Ultra-high voltage power transmission line electricity testing system based on unmanned aerial vehicle carrier

Abstract

The invention discloses an ultra-high voltage power transmission line electricity testing system based on an unmanned aerial vehicle carrier, and the system comprises a controller, and an electromagnetic sensor, an unmanned aerial vehicle carrier, an electricity testing module and a connection module which are controlled by the controller, and controls the unmanned aerial vehicle carrier to fly to an ultra-high voltage power transmission line signal abnormal position. Enabling the ultra-high voltage transmission line to be in close contact with the electricity testing assembly, obtaining dynamic electric field data, detected by the electricity testing assembly in real time, of a signal abnormal position of the ultra-high voltage transmission line so as to judge whether the dynamic electric field data exceeds a preset threshold value or not, and when it is detected that the dynamic electric field data exceeds the preset threshold value, judging whether the dynamic electric field data exceeds the preset threshold value or not. And sending the generated alarm signal to the electric control box, so that the electric control box triggers an alarm. According to the ultra-high-voltage power transmission line electricity testing system based on the unmanned aerial vehicle carrier, the ultra-high-voltage power transmission line detection result can be accurately provided, and the accuracy of the ultra-high-voltage power transmission line detection result is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of ultra-high voltage transmission line detection, and in particular to an ultra-high voltage transmission line power detection system based on an unmanned aerial vehicle carrier. Background Art

[0002] During the construction of transmission line wiring and subsequent operation and maintenance, when the transmission line is shut down for maintenance, it is necessary to first confirm whether the line is energized. This step is called "electricity testing."

[0003] At present, traditional ultra-ultra-high voltage transmission line inspection and testing mostly uses workers wearing shielding clothing and carrying live ultra-ultra-high voltage transmission line identification instruments to test the lines. The current live ultra-ultra-high voltage transmission line identification instruments use a closed detection method with sound and light signals as the basis for judgment, and the detection results are inaccurate.

[0004] In order to change the way that traditional electrical testing systems rely on sound and light signals and improve the accuracy of ultra-high voltage transmission line detection results, it has become a technical problem that technical personnel in this field need to solve urgently. Summary of the invention

[0005] The present invention provides an ultra-high voltage transmission line electricity testing system based on an unmanned aerial vehicle carrier, so as to solve the technical problem of inaccurate results of traditional electricity testing methods, so as to achieve the effect of high accuracy of ultra-high voltage transmission line detection results.

[0006] In order to solve the above technical problems, an embodiment of the present invention provides an ultra-high voltage transmission line power testing system based on an unmanned aerial vehicle carrier, comprising a controller and an electromagnetic sensor controlled by the controller, an unmanned aerial vehicle carrier, a power testing module and a connection module;

[0007] The UAV carrier is connected to the electrical testing module via the connection module;

[0008] The electric inspection module includes an electric inspection component and an electric control box, the electromagnetic sensor is electrically connected to the electric control box, and the electric inspection component is electrically connected to the electric control box;

[0009] The controller is configured to:

[0010] When receiving the electric field abnormality signal of the ultra-ultra-high voltage transmission line detected by the electromagnetic sensor, the drone carrier is controlled to fly to the position where the signal of the ultra-ultra-high voltage transmission line is abnormal, and the generated mechanical deployment signal is sent to the electric inspection component, so that the ultra-ultra-high voltage transmission line is in close contact with the electric inspection component;

[0011] Acquire the dynamic electric field data of the abnormal position of the ultra-high voltage transmission line signal detected in real time by the electric detection component to determine whether the dynamic electric field data exceeds a preset threshold;

[0012] When it is detected that the dynamic electric field data exceeds a preset threshold, the generated alarm signal is sent to the electric control box to trigger the alarm of the electric control box; when it is detected that the dynamic electric field data does not exceed the preset threshold, a data report is generated based on the dynamic electric field data.

[0013] As one of the preferred solutions, the electrical testing component is built into a box, and an electric push rod and a telescopic mechanism are also provided in the box;

[0014] The telescopic mechanism comprises a stepping motor, a lead screw, a horizontal connecting rod and a driving rod;

[0015] A through hole is provided in the middle of the horizontal connecting rod, the screw rod is provided with an external thread, and the through hole is provided with an internal thread matched with the external thread of the screw rod; one end of the screw rod is connected to the stepping motor, and the other end of the screw rod is connected to the horizontal connecting rod;

[0016] The driving rods are provided at both ends of the horizontal connecting rod, one end of the driving rod is connected to the horizontal connecting rod, the other end of the driving rod is hinged to one end of the electrical testing component, and the other end of the electrical testing component is connected to the ultra-high voltage transmission line.

[0017] As one of the preferred solutions, the electrical testing assembly includes an electrical testing connecting rod, an electrical testing sheet, a pressure rod, a pressure sensor, an elastic ejection member and an elastic reset member;

[0018] The electrical test connecting rod comprises a connecting piece, a storage plate and a storage piece; the connecting piece is connected to one end of the storage plate, and the other end of the storage plate is connected to the storage piece;

[0019] The connecting member is provided with a through hole, and the through hole is adapted to the electric push rod;

[0020] The test strips are evenly arranged on the placement board, and the pressure rod is slidably arranged on the placement board;

[0021] A pressure sensor is arranged on the pressure rod, and the pressure sensor is electrically connected to the electric control box;

[0022] The pressure rod is also provided with the elastic ejector, and the elastic ejector is adapted to the electric push rod;

[0023] The elastic reset members are arranged on the storage plate at equal intervals.

[0024] As one preferred solution, the connection module includes a flange and a restraining mechanism;

[0025] One end of the flange is connected to the electrical testing module, and the other end of the flange is connected to a restraining mechanism, wherein the restraining mechanism includes a base and a plurality of ribs fixedly connected to the base;

[0026] The base is provided with a first clamping groove for clamping the drone carrier, and each of the ribs is coated on the outer surface of the drone carrier.

[0027] As one of the preferred solutions, a camera assembly is also provided on the driving rod, and a data output end of the camera assembly is electrically connected to the electric control box.

[0028] As one of the preferred solutions, a second clamping groove for clamping the electromagnetic sensor is provided at the connection between the storage plate and the object receiving member, and the electromagnetic sensor is electrically connected to the electric control box.

[0029] As one of the preferred solutions, the electrical testing module further includes a supporting assembly, and the supporting assembly is hinged to the connecting piece.

[0030] As one of the preferred solutions, the support assembly is symmetrically provided with rectangular holes, and the driving rod is hinged to the connecting member through the rectangular holes.

[0031] As one of the preferred solutions, a locking protrusion is provided on one side of the pressure rod, a locking groove is provided between the test piece and the storage plate, and the locking protrusion is matched with the locking groove.

[0032] As one preferred solution, the controller is further configured as:

[0033] When the electromagnetic sensor detects an abnormal electric field signal of the ultra-ultra-high voltage transmission line, the UAV carrier is controlled to fly to the abnormal position of the ultra-ultra-high voltage transmission line signal. When it is detected that the position result output by the camera component does not meet the preset value, a corresponding position adjustment signal is generated to enable the electrical testing component to control the contact position with the ultra-ultra-high voltage transmission line according to the position adjustment signal.

[0034] As one of the preferred solutions, it also includes a supporting tripod arranged at the bottom of the UAV carrier, the connecting module is arranged on the supporting tripod, the connecting module includes a contact electrode rod arranged on the supporting tripod and a connecting module body fixed on the contact electrode rod, and the connecting module body is electrically connected to the contact electrode rod.

[0035] As one of the preferred schemes, the connecting module also includes an elastic pressure-bearing member arranged on the supporting bracket and an extended operating rod arranged on the elastic pressure-bearing member, the elastic pressure-bearing member includes a first pressure-bearing plate, an elastic coil and a second pressure-bearing plate, the first pressure-bearing plate is fixed on the supporting bracket, the elastic coil is fixed on the top of the first pressure-bearing plate, the second pressure-bearing plate is fixed on the top of the elastic coil, the extended operating rod is arranged on the top of the second pressure-bearing plate, and the contact electrode rod is arranged at the end of the extended operating rod.

[0036] As one of the preferred schemes, the supporting tripod includes two diagonal bars, two horizontal cross bars and two horizontal longitudinal bars. The two diagonal bars are symmetrically arranged at the bottom of the UAV carrier. The horizontal cross bar is arranged at one end of the diagonal bar away from the UAV carrier, and the two horizontal cross bars are arranged in parallel with a spacing. The two ends of the horizontal longitudinal bar are respectively fixed on the two horizontal cross bars, and the two horizontal longitudinal bars are also arranged in parallel with a spacing, and the bottom of the first pressure plate is arranged on the two horizontal longitudinal bars.

[0037] Compared with the prior art, the embodiments of the present invention have the following advantages:

[0038] (1) The present invention uses an unmanned aerial vehicle carrier to drive an electrical testing module to perform high-altitude electrical testing operations, thereby ensuring accurate measurement of high-voltage signals in various electric field environments, providing accurate ultra-high voltage transmission line detection results, and improving the accuracy of ultra-high voltage transmission line detection results.

[0039] (2) The present invention uses an unmanned aerial vehicle carrier to drive the electrical testing module to perform high-altitude electrical testing operations. There is no need for operators to wear shielding clothing or carry a live ultra-high voltage transmission line identification instrument to test the line, which reduces the risk of electric shock for operators, greatly reduces labor intensity, and simplifies the electrical testing steps. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is a schematic diagram of the overall structure of an ultra-high voltage transmission line power testing system based on an unmanned aerial vehicle carrier in one embodiment of the present invention;

[0041] Figure 2 It is a schematic diagram of the working state structure of an ultra-high voltage transmission line power testing system based on an unmanned aerial vehicle carrier in one embodiment of the present invention;

[0042] Figure 3 It is a schematic diagram of the internal structure of an electric power testing module of an ultra-high voltage transmission line electric power testing system based on an unmanned aerial vehicle carrier in one embodiment of the present invention when the system is not in operation;

[0043] Figure 4It is a schematic diagram of the internal structure of an electric power testing module of an ultra-high voltage transmission line electric power testing system based on an unmanned aerial vehicle carrier in one embodiment of the present invention when in working state;

[0044] Figure 5 It is a side view of an electric power testing module of an ultra-high voltage transmission line electric power testing system based on an unmanned aerial vehicle carrier in one embodiment of the present invention when in working state;

[0045] Figure 6 It is a cross-sectional view of an electric power testing module of an ultra-high voltage transmission line electric power testing system based on an unmanned aerial vehicle carrier in one embodiment of the present invention when in working state;

[0046] Figure 7 It is a structural schematic diagram of the electric testing component of the ultra-ultra-high voltage transmission line electric testing system based on an unmanned aerial vehicle carrier in one embodiment of the present invention when it is retracted;

[0047] Figure 8 It is a schematic diagram of a front view of an electric testing component of an ultra-high voltage transmission line electric testing system based on an unmanned aerial vehicle carrier in one embodiment of the present invention;

[0048] Fig. 9 It is a schematic diagram of a cross-sectional view of an electric testing component of an ultra-high voltage transmission line electric testing system based on an unmanned aerial vehicle carrier in one embodiment of the present invention;

[0049] Fig.10 It is a schematic diagram of the overall structure of an ultra-high voltage transmission line power testing system based on an unmanned aerial vehicle carrier in one embodiment of the present invention from an angle;

[0050] Fig.11 It is another overall structural schematic diagram of an ultra-high voltage transmission line power testing system based on an unmanned aerial vehicle carrier in one embodiment of the present invention from another angle;

[0051] Fig.12 It is a structural schematic diagram of a connection module of an ultra-high voltage transmission line power testing system based on an unmanned aerial vehicle carrier in one embodiment of the present invention.

[0052] Reference numerals:

[0053] Among them, 10, UAV carrier; 20, electrical testing module; 201, box; 202, support assembly; 2021, support leg; 203, electric push rod; 204, electric control box; 205, electrical testing assembly; 2051, electrical testing connecting rod; 2052, electrical testing sheet; 20521, locking groove; 2053, pressure rod; 20531, locking protrusion; 2054, connecting piece; 2055, storage plate; 2056, object bearing piece; 2057, electromagnetic sensor; 2058, pressure sensor; 2059, elastic ejector; 2050, elastic reset piece; 206, telescopic mechanism; 20 61. Stepper motor; 2062. Coupling; 2063. Screw rod; 2064. Horizontal connecting rod; 2065. Drive rod; 2066. Camera assembly; 30. Connection module; 301. Base; 302. Drive motor; 303. Rib; 304. Flange; 305. Contact electrode rod; 306. Elastic pressure-bearing member; 3061. First pressure-bearing plate; 3062. Second pressure-bearing plate; 3063. Elastic coil; 307. Extended operating rod; 40. Support tripod; 401. Diagonal rod; 402. Horizontal cross bar; 403. Horizontal longitudinal rod; 100. Ultra-ultra-high voltage transmission line. DETAILED DESCRIPTION

[0054] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. The purpose of providing these embodiments is to make the disclosure of the present invention more thorough and comprehensive. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0055] In the description of this application, the terms "first", "second", "third", etc. are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first", "second", "third", etc. may explicitly or implicitly include one or more of the feature. In the description of this application, unless otherwise specified, "plurality" means two or more.

[0056] In the description of the present application, it should be noted that, 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 a connection between the two elements. The terms "vertical", "horizontal", "left", "right", "upper", "lower" and similar expressions used herein are only for illustrative purposes, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0057] In the description of this application, it should be noted that, unless otherwise defined, all technical and scientific terms used in the present invention have the same meaning as those commonly understood by those skilled in the art. The terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood by specific circumstances.

[0058] An embodiment of the present invention provides an ultra-high voltage transmission line power testing system based on an unmanned aerial vehicle carrier. For details, see Figure 1 and Figure 2 , Figure 1 The figure shows the overall structure of an ultra-high voltage transmission line power testing system based on an unmanned aerial vehicle carrier in one embodiment of the present invention. Figure 2 The figure shows a schematic diagram of the working state structure of an ultra-ultra-high voltage transmission line electricity testing system based on an unmanned aerial vehicle carrier in one embodiment of the present invention. The overall structure of the ultra-ultra-high voltage transmission line electricity testing system based on an unmanned aerial vehicle carrier includes an unmanned aerial vehicle carrier 10, an electricity testing module 20 and a connection module 30.

[0059] Specifically, the connection module 30 includes a base 301, a drive motor 302, ribs 303 and a flange 304. One end of the flange 304 is connected to the electrical testing module 20, and the other end of the flange 304 is connected to the base 301. The base 301 is provided with a first clamping groove for clamping the drone carrier 10. Each rib 303 is covered on the outer surface of the drone carrier 10. In this embodiment, the base 301 and a plurality of ribs 303 fixedly connected to the base 301 constitute a restraining mechanism.

[0060] Specifically, the connection module 30 also includes a drive motor 302, which is installed on one side of the base 301, and the main shaft of the drive motor 302 is connected to the flange 304. The base 301 is used to install the drone carrier 10, and the ribs 303 are in a cross structure, so that the drone carrier 10 is fixed through the ribs 303. The flange 304 is connected to the power test module 20, and the flange 304 and the power test module 20 are driven to rotate by the drive motor 302 to adjust the angle of the power test module 20 relative to the ultra-high voltage transmission line 100, so as to facilitate the power test of the ultra-high voltage transmission line 100.

[0061] The electrical testing module includes a box 201, a supporting assembly 202, an electrical testing assembly 205, and an electric push rod 203, an electric control box 204 and a telescopic mechanism 206 arranged inside the box. The box 201 is installed and connected with the flange 304 of the connecting module 30 to drive the box 201 and other components in the box to rotate through the driving motor 302.

[0062] The four corners of the support assembly 202 are provided with legs 2021 for easy placement when the system is not in operation. The electric control box 204 is installed inside the box body 201 to collect the measurement data of the ultra-high voltage transmission line 100 detected by the electric test assembly 205 and the position data of the ultra-high voltage transmission line 100 detected by the camera assembly 2066 in the telescopic mechanism 206.

[0063] When the system performs an electrical inspection on an ultra-ultra-high voltage transmission line 100, the drone 10 takes off with the electrical inspection module 20 and flies above the ultra-ultra-high voltage transmission line 100 to be inspected. The electrical inspection component 205 in the electrical inspection module 20 is slowly deployed at a small angle to detect changes and differences in the ultra-ultra-high voltage transmission line signal, and the drone carrier 10 is flown directly above the ultra-ultra-high voltage transmission line 100. When the controller receives an abnormal electric field signal of the ultra-ultra-high voltage transmission line 100 detected by the electromagnetic sensor 2057, it controls the drone carrier 10 to fly to the abnormal position of the ultra-ultra-high voltage transmission line signal, and sends the generated mechanical deployment signal to the electrical inspection component 205 until the electrical inspection component 205 is fully unfolded, and the camera component 2066 intervenes to detect and perform image recognition to detect whether the ultra-ultra-high voltage transmission line 100 is placed in the test component 205. When the ultra-ultra-high voltage transmission line 100 is not placed in the test component 205, when it is detected that the position result output by the camera component 2066 does not meet the preset value, a corresponding position adjustment signal is generated to enable the test component 205 to control the contact position with the ultra-ultra-high voltage transmission line 100 according to the position adjustment signal. Specifically, the drone carrier 10 drives the test module 20 to descend or rise a certain distance, so that the ultra-ultra-high voltage transmission line 100 is placed in the test component 205, and the system hovers to a position above the ultra-ultra-high voltage transmission line.

[0064] An embodiment of the present invention provides an ultra-high voltage transmission line power testing system based on an unmanned aerial vehicle carrier. For details, see Figure 3 , Figure 4 , Figure 5 and Figure 6 , Figure 3 The figure shows the internal structure of the electric power testing module of the UAV-based electric power testing system for ultra-high voltage transmission lines in one embodiment of the present invention when the system is not in operation. Figure 4 The figure shows the internal structure of the electric power testing module of the UAV-based electric power testing system for ultra-high voltage transmission lines in one embodiment of the present invention when the system is in working state. Figure 5 The figure shows a side view of an electric power testing module of an ultra-high voltage transmission line electric power testing system based on an unmanned aerial vehicle carrier in one embodiment of the present invention when in working state. Figure 6 Shown is a cross-sectional view of an electric testing module of an ultra-high voltage transmission line electric testing system based on an unmanned aerial vehicle carrier in one embodiment of the present invention when in working state. Figure 6 In the figure, 1 is the electrical testing component 205.

[0065] The electrical testing module includes a box body 201 , a support assembly 202 , an electrical testing assembly 205 , and an electric push rod 203 , an electric control box 204 , and a telescopic mechanism 206 arranged inside the box body.

[0066] The telescopic mechanism includes a stepping motor 2061, a coupling 2062, a screw rod 2063, a horizontal connecting rod 2064 and a driving rod 2065. A through hole is opened in the middle of the horizontal connecting rod 2064. The screw rod 2063 is provided with an external thread, and the through hole is provided with an internal thread matched with the external thread of the screw rod 2063. One end of the screw rod 2063 is connected to the coupling 2062 installed on the stepping motor 2061, and the other end of the screw rod 2063 is connected to the horizontal connecting rod 2064. Driving rods 2065 are provided at both ends of the horizontal connecting rod 2064. One end of the driving rod 2065 is connected to the horizontal connecting rod 2064, and the other end of the driving rod 2065 is hinged to one end of the electrical testing component 205, and the other end of the electrical testing component 205 is connected to the ultra-high voltage transmission line 100.

[0067] Specifically, in this embodiment, when the electrical testing component 205 in the electrical testing module 20 is slowly unfolded at a small angle, the specific unfolding process is: the stepper motor 2061 of the telescopic mechanism 206 drives the screw rod 2063 to rotate, thereby driving the horizontal connecting rod 2064 to move downward relative to the screw rod 2063, and driving the driving rod 2065 at both ends of the horizontal connecting rod 2064 to move downward, and finally drives the electrical testing component 205 connected to the end of the driving rod 2065 to slowly unfold to a preset angle.

[0068] After the ultra-high voltage transmission line 100 is tested, the stepper motor 2061 of the telescopic mechanism 206 rotates in the opposite direction to drive the test assembly 205 to retract, restore the initial state, and continue the subsequent ultra-high voltage transmission line test process or return to the starting point. The process is specifically that the stepper motor 2061 of the telescopic mechanism 206 rotates in the opposite direction and drives the screw rod 2063 to rotate, thereby driving the horizontal connecting rod 2064 to move upward relative to the screw rod 2063, and driving the driving rods 2065 at both ends of the horizontal connecting rod 2064 to move upward, and finally drives the test connecting rod of the test assembly 205 connected to the end of the driving rod 2065 to retract to the initial state.

[0069] An embodiment of the present invention provides an ultra-high voltage transmission line power testing system based on an unmanned aerial vehicle carrier. For details, see Figure 7 , Figure 8 and Fig. 9 , Figure 7 The figure shows a schematic structural diagram of the electric test component of the UAV-based ultra-high voltage transmission line electric test system in one embodiment of the present invention when it is retracted. Figure 8 A schematic diagram showing a front view of an electric testing component of an ultra-high voltage transmission line electric testing system based on an unmanned aerial vehicle carrier in one embodiment of the present invention is shown. Fig. 9 Shown is a cross-sectional view of an electrical testing component of an ultra-high voltage transmission line electrical testing system based on an unmanned aerial vehicle carrier in one embodiment of the present invention.

[0070] In this embodiment, there are two groups of test assemblies 205, and the two groups of test assemblies 205 are centrally symmetrical about the central axis of the chassis 202. Each group of test assemblies 205 is correspondingly connected to the end of the driving rod 2065, and the test assemblies 205 are arranged below the bottom support assembly 202 to drive the test assemblies 205 to expand or retract through the telescopic mechanism 206.

[0071] The electrical testing assembly 205 includes an electrical testing connecting rod 2051 , an electrical testing sheet 2052 , a pressure rod 2053 , a pressure sensor 2058 , an elastic ejecting member 2059 and an elastic restoring member 2050 .

[0072] The electrical test connecting rod 2051 includes a connecting piece 2054, a storage plate 2055 and a receiving piece 2056. The connecting piece 2054 is connected to one end of the storage plate 2055, and the other end of the storage plate 2055 is connected to the receiving piece 2056. A through hole is opened on the connecting piece 2054, and the through hole is adapted to the electric push rod 203. The electrical test sheet 2052 is evenly arranged on the storage plate 2055. The pressure rod 2053 is slidably arranged on the storage plate 2055. A pressure sensor 2058 is arranged on the pressure rod 2053. The pressure sensor 2058 is electrically connected to the electric control box 204. An elastic ejector 2059 is also provided on the pressure rod 2053. The elastic ejector 2059 is adapted to the electric push rod 203. Elastic reset pieces 2050 are evenly spaced on the storage plate 2055.

[0073] Specifically, in this embodiment, the connecting member 2054 is rotatably connected to the supporting assembly 202, and the upper portion of the connecting member 2054 is connected to the driving rod 2065 in a hinged manner.

[0074] A second snap-in slot for snapping in the electromagnetic sensor 2057 is provided at the connection between the storage plate 2055 and the object holder 2056, so as to detect the signal changes and differences of the ultra-ultra-high voltage transmission line through the electromagnetic sensor 2057, and enable the drone to fly directly above the ultra-ultra-high voltage transmission line 100, and the ultra-ultra-high voltage transmission line 100 is placed between the two electromagnetic sensors 2057 of the electrical testing module 20, and the object holder 2056 is used to carry the ultra-ultra-high voltage transmission line 100. A through hole 20541 is provided on the connecting piece 2054 for the electric push rod 203 to pass through. An elastic ejector 2059 is also provided on the pressure rod 2053. The elastic ejector 2059 is adapted to the through hole 20541 to eject the pressure rod 2053 so that the pressure rod 2053 presses the ultra-high voltage transmission line 100. The elastic ejector is a spring. A U-shaped clamping groove is formed between the pressure rod 2053 and the placement plate 2055 of the test connecting rod 2051 and the supporting piece 2056 for clamping the ultra-high voltage transmission line 100.

[0075] The test piece 2052 is installed on the storage plate 2055 of the test rod 2051 and can move elastically relative to the storage plate 2055 to allow the supporting object 2056 to carry the ultra-high voltage transmission line 100. After the ultra-high voltage transmission line 100 squeezes the test piece 2052, the pressure rod 2053 slides downward along the storage plate 2055 and presses the ultra-high voltage transmission line 100.

[0076] After the electric field test piece 2052 measures the electric field data of the ultra-ultra-high voltage transmission line 100, it is uploaded to the electric control box 204 in real time to obtain real-time dynamic electric field data, so as to collect electric field signals, perform noise filtering preprocessing on the collected electric field signals, convert the electric field analog signals into digital signals, and upload the data to the monitoring system of the electric control box to store and back up the data in real time. The data is monitored in real time through multiple safety thresholds set in the monitoring system, and it is determined whether the collected data exceeds the threshold. If it exceeds the threshold, it is abnormal, and then an alarm is triggered to notify the ground operator. If it is normal, a data report is generated after data analysis and processing, and the electric test is regularly calibrated according to the analysis results to end the electric test of the ultra-ultra-high voltage transmission line.

[0077] Specifically, a plurality of elastic return members 2050 are provided on the storage plate 2055, and the test piece 2052 abuts against the elastic return member 2050, and the test piece 2052 can move relative to the elastic return member 2050. A locking groove 20521 is formed between the upper part of the test piece 2052 and the extension section 2055 of the test connecting rod 2051 for installation in cooperation with the pressure rod 2053. In this embodiment, a plurality of elastic return members 2050 are arranged at equal intervals, and the elastic return member 2050 adopts a coil spring, which is not specifically limited here.

[0078] The pressure rod 2053 is slidably disposed on the storage plate 2055 of the test rod 2051 . The pressure rod 2053 is provided with a locking protrusion 20531 to correspond to the locking groove 20521 between the test piece 2052 and the storage plate 2055 .

[0079] A pressure sensor 2058 is provided at the lower part of the pressure rod 2053 for receiving pressure data of the ultra-high voltage transmission line 100 . When the ultra-ultra-high voltage transmission line 100 is mounted on the object-bearing part 2056 of the test rod 2051 and the test piece 2052 is squeezed, the elastic reset part 2050 also contracts and squeezes, and the locking protrusion 20531 on one side of the pressure rod 2053 disengages from the locking groove 20521. At the same time, the elastic ejection part 2059 at the bottom of the connecting part 2054 ejects the pressure rod 2053, so that the pressure rod 2053 presses the ultra-ultra-high voltage transmission line 100. After the pressure sensor 2058 at the bottom of the pressure rod 2053 receives the pressure data of pressing the ultra-ultra-high voltage transmission line 100, the stepping motor 2061 of the telescopic mechanism 206 stops rotating, and the electric push rod 203 opens and continues to hold the pressure rod 2053, so as to further press the ultra-ultra-high voltage transmission line 100 and prevent the ultra-ultra-high voltage transmission line 100 from falling off.

[0080] An embodiment of the present invention also provides an ultra-high voltage transmission line power testing system based on an unmanned aerial vehicle carrier. Specifically, see Figure 10-12 , Fig.10The figure shows an overall structural diagram of an ultra-high voltage transmission line power testing system based on an unmanned aerial vehicle carrier in one embodiment of the present invention from an angle. Fig.11 Another overall structural diagram of an ultra-high voltage transmission line power testing system based on an unmanned aerial vehicle carrier in one embodiment of the present invention is shown. Fig.12 The structure diagram of the connection module of the UAV-based ultra-high voltage transmission line test system in one embodiment of the present invention is shown. It also includes a support tripod 40 arranged at the bottom of the UAV carrier 10, and the connection module 30 is arranged on the support tripod 40. The connection module 30 includes a contact electrode rod 305 arranged on the support tripod 40 and a connection module body fixed on the contact electrode rod 305, and the connection module body is electrically connected to the contact electrode rod 305.

[0081] The drone used to carry the ultra-ultra-high voltage transmission line 100 power testing system has the main purpose of realizing the power testing of the ultra-ultra-high voltage transmission line 100 through the drone. The specific working process is: the drone carries the connection module 30, and flies to the ultra-ultra-high voltage transmission line 100 of the target through the remote control or automation system. The contact electrode rod 305 in the connection module 30 will extend to the ultra-ultra-high voltage transmission line 100 and contact it. The contact electrode rod 305 is used to detect the existence of voltage through a current sensor or a voltage sensing device. The contact electrode rod 305 is electrically connected to the connection module body (usually configured as a tester, not shown in the figure), and the voltage signal can be fed back to the control system of the drone or the ground operator in real time. The tester can detect whether there is high voltage and provide the test result in different ways (such as indicator light, sound alarm or screen display, etc.). If the connection module 30 detects the existence of voltage, the system will send a warning signal, indicating that the transmission line is still energized, and the staff needs to wait for the power to be turned off before maintenance. On the contrary, if there is no voltage, it means that there is no current in the line and it can be operated safely. Among them, in order to facilitate the operation and stability of the connection module 30, the connection module 30 body can be flexibly set on the support tripod 40 or the contact electrode rod 305, usually set on the contact electrode rod 305, and during the flight, the contact electrode rod 3051 will not be separated from the line due to the shaking of the drone or external wind force.

[0082] The connection module 30 also includes an elastic pressure-bearing member 306 arranged on the supporting bracket 40 and an extended operating rod 307 arranged on the elastic pressure-bearing member 306. The elastic pressure-bearing member 306 includes a first pressure plate 3061, an elastic coil 3063 and a second pressure plate 3062. The first pressure plate 3061 is fixed on the supporting bracket 40, the elastic coil 3063 is fixed on the top of the first pressure plate 3061, the second pressure plate 3062 is fixed on the top of the elastic coil 3063, the extended operating rod 307 is arranged on the top of the second pressure plate 3062, and the contact electrode rod 3051 is arranged at the end of the extended operating rod 307.

[0083] Specifically, when the UAV performs an electric test on the ultra-high voltage transmission line 100, due to the inevitable ups and downs of the UAV during flight, the contact electrode rod 305 in the connection module 30 may sometimes contact the line and sometimes detach from the line. This frequent contact and detachment causes rapid changes in current. At this time, the connection module 30 may encounter high-frequency power-on and power-off situations, which will generate current surges and easily damage the circuit board. The first pressure plate 3061 and the second pressure plate 3062 in the elastic pressure-bearing member 306 are connected by an elastic coil 3063, which can adapt to different vibrations and flight postures. This allows the entire connection module 30 to be flexibly adjusted during the flight of the UAV, ensuring that the electrode rod can always accurately contact the transmission line, whether at different heights, different speeds or when encountering sudden air flow. The elastic coil 3063 in the elastic pressure-bearing member 306 effectively absorbs and alleviates the vibration caused by the ups and downs through its elastic characteristics, and when the current fluctuates violently, the elastic coil 3063 can effectively disperse or discharge the surge current. Its design utilizes the physical properties of metal coils to enhance the stability of the circuit to prevent the circuit board from being damaged by high-frequency current changes. The elastic coil 3063 acts like a buffer, which can stabilize current fluctuations, so that the electrode rod can maintain a certain degree of stability and flexibility during the electrical testing process. Especially when encountering vibrations or fluctuations, the elastic coil 3063 can adapt to these external environmental changes, ensure stable contact of the contact electrode rod 305, and reduce the impact of surges.

[0084] It should be noted that surge refers to a violent fluctuation of current or voltage in a short period of time, which is usually caused by environmental interference (such as vibration during drone flight or electromagnetic interference of electrical equipment) or sudden changes in high-frequency current. The wire of the elastic coil 3063 is usually made of a metal material with high mechanical strength and elasticity. For example, stainless steel and aluminum alloy are common choices because they have good elasticity, corrosion resistance and fatigue resistance. The structure of the elastic coil 3063 is usually formed by a plurality of hard metal wires through hinge winding (i.e., bending and twisting a plurality of metal wires or metal wires together through a mechanical process). The interlaced winding of each metal wire enhances the overall toughness of the coil, so that it can not only withstand tensile force, but also effectively buffer vibration. In order to improve the elasticity and buffering effect of the coil, the metal wire is often processed into an arc or spiral structure. The spiral coil can disperse stress in multiple directions when subjected to force, and the arc design can make the coil more flexible in the vertical direction or under certain specific mechanical loads, and adapt to external vibration and impact.

[0085] The supporting tripod 40 includes two diagonal bars 401, two horizontal cross bars 402 and two horizontal longitudinal bars 403. The two diagonal bars 401 are symmetrically arranged at the bottom of the drone carrier 10. The horizontal cross bar 402 is arranged at one end of the diagonal bar 401 away from the drone carrier 10, and the two horizontal cross bars 402 are arranged in parallel with a spacing. The two ends of the horizontal longitudinal bar 403 are respectively fixed on the two horizontal cross bars 402, and the two horizontal longitudinal bars 403 are also arranged in parallel with a spacing. The bottom of the first pressure plate 3061 is arranged on the two horizontal longitudinal bars 403.

[0086] Specifically, the two horizontal cross bars 402 and the two horizontal longitudinal bars 403 in the support tripod 40 are arranged in parallel, and this parallel layout ensures that the support tripod 40 is uniformly stressed. The parallel arrangement between the horizontal cross bars 402 can keep the support tripod 40 stable when the drone is flying, and will not tilt or lose balance due to excessive force on any one side. Similarly, the parallel arrangement of the horizontal longitudinal bars 403 also avoids uneven force on the structure when it is disturbed by external interference, ensuring the rigidity and stability of the support tripod 40. Especially during the flight of the drone, the support tripod 40 needs to remain stable in a complex aerodynamic environment. Through the parallel arrangement, no matter what action or flight posture the drone makes, the support tripod 40 can always remain horizontal, thereby ensuring the accurate position of the contact electrode rod 3051. In addition, the two oblique bars 401 of the support tripod 40 are symmetrically arranged at the bottom of the drone carrier 10, which can provide a balanced force distribution. This symmetry can ensure that the center of gravity of the entire system is in the correct position, avoiding tilting or instability caused by excessive weight or uneven force on one side. When the drone is flying, excessive force on any side may cause unstable flight and affect the operating accuracy of the connection module 30. Therefore, through the parallel and symmetrical structural design, the support tripod 40 not only provides a stable and uniform force distribution, but also improves the balance of flight, so that the contact electrode rod 3051 can maintain precise contact with the ultra-high voltage transmission line 100, ensuring stability and reliability during the power test. This design effectively solves the instability problem that the drone may encounter during flight and improves the accuracy and efficiency of the power test operation.

[0087] An embodiment of the present invention further provides an ultra-high voltage transmission line 100 power testing control method based on an unmanned aerial vehicle carrier 10, comprising:

[0088] S100, collecting electric field strength data of the ultra-high voltage transmission line 100 in real time, comparing the electric field strength data with a preset field strength standard range, and determining the abnormal position coordinates of the ultra-high voltage transmission line 100.

[0089] When the system performs an electrical inspection on an ultra-high voltage transmission line 100, the drone carrier 10 carrying the electrical inspection module 20 takes off and flies above the ultra-high voltage transmission line 100 to be inspected. The electromagnetic sensor 2057 carried by the drone carrier 10 continuously collects the electric field strength data of the transmission line, and analyzes the collected electric field strength. If the electric field strength value deviates from the preset field strength standard range, a trigger instruction containing the abnormal position is generated, and the trigger instruction is transmitted to the controller through the wireless communication module.

[0090] The drone carrier 10 flies along the UHV transmission line 100 to collect data and obtain a comprehensive electric field distribution. Comparing the collected electric field strength data with the pre-established electric field standard value is a key step in judging the line status, and the field strength standard range value is usually set based on the normal operating parameters of the UHV transmission line 100. When an abnormal point is found, the role of the GPS positioning module carried by the drone carrier 10 becomes particularly important. It can accurately locate the geographical coordinates of the abnormal point and provide accurate location information for subsequent maintenance work. Assuming that an abnormal point is detected, its GPS coordinates are 30.5432° north latitude and 114.3456° east longitude. Based on this information, the system will generate a trigger instruction containing a timestamp and location information so that the controller can control the flight trajectory of the drone carrier 10.

[0091] S200, based on the abnormal position coordinates, combined with the route map data, a path planning algorithm and an avoidance algorithm are used to plan a flight path to control the UAV carrier 10 to move to the abnormal position coordinates.

[0092] After extracting the latitude and longitude coordinate information of the abnormal point from the trigger instruction, the controller converts the coordinates of the abnormal position into data in a specific format and matches it with the pre-established power transmission line map data; based on the path planning algorithm, such as the Dijkstra algorithm, the optimal flight path of the UAV carrier 10 from the current position to the abnormal point is calculated from the power transmission line map data; the environmental data around the power transmission line is obtained through the laser radar to identify the position information of obstacles on the path; according to the obstacle identification result, the A* algorithm in the avoidance algorithm is used to recalculate the avoidance path to generate an updated flight path; the updated flight path is converted into the flight path of the UAV The flight control instruction includes waypoint coordinates, flight altitude and speed information; the flight control instruction is transmitted to the UAV flight control system through the wireless communication module; the GPS module carried by the UAV carrier 10 obtains the current latitude and longitude coordinates in real time, and compares them with the waypoints in the flight path to determine whether it deviates from the preset path; if a deviation is detected, the A* algorithm is used to recalculate the remaining flight path based on the current position coordinates and the abnormal position coordinates of the abnormal point, and a new flight control instruction is generated and sent to the UAV narrow body flight control system itself; the UAV carrier 10 continues to perform the flight mission according to the new flight control instruction until it reaches the abnormal point position coordinates.

[0093] During the flight, real-time monitoring and dynamic adjustment are the key to ensuring the success of the mission. UAVs are usually equipped with high-precision RTK-GPS systems that can provide centimeter-level positioning accuracy. If a deviation from the planned path is detected exceeding a certain threshold (such as 5 meters), the system will immediately re-plan the path. This dynamic adjustment capability enables the UAV system to adapt to complex and changing environments, such as sudden strong winds or unexpected obstacles. The whole process reflects the intelligence and autonomy of modern UAV systems. By organically combining technologies such as GIS, path planning algorithms, obstacle detection and real-time control, the system can efficiently and safely complete the inspection tasks of abnormal points on the transmission lines, greatly improving the efficiency and safety of power grid maintenance. Power companies usually maintain a detailed geographic information system (GIS) database, which not only contains the precise location of the transmission lines, but also includes information such as terrain, buildings and vegetation, which is crucial for the path planning of the UAV carrier10.

[0094] Among them, the Dijkstra algorithm is a classic algorithm for calculating the shortest path from a single source. It was proposed by Dutch computer scientist Edsger W.Dijkstra in 1956. It is applicable to graphs without negative weights (including directed and undirected graphs) and can solve the shortest path from a certain starting point to all other vertices; the A* algorithm is a widely used path planning algorithm, which is particularly suitable for obstacle avoidance in static environments. It calculates the optimal path from the starting point to the end point in a given environmental map through heuristic search. When facing obstacles, the A* algorithm can quickly replan the path to avoid collisions. Compared with the Dijkstra algorithm, the A* algorithm uses heuristic estimation, and the heuristic function can be designed as the weighted sum of the straight-line distance plus the height difference, so that a balance can be achieved between the plane distance and the height change, and a path to avoid obstacles can be found more efficiently. This series of processes reflects the application of autonomous navigation technology in power inspection. By combining multiple algorithms and sensor data, the system can achieve accurate and safe flight control in complex environments. This not only improves the inspection efficiency, but also greatly reduces the risk of manual operation. In the long run, this intelligent inspection method will provide more comprehensive and timely data support for power grid maintenance, helping to improve the reliability and safety of the overall power system.

[0095] S300, when the UAV carrier 10 reaches the coordinates of the abnormal position, the electrical testing component 205 is started and contacts the ultra-high voltage transmission line 100.

[0096] The controller obtains the flight control instructions from the ground station and parses the abnormal position coordinates of the abnormal point. The current position coordinates of the drone carrier 10 are obtained through GPS positioning, the straight-line distance between the abnormal position coordinates and the current position coordinates is calculated using the Pythagorean theorem, and the azimuth is calculated by trigonometric functions. According to the target position coordinates and the current position of the drone, the Dijkstra algorithm is used to generate the initial flight path, the map is gridded, the cost function of each grid is calculated, and the optimal path is selected. On the initial flight path, a laser radar is used to scan the surrounding environment and identify the location of obstacles. For the identified obstacles, the A* algorithm is called to recalculate the path, and the path with the minimum cost is selected at each node to generate the flight path after obstacle avoidance. According to the flight path after obstacle avoidance, the longitude and latitude coordinates of each waypoint are calculated, the flight speed of each section is set, and the flight control parameters are generated. The flight control parameters are sent to the flight control system of the drone, and the drone starts the automatic flight mode. During the flight, the drone compares the actual position with the planned path in real time. If the deviation exceeds the preset threshold, the Dijkstra algorithm and the A* algorithm are called again to adjust the path. When the drone reaches the abnormal position coordinates, the controller sends a start signal to the electrical inspection module 20. After receiving the signal, the power test module 20 starts the stepper motor 2061. The stepper motor 2061 drives the lead screw to rotate, and the lead screw drives the horizontal connecting rod 2064 to move along the guide rail. The horizontal connecting rod 2064 drives the driving rods 2065 at both ends to extend, and the driving rods 2065 drive the power test assembly 205 to move toward the transmission line until it contacts the ultra-high voltage transmission line 100.

[0097] Among them, the A* algorithm can dynamically adjust the flight path based on the optimal path calculated by the Dijkstra algorithm. Using Manhattan distance as a heuristic function, the A* algorithm can more efficiently find a path to avoid obstacles. For example, the original path may pass through the woods. The A* algorithm will calculate a new path that bypasses the woods or flies over the woods at a safe height based on the height of the woods. The generation of flight control instructions involves multiple parameters. Considering the height and safety distance of the transmission line, the system sets the flight altitude to 5 meters above the line, which can ensure safety and obtain a clear observation angle. The flight speed is set to 3 meters per second, which can ensure flight stability and meet the requirements of inspection efficiency. A typical instruction may include: waypoint 1 (30.5100°N, 114.3100°E, height 65 meters, speed 3 meters / second), waypoint 2 (30.5200°N, 114.3200°E, height 70 meters, speed 3 meters / second), etc. The mechanical deployment process of the electrical inspection module 20 reflects the application of precision mechanical control. When the drone reaches the coordinates of the abnormal position, the mechanical deployment signal sent by the controller triggers a series of precise mechanical actions. The stepper motor 2061 rotates in small angle increments to drive the lead screw 2063 to move axially. This transmission method can achieve high-precision linear displacement control, ensuring that the power test component 205 can accurately contact the ultra-high voltage transmission line 100. The linkage mechanism composed of the horizontal connecting rod 2064 and the driving rod 2065 converts the rotational motion into the stable motion of the power test component 205, realizing the safe and controllable power test operation. This series of processes reflects the application of autonomous navigation and precision operation technology in power inspection. By combining multiple algorithms, sensor data and mechanical control, the system can achieve accurate and safe flight control and power test operations in complex environments. This not only improves the inspection efficiency, but also greatly reduces the risk of manual operation. In the long run, this intelligent inspection method will provide more comprehensive and timely data support for power grid maintenance, which will help improve the reliability and safety of the overall power system.

[0098] S400, capturing position image data of the electrical testing component 205 and the ultra-high voltage transmission line 100, and processing the position image data using an edge detection algorithm to obtain contact status information.

[0099] After the UAV carrier 10 moves to the abnormal position coordinates according to the flight control command, the controller sends a mechanical deployment signal to the test module 20. After receiving the signal, the test module 20 starts the telescopic mechanism 206, so that the test component 205 is deployed and contacts the ultra-high voltage transmission line 100; the camera component 2066 captures the image data of the contact position between the test component 205 and the ultra-high voltage transmission line 100 to obtain the position image data; the image preprocessing module carried by the system performs noise reduction processing on the position image data to obtain the position image data after noise reduction; the image preprocessing module uses contrast adjustment and edge enhancement methods to enhance the image data after noise reduction to obtain the enhanced image data; then the edge detection algorithm is used to analyze the enhanced image data to determine the contact state between the test piece 2052 and the line, the controller records the contact state between the test piece 2052 and the line, and updates the contact state data to the system log for subsequent analysis.

[0100] The camera assembly 2066 provides the necessary visual feedback for the electrical testing process, while the image preprocessing module uses methods such as Gaussian filtering for noise reduction to effectively suppress random noise. The contrast adjustment uses histogram equalization technology to redistribute the image grayscale values ​​and enhance the overall contrast of the image. Edge enhancement may use the Sobel operator to highlight the contour features of the area where the electrical test piece 2052 contacts the line. These processing steps work together to improve the accuracy of subsequent image analysis. Edge detection is a computer vision technology used to identify areas in an image where grayscale or color changes dramatically, i.e., edges. Edges usually correspond to boundaries or structural features of objects.

[0101] S500 , according to the contact state information, the telescopic mechanism 206 is driven to adjust the posture of the test component 205 , and the electric push rod 203 is driven to compensate the pressure of the test component 205 to fix the contact position of the test component 205 .

[0102] The edge detection algorithm analyzes the enhanced image data and determines the contact position deviation between the test component 205 and the ultra-high voltage transmission line 100; if the contact position deviation exceeds the preset tolerance range, a position adjustment signal is generated; the position adjustment signal is transmitted to the stepper motor 2061 on the telescopic mechanism 206, and the stepper motor 2061 receives the signal and converts it into a motor control instruction; the stepper motor 2061 drives the lead screw 2063 to move axially, and the lead screw 2063 drives the horizontal connecting rod 2064 to move, and the horizontal connecting rod 2064 pushes the test component 205 to extend in the direction of the transmission line through the driving rods 2065 at both ends, and finally drives the test component 205 connected to the end of the driving rod 2065 to slowly expand to a preset angle, so that the posture of the test component 205 meets the preset accuracy requirements, and the controller records the adjusted posture of the test component 205 and updates the posture data to the system log. Then, in order to further tighten the ultra-ultra-high voltage transmission line 100 and prevent the ultra-ultra-high voltage transmission line 100 and the electrical testing component 205 from loosening or falling off, the electric push rod 203 opens and holds the pressure rod 2053, so that the contact position between the electrical testing component 205 and the ultra-ultra-high voltage transmission line 100 is fixed, so as to ensure that the electrical testing component 205 can stably and accurately collect the electric field data of the ultra-ultra-high voltage transmission line 100 in the subsequent process.

[0103] The adjustment process adopts a closed-loop control strategy, and continuously optimizes the contact position of the electrical detection component 205 according to the real-time feedback of the image recognition results and the electric field data until the ideal contact state is achieved. Once it is confirmed that the electrical detection component 205 is in full contact with the line, the stepper motor 2061 of the telescopic mechanism 206 in the system stops rotating to maintain the position of the electrical detection piece 2052, ensuring that the electrical detection piece 2052 maintains stable contact with the line during the measurement process. At the same time, the system will continue to monitor the contact state to deal with possible unexpected situations, such as contact interruption caused by line vibration. The whole process embodies the characteristics of multidisciplinary integration, covering fields such as electrical engineering, image processing, machine learning, and control engineering. This comprehensive application not only improves the accuracy and reliability of electrical detection operations, but also greatly improves the automation and intelligence level of the system, providing a strong guarantee for the safe operation and maintenance of the power system.

[0104] Among them, the pressure sensor 2058 plays a key role in the electrical testing process, monitoring the contact pressure value in real time to ensure the effective contact between the electrical testing component 205 and the ultra-high voltage transmission line 100, and providing a physical reference for driving the telescopic mechanism 206 to adjust the posture of the electrical testing component 205. The pressure sensor 2058 can use strain gauge technology. When the electrical testing component 205 contacts the ultra-high voltage transmission line 100, the strain gauge will change its resistance value due to deformation, thereby generating a measurable voltage signal. The electric control box 204 compares this signal with a preset threshold (such as 0.5N) to determine whether the contact is sufficient.

[0105] S600, the electrical testing component 205 collects the dynamic electric field data of the ultra-high voltage transmission line 100 in real time, and compares the dynamic electric field data with a preset threshold. If the dynamic electric field data exceeds the preset threshold, an alarm is triggered and an emergency signal is sent. If the dynamic electric field data does not exceed the preset threshold, a data report is generated.

[0106] The electrical testing component 205 collects the dynamic electric field data of the ultra-ultra-high voltage transmission line 100 in real time and transmits it to the electric control box 204. The electric control box 204 compares the collected dynamic electric field data with the pre-set safety threshold. If the collected value exceeds the safety threshold continuously, an emergency signal is generated and an audible and visual alarm is triggered. At the same time, the emergency signal is sent to the operation and maintenance center through the wireless module. If the collected value is within the safety threshold, the electric field change curve, pressure value and position information are integrated to form a structured data report. The pressure value data is obtained from the ultra-ultra-high voltage transmission line 100, and the electric field change curve is generated in combination with the dynamic electric field data. The spatial position information of the line is collected and integrated with the electric field change curve and the pressure value. The integrated information is analyzed using a preset data processing algorithm to generate a structured data report, and the structured data report is stored in the system database and updated to the latest line status data.

[0107] The electric control box 204 plays a key role in smart grid monitoring, and its core function is to analyze the dynamic electric field data of the line in real time. This process involves multiple technical fields, including sensor technology, data analysis and wireless communication. In practical applications, the electric control box 204 uses highly sensitive electric field sensors, such as electrostatic field sensors or capacitive sensors, to capture changes in the electric field strength around the line. These sensors are able to detect extremely small changes in the electric field, usually with an accuracy of millivolts per meter (mV / m). The collected raw data is converted from analog to digital and then preliminarily processed by a microprocessor. The setting of the safety threshold is a complex process that requires consideration of multiple factors, such as line rated voltage, environmental conditions and historical data statistics. For example, for a 330kV high-voltage transmission line, the electric field strength during normal operation fluctuates between 3-5kV / m. The safety threshold may be set to 7kV / m, and exceeding this value will trigger an alarm. When the collected value exceeds the safety threshold continuously, the system will immediately initiate an emergency response mechanism. Here, "continuous" may be defined as 5 samples exceeding the threshold within 10 seconds to avoid false alarms caused by instantaneous fluctuations. Emergency signals may contain key data such as the specific value of the exceeded standard, duration, and location information. Sound and light alarms may use high-decibel (such as 110 decibel) alarm sounds and red flashing LED lights to ensure that on-site personnel can quickly detect them. The selection of wireless modules needs to consider transmission distance, power consumption, and reliability. In remote areas, low-power wide area network (LPWAN) technologies such as LoRa or NB-IoT may be selected, which can achieve long-distance communication under low power consumption conditions. For example, a LoRa module can achieve a communication distance of more than 10 kilometers in open terrain, while power consumption can be as low as tens of milliwatts. The acquisition of pressure value data is usually completed through strain sensors. This sensor can measure the stress of the line with an accuracy of up to 0.1% full scale. Combining pressure data with electric field data can provide a more comprehensive assessment of the line status. For example, when an abnormal increase in electric field strength is detected and the pressure value also changes significantly, it may indicate that the line is overloaded or there is contact with foreign objects. Spatial location information may be collected using GPS modules with centimeter-level accuracy. The integration of these data with electric field and pressure data can create an accurate three-dimensional status map. Among them, the data processing algorithm may use multivariate statistical analysis or machine learning methods. For example, time series analysis can be used to predict the trend of electric field strength, or clustering algorithms can be used to identify abnormal patterns. These algorithms can extract valuable information from massive amounts of data, such as identifying early signs that may lead to failures. Structured data reports are generated to facilitate subsequent analysis and decision-making. The report may contain multiple levels of information, from the overall condition of the macro line to detailed data of each monitoring point at the micro level. This structured data format is not only easy to read manually, but also conducive to further automated analysis.Storing this data in the system database is not only to record the current status, but also to conduct long-term trend analysis. By comparing historical data with current data, subtle changes in line performance can be discovered, providing a basis for predictive maintenance.

[0108] The controller obtains the completion signal of the current detection task and generates a motor reversal instruction. The motor reversal instruction drives the stepper motor 2061 to reverse, driving the screw rod 2063 to retract the horizontal connecting rod 2064. The movement of the screw rod 2063 to retract the horizontal connecting rod 2064 causes the electric test component 205 to be disconnected from the line and triggers the elastic reset member 2050 to fold and reset. The controller detects the reset completion signal of the electric test component 205, reads the preset inspection task plan, and judges whether the drone carrier 10 needs to return to the base station or go to the next inspection point according to the task point list in the plan and the current position information. If the judgment result is to return to the base station, the controller calculates the path to return to the base station, generates a return base station instruction containing the path information and transmits it to the drone flight control system. If the judgment result is to go to the next inspection point, the controller generates a flight path instruction based on the location information of the next inspection point and transmits it to the drone flight control system. The drone carrier 10 flight control system controls the drone to fly along the specified path according to the received instructions and the real-time position data. The completion of the entire inspection cycle marks a comprehensive line health assessment, which provides a reliable guarantee for the safe operation of the power grid.

[0109] Compared with the prior art, the embodiments of the present invention have the following advantages:

[0110] (1) The present invention uses an unmanned aerial vehicle carrier to drive an electrical testing module to perform high-altitude electrical testing operations, thereby ensuring accurate measurement of high-voltage signals in various electric field environments, providing accurate ultra-high voltage transmission line detection results, and improving the accuracy of ultra-high voltage transmission line detection results.

[0111] (2) The present invention uses an unmanned aerial vehicle carrier to drive the electrical testing module to perform high-altitude electrical testing operations. There is no need for operators to wear shielding clothing or carry a live ultra-high voltage transmission line identification instrument to test the line, which reduces the risk of electric shock for operators, greatly reduces labor intensity, and simplifies the electrical testing steps.

[0112] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. An ultra-high voltage transmission line power testing system based on an unmanned aerial vehicle carrier, characterized in that: It includes a controller and an electromagnetic sensor controlled by the controller, a drone carrier, an electrical testing module and a connection module; The UAV carrier is connected to the electrical testing module via the connection module; The electric inspection module includes an electric inspection component and an electric control box, the electromagnetic sensor is electrically connected to the electric control box, and the electric inspection component is electrically connected to the electric control box; The controller is configured to: When receiving the electric field abnormality signal of the ultra-ultra-high voltage transmission line detected by the electromagnetic sensor, the drone carrier is controlled to fly to the position where the signal of the ultra-ultra-high voltage transmission line is abnormal, and the generated mechanical deployment signal is sent to the electric inspection component, so that the ultra-ultra-high voltage transmission line is in close contact with the electric inspection component; Acquire the dynamic electric field data of the abnormal position of the ultra-high voltage transmission line signal detected in real time by the electric detection component to determine whether the dynamic electric field data exceeds a preset threshold; When it is detected that the dynamic electric field data exceeds a preset threshold, the generated alarm signal is sent to the electric control box so that the electric control box triggers an alarm; When it is detected that the dynamic electric field data does not exceed a preset threshold, a data report is generated based on the dynamic electric field data.

2. The UAV-based ultra-high voltage transmission line power testing system according to claim 1 is characterized in that: The electrical testing component is built into the box, and an electric push rod and a telescopic mechanism are also arranged in the box; The telescopic mechanism comprises a stepping motor, a lead screw, a horizontal connecting rod and a driving rod; A through hole is provided in the middle of the horizontal connecting rod, the screw rod is provided with an external thread, and the through hole is provided with an internal thread matched with the external thread of the screw rod; one end of the screw rod is connected to the stepping motor, and the other end of the screw rod is connected to the horizontal connecting rod; The driving rods are provided at both ends of the horizontal connecting rod, one end of the driving rod is connected to the horizontal connecting rod, the other end of the driving rod is hinged to one end of the electrical testing component, and the other end of the electrical testing component is connected to the ultra-high voltage transmission line.

3. The UAV-based ultra-high voltage transmission line power testing system according to claim 2, characterized in that: The electric test assembly includes an electric test connecting rod, an electric test sheet, a pressure rod, a pressure sensor, an elastic ejection member and an elastic reset member; The electrical test connecting rod comprises a connecting piece, a storage plate and a storage piece; the connecting piece is connected to one end of the storage plate, and the other end of the storage plate is connected to the storage piece; The connecting member is provided with a through hole, and the through hole is adapted to the electric push rod; The test strips are evenly arranged on the placement board, and the pressure rod is slidably arranged on the placement board; A pressure sensor is arranged on the pressure rod, and the pressure sensor is electrically connected to the electric control box; The pressure rod is also provided with the elastic ejector, and the elastic ejector is adapted to the electric push rod; The elastic reset members are arranged on the storage plate at equal intervals.

4. The UAV-based ultra-high voltage transmission line power testing system according to claim 1, characterized in that: The connection module includes a flange and a restraining mechanism; One end of the flange is connected to the electrical testing module, and the other end of the flange is connected to a restraining mechanism, wherein the restraining mechanism includes a base and a plurality of ribs fixedly connected to the base; The base is provided with a first clamping groove for clamping the drone carrier, and each of the ribs is coated on the outer surface of the drone carrier.

5. The UAV-based ultra-high voltage transmission line power testing system according to claim 2, characterized in that: The driving rod is also provided with a camera assembly, and a data output end of the camera assembly is electrically connected to the electric control box.

6. The UAV-based ultra-high voltage transmission line power testing system according to claim 3, characterized in that: A second clamping groove for clamping the electromagnetic sensor is provided at the connection between the storage plate and the object receiving member, and the electromagnetic sensor is electrically connected to the electric control box.

7. The UAV-based ultra-high voltage transmission line power testing system according to claim 3 is characterized in that: The electrical testing module also includes a supporting assembly, and the supporting assembly is hinged to the connecting member.

8. The UAV-based ultra-high voltage transmission line power testing system according to claim 7, characterized in that: The support assembly is symmetrically provided with rectangular holes, and the driving rod is hinged to the connecting member through the rectangular holes.

9. The UAV-based ultra-high voltage transmission line power testing system according to claim 3, characterized in that: A locking protrusion is provided on one side of the pressure rod, a locking groove is provided between the test piece and the storage plate, and the locking protrusion is matched with the locking groove.

10. The UAV-based ultra-high voltage transmission line power testing system according to claim 5, characterized in that: The controller is also configured to: When the electromagnetic sensor detects an abnormal electric field signal of the ultra-ultra-high voltage transmission line, the UAV carrier is controlled to fly to the abnormal position of the ultra-ultra-high voltage transmission line signal. When it is detected that the position result output by the camera component does not meet the preset value, a corresponding position adjustment signal is generated to enable the electrical testing component to control the contact position with the ultra-ultra-high voltage transmission line according to the position adjustment signal.

11. The UAV-based ultra-high voltage transmission line power testing system according to claim 1, characterized in that: It also includes a supporting tripod arranged at the bottom of the UAV carrier, the connecting module is arranged on the supporting tripod, the connecting module includes a contact electrode rod arranged on the supporting tripod and a connecting module body fixed on the contact electrode rod, and the connecting module body is electrically connected to the contact electrode rod.

12. The UAV-based ultra-high voltage transmission line power testing system according to claim 11, characterized in that: The connection module also includes an elastic pressure-bearing member arranged on the supporting bracket and an extended operating rod arranged on the elastic pressure-bearing member, the elastic pressure-bearing member includes a first pressure-bearing plate, an elastic coil and a second pressure-bearing plate, the first pressure-bearing plate is fixed on the supporting bracket, the elastic coil is fixed on the top of the first pressure-bearing plate, the second pressure-bearing plate is fixed on the top of the elastic coil, the extended operating rod is arranged on the top of the second pressure-bearing plate, and the contact electrode rod is arranged at the end of the extended operating rod.

13. The UAV-based ultra-high voltage transmission line power testing system according to claim 12, characterized in that: The supporting tripod includes two diagonal bars, two horizontal cross bars and two horizontal longitudinal bars. The two diagonal bars are symmetrically arranged at the bottom of the UAV carrier. The horizontal cross bar is arranged at one end of the diagonal bar away from the UAV carrier, and the two horizontal cross bars are arranged in parallel with each other. The two ends of the horizontal longitudinal bar are respectively fixed on the two horizontal cross bars, and the two horizontal longitudinal bars are also arranged in parallel with each other. The bottom of the first pressure plate is arranged on the two horizontal longitudinal bars.

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