Intelligent induction warning protection system

Abstract

The invention relates to the technical field of unmanned aerial vehicle protection, in particular to an intelligent induction warning protection system which comprises a protection monitoring unit, an early warning signal unit, an active avoidance unit electrically connected with the protection monitoring unit, a passive avoidance unit electrically connected with the early warning signal unit, and a control unit electrically connected with the passive avoidance unit. When the unmanned aerial vehicle is closer to a preset dangerous area, protection equipment for warning is laid in front of the unmanned aerial vehicle; wherein the security levels corresponding to the plurality of security level areas are gradually enhanced, and the types and contents of the early warning signals in the plurality of warning type areas are gradually improved according to danger coefficients. And through innovative designs such as multi-dimensional perception, intelligent decision, multi-layer protection and system integration, the protection capability of the electric power facility to the threat of the unmanned aerial vehicle is comprehensively improved. Collision accidents can be effectively prevented, and a powerful guarantee can be provided for safe and stable operation of an electric power system.

Description

Technical Field

[0001] The invention relates to the technical field of unmanned aerial vehicle protection, and in particular to an intelligent sensing warning protection system. Background Art

[0002] With the rapid development of drone technology, its application in power inspection, equipment monitoring and other fields is becoming more and more extensive. However, the flight of drones around power facilities also brings potential safety hazards. In recent years, accidents involving collisions between drones and power facilities have occurred frequently, which not only caused economic losses, but also threatened the stable operation of the power system.

[0003] At present, the industry has developed some protection systems to deal with this problem. The closest existing technology usually uses a single sensing method, such as radar or optical sensors, to detect the approach of drones. However, this method often has difficulty in ensuring accuracy and reliability in complex power environments. For example, radar systems are susceptible to electromagnetic interference, while optical systems are not effective in severe weather conditions. In addition, most existing protection systems use fixed warning methods and cannot dynamically adjust the response strategy according to actual conditions, which may lead to problems such as excessive or insufficient alarms.

[0004] Another significant drawback is that existing systems usually focus on detection and alarm, but not enough on active protection and avoidance measures. This makes the system slow to react when faced with high-speed approaching drones, making it difficult to effectively prevent collision accidents. At the same time, existing systems generally lack intelligent decision-making capabilities and are unable to make targeted protection strategies based on different types of power facilities and the flight status of drones.

[0005] In addition, existing technologies also have deficiencies in system integration. Most systems operate independently and lack effective coordination with drone control systems and ground stations, which limits the flexibility and effectiveness of protective measures. In practical applications, this isolated protection method is difficult to adapt to the increasingly complex power facility environment and diverse drone application scenarios.

[0006] In view of the above problems, there is an urgent need for a more intelligent, comprehensive and flexible protection system to ensure the safety of power facilities. Summary of the invention

[0007] The purpose of the present invention is to provide an intelligent sensing warning protection system, which aims to solve the technical problems existing in the prior art, such as inaccurate detection, inflexible response, and incomplete protection. The present invention realizes all-round and intelligent protection of drone activities around power facilities through diversified sensing means, dynamically adjusted warning strategies, active and passive combined protection mechanisms, and deep integration with drone systems.

[0008] The present invention proposes an intelligent sensing warning protection system, comprising:

[0009] Protection monitoring unit for:

[0010] Real-time collection of the distance between the drone and power facilities during flight;

[0011] Divide the preset dangerous area into several safety level areas according to the type of power facilities;

[0012] Divide the preset danger zone into several warning type areas according to the characteristics of the power channels in the power facilities;

[0013] The early warning signal unit is electrically connected to the protection monitoring unit and is used to:

[0014] Receiving the drone location data sent by the protection monitoring unit;

[0015] Based on the drone location data, generate a warning signal with gradually increasing loudness, frequency, and intensity;

[0016] An active avoidance unit is electrically connected to the early warning signal unit and is used to:

[0017] Adaptive interference is performed according to the current flight altitude of the drone;

[0018] A passive avoidance unit is electrically connected to the active avoidance unit and is used to:

[0019] When the drone gets closer to the preset danger zone, protective equipment for warning is laid in front of the drone;

[0020] Among them, the security levels corresponding to the several security level areas are gradually enhanced, and the types and contents of the early warning signals in the several warning type areas are gradually increased according to the risk factors.

[0021] Preferably, the protection monitoring unit comprises:

[0022] Region division module for:

[0023] Divide the preset danger zone into several safety level areas;

[0024] Divide the preset danger zone into several warning type areas;

[0025] A signal generating module is electrically connected to the area dividing module and is used for:

[0026] Generate early warning signals of drones;

[0027] The distance sensing module is electrically connected to the signal generating module and is used for:

[0028] Calculate the relative distance between the drone and the preset danger zone in real time.

[0029] Preferably, the active avoidance unit comprises:

[0030] Active avoidance module for:

[0031] Actively avoid maneuvers based on the drone’s current flight altitude;

[0032] Reduce the frequency and loudness of warning signals;

[0033] Wherein, the active avoidance module includes:

[0034] Distance calculation submodule, used for:

[0035] Set a preset safety distance;

[0036] The circular area in front of the preset danger zone with the preset safety distance as the circumference is positioned as the active avoidance area;

[0037] The distance signal generating submodule is electrically connected to the distance calculating submodule and is used for:

[0038] The loudness and frequency of the warning signal are set to be positively correlated with the radius of the active avoidance area;

[0039] The active interference signal generating module is electrically connected to the distance signal generating submodule and is used for:

[0040] Generate flight track interference signals within the active avoidance area;

[0041] The flight track interference signal varies in a positive correlation with the radius of the active avoidance area.

[0042] Preferably, the passive avoidance unit comprises:

[0043] Passive avoidance module for:

[0044] When the drone gets closer to the preset danger zone, a protective device for warning is laid in front of the drone;

[0045] Wherein, the passive avoidance module also includes:

[0046] Distance judgment submodule, used for:

[0047] Compare in real time whether the flight distance of the drone in the preset danger zone is less than the safe distance;

[0048] If so, a warning trigger signal is issued;

[0049] The protective equipment opening submodule is electrically connected to the distance judgment submodule and is used to:

[0050] According to the warning trigger signal, protective equipment for warning is laid in front of the drone.

[0051] Preferably, the signal generation module is used to generate an initial warning signal of fixed frequency and loudness, and the area division module locates the drone at the closest distance to the power equipment in the preset danger zone as the warning type area with the highest risk factor in the safety level area.

[0052] Preferably, the distance sensing module is used to collect the flight distance of the drone's flight status in real time. When the collected closest distance between the drone and the front of the preset danger zone is greater than the safety distance corresponding to the warning type area with the highest safety level in the safety level area, the signal generation module does not issue a warning signal.

[0053] Preferably, the distance sensing module is used to collect the flight speed of the drone in real time. When the signal generation module sends a warning signal corresponding to the warning type area with the highest risk factor, and the drone flight speed is greater than a preset flight speed, the distance sensing module does not calculate the relative distance between the drone and the preset danger area.

[0054] Preferably, the passive avoidance unit comprises:

[0055] Fixed laying modules for:

[0056] Fixed laying warning light device;

[0057] Wherein, the warning light device has an adjustable voltage according to the type of the preset danger zone;

[0058] The warning module is electrically connected to the fixed laying module and is used to:

[0059] Setting the brightness of a plurality of the protective devices according to a plurality of the safety level areas and a plurality of the warning type areas;

[0060] When the drone enters a preset dangerous area, the warning light device will be automatically turned on;

[0061] Controlling the warning light device to actively flash and change color;

[0062] A protective device, electrically connected to the warning module, is used to:

[0063] Setting a plurality of the paving radii according to a plurality of the safety level areas and a plurality of the warning type areas;

[0064] Setting a plurality of the paving heights according to a plurality of the safety level areas and a plurality of the warning type areas;

[0065] Setting a plurality of paving thicknesses according to a plurality of safety level areas and a plurality of warning type areas;

[0066] The danger level of protective equipment is divided according to the laying radius, laying thickness and laying height of the protective equipment.

[0067] Preferably, the protective device comprises a plurality of brightly colored protective balls, which are evenly distributed in a preset danger zone with a fixed laying module as the center, and the laying radius, laying thickness and laying height of the protective balls are positively correlated with the danger factor in the corresponding safety level zone.

[0068] As a preference, it also includes:

[0069] UAV subsystems, including:

[0070] Flight control module for:

[0071] Control the flight path and speed of the drone;

[0072] receiving and executing evasion instructions;

[0073] A signal module is electrically connected to the flight control module and is used to:

[0074] Two-way wireless communication with ground station;

[0075] Receive warning signals and evasive instructions;

[0076] The visual module is electrically connected to the signal module and is used for:

[0077] Acquire image information of the surrounding environment;

[0078] Identify electrical facilities and potential obstructions;

[0079] The early warning module is electrically connected to the visual module and is used to:

[0080] Based on the image information obtained by the visual module, determine the potential collision risk;

[0081] Generate early warning signals;

[0082] A data module is electrically connected to the early warning module and is used to:

[0083] Store flight data and environmental information;

[0084] Provide data support for intelligent decision-making;

[0085] Ground station subsystem, including:

[0086] Positioning module for:

[0087] Track the drone’s location in real time;

[0088] A controller is electrically connected to the positioning module and is used to:

[0089] Generate avoidance instructions based on drone location information and power facility data;

[0090] Control the opening and closing of the warning device;

[0091] A data processing module is electrically connected to the controller and is used to:

[0092] Analyze flight data and environmental information;

[0093] Optimize avoidance strategies;

[0094] The UAV subsystem and the ground station subsystem realize real-time data exchange and command transmission through wireless communication.

[0095] The beneficial effects of the present invention are mainly reflected in the following aspects:

[0096] First of all, the present invention adopts multi-dimensional perception technology, combining multiple sensing methods such as radar, optics and electromagnetics, which greatly improves the system's detection accuracy of drones. This diversified perception method can effectively overcome the limitations of a single sensor and enable the system to maintain a high degree of reliability in various complex environments. For example, in a substation environment with strong electromagnetic interference, the system can rely more on optical sensors; in the case of low visibility, the radar system can be used first. This flexible perception strategy enables the present invention to maintain stable performance in various weather conditions and complex terrains.

[0097] Secondly, the dynamic warning mechanism of the present invention is a major innovation. The system can adjust the type, intensity and frequency of the warning signal in real time according to multiple parameters such as the distance, speed, and flight direction of the drone. This intelligent warning strategy can not only effectively reduce false alarms and missed alarms, but also provide drone operators with clearer and more intuitive danger warnings. For example, for drones approaching at high speed, the system will immediately activate a high-intensity sound and light alarm; while for drones approaching slowly, a gentle visual prompt may be issued first. This differentiated warning method can ensure safety without causing excessive interference to normal drone operations.

[0098] Furthermore, the unique active and passive protection mechanism of the present invention provides multi-level security for power facilities. The active protection module can force the drone to change its flight path through electromagnetic interference and other means, while the passive protection module provides the last line of defense for power facilities through physical barriers and other means. This dual protection mechanism greatly improves the reliability of the system. Even if the active protection fails, the passive protection can still effectively prevent the drone from approaching further.

[0099] In addition, the deep integration of the present invention with the drone control system and ground station is another significant advantage. Through real-time data exchange and command transmission, the system is able to coordinate the flight activities of drones over a larger range. This not only improves the effectiveness of protection, but also provides better support for legal drone operations such as power inspections. For example, the system can provide safe flight path suggestions for authorized drones, which ensures the safety of power facilities without affecting normal inspection work.

[0100] Finally, the modular design and adaptive algorithm of the present invention make it highly scalable and adaptable. The system can be flexibly configured according to different types of power facilities and geographical environments, and can adapt to various application scenarios from urban distribution networks to transmission lines in remote mountainous areas without major changes. This flexibility not only reduces deployment and maintenance costs, but also enables the system to be continuously optimized and upgraded as technology advances and demand changes.

[0101] In general, this invention comprehensively improves the protection capability of power facilities against drone threats through innovative designs such as multi-dimensional perception, intelligent decision-making, multi-layer protection and system integration. It can not only effectively prevent collision accidents, but also provide strong guarantees for the safe and stable operation of the power system, which has important practical significance for improving the overall safety and reliability of the power grid. BRIEF DESCRIPTION OF THE DRAWINGS

[0102] Figure 1 It is the overall block diagram of the system of the present invention;

[0103] Figure 2 is a detailed block diagram of the protection monitoring unit of the present invention;

[0104] Figure 3 is a detailed block diagram of the early warning signal unit of the present invention;

[0105] Figure 4 is a detailed block diagram of the active avoidance unit of the present invention;

[0106] Figure 5 is a detailed block diagram of the passive avoidance unit of the present invention;

[0107] Figure 6 It is the logic diagram of the drone subsystem of the present invention;

[0108] Figure 7 It is a logic diagram of the ground station subsystem of the present invention; DETAILED DESCRIPTION

[0109] Please refer to Figure 1-7 The present invention provides an intelligent sensing warning protection system, which can effectively prevent the potential collision risk between drones and power facilities. The present invention will be described in detail below in conjunction with specific implementation methods.

[0110] An intelligent sensing warning protection system of the present invention comprises a protection monitoring unit 1, an early warning signal unit 2, an active avoidance unit 3 and a passive avoidance unit 4. These units work together to form a comprehensive protection system.

[0111] The protection monitoring unit 1 is used to collect the distance between the drone and the power facilities in real time when the drone is in flight. Preferably, the unit adopts high-precision laser ranging technology with a ranging accuracy of up to ±1cm and a sampling frequency of 100Hz to ensure that the rapid movement of the drone can be captured in time. At the same time, the protection monitoring unit 1 also divides the preset danger zone into several safety level areas according to the type of power facilities. For example, for high-voltage transmission lines, the danger zone can be divided into three safety levels: 0-5m is a high-risk area, 5-10m is a medium-risk area, and 10-15m is a low-risk area. In addition, the unit also divides the preset danger zone into several warning type areas according to the characteristics of the power channel in the power facility. For example, for a substation, the danger zone can be divided into a strong current area, a weak current area, and a general area.

[0112] The early warning signal unit 2 is electrically connected to the protection monitoring unit 1, and is used to receive the drone location data sent by the protection monitoring unit 1. Based on these data, the early warning signal unit 2 generates an early warning signal with gradually increasing loudness, frequency, and intensity. Specifically, when the drone enters a low-risk area, the loudness of the early warning signal is 60dB and the frequency is 1kHz; when entering a medium-risk area, the loudness increases to 75dB and the frequency increases to 2kHz; when entering a high-risk area, the loudness reaches 90dB and the frequency increases to 4kHz. This progressive early warning mechanism can effectively attract the attention of the operator while avoiding the startle response that may be caused by sudden high-intensity signals.

[0113] The active avoidance unit 3 is electrically connected to the early warning signal unit 2, and its main function is to perform adaptive interference according to the current flight altitude of the drone. For example, when the drone's flight altitude is lower than 50m, the active avoidance unit 3 will start low-power electromagnetic interference with an interference power of 0.1W; when the flight altitude is between 50-100m, the interference power increases to 0.5W; when the altitude exceeds 100m, the interference power can reach 1W. This adaptive interference strategy can minimize the impact on normal flight while ensuring safety.

[0114] The passive avoidance unit 4 is electrically connected to the active avoidance unit 3. When the drone is closer to the preset danger zone, the unit will lay out protective equipment for warning in front of the drone. For example, when the drone is less than 20m away from the edge of the danger zone, the passive avoidance unit 4 will activate the ground warning light array to form a warning circle with a diameter of 10m; when the distance is further shortened to less than 10m, the sound and light alarm will also be activated to issue a clear and discernible warning message.

[0115] An important feature of the present invention is that the security levels corresponding to several security level areas are gradually enhanced, and the types and contents of the early warning signals in several warning type areas are gradually increased according to the risk factor. This design ensures that the system can make the most appropriate response according to the actual situation, without overreacting or underreacting.

[0116] Furthermore, the protection monitoring unit 1 of the present invention includes a region division module 11, a signal generation module 12 and a distance sensing module 13. The region division module 11 is responsible for dividing the preset danger zone into a plurality of safety level zones and warning type zones. The signal generation module 12 is electrically connected to the region division module 11 and is used to generate a warning signal for the drone. The distance sensing module 13 is electrically connected to the signal generation module 12 and is used to calculate the relative distance between the drone and the preset danger zone in real time.

[0117] In a preferred embodiment of the present invention, the area division module 11 adopts an adaptive grid division algorithm, which can dynamically adjust the grid size according to the complexity of the power facilities. For complex substation environments, the grid size can be set to 1m×1m; while for relatively simple transmission lines, the grid can be enlarged to 5m×5m. This flexible division method ensures accuracy and improves calculation efficiency.

[0118] The signal generation module 12 adopts a novel multi-dimensional warning signal generation algorithm. This algorithm not only takes into account the distance factor, but also combines multiple parameters such as the speed and flight direction of the drone. The intensity I of the warning signal can be calculated by the following formula:

[0119]

[0120] Among them, d is the distance between the UAV and the dangerous area, v is the speed of the UAV, θ is the angle between the UAV's flight direction and the line connecting the dangerous area, and k1, k2 and k3 are weight coefficients. By adjusting these weight coefficients, flexible control of the importance of different factors can be achieved.

[0121] The distance sensing module 13 uses advanced millimeter wave radar technology to achieve centimeter-level distance measurement accuracy within the range of 0-200m. The module updates the distance data every 10ms to ensure that the system can respond to the rapid movement of the drone in a timely manner.

[0122] The active avoidance unit 3 of the present invention includes an active avoidance module 31. The active avoidance module 31 performs active avoidance according to the current flight altitude of the UAV and reduces the frequency and loudness of the warning signal. The active avoidance module 31 also includes a distance calculation submodule 311, a distance signal generation submodule 312 and an active interference signal generation module 313.

[0123] The distance calculation submodule 311 sets a preset safety distance, and locates a circular area with a circumference of the preset safety distance at the front of the preset danger zone as an active avoidance area. In practical applications, the preset safety distance can be adjusted according to the type and importance of the power facilities. For example, for ultra-high voltage transmission lines, the preset safety distance can be set to 50m; while for ordinary distribution lines, a safety distance of 25m may be sufficient.

[0124] The distance signal generation submodule 312 is electrically connected to the distance calculation submodule 311, and is used to set the loudness and frequency of the warning signal to be positively correlated with the radius of the active avoidance area. Specifically, the loudness L and frequency f of the warning signal can be calculated using the following formula:

[0125]

[0126]

[0127] Among them, L0 and f0 are the reference loudness and frequency respectively, r0 is the reference radius, and r is the radius of the current active avoidance area. This design ensures that as the radius r of the active avoidance area decreases (i.e. the degree of danger increases), the loudness L and frequency f of the warning signal will increase smoothly accordingly, thereby effectively conveying information about the approaching danger to the operator.

[0128] The active interference signal generation module 313 is electrically connected to the distance signal generation submodule 312 and the distance calculation submodule 311, and is used to set the loudness L and frequency f of the warning signal to be positively correlated with the radius of the active avoidance area. Specifically, the loudness and frequency of the warning signal can be calculated using the following formula:

[0129]

[0130] Among them, P0 is the maximum interference power, usually set to 100mW, and r0 is the reference radius. This design ensures sufficient interference strength at the edge of the danger zone while avoiding unnecessary impact on distant drones.

[0131] Through the above design, an intelligent sensing warning protection system of the present invention can effectively identify and protect against potential collision risks between drones and power facilities. The system's multi-level protection mechanism, adaptive early warning strategy and intelligent interference technology cooperate with each other to ensure the safety of power facilities and minimize interference with normal drone operations. This balanced design makes the system particularly suitable for application in complex power environments, providing a strong guarantee for the safe operation of power facilities.

[0132] The passive avoidance unit 4 of the present invention includes a passive avoidance module 41. The main function of the passive avoidance module 41 is to lay a protective device for warning in front of the drone when it approaches a preset dangerous area. This passive protection mechanism adds an additional safety barrier to the system and is particularly suitable for dealing with extreme situations where active avoidance fails.

[0133] In a preferred embodiment of the present invention, the passive avoidance module 41 also includes a distance judgment submodule 411 and a protective equipment activation submodule 412. The distance judgment submodule 411 is responsible for comparing in real time whether the flight distance of the drone in the preset danger zone is less than the safety distance. When it is detected that the distance of the drone is less than the safety distance, the submodule will issue a warning trigger signal. Preferably, the safety distance can be dynamically adjusted according to the type and importance of the power facility. For example, for an ultra-high voltage substation, the safety distance can be set to 100 meters; for ordinary distribution lines, a safety distance of 50 meters may be sufficient.

[0134] The protective equipment opening submodule 412 is electrically connected to the distance judgment submodule 411, and its function is to lay out the protective equipment for warning in front of the drone according to the received warning trigger signal. The present invention adopts an innovative rapid deployment technology, which can complete the laying of protective equipment within 0.5 seconds. This high-speed response capability is particularly important for dealing with high-speed flying drones. Protective equipment can be in various forms, such as LED warning tapes, holographic projection barriers, or sound wave interference devices. These devices can not only provide clear visual warnings to drone operators, but also physically interfere with the flight trajectory of the drone when necessary.

[0135] Furthermore, the signal generation module 12 of the present invention adopts a unique warning signal generation strategy. The module generates an initial warning signal with a fixed frequency and loudness, which is usually set to a loudness of 60dB and a frequency of 1kHz. This initial setting can attract the attention of the operator without causing excessive disturbance. Subsequently, the area division module 11 will locate the position of the drone closest to the power equipment in the preset danger zone as the warning type area with the highest risk factor in the safety level area. This dynamic positioning mechanism ensures that the system can always respond to the most dangerous situations.

[0136] The distance sensing module 13 of the present invention is also quite unique in its implementation. This module not only collects the flight distance of the drone in real time, but also makes intelligent judgments. When the collected closest distance between the drone and the front of the preset danger zone is greater than the safety distance corresponding to the warning type area with the highest safety level in the safety level area, the signal generation module 12 will stop sending the warning signal. This design effectively avoids unnecessary alarms, reduces the "wolf cry" effect, and improves the credibility of the system.

[0137] In another embodiment of the present invention, the distance sensing module 13 also has the function of collecting the flight speed of the drone in real time. This function provides an important basis for the intelligent decision-making of the system. Specifically, when the signal generation module 12 sends a warning signal corresponding to the warning type area with the highest risk factor, and at the same time detects that the flight speed of the drone is greater than the preset flight speed, the distance sensing module 13 will suspend the calculation of the relative distance between the drone and the preset dangerous area. This design takes into account the special situation of drones in high-speed flight state and avoids unnecessary consumption of system resources.

[0138] Preferably, the preset flight speed can be set to 20m / s. This speed threshold is selected based on the maximum flight speed of most commercial drones (usually between 15-25m / s). When a drone flies at such a high speed, it is usually in a state of quickly passing through an area rather than performing delicate operations. In this case, pausing the distance calculation can reduce the burden on the system without significantly affecting safety.

[0139] These design features of the present invention fully reflect the intelligence and adaptability of the system. By comprehensively considering multiple factors such as the position and speed of the drone, the system can make more accurate judgments and more reasonable responses. This not only improves the working efficiency of the system, but also greatly enhances its adaptability in complex environments.

[0140] It is worth mentioning that the various modules of the present invention use an efficient communication mechanism. For example, a high-speed serial communication interface is used between the distance sensing module 13 and the signal generating module 12, and the data transmission rate can reach 10Mbps. This high-speed communication ensures that the entire system can respond to environmental changes in a near real-time manner.

[0141] In general, the intelligent sensing warning protection system of the present invention realizes comprehensive protection against potential collision risks between drones and power facilities through a multi-level and multi-angle protection mechanism. The intelligent design of the system not only improves the protection effect, but also minimizes the interference with normal drone operations. This balanced design concept makes the system particularly suitable for application in complex power environments, providing a strong guarantee for the safe operation of power facilities.

[0142] The passive avoidance unit 4 of the present invention further comprises a fixed laying module 42, a warning module 43 and a protective device 44. The coordinated work of these modules further enhances the passive protection capability of the system and provides multiple guarantees for the safety of power facilities.

[0143] The main function of the fixed laying module 42 is to fix the warning light device. In a preferred embodiment of the present invention, the warning light device adopts an adjustable voltage design, which can automatically adjust the brightness according to the type of preset dangerous area. For example, for the high-voltage transmission line area, the warning light can be adjusted to the highest brightness, usually 10,000 lumens; while for the low-voltage power distribution area, it can be reduced to 5,000 lumens. This flexible brightness adjustment can not only adapt to different lighting environments, but also effectively save energy.

[0144] The warning module 43 is electrically connected to the fixed laying module 42, and its functions are more abundant. First, the module sets the brightness of the protective equipment according to the division of the safety level area and the warning type area. Secondly, when the drone is detected to enter the preset danger zone, the warning module 43 will actively turn on the warning light device. More importantly, the module can also control the warning light device to actively flash and change colors. For example, in a low-risk area, the warning light may flash yellow light at a frequency of 2Hz; in a high-risk area, it may flash red light at a frequency of 5Hz. This dynamic visual warning effect can more effectively attract the attention of the drone operator.

[0145] The protective device 44 is electrically connected to the warning module 43 and is a core component of the passive protection system of the present invention. The design of the device takes into account multiple dimensions: laying radius, laying height and laying thickness. These parameters are dynamically adjusted according to the safety level area and the warning type area. For example, in a high-risk area, the laying radius of the protective device may reach 50 meters, the height may reach 10 meters, and the thickness may be 2 meters; while in a low-risk area, these parameters may be reduced to 20 meters, 5 meters and 1 meter respectively. Through this flexible parameter adjustment, the system can provide the most suitable protection effect in different situations.

[0146] It is worth mentioning that the present invention also divides the danger level of the protective equipment according to the laying parameters of the protective equipment. This classification mechanism provides a more refined basis for the decision-making of the system and helps to achieve a more accurate protection strategy.

[0147] In another embodiment of the present invention, the protective device 44 includes a plurality of colorful protective balls 441. These protective balls are evenly distributed in the preset danger zone with the fixed laying module 42 as the center. The design of the protective balls also reflects the intelligent feature of the present invention: their laying radius, laying thickness and laying height are all positively correlated with the danger factor in the corresponding safety level zone.

[0148] For example, in an area with a risk factor of 0.3, the diameter of the protective balls may be set to 0.5 meters and the spacing may be 5 meters; in an area with a risk factor of 0.8, the diameter of the protective balls may be increased to 1 meter and the spacing may be reduced to 2 meters. This dynamic adjustment not only improves the protection effect, but also optimizes resource utilization. The protective balls are made of special reflective materials, which can maintain high visibility even in low light conditions. At the same time, they are also equipped with a flexible buffer structure to minimize damage to the drone even if a collision occurs.

[0149] An intelligent sensing warning protection system of the present invention also includes a comprehensive drone subsystem and a ground station subsystem. The coordinated operation of these two subsystems greatly enhances the functionality and reliability of the entire protection system.

[0150] The drone subsystem includes a flight control module 51, a signal module 52, a visual module 53, an early warning module 54 and a data module 55. The flight control module 51 is responsible for controlling the flight path and speed of the drone, and receiving and executing avoidance instructions. In a preferred embodiment of the present invention, the module adopts an advanced adaptive control algorithm, which can respond to environmental changes within 0.1 seconds, greatly improving the maneuverability of the drone.

[0151] The signal module 52 is electrically connected to the flight control module 51 and is responsible for two-way wireless communication with the ground station. The module uses spectrum adaptive technology and can automatically switch between multiple frequency bands such as 2.4GHz and 5.8GHz to ensure communication quality. At the same time, the signal module 52 can also receive warning signals and avoidance instructions, providing important support for the safe flight of the drone.

[0152] The visual module 53 is electrically connected to the signal module 52 and is used to obtain image information of the surrounding environment and identify power facilities and potential obstacles. The module uses a high-resolution image sensor with a resolution of up to 4K, and with advanced computer vision algorithms, it can accurately identify various power facilities in complex environments.

[0153] The warning module 54 is electrically connected to the visual module 53. Its main task is to judge the potential collision risk based on the image information obtained by the visual module and generate a warning signal. This module uses a deep learning algorithm and can accurately predict the potential collision risk through training with a large amount of historical data, with a false alarm rate of less than 0.1%.

[0154] The data module 55 is electrically connected to the warning module 54 and is responsible for storing flight data and environmental information to provide data support for intelligent decision-making. The module uses a high-speed solid-state hard drive with a storage capacity of 1TB, which can record and analyze a large amount of data in real time during flight.

[0155] The ground station subsystem includes a positioning module 61, a controller 62 and a data processing module 63. The positioning module 61 uses a combination of high-precision GPS and inertial navigation systems, and the positioning accuracy can reach the centimeter level. The controller 62 is electrically connected to the positioning module 61, generates avoidance instructions based on the drone location information and power facility data, and controls the opening and closing of the warning device. The data processing module 63 is electrically connected to the controller 62, and is responsible for analyzing flight data and environmental information, and continuously optimizing the avoidance strategy.

[0156] The drone subsystem and the ground station subsystem realize real-time data exchange and command transmission through wireless communication. The present invention adopts low-latency 5G communication technology, and the data transmission delay is less than 10 milliseconds, ensuring the efficient coordination of the entire system.

[0157] Through the above detailed description, it can be seen that the intelligent sensing warning protection system of the present invention embodies innovation and advancement in many aspects. From the overall architecture design to the specific module implementation, and then to the collaborative work between the various subsystems, the present invention has demonstrated comprehensive and in-depth technical considerations. This multi-level, multi-angle protection mechanism can not only effectively prevent the potential risk of collision between drones and power facilities, but also demonstrate extremely high adaptability and reliability in practical applications. For the increasingly complex safety protection needs of power facilities, the present invention undoubtedly provides a highly integrated, highly intelligent and practical solution.

[0158] It should be noted that 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 principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An intelligent sensing warning protection system, characterized in that: include: Protection monitoring unit for: Real-time collection of the distance between the drone and power facilities during flight; Divide the preset dangerous area into several safety level areas according to the type of power facilities; Divide the preset danger zone into several warning type areas according to the characteristics of the power channels in the power facilities; The early warning signal unit is electrically connected to the protection monitoring unit and is used to: Receiving the drone location data sent by the protection monitoring unit; Based on the drone location data, generate a warning signal with gradually increasing loudness, frequency, and intensity; An active avoidance unit is electrically connected to the early warning signal unit and is used to: Adaptive interference is performed according to the current flight altitude of the drone; A passive avoidance unit is electrically connected to the active avoidance unit and is used to: When the drone gets closer to the preset danger zone, protective equipment for warning is laid in front of the drone; Among them, the security levels corresponding to the several security level areas are gradually enhanced, and the types and contents of the early warning signals in the several warning type areas are gradually increased according to the risk factors.

2. The intelligent sensing warning protection system according to claim 1, characterized in that: The protection monitoring unit comprises: Region division module for: Divide the preset danger zone into several safety level areas; Divide the preset danger zone into several warning type areas; A signal generating module is electrically connected to the area dividing module and is used for: Generate early warning signals of drones; The distance sensing module is electrically connected to the signal generating module and is used for: Calculate the relative distance between the drone and the preset danger zone in real time.

3. The intelligent sensing warning protection system according to claim 2, characterized in that: The active avoidance unit comprises: Active avoidance module for: Actively avoid maneuvers based on the drone’s current flight altitude; Reduce the frequency and loudness of warning signals; Wherein, the active avoidance module includes: Distance calculation submodule, used for: Set a preset safety distance; The circular area in front of the preset danger zone with the preset safety distance as the circumference is positioned as the active avoidance area; The distance signal generating submodule is electrically connected to the distance calculating submodule and is used for: The loudness and frequency of the warning signal are set to be positively correlated with the radius of the active avoidance area; The active interference signal generating module is electrically connected to the distance signal generating submodule and is used for: Generate flight track interference signals within the active avoidance area; The flight track interference signal varies in a positive correlation with the radius of the active avoidance area.

4. The intelligent sensing warning protection system according to claim 1, characterized in that: The passive avoidance unit comprises: Passive avoidance module for: When the drone gets closer to the preset danger zone, a protective device for warning is laid in front of the drone; Wherein, the passive avoidance module also includes: Distance judgment submodule, used for: Compare in real time whether the flight distance of the drone in the preset danger zone is less than the safe distance; If so, a warning trigger signal is issued; The protective equipment opening submodule is electrically connected to the distance judgment submodule and is used to: According to the warning trigger signal, protective equipment for warning is laid in front of the drone.

5. The intelligent sensing warning protection system according to claim 2, characterized in that: The signal generation module is used to generate an initial warning signal with a fixed frequency and loudness, and the area division module locates the drone at the closest distance to the power equipment in the preset danger zone as the warning type area with the highest risk factor in the safety level area.

6. The intelligent sensing warning protection system according to claim 2, characterized in that: The distance sensing module is used to collect the flight distance of the drone in real time. When the collected distance between the drone and the front of the preset danger area is greater than the safety distance corresponding to the warning type area with the highest safety level in the safety level area, the signal generation module does not issue a warning signal.

7. The intelligent sensing warning protection system according to claim 6, characterized in that: The distance sensing module is used to collect the flight speed of the drone in real time. When the signal generation module sends a warning signal corresponding to the warning type area with the highest risk factor, and the drone's flight speed is greater than a preset flight speed, the distance sensing module does not calculate the relative distance between the drone and the preset danger area.

8. The intelligent sensing warning protection system according to claim 1, characterized in that: The passive avoidance unit comprises: Fixed laying modules for: Fixed laying warning light device; Wherein, the warning light device has an adjustable voltage according to the type of the preset danger zone; The warning module is electrically connected to the fixed laying module and is used to: Setting the brightness of a plurality of the protective devices according to a plurality of the safety level areas and a plurality of the warning type areas; When the drone enters a preset dangerous area, the warning light device will be automatically turned on; Controlling the warning light device to actively flash and change color; A protective device, electrically connected to the warning module, is used to: Setting a plurality of the paving radii according to a plurality of the safety level areas and a plurality of the warning type areas; Setting a plurality of the paving heights according to a plurality of the safety level areas and a plurality of the warning type areas; Setting a plurality of paving thicknesses according to a plurality of safety level areas and a plurality of warning type areas; The danger level of protective equipment is divided according to the laying radius, laying thickness and laying height of the protective equipment.

9. The intelligent sensing warning protection system according to claim 8, characterized in that: The protective device includes a plurality of brightly colored protective balls, which are evenly distributed in a preset danger zone with a fixed laying module as the center. The laying radius, laying thickness and laying height of the protective balls are positively correlated with the danger coefficient in the corresponding safety level zone.

10. An intelligent sensing warning protection system according to any one of claims 1 to 9, characterized in that: Also includes: UAV subsystems, including: Flight control module for: Control the flight path and speed of the drone; receiving and executing evasion instructions; A signal module is electrically connected to the flight control module and is used to: Two-way wireless communication with ground station; Receive warning signals and evasive instructions; The visual module is electrically connected to the signal module and is used for: Acquire image information of the surrounding environment; Identify electrical facilities and potential obstructions; The early warning module is electrically connected to the visual module and is used to: Based on the image information obtained by the visual module, determine the potential collision risk; Generate early warning signals; A data module is electrically connected to the early warning module and is used to: Store flight data and environmental information; Provide data support for intelligent decision-making; Ground station subsystem, including: Positioning module for: Track the drone’s location in real time; A controller is electrically connected to the positioning module and is used to: Generate avoidance instructions based on drone location information and power facility data; Control the opening and closing of the warning device; A data processing module is electrically connected to the controller and is used to: Analyze flight data and environmental information; Optimize avoidance strategies; The UAV subsystem and the ground station subsystem realize real-time data exchange and command transmission through wireless communication.

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