonomous inspection and early warning system for key components of a ground-to-air integrated power transmission line, comprising an air inspection system, a ground inspection system, and a ground-to-air integrated system; the air inspection system comprises a modified drone, a specific drone nest, a 5G communication module, an embedded module, and a drone inspection platform; the ground inspection system comprises a modified unmanned vehicle, a sensor integrated component, an on-board microcontroller, and a power battery system; the ground-to-air integrated system comprises a centralized control information management system, a big data security risk assessment system, and a three-dimensional map drive engine; the modified drone comprises a 5G communication module and an embedded module, and is parked on a specific drone nest, and the drone inspection platform receives data transmitted back by the modified drone; the sensor integrated component, the on-board microcontroller, and the power battery system are installed on the modified unmanned vehicle.

[0008] As a preferred solution of the autonomous inspection and early warning system for key components of the ground-to-air integrated power transmission line described in the present invention, the modified UAV is responsible for executing flight missions and for conducting inspections along designated routes in mountainous power transmission line areas. It is equipped with an infrared thermal imaging camera and a high-resolution camera. The infrared thermal imaging camera or the high-resolution camera is used to collect environmental information, take photos or videos of heating of insulator strings, broken pole tower wires, and pin shedding, and the obtained data is uploaded to the on-board microcontroller on the modified unmanned vehicle for processing.

[0009] As a preferred solution of the autonomous inspection and early warning system for key components of the ground-to-air integrated power transmission line described in the present invention, the specific drone nest is specially made according to the size of the modified drone, including a hatch, a lifting platform and temperature and humidity sensors; when the modified drone needs to perform an inspection task, the on-board microcontroller on the modified unmanned vehicle will issue a modified drone take-off command to the specific drone nest, and the specific drone nest will open the hatch of the specific drone nest after receiving the command, and the lifting platform carrying the modified drone will rise, and the modified drone will take off after the hatch is completely exposed, and the specific drone nest will close the hatch, and when the modified drone finishes the inspection task and returns to the specific drone nest, the on-board microcontroller on the modified unmanned vehicle will issue a modified drone landing command to the specific drone nest, and the specific drone nest will receive the command and open the hatch, and the modified drone will land in the center of the lifting platform, and the lifting platform will drop to the designated position, and the specific drone nest will land. The human-machine nest closes the hatch of the specific drone nest and charges the modified drone; the specific drone nest is equipped with temperature and humidity sensors. When the modified drone needs to perform inspection tasks and cannot accurately identify the local climate, the temperature and humidity sensors carried by the specific drone nest perform real-time detection of local temperature and humidity. The specific drone nest obtains several sets of climate data of the inspection site and shares them with the modified unmanned vehicle. The on-board microcontroller on the modified unmanned vehicle will transmit the climate data back to the ground-to-air integrated integration system. The ground-to-air integrated integration system analyzes the climate data of the inspection site and evaluates whether it is suitable for the modified drone to perform the inspection task based on the wind and weather conditions of the inspection site. If it is suitable, the ground-to-air integrated integration system sends a command to the on-board microcontroller, and the on-board microcontroller issues a take-off command for the modified drone to the specific drone nest. If it is not suitable, the on-board microcontroller issues a command to suspend the inspection to the specific drone nest.

[0010] As a preferred solution of the autonomous inspection and early warning system for key components of the ground-to-air integrated power transmission line described in the present invention, the embedded module includes a flight control module, an obstacle avoidance module, a positioning module and a communication control module; the flight control module is responsible for executing flight missions, including controlling the flight attitude, flight altitude and heading of the modified UAV; the obstacle avoidance module is responsible for avoiding obstacles encountered by the modified UAV; the positioning module is responsible for locating the modified UAV; and the communication control module is responsible for receiving specific UAV nest instructions.

[0011] As a preferred solution of the autonomous inspection and early warning system for key components of the ground-to-air integrated power transmission line described in the present invention, the modified unmanned vehicle is a modified pickup truck, equipped with a wire-controlled EPS steering system, a wire-controlled DBS braking system, a battery drive system, an EPS electronic parking system, and a VCU control system; the sensor integrated components include laser radar, visual sensors, and ultrasonic sensors, and the interface protocols of the laser radar, visual sensors, and ultrasonic sensors are all modified simultaneously during the modification of the unmanned vehicle.

[0012] As a preferred solution of the autonomous inspection and early warning system for key components of the ground-to-air integrated power transmission line described in the present invention, the specific drone nest is installed on a modified unmanned vehicle and is equipped with a power battery system.

[0013] As a preferred solution of the autonomous inspection and early warning system for key components of the ground-to-air integrated power transmission line described in the present invention, the ground-to-air integrated system draws the inspection area map in advance through a three-dimensional map driving engine and formulates an inspection route; the modified unmanned vehicle carries a modified drone and performs mountain inspection tasks, the modified drone performs air inspection tasks, and conducts joint ground and air inspections according to the planned inspection routes, obtains ground and air inspection data, and enables the two-domain inspection data to be shared and effectively analyzed through a communication protocol; when the inspection area is located in an area where the modified unmanned vehicle is difficult to travel, the modified drone performs the inspection task alone.

[0014] As a preferred solution of the autonomous inspection and early warning system for key components of the ground-to-air integrated power transmission line described in the present invention, the centralized control information management system will perform data classification, data analysis and real-time defect identification on the ground-to-air inspection data transmitted back, and the big data security risk assessment system will evaluate the inspection data classified and processed by the centralized control information management system, and present a three-dimensional scene through a three-dimensional map driving engine, extract key information about defects and hidden dangers, and present the detection and identification results to the user.

[0015] As a preferred solution of the autonomous inspection and early warning system for key components of the ground-to-air integrated transmission line described in the present invention, the ground-to-air integrated system includes formulating a regular maintenance plan for key components of the transmission line based on the prediction and evaluation results of the ground-to-air integrated system. If component defects such as abnormal heating and failure of the insulator string, broken tower wires, and loose nuts caused by pin shedding are identified, an early warning will be given according to the severity of the defect, and an emergency repair plan will be formulated in a timely manner, and emergency repairs will be carried out based on the accurate positioning of the unmanned inspection system.

[0016] Another object of the present invention is to provide a method for an autonomous inspection and early warning system for key components of an integrated ground-to-air power transmission line, which can solve the problem of autonomous inspection and early warning of key components of an integrated ground-to-air power transmission line through an autonomous inspection and early warning method for abnormalities of key components.

[0017] In order to solve the above technical problems, the present invention provides the following technical solutions: an autonomous inspection and early warning method for key components of a ground-to-air integrated power transmission line, comprising: an inspection task is sent to a modified unmanned vehicle, and the modified unmanned vehicle confirms whether to conduct an inspection; the modified unmanned vehicle sends instructions to a modified drone, and completes the inspection task together with the modified drone, and transmits the data back to a ground-to-air integrated system; after data analysis by the ground-to-air integrated system, a maintenance plan or early warning repair is determined.

[0018] The beneficial effects of the present invention are as follows: the autonomous inspection and early warning system for key components of the ground-to-air integrated power transmission line provided by the present invention takes into account the mobility of take-off and landing of drones during inspections and autonomous intelligent inspections, overcomes the bottleneck of short inspection distances of drones, and adopts advanced hardware and embedded software integration technology to ensure an efficient, safe and accurate abnormal inspection process for key components of power transmission lines. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0020] Figure 1 A system block diagram of an autonomous inspection and early warning system for key components of a ground-to-air integrated power transmission line provided in the first embodiment of the present invention.

[0021] Figure 2 A schematic diagram of the composition of an autonomous inspection and early warning system for key components of a ground-to-air integrated power transmission line provided in the first embodiment of the present invention.

[0022] Figure 3A flow chart of an autonomous inspection and early warning method for key components of a ground-to-air integrated power transmission line provided in accordance with a second embodiment of the present invention.

[0023] Figure 4 It is an unmanned vehicle equipped with a drone and a machine nest of an autonomous inspection and early warning system for key components of a ground-to-air integrated power transmission line provided by the third embodiment of the present invention;

[0024] Figure 5 A schematic diagram of the drone of the ground-to-air integrated power transmission line key component autonomous inspection and early warning system provided by the third embodiment of the present invention, after receiving the inspection task, the cabin of the machine nest opens and the drone takes off;

[0025] Figure 6 This is a schematic diagram of a drone of the ground-to-air integrated power transmission line key component autonomous inspection and early warning system provided by the third embodiment of the present invention inspecting key components of a transmission line in a target area. DETAILED DESCRIPTION

[0026] 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.

[0027] 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.

[0028] Example 1

[0029] Reference Figure 1 and Figure 2 , which is the first embodiment of the present invention, provides an autonomous inspection and early warning system for key components of a ground-to-air integrated power transmission line, including: an air inspection system 100, a ground inspection system 200, and a ground-to-air integrated integration system 300.

[0030] like Figure 2 As shown, an autonomous inspection and early warning system for key components of ground-to-air integrated power transmission lines, including an air inspection system 100, a ground inspection system 200, and a ground-to-air integrated system 300. The air inspection system 100 includes a modified drone 101, a specific drone nest 102, a 5G communication module 103, and an embedded module 104. The ground inspection system 200 includes a modified unmanned vehicle 201, a sensor integrated component 202, an on-board microcontroller 203, a power battery system 204, supporting software, etc. The ground-to-air integrated system 300 includes a centralized control information management system 301, a big data security risk assessment system 302, and a three-dimensional map driving engine 303.

[0031] The ground-air integrated system 300 includes a centralized control information management system 301, a big data security risk assessment system 302 and a three-dimensional map driving engine 303; the modified drone 101 includes a 5G communication module 103 and an embedded module 104, and is parked on a specific drone nest 102, and the drone inspection platform 105 receives the data sent back by the modified drone 101; the sensor integrated component 202, the on-board microcontroller 203 and the power battery system 204 are installed on the modified unmanned vehicle 201.

[0032] The basic model of the modified drone 101 in this embodiment is a DJI drone, but other models of drones (such as Haoxiang, 3D Robotic, etc.) can also meet the needs.

[0033] The modified drone 101 is made of explosion-proof lightweight materials to avoid damage to the drone shell caused by the harsh environment in the mountainous area. The modified drone 101 is responsible for performing flight missions and for conducting inspections in the mountainous power transmission line area according to the designated route. It is equipped with an infrared thermal imaging camera 101a and a high-resolution camera 101b. It uses the infrared thermal imaging camera 101a or the high-resolution camera 101b to collect environmental information, take photos or videos of heating of insulator strings, broken pole tower wires, and pin shedding, and upload the obtained data to the on-board microcontroller 203 on the modified unmanned vehicle 201 for processing.

[0034] The specific drone nest 102 is specially made according to the size of the modified drone, including a door, a lifting platform, and temperature and humidity sensors. When the modified drone 101 needs to perform an inspection task, the on-board microcontroller 203 on the modified unmanned vehicle 201 will issue a "drone take-off" command to the specific drone nest 102. After receiving the command, the specific drone nest 102 opens the door of the specific drone nest 102, and the lifting platform carrying the modified drone 101 rises. The modified drone 101 takes off after the door is completely exposed, and the specific drone nest 102 closes the door. When the modified drone 101 returns to the specific drone nest 102 after completing the inspection task, the on-board microcontroller 203 on the modified unmanned vehicle 201 will issue a "drone landing" command to the specific drone nest 102. The specific drone nest 102 receives the command and opens the door to ensure that the modified drone 101 lands accurately in the center of the lifting platform. The lifting platform slowly descends to the designated position, and the specific drone nest 102 closes the door of the specific drone nest 102 and charges the modified drone 101.

[0035] The specific drone nest 102 is equipped with temperature and humidity sensors. When the modified drone 101 needs to perform an inspection task and cannot accurately identify the local climate, the temperature and humidity sensors installed on the specific drone nest 102 detect the local temperature and humidity in real time. The specific drone nest 102 obtains several sets of climate data of the inspection site and shares them with the modified unmanned vehicle 201. The on-board microcontroller 203 on the modified unmanned vehicle 201 will return the climate data to the ground-to-air integrated integration system 300. The ground-to-air integrated integration system 300 analyzes the climate data of the inspection site and evaluates whether it is suitable for the modified drone 101 to perform the inspection task based on the wind force and weather conditions of the inspection site. If it is suitable, the ground-to-air integrated integration system 300 sends a command to the on-board microcontroller 203, and the on-board microcontroller 203 issues a take-off command for the modified drone 101 to the specific drone nest 102. If it is not suitable, the on-board microcontroller 203 issues a suspend inspection command to the specific drone nest 102.

[0036] The 5G communication module 103 provides high-speed and stable communication between the modified drone 101 and the ground station and cloud service, ensuring real-time data transmission and supporting remote control and monitoring. The embedded module 104 includes a flight control module 104a, an obstacle avoidance module 104b, a positioning module 104c and a communication control module 104d; the flight control module 104a is responsible for performing flight tasks, including controlling the flight attitude, flight altitude and heading of the modified drone 101; the obstacle avoidance module 104b is responsible for avoiding obstacles encountered by the modified drone 101; the positioning module 104c is responsible for positioning the modified drone 101, helping the drone to reach the designated waypoint accurately and ensure that the drone can complete a precise landing; the communication control module 104d is responsible for receiving instructions from a specific drone nest 102.

[0037] The embedded module 104 can realize the following functions: defect inspection, target tracking, path planning, communication control, and data transmission and reception control. Defect inspection mainly uses image processing and machine learning methods to analyze the images or videos collected by the drone to identify possible defects. Target tracking is based on visual data or other sensor data to ensure that the drone can accurately follow or monitor the inspection target. Before the inspection, the inspection path of the drone needs to be planned according to the path planning algorithm to ensure that the drone can efficiently and completely cover the inspection area. Communication control ensures the stability and security of communication and adapts to communication needs in different environments. Data transmission and reception control is conducive to optimizing the bandwidth utilization of data transmission, improving the reliability of data transmission, and ensuring the effective transmission of real-time data.

[0038] Considering the mobility and take-off and landing of drones during inspections, the modified drones are equipped with advanced global positioning systems to provide high-precision location information. At the same time, the remote take-off and landing function is equipped to greatly improve the scope of application and practicality of drones in power transmission line inspections. Considering the autonomous intelligence of drones when performing inspection tasks, through visual sensors and deep learning algorithms, taking into account the environment, obstacles and risk factors in mountainous areas, drones can autonomously perceive and track target objects during the inspection process, realize real-time monitoring of power transmission lines and key components, and ensure that drones can flexibly and autonomously respond to changes in different environments in terms of flight control. And it has the ability to make autonomous take-off and landing decisions to ensure safe landing and take-off in non-professional venues.

[0039] The drone inspection platform 105 can realize automatic route import, tower route editing and generation, automatic route task execution, intelligent defect analysis, one-click defect report generation, etc., to assist drones to accurately identify defects in key components of power transmission lines from a high-altitude perspective. At the same time, the drone inspection platform 105 can realize refined inspection route production, automatically correct inspection targets, and meet the automated inspection tasks of drones in complex terrain such as mountainous areas and hills. The platform can also obtain monitoring information in real time, display inspection data in real time, and keenly monitor the local weather, wind speed, etc. The inspection results can be directly generated into reports, and the contents of drone line inspection reports can be checked at any time.

[0040] The modified unmanned vehicle 201 is a pickup truck. The present invention uses a radar car (RD6 model) for modification, equipped with a wire-controlled EPS steering system, a wire-controlled DBS braking system, a battery drive system, an EPS electronic parking system, a VCU control system, etc. The sensor integration component 202 includes a laser radar, a visual sensor, an ultrasonic sensor, etc. For the inspection task of defect identification of key components of power transmission lines in mountainous areas targeted by this embodiment, the laser radar model can be RS-Ruby-80 from RoboSense, the visual sensor model can be HIKROBOT SC5000 smart camera, the millimeter wave radar model can be ARS408-21 from Continental Germany, the ultrasonic radar model can be JSN-SR04T, and the differential GPS can be U-bloxNEO-M8N.

[0041] The interface protocols of radar, sensors, etc. on the modified unmanned vehicle 201 are modified synchronously during the modification of the unmanned vehicle to avoid security accidents caused by false alarms of sensors caused by attacks on any environmental perception nodes, or intrusion accidents such as the central processor being hacked to gain control of the entire vehicle.

[0042] The specific drone nest 102 is installed on the modified unmanned vehicle 201 and is equipped with a power battery system 204. The power battery system is used to supply power and store electricity for the drone nest 102 and the modified unmanned vehicle 201, and is generally composed of a battery management unit, a battery cell monitoring unit, a thermal management system, high and low voltage wiring harnesses, a large module, and a protective device. The drone nest 102 meets the 220V mains power storage demand through a power inverter.

[0043] The ground-air integrated system 300 draws the inspection area map in advance through the three-dimensional map driving engine 303 and formulates the inspection route.

[0044] The modified unmanned vehicle 201 is equipped with the modified drone 101 and performs mountain inspection tasks. The modified drone 101 performs aerial inspection tasks, performs ground and air joint inspections according to the planned inspection paths, obtains ground and air inspection data, and enables the two-domain inspection data to be shared and effectively analyzed through communication protocols.

[0045] When the inspection area is located in an area where it is difficult for the modified unmanned vehicle 201 to move, the modified unmanned aerial vehicle (101) performs the inspection task alone.

[0046] The on-board microcontroller 203 is responsible for integrating the data from the two domains and transmitting them back. When defects or hidden dangers are detected, or areas of power transmission lines that require high-density monitoring and patrolling, drones can assist unmanned vehicles in inspections. When the unmanned vehicle finds that there is an abnormality in the line components, it can send emergency inspection instructions to the drone through the on-board microcontroller, and the drone can immediately observe in the air and perform precise positioning to better complete the monitoring task.

[0047] The centralized control information management system 301 performs data classification, data analysis and real-time defect identification on the different component information of the ground and air inspection data transmitted back. The big data security risk assessment system 302 evaluates the inspection data classified and processed by the centralized control information management system 301, and presents the three-dimensional scene through the three-dimensional map driving engine (302), extracts key information about defects and hidden dangers, and presents the detection and identification results to the user.

[0048] With the support of the secondary development environment of drones and unmanned vehicles, a cloud management system for drones and unmanned vehicles is developed, which has functions such as inspection task planning and scheduling, inspection route and route planning and optimization, and cloud generation of inspection data. It integrates ground-to-air sensor data, control command generation, and expands the integration of IMS interfaces.

[0049] Based on the prediction and evaluation results of the ground-air integrated system 300, a regular maintenance plan for key components of the transmission line is formulated. If component defects such as abnormal heating failure of insulator strings, broken tower wires, and loose nuts caused by pin shedding are identified, an early warning will be given according to the severity of the defect, and an emergency repair plan will be formulated in a timely manner, and emergency repairs will be carried out based on the accurate positioning of the unmanned inspection system.

[0050] Example 2

[0051] Reference Figure 3 , which is the second embodiment of the present invention, is different from the previous embodiment in that it provides an autonomous inspection and early warning method for key components of a ground-to-air integrated power transmission line, including:

[0052] The inspection task is sent to the modified unmanned vehicle 201, and the modified unmanned vehicle 201 confirms whether to conduct the inspection.

[0053] The modified unmanned vehicle 201 sends instructions to the modified drone 101 , completes the inspection task together with the modified drone 101 , and transmits the data back to the ground-air integrated system 300 .

[0054] After the data is analyzed by the ground-air integrated system 300, the maintenance plan or early warning repair is determined.

[0055] Specifically, when the inspection task is generated, the inspection task is first transmitted to the unmanned vehicle, that is, the command is transmitted to the unmanned vehicle inspection platform. The inspection platform is embedded with path planning software to plan the path for the inspection area in the task. After the path planning is completed, the inspection platform sends the inspection command to the unmanned vehicle, and the unmanned vehicle drives to the inspection area to start the inspection. When the unmanned vehicle finds a suspected hidden danger location, it sends the drone inspection task to the drone inspection platform through the on-board microcontroller. The drone inspection platform is embedded with track planning software to plan the track for the area where the hidden danger location is located. After the track planning is completed, the drone inspection platform sends the inspection command to the machine nest. After receiving the command, the machine nest opens the hatch, and the lifting platform carrying the drone rises. The drone takes off after the hatch is completely exposed and starts the inspection. During the inspection process, the drone takes pictures of the suspected hidden danger location through infrared thermal imaging cameras and high-resolution cameras, and shares the inspection data with the unmanned vehicle, and at the same time transmits it back to the centralized control information management system. The centralized control information management system will classify, analyze and identify real-time defects of different components on the returned data, and the big data safety risk assessment system will predict and assess the risks that may be caused by defects. The big data safety risk assessment system contains the association rule library between accidents caused by defects of each key component of the transmission line route. The system will calculate all the association rules between accidents caused by defects of each component and the risk weights faced under each association rule based on the data classified and analyzed by the centralized control information management system, and use fuzzy reasoning to output the risk probability of each corresponding rule in the association rule, so as to obtain the risk prediction results of the operation of the transmission line. At the same time, the three-dimensional map driving engine presents the three-dimensional scene, extracts key information about defects and hidden dangers, and presents the detection and identification results to the user in an intuitive way. Based on the prediction and evaluation results, if it is only a general hidden danger, a regular maintenance plan for key components of the transmission line will be formulated and implemented accordingly; if a component defect has been identified, an early warning will be given according to the severity of the defect, and a repair plan will be formulated in time, and repairs will be carried out according to the accurate positioning of the unmanned inspection system to ensure the integrity of the transmission line system. After the inspection mission is completed, the drone shares its location information with the on-board microcontroller to confirm the location of the nest. The nest receives the command and opens the hatch. The on-board microcontroller assists the drone in positioning to ensure that the drone lands accurately in the center of the lift. The lift slowly descends to the designated position, the nest closes the hatch and charges the drone.

[0056] Through the above-described process, professional technicians can judge the abnormal conditions of transmission line components only through the background data analysis results, and formulate corresponding maintenance and emergency repair plans in turn. While reducing the workload, it also avoids the problem of technicians being in a harsh working environment and having low work efficiency. At the same time, the present invention takes into account the mobility of drones during inspections and autonomous intelligent inspections, overcomes the bottleneck of short inspection distances of drones, and adopts advanced hardware and embedded software integration technology to ensure efficient, safe, and accurate abnormal inspections of key components of transmission lines.

[0057] Example 3

[0058] Reference Figures 4 to 6 , which is the third embodiment of the present invention, and which is different from the first two embodiments in that it is used to verify and illustrate the technical effects adopted in the present invention, so as to verify the real effects of this method.

[0059] Figure 4 , 5 , 6 are 3D modeling example diagrams of the present invention. Figure 4 The unmanned vehicle equipped with drones and machine nests together constitutes the air inspection system and the ground inspection system. Figure 5 After the drone receives the inspection mission, the aircraft nest opens the hatch, the lift platform carrying the drone rises, and the drone takes off after it is completely exposed from the hatch. Figure 6 Drones are inspecting key components of power transmission lines in target areas.

[0060] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. Autonomous inspection and early warning system for key components of ground-to-air integrated power transmission lines, characterized by: include, An air inspection system (100), a ground inspection system (200), and a ground-air integrated system (300); The air inspection system (100) comprises a modified drone (101), a specific drone nest (102), a 5G communication module (103), an embedded module (104) and a drone inspection platform (105); The ground inspection system (200) comprises a modified unmanned vehicle (201), a sensor integrated component (202), an on-board microcontroller (203) and a power battery system (204); The ground-air integrated system (300) includes a centralized control information management system (301), a big data security risk assessment system (302) and a three-dimensional map driving engine (303); The modified drone (101) includes a 5G communication module (103) and an embedded module (104), and is parked on a specific drone nest (102). The drone inspection platform (105) receives the aerial inspection data transmitted back by the modified drone (101); The sensor integrated component (202), the vehicle-mounted microcontroller (203) and the power battery system (204) are installed on the modified unmanned vehicle (201).

2. The autonomous inspection and early warning system for key components of ground-to-air integrated power transmission lines as claimed in claim 1 is characterized by: The modified unmanned aerial vehicle (101) is responsible for executing flight missions and for conducting inspections in mountainous power transmission line areas according to designated routes. It is equipped with an infrared thermal imaging camera (101a) and a high-resolution camera (101b). It uses the infrared thermal imaging camera (101a) or the high-resolution camera (101b) to collect environmental information, take photos or videos of heating of insulator strings, broken pole tower wires, and pin shedding, and uploads the obtained data to an on-board microcontroller (203) on the modified unmanned vehicle (201) for processing.

3. The autonomous inspection and early warning system for key components of ground-to-air integrated power transmission lines as claimed in claim 2 is characterized by: The specific drone nest (102) is specially made according to the size of the modified drone (101), and includes a door, a lifting platform, and temperature and humidity sensors; When the modified unmanned aerial vehicle (101) needs to perform an inspection task, the on-board microcontroller (203) on the modified unmanned vehicle (201) will send a take-off command for the modified unmanned aerial vehicle (101) to the specific unmanned aerial vehicle nest (102). After receiving the command, the specific unmanned aerial vehicle nest (102) opens the hatch of the specific unmanned aerial vehicle nest (102), and the lifting platform carrying the modified unmanned aerial vehicle (101) rises. After the hatch is completely exposed, the modified unmanned aerial vehicle (101) takes off. The specific unmanned aerial vehicle nest (102) closes the hatch. When the modified unmanned aerial vehicle (101) is 1) When the inspection mission is completed and the vehicle returns to the specific drone nest (102), the onboard microcontroller (203) on the modified unmanned vehicle (201) will send a landing command for the modified drone (101) to the specific drone nest (102). The specific drone nest (102) receives the command and opens the hatch. The modified drone (101) lands in the center of the lifting platform. The lifting platform is lowered to a designated position. The specific drone nest (102) closes the hatch of the specific drone nest (102) and charges the modified drone (101); The specific drone nest (102) is equipped with temperature and humidity sensors. When the modified drone (101) needs to perform an inspection task and cannot accurately identify the local climate, the temperature and humidity sensors installed on the specific drone nest (102) detect the local temperature and humidity in real time. The specific drone nest (102) obtains several groups of climate data of the inspection site and shares them with the modified unmanned vehicle (201). The on-board microcontroller (203) on the modified unmanned vehicle (201) transmits the climate data back to the ground-air integrated system (300). The ground-air integrated integration system (300) analyzes the climate data of the inspection site and evaluates whether it is suitable for the modified drone (101) to perform the inspection task based on the wind force and weather conditions of the inspection site. If it is suitable, the ground-air integrated integration system (300) sends a command to the on-board microcontroller (203), and the on-board microcontroller (203) issues a take-off command for the modified drone (101) to the specific drone nest (102). If it is not suitable, the on-board microcontroller (203) issues a command to suspend the inspection to the specific drone nest (102).

4. The autonomous inspection and early warning system for key components of ground-to-air integrated power transmission lines as claimed in claim 3 is characterized by: The embedded module (104) comprises a flight control module (104a), an obstacle avoidance module (104b), a positioning module (104c) and a communication control module (104d); The flight control module (104a) is responsible for executing the flight mission, including controlling the flight attitude, flight altitude and heading of the modified UAV (101); The obstacle avoidance module (104b) is responsible for avoiding obstacles encountered by the modified drone (101); The positioning module (104c) is responsible for positioning the modified UAV (101); The communication control module (104d) is responsible for receiving instructions from a specific drone nest (102).

5. The autonomous inspection and early warning system for key components of ground-to-air integrated power transmission lines as claimed in claim 4 is characterized by: The modified unmanned vehicle (201) is a modified pickup truck, equipped with a wire-controlled EPS steering system, a wire-controlled DBS braking system, a battery drive system, an EPS electronic parking system, and a VCU control system; The sensor integration component (202) includes a laser radar, a visual sensor, and an ultrasonic sensor. The interface protocols of the laser radar, the visual sensor, and the ultrasonic sensor are all modified synchronously during the modification of the unmanned vehicle.

6. The autonomous inspection and early warning system for key components of ground-to-air integrated power transmission lines as claimed in claim 5, characterized in that: The specific drone nest (102) is installed on a modified unmanned vehicle (201) and is equipped with a power battery system (204).

7. The autonomous inspection and early warning system for key components of ground-to-air integrated power transmission line according to claim 6, characterized in that: The ground-air integrated system (300) draws a map of the inspection area and formulates an inspection route in advance through a three-dimensional map driving engine (303); The modified unmanned vehicle (201) carries the modified drone (101) and performs mountain inspection tasks, and the modified drone (101) performs aerial inspection tasks, performs ground-air joint inspections according to the planned inspection paths, obtains ground-air inspection data, and enables the two-domain inspection data to be shared and effectively analyzed through a communication protocol; When the inspection area is located in an area where it is difficult for the modified unmanned vehicle (201) to travel, the modified unmanned aerial vehicle (101) performs the inspection task alone.

8. The autonomous inspection and early warning system for key components of ground-to-air integrated power transmission line according to claim 7, characterized in that: The centralized control information management system (301) performs data classification, data analysis and real-time defect identification on different component information of the ground and air inspection data transmitted back. The big data security risk assessment system (302) evaluates the inspection data classified and processed by the centralized control information management system (301), and presents a three-dimensional scene through a three-dimensional map driving engine (302), extracts key information about defects and hidden dangers, and presents the detection and identification results to the user.

9. The autonomous inspection and early warning system for key components of ground-to-air integrated power transmission line according to claim 8, characterized in that: The ground-air integrated system (300) includes formulating a regular maintenance plan for key components of the power transmission line based on the prediction and evaluation results of the ground-air integrated system (300). If abnormal heating failure of an insulator string, a broken pole tower wire, or a loose nut caused by a pin falling off is identified, an early warning is given according to the severity of the defect, and an emergency repair plan is formulated in a timely manner, and emergency repairs are carried out according to the accurate positioning of the unmanned inspection system.

10. A method using the autonomous inspection and early warning system for key components of ground-to-air integrated power transmission lines as claimed in any one of claims 1 to 9, characterized in that: include, The inspection task is sent to the modified unmanned vehicle (201), and the modified unmanned vehicle (201) confirms whether to conduct the inspection; The modified unmanned vehicle (201) issues instructions to the modified unmanned aerial vehicle (101), and completes the inspection task together with the modified unmanned aerial vehicle (101), and transmits the data back to the ground-air integrated system (300); After data analysis by the ground-air integrated system (300), a maintenance plan or early warning repair is determined.

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