Method and system for installing visual long-endurance monitoring device on unmanned aerial vehicle in electrified manner

Abstract

The invention discloses a method and a system for installing a visual long-endurance monitoring device on an unmanned aerial vehicle in a live-line manner, and the method comprises the following steps: controlling the unmanned aerial vehicle to fly back to a set magnetic field intensity in a self-tracking manner, and enabling the unmanned aerial vehicle to be vertically located at a position right above a power transmission conductor; determining the distance between the video monitoring mounting device and the unmanned aerial vehicle and the distance between the video monitoring mounting device and the power transmission conductor based on the video monitoring mounting device ultrasonic signal, the first position magnetic field intensity signal and the second position magnetic field intensity signal; an installation control signal is generated based on the distance between the video monitoring mounting device and the unmanned aerial vehicle and the distance between the video monitoring mounting device and the power transmission line, and the video monitoring mounting device is installed on the power transmission line through a clamping unit; the video monitoring mounting device generates the magnetic field telescopic control signal based on the magnetic field intensity signal of the power transmission conductor, and controls the distance between the non-closed magnetic induction energy taking device and the power transmission conductor, thereby outputting a stable voltage range.

Description

Technical Field

[0001] The present invention relates to the technical field of power transmission line monitoring, and in particular to a method and system for installing a visual long-endurance monitoring device on a drone under power. Background Art

[0002] External force damage to transmission lines can easily lead to line disconnection, tripping and other accidents. At present, manual inspections and video monitoring are mainly used to monitor and manage the construction conditions near transmission lines. Due to the limitations of different engineering construction conditions, it is difficult to install video monitoring equipment, or the installation location is generally located on the tower, the video coverage is limited, and there is a blind spot in the middle area of ​​the line, which is not conducive to timely detection of external damage events and poses a safety hazard. Therefore, it is urgent to take effective measures to achieve visual monitoring of external damage targets in the middle area of ​​the transmission line span.

[0003] Traditional outdoor video surveillance equipment uses solar energy to extend its battery life. Continuous rainy weather will affect the power supply of the monitoring equipment, and even cause it to shut down due to insufficient power. Moreover, it is often installed on iron towers and is not suitable for installation on wires. With the development of electromagnetic energy extraction technology, video surveillance equipment based on CT (Current Transformer) energy extraction has gradually been used in power transmission line monitoring. It uses the magnetic field generated by the current in the wire to extract energy. It is not limited to external weather and can achieve long-term online monitoring. However, closed-type CT energy extraction equipment requires power outage for installation, and the demand for visual monitoring of engineering construction is random and often not in the power outage maintenance cycle, which makes it inconvenient to install and deploy closed-type CT energy extraction video surveillance equipment on power transmission lines.

[0004] Existing visual monitoring devices are generally installed on iron towers, and are powered by photovoltaic energy. They are all installed manually, and there is no visual monitoring (including photovoltaic panels) installed by drones. In order to conduct temporary external damage monitoring, some studies have installed cameras on the crossarms of iron towers through drones, but they are mainly powered by batteries, which has battery life issues. The camera monitoring equipment on the line uses closed current transformers for energy, which is cumbersome to install. It is installed manually with power on or off. Due to manual installation, there is a risk of falling and electric shock. Therefore, there is an urgent need for a visual anti-external damage monitoring device for power transmission lines that can be installed with power on by drones and has long battery life. Summary of the invention

[0005] In order to solve the deficiencies in the prior art, the present invention provides a method and system for installing a visual long-endurance monitoring device on a drone under power, which realizes the self-tracking of the drone to fly back to a position with a set magnetic field strength and vertically located directly above the transmission line, and installs a video monitoring mounting device on the transmission line. Based on the magnetic field strength signal of the transmission line, a magnetic field expansion and contraction control signal is generated to control the distance between the non-closed magnetic induction energy harvesting device and the transmission line, thereby outputting a stable voltage range.

[0006] In order to achieve the above-mentioned object of the invention, the present invention adopts the following technical solution.

[0007] A first aspect of the present invention provides a method for installing a visual long-endurance monitoring device on a drone under power, comprising the following steps: S101, based on the transmission line image signal and the first position magnetic field strength signal, control the drone to fly back to the position with the set magnetic field strength and vertically located directly above the transmission line, wherein the first position is the drone; S102, the UAV is provided with an ultrasonic acquisition unit for acquiring ultrasonic signals, the distance between the video surveillance mounting device and the UAV is determined based on the ultrasonic signal of the video surveillance mounting device, and the distance between the video surveillance mounting device and the UAV is determined based on the linear relationship between the distance between the video surveillance mounting device and the UAV, the distance between the magnetic field strength signal at the first position and the magnetic field strength signal at the second position, and the difference in magnetic field strength, wherein the second position is the video surveillance mounting device; S103, generating an installation control signal based on the distance between the video surveillance mounting device and the UAV and the distance between the video surveillance mounting device and the power transmission line, and installing the video surveillance mounting device on the power transmission line through a clamping unit; S104, the video monitoring mounting device generates a magnetic field expansion and contraction control signal based on the magnetic field strength signal of the transmission line, controls the distance between the non-closed magnetic induction energy acquisition device and the transmission line, and outputs a stable voltage range.

[0008] Further, based on the transmission line image signal and the first position magnetic field strength signal, controlling the drone to fly back to the position with the set magnetic field strength and vertically located directly above the transmission line includes the following steps: The position between the UAV and the transmission line is determined based on the transmission line image signal, so as to control the UAV to be located vertically above the transmission line; Control the UAV to fly vertically to a position directly above the power transmission line, and simultaneously obtain a magnetic field strength signal at the first position; The magnetic field strength of the drone for self-tracking flight is set according to the acquired first position magnetic field strength signal, and a self-tracking control signal is generated; Based on the self-tracking control signal, the UAV self-tracks and flies back to a position with a set magnetic field strength and vertically located directly above the transmission line.

[0009] Further, determining the distance between the video surveillance mounting device and the UAV based on the ultrasonic signal of the video surveillance mounting device, and determining the distance between the video surveillance mounting device and the UAV based on the linear relationship between the distance between the video surveillance mounting device and the UAV, the distance between the magnetic field strength signal at the first position and the magnetic field strength signal at the second position, and the difference in magnetic field strength, comprises the following steps: Determine the distance between the video surveillance mount device and the drone based on the ultrasonic signal of the video surveillance mount device; Based on the distance between the video surveillance mounting device and the drone, the magnetic field strength signal at the first position and the magnetic field strength signal at the second position, a linear function relationship between the distance and the magnetic field strength difference is constructed, and its expression is as follows:

[0010] in, The distance between the video monitoring device and the drone, is the magnetic field strength at the first position, is the magnetic field strength at the second position, As parameters, is the parameter; Obtain the current signal of the transmission line, and calculate the magnetic field strength value near the transmission line based on the Biot-Savart law; Based on the magnetic field strength value near the transmission line and the magnetic field strength at the first position, the distance between the video surveillance mounting device and the transmission line is determined, and its expression is as follows:

[0011] in, is the distance between the video surveillance mounting device and the transmission line. As parameters, As parameters, is the magnetic field strength value near the transmission line, is the magnetic field strength at the first position.

[0012] Furthermore, generating an installation control signal based on the distance between the video surveillance mounting device and the drone and the distance between the video surveillance mounting device and the power transmission line, and installing the video surveillance mounting device on the power transmission line through the clamping unit includes the following steps: generating an installation control signal based on the distance between the video surveillance mounting device and the UAV and the distance between the video surveillance mounting device and the power transmission line; Controlling the extension length of the installation telescopic unit based on the installation control signal to control the distance between the video surveillance mounting device and the power transmission line; The distance between the video surveillance mounting device and the power transmission line is controlled until a set distance is reached, and the clamping unit is controlled to clamp and close to install the video surveillance mounting device on the power transmission line.

[0013] Furthermore, the video monitoring mounting device generates a magnetic field expansion and contraction control signal based on the magnetic field strength signal of the transmission line, controls the distance between the non-closed magnetic induction energy acquisition device and the transmission line, and outputs a stable voltage range, including the following steps: Determine the magnitude of the magnetic field strength at the location of the power transmission line based on the power transmission line magnetic field strength signal, and generate a magnetic field expansion and contraction control signal; Adaptively controlling the telescopic length of the magnetic induction telescopic unit based on the magnetic field telescopic control signal, thereby controlling the distance between the non-closed magnetic induction energy harvesting device and the transmission wire; By controlling the distance between the non-closed magnetic induction energy acquisition device and the transmission line, the magnetic induction output voltage of the non-closed magnetic induction energy acquisition device can meet the voltage requirement range of the monitoring equipment.

[0014] A second aspect of the present invention provides a system for installing a visual long-endurance monitoring device on a drone under power, and a method for installing a visual long-endurance monitoring device on a drone under power, comprising: A first data processing unit is used to control the UAV to fly back to a position vertically above the transmission line with a set magnetic field strength based on the transmission line image signal and the first position magnetic field strength signal; A second data processing unit is used to determine the distance between the video surveillance mounting device and the UAV based on the ultrasonic signal of the video surveillance mounting device, and determine the distance between the video surveillance mounting device and the transmission line based on the linear relationship between the distance between the video surveillance mounting device and the UAV, the distance between the magnetic field strength signal at the first position and the magnetic field strength signal at the second position, and the difference in magnetic field strength; A third data processing unit is used to generate an installation control signal based on the distance between the video surveillance mounting device and the UAV and the distance between the video surveillance mounting device and the power transmission line, and to install the video surveillance mounting device on the power transmission line through the clamping unit; The fourth data processing unit is used for the video monitoring mounting device to generate a magnetic field expansion and contraction control signal based on the magnetic field strength signal of the transmission line, and control the distance between the non-closed magnetic induction energy acquisition device and the transmission line, so as to output a stable voltage range.

[0015] Furthermore, the first data processing unit controls the drone to fly back to a position with a set magnetic field strength and vertically located directly above the transmission line based on the transmission line image signal and the first position magnetic field strength signal, including: The position between the UAV and the transmission line is determined based on the transmission line image signal, so as to control the UAV to be located vertically above the transmission line; Control the UAV to fly vertically to a position directly above the power transmission line, and simultaneously obtain a magnetic field strength signal at the first position; The magnetic field strength of the drone for self-tracking flight is set according to the acquired first position magnetic field strength signal, and a self-tracking control signal is generated; Based on the self-tracking control signal, the UAV self-tracks and flies back to a position with a set magnetic field strength and vertically located directly above the transmission line.

[0016] Further, the second data processing unit determines the distance between the video surveillance mounting device and the UAV based on the ultrasonic signal of the video surveillance mounting device, and determines the distance between the video surveillance mounting device and the transmission line based on the linear relationship between the distance between the video surveillance mounting device and the UAV, the distance between the magnetic field strength signal at the first position and the magnetic field strength signal at the second position, and the difference in magnetic field strength, including: Determine the distance between the video surveillance mount device and the drone based on the ultrasonic signal of the video surveillance mount device; Based on the distance between the video surveillance mounting device and the drone, the magnetic field strength signal at the first position and the magnetic field strength signal at the second position, a linear function relationship between the distance and the magnetic field strength difference is constructed, and its expression is as follows:

[0017] in, The distance between the video monitoring device and the drone, is the magnetic field strength at the first position, is the magnetic field strength at the second position, As parameters, is the parameter; Obtain the current signal of the transmission line, and calculate the magnetic field strength value near the transmission line based on the Biot-Savart law; Based on the magnetic field strength value near the transmission line and the magnetic field strength at the first position, the distance between the video surveillance mounting device and the transmission line is determined, and its expression is as follows:

[0018] in, is the distance between the video surveillance mounting device and the transmission line. As parameters, As parameters, is the magnetic field strength value near the transmission line, is the magnetic field strength at the first position.

[0019] Further, the third data processing unit generates an installation control signal based on the distance between the video surveillance mounting device and the UAV and the distance between the video surveillance mounting device and the power transmission line, and installing the video surveillance mounting device on the power transmission line through the clamping unit includes: generating an installation control signal based on the distance between the video surveillance mounting device and the UAV and the distance between the video surveillance mounting device and the power transmission line; Controlling the extension length of the installation telescopic unit based on the installation control signal to control the distance between the video surveillance mounting device and the power transmission line; The distance between the video surveillance mounting device and the power transmission line is controlled until a set distance is reached, and the clamping unit is controlled to clamp and close to install the video surveillance mounting device on the power transmission line.

[0020] Furthermore, the fourth data processing unit generates a magnetic field expansion and contraction control signal based on the magnetic field strength signal of the transmission line to control the distance between the non-closed magnetic induction energy acquisition device and the transmission line, so that the output stable voltage range includes: Determine the magnitude of the magnetic field strength at the location of the power transmission line based on the power transmission line magnetic field strength signal, and generate a magnetic field expansion and contraction control signal; Adaptively controlling the telescopic length of the magnetic induction telescopic unit based on the magnetic field telescopic control signal, thereby controlling the distance between the non-closed magnetic induction energy harvesting device and the transmission wire; By controlling the distance between the non-closed magnetic induction energy acquisition device and the transmission line, the magnetic induction output voltage of the non-closed magnetic induction energy acquisition device can meet the voltage requirement range of the monitoring equipment.

[0021] Optionally, the mounting bracket structure may be an open type, and the mounting bracket structure includes: a support plate, a side bracket, a first top rod and a second top rod, wherein two side brackets are provided, both of which are vertically fixedly connected to the support plate, the first top rod is obliquely arranged at the top of each side bracket, and the two first top rods are fixedly connected by a cross bar, the angle between the first top rod and the horizontal plane is an acute angle, one end of the second top rod is fixedly connected to the middle position of the lower surface of the first top rod, and the first top rod, the second top rod and the side bracket together constitute a space for mounting the wire.

[0022] Furthermore, the clamping unit includes a first telescopic rod and a second telescopic rod, the middle part of the first telescopic rod is fixedly connected to the first top rod, and the connection position of the first telescopic rod and the first top rod is below the cross rod and close to the connection point of the first top rod and the second top rod, the middle part of the second telescopic rod is fixedly connected to the second top rod, and the connection position of the second telescopic rod and the second top rod is close to the connection point of the first top rod and the second top rod, the first telescopic rod and the second telescopic rod are in the same plane, and the clamp of the clamping unit is provided with anti-slip material such as rubber pads fixed at the contact parts with the wires.

[0023] The beneficial effect of the present invention is that, compared with the prior art, the present invention realizes the self-tracking of the UAV to fly back to a position with a set magnetic field strength and vertically located directly above the transmission line, and calculates in real time the distance between the video surveillance mounting device and the UAV and the distance between the video surveillance mounting device and the transmission line, so as to accurately install the video surveillance mounting device on the transmission line.

[0024] Compared with the closed current transformer, the non-closed induction energy acquisition device is more convenient to install on the transmission line with power through a drone, avoiding manual tower installation. It is more suitable for temporary anti-external damage monitoring on the transmission line, and the installation is quick, flexible, practical and economical.

[0025] The non-closed induction energy acquisition device measures the energy output voltage and can use the magnetic induction telescopic unit to adaptively adjust the distance between the non-closed induction energy acquisition device and the transmission line to output a stable voltage range, thereby ensuring the stability of the energy output power, improving the reliability of the energy supply of the visualization device, and compensating for the blind spots of the monitoring equipment on the tower, thereby ensuring the safe and stable operation of the transmission line. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0027] Figure 1 It is a flow chart of a method for installing a visual long-endurance monitoring device on a drone under power supply according to the present invention; Figure 2 It is a structural schematic diagram of the distance between the UAV mounted video monitoring mounting device and the power transmission wire of the present invention; Figure 3 It is a structural schematic diagram of the video monitoring mounting device of the present invention.

[0028] Figure ID: 1—video surveillance mounting device; 2—image video surveillance unit; 3—non-closed induction energy acquisition device; 4—magnetic induction telescopic unit; 5—mass block; 6—clamping unit; 7—second magnetic field strength acquisition unit; 8—first magnetic field strength acquisition unit; 9—UAV; 10—installation telescopic unit; 11—transmission line. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical scheme and advantages of the present invention clearer, the technical scheme of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. The embodiments described in the present invention are only embodiments of a part of the present invention, not all embodiments. Based on the spirit of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work belong to the protection scope of the present invention.

[0030] Embodiment 1 like Figure 1 As shown, an embodiment of the present invention provides a method for installing a visual long-endurance monitoring device on a drone under power, comprising the following steps: S101, based on the transmission line image signal and the first position magnetic field strength signal, control the drone to fly back to the position with the set magnetic field strength and vertically located directly above the transmission line, wherein the first position is the drone; The drone is provided with an image acquisition unit for acquiring the image signal of the transmission line and a first magnetic field strength acquisition unit for acquiring the magnetic field strength signal at the first position. The drone is controlled to fly to a position directly above the transmission line to acquire the image signal of the transmission line, and the orientation between the drone and the transmission line is determined by image processing of the image signal of the transmission line, so that the drone is vertically located directly above the transmission line. In the process of controlling the drone to fly at a constant speed at a position directly above the vertical transmission line, the magnetic field strength signal at the first position is acquired by the first magnetic field strength acquisition unit at the same time, and the drone is controlled to fly back to a position directly above the transmission line vertically with the maximum magnetic field strength based on the magnetic field strength signal at the first position by self-tracking.

[0031] Based on the transmission line image signal and the first position magnetic field strength signal, controlling the drone to fly back to a position with a set magnetic field strength and vertically located directly above the transmission line includes the following steps: The position between the UAV and the transmission line is determined based on the transmission line image signal, so as to control the UAV to be located vertically above the transmission line; Control the UAV to fly vertically to a position directly above the power transmission line, and simultaneously obtain a magnetic field strength signal at the first position; The magnetic field strength of the drone for self-tracking flight is set according to the acquired first position magnetic field strength signal, and a self-tracking control signal is generated; Based on the self-tracking control signal, the UAV self-tracks and flies back to a position with a set magnetic field strength and vertically located directly above the transmission line.

[0032] For example, the drone is controlled to fly directly above the transmission line to obtain the transmission line image signal, and the position between the drone and the transmission line is determined by performing image processing on the transmission line image signal. The flight path of the drone is adjusted according to the position between the drone and the transmission line, thereby adjusting the position between the drone and the transmission line so that the drone is located vertically directly above the transmission line. The drone is controlled to fly vertically directly above the transmission line, and at the same time, the magnetic field strength signal of the first position is obtained through the first magnetic field strength acquisition unit and stored in the first magnetic field strength sub-database. The maximum magnetic field strength is selected by calling the first magnetic field strength sub-database as the magnetic field strength for setting the drone to fly back by self-tracking. A self-tracking control signal is generated according to the magnetic field strength for the drone to fly back by self-tracking. Based on the self-tracking control signal, the drone can fly back to the position directly above the transmission line with the set magnetic field strength and vertically located.

[0033] S102, the UAV is provided with an ultrasonic acquisition unit for acquiring ultrasonic signals, the distance between the video surveillance mounting device and the UAV is determined based on the ultrasonic signal of the video surveillance mounting device, and the distance between the video surveillance mounting device and the UAV is determined based on the linear relationship between the distance between the video surveillance mounting device and the UAV, the distance between the magnetic field strength signal at the first position and the magnetic field strength signal at the second position, and the difference in magnetic field strength, wherein the second position is the video surveillance mounting device; When the drone self-tracks and flies back to the position with the set magnetic field strength and vertically located directly above the transmission line based on the transmission line image signal and the first position magnetic field strength signal, the ultrasonic signal of the video surveillance mounting device is acquired through the ultrasonic acquisition unit for acquiring ultrasonic signals provided on the drone. The distance between the video surveillance mounting device and the drone is determined by processing the ultrasonic signal of the video surveillance mounting device. The second magnetic field strength acquisition unit for acquiring magnetic field strength signals provided on the video surveillance mounting device stores the second position magnetic field strength signal acquired by the second magnetic field strength acquisition unit in the second magnetic field strength sub-database, and the first position magnetic field strength signal acquired by the first magnetic field strength acquisition unit is stored in the first magnetic field strength sub-database. By calling the first magnetic field strength sub-database and the second magnetic field strength sub-database, the distance function relationship between the drone and the video surveillance mounting device is constructed, and the linear relationship between the distance and the magnetic field strength difference is obtained by fitting processing, so as to determine the distance between the video surveillance mounting device and the transmission line.

[0034] Determining the distance between the video surveillance mounting device and the UAV based on the ultrasonic signal of the video surveillance mounting device, and determining the distance between the video surveillance mounting device and the transmission line based on the linear relationship between the distance between the video surveillance mounting device and the UAV, the distance between the magnetic field strength signal at the first position and the magnetic field strength signal at the second position, and the difference in magnetic field strength comprises the following steps: Determine the distance between the video surveillance mount device and the drone based on the ultrasonic signal of the video surveillance mount device; Based on the distance between the video surveillance mounting device and the UAV, the first position magnetic field strength signal and the second position magnetic field strength signal, the distance between the video surveillance mounting device and the transmission line is determined.

[0035] Determining the distance between the video surveillance mounting device and the power transmission line based on the distance between the video surveillance mounting device and the drone, the first position magnetic field strength signal, and the second position magnetic field strength signal includes the following steps: Based on the distance between the video surveillance mounting device and the drone, the magnetic field strength signal at the first position and the magnetic field strength signal at the second position, a linear function relationship between the distance and the magnetic field strength difference is constructed, and its expression is as follows:

[0036] in, The distance between the video monitoring device and the drone, is the magnetic field strength at the first position, is the magnetic field strength at the second position, As parameters, is the parameter; Obtain the current signal of the transmission line, and calculate the magnetic field strength value near the transmission line based on the Biot-Savart law; Based on the magnetic field strength value near the transmission line and the magnetic field strength at the first position, the distance between the video surveillance mounting device and the transmission line is determined, and its expression is as follows:

[0037] in, is the distance between the video surveillance mounting device and the transmission line. As parameters, As parameters, is the magnetic field strength value near the transmission line, is the magnetic field strength at the first position.

[0038] For example, the ultrasonic signal of the video surveillance mount device is acquired by the ultrasonic acquisition unit on the drone, and the distance a between the video surveillance mount device and the drone is determined based on the ultrasonic signal of the video surveillance mount device. By performing linear fitting on multiple sets of measured data (the distance between the video surveillance mount device and the drone and the magnetic field strength), the parameters k and b can be calculated, thereby obtaining the linear relationship between the distance and the difference in magnetic field strength ( ). Obtain the current signal of the transmission line and calculate the magnetic field strength value near the transmission line based on the Biot-Savart law , through the magnetic field strength value near the transmission line and the first position magnetic field strength are calculated and processed ( ), the distance between the video surveillance mounting device and the transmission line can be calculated The distance a between the video monitoring mounting device and the UAV and the distance between the video monitoring mounting device and the power transmission line are , the distance between the UAV transmission lines can be obtained , S103, generating an installation control signal based on the distance between the video surveillance mounting device and the UAV and the distance between the video surveillance mounting device and the power transmission line, and installing the video surveillance mounting device on the power transmission line through a clamping unit; The distance between the video surveillance mounting device and the UAV is determined based on the ultrasonic signal of the video surveillance mounting device, and the distance between the video surveillance mounting device and the UAV is determined based on the linear relationship between the distance between the video surveillance mounting device and the UAV, the distance between the magnetic field strength signal at the first position and the magnetic field strength signal at the second position, and the difference in magnetic field strength. The UAV is provided with an installation telescopic unit for controlling the distance between the video surveillance mounting device and the transmission wire, and an installation control signal is generated based on the distance between the video surveillance mounting device and the UAV and the distance between the video surveillance mounting device and the transmission wire. The installation telescopic unit is controlled to extend based on the installation control signal to control the distance between the video surveillance mounting device and the transmission wire. In the process of controlling the installation telescopic unit to extend, the distance between the video surveillance mounting device and the UAV and the distance between the video surveillance mounting device and the transmission wire are obtained by real-time acquisition of magnetic field strength values ​​and ultrasonic ranging values ​​and iterative updating of parameters k and b, thereby accurately installing the video surveillance mounting device on the transmission wire. The video surveillance mounting device is provided with a clamping unit for fixing the video surveillance mounting device on the transmission line. When the distance between the video surveillance mounting device and the transmission line reaches a set distance, the clamping unit is controlled to clamp and close, thereby achieving the installation of the video surveillance mounting device on the transmission line.

[0039] Generating an installation control signal based on the distance between the video surveillance mounting device and the UAV and the distance between the video surveillance mounting device and the power transmission line, and installing the video surveillance mounting device on the power transmission line through the clamping unit includes the following steps: generating an installation control signal based on the distance between the video surveillance mounting device and the UAV and the distance between the video surveillance mounting device and the power transmission line; Controlling the extension length of the installation telescopic unit based on the installation control signal to control the distance between the video surveillance mounting device and the power transmission line; The distance between the video surveillance mounting device and the power transmission line is controlled until a set distance is reached, and the clamping unit is controlled to clamp and close to install the video surveillance mounting device on the power transmission line.

[0040] For example, the UAV flies back to the set magnetic field strength and is located vertically above the power transmission line. An installation control signal is generated based on the distance between the video surveillance mounting device and the UAV and the distance between the video surveillance mounting device and the power transmission line. The installation telescopic unit controls its extension length based on the installation control signal, controls the distance between the video surveillance mounting device and the power transmission line until the set distance is reached, and controls the clamping unit to clamp and close to install the video surveillance mounting device on the power transmission line. After the video surveillance mounting device is installed on the power transmission line, the connection between the installation telescopic unit and the video surveillance mounting device can be disconnected by unhooking. In the present invention, no specific limitation is made on the disengagement method between the installation telescopic unit and the video surveillance mounting device. After the installation telescopic unit is disengaged from the video surveillance mounting device, the installation telescopic unit is controlled to retract, and the UAV operation is completed and returns to the ground.

[0041] S104, the video monitoring mounting device generates a magnetic field expansion and contraction control signal based on the magnetic field strength signal of the power transmission line, controls the distance between the non-closed magnetic induction energy acquisition device and the power transmission line, and outputs a stable voltage range; An installation control signal is generated based on the distance between the video surveillance mounting device and the UAV and the distance between the video surveillance mounting device and the transmission line. The video surveillance mounting device is installed on the transmission line through the clamping unit to complete the installation of the video surveillance mounting device on the transmission line. The transmission line magnetic field strength signal is acquired through the second magnetic field strength acquisition unit on the video surveillance mounting device. A magnetic field expansion and contraction control signal is generated based on the transmission line magnetic field strength signal. The magnetic induction expansion and contraction unit on the video surveillance mounting device is adaptively expanded and contracted based on the magnetic field expansion and contraction control signal to control the distance between the non-closed magnetic induction energy acquisition device and the transmission line, thereby acquiring more magnetic induction electric energy through the non-closed magnetic induction energy acquisition device to meet the power demand of the monitoring equipment and charge the storage unit.

[0042] The video monitoring mounting device generates a magnetic field expansion and contraction control signal based on the magnetic field strength signal of the transmission line, controls the distance between the non-closed magnetic induction energy acquisition device and the transmission line, and outputs a stable voltage range, including the following steps: Determine the magnitude of the magnetic field strength at the location of the power transmission line based on the power transmission line magnetic field strength signal, and generate a magnetic field expansion and contraction control signal; Adaptively controlling the telescopic length of the magnetic induction telescopic unit based on the magnetic field telescopic control signal, thereby controlling the distance between the non-closed magnetic induction energy harvesting device and the transmission wire; By controlling the distance between the non-closed magnetic induction energy acquisition device and the transmission line, the magnetic induction output voltage of the non-closed magnetic induction energy acquisition device can meet the voltage requirement range of the monitoring equipment.

[0043] For example, the magnetic field strength at the location of the transmission line is determined by the magnetic field strength signal of the transmission line, and a magnetic field expansion and contraction control signal is generated based on the magnetic field strength at the location of the transmission line. The magnetic induction expansion and contraction unit adaptively controls the expansion and contraction length based on the magnetic field expansion and contraction control signal, thereby controlling the distance between the non-closed magnetic induction energy acquisition device and the transmission line. By controlling the distance between the non-closed magnetic induction energy acquisition device and the transmission line, the magnetic induction output voltage of the non-closed magnetic induction energy acquisition device reaches a set voltage range to meet the power demand of the monitoring equipment and charge the storage unit. For example, when the magnetic induction output voltage of the non-closed magnetic induction energy harvesting device is less than the set voltage minimum threshold, the magnetic induction telescopic unit is controlled to extend to reduce the distance between the non-closed magnetic induction energy harvesting device and the transmission line until the magnetic induction output voltage of the non-closed magnetic induction energy harvesting device reaches the set voltage range; when the magnetic induction output voltage of the non-closed magnetic induction energy harvesting device is greater than the set voltage maximum threshold, the magnetic induction telescopic unit is controlled to contract to increase the distance between the non-closed magnetic induction energy harvesting device and the transmission line until the magnetic induction output voltage of the non-closed magnetic induction energy harvesting device reaches the set voltage range; when the magnetic induction output voltage of the non-closed magnetic induction energy harvesting device meets the set voltage range, the magnetic induction telescopic unit does not perform telescopic action.

[0044] Embodiment 2 like Figure 2 , Figure 3 As shown, an embodiment of the present invention provides a system for installing a visual long-endurance monitoring device on a drone under power, and a method for installing a visual long-endurance monitoring device on a drone under power in any of the above embodiments, comprising: A first data processing unit is used to control the UAV to fly back to a position vertically above the transmission line with a set magnetic field strength based on the transmission line image signal and the first position magnetic field strength signal; A second data processing unit is used to determine the distance between the video surveillance mounting device and the UAV based on the ultrasonic signal of the video surveillance mounting device, and determine the distance between the video surveillance mounting device and the transmission line based on the linear relationship between the distance between the video surveillance mounting device and the UAV, the distance between the magnetic field strength signal at the first position and the magnetic field strength signal at the second position, and the difference in magnetic field strength; A third data processing unit is used to generate an installation control signal based on the distance between the video surveillance mounting device and the UAV and the distance between the video surveillance mounting device and the power transmission line, and to install the video surveillance mounting device on the power transmission line through the clamping unit; The fourth data processing unit is used for the video monitoring mounting device to generate a magnetic field expansion and contraction control signal based on the magnetic field strength signal of the transmission line, and control the distance between the non-closed magnetic induction energy acquisition device and the transmission line, so as to output a stable voltage range.

[0045] The UAV includes an image acquisition unit, a first magnetic field strength acquisition unit, an ultrasonic acquisition unit, an installation telescopic unit and a UAV processor unit. The UAV processor unit is respectively connected to the image acquisition unit, the first magnetic field strength acquisition unit, the ultrasonic acquisition unit and the installation telescopic unit. The image acquisition unit acquires the image signal of the transmission line and transmits it to the UAV processor unit. The first magnetic field strength acquisition unit acquires the magnetic field strength signal of the first position and transmits it to the UAV processor unit. The ultrasonic acquisition unit acquires the ultrasonic signal of the video monitoring mounting device and transmits it to the UAV processor unit. The installation telescopic unit controls its extension length based on the installation control signal, and controls the distance between the video monitoring mounting device and the transmission line until the set distance is reached. The UAV processor unit includes a first data processing unit and a second data processing unit.

[0046] The video surveillance mounting device includes a mounting bracket structure, an image and video surveillance unit, a second magnetic field strength acquisition unit, a clamping unit, a magnetic induction telescopic unit, a non-closed magnetic induction energy acquisition device, and a mounting device processor unit. The image and video surveillance unit and the second magnetic field strength acquisition unit are installed on the mounting bracket structure. The clamping unit is connected to the mounting bracket structure. One end of the magnetic induction telescopic unit is fixedly connected to the mounting bracket structure, and the other end of the magnetic induction telescopic unit is fixedly connected to the non-closed magnetic induction energy acquisition device. The mounting device processor unit is respectively connected to the second magnetic field strength acquisition unit and the clamping unit, the magnetic induction telescopic unit, and the non-closed magnetic induction energy acquisition device. The second magnetic field strength acquisition unit collects the magnetic field strength signal of the transmission line and transmits it to the mounting device processor unit. The clamping unit is used to clamp and close the video surveillance mounting device to install it on the transmission line when the distance between the video surveillance mounting device and the transmission line is controlled until the set distance is reached. The magnetic induction telescopic unit adaptively controls the telescopic length based on the magnetic field telescopic control signal, thereby controlling the distance between the non-closed magnetic induction energy acquisition device and the transmission line. The mounting device processor unit includes a third data processing unit and a fourth data processing unit.

[0047] For example, the mounting bracket structure can be an open type, and the mounting bracket structure includes: a support plate, a side bracket, a first top rod and a second top rod, wherein two side brackets are provided, both of which are vertically fixedly connected to the support plate, the first top rod is obliquely arranged at the top of each side bracket, and the two first top rods are fixedly connected by a cross bar, the angle between the first top rod and the horizontal plane is an acute angle, one end of the second top rod is fixedly connected to the middle position of the lower surface of the first top rod, and the angle between the second top rod and the first top rod is 90°, and the first top rod, the second top rod and the side bracket together constitute a space for mounting the wire. Among them, a mass block is arranged in the middle of the second top rod to ensure the overall balance of the device.

[0048] For example, the clamping unit includes a first telescopic rod and a second telescopic rod, the middle portion of the first telescopic rod is fixedly connected to the first top rod, the two are approximately 90 degrees apart, and the connection position of the first telescopic rod and the first top rod is below the cross bar and close to the connection point of the first top rod and the second top rod. The middle portion of the second telescopic rod is fixedly connected to the second top rod, the two are approximately 90 degrees apart, and the connection position of the second telescopic rod and the second top rod is close to the connection point of the first top rod and the second top rod. The first telescopic rod and the second telescopic rod are in the same plane. The clamp of the clamping unit is provided with a rubber pad-like anti-slip material fixed to the contact portion with the wire.

[0049] For example, the clamping unit performs clamping and closing to install the video surveillance mounting device on the transmission line: the clamping unit is started to clamp and close, the first telescopic rod and the second telescopic rod of the clamping unit are extended at the same time, and the front ends of the two rods are crossed and closed, so that the wire is restricted to a quadrilateral space surrounded by the first telescopic rod, the second telescopic rod, the first top rod and the second top rod.

[0050] For example, the image video monitoring unit is equipped with a rotating pan-tilt head that can rotate 360 ​​degrees horizontally and 180 degrees vertically to conduct all-round anti-extrinsic monitoring of the middle area of ​​the transmission line. The image video monitoring unit can set the patrol cycle T, and regularly shoot images in five directions and send them back to the server. For example, the five shooting directions can be 45° and 135° vertically with the wire, 45° and 135° horizontally with the wire, and vertically downward.

[0051] The first data processing unit controls the drone to fly back to a position with a set magnetic field strength and vertically located directly above the transmission line based on the transmission line image signal and the first position magnetic field strength signal, including: The position between the UAV and the transmission line is determined based on the transmission line image signal, so as to control the UAV to be located vertically above the transmission line; Control the UAV to fly vertically to a position directly above the power transmission line, and simultaneously obtain a magnetic field strength signal at the first position; The magnetic field strength of the drone for self-tracking flight is set according to the acquired first position magnetic field strength signal, and a self-tracking control signal is generated; Based on the self-tracking control signal, the UAV self-tracks and flies back to a position with a set magnetic field strength and vertically located directly above the transmission line.

[0052] The second data processing unit determines the distance between the video surveillance mounting device and the UAV based on the ultrasonic signal of the video surveillance mounting device, and determines the distance between the video surveillance mounting device and the transmission line based on the linear relationship between the distance between the video surveillance mounting device and the UAV, the distance between the magnetic field strength signal at the first position and the magnetic field strength signal at the second position, and the difference in magnetic field strength, including: Determine the distance between the video surveillance mount device and the drone based on the ultrasonic signal of the video surveillance mount device; Based on the distance between the video surveillance mounting device and the UAV, the first position magnetic field strength signal and the second position magnetic field strength signal, the distance between the video surveillance mounting device and the transmission line is determined.

[0053] Determining the distance between the video surveillance mounting device and the power transmission line based on the distance between the video surveillance mounting device and the drone, the first position magnetic field strength signal, and the second position magnetic field strength signal includes: Based on the distance between the video surveillance mounting device and the drone, the magnetic field strength signal at the first position and the magnetic field strength signal at the second position, a linear function relationship between the distance and the magnetic field strength difference is constructed, and its expression is as follows:

[0054] in, The distance between the video monitoring device and the drone, is the magnetic field strength at the first position, is the magnetic field strength at the second position, As parameters, is the parameter; Obtain the current signal of the transmission line, and calculate the magnetic field strength value near the transmission line based on the Biot-Savart law; Based on the magnetic field strength value near the transmission line and the magnetic field strength at the first position, the distance between the video surveillance mounting device and the transmission line is determined, and its expression is as follows:

[0055] in, is the distance between the video surveillance mounting device and the transmission line. As parameters, As parameters, is the magnetic field strength value near the transmission line, is the magnetic field strength at the first position.

[0056] The third data processing unit generates an installation control signal based on the distance between the video surveillance mounting device and the UAV and the distance between the video surveillance mounting device and the power transmission line, and the video surveillance mounting device is installed on the power transmission line through the clamping unit, including: generating an installation control signal based on the distance between the video surveillance mounting device and the UAV and the distance between the video surveillance mounting device and the power transmission line; Controlling the extension length of the installation telescopic unit based on the installation control signal to control the distance between the video surveillance mounting device and the power transmission line; The distance between the video surveillance mounting device and the power transmission line is controlled until a set distance is reached, and the clamping unit is controlled to clamp and close to install the video surveillance mounting device on the power transmission line.

[0057] The fourth data processing unit generates a magnetic field expansion and contraction control signal based on the magnetic field strength signal of the transmission line, controls the distance between the non-closed magnetic induction energy acquisition device and the transmission line, and outputs a stable voltage range including: Determine the magnitude of the magnetic field strength at the location of the power transmission line based on the power transmission line magnetic field strength signal, and generate a magnetic field expansion and contraction control signal; Adaptively controlling the telescopic length of the magnetic induction telescopic unit based on the magnetic field telescopic control signal, thereby controlling the distance between the non-closed magnetic induction energy harvesting device and the transmission wire; By controlling the distance between the non-closed magnetic induction energy acquisition device and the transmission line, the magnetic induction output voltage of the non-closed magnetic induction energy acquisition device can meet the voltage requirement range of the monitoring equipment.

[0058] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0059] The terms "first", "second", and "third", etc. in the specification of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein, for example. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product, or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products, or devices.

[0060] In the several embodiments provided by the present invention, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0061] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0062] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0063] The beneficial effect of the present invention is that, compared with the prior art, the present invention realizes the self-tracking of the UAV to fly back to a position with a set magnetic field strength and vertically located directly above the transmission line, and calculates in real time the distance between the video surveillance mounting device and the UAV and the distance between the video surveillance mounting device and the transmission line, so as to accurately install the video surveillance mounting device on the transmission line.

[0064] Compared with the closed current transformer, the non-closed induction energy acquisition device is more convenient to install on the transmission line with power through a drone, avoiding manual tower installation. It is more suitable for temporary anti-external damage monitoring on the transmission line, and the installation is quick, flexible, practical and economical.

[0065] The non-closed induction energy acquisition device measures the energy output voltage and can use the magnetic induction telescopic unit to adaptively adjust the distance between the non-closed induction energy acquisition device and the transmission line to output a stable voltage range, thereby ensuring the stability of the energy output power, improving the reliability of the energy supply of the visualization device, and compensating for the blind spots of the monitoring equipment on the tower, thereby ensuring the safe and stable operation of the transmission line.

[0066] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents, and any modifications or equivalent replacements that do not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A method for installing a visual long-endurance monitoring device on a drone under power, characterized in that: The following steps are involved: S101, based on the transmission line image signal and the first position magnetic field strength signal, control the drone to fly back to the position with the set magnetic field strength and vertically located directly above the transmission line, wherein the first position is the drone; S102, the UAV is provided with an ultrasonic acquisition unit for acquiring ultrasonic signals, the distance between the video surveillance mounting device and the UAV is determined based on the ultrasonic signal of the video surveillance mounting device, and the distance between the video surveillance mounting device and the UAV is determined based on the linear relationship between the distance between the video surveillance mounting device and the UAV, the distance between the magnetic field strength signal at the first position and the magnetic field strength signal at the second position, and the difference in magnetic field strength, wherein the second position is the video surveillance mounting device; S103, generating an installation control signal based on the distance between the video surveillance mounting device and the UAV and the distance between the video surveillance mounting device and the power transmission line, and installing the video surveillance mounting device on the power transmission line through a clamping unit; S104, the video monitoring mounting device generates a magnetic field expansion and contraction control signal based on the magnetic field strength signal of the transmission line, controls the distance between the non-closed magnetic induction energy acquisition device and the transmission line, and outputs a stable voltage range.

2. The method for installing a visual long-endurance monitoring device on a drone under power according to claim 1, characterized in that: The method of controlling the drone to fly back to a position with a set magnetic field strength and vertically located directly above the transmission line based on the transmission line image signal and the first position magnetic field strength signal comprises the following steps: The position between the UAV and the transmission line is determined based on the transmission line image signal, so as to control the UAV to be located vertically above the transmission line; Control the UAV to fly vertically to a position directly above the power transmission line, and simultaneously obtain a magnetic field strength signal at the first position; The magnetic field strength of the drone for self-tracking flight is set according to the acquired first position magnetic field strength signal, and a self-tracking control signal is generated; Based on the self-tracking control signal, the UAV self-tracks and flies back to a position with a set magnetic field strength and vertically located directly above the transmission line.

3. The method for installing a visual long-endurance monitoring device on a drone under power according to claim 1, characterized in that: The method of determining the distance between the video surveillance mounting device and the UAV based on the ultrasonic signal of the video surveillance mounting device, and determining the distance between the video surveillance mounting device and the transmission line based on the linear relationship between the distance between the video surveillance mounting device and the UAV, the distance between the magnetic field strength signal at the first position and the magnetic field strength signal at the second position, and the difference in magnetic field strength comprises the following steps: Determine the distance between the video surveillance mount device and the drone based on the ultrasonic signal of the video surveillance mount device; Based on the distance between the video surveillance mounting device and the drone, the magnetic field strength signal at the first position and the magnetic field strength signal at the second position, a linear function relationship between the distance and the magnetic field strength difference is constructed, and its expression is as follows: in, The distance between the video monitoring device and the drone, is the magnetic field strength at the first position, is the magnetic field strength at the second position, As parameters, is the parameter; Obtain the current signal of the transmission line, and calculate the magnetic field strength value near the transmission line based on the Biot-Savart law; Based on the magnetic field strength value near the transmission line and the magnetic field strength at the first position, the distance between the video surveillance mounting device and the transmission line is determined, and its expression is as follows: in, is the distance between the video surveillance mounting device and the transmission line. As parameters, As parameters, is the magnetic field strength value near the transmission line, is the magnetic field strength at the first position.

4. The method for installing a visual long-endurance monitoring device on a drone under power according to claim 1, characterized in that: The generating of the installation control signal based on the distance between the video surveillance mounting device and the UAV and the distance between the video surveillance mounting device and the power transmission line, and installing the video surveillance mounting device on the power transmission line through the clamping unit comprises the following steps: generating an installation control signal based on the distance between the video surveillance mounting device and the UAV and the distance between the video surveillance mounting device and the power transmission line; Controlling the extension length of the installation telescopic unit based on the installation control signal to control the distance between the video surveillance mounting device and the power transmission line; The distance between the video surveillance mounting device and the power transmission line is controlled until a set distance is reached, and the clamping unit is controlled to clamp and close to install the video surveillance mounting device on the power transmission line.

5. The method for installing a visual long-endurance monitoring device on a drone under power according to claim 1, characterized in that: The video monitoring mounting device generates a magnetic field expansion and contraction control signal based on the magnetic field strength signal of the power transmission line, controls the distance between the non-closed magnetic induction energy acquisition device and the power transmission line, and outputs a stable voltage range, including the following steps: Determine the magnitude of the magnetic field strength at the location of the power transmission line based on the power transmission line magnetic field strength signal, and generate a magnetic field expansion and contraction control signal; Adaptively controlling the telescopic length of the magnetic induction telescopic unit based on the magnetic field telescopic control signal, thereby controlling the distance between the non-closed magnetic induction energy harvesting device and the transmission wire; By controlling the distance between the non-closed magnetic induction energy acquisition device and the transmission line, the magnetic induction output voltage of the non-closed magnetic induction energy acquisition device can meet the voltage requirement range of the monitoring equipment.

6. A system for installing a visual long-endurance monitoring device on a drone under power, used in the method for installing a visual long-endurance monitoring device on a drone under power according to any one of claims 1 to 5, characterized in that: include: The first data processing unit is used to control the UAV to fly back to a position with a set magnetic field strength and vertically located directly above the transmission line based on the transmission line image signal and the first position magnetic field strength signal; A second data processing unit is used to determine the distance between the video surveillance mounting device and the UAV based on the ultrasonic signal of the video surveillance mounting device, and determine the distance between the video surveillance mounting device and the transmission line based on the linear relationship between the distance between the video surveillance mounting device and the UAV, the distance between the magnetic field strength signal at the first position and the magnetic field strength signal at the second position, and the difference in magnetic field strength; A third data processing unit is used to generate an installation control signal based on the distance between the video surveillance mounting device and the UAV and the distance between the video surveillance mounting device and the power transmission line, and to install the video surveillance mounting device on the power transmission line through the clamping unit; The fourth data processing unit is used for the video monitoring mounting device to generate a magnetic field expansion and contraction control signal based on the magnetic field strength signal of the transmission line, and control the distance between the non-closed magnetic induction energy acquisition device and the transmission line, so as to output a stable voltage range.

7. The system for installing a visual long-endurance monitoring device for a drone powered on according to claim 6 is characterized in that: The first data processing unit controls the drone to fly back to a position with a set magnetic field strength and vertically located directly above the transmission line based on the transmission line image signal and the first position magnetic field strength signal, including: The position between the UAV and the transmission line is determined based on the transmission line image signal, so as to control the UAV to be located vertically above the transmission line; Control the UAV to fly vertically to a position directly above the power transmission line, and simultaneously obtain a magnetic field strength signal at the first position; The magnetic field strength of the drone for self-tracking flight is set according to the acquired first position magnetic field strength signal, and a self-tracking control signal is generated; Based on the self-tracking control signal, the UAV self-tracks and flies back to a position with a set magnetic field strength and vertically located directly above the transmission line.

8. The system for installing a visual long-endurance monitoring device for a drone powered on according to claim 6 is characterized in that: The second data processing unit determines the distance between the video surveillance mounting device and the UAV based on the ultrasonic signal of the video surveillance mounting device, and determines the distance between the video surveillance mounting device and the transmission line based on the linear relationship between the distance between the video surveillance mounting device and the UAV, the distance between the magnetic field strength signal at the first position and the magnetic field strength signal at the second position, and the magnetic field strength difference, including: Determine the distance between the video surveillance mount device and the drone based on the ultrasonic signal of the video surveillance mount device; Based on the distance between the video monitoring mounting device and the UAV, the magnetic field strength signal at the first position and the magnetic field strength signal at the second position, a linear function relationship between the distance and the magnetic field strength difference is constructed; Obtain the current signal of the transmission line, and calculate the magnetic field strength value near the transmission line based on the Biot-Savart law; Based on the magnetic field strength value near the transmission line and the magnetic field strength at the first position, the distance between the video surveillance mounting device and the transmission line is determined, and its expression is as follows: in, is the distance between the video surveillance mounting device and the transmission line. As parameters, As parameters, is the magnetic field strength value near the transmission line, is the magnetic field strength at the first position.

9. The system for installing a visual long-endurance monitoring device for a drone powered on according to claim 6, characterized in that: The third data processing unit generates an installation control signal based on the distance between the video surveillance mounting device and the UAV and the distance between the video surveillance mounting device and the power transmission line, and installing the video surveillance mounting device on the power transmission line through the clamping unit includes: generating an installation control signal based on the distance between the video surveillance mounting device and the UAV and the distance between the video surveillance mounting device and the power transmission line; Controlling the extension length of the installation telescopic unit based on the installation control signal to control the distance between the video surveillance mounting device and the power transmission line; The distance between the video surveillance mounting device and the power transmission line is controlled until a set distance is reached, and the clamping unit is controlled to clamp and close to install the video surveillance mounting device on the power transmission line.

10. The system for installing a visual long-endurance monitoring device on a drone under power according to claim 6, characterized in that: The fourth data processing unit generates a magnetic field expansion and contraction control signal based on the magnetic field strength signal of the transmission line, controls the distance between the non-closed magnetic induction energy acquisition device and the transmission line, and outputs a stable voltage range including: Determine the magnitude of the magnetic field strength at the location of the power transmission line based on the power transmission line magnetic field strength signal, and generate a magnetic field expansion and contraction control signal; Adaptively controlling the telescopic length of the magnetic induction telescopic unit based on the magnetic field telescopic control signal, thereby controlling the distance between the non-closed magnetic induction energy harvesting device and the transmission wire; By controlling the distance between the non-closed magnetic induction energy acquisition device and the transmission line, the magnetic induction output voltage of the non-closed magnetic induction energy acquisition device can meet the voltage requirement range of the monitoring equipment.

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