Power transmission line information acquisition system based on unmanned aerial vehicle

Abstract

The invention relates to the technical field of cable information acquisition, in particular to an unmanned aerial vehicle-based power transmission line information acquisition system, which comprises a power transmission module, a detection module and an analysis module, and is characterized in that the analysis module judges the spacing distance between an unmanned aerial vehicle and a power transmission line according to magnetic field intensity, and draws a function image in response to the spacing distance greater than a preset distance; and correcting a preset flight path according to the property of the function image or controlling the unmanned aerial vehicle to fly to an extreme point to collect information. According to the invention, when image information acquisition is carried out, whether the power transmission line falls after last information acquisition can be found in time according to a distance comparison result, if so, the second flight mode is executed, and the information is further acquired by reducing the spacing distance, so that the data is more accurate, and the efficiency is improved. Therefore, the accuracy of the collected data is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of cable information collection, and in particular to a power transmission line information collection system based on an unmanned aerial vehicle. Background Art

[0002] With the continuous development of my country's power industry, the transmission line network, as an important part of the national power grid, is an important national infrastructure, and its number and scale are constantly expanding. With the continuous development of transmission line inspection technology, from the previous manual inspection to the inspection with handheld image acquisition equipment, and then to the current drone inspection, the efficiency is constantly improving. However, for the images obtained by the inspection, manual secondary judgment is required. Under the complex high-altitude aerial images of drones, it is difficult to specifically and effectively collect problem areas. Therefore, how to quickly collect information on problem areas of transmission lines has become an urgent problem to be solved.

[0003] The prior art discloses a detection device and tracking method for power frequency power transmission lines and equipment, comprising: a drone body, a passive array magnetic induction antenna device vertically arranged on the head of the drone body, an array scanning and acquisition control circuit arranged inside the drone body, a posture and distance data processor and a flight controller. The present invention performs real-time high-speed sampling of the magnetic field around the power transmission line by setting the passive array magnetic induction antenna device, and optimizes the sampling frequency and time by data analysis and comparison, so that the data collected by the array scanning and acquisition control circuit is sent to the posture and distance data processor, and the flight control posture is controlled and analyzed by the posture data processor respectively, and the distance of the drone from the power transmission line is controlled in real time by the distance data processor. It can be seen that the detection device and tracking method for power frequency power transmission lines and equipment have the following problems: in the process of collecting power transmission line information by drone, due to the bending of the transmission line, there will be a blind spot in the data collection process, and the collected data will deviate from the actual situation, resulting in low accuracy of the measured data. Summary of the invention

[0004] To this end, the present invention provides a transmission line information collection system based on drones, so as to overcome the problem that in the process of collecting information by drones in the prior art, the bending of the transmission lines will cause blind spots in the data collection process, and the collected data will deviate from the actual situation, thereby resulting in low accuracy of the measured data.

[0005] To achieve the above object, the present invention provides a transmission line information collection system based on a drone, comprising:

[0006] The power transmission module includes a plurality of line sub-intervals, and the line sub-intervals are separated by a plurality of navigation marks arranged on the transmission line as interval points;

[0007] The detection module is connected to the power transmission module and includes a plurality of drones for collecting images of the power transmission line and a current detection unit, and collects information from the power transmission module along a preset flight path, wherein the drone has the following flight modes:

[0008] The first flight mode, in the first flight mode, collects image information of the power transmission line and compares the operating distance within the line sub-interval with the standard distance. If there is a difference, the second flight mode is executed;

[0009] In the second flight mode, the electromagnetic field sensor provided on the drone is turned on to re-collect information of the corresponding line sub-interval according to the preset flight path;

[0010] an analysis module connected to the detection module, the analysis module determines the interval distance between the UAV and the power transmission line according to the magnetic field strength, and in response to the interval distance being greater than the preset distance, draws a function graph with the horizontal axis being the flight distance and the vertical axis being the interval distance within the preset flight path corresponding to the current line sub-interval, and executes a corresponding operation mode according to the function graph;

[0011] In response to the function graph being a unimodal distribution, the preset flight path corresponding to the line sub-interval is modified according to the drop amplitude of the transmission line;

[0012] In response to the existence of at least two maximum values ​​or minimum values ​​in the function graph, it is determined that there is a fault in the transmission line, and the analysis module controls the drone to fly to the extreme point to collect the transmission line fault information.

[0013] As a preferred technical solution of the UAV-based power transmission line information collection system, the analysis module determines the interval distance between the UAV and the power transmission line according to the magnetic field strength, and determines whether the preset flight path meets the requirements according to the interval distance, wherein:

[0014] If the interval distance is greater than the preset distance, it is determined that the preset flight path does not meet the requirements, and the magnetic field strength of the cable during the flight of the drone in the preset flight path corresponding to the current line sub-interval is obtained;

[0015] If the interval distance is less than or equal to the preset distance, it is determined that the preset flight path meets the requirements and information collection is performed.

[0016] As a preferred technical solution for the UAV-based transmission line information collection system, the analysis module obtains the flight distance and magnetic field strength of the UAV on the preset flight path corresponding to the current line sub-interval in response to the preset flight path not meeting the requirements, and takes the end point of the preset flight path corresponding to the current line sub-interval as the origin to draw a function graph with the horizontal axis being the flight distance of the UAV on the preset flight path corresponding to the current line sub-interval and the vertical axis being the interval distance.

[0017] As a preferred technical solution for the UAV-based transmission line information collection system, the analysis module responds to the function graph being a unimodal distribution, determines that the reason why the preset flight path corresponding to the line sub-interval does not meet the requirements is that the transmission line is falling, and controls the UAV to reduce the interval distance according to the falling amplitude of the transmission line, and the reduction amount is positively correlated with the falling amplitude.

[0018] As a preferred technical solution for the UAV-based transmission line information collection system, the analysis module responds to the existence of at least two maximum values ​​or minimum values ​​in the function graph, and determines that the reason why the preset flight path corresponding to the line sub-interval does not meet the requirements is that the transmission line may have a fault. The analysis module obtains the flight distance corresponding to the extreme point in the function graph, and controls the UAV to fly to the corresponding position to obtain fault information.

[0019] As a preferred technical solution for the power transmission line information collection system based on a drone, the drone also includes: an infrared sensor and an ultrasonic sensor.

[0020] As a preferred technical solution for the UAV-based power transmission line information collection system, the analysis module verifies the detection result of the interval distance according to the ultrasonic round-trip time measured by the ultrasonic sensor.

[0021] As a preferred technical solution for the UAV-based power transmission line information collection system, the analysis module establishes an electromagnetic field distribution law model based on the relationship between the current, voltage and interval distance of the transmission line as input, and outputs the interval distance if the magnetic field strength, current and voltage are input.

[0022] As a preferred technical solution for the UAV-based power transmission line information acquisition system, the current detection unit is configured as a Rogowski coil current sensor.

[0023] Compared with the prior art, the beneficial effect of the present invention is that during the inspection of the transmission line, due to the age, dew, thermal expansion and contraction or ice, the transmission line will fall. As time goes by, when the drone collects information according to the preset flight route, the collected information data will be biased, which will have an adverse effect on the subsequent data analysis. On the one hand, the present invention compares the interval distance with the preset distance to determine whether the preset flight path meets the requirements, and adjusts the preset flight path when it does not meet the requirements, so that when the drone collects information on the adjusted preset flight path, the collected data is more accurate. On the other hand, in actual use, the transmission line should be a smooth curve due to its own gravity, and the distance change curve between the preset flight route and the transmission line should also be a smooth curve. Therefore, the electric field strength of the transmission line should also satisfy the gradual change of the smooth curve. If the transmission line is abnormal, the electric field will change significantly, the function graph will not be smooth and will have at least two maximum or minimum values. At this time, the drone is controlled to fly to the extreme point and the information at the extreme point is collected. The abnormal data at the extreme point can be analyzed first, and the data at the extreme point can be collected in a focused manner, rather than collecting information as a whole, thereby increasing the accuracy of the collected data.

[0024] Furthermore, the present invention can select the first flight mode and the second flight mode, and when collecting image information, it can promptly discover whether the power transmission line has fallen after the last information collection according to the comparison result of the running distance and the standard distance. If it has occurred, the second flight mode is executed, and the information is further collected by reducing the interval distance, making the data more accurate. In addition, since the extreme point data is collected in a focused manner, the subsequent data analysis can give priority to the analysis of the data at the extreme point, thereby increasing the speed of subsequent data processing and the practicality of the collected data. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 : is a structural block diagram of a power transmission line information collection system based on a drone in an embodiment of the present invention;

[0026] Figure 2 A flow chart of determining whether the preset flight path meets the requirements according to the interval distance according to an embodiment of the present invention;

[0027] Figure 3 The figure is a flow chart of determining the adjustment method of the spacing distance according to an embodiment of the present invention. DETAILED DESCRIPTION

[0028] In order to make the objects and advantages of the present invention more clearly understood, the present invention is further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0029] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the protection scope of the present invention.

[0030] It should be noted that, in the description of the present invention, terms such as "up", "down", "left", "right", "inside" and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings. This is merely for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0031] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0032] See also Figure 1 As shown, it is a structural block diagram of a power transmission line information collection system based on a drone in an embodiment of the present invention. The power transmission line information collection system based on a drone includes:

[0033] The power transmission module includes a plurality of line sub-intervals, and the line sub-intervals are separated by a plurality of navigation marks arranged on the transmission line as interval points;

[0034] The detection module is connected to the power transmission module and includes several drones for collecting images of the power transmission line and a current detection unit. The drones collect information from the power transmission module along a preset flight path. The drones have the following flight modes:

[0035] In the first flight mode, image information of the transmission line is collected, and the operating distance within the line sub-interval is compared with the standard distance. If there is a difference, the second flight mode is executed; the value of the standard distance is: the flight distance on the preset flight path corresponding to the last information collection when the drone flew to the interval point.

[0036] In the second flight mode, the electromagnetic field sensor installed on the drone is turned on to re-collect information on the corresponding line sub-section according to the preset flight path.

[0037] In the above embodiment, during the last information collection, the drone collected a navigation mark after flying a certain distance. This time, after the detection drone flew the same distance, the corresponding navigation mark was not collected or the corresponding navigation mark was collected in advance, indicating that the cable may further fall during the two information collection periods. At this time, only by collecting image information, it may not be possible to collect information on the transmission line. At this time, the second flight mode is used to further collect information on the transmission line, so that the collected data is more consistent with the actual situation of the transmission line, thereby increasing the accuracy of the collected data.

[0038] An analysis module is connected to the detection module. The analysis module determines the interval distance between the UAV and the power transmission line according to the magnetic field strength. In response to the interval distance being greater than the preset distance, the analysis module draws a function graph with the horizontal axis being the flight distance and the vertical axis being the interval distance within the preset flight path corresponding to the current line sub-interval, and executes a corresponding operation mode according to the function graph;

[0039] In response to the function graph being a unimodal distribution, the preset flight path corresponding to the line sub-interval is modified according to the drop amplitude of the transmission line;

[0040] In response to the existence of at least two maximum values ​​or minimum values ​​in the function graph, it is determined that there is a fault in the transmission line, and the analysis module controls the drone to fly to the extreme point to collect the transmission line fault information.

[0041] It should be understood that the second flight mode is executed only if a difference occurs between the running distance and the standard distance in the first flight mode. In this embodiment, the analysis module only works in the second flight mode.

[0042] Specifically, navigation marks are points pre-set on the transmission line. The optional locations are conductor intersections, insulator nodules, lightning arresters, conductor identification and color markings, reflective signs and safety warning signs, and bird-proofing devices. The specific locations are determined based on actual conditions.

[0043] In the above embodiment, accurate data collection is performed in combination with the flight mode and the electromagnetic field sensor, so that the operating status of the transmission line can be obtained in a timely manner, especially when an abnormality is found in the line (such as falling or failure), a timely response can be made, and the corresponding flight mode can be adopted for fault location and data collection, thereby reducing the impact of the fault location data on the overall data, thereby increasing the accuracy of the measured data.

[0044] See also Figure 2 As shown, it is a flow chart of determining whether a preset flight path meets the requirements according to the interval distance in an embodiment of the present invention, including:

[0045] If the interval distance is greater than the preset distance, it is determined that the preset flight path does not meet the requirements, and the magnetic field strength of the cable during the flight of the drone in the preset flight path corresponding to the current line sub-interval is obtained;

[0046] If the interval distance is less than or equal to the preset distance, it is determined that the preset flight path meets the requirements and information collection is performed.

[0047] In detail, the selection of the preset distance is selected according to the actual situation, and is determined according to the flight altitude, the installation of power facilities, environmental factors, flight mission requirements, sensor assistance, and regulatory requirements. In this embodiment, the transmission line (transmission voltage 35kV) and the minimum safe distance are 10 meters. Combined with the conditions of the drone itself, in order to ensure electrical safety and the clarity of image acquisition, the maximum interval distance is 20 meters. Therefore, in the actual acquisition process, the interval distance ranges from 10 meters to 20 meters. On this basis, in order to reserve a safe operating space, the preset distance in this embodiment is 18 meters, and the initial interval distance of the drone is 15 meters.

[0048] Specifically, the present invention compares the interval distance with the preset distance to determine whether the preset flight path meets the requirements, thereby adjusting the subsequent preset flight route to make the collected data more accurate.

[0049] Furthermore, in response to the preset flight path not meeting the requirements, the analysis module obtains the flight distance and magnetic field strength of the UAV on the preset flight path corresponding to the current line sub-interval, takes the endpoint of the preset flight path corresponding to the current line sub-interval as the origin, draws a function graph with the horizontal axis being the flight distance of the UAV on the preset flight path corresponding to the current line sub-interval and the vertical axis being the interval distance, and obtains the extreme points in the function graph.

[0050] Specifically, if an abnormality occurs in the transmission line, the electric field will change significantly, the function graph will not be smooth and extreme values ​​will appear. By obtaining the extreme points of the function graph, the flight distance of the preset flight path corresponding to the extreme point in the current line sub-interval can be obtained, thereby obtaining the specific position of the extreme point, which is convenient for subsequent drones to collect information on the extreme point position. There is a certain difference between the data at the extreme point position and the data at other positions. If the overall detection is performed directly, the data at the extreme point will affect the overall monitoring results. By focusing on the collection of extreme point data, the impact on information collection at other normal operating parts can be reduced, thereby increasing the accuracy of the collected data.

[0051] Furthermore, in response to the function graph being a unimodal distribution, the analysis module determines that the reason why the preset flight path corresponding to the line sub-interval does not meet the requirements is that the transmission line is falling. The drone is controlled to reduce the interval distance according to the falling amplitude of the transmission line, and the reduction amount is positively correlated with the falling amplitude.

[0052] In the above embodiment, the unimodal distribution means that within any range, the data or function value has a highest point (peak), and then as the value or variable changes, the data or function value gradually decreases, showing a single fluctuation trend. During the flight, due to the fall of the transmission line, if the drone starts from the two ends where the transmission line and the transmission tower are connected, the interval distance gradually increases with the increase of the flight distance. After the drone flies over the lowest point of the transmission line, the interval distance gradually decreases. Therefore, the curve form of the function image flying between the transmission towers should be: the interval distance increases first and then decreases with the increase of the flight distance. The selection of the line sub-interval is to select a part of the curve of the function image flying between the transmission towers, which should also meet the unimodal distribution.

[0053] See also Figure 3 As shown, it is a flow chart of determining the adjustment method of the spacing distance in an embodiment of the present invention, including:

[0054] If the falling amplitude is greater than the preset falling amplitude, the first adjustment coefficient is selected to reduce the interval distance to a corresponding value.

[0055] If the falling amplitude is less than or equal to the preset falling amplitude, the second adjustment coefficient is selected to reduce the interval distance to a corresponding value.

[0056] Furthermore, in this embodiment, since the initial interval distance is 15 meters and the minimum safety distance is 10 meters, the UAV can be adjusted within the range of 10 meters to 15 meters. Since the purpose of the adjustment is to reduce the interval distance, the selection range of the adjustment coefficient is between (0.67, 1.0). In this embodiment, the first adjustment coefficient is 0.85 and the second adjustment coefficient is 0.95. When selecting, it is sufficient that the reduction amount is positively correlated with the falling amplitude. If the first adjustment coefficient is selected to adjust the interval distance, the adjusted interval distance is: 15×0.85=12.75 meters.

[0057] In detail, the falling amplitude is the ratio of the vertical distance to the horizontal distance from the starting falling position to the extreme point. In the present embodiment, the preset falling amplitude is 0.15. In implementation, the preset falling amplitude can be adaptively adjusted according to the actual scenario (weight per unit length of the transmission line, tensile strength), as long as the transmission line does not meet the corresponding laying standard when the falling amplitude reaches the preset falling amplitude. No further details will be given here.

[0058] Furthermore, in response to the existence of at least two maximum values ​​or minimum values ​​in the function graph, the analysis module determines that the reason why the preset flight path corresponding to the line sub-interval does not meet the requirements is that there may be a fault in the transmission line. The analysis module obtains the flight distance corresponding to the extreme point in the function graph and controls the UAV to fly to the corresponding position to obtain fault information.

[0059] In detail, during the actual use of the transmission line, the natural fall appears as a smooth curve, and the distance between the preset flight path and the transmission line also increases slowly, without sudden increase or decrease. If the transmission line is abnormal, the electric field will change significantly. At this time, the interval distance calculated according to the magnetic field will increase or decrease suddenly, and the function graph will be uneven and have at least two maximum or minimum values. At this time, the drone is controlled to fly to the extreme point and the information at the extreme point is collected. The abnormal data at the extreme point can be analyzed first, which increases the speed of subsequent data analysis and thus increases the practicality of the collected data.

[0060] Furthermore, the drone also includes: an infrared sensor and an ultrasonic sensor.

[0061] Specifically, the analysis module verifies the detection result of the interval distance according to the ultrasonic round trip time measured by the ultrasonic sensor, and if the result deviation is greater than the deviation allowed by the power transmission line data specification, it is determined that the detection result of the interval distance is inaccurate.

[0062] In detail, the analysis module establishes an electromagnetic field distribution law model based on the relationship between the current, voltage and spacing distance of the transmission line as input, and outputs the spacing distance if the magnetic field strength, voltage and current in the transmission line measured by the current detection unit are input.

[0063] Specifically, the electromagnetic field distribution law model of the transmission line can be established through numerical simulation methods: (FDTD, FEM, BEM), electromagnetic field analysis software (COMSOL, ANSYS HFSS) or modeling methods based on experimental data, all of which are existing technologies and will not be described in detail here.

[0064] Specifically, the current detection unit is configured as a Rogowski coil current sensor, which is fixedly mounted on the corresponding position of the transmission line, preferably at the connection point of the transmission line tower. The Rogowski coil current sensor has a wide-band measurement capability and can accurately measure the power frequency current and possible high-frequency harmonic current in the transmission line. The measurement data is filtered and amplified before being transmitted to the analysis module, which can provide an accurate basis for electromagnetic field distribution calculation and fault diagnosis.

[0065] The determination flow chart and structure block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the device, method and computer program product according to various embodiments of the present application. In this regard, each box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based device that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0066] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

[0067] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A transmission line information collection system based on drones, characterized in that: include: The power transmission module includes a plurality of line sub-intervals, and the line sub-intervals are separated by a plurality of navigation marks arranged on the transmission line as interval points; The detection module is connected to the power transmission module and includes a plurality of drones for collecting images of the power transmission line and a current detection unit, and collects information from the power transmission module along a preset flight path, wherein the drone has the following flight modes: In the first flight mode, image information of the power transmission line is collected and the running distance within the line sub-section is compared with the standard distance. If there is a difference, the second flight mode is executed; In the second flight mode, the electromagnetic field sensor provided on the drone is turned on to re-collect information of the corresponding line sub-interval according to the preset flight path; an analysis module connected to the detection module, the analysis module determines the interval distance between the UAV and the power transmission line according to the magnetic field strength, and in response to the interval distance being greater than the preset distance, draws a function graph with the horizontal axis being the flight distance and the vertical axis being the interval distance within the preset flight path corresponding to the current line sub-interval, and executes a corresponding operation mode according to the function graph; In response to the function graph being a unimodal distribution, the preset flight path corresponding to the line sub-interval is modified according to the drop amplitude of the transmission line; In response to the existence of at least two maximum values ​​or minimum values ​​in the function graph, it is determined that there is a fault in the transmission line, and the analysis module controls the drone to fly to the extreme point to collect the transmission line fault information.

2. The power transmission line information collection system based on drone according to claim 1 is characterized in that: The analysis module determines the distance between the UAV and the power transmission line according to the magnetic field strength, and determines whether the preset flight path meets the requirements according to the distance, wherein: If the interval distance is greater than the preset distance, it is determined that the preset flight path does not meet the requirements, and the magnetic field strength of the cable during the flight of the drone in the preset flight path corresponding to the current line sub-interval is obtained; If the interval distance is less than or equal to the preset distance, it is determined that the preset flight path meets the requirements and information collection is performed.

3. The power transmission line information collection system based on drone according to claim 2 is characterized in that: In response to the preset flight path not meeting the requirements, the analysis module obtains the flight distance and magnetic field strength of the UAV on the preset flight path corresponding to the current route sub-interval, and draws a function graph with the horizontal axis being the flight distance of the UAV on the preset flight path corresponding to the current route sub-interval and the vertical axis being the interval distance, taking the endpoint of the preset flight path corresponding to the current route sub-interval as the origin.

4. The power transmission line information collection system based on drone according to claim 3 is characterized in that: In response to the function graph being a unimodal distribution, the analysis module determines that the reason why the preset flight path corresponding to the line sub-interval does not meet the requirements is that the transmission line is falling, and controls the drone to reduce the interval distance according to the falling amplitude of the transmission line, and the reduction amount is positively correlated with the falling amplitude.

5. The UAV-based power transmission line information collection system according to claim 4 is characterized in that: In response to the existence of at least two maximum values ​​or minimum values ​​in the function graph, the analysis module determines that the reason why the preset flight path corresponding to the line sub-interval does not meet the requirements is that there may be a fault in the transmission line. The analysis module obtains the flight distance corresponding to the extreme point in the function graph, and controls the UAV to fly to the corresponding position to obtain fault information.

6. The power transmission line information collection system based on drone according to claim 1 is characterized in that: The drone also includes an infrared sensor and an ultrasonic sensor.

7. The UAV-based power transmission line information collection system according to claim 1, characterized in that: The analysis module verifies the detection result of the interval distance according to the ultrasonic round trip time measured by the ultrasonic sensor.

8. The power transmission line information collection system based on drone according to claim 1 is characterized in that: The analysis module establishes an electromagnetic field distribution law model based on the relationship between the current, voltage and the spacing distance of the transmission line as input, and outputs the spacing distance if the magnetic field strength, current and voltage are input.

9. The power transmission line information collection system based on drone according to claim 1, characterized in that: The current detection unit is configured as a Rogowski coil current sensor.

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