Unmanned aerial vehicle electric power inspection communication method based on Beidou short message and related device

Abstract

The invention belongs to a communication method, and aims to solve the technical problems of high instantaneous power consumption and low transmission efficiency due to the fact that an unmanned aerial vehicle management and control system cannot acquire the position of an unmanned aerial vehicle in an area without a public network communication signal and adopts Beidou short message communication in an existing unmanned aerial vehicle inspection communication method. The invention provides an unmanned aerial vehicle electric power inspection communication method based on a Beidou short message and a related device. And when the communication quality of wired communication and wireless mobile communication between the management and control system and the unmanned aerial vehicle control system, between the enhancement system and the unmanned aerial vehicle, between the unmanned aerial vehicle control system and the management and control system, and between the unmanned aerial vehicle and the management and control system is lower than a preset requirement, related data is sent through short message communication. The problems that electric power unmanned aerial vehicle routing inspection services cannot communicate in areas without public network or weak public network signals, and the electric quantity of a battery is rapidly reduced due to the fact that Beidou short message communication is used indiscriminately are solved, and the complete all-day and all-region electric power unmanned aerial vehicle routing inspection communication method is integrally formed.

Description

Technical Field

[0001] The present application relates to a communication method, specifically to a Beidou short message-based UAV power inspection communication method and related devices. Background Art

[0002] Drone inspections rely on communication technology. When a drone flies to an area without a public network communication signal, the drone control system cannot know the drone's location, and the drone inspection data cannot be transmitted back in a timely manner, increasing the risk of inspections.

[0003] Currently, the Beidou satellite navigation system provides short-message, two-way communication services. These services operate around the clock and in all weather conditions, making them an excellent backup method for areas with limited or poor public network coverage. They can also be used as a communication method for drone inspections. However, Beidou short-message communication consumes significant instantaneous power, and continuously transmitting inspection data in short messages can burden drone batteries. Furthermore, short-message communication has limited capacity and low transmission efficiency. Summary of the Invention

[0004] This application addresses the existing drone inspection communication method. In areas without public network communication signals, the drone control system cannot obtain the drone's location. Beidou short message communication is used, but there are technical problems such as high instantaneous power consumption and low transmission efficiency. This application provides a drone power inspection communication method and related devices based on Beidou short messages.

[0005] In order to achieve the above objectives, this application adopts the following technical solutions: In the first aspect, this application proposes a UAV power inspection communication method based on Beidou short messages. The UAV power inspection communication is completed through a management and control system, a UAV control system, and a Beidou ground-based augmentation system; including: When the communication quality of wired communication and wireless mobile communication between the control system and the UAV control system is lower than the preset requirements, the control system sends an inspection task to the UAV control system through short message communication; Enable the drone to receive inspection tasks issued by the drone control system and navigation data from the Beidou satellite; When the communication quality of the wireless mobile communication between the enhancement system and the UAV is lower than the preset requirement, the enhancement system sends differential data to the UAV through short message communication; The UAV sends inspection data and location data to the UAV control system via wireless mobile communication, which is then uploaded to the control system by the UAV control system. When the communication quality of wired communication and wireless mobile communication between the UAV control system and the control system falls below the preset requirements, the UAV control system sends the inspection data and location data to the control system via short message communication. When the communication quality of the wireless mobile communication between the drone and the control system is lower than the preset requirement, the drone sends inspection data and position data to the control system through short message communication.

[0006] In a second aspect, the present application proposes a drone power inspection communication system based on Beidou short messages. The drone power inspection communication is completed through a control system, a drone control system, and a Beidou ground-based augmentation system, including: A first communication control module, configured to, when the communication quality of the wired communication and the wireless mobile communication between the control system and the drone control system is lower than the preset requirement, the control system issues an inspection task to the drone control system through short message communication; A receiving module, configured to enable the drone to receive the inspection task issued by the drone control system and the navigation data of the Beidou satellite; A second communication control module, configured to, when the communication quality of the wireless mobile communication between the augmentation system and the drone is lower than the preset requirement, the augmentation system sends differential data to the drone through short message communication; A third communication control module, configured to enable the drone to send inspection data and position data to the drone control system through wireless mobile communication, and then the drone control system uploads the data to the control system; wherein, when the communication quality of the wired communication and the wireless mobile communication between the drone control system and the control system is lower than the preset requirement, the drone control system sends inspection data and position data to the control system through short message communication; A fourth communication control module, configured to, when the communication quality of the wireless mobile communication between the drone and the control system is lower than the preset requirement, the drone sends inspection data and position data to the control system through short message communication.

[0007] In a third aspect, the present application proposes an electronic device, including: a memory, and one or more processors; the memory is coupled to the processors; wherein, computer program code is stored in the memory, and the computer program code includes computer instructions. When the computer instructions are executed by the processors, the electronic device executes the steps of the above-mentioned drone power inspection communication method based on Beidou short messages.

[0008] In a fourth aspect, the present application proposes a computer-readable storage medium, in which a computer program is stored, and when the computer program is executed by a processor, the steps of the above-mentioned drone power inspection communication method based on Beidou short messages are implemented.

[0009] Compared with the prior art, the present application has the following beneficial effects: The present application proposes a communication method for UAV power inspection based on Beidou short messages. When the communication quality of the wired communication and wireless mobile communication between the control system and the UAV control system is lower than the preset requirement, the control system issues an inspection task to the UAV control system through short message communication. When the communication quality of the wireless mobile communication between the enhancement system and the UAV is lower than the preset requirement, the enhancement system sends differential data to the UAV through short message communication. When the communication quality of the wired communication and wireless mobile communication between the UAV control system and the control system is lower than the preset requirement, the UAV control system sends inspection data and position data to the control system through short message communication. When the communication quality of the wireless mobile communication between the UAV and the control system is lower than the preset requirement, the UAV sends inspection data and position data to the control system through short message communication. This solves the problems that power UAV inspection services cannot communicate in areas without public network or with weak public network signals, and that the battery power will drop rapidly if Beidou short message communication is used without discrimination, thus forming a complete communication method for power UAV inspection throughout the day and across all regions as a whole.

[0010] The present application also proposes a UAV power inspection communication system based on Beidou short messages, an electronic device and a computer storage medium, which have all the advantages of the above-mentioned communication method for UAV power inspection based on Beidou short messages. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings required for use in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and thus should not be regarded as limiting the scope. For those of ordinary skill in the art, other relevant drawings can be obtained based on these drawings without creative efforts.

[0012] Figure 1 It is a schematic diagram of the communication topology for UAV inspection services; Figure 2 It is a schematic flowchart of the communication method for UAV power inspection based on Beidou short messages of the present application; Figure 3 It is a schematic diagram of the data transmission relationship for UAV inspection in the embodiments of the present application; Figure 4 It is a schematic diagram of a UAV power inspection communication system based on Beidou short messages of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0013] To make the objectives, technical solutions and advantages of the embodiments of this application clearer, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are some, but not all, of the embodiments of this application. Components of the embodiments of this application generally described and illustrated in the drawings herein can be arranged and designed in a variety of different configurations.

[0014] Therefore, the following detailed description of the embodiments of this application provided in the drawings is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of this application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of this application without creative efforts fall within the scope of protection of this application.

[0015] It should be noted that like reference numerals and letters denote like items in the following drawings. Therefore, once an item is defined in one drawing, it does not require further definition and explanation in subsequent drawings.

[0016] In the description of the embodiments of this application, it should be noted that if terms such as "upper", "lower", "horizontal", "inner", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, or the orientations or positional relationships in which the inventive product is customarily placed during use, it is only for the convenience of describing this application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation of this application. In addition, terms such as "first" and "second" are only used for descriptive distinction and should not be construed as indicating or implying relative importance.

[0017] In addition, if the term "horizontal" appears, it does not mean that the component is required to be absolutely horizontal, but it can be slightly inclined. For example, "horizontal" only means that its direction is more horizontal relative to "vertical", and does not mean that the structure must be completely horizontal, but it can be slightly inclined.

[0018] In the description of the embodiments of this application, it should also be noted that unless otherwise clearly specified and limited, if terms such as "set", "installed", "connected", "coupled" are to be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0019] As Figure 1 shown, it is a schematic diagram of the communication topology for UAV inspection services. The main process of UAV inspection communication is as follows: (1) The inspection task is initiated by the UAV inspection and control system and transmitted to the UAV nest through wired communication, or transmitted to the UAV ground station through wireless mobile communication (4G / 5G).

[0020] (2) After receiving the inspection task, the drone nest / drone ground station sends it to the drone via 2.4GHz or 5.8GHz wireless mobile communication.

[0021] (3) After receiving the inspection task, the UAV begins the inspection task according to the planned route. During the inspection, the UAV receives Beidou satellite data to achieve meter-level positioning, and obtains differential data provided by the Beidou ground-based augmentation system through wireless mobile communication to achieve centimeter-level positioning, ensuring the accuracy of the inspection route.

[0022] (4) During the inspection process, the drone or remote control handle will determine the inspection route and correct the deviation based on the latitude, longitude, elevation and other data sent back by the drone. The inspection drone collects images, videos, temperature or humidity data of the inspection route and the surrounding environment through its own high-definition camera or infrared imager and other sensor equipment, and transmits them to the drone / ground station via 2.4GHz or 5.8GHz wireless mobile communication. At the same time, the flight video, drone status and task execution data will be transmitted to the control system in real time via wireless mobile communication. Among them, the drone transmits the inspection data to the control system through wired communication, and the ground station transmits the inspection data to the control system through wireless mobile communication.

[0023] It should be noted that inspection data is the sum of all relevant information acquired by drones during inspections. Inspection data can be categorized by data format, including video, images, audio, and other non-video, non-audio, and non-image data. Real-time inspection data refers to data collected by drones during inspections and transmitted back to the ground control station or related receiving equipment. This data is acquired immediately during the inspection mission and is time-sensitive, allowing operators to promptly understand the current conditions at the inspection site. Examples include environmental data such as temperature, humidity, and gas concentrations detected in real time by drone-mounted sensors, as well as live video streams captured by cameras.

[0024] During inspections, drones also transmit location information, including latitude, longitude, and altitude. This information is used to precisely determine the drone's position in space. This is crucial for planning inspection routes, monitoring the drone's flight trajectory, and determining the location of inspection targets. This location data allows operators to determine whether the drone is following the planned route and accurately reaching the required inspection area. Furthermore, during power inspection communications, drones also transmit various flight parameters and status information, such as flight speed, attitude (pitch, roll, and yaw), battery charge, and motor speed. This data reflects the drone's operating status and helps operators determine whether the drone is operating normally and whether there are any potential malfunctions or safety hazards. For example, if a drone's flight speed suddenly changes abnormally or its battery charge drops rapidly, appropriate measures can be taken promptly.

[0025] Currently, drone inspection technology is making significant strides toward intelligentization. This not only drives the intelligent upgrade of power inspection equipment and enables autonomous operations, but also significantly enhances the intelligent processing of drone inspection data. Drone inspections offer significant advantages, significantly improving inspection efficiency and reducing operation time by more than half. Advanced technology also enables earlier detection of potential equipment failures. Furthermore, drone inspections effectively reduce the risk of direct human contact with equipment, especially in inclement weather and complex environments. Drone inspections can quickly reach areas difficult to reach manually, significantly improving overall safety.

[0026] However, drone inspections rely heavily on communication technology. When a drone flies into an area without a public network signal, the drone control system loses access to its location, and inspection data cannot be transmitted back in real time. This undoubtedly increases the risk and uncertainty of inspections.

[0027] Based on the above situation, the present application proposes a UAV power inspection communication method and related devices based on Beidou short messages. The present application is described in detail below in conjunction with the embodiments and drawings.

[0028] like Figure 2 The figure shows a flow chart of the communication method for UAV power inspection based on BeiDou short message in this application. The UAV power inspection communication is completed through the management and control system, the UAV control system and the BeiDou ground-based augmentation system. The communication method may include: S101, when the communication quality of wired communication and wireless mobile communication between the control system and the UAV control system is lower than the preset requirement, the control system sends an inspection task to the UAV control system through short message communication.

[0029] In the power inspection operation of drones, as the core hub for task scheduling and management, the control system monitors the communication quality between itself and the drone control system in real time. When the indicators such as signal strength, transmission rate, and bit error rate of wired communication and wireless mobile communication are lower than the preset requirements, it indicates that the conventional communication link is difficult to stably and efficiently transmit data. At this time, the control system automatically switches to the Beidou satellite short message communication mode, and sends the inspection task containing detailed information such as the inspection area, route planning, and task time nodes to the drone control system in the form of short messages. Relying on the characteristics of the Beidou short message, which is available all day and all weather and not restricted by public network signals, it ensures that the task instructions can be accurately issued and guarantees that the inspection operation starts as planned.

[0030] S102, enable the drone to receive the inspection task issued by the drone control system.

[0031] After receiving the inspection task sent by the control system via short message, the drone control system quickly analyzes the task information and forwards it to the drone. At the same time, the built-in Beidou satellite navigation module of the drone continuously receives the navigation signals transmitted by Beidou satellites to obtain navigation data such as its own position, speed, and heading. These data provide an accurate positioning basis for the autonomous flight of the drone, enabling the drone to accurately reach each inspection point according to the established inspection route and carry out the detection of power equipment.

[0032] S103, when the communication quality of the wireless mobile communication between the augmentation system and the drone is lower than the preset requirements, the drone receives the differential data sent by the augmentation system through short message communication.

[0033] To improve the positioning accuracy of the drone, the augmentation system plays a key role. When the wireless mobile communication quality between the augmentation system and the drone is poor and it is unable to stably transmit differential data, the augmentation system enables the short message communication function. The differential data contains correction information for satellite navigation signal errors. These data are sent to the drone through short messages. The drone corrects its own positioning in real time based on the received differential data, effectively reducing the positioning error, improving the accuracy of the flight trajectory, and ensuring that the drone can accurately approach the power equipment to obtain high-quality inspection data.

[0034] S104, enable the drone to send the inspection data and position data to the drone control system through wireless mobile communication, and then the drone control system uploads them to the control system; among them, when the communication quality of the wired communication and wireless mobile communication between the drone control system and the control system is lower than the preset requirements, the drone control system sends the inspection data and position data to the control system through short message communication.

[0035] During the inspection process, the drone collects operational data from power equipment using various sensors and transmits this data, along with its own location data, to the drone's control system via wireless mobile communications. Upon receiving this data, the drone's control system immediately uploads it to the control and management system, allowing management to monitor inspection progress and equipment status in real time. If the quality of wired and wireless mobile communications between the drone and the control system deteriorates below preset standards, the drone automatically switches to short message communication mode, sending the inspection and location data to the control and management system in the form of short messages, ensuring the continuity and integrity of data transmission.

[0036] S105, when the communication quality of the wireless mobile communication between the UAV and the control system is lower than the preset requirement, the UAV sends the inspection data and location data to the control system via short message communication.

[0037] When the wireless mobile communication signal between the drone and the control system is poor and unable to meet real-time data transmission requirements, the drone prioritizes critical real-time data transmission. The drone caches inspection data, such as flight log files and historical records of equipment parameters, and transmits this data and location information to the control system via short message communication. This ensures that important data can be transmitted promptly even when communication is limited, while also preventing data loss due to real-time data transmission failures. This provides comprehensive data support for subsequent inspection data analysis and evaluation.

[0038] It should be noted that inspection data usually includes inspection data such as drone status data, mission data, correction, emergency stop and some business data in addition to real-time flight video and inspection images.

[0039] In scenarios such as substations, transmission lines, and urban distribution networks, to meet the communication needs of drone power inspection services in the absence of public network signals or in the presence of weak public network signals, this application proposes that under normal conditions, drone inspection services use 4G, 5G, and other communication signals. When 4G, 5G, and other public network signals are unavailable or the signals are weak, Beidou short message auxiliary communication is activated to ensure that drone inspection services are available 24 hours a day and in all regions. Design the communication method and communication process between the management and control system, the drone control system (including at least one of the remote control handle, drone ground station, and drone nest) and the Beidou ground-based augmentation system to form a drone power inspection communication method based on Beidou short messages, ensuring that drone inspection service data can be effectively transmitted regardless of the presence of public network signals. In addition, this application also fully considers factors such as the limited amount of data transmitted by short message communication and the extremely high power consumption of instantaneous transmission. Considering that the maximum length of a single Beidou short message is 14,000 bits (approximately 1,000 Chinese characters), the maximum communication frequency is once per second, and the high price of short message communication modules / terminals, normal communication using 2.4GHz and / or 5.8GHz communication links is retained for emergency communication during drone inspections, with short messages used only for backup communication on mobile wireless communication links. A design was developed to activate Beidou short message transmission service data when public network communication is unavailable or the signal is weak. This ensures that regular drone power inspection services (when public network signals are available) are not affected while effectively utilizing Beidou short message communication resources and ensuring the success rate of transmitting drone inspection data.

[0040] The present application is further described in detail below through another embodiment of the UAV power inspection communication method based on Beidou short messages.

[0041] like Figure 3Figure 2 shows a schematic diagram of the data transmission relationship during drone inspections. In this embodiment, the drone control system includes a remote controller and a drone pod. When using wired communication, public networks such as 4G / 5G, and 2.4GHz and 5.8GHz communications, service data transmitted between nodes is transmitted in full according to communication requirements. When using short message communication, priorities can be set to ensure that critical data such as the drone's location and battery level are transmitted first. Due to the limited data transmission capacity of short message communication, it cannot support the transmission of high-bandwidth, high-real-time data such as videos and images. Therefore, wireless communication is used when wireless mobile communication methods (such as 4G / 5G) are available. When wireless communication quality degrades and meets threshold requirements, short message communication is activated to transmit the most basic data used for control decisions (i.e., drone flight status data), such as high-precision location and battery level. When wireless communication is nearly unavailable, short message communication is used to transmit inspection data. When enabling short message communication, service continuity should be the highest priority, regardless of cost and other factors. When wireless mobile communication quality degrades or becomes unavailable, short message communication can be quickly initiated to ensure the normal operation of inspection tasks, especially in emergency communication situations. Beidou short message transmission can be used to transmit inspection data to complete the most basic inspection tasks. The system can monitor the strength and signal-to-interference ratio of wireless mobile communication signals in real time, comprehensively calculate parameters such as the retransmission success rate of service data and heartbeat data, and determine whether thresholds have been reached to determine whether to initiate short message communication.

[0042] Therefore, in some embodiments of the present application, when the communication quality of wired communication and wireless mobile communication drops to the first sub-preset requirement, the drone flight status data and location data in the inspection data are transmitted through short message communication. When the communication quality of wired communication and wireless mobile communication drops to the second sub-preset requirement, the non-video, non-voice, non-image data and location data in the inspection data are transmitted through short message communication. The communication quality of the first sub-preset requirement is higher than the second sub-preset requirement. When switching to short message communication, two levels of requirements are set, so that communication can be carried out in the most efficient and practical way. It should be noted that the drone flight status data usually includes battery power information, emergency stop, return, landing and other decision control data.

[0043] Specifically, you can set the corresponding threshold in the following ways: (1) The threshold for starting short message communication to send drone flight status data and location data in the inspection data: Set the threshold of the strength and signal-to-noise ratio of the wireless mobile communication signal. The specific selection method can be based on industry experience values, while considering the success rate of retransmission caused by communication delays or signal instability. The threshold of the retransmission success rate should be greater than the short message communication success rate. In practical applications, the short message communication success rate can be considered to be better than 99.6%. Some short message products will consider power consumption issues and reduce the transmission power, which will lead to a lower communication success rate.

[0044] (2) The threshold for starting the Beidou short message to send non-video, non-voice, non-image data and location data in the inspection data: When the wireless communication signal quality and the retransmission success rate exceed the threshold, the Beidou short message is started to send the location data to ensure that the trajectory of the drone is grasped in time. At this time, the threshold of the drone offline time can also be set, that is, the threshold for whether to start the Beidou short message to send inspection data. In practical applications, the selection of this threshold should not be too large. The main consideration is that when the wireless communication signal is briefly interrupted, that is, after the drone is temporarily offline and restored, the drone status and inspection data can be quickly transmitted back without affecting the business. Usually, this threshold is set to 1.5 times the heartbeat data sending time interval set by the system. If it exceeds, the drone is considered offline.

[0045] In practical applications, this can be achieved by setting the judgment function: (1) Start the judgment function of sending the UAV flight status data and location data in the inspection data via short messages.

[0046] By constructing a comprehensive evaluation function, it is determined whether the corresponding threshold value is reached, and the startup decision is made accordingly.

[0047]

[0048]

[0049] in, is the decision function, is the signal strength of wired communication or wireless mobile communication, is the signal strength threshold for wired communication or wireless mobile communication, is the signal-to-interference ratio of wired communication or wireless mobile communication, is the signal-to-interference ratio threshold for wired communication or wireless mobile communication, It is the success rate of retransmission when the data transmission is unsuccessful when the drone is online or temporarily offline. This is a short offline time for the drone. is the drone's short offline time threshold, is the retransmission success rate threshold.

[0050] The success rate of retransmission when data transmission is unsuccessful = the total number of data packets transmitted / the number of data packets successfully transmitted × 100%.

[0051] When satisfied If the BeiDou short message is not started, , then the combined formula , while not satisfying the formula and When the Beidou short message is started to send the most basic inspection data such as location and battery power.

[0052] (2) Start the judgment function of sending non-video, non-voice, non-image data and location data in the inspection data in the short message.

[0053]

[0054] in, The interval time for receiving heartbeat data When satisfied If the BeiDou short message is not started to send inspection data, When the Beidou short message is started to send inspection data.

[0055] Because short message communication consumes a lot of instantaneous power, using short message communication too frequently will seriously affect the drone's battery life. Therefore, the frequency of sending heartbeat data from the short message terminal should not be too high. Considering that in an open and unobstructed environment, the success rate of short message communication is fixed, so it can be set to once every 5 minutes or even longer. The control system deployed with the short message command machine can monitor the position of the short message terminal (i.e., the drone) when receiving short message heartbeat data. It can be used to estimate the distance between the drone and the machine nest, as well as the drone's position in the established route of the inspection mission, to assist in inspection decision-making. The specific calculation method is as follows: When the positioning data returned by the wireless mobile communication method at the same time deviates by more than one point from the positioning result of the short message, the control system should not make blind decisions such as automatic landing or path correction for the UAV; and this factor can be used as an auxiliary condition for judging whether the wireless mobile communication method is unavailable or has degraded quality. Assuming that the update rate of the UAV positioning data is , and upload location data according to this update rate, then under normal communication conditions, The moment is the first time the drone is received The location data is ,Right now When the inspection drone follows the predetermined trajectory at a constant speed During flight, the following distance relationships should hold true:

[0056] in, ( is an integer), and , which is approximately equal to the centimeter-level value in RTK positioning.

[0057] When the inspection drone flies at a non-uniform speed according to the predetermined trajectory, the drone navigation module can detect the speed of , then the above formula can be adjusted to:

[0058] After calculation, if the requirements of the above two formulas are met, the control system will not perform any processing and continue to monitor; if the formula relationship during uniform motion is not satisfied, continue the calculation. Assume that at the th moment, the th position data of the UAV transmitted back by wireless mobile communication is , that is, . At the same moment, the UAV position data of its subordinate short message terminals obtained by the short message command aircraft through listening to the short message heartbeat data is (not occupying the transmission frequency of the short message terminal), that is, . The positional relationship between is shown in the following formula:

[0059] where , are the inherent static positioning horizontal accuracy and vertical accuracy of the short message terminal respectively, with the unit of m.

[0060] After calculation, if the formula is satisfied, the control system will not perform any processing, recalculate the above three formulas, and continue to monitor; if the formula requirements are still not met, it may be due to communication delay or packet loss. The control system can initiate short message communication as a means to supplement the transmission of key position data. At the th moment, the th position data of the UAV transmitted back by wireless mobile communication is , that is, . The UAV position data transmitted back by the received short message is , that is, , and the following formula should hold:

[0061] After calculation, if the formula is satisfied, the control system will not perform any processing, recalculate the previous three formulas, and continue to monitor; if the formula cannot be calculated, or the relationship of the formula is not satisfied, the control system will issue a warning of communication degradation to the UAV. The UAV will combine information such as wireless communication signal quality and retransmission success rate to timely determine whether to initiate short message communication to transmit inspection data, playing an auxiliary decision-making role.

[0062] Therefore, this application solves the problem that communication is unavailable for the power drone inspection service in areas without public network or with weak public network signals. When the public network signal is available, the drone inspection service usually uses public network communications such as 4G / 5G and 2.4GHz / 5.8GHz communications to meet the requirements for transmitting inspection data between different nodes. When the quality of the public network signal deteriorates or becomes unavailable, through the design of the communication process, Beidou short message is timely used for auxiliary communication to form a complete drone inspection data communication method. It also solves problems such as the rapid decline of battery power caused by the indiscriminate use of Beidou short message communication. Since the amount of data transmitted by Beidou short message communication is limited and the instantaneous transmission power consumption is extremely large, etc., if Beidou short message is still used for high-frequency transmission of inspection service data under normal communication conditions, it will impose a burden on the power consumption of the drone. Therefore, the types of service data transmitted by Beidou short message are designed under different nodes and different public network signal conditions. Finally, it also solves the problem of being unable to accurately judge the timing of starting to transmit service data by Beidou short message. Through the design of the basic data threshold for starting Beidou short message transmission and the inspection data threshold for starting Beidou short message transmission, two decision functions for starting short message are proposed to ensure that Beidou short message communication is timely started to achieve the guaranteed communication of drone inspection data when the public network communication is unavailable or the signal is weak.

[0063] As Figure 4 shown, it is a schematic diagram of a drone power inspection communication system based on Beidou short message of this application. The drone power inspection communication is completed through a control system, a drone control system, and a Beidou ground-based augmentation system, including: The first communication control module is used for when the communication quality of the wired communication and the wireless mobile communication between the control system and the drone control system is lower than the preset requirement, the control system issues an inspection task to the drone control system through short message communication; The receiving module is used for enabling the drone to receive the inspection task issued by the drone control system; The second communication control module is used for when the communication quality of the wireless mobile communication between the augmentation system and the drone is lower than the preset requirement, the drone receives the differential data sent by the augmentation system through short message communication; The third communication control module is used for enabling the drone to send inspection data and position data to the drone control system through wireless mobile communication, and then the drone control system uploads them to the control system; among them, when the communication quality of the wired communication and the wireless mobile communication between the drone control system and the control system is lower than the preset requirement, the drone control system sends inspection data and position data to the control system through short message communication; The fourth communication control module is used for when the communication quality of the wireless mobile communication between the drone and the control system is lower than the preset requirement, the drone sends inspection data and position data to the control system through short message communication.

[0064] In practical applications, to implement the above method, the inspection UAV can be embedded with a Beidou short message module to achieve key data transmission when the mobile communication network is unavailable. The Beidou ground-based augmentation system needs to configure a Beidou short message command machine to provide differential positioning services for the inspection UAV. The UAV inspection control system should also be configured with a Beidou short message command machine. In addition to communicating with the inspection UAV via short messages, this command machine should also have the function of monitoring and managing each subordinate short message terminal, so as to achieve multi-aircraft collaborative inspection or simultaneous monitoring of multiple inspection routes.

[0065] In some embodiments of the UAV power inspection communication system based on Beidou short messages of the present application, in the third communication control module and the fourth communication control module, the method of short message communication includes: When the communication quality of wired communication and wireless mobile communication drops to the first sub-preset requirement, the UAV flight status data and position data in the inspection data are transmitted via short message communication; When the communication quality of wired communication and wireless mobile communication drops to the second sub-preset requirement, the non-video, non-audio, non-picture data and position data in the inspection data are transmitted via short message communication.

[0066] In some embodiments of the UAV power inspection communication system based on Beidou short messages of the present application, the two expression formulas for the first sub-preset requirement are:

[0067]

[0068] Wherein, is the decision function, is the signal strength of wired communication or wireless mobile communication, is the signal strength threshold of wired communication or wireless mobile communication, is the signal-to-noise ratio / signal-to-interference ratio of wired communication or wireless mobile communication, is the signal-to-noise ratio / signal-to-interference ratio threshold of wired communication or wireless mobile communication, is the retransmission success rate when the UAV is online or briefly offline and the data transmission is unsuccessful, is the UAV offline time, is the UAV offline time threshold, is the retransmission success rate threshold.

[0069] In some embodiments of the UAV power inspection communication system based on Beidou short messages of the present application, the expression formula for the second sub-preset requirement is:

[0070] Wherein, It is the interval time for receiving the heartbeat data currently.

[0071] In some embodiments of the UAV power inspection communication system based on Beidou short message in this application, a Beidou short message commander is set in the control system, and the Beidou short message commander is used to communicate with the UAV as a short message terminal through short messages.

[0072] In some embodiments of the UAV power inspection communication system based on Beidou short message in this application, when the Beidou short message commander and the UAV communicate through short messages, it further includes: Monitoring the position of the UAV, estimating the distance between the UAV and the UAV control system according to the monitored position of the UAV, and the position of the UAV in the established route of the inspection task, and making auxiliary inspection decisions.

[0073] In some embodiments of the UAV power inspection communication system based on Beidou short message in this application, the method for making auxiliary inspection decisions includes: When the UAV is flying at a constant speed, judge whether the following formula holds:

[0074] Or, when the UAV is flying at a non-constant speed, judge whether the following formula holds:

[0075] If it holds, the control system does not intervene. Otherwise, judge whether the following formula holds:

[0076] If so, judge whether the following formula holds. Otherwise, start short message communication:

[0077] If so, the control system does not intervene. Otherwise, the control system issues a communication degradation warning to the UAV; Among them, is the -axis coordinate of the th position data of the UAV received at time is the -axis coordinate of the th position data of the UAV received at time is the -axis coordinate of the th position data of the UAV received at time is the -axis coordinate of the th position data of the UAV received at time Axis coordinates, for The first drone received at the moment location data Axis coordinates, for The first drone received at the moment location data Axis coordinates, is the flight speed of the UAV when it flies at a constant speed along the predetermined trajectory. is the update rate of the drone positioning data, For drones location data, is the total number of drone location data, When the UAV flies at a non-uniform speed along a predetermined trajectory The flight speed at any moment, for The first data of the drone sent back by wireless mobile communication received at the moment location data Axis coordinates, for The Beidou short message received at the moment by the command aircraft obtains the drone’s first location data Axis coordinates, for The first data of the drone sent back by wireless mobile communication received at the moment location data Axis coordinates, for The Beidou short message received at the moment by the command aircraft obtains the drone’s first location data Axis coordinates, for The first data of the drone sent back by wireless mobile communication received at the moment location data Axis coordinates, for The Beidou short message received at the moment by the command aircraft obtains the drone’s first location data Axis coordinates, is the inherent static positioning accuracy of the UAV, The vertical accuracy of the inherent static positioning of the UAV, for The drone's first wireless mobile communication signal received at any moment location data Axis coordinates, for The drone's first wireless mobile communication signal received at any moment location data Axis coordinates, for The drone's first wireless mobile communication signal received at any moment location data Axis coordinates, To start short message communication, The short message received at the moment is sent back by the drone location data Axis coordinates, To start short message communication, The short message received at the moment is sent back by the drone location data Axis coordinates, To start short message communication, The short message received at the moment is sent back by the drone location data Axis coordinates.

[0078] It should be noted that in the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the system embodiments described above are merely schematic. For example, the division of each module is only a logical function division. There may be other division methods in actual implementation. For example, multiple modules can be combined or integrated into another device, or some features can be ignored or not executed. The modules described as separate components may or may not be physically separated. The components displayed as modules may be one physical unit or multiple physical units, that is, they may be located in one place, or they may be distributed in multiple different places. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment.

[0079] In addition, the modules in the various embodiments of the present invention may be integrated into a single processing unit, each module may exist physically separately, or two or more modules may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0080] An embodiment of the present application also provides an electronic device, which may include one or more processors, memories, and communication interfaces.

[0081] The memory, the communication interface, and the processor are coupled together. For example, the memory, the communication interface, and the processor may be coupled together via a bus.

[0082] The communication interface is used to transmit data with other devices. The memory stores computer program code. The computer program code includes computer instructions that, when executed by the processor, cause the electronic device to perform the steps of the aforementioned Beidou short message-based UAV power inspection communication method.

[0083] Among them, the processor can be a processor or a controller, for example, a central processing unit (CPU), a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. It can implement or execute the various exemplary logic blocks, modules and circuits described in conjunction with the contents of this disclosure. The processor can also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, and the like. The processor can be used to support electronic devices in executing the method steps provided in the above embodiments.

[0084] The bus may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The above buses may be divided into an address bus, a data bus, a control bus, etc.

[0085] An embodiment of the present application provides a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, the steps of the above-mentioned Beidou short message-based UAV power inspection communication method are implemented.

[0086] The computer-readable storage medium involved in this application includes random access memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disks, removable disks, CD-ROMs, or any other form of storage medium known in the technical field.

[0087] The above are merely preferred embodiments of the present application and are not intended to limit the present application. Those skilled in the art will readily appreciate that various modifications and variations are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within the scope of protection of the present application.

Claims

1. A communication method for UAV power inspection based on Beidou short message, and the UAV power inspection communication is completed through a control system, a UAV control system and a Beidou ground-based augmentation system; characterized in that, Including: When the communication quality of the wired communication and the wireless mobile communication between the control system and the UAV control system is lower than the preset requirement, the control system issues an inspection task to the UAV control system through short message communication; Enable the UAV to receive the inspection task issued by the UAV control system; When the communication quality of the wireless mobile communication between the enhancement system and the UAV is lower than the preset requirement, the UAV receives the differential data sent by the enhancement system through short message communication; Enable the UAV to send inspection data and position data to the UAV control system through wireless mobile communication, and then the UAV control system uploads them to the control system; among them, when the communication quality of the wired communication and the wireless mobile communication between the UAV control system and the control system is lower than the preset requirement, the UAV control system sends inspection data and position data to the control system through short message communication; When the communication quality of the wireless mobile communication between the UAV and the control system is lower than the preset requirement, the UAV sends the inspection data and position data in the inspection data to the control system through short message communication.

2. The method for drone power inspection communication based on Beidou short message according to claim 1, wherein When the communication quality of the wired communication and the wireless mobile communication between the UAV control system and the control system is lower than the preset requirement, and when the communication quality of the wireless mobile communication between the UAV and the control system is lower than the preset requirement, the method of short message communication includes: When the communication quality of the wired communication and the wireless mobile communication drops to the first sub-preset requirement, transmit the UAV flight state data and position data in the inspection data through short message communication; When the communication quality of the wired communication and the wireless mobile communication drops to the second sub-preset requirement, transmit the non-video, non-audio, non-picture data and position data in the inspection data through short message communication; Among them, the communication quality of the first sub-preset requirement is higher than that of the second sub-preset requirement.

3. The method for drone power inspection communication based on Beidou short message according to claim 1, characterized in that, When using short message communication, it also includes: Real-time monitor the strength and signal-to-interference ratio of the wired communication and the wireless mobile communication, and calculate the retransmission success rate and heartbeat data of the data according to the strength and signal-to-interference ratio to determine whether the communication quality of the wired communication and the wireless mobile communication reaches the threshold.

4. The method for drone power inspection communication based on Beidou short message according to claim 1, wherein The first sub-preset requirement is determined according to the signal strength threshold and signal-to-noise ratio threshold of the wired communication and the wireless mobile communication, and whether the retransmission success rate is greater than the short message communication success rate.

5. The method for drone power inspection communication based on Beidou short message according to claim 1, characterized in that The two expression formulas of the first sub-preset requirement are: Among them, is the decision function, is the signal strength of wired communication or wireless mobile communication, is the signal strength threshold of wired communication or wireless mobile communication, is the signal-to-noise ratio / signal-to-interference-plus-noise ratio of wired communication or wireless mobile communication, is the signal-to-noise ratio / signal-to-interference-plus-noise ratio threshold of wired communication or wireless mobile communication, is the retransmission success rate when the UAV is online or briefly offline and data transmission is unsuccessful, is the UAV offline time, is the UAV offline time threshold, is the retransmission success rate threshold.

6. The method for drone power inspection communication based on Beidou short message according to claim 1, characterized in that, The second sub-preset requirement is determined according to the UAV offline time threshold.

7. The method for drone power inspection communication based on Beidou short message according to claim 1, characterized in that, The expression formula of the second sub-preset requirement is: Among them, is the interval time of the currently received heartbeat data.

8. A drone power inspection communication system based on Beidou short message. The drone power inspection communication is completed through a control system, a drone control system, and a Beidou ground-based augmentation system. It is characterized in that, Including: The first communication control module is used to issue an inspection task to the UAV control system through short message communication when the communication quality of the wired communication and the wireless mobile communication between the control system and the UAV control system is lower than the preset requirement; The receiving module is used to enable the UAV to receive the inspection task issued by the UAV control system; The second communication control module is used to enable the UAV to receive the differential data sent by the enhancement system through short message communication when the communication quality of the wireless mobile communication between the enhancement system and the UAV is lower than the preset requirement; The third communication control module is used to enable the drone to send inspection data and location data to the drone control system through wireless mobile communication, and then the drone control system uploads them to the management and control system; among them, when the communication quality of the wired communication and wireless mobile communication between the drone control system and the management and control system is lower than the preset requirement, the drone control system sends the inspection data and location data to the management and control system through short message communication; The fourth communication control module is used to, when the communication quality of the wireless mobile communication between the drone and the management and control system is lower than the preset requirement, the drone sends other inspection data and location data except video, voice and pictures to the management and control system through short message communication.

9. The drone power inspection communication system based on Beidou short message according to claim 8, characterized in that, In the third communication control module and the fourth communication control module, the method of short message communication includes: When the communication quality of the wired communication and wireless mobile communication drops to the first sub-preset requirement, the drone flight status data and location data in the inspection data are transmitted through short message communication; When the communication quality of the wired communication and wireless mobile communication drops to the second sub-preset requirement, the non-video, non-voice, non-picture data and location data in the inspection data are transmitted through short message communication.

10. The drone power inspection communication system based on Beidou short message according to claim 8, characterized in that, The two expression formulas of the first sub-preset requirement are: Among them, is the decision function, is the signal strength of wired communication or wireless mobile communication, is the signal strength threshold of wired communication or wireless mobile communication, is the signal-to-noise ratio / signal-to-interference-plus-noise ratio of wired communication or wireless mobile communication, is the signal-to-noise ratio / signal-to-interference-plus-noise ratio threshold of wired communication or wireless mobile communication, is the retransmission success rate when the drone is online or briefly offline and data transmission is unsuccessful, is the offline time of the drone, is the offline time threshold of the drone, is the retransmission success rate threshold.

11. The drone power inspection communication system based on Beidou short message according to claim 8, characterized in that, The expression formula of the second sub-preset requirement is: Among them, is the interval time of the currently received heartbeat data.

12. The drone power inspection communication system based on Beidou short message according to claim 8, wherein, A Beidou short message command machine is set in the management and control system, and the Beidou short message command machine is used to communicate with the drone as a short message terminal through short message communication.

13. The drone power inspection communication system based on Beidou short message according to claim 12, characterized in that, When the Beidou short message command machine and the drone communicate through short message communication, it also includes: Monitoring the position of the drone, and estimating the distance between the drone and the drone control system according to the monitored position of the drone, and the position of the drone in the established route of the inspection task, for assisting in inspection decision-making.

14. The drone power inspection communication system based on Beidou short message according to claim 13, wherein, The method of the auxiliary inspection decision-making includes: When the drone is flying at a constant speed, judge whether the following formula holds: Or, when the drone is flying at a non-constant speed, judge whether the following formula holds: If it holds, the management and control system does not intervene, otherwise, judge whether the following formula holds: If so, judge whether the following formula holds, otherwise, start short message communication: If so, the management and control system does not intervene, otherwise, the management and control system issues a communication degradation warning to the drone; Among them, is the axial coordinate of the nth position data of the drone received at is the axial coordinate of the nth position data of the drone received at is the axial coordinate of the nth position data of the drone received at is the axial coordinate of the nth position data of the drone received at is the axial coordinate of the nth position data of the drone received at is the axial coordinate of the nth position data of the drone received at is the flight speed of the drone when flying at a constant speed along the established trajectory, is the update rate of the drone positioning data, is the nth position data of the drone, is the total number of the drone's position data, is the flight speed of the drone at is the axial coordinate of the nth position data of the drone received by wireless mobile communication at is the axial coordinate of the nth position data of the drone obtained by the Beidou short message command machine at is the axial coordinate of the nth position data of the drone received by wireless mobile communication at is the axial coordinate of the nth position data of the drone obtained by the Beidou short message command machine at is The -axis coordinate of the th position data of the drone transmitted back by wireless mobile communication at a certain moment, is The -axis coordinate of the th position data of the drone obtained by the Beidou short message command machine at a certain moment, is the inherent static positioning horizontal accuracy of the drone, is the inherent static positioning vertical accuracy of the drone, is The -axis coordinate of the th position data of the drone transmitted back by wireless mobile communication at a certain moment, is The -axis coordinate of the th position data of the drone transmitted back by wireless mobile communication at a certain moment, is The -axis coordinate of the th position data of the drone transmitted back by wireless mobile communication at a certain moment, After starting the short message communication, The -axis coordinate of the th position data of the drone transmitted back by short message at a certain moment, After starting the short message communication, The -axis coordinate of the th position data of the drone transmitted back by short message at a certain moment, After starting the short message communication, The -axis coordinate of the th position data of the drone transmitted back by short message at a certain moment.

15. An electronic device, characterized in that, It includes: A memory and one or more processors; the memory is coupled to the processor; wherein, computer program code is stored in the memory, and the computer program code includes computer instructions. When the computer instructions are executed by the processor, the electronic device executes the steps of the Beidou short message-based drone power inspection communication method according to any one of claims 1-7.

16. A computer-readable storage medium, characterized in that, A computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the Beidou short message-based drone power inspection communication method according to any one of claims 1-7 are implemented.

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