Modularized unmanned aerial vehicle mounting platform and equipment suitable for electric field measurement task

Abstract

The invention discloses a modularized unmanned aerial vehicle mounting platform and equipment suitable for an electric field measurement task, and relates to the technical field related to electric field measurement, and the platform comprises a measured area analysis unit which is used for analyzing a measured area of the electric field measurement task; the coupling modeling unit is used for performing electric field intensity coupling modeling according to the wire space distribution to obtain an electric field intensity coupling model; the measurement path planning unit is used for planning a measurement task path of the unmanned aerial vehicle; the electric field data acquisition unit is used for acquiring an electric field measurement data set according to the electric field sensing module; and the detection result acquisition unit is used for acquiring a lead live-line state detection result of the detected area. The technical problems that in the prior art, unmanned aerial vehicle electric field measurement is prone to being interfered, the data precision is insufficient, measurement path planning lacks pertinence, and the unmanned aerial vehicle mounting mode is poor in flexibility are solved, and the technical effects that the accuracy and reliability of electric field measurement data are improved, and the electric field detection efficiency and the unmanned aerial vehicle measurement flexibility are improved are achieved.

Description

Technical Field

[0001] The present application relates to the technical field related to electric field measurement, and specifically to a modular UAV mounting platform and equipment suitable for electric field measurement tasks. Background Art

[0002] As the coverage of transmission lines continues to expand and voltage levels continue to rise, accurate detection of the energized state of conductors has become a key link in power operation and maintenance. Existing drone electric field measurements have many limitations. On the one hand, the electric field sensing equipment carried by drones is susceptible to interference in complex electromagnetic environments, resulting in insufficient measurement data accuracy and difficulty in accurately reflecting the actual energized state of the conductors. On the other hand, the measurement path planning lacks in-depth analysis of the electric field distribution characteristics of the measured area and cannot fully utilize the maneuverability advantages of drones, resulting in detection efficiency and accuracy that are difficult to achieve ideal levels. In addition, the existing drone mounting methods have poor flexibility, making it difficult to quickly replace and combine sensor modules according to different measurement tasks. This cannot meet the diverse needs of electric field measurements and affects the reliability of conductor energized state detection.

[0003] Therefore, in the current related technologies, there are technical problems such as UAV electric field measurement is susceptible to interference, insufficient data accuracy, lack of specificity in measurement path planning, and poor flexibility in UAV mounting methods. Summary of the Invention

[0004] This application solves the technical problems in the existing technology such as the susceptibility of drone electric field measurements to interference, insufficient data accuracy, lack of targeted measurement path planning, and poor flexibility of drone mounting methods by providing a modular drone mounting platform and equipment suitable for electric field measurement tasks. It achieves the technical effect of improving the accuracy and reliability of electric field measurement data, enhancing electric field detection efficiency and drone measurement flexibility.

[0005] The present application provides a modular UAV mounting platform suitable for electric field measurement tasks, the platform comprising: a measured area parsing unit, used to connect to the power field measurement task under the flight control ground station and parse the measured area of ​​the electric field measurement task; a coupling modeling unit, used to perform electric field strength coupling modeling according to the spatial distribution of the wires in the measured area, obtain the electric field strength coupling model, identify the electric field strength coupling model to obtain the electric field strength coupling characteristics; a measurement path planning unit, used to plan the measurement task path of the UAV in the measured area, wherein a laser radar module and an electric field sensor module are mounted on the UAV; an electric field data acquisition unit, used to execute the measurement task path through the laser radar module, and at the same time collect the electric field measurement data set under the measurement task path according to the electric field sensor module; a detection result acquisition unit, used to perform feature similarity identification on the electric field measurement data set based on the electric field strength coupling characteristics, and obtain the detection result of the charged state of the wires in the measured area.

[0006] In a possible implementation, the modular UAV mounting platform suitable for electric field measurement tasks also performs the following processing: obtaining conductor geometric parameters, conductor material properties, and ambient temperature and humidity data; performing single conductor analysis based on the conductor geometric parameters, conductor material properties, and ambient temperature and humidity data using the finite element method, and outputting a single electric field strength vector; analyzing the conductor spatial distribution, including conductor spacing, sag height, and voltage level; and performing electric field superposition coupling on the single electric field strength vector based on the conductor spatial distribution to obtain an electric field strength coupling model.

[0007] In a possible implementation, the modular UAV mounting platform suitable for electric field measurement tasks further performs the following processing: defining a coupling weight factor, performing electric field superposition coupling on the single electric field intensity vector according to the coupling weight factor, and obtaining an electric field intensity coupling model, which is expressed as follows: ; in, are the coordinates of any point in space, For the jth wire Coupling weight factor in coordinates, For The single-electric field intensity vector of the j-th wire under the coordinate, is the total electric field strength vector represented by the electric field strength coupling model, and N is the total number of wires in the measured area.

[0008] In a possible implementation, the modular UAV mounting platform suitable for electric field measurement tasks further performs the following processing: the expression for defining the coupling weight factor is as follows: ; in, , is the position between the nearest points of the jth and kth wires, for Coordinates and The distance between the closest points, and , is the voltage difference between the jth wire and the kth wire, is the coefficient for adjusting the coupling attenuation strength.

[0009] In a possible implementation, the modular UAV mounting platform suitable for electric field measurement tasks also performs the following processing: the electric field strength coupling characteristics include at least any one or any combination of the electric field amplitude gradient, the electric field direction change characteristics, the dominant conductor characteristics, and the electric field superposition distribution characteristics.

[0010] In a possible implementation, the modular UAV mounting platform suitable for electric field measurement tasks further performs the following processing: inputting the electric field measurement data set into a low-pass filter circuit for amplification and filtering processing to obtain a filtered electric field measurement data set; transmitting the electric field measurement data set back to the flight control ground station for coupling feature extraction, and outputting the measuring point electric field strength coupling feature; performing similarity identification on the electric field strength coupling feature and the measuring point electric field strength coupling feature, outputting a similarity coefficient, and obtaining a wire charged state detection result of the measured area based on the similarity coefficient; wherein, if the similarity coefficient is less than a preset threshold, the wire charged state detection result is returned as 1 for an abnormal reminder; otherwise, the wire charged state detection result is returned as 0.

[0011] In a possible implementation, the modular UAV mounting platform suitable for electric field measurement tasks also performs the following processing: the laser radar module and the electric field sensing module are connected to the control board through a pluggable interface; wherein, the control board is used to drive the laser radar module and the electric field sensing module according to the measurement task path.

[0012] The present application also provides an electronic device, comprising: a memory for storing executable instructions; and a processor for executing the executable instructions stored in the memory to implement a modular drone mounting platform suitable for electric field measurement tasks.

[0013] The modular drone mounting platform and equipment suitable for electric field measurement tasks proposed in this application include a measured area analysis unit for analyzing the measured area of ​​the electric field measurement task; a coupling modeling unit for modeling the electric field strength coupling based on the spatial distribution of the conductors and obtaining the electric field strength coupling model; a measurement path planning unit for planning the drone's measurement task path; an electric field data acquisition unit for collecting electric field measurement data sets based on the electric field sensing module; and a detection result acquisition unit for obtaining the detection results of the charged state of the conductors in the measured area. This solves the technical problems in the prior art of drone electric field measurements being susceptible to interference, insufficient data accuracy, lack of pertinence in measurement path planning, and poor flexibility in drone mounting methods, achieving the technical effects of improving the accuracy and reliability of electric field measurement data, enhancing electric field detection efficiency, and improving the flexibility of drone measurements. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] To more clearly illustrate the technical solutions of the embodiments of the present disclosure, the accompanying drawings of the embodiments of the present disclosure are briefly introduced below. Flowcharts are used in this application to illustrate the operations performed by the platform according to the embodiments of the present application. It should be understood that the preceding or following operations are not necessarily performed in precise order. On the contrary, various steps may be processed in reverse order or simultaneously as needed. Furthermore, other operations may be added to these processes, or one or more operations may be removed from these processes.

[0015] Figure 1 Schematic diagram of the structure of a modular UAV mounting platform suitable for electric field measurement tasks provided in an embodiment of the present application.

[0016] Figure 2 A schematic diagram of the process flow of the coupling modeling unit in a modular UAV mounting platform suitable for electric field measurement tasks provided in an embodiment of the present application.

[0017] Figure 3 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0018] Explanation of the accompanying symbols: measured area analysis unit 10, coupling modeling unit 20, measurement path planning unit 30, electric field data acquisition unit 40, detection result acquisition unit 50, input device 401, processor 402, memory 403, output device 404. DETAILED DESCRIPTION

[0019] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below.

[0020] In order to make the purpose, technical solutions and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings. The described embodiments should not be regarded as limiting this application. All other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0021] In the following description, reference is made to “some embodiments”, which describe a subset of all possible embodiments, but it will be understood that “some embodiments” may be the same subset or different subsets of all possible embodiments, and may be combined with each other without conflict, and the terms “first\second” involved are merely used to distinguish similar objects and do not represent a specific ordering of the objects. The terms “including” and “having” and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, platform, product, or server that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or modules that are not clearly listed or that are inherent to these processes, products, or devices. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application belongs. The terms used herein are for the purpose of describing the embodiments of this application only.

[0022] The embodiment of the present application provides a modular UAV mounting platform suitable for electric field measurement tasks, such as Figure 1 As shown, the platform includes: The measured area parsing unit 10 is used to connect to the power field measurement task under the flight control ground station and parse the measured area of ​​the electric field measurement task.

[0023] Preferably, the flight control ground station is the core of the UAV flight mission control, which is usually composed of computers, communication equipment, control modules, etc. The UAV establishes a connection with the flight control ground station through a wireless communication link. The flight control ground station can send various instructions to the UAV and receive status information and data feedback from the UAV, so that the operator can accurately control and manage the flight of the UAV on the ground, such as monitoring the flight status of the UAV (such as position, altitude, speed, etc.) in real time and remotely control the UAV; the operator formulates the electric field measurement task according to actual needs in the control module of the flight control ground station. The task information includes flight path planning, measurement parameter setting (such as measurement time interval, measurement accuracy requirements, etc.), and then transmits the information to the UAV through the communication link between the ground station and the UAV. The drone receives the mission instructions and performs the electric field measurement task according to the mission requirements. The drone then analyzes the measured area of ​​the electric field measurement task. That is, according to the electric field measurement task and geographic information data (such as satellite maps, terrain data, etc.), the drone analyzes the electric field measurement area, including determining the geographical location, range, terrain features (such as mountains, rivers, buildings, etc.) of the measured area, and other factors related to electric field measurement (such as the direction and distribution density of high-voltage transmission lines). For example, if the measured area is a transmission line section, the drone needs to determine the starting point, end point and key coordinate points along the line to clarify the flight range and trajectory, so as to accurately reach the designated area for electric field measurement, thereby ensuring that the measurement task can be completed safely and efficiently.

[0024] The coupling modeling unit 20 is configured to perform electric field strength coupling modeling according to the spatial distribution of the wires in the measured area, obtain an electric field strength coupling model, identify the electric field strength coupling model and obtain electric field strength coupling characteristics.

[0025] Preferably, the three-dimensional point cloud data of the measured area is obtained through the laser radar module, and combined with the task path information, the centerline coordinates of the conductor are extracted, and the spatial position, direction, height, arrangement mode (such as single-circuit, double-circuit, and multi-split conductors) of the high-voltage conductor are identified. The conductor is then abstracted into a set of curves or line segments in three-dimensional space, and a conductor coordinate system is established. Key nodes (such as tower position, span midpoint) and geometric features (such as sag height, conductor spacing) are marked, and conductor geometric parameters (such as conductor length, diameter, number of splits, etc.), conductor material properties (conductor conductivity, relative dielectric constant), conductor voltage level, and ambient temperature and humidity data around the conductor are obtained. Among them, temperature affects conductor resistance (increase in temperature, increase in resistance), and humidity affects air breakdown voltage and surface charge distribution.

[0026] Preferably, the conductor is abstracted as a collection of curves or line segments in space, and a three-dimensional geometric model of the conductor is constructed. For example, the catenary equation is used to describe the natural droop of the transmission line. According to Maxwell's equations (including Gauss's law, Gauss's law of magnetism, Faraday's law of electromagnetic induction, and Maxwell-Ampere's law), an electric field is generated around the charged conductor, and its intensity is related to the conductor's current, voltage, geometry, and relative position. For complex conductor layouts (such as multiple loops and crossings), the finite element method (FEM) is then used to solve the electric field distribution, considering the electromagnetic coupling effect between conductors to obtain an electric field intensity coupling model. The electric field intensity coupling model is then identified to obtain electric field intensity coupling characteristics, which may include electric field intensity gradient, electric field distribution shape, and electric field direction change characteristics. These characteristics are used to analyze the charged state of the conductor (such as normal operation, overload, and disconnection).

[0027] Further, such as Figure 2 As shown, the specific configuration of the coupling modeling unit 20 also includes obtaining conductor geometric parameters, conductor material properties, and ambient temperature and humidity data; performing single conductor analysis based on the conductor geometric parameters, conductor material properties, and ambient temperature and humidity data using the finite element method, and outputting a single electric field strength vector; analyzing the conductor spatial distribution, including conductor spacing, sag height, and voltage level; and performing electric field superposition coupling on the single electric field strength vector based on the conductor spatial distribution to obtain an electric field strength coupling model.

[0028] Furthermore, the specific configuration of the coupling modeling unit 20 also includes defining a coupling weight factor, performing electric field superposition coupling on the single electric field intensity vector according to the coupling weight factor, and obtaining an electric field intensity coupling model, which is expressed as follows: ; in, are the coordinates of any point in space, For the jth wire Coupling weight factor in coordinates, For The single-electric field intensity vector of the j-th wire under the coordinate, is the total electric field strength vector represented by the electric field strength coupling model, and N is the total number of wires in the measured area. Preferably, the data are obtained by laser radar scanning, including the length, diameter, suspension point coordinates, sag height, etc. of the conductor; the material properties of the conductor are obtained, including electrical conductivity, relative magnetic permeability, air dielectric constant, etc. For example, the mixed material properties of steel core aluminum stranded conductor (ACSR) affect the current distribution and electric field coupling effect. The conductivity of pure copper conductor at 20°C is about 58.0MS / m (mega Siemens per meter), and the relative magnetic permeability is about 1.5MS / m. ≈1; obtain the ambient temperature and humidity data of the electric field conductor. Temperature and humidity affect the dielectric constant of the air and the resistance of the conductor, thereby changing the electric field distribution. For example, a high humidity environment may cause discharge on the insulator surface, affecting the local electric field strength.

[0029] Preferably, a single conductor analysis is then performed using the finite element method based on the conductor geometry parameters, conductor material properties, and ambient temperature and humidity data. Specifically, a single conductor is considered as an infinitely long cylindrical conductor, that is, the governing equation is established. ,in is the electric potential, is the dielectric constant, is the charge density; set the boundary conditions, the wire surface: (known voltage), infinite boundary: ; Then the finite element discretization is performed, that is, the computational domain is divided into tetrahedral / hexahedral elements, and each element is solved: ,in, is the stiffness matrix, is the node potential vector, is the load vector, and finally Calculate the electric field strength vector .

[0030] Preferably, the spatial distribution of the conductors is analyzed, including conductor spacing, sag height, and voltage level. Specifically, a conductor equation, such as the catenary equation, is fitted from the lidar point cloud data: ; in, , is the horizontal tension, reflecting the degree to which the wire is tightened. is the acceleration due to gravity (9.8m / s² on Earth), The mass per unit length reflects the weight characteristics of the conductor itself, and thus determines the curve shape of the conductor; then the parameters are calculated, including the calculation of the distance between adjacent conductors: ; Calculate sag: ; in, is the vertical coordinate of the conductor mid-span position, is the ordinate of the conductor suspension point. The difference between the two is the sag, that is, the degree to which the conductor sags at mid-span. The voltage level determines the surface charge density: ; Among them, Q is the total charge on the wire, r is the wire radius, and L is the wire length. The voltage level affects the charge Q on the wire, which in turn determines the surface charge density. .

[0031] Preferably, a coupling weight factor is defined according to the distance from the wire, the relative position between the wires, and the arrangement of the wires. Then, electric field superposition coupling is performed on the single electric field intensity vector according to the coupling weight factor to obtain an electric field intensity coupling model. The expression is as follows: ; in, are the coordinates of any point in space, For the jth wire The coupling weight factor under the coordinates reflects the j-th wire at the spatial point The contribution of the total electric field strength to For The single-electric field intensity vector of the j-th wire under the coordinate, is the total electric field strength vector represented by the electric field strength coupling model, and N is the total number of wires in the measured area, which determines the number of summation terms. Assume that there are N=3 wires in the two-dimensional plane area, and the spatial point = First, the finite element method is used to calculate the The electric field strength vector generated separately at 、 、 , and then determine the coupling weight factor based on the distance from the wire, the relative position between the wires, and the arrangement of the wires. 、 、 Finally, the total electric field intensity vector at the point is calculated according to the expression ,Finally, by calculating multiple points in the area, the electric field intensity coupling model of the entire area is obtained.

[0032] Furthermore, the specific configuration of the coupling modeling unit 20 also includes defining the expression of the coupling weight factor as follows: ; in, , is the position between the nearest points of the jth and kth wires, for Coordinates and The distance between the closest points, and , is the voltage difference between the jth wire and the kth wire, is the coefficient for adjusting the coupling attenuation strength.

[0033] Preferably, Determines the contribution of the jth wire to the total electric field strength at that point. Its value is between 0 and 1. The larger the value, the greater the contribution of the wire to the total electric field strength at that point. Represents different conductors. The larger the voltage difference, the stronger the electric field interaction between the two conductors may be. The coefficient that adjusts the coupling attenuation strength , used to control the attenuation rate of the coupling effect between conductors as the distance increases, The larger the value, the faster the coupling effect between the conductors decays as the distance increases. The smaller it is, the slower the coupling effect decays with distance.

[0034] Furthermore, the specific configuration of the coupling modeling unit 20 also includes that the electric field strength coupling characteristics include at least any one feature or any combination of electric field amplitude gradient, electric field direction change characteristics, main conductor characteristics and electric field superposition distribution characteristics.

[0035] Preferably, the electric field amplitude gradient refers to the spatial rate of change of the electric field intensity amplitude, that is, the magnitude of the change in the electric field intensity amplitude per unit distance along a certain direction. It is used to evaluate the severity of the spatial change of the electric field intensity. For example, near a transmission line, the electric field intensity amplitude will gradually decrease from near to far away from the conductor. If the electric field amplitude gradient in a certain area is large, it means that the electric field intensity in that area changes rapidly, and there may be a sudden change in the electric field intensity, which has a greater impact on the insulation of nearby electrical equipment and personnel safety. The electric field direction change characteristics reflect the spatial change of the electric field intensity direction. Due to the interaction of the electric fields of multiple conductors, the electric field directions at different positions in space will be different. For example, around two parallel conductors, the electric field directions at different positions will show complex changes. Since the force direction of charged particles is related to the electric field direction, the change in the electric field direction will cause the particle motion trajectory to change, which is helpful to analyze the spatial distribution of the electric field and the change in the direction of the electric field force.

[0036] Preferably, when there are multiple conductors, due to factors such as the voltage of each conductor and the distance from the spatial point, not all conductors contribute equally to the electric field strength at a certain point. The conductor or conductors that play a major role are the dominant conductors. The dominant conductor refers to the conductor that makes the main contribution to the electric field strength at a certain point in space, so as to facilitate the efficient assessment of the ground electric field strength near the transmission line. The electric field superposition distribution characteristics are used to describe the overall electric field distribution formed by the spatial superposition of the electric fields generated by multiple conductors. The electric field strength at any point in space in a multi-conductor system is the vector sum of the electric field strengths generated by each conductor individually. The electric field superposition distribution characteristics include the magnitude distribution and direction distribution of the electric field strength after superposition, which helps to fully understand the electric field environment around the multi-conductor system. By analyzing the electric field superposition distribution characteristics, the conductor layout can be reasonably planned to make the electric field distribution more uniform and reduce the adverse effects of the electric field on the surrounding environment (such as communication line interference, residents' lives, etc.).

[0037] The measurement path planning unit 30 is used to plan the measurement task path of the UAV in the measured area, wherein the UAV is mounted with a laser radar module and an electric field sensor module.

[0038] Preferably, the lidar module measures the distance between the target object (such as a transmission line, a tower, etc.) and the drone by emitting a laser beam and receiving reflected light, and quickly obtains high-precision three-dimensional point cloud data for accurate analysis of the geometric parameters of the line, including the spatial coordinates of the line, sag height, and spacing between adjacent lines. The electric field sensing module is used to measure the magnitude and direction of the electric field strength at different positions in space in real time, and can obtain actual data of the electric field around the line, and compare and verify it with the calculated theoretical electric field strength. It can also be used to monitor the dynamic changes of the electric field during the operation of the transmission line, and assist in determining whether there are any abnormalities in the line, such as corona discharge on the surface of the line causing electric field distortion.

[0039] Preferably, the flight route of the drone is designed according to the actual situation of the measured area (such as the transmission line corridor area) to ensure that the lidar module and electric field sensor module carried by the drone can collect data comprehensively and efficiently. For example, for long-distance transmission lines, reasonable round-trip and inspection routes should be planned to avoid missing key areas, while minimizing flight time and energy consumption, thereby improving the accuracy and completeness of data collection. For example, when planning the path, the spatial distribution of the wires should be taken into account, and the drone should be flown at an appropriate height and distance so that the lidar can completely scan the wires and the electric field sensor module can accurately measure the electric field strength.

[0040] The electric field data acquisition unit 40 is used to execute the measurement task path through the laser radar module, and at the same time collect the electric field measurement data set within the measurement task path according to the electric field sensing module.

[0041] Preferably, executing the measurement task path through the laser radar module means working according to the pre-planned drone measurement task path. The laser radar continuously emits laser pulses into the surrounding space. When the laser pulse encounters the target object (such as a transmission line, a tower, etc.) and is reflected back, it is received by the laser radar. By measuring the time interval from the emission to the reception of the laser pulse, the distance between the target object and the drone is accurately calculated, thereby obtaining the three-dimensional coordinate information of the target object in the measured area, forming point cloud data, and fully depicting the spatial shape, positional relationship and other geometric parameters of the wire. When the drone flies along the measurement task path, the electric field sensing module runs synchronously. The sensing elements inside the electric field sensing module sense the electric field strength and direction of the surrounding space in real time, and collect electric field data at each drone position point, including the magnitude of the electric field strength, the direction of the electric field vector, etc., thereby forming an electric field measurement data set for determining whether the electric field distribution of the transmission line is normal.

[0042] Furthermore, the specific configuration of the electric field data acquisition unit 40 also includes that the laser radar module and the electric field sensing module are connected to the control board through a pluggable interface; wherein, the control board is used to drive the laser radar module and the electric field sensing module according to the measurement task path.

[0043] Preferably, the laser radar module and the electric field sensor module are connected to the control board via a pluggable interface, wherein the pluggable interface is a convenient and fast connection component, such as a USB interface, which can easily connect or disconnect the module from the control board, making the laser radar module and the electric field sensor module more convenient to install, disassemble, repair or replace, thereby improving the maintenance efficiency and flexibility of the equipment. The control board is used to drive the laser radar module and the electric field sensor module according to the measurement task path, that is, when the drone performs a task, the control board sends drive instructions to the laser radar module and the electric field sensor module according to the path information and in a temporal and spatial order, including when the drone flies to a specific location, the control board instructs the laser radar module to emit a laser to measure the distance, and at the same time, the electric field sensor module starts to collect electric field data at that location.

[0044] The detection result acquisition unit 50 is configured to perform feature similarity recognition on the electric field measurement data set based on the electric field strength coupling feature, and acquire a detection result of the charged state of the wire in the measured area.

[0045] Preferably, the electric field measurement data set is analyzed based on the electric field intensity coupling characteristics (electric field amplitude gradient, electric field direction change characteristics, dominant conductor characteristics, and electric field superposition distribution characteristics, etc.), and relevant information of the electric field intensity coupling characteristics is extracted from the electric field measurement data set, including calculating the amplitude gradient of the electric field intensity at different positions, determining the change law of the electric field direction, determining the dominant conductor that plays a major role in the electric field intensity, and analyzing the distribution after the electric field superposition, etc.; then the extracted features are compared with the electric field features under different charged states (such as normal charge, partial discharge, power outage, etc.) for similarity, and the degree of similarity is quantified using a distance measurement algorithm (such as Euclidean distance, cosine similarity, etc.). Finally, based on the results of feature similarity recognition, the charged state of the conductors in the measured area is judged. Specifically, if the characteristics of the measurement data are very similar to the electric field characteristics of the normal charged state, it can be inferred that the conductor is in a normal charged state; if it is more similar to the electric field characteristics of partial discharge, it may indicate that the conductor has abnormal conditions such as partial discharge; if it is consistent with the electric field characteristics of the power outage state, it can be judged that the conductor is currently in a non-charged state; finally, the charged state detection results of the conductors in the measured area are generated, so that abnormal charged conditions of the conductors can be discovered in time and corresponding measures can be taken to deal with them, so as to ensure the safe and reliable operation of the transmission line.

[0046] Furthermore, the specific configuration of the detection result acquisition unit 50 also includes: inputting the electric field measurement data set into a low-pass filter circuit for amplification and filtering processing to obtain a filtered electric field measurement data set; transmitting the electric field measurement data set back to the flight control ground station for coupling feature extraction, and outputting the measuring point electric field strength coupling feature; performing similarity identification on the electric field strength coupling feature and the measuring point electric field strength coupling feature, outputting a similarity coefficient, and obtaining the wire charged state detection result of the measured area based on the similarity coefficient; wherein, if the similarity coefficient is less than a preset threshold, the wire charged state detection result is returned as 1 for abnormal reminder, otherwise, the wire charged state detection result is returned as 0.

[0047] Preferably, the electric field measurement data set is input into a low-pass filter circuit for amplification and filtering. Specifically, the data collected by the electric field sensing module may contain high-frequency noise (such as interference from the drone's own electronic equipment, environmental electromagnetic interference, etc.). The low-pass filter circuit filters out the high-frequency noise and retains the true electric field signal characteristics. At the same time, the weak electric field signal is amplified to improve the signal-to-noise ratio. The cutoff frequency of the low-pass filter is usually set to below 10kHz (the power system frequency is 50 / 60Hz, and the abnormal discharge signals of the conductors are mostly in the low-frequency band). For example, the circuit adopts RC filtering or active filtering, and the amplification factor is determined according to the sensor output range and the back-end ADC sampling range.

[0048] Preferably, the electric field measurement data set is transmitted back to the flight control ground station for coupling feature extraction. Specifically, the UAV sends the filtered electric field data to the ground station via wireless communication (such as 4G / 5G, digital radio). The ground station extracts the electric field amplitude gradient and the electric field direction change rate from the measured data based on the electric field strength coupling model, determines the dominant conductor by calculating the contribution weight of each conductor to the electric field at the measuring point, and determines the electric field superposition distribution characteristics (such as the spatial distribution curve of the electric field strength, the peak position, etc.), and outputs the electric field strength coupling characteristics of the measuring point.

[0049] Preferably, the electric field strength coupling feature and the measuring point electric field strength coupling feature are similarly identified, that is, the similarity between the electric field strength coupling feature and the measuring point electric field strength coupling feature is calculated by cosine similarity or Euclidean distance, and a similarity coefficient corresponding to each measuring point is output, reflecting the degree of similarity between the actually measured electric field feature and the electric field feature under normal conditions. Then, based on the similarity coefficient and a preset threshold value, the charged state of the conductor in the measured area is determined, that is, whether the conductor is in a normal charged state or an abnormal condition is determined. The preset threshold value is a value pre-set based on experimental data and power standard data, and is used as a limit for determining the charged state of the conductor. Specifically, if the similarity coefficient is less than the preset threshold value, it indicates that the actually measured electric field feature is significantly different from the expected normal feature, indicating that the charged state of the conductor is abnormal, and a detection result of 1 is returned, and an abnormality reminder mechanism is triggered. Conversely, if the similarity coefficient is greater than or equal to the preset threshold value, it indicates that the actually measured electric field feature is relatively similar to the normal feature, that is, the charged state of the conductor is within the normal range, and a detection result of 0 is returned, indicating that the current charged state of the conductor is normal and no abnormality reminder is required. For example, the preset threshold is set to 0.8. If the calculated similarity coefficient is 0.6, which is less than 0.8, the wire is judged to be in an abnormal state, and the result 1 is returned with an abnormal reminder. If the similarity coefficient is 0.9, which is greater than 0.8, the wire is judged to be in a normal state, and the result 0 is returned without an abnormal reminder.

[0050] Figure 3 1 is a schematic structural diagram of an electronic device provided by an embodiment of the present invention, showing a block diagram of an exemplary electronic device suitable for implementing an embodiment of the present invention. Figure 3 The electronic device shown is merely an example and should not limit the functionality and scope of use of the embodiments of the present invention. The electronic device is implemented as a general-purpose computing device, and its components may include, but are not limited to, an input device 401, a processor 402, a memory 403, and an output device 404. There may be one or more processors 402; the memory 403 may include computer-readable media and at least one program product, which has a set (at least one) of program modules configured to perform the functions of the various embodiments of the present application.

[0051] The memory 403 shown in the embodiment of the present invention can adopt any combination of one or more computer-readable media; the computer-readable storage medium can be but not limited to infrared, semiconductor systems, devices or components, or any combination of the above, for storing software programs, computer executable programs and modules, such as the program instructions / modules corresponding to the modular UAV mounting platform suitable for electric field measurement tasks in the embodiment of the present invention. The processor 402 executes various functional applications and data processing of the computer device by running the software programs, instructions and modules stored in the memory 403, thereby realizing the above-mentioned modular UAV mounting platform suitable for electric field measurement tasks.

[0052] Although this application makes various references to certain modules in the platform according to the embodiments of this application, any number of different modules can be used and run on the user terminal and / or server, and the various units and modules included are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be achieved; in addition, the specific names of the functional units are only for the convenience of distinguishing each other and are not used to limit the scope of protection of the present invention.

[0053] The above specific embodiments do not constitute a limitation on the scope of protection of this application. Those skilled in the art should understand that various modifications, combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application shall be included within the scope of protection of this application.

Claims

1. A modular UAV mounting platform suitable for electric field measurement tasks, characterized by: The platform includes: A measured area analysis unit is used to connect to the power field measurement task under the flight control ground station and analyze the measured area of ​​the electric field measurement task; a coupling modeling unit, configured to perform electric field strength coupling modeling according to the spatial distribution of the conductors in the measured area, obtain an electric field strength coupling model, identify the electric field strength coupling model and obtain electric field strength coupling characteristics; A measurement path planning unit, configured to plan a measurement task path of a UAV in the measured area, wherein the UAV is equipped with a laser radar module and an electric field sensor module; an electric field data acquisition unit, configured to execute the measurement task path through the laser radar module and simultaneously acquire an electric field measurement data set within the measurement task path according to the electric field sensing module; The detection result acquisition unit is used to perform feature similarity recognition on the electric field measurement data set based on the electric field strength coupling feature to obtain the wire charged state detection result of the measured area.

2. The modular UAV mounting platform suitable for electric field measurement tasks according to claim 1, characterized in that: The electric field strength coupling model is performed according to the spatial distribution of the conductors in the measured area, including: Obtain conductor geometry parameters, conductor material properties, and ambient temperature and humidity data; Performing single conductor analysis based on the conductor geometry parameters, conductor material properties, and ambient temperature and humidity data using the finite element method to output a single electric field strength vector; Analyze the conductor spatial distribution, including conductor spacing, sag height, and voltage level; Perform electric field superposition coupling on the single electric field intensity vector according to the spatial distribution of the wire to obtain an electric field intensity coupling model.

3. The modular UAV mounting platform suitable for electric field measurement tasks according to claim 2, characterized in that: Performing electric field superposition coupling on the single electric field intensity vector according to the spatial distribution of the conductors includes: A coupling weight factor is defined, and electric field superposition coupling is performed on the single electric field intensity vector according to the coupling weight factor to obtain an electric field intensity coupling model, which is expressed as follows: ； in, are the coordinates of any point in space, For the jth wire Coupling weight factor in coordinates, For The single-electric field intensity vector of the j-th wire under the coordinate, is the total electric field strength vector represented by the electric field strength coupling model, and N is the total number of wires in the measured area.

4. The modular UAV mounting platform suitable for electric field measurement tasks according to claim 3, characterized in that: The expression defining the coupling weight factor is as follows: ； in, , is the position between the nearest points of the jth and kth wires, for Coordinates and The distance between the closest points, and , is the voltage difference between the jth wire and the kth wire, is the coefficient for adjusting the coupling attenuation strength.

5. The modular UAV mounting platform suitable for electric field measurement tasks according to claim 1, characterized in that: The electric field intensity coupling characteristics include at least any one or any combination of electric field amplitude gradient, electric field direction change characteristics, main conductor characteristics, and electric field superposition distribution characteristics.

6. The modular UAV mounting platform suitable for electric field measurement tasks according to claim 1, characterized in that: Performing feature similarity identification on the electric field measurement data set based on the electric field strength coupling feature includes: Inputting the electric field measurement data set into a low-pass filter circuit for amplification and filtering processing to obtain a filtered electric field measurement data set; Transmitting the electric field measurement data set back to the flight control ground station for coupling feature extraction, and outputting the electric field strength coupling features of the measuring points; Performing similarity identification on the electric field strength coupling feature and the electric field strength coupling feature of the measuring point, outputting a similarity coefficient, and obtaining a detection result of the wire charged state of the measured area based on the similarity coefficient; If the similarity coefficient is less than a preset threshold, the wire live state detection result is returned as 1 for abnormality reminder; otherwise, the wire live state detection result is returned as 0.

7. The modular UAV mounting platform suitable for electric field measurement tasks according to claim 1, characterized in that: The laser radar module and the electric field sensor module are connected to the control board through a pluggable interface; Wherein, the control board is used to drive the laser radar module and the electric field sensing module according to the measurement task path.

8. An electronic device, characterized in that: The electronic device comprises: a memory for storing executable instructions; The processor is configured to implement the modular UAV mounting platform suitable for electric field measurement tasks as described in any one of claims 1 to 7 when executing the executable instructions stored in the memory.

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