A method and system for installing a visual long-endurance monitoring device on a drone

Abstract

The present invention discloses a method and system for live installation of a visual long-endurance monitoring device on a drone, comprising the following steps: controlling the drone to fly back to a position with a set magnetic field strength and vertically located directly above a power transmission line by self-tracking; determining the distance between the video monitoring mounting device and the drone and the distance between the video monitoring mounting device and the power transmission line based on an ultrasonic signal of a video monitoring mounting device, a first position magnetic field strength signal, and a second position magnetic field strength signal; generating an installation control signal based on the distance between the video monitoring mounting device and the drone and the distance between the video monitoring mounting device and the power transmission line, and installing the video monitoring mounting device on the power transmission line through a clamping unit; and enabling the video monitoring mounting device to generate a magnetic field expansion and contraction control signal based on the magnetic field strength signal of the power transmission line, thereby controlling the distance between a non-closed magnetic induction energy acquisition device and the power transmission line, 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 live installation of a visual long-endurance monitoring device for an unmanned aerial vehicle (UAV). Background Art

[0002] External damage to transmission lines can easily lead to line disconnections, tripping, and other accidents. Currently, manual inspections and video surveillance are the primary means of monitoring and managing construction near transmission lines. However, due to varying construction conditions, installing video surveillance equipment is difficult. Furthermore, installation locations are typically located on towers, resulting in limited video coverage and blind spots in the middle of the transmission lines. This hinders timely detection of external damage events and poses a safety hazard. Therefore, effective methods are urgently needed to achieve visual monitoring of external damage targets in the middle of transmission line spans.

[0003] Traditional outdoor video surveillance equipment relies on solar power to extend its battery life. Sustained rainy weather can affect the equipment's power supply, even leading to power outages. Furthermore, these devices are often installed on towers and are not suitable for installation on power lines. With the advancement of electromagnetic energy harvesting technology, video surveillance equipment based on CT (Current Transformer) energy is increasingly being used for power transmission line monitoring. This utilizes the magnetic field generated by the current in the conductors to harvest energy, enabling long-term online monitoring regardless of weather conditions. However, closed-loop CT energy harvesting equipment requires power outages for installation, and the demand for visual monitoring in construction projects is often random and often occurs outside of power outages for maintenance, making it inconvenient to install and deploy closed-loop CT energy harvesting video surveillance equipment on power lines.

[0004] Existing visual monitoring devices are typically installed on towers, powered by photovoltaics, and are manually installed. There has been no experience using drones for visual monitoring (including photovoltaic panels). For temporary external damage monitoring, some studies have used drones to install cameras on tower crossarms, but these devices primarily rely on batteries, which poses battery life issues. Line camera monitoring equipment uses closed-circuit current transformers for power, making installation cumbersome and requiring manual installation under power-on or power-off conditions. This manual installation poses the risk of falls and electric shock. Therefore, there is an urgent need for a visual monitoring device for power transmission lines that can be installed under power-on conditions by drones and has a long battery life. Summary of the Invention

[0005] In order to address the deficiencies in the prior art, the present invention provides a method and system for installing a visual long-endurance monitoring device on a powered drone, which enables 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 solutions.

[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:

[0008] S101, based on the transmission line image signal and the magnetic field strength signal at the first position, controlling the drone to fly back to a position with a set magnetic field strength and located vertically directly above the transmission line, wherein the first position is the drone;

[0009] S102. The UAV is provided with an ultrasonic acquisition unit for acquiring ultrasonic signals. The distance between the video surveillance mount device and the UAV is determined based on the ultrasonic signal from the video surveillance mount device. The distance between the video surveillance mount device and the power transmission line is determined based on a linear relationship between the distance between the video surveillance mount device and the UAV, the distance between the magnetic field strength signal at a first position, and the magnetic field strength signal at a second position, and the difference in magnetic field strength, where the second position is at the video surveillance mount device.

[0010] 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 using a clamping unit;

[0011] S104. The video surveillance 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.

[0012] Furthermore, 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:

[0013] Determine the orientation of the UAV and the transmission line based on the transmission line image signal, so as to control the UAV to be located vertically above the transmission line;

[0014] Control the UAV to fly vertically to a position directly above the transmission line and simultaneously obtain a magnetic field strength signal at the first position;

[0015] Setting the magnetic field strength of the drone for self-tracking flight according to the acquired first position magnetic field strength signal, and generating a self-tracking control signal;

[0016] Based on the self-tracking control signal, the UAV flies back to the position with the set magnetic field strength and is located vertically above the transmission line.

[0017] Furthermore, determining the distance between the video surveillance mount device and the UAV based on the ultrasonic signal of the video surveillance mount device, and determining the distance between the video surveillance mount device and the power transmission line based on the linear relationship between the distance between the video surveillance mount 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 includes the following steps:

[0018] Determine the distance between the video surveillance mount and the drone based on the ultrasonic signal of the video surveillance mount;

[0019] Based on the distance between the video surveillance mount 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. The expression is as follows:

[0020]

[0021] in, To monitor the distance between the mounting device and the drone, is the magnetic field strength at the first position, is the magnetic field strength at the second position, is the parameter, is a parameter;

[0022] 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;

[0023] 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. The expression is as follows:

[0024]

[0025] in, is the distance between the video surveillance mounting device and the transmission line, is the parameter, is the parameter, is the magnetic field strength value near the transmission line, is the magnetic field strength at the first position.

[0026] 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:

[0027] 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;

[0028] 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;

[0029] 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.

[0030] Furthermore, the video surveillance 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 harvesting device and the transmission line, and outputs a stable voltage range, including the following steps:

[0031] Determine the magnetic field strength at the location of the transmission line based on the transmission line magnetic field strength signal, and generate a magnetic field expansion and contraction control signal;

[0032] 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 line;

[0033] 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.

[0034] 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:

[0035] A first data processing unit is configured to control the drone to fly back to a position vertically above the transmission line at a set magnetic field strength based on the transmission line image signal and the first position magnetic field strength signal;

[0036] a second data processing unit, configured to determine a distance between the video surveillance mount device and the UAV based on the ultrasonic signal of the video surveillance mount device, and to determine a distance between the video surveillance mount device and the power transmission line based on a linear relationship between the distance between the video surveillance mount 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 a difference in magnetic field strength;

[0037] a third data processing unit, configured 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 via the clamping unit;

[0038] The fourth data processing unit is used for the video surveillance mounting device to generate 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, thereby outputting a stable voltage range.

[0039] Furthermore, the first data processing unit controls the drone to fly back to a position with a set magnetic field strength and vertically above the transmission line based on the transmission line image signal and the first position magnetic field strength signal, including:

[0040] Determine the orientation of the UAV and the transmission line based on the transmission line image signal, so as to control the UAV to be located vertically above the transmission line;

[0041] Control the UAV to fly vertically to a position directly above the transmission line and simultaneously obtain a magnetic field strength signal at the first position;

[0042] Setting the magnetic field strength of the drone for self-tracking flight according to the acquired first position magnetic field strength signal, and generating a self-tracking control signal;

[0043] Based on the self-tracking control signal, the UAV flies back to the position with the set magnetic field strength and is located vertically above the transmission line.

[0044] Furthermore, the second data processing unit determines the distance between the video surveillance mount device and the drone based on the ultrasonic signal of the video surveillance mount device, and determines the distance between the video surveillance mount device and the transmission line based on a linear relationship between the distance between the video surveillance mount device and the drone, 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:

[0045] Determine the distance between the video surveillance mount and the drone based on the ultrasonic signal of the video surveillance mount;

[0046] Based on the distance between the video surveillance mount 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. The expression is as follows:

[0047]

[0048] in, To monitor the distance between the mounting device and the drone, is the magnetic field strength at the first position, is the magnetic field strength at the second position, is the parameter, is a parameter;

[0049] 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;

[0050] 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. The expression is as follows:

[0051]

[0052] in, is the distance between the video surveillance mounting device and the transmission line, is the parameter, is the parameter, is the magnetic field strength value near the transmission line, is the magnetic field strength at the first position.

[0053] Furthermore, the third data processing unit generates 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:

[0054] 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;

[0055] 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;

[0056] 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] 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 harvesting device and the transmission line, thereby outputting a stable voltage range including:

[0058] Determine the magnetic field strength at the location of the transmission line based on the transmission line magnetic field strength signal, and generate a magnetic field expansion and contraction control signal;

[0059] 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 line;

[0060] 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.

[0061] 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 wires.

[0062] 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 a rubber pad-like anti-slip material fixed on the contact part with the wire.

[0063] The beneficial effect of the present invention is that, compared with the existing technology, the present invention realizes that the drone self-tracks and flies back to a position with a set magnetic field strength, vertically located directly above the transmission line, and calculates in real time the distance between the video surveillance mounting device and the drone 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 closed-type current transformers, the non-closed-type inductive energy-taking device is more convenient to install on the transmission line with power through drones, avoiding manual tower installation. It is more suitable for temporary anti-external damage monitoring on transmission lines, and is quick and flexible to install, and more 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, ensuring the stability of the energy output power, improving the reliability of the energy supply of the visualization device, and making up 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

[0066] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. 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 any creative work.

[0067] Figure 1 This 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;

[0068] Figure 2 This 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;

[0069] Figure 3 It is a structural schematic diagram of the video surveillance mounting device of the present invention.

[0070] Figure ID:

[0071] 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

[0072] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. The embodiments described in the present invention are only part of the embodiments of the present invention, not all of the embodiments. Based on the spirit of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0073] Example 1

[0074] 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:

[0075] S101, based on the transmission line image signal and the magnetic field strength signal at the first position, controlling the drone to fly back to a position with a set magnetic field strength and located vertically directly above the transmission line, wherein the first position is the drone;

[0076] The drone is equipped with an image acquisition unit for acquiring an image signal of the transmission line and a first magnetic field strength acquisition unit for acquiring a magnetic field strength signal at a 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. The orientation between the drone and the transmission line is determined by performing image processing on the image signal of the transmission line, so that the drone is positioned vertically directly above the transmission line. While controlling the drone to fly at a constant speed vertically directly above the transmission line, the magnetic field strength signal at the first position is simultaneously acquired by the first magnetic field strength acquisition unit. Based on the magnetic field strength signal at the first position, the drone is controlled to fly back to a position vertically directly above the transmission line where the magnetic field strength is the greatest.

[0077] 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:

[0078] Determine the orientation of the UAV and the transmission line based on the transmission line image signal, so as to control the UAV to be located vertically above the transmission line;

[0079] Control the UAV to fly vertically to a position directly above the transmission line and simultaneously obtain a magnetic field strength signal at the first position;

[0080] Setting the magnetic field strength of the drone for self-tracking flight according to the acquired first position magnetic field strength signal, and generating a self-tracking control signal;

[0081] Based on the self-tracking control signal, the UAV flies back to the position with the set magnetic field strength and is located vertically above the transmission line.

[0082] For example, a drone is controlled to fly directly above a transmission line to obtain an image signal of the transmission line. The transmission line image signal is processed to determine the orientation between the drone and the transmission line. The drone's flight path is adjusted based on the orientation between the drone and the transmission line, thereby adjusting the orientation between the drone and the transmission line so that the drone is positioned vertically above the transmission line. The drone is controlled to fly vertically above the transmission line, and simultaneously, a first magnetic field strength acquisition unit obtains a first position magnetic field strength signal and stores it in a first magnetic field strength sub-database. The first magnetic field strength sub-database is called to select the maximum magnetic field strength as the magnetic field strength for the drone's self-tracking return flight. A self-tracking control signal is generated based on the magnetic field strength set for the drone's self-tracking return flight. Based on the self-tracking control signal, the drone can self-track and return to a position vertically above the transmission line at the set magnetic field strength.

[0083] S102. The UAV is provided with an ultrasonic acquisition unit for acquiring ultrasonic signals. The distance between the video surveillance mount device and the UAV is determined based on the ultrasonic signal from the video surveillance mount device. The distance between the video surveillance mount device and the power transmission line is determined based on a linear relationship between the distance between the video surveillance mount device and the UAV, the distance between the magnetic field strength signal at a first position, and the magnetic field strength signal at a second position, and the difference in magnetic field strength, where the second position is at the video surveillance mount device.

[0084] Based on the transmission line image signal and the magnetic field strength signal at the first location, the drone self-tracks and flies back to a position perpendicular to the transmission line with a set magnetic field strength. The drone then acquires an ultrasonic signal from the video surveillance mount using an ultrasonic acquisition unit, which is also equipped on the drone. The ultrasonic signal from the video surveillance mount is processed to determine the distance between the video surveillance mount and the drone. A second magnetic field strength acquisition unit, also equipped on the video surveillance mount, is used to acquire magnetic field strength signals. The magnetic field strength signal at the second location acquired by the second magnetic field strength acquisition unit is stored in a second magnetic field strength sub-database, while the magnetic field strength signal at the first location acquired by the first magnetic field strength acquisition unit is stored in a first magnetic field strength sub-database. By accessing the first and second magnetic field strength sub-databases, a distance function relationship between the drone and the video surveillance mount is constructed. A linear relationship between distance and magnetic field strength difference is then fitted to determine the distance between the video surveillance mount and the transmission line.

[0085] Determining the distance between the video surveillance mount device and the UAV based on the ultrasonic signal of the video surveillance mount device, and determining the distance between the video surveillance mount device and the transmission line based on the linear relationship between the distance between the video surveillance mount 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 includes the following steps:

[0086] Determine the distance between the video surveillance mount and the drone based on the ultrasonic signal of the video surveillance mount;

[0087] The distance between the video surveillance mounting device and the power transmission line is determined 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.

[0088] 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:

[0089] Based on the distance between the video surveillance mount 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. The expression is as follows:

[0090]

[0091] in, To monitor the distance between the mounting device and the drone, is the magnetic field strength at the first position, is the magnetic field strength at the second position, is the parameter, is a parameter;

[0092] 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;

[0093] 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. The expression is as follows:

[0094]

[0095] in, is the distance between the video surveillance mounting device and the transmission line, is the parameter, is the parameter, is the magnetic field strength value near the transmission line, is the magnetic field strength at the first position.

[0096] 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 , 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 ,

[0097] 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 using a clamping unit;

[0098] The distance between the video surveillance mount and the UAV is determined based on the ultrasonic signal from the video surveillance mount, and the distance between the video surveillance mount and the power transmission line is determined based on the linear relationship between the distance between the video surveillance mount 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 equipped with an installation telescopic unit for controlling the distance between the video surveillance mount and the power transmission line. An installation control signal is generated based on the distance between the video surveillance mount and the UAV and the distance between the video surveillance mount and the power transmission line. The installation telescopic unit is then controlled to extend based on the installation control signal to control the distance between the video surveillance mount and the power transmission line. During the extension process of the installation telescopic unit, the distance between the video surveillance mount and the UAV and the distance between the video surveillance mount and the power transmission line are determined by real-time acquisition of magnetic field strength values ​​and ultrasonic ranging values ​​and iterative updating of parameters k and b, thereby achieving precise installation of the video surveillance mount on the power transmission line. 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 the 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.

[0099] 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 using the clamping unit includes the following steps:

[0100] 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;

[0101] 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;

[0102] 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.

[0103] For example, the drone flies back to a position with a 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 mount device and the drone and the distance between the video surveillance mount 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 mount 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 mount device on the power transmission line. After the video surveillance mount device is installed on the power transmission line, the connection between the installation telescopic unit and the video surveillance mount device can be disconnected by unhooking. The present invention does not specifically limit the method of disconnecting the installation telescopic unit from the video surveillance mount device. After the installation telescopic unit is disconnected from the video surveillance mount device, the installation telescopic unit is controlled to retract, and the drone completes its operation and returns to the ground.

[0104] S104. The video surveillance mounting device 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 harvesting device and the transmission line, thereby outputting a stable voltage range.

[0105] An installation control signal is generated based on the distance between the video surveillance mount device and the drone, and the distance between the video surveillance mount device and the power transmission line. The video surveillance mount device is then installed on the power transmission line via a clamping unit, completing the installation of the video surveillance mount device on the power transmission line. A second magnetic field strength acquisition unit on the video surveillance mount device acquires the power transmission line magnetic field strength signal, and a magnetic field expansion and contraction control signal is generated based on the power transmission line magnetic field strength signal. The magnetic induction expansion and contraction unit on the video surveillance mount device adaptively expands and contracts based on the magnetic field expansion and contraction control signal to control the distance between the non-closed magnetic induction energy harvesting device and the power transmission line, thereby harvesting more magnetic induction power from the non-closed magnetic induction energy harvesting device to meet the power needs of the monitoring equipment and charge the storage unit.

[0106] The video surveillance 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:

[0107] Determine the magnetic field strength at the location of the transmission line based on the transmission line magnetic field strength signal, and generate a magnetic field expansion and contraction control signal;

[0108] 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 line;

[0109] 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.

[0110] For example, the magnetic field strength at the location of the transmission line is determined using the transmission line's magnetic field strength signal. 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 harvesting device and the transmission line. By controlling the distance between the non-closed magnetic induction energy harvesting device and the transmission line, the magnetic induction output voltage of the non-closed magnetic induction energy harvesting device is brought within a set voltage range, thereby meeting the power needs of the monitoring equipment and charging the storage unit. For example, when the magnetic induction output voltage of the non-closed magnetic induction energy harvesting device is lower 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 higher 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 the telescopic action.

[0111] Example 2

[0112] 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:

[0113] A first data processing unit is configured to control the drone to fly back to a position vertically above the transmission line at a set magnetic field strength based on the transmission line image signal and the first position magnetic field strength signal;

[0114] a second data processing unit, configured to determine a distance between the video surveillance mount device and the UAV based on the ultrasonic signal of the video surveillance mount device, and to determine a distance between the video surveillance mount device and the power transmission line based on a linear relationship between the distance between the video surveillance mount 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 a difference in magnetic field strength;

[0115] a third data processing unit, configured 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 via the clamping unit;

[0116] The fourth data processing unit is used for the video surveillance mounting device to generate 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, thereby outputting a stable voltage range.

[0117] The drone includes an image acquisition unit, a first magnetic field strength acquisition unit, an ultrasonic acquisition unit, an installation and telescopic unit, and a drone processor unit. The drone processor unit is connected to the image acquisition unit, the first magnetic field strength acquisition unit, the ultrasonic acquisition unit, and the installation and telescopic unit, respectively. The image acquisition unit acquires image signals from the power transmission line and transmits them to the drone processor unit. The first magnetic field strength acquisition unit acquires magnetic field strength signals at a first position and transmits them to the drone processor unit. The ultrasonic acquisition unit acquires ultrasonic signals from the video surveillance mounting device and transmits them to the drone processor unit. The installation and telescopic unit controls its extension length based on an installation control signal, thereby controlling the distance between the video surveillance mounting device and the power transmission line until a set distance is reached. The drone processor unit includes a first data processing unit and a second data processing unit.

[0118] 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 expansion unit, a non-closed magnetic induction energy extraction device, and a mounting device processor unit. The image and video surveillance unit and the second magnetic field strength acquisition unit are mounted on the mounting bracket structure. The clamping unit is connected to the mounting bracket structure. One end of the magnetic induction expansion unit is fixedly connected to the mounting bracket structure, and the other end of the magnetic induction expansion unit is fixedly connected to the non-closed magnetic induction energy extraction device. The mounting device processor unit is respectively connected to the second magnetic field strength acquisition unit, the clamping unit, the magnetic induction expansion unit, and the non-closed magnetic induction energy extraction 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 configured to control the distance between the video surveillance mounting device and the transmission line until a set distance is reached, then clamp and close the video surveillance mounting device to the transmission line. The magnetic induction expansion unit adaptively controls the expansion length based on the magnetic field expansion control signal, thereby controlling the distance between the non-closed magnetic induction energy extraction device and the transmission line. The mounting device processor unit includes a third data processing unit and a fourth data processing unit.

[0119] For example, the mounting bracket structure can be 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 brackets together form a space for mounting the wire. A mass block is provided in the middle of the second top rod to ensure the overall balance of the device.

[0120] 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 at a substantially 90-degree angle therebetween. The connection between the first telescopic rod and the first top rod is below the crossbar and close to the connection point between the first and second top rods. The middle portion of the second telescopic rod is fixedly connected to the second top rod at a substantially 90-degree angle therebetween. The connection between the second telescopic rod and the second top rod is close to the connection point between the first and second top rods. 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.

[0121] For example, the clamping unit clamps and closes 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 extend at the same time, cross and close at the front end of the two, and confine the wire to the quadrilateral space surrounded by the first telescopic rod, the second telescopic rod, the first top rod and the second top rod.

[0122] For example, the video surveillance unit is equipped with a pan / tilt system that can rotate 360 ​​degrees horizontally and 180 degrees vertically, providing all-around anti-tampering monitoring of the central area of ​​the transmission line. The unit can set a patrol cycle, T, to periodically capture images from five directions and transmit them back to the server. For example, the five shooting directions could be: perpendicular to the conductor at 45° and 135° angles, horizontally at 45° and 135° angles, and vertically downward.

[0123] The first data processing unit controls the drone to fly back to a position with a set magnetic field strength and vertically above the transmission line based on the transmission line image signal and the first position magnetic field strength signal, including:

[0124] Determine the orientation of the UAV and the transmission line based on the transmission line image signal, so as to control the UAV to be located vertically above the transmission line;

[0125] Control the UAV to fly vertically to a position directly above the transmission line and simultaneously obtain a magnetic field strength signal at the first position;

[0126] Setting the magnetic field strength of the drone for self-tracking flight according to the acquired first position magnetic field strength signal, and generating a self-tracking control signal;

[0127] Based on the self-tracking control signal, the UAV flies back to the position with the set magnetic field strength and is located vertically above the transmission line.

[0128] The second data processing unit determines the distance between the video surveillance mount device and the UAV based on the ultrasonic signal of the video surveillance mount device, and determines the distance between the video surveillance mount device and the transmission line based on a linear relationship between the distance between the video surveillance mount 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:

[0129] Determine the distance between the video surveillance mount and the drone based on the ultrasonic signal of the video surveillance mount;

[0130] The distance between the video surveillance mounting device and the power transmission line is determined 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.

[0131] 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:

[0132] Based on the distance between the video surveillance mount 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. The expression is as follows:

[0133]

[0134] in, To monitor the distance between the mounting device and the drone, is the magnetic field strength at the first position, is the magnetic field strength at the second position, is the parameter, is a parameter;

[0135] 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;

[0136] 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. The expression is as follows:

[0137]

[0138] in, is the distance between the video surveillance mounting device and the transmission line, is the parameter, is the parameter, is the magnetic field strength value near the transmission line, is the magnetic field strength at the first position.

[0139] 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 installs the video surveillance mounting device on the power transmission line through the clamping unit, including:

[0140] 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;

[0141] 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;

[0142] 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.

[0143] 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 harvesting device and the transmission line, and outputs a stable voltage range including:

[0144] Determine the magnetic field strength at the location of the transmission line based on the transmission line magnetic field strength signal, and generate a magnetic field expansion and contraction control signal;

[0145] 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 line;

[0146] 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.

[0147] Those skilled in the art will 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.

[0148] The terms "first," "second," and "third," etc., in the description of the present invention and the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a particular order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, so that the embodiments of the present invention described herein can, for example, be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus comprising a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to such processes, methods, products, or apparatus.

[0149] 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 merely illustrative. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interface, device or unit, which can be electrical, mechanical or other forms.

[0150] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0151] In addition, the functional units in the various embodiments of the present invention may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0152] The beneficial effect of the present invention is that, compared with the existing technology, the present invention realizes that the drone self-tracks and flies back to a position with a set magnetic field strength, vertically located directly above the transmission line, and calculates in real time the distance between the video surveillance mounting device and the drone 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.

[0153] Compared with closed-type current transformers, the non-closed-type inductive energy-taking device is more convenient to install on the transmission line with power through drones, avoiding manual tower installation. It is more suitable for temporary anti-external damage monitoring on transmission lines, and is quick and flexible to install, and more practical and economical.

[0154] 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, ensuring the stability of the energy output power, improving the reliability of the energy supply of the visualization device, and making up for the blind spots of the monitoring equipment on the tower, thereby ensuring the safe and stable operation of the transmission line.

[0155] 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 field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered by 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, characterized in that: The following steps are involved: S101, based on the transmission line image signal and the magnetic field strength signal at the first position, controlling the drone to fly back to a position with a set magnetic field strength and located vertically 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 mount device and the UAV is determined based on the ultrasonic signal from the video surveillance mount device. The distance between the video surveillance mount device and the power transmission line is determined based on a linear relationship between the distance between the video surveillance mount device and the UAV, the distance between the magnetic field strength signal at a first position, and the magnetic field strength signal at a second position, and the difference in magnetic field strength, wherein the second position is at the video surveillance mount device, including: Determine the distance between the video surveillance mount and the drone based on the ultrasonic signal of the video surveillance mount; Based on the distance between the video surveillance mount 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. The expression is as follows: in, To monitor the distance between the mounting 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 a 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. The 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; 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 using a clamping unit; S104. The video surveillance 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 located vertically above the transmission line based on the transmission line image signal and the first position magnetic field strength signal comprises the following steps: Determine the orientation of the UAV and the transmission line 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 transmission line and simultaneously obtain a magnetic field strength signal at the first position; Setting the magnetic field strength of the drone for self-tracking flight according to the acquired first position magnetic field strength signal, and generating a self-tracking control signal; Based on the self-tracking control signal, the UAV flies back to the position with the set magnetic field strength and is located vertically 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 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 by 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.

4. The method for installing a visual long-endurance monitoring device on a drone under power according to claim 1, characterized in that: The video surveillance 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 magnetic field strength at the location of the transmission line based on the magnetic field strength signal of the transmission line, 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 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 can meet the voltage requirement range of the monitoring equipment.

5. 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 4, characterized in that: include: The first data processing unit is configured to control the UAV to fly back to a position vertically above the transmission line at 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, configured to determine a distance between the video surveillance mount device and the UAV based on the ultrasonic signal of the video surveillance mount device, and to determine a distance between the video surveillance mount device and the power transmission line based on a linear relationship between the distance between the video surveillance mount 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 a difference in magnetic field strength; a third data processing unit, configured 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 via the clamping unit; The fourth data processing unit is used for the video surveillance mounting device to generate 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, thereby outputting a stable voltage range.

6. The system for the live installation visual long-endurance monitoring device for unmanned aerial vehicles according to claim 5, 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 above the transmission line based on the transmission line image signal and the first position magnetic field strength signal, including: Determine the orientation of the UAV and the transmission line 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 transmission line and simultaneously obtain a magnetic field strength signal at the first position; Setting the magnetic field strength of the drone for self-tracking flight according to the acquired first position magnetic field strength signal, and generating a self-tracking control signal; Based on the self-tracking control signal, the UAV flies back to the position with the set magnetic field strength and is located vertically above the transmission line.

7. The system for the live installation visual long-endurance monitoring device for unmanned aerial vehicles according to claim 5, characterized in that: The second data processing unit determines the distance between the video surveillance mount device and the drone based on the ultrasonic signal of the video surveillance mount device, and determines the distance between the video surveillance mount device and the transmission line based on a linear relationship between the distance between the video surveillance mount device and the drone, 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 and the drone based on the ultrasonic signal of the video surveillance mount; Based on the distance between the video surveillance 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. The 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.

8. The system for installing a visual long-endurance monitoring device for a drone powered on according to claim 5, 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 the video surveillance mounting device is installed on the power transmission line by 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.

9. The system for the live installation visual long-endurance monitoring device for drones according to claim 5, 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, and controls the distance between the non-closed magnetic induction energy harvesting device and the transmission line, thereby outputting a stable voltage range including: Determine the magnetic field strength at the location of the transmission line based on the magnetic field strength signal of the transmission line, 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 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 can meet the voltage requirement range of the monitoring equipment.

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