Low-power consumption control method for unmanned aerial vehicle transmission line inspection monitoring device

Abstract

This invention relates to the field of low-power control technology, specifically to a low-power control method for a UAV power line inspection and monitoring device, comprising the following steps: S1: Intermittently waking up according to a first preset cycle to detect ultraviolet light pulse signals in the environment; S2: When an ultraviolet light pulse signal meeting a preset amplitude threshold is detected, the main controller is woken up; S3: Identifying whether it is a high-voltage corona characteristic; S4: When a high-voltage corona characteristic is identified in S3, acquiring a field image; S5: After completing the image capture, re-entering a deep sleep state; S6: If no ultraviolet light pulse signal is detected, adjusting to a second preset cycle. This invention, by constructing a cycle-adaptive control mechanism based on the activity of corona signals, achieves accurate identification and image acquisition control of high-voltage corona anomalies, significantly reducing system power consumption while ensuring monitoring accuracy.

Description

Technical Field

[0001] This invention relates to the field of low-power control technology, and in particular to a low-power control method for a drone-based power transmission line inspection and monitoring device. Background Technology

[0002] During long-term operation, power transmission lines may experience energy loss, decreased equipment insulation performance, or even malfunctions due to abnormal phenomena such as high-voltage corona discharge. Ultraviolet (UV) monitoring devices, capable of capturing the characteristic UV signals generated by high-voltage corona discharge, have been widely used for power transmission line condition monitoring. However, due to the wide distribution and complex operating environment of power transmission lines, on-site monitoring devices often need to be in an online monitoring state for extended periods. This leads to problems such as excessive power consumption and shortened power supply lifespan for equipment with limited power supply during long-term operation. Especially in unattended areas or areas with limited power supply, how to reduce energy consumption while ensuring monitoring reliability has become a pressing challenge for online monitoring technology of power transmission lines.

[0003] Existing ultraviolet (UV) monitoring systems typically employ a fixed-period wake-up method for the UV sensor and continuous operation of the main controller. While this allows for real-time capture of high-voltage corona signals, maintaining high-frequency detection even when corona signals are absent for extended periods leads to high system power consumption and makes long-term stable operation difficult in power-constrained scenarios. Furthermore, current technologies lack a mechanism for dynamically adjusting the monitoring cycle based on detection results, failing to balance timeliness and energy efficiency. Therefore, it is necessary to design a low-power control method for unmanned aerial vehicle (UAV) power line inspection and monitoring devices to address these issues. Summary of the Invention

[0004] To achieve the above objectives, the present invention provides a low-power control method for a UAV power transmission line inspection and monitoring device.

[0005] A low-power control method for a drone-based power transmission line inspection and monitoring device includes the following steps:

[0006] S1: When the monitoring device is in deep sleep mode, the ultraviolet light sensor is awakened intermittently according to the first preset cycle to detect ultraviolet light pulse signals in the environment;

[0007] S2: When an ultraviolet light pulse signal that meets the preset amplitude threshold is detected within N consecutive first preset cycles, it is determined that a valid pulse cluster has been captured and the main controller is woken up.

[0008] S3: The main controller obtains the duration and frequency of the effective pulse cluster and judges whether it is a high voltage corona characteristic based on the preset threshold conditions.

[0009] S4: When S3 detects high-voltage corona characteristics, the main controller activates the visible light camera to capture images of the target transmission line area and obtain on-site images.

[0010] S5: After shooting is completed, the main controller control device re-enters deep sleep mode and resets the ultraviolet light sensor detection cycle to the first preset cycle;

[0011] S6: If no ultraviolet light pulse signal is detected within M consecutive first preset cycles, the working cycle of the ultraviolet light sensor is adjusted to the second preset cycle; when an ultraviolet light pulse signal is detected within the second preset cycle, the working cycle is reset to the first preset cycle, and the process returns to step S1.

[0012] Optionally, S1 specifically includes:

[0013] S11: After the monitoring device enters deep sleep mode, only the ultraviolet light sensor remains in low-power standby mode, and the ultraviolet light sensor is controlled by a timing circuit to operate according to the first preset cycle. Perform intermittent wake-up, with each wake-up lasting for a duration of [duration missing]. ,satisfy conditions;

[0014] S12: Upon each wake-up, the ultraviolet light sensor samples the ultraviolet light signal within a predetermined wavelength range in the environment through its photomultiplier tube component, with the sampling frequency set to [value missing]. And record the light intensity value sequence in each sampling period;

[0015] S13: Perform moving average filtering and background noise thresholding on the light intensity value sequence to extract the peak signal with a sudden increase; when a sudden change in light intensity is detected in several consecutive sampling points and the amplitude exceeds the set threshold, it is considered that an ultraviolet light pulse signal has been detected in the corresponding period.

[0016] Optionally, S13 specifically includes:

[0017] S131: Perform sliding window differencing on the light intensity value sequence acquired in each period to calculate the light intensity change between adjacent sampling points. ;

[0018] S132: Determine if continuity exists Each sampling point corresponds to a change in light intensity. All are greater than the mutation detection threshold And the light intensity value at any of the sampling points is greater than the set amplitude threshold. When the conditions are met, the sampling point with the largest light intensity value is extracted as the pulse peak light intensity. ;

[0019] S133: If the judgment condition of S132 is met, then it is determined that an ultraviolet light pulse signal is detected in the current cycle.

[0020] Optionally, S2 specifically includes:

[0021] S21: Whenever the ultraviolet light sensor detects the peak light intensity of a pulse within the current first preset period. satisfy When the condition is met, the corresponding period detection result is recorded as 1; otherwise, it is recorded as 0. The results are then written into the pulse marker sequence in chronological order. The threshold value is set for pulse amplitude.

[0022] S22: During monitoring, a sliding window mechanism is used to update the pulse marker sequence in real time, retaining only the most recent consecutive pulses. The detection results of the first preset cycle are used to determine the current monitoring status;

[0023] S23: If all elements in the current pulse marker sequence are 1, then it is determined that a valid pulse cluster has been detected, and the main controller is controlled to wake up from the sleep state.

[0024] Optionally, S3 specifically includes:

[0025] S31: After being woken up, the main controller accesses the historical pulse records in the ultraviolet light sensor's buffer area, extracting the pulse records from the first detected peak light intensity, in continuous... The pulse signal timestamp sequence recorded within a first preset period is used to calculate the start and end times of the current pulse cluster.

[0026] S32: Based on the start and end times of the pulse signal, calculate the duration of the pulse cluster, count the number of effective pulses that occur within the duration, and calculate the pulse frequency value.

[0027] S33: Compare the duration and frequency of the current pulse cluster with the preset high-voltage corona discharge duration and frequency range, respectively. If both of the following conditions are met:

[0028] Condition 1: The duration is within the preset duration range of high-voltage corona discharge;

[0029] Condition 2: The pulse frequency is within the preset frequency range of the high-voltage corona discharge;

[0030] The main controller then determines that the current ultraviolet pulse cluster has high-voltage corona characteristics.

[0031] Optionally, S32 specifically includes:

[0032] S321: The main controller extracts the timestamp sequence of valid pulse clusters from the pulse record of the ultraviolet light sensor;

[0033] S322: Calculate the duration of the pulse cluster based on the time difference between the beginning and end of the timestamp sequence. ;

[0034] S323: Duration Internal statistical effective pulse count , which represents the effective number of pulses in the current pulse cluster;

[0035] S324: Duration based on statistics and effective pulse count Calculate the pulse frequency of the current pulse cluster. The calculation formula is as follows: .

[0036] Optionally, S4 specifically includes:

[0037] S41: When the main controller identifies that the current pulse cluster has high voltage corona characteristics according to S3, it immediately sends a wake-up command to the visible light camera module, so that the camera switches from standby state to working state.

[0038] S42: The main controller controls the camera to rotate the pan-tilt head to adjust the shooting angle according to the preset target area positioning parameters, automatically aligns with the monitoring target area of ​​the power transmission line, and sets the exposure parameters and shutter speed.

[0039] S43: After completing the angle and parameter settings, control the camera to perform image acquisition operations and obtain on-site images of the target transmission line area.

[0040] Optionally, S5 specifically includes:

[0041] S51: After completing the image acquisition of the target transmission line area, the main controller stores the image data in the designated buffer area and controls the camera module to power off and shut down through the interface protocol;

[0042] S52: The main controller sends a command to the system power management module to enter deep sleep mode, turning off the power of all functional modules except the ultraviolet light sensor and entering deep sleep mode;

[0043] S53: The main controller writes control parameters to the timing circuit, resets the detection cycle of the ultraviolet light sensor to the first preset cycle, and completes the closed-loop control of the monitoring process.

[0044] Optionally, S6 specifically includes:

[0045] S61: The main controller reads the detection results of the ultraviolet light sensor in each first preset cycle, and when continuously... All detection results within each cycle are invalid, meaning the peak pulse intensity within all cycles is invalid. All are below the set threshold If so, it is determined that there is no valid pulse signal triggering the event;

[0046] S62: In determining continuity After one cycle becomes invalid, the main controller sends a cycle adjustment command to the timing control circuit, changing the working cycle of the ultraviolet light sensor from the first preset cycle. Extended to the second preset period ,satisfy ;

[0047] S63: During the operation of the second preset cycle after the extended period, once the pulse peak light intensity is detected within any of the second preset cycles... If the main controller immediately sends a recovery command to the timing control circuit, it resets the working cycle of the ultraviolet light sensor to the first preset cycle and jumps to S1 to restart the monitoring process.

[0048] The beneficial effects of this invention are:

[0049] This invention introduces a pulse peak light intensity judgment mechanism when the ultraviolet light sensor is in intermittent operation, combined with a multi-cycle continuous detection strategy, to achieve accurate identification of high-voltage corona pulse clusters. After identifying pulse clusters with high-voltage corona characteristics, the main controller is controlled to wake up in time and execute image acquisition tasks, ensuring that the system has accurate response capabilities when critical events occur.

[0050] This invention, through a periodic adaptive adjustment mechanism, automatically extends the detection period of the ultraviolet light sensor when a decrease in the activity of the corona signal is detected, thereby reducing system power consumption in non-event states; and promptly resumes high-frequency monitoring when an abnormal signal is detected again, effectively achieving a dynamic balance between monitoring accuracy and energy consumption control. Attached Figure Description

[0051] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only for this invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0052] Figure 1 This is a schematic diagram of a low-power control method according to an embodiment of the present invention;

[0053] Figure 2This is a schematic diagram of the process for acquiring on-site images according to an embodiment of the present invention. Detailed Implementation

[0054] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments. It should also be noted that, to make the embodiments more comprehensive, the following embodiments are the best and preferred embodiments, and those skilled in the art can use other alternative methods to implement some well-known technologies; moreover, the accompanying drawings are only for more specific description of the embodiments and are not intended to specifically limit the present invention.

[0055] It should be noted that the use of terms such as "an embodiment," "an embodiment," "an exemplary embodiment," and "some embodiments" in the specification indicates that the described embodiment may include a specific feature, structure, or characteristic, but not every embodiment necessarily includes that specific feature, structure, or characteristic. Furthermore, when a specific feature, structure, or characteristic is described in connection with an embodiment, implementing such a feature, structure, or characteristic in conjunction with other embodiments (whether explicitly described or not) should be within the knowledge of those skilled in the art.

[0056] Generally, terms can be understood at least partly from their use in context. For example, depending at least partly on the context, the term "one or more" as used herein can be used to describe any feature, structure, or characteristic in a singular sense, or a combination of features, structures, or characteristics in a plural sense. Additionally, the term "based on" can be understood not necessarily to convey an exclusive set of factors, but rather, alternatively, depending at least partly on the context, to allow for the presence of other factors that are not necessarily explicitly described.

[0057] like Figures 1-2 As shown, the low-power control method for the UAV power transmission line inspection and monitoring device includes the following steps:

[0058] S1: When the monitoring device is in deep sleep mode, the ultraviolet light sensor is awakened intermittently according to the first preset cycle to detect ultraviolet light pulse signals in the environment;

[0059] S1 specifically includes:

[0060] S11: After the monitoring device enters deep sleep mode, only the ultraviolet light sensor remains in low-power standby mode, and the ultraviolet light sensor is controlled by a timing circuit to operate according to the first preset cycle. Perform intermittent wake-up, with each wake-up lasting for a duration of [duration missing]. ,satisfy To reduce overall power consumption;

[0061] S12: Upon each wake-up, the ultraviolet light sensor samples the ultraviolet light signal within a predetermined wavelength range in the environment through its photomultiplier tube component, with the sampling frequency set to [value missing]. And record the light intensity value sequence in each sampling period;

[0062] S13: Perform moving average filtering and background noise threshold elimination on the light intensity value sequence to extract the peak signal with a sudden increase; when a sudden change in light intensity is detected in several consecutive sampling points and the amplitude exceeds the set threshold, it is considered that an ultraviolet light pulse signal has been detected in the corresponding period; the above steps effectively realize the identification of ultraviolet light pulses by using a timed wake-up mechanism in deep sleep state in combination with short-time high-frequency sampling, and combining moving average filtering and threshold judgment methods, ensuring that the monitoring device can still accurately detect the ultraviolet signal generated by high voltage corona discharge while maintaining low power consumption operation, providing a stable input basis for subsequent high voltage corona determination.

[0063] S13 specifically includes:

[0064] S131: Perform sliding window differencing on the light intensity value sequence acquired in each period to calculate the light intensity change between adjacent sampling points. The calculation formula is as follows: , ,in, Indicates the first The light intensity value at each sampling time; Indicates the first The change in light intensity at each sampling point relative to the previous sampling point; This indicates the total number of sampling points collected within each sampling period;

[0065] S132: Determine if continuity exists Each sampling point corresponds to a change in light intensity. All are greater than the mutation detection threshold And the light intensity value at any of the sampling points is greater than the set amplitude threshold. When the conditions are met, the sampling point with the largest light intensity value is extracted as the pulse peak light intensity. ;

[0066] S133: If the judgment condition of S132 is met, it is determined that an ultraviolet light pulse signal is detected in the current cycle, and the signal is used for subsequent effective pulse cluster judgment. The above steps, by performing differential analysis and threshold judgment on continuous light intensity changes, combined with the maximum peak point extraction mechanism, can achieve accurate identification of high voltage corona discharge ultraviolet signals, effectively improving the pulse recognition sensitivity and accuracy of the monitoring device in low power consumption state.

[0067] S2: When an ultraviolet light pulse signal that meets the preset amplitude threshold is detected within N consecutive first preset cycles, it is determined that a valid pulse cluster has been captured and the main controller is woken up.

[0068] S2 specifically includes:

[0069] S21: Whenever the ultraviolet light sensor detects the peak light intensity of a pulse within the current first preset period. satisfy When the condition is met, the corresponding period detection result is recorded as 1; otherwise, it is recorded as 0. The results are then written into the pulse marker sequence in chronological order. The threshold value is set for pulse amplitude.

[0070] S22: During monitoring, a sliding window mechanism is used to update the pulse marker sequence in real time, retaining only the most recent consecutive pulses. The detection results of the first preset cycle are used to determine the current monitoring status;

[0071] S23: If all elements in the current pulse marker sequence are 1, then a valid pulse cluster is detected, and the main controller is awakened from sleep mode to enter the high-voltage corona characteristic analysis stage; the expression for all elements being 1 is: ,in, Indicates the first The detection mark value for the first preset cycle; The set number of consecutive cycles is used to determine the length of the time window for valid pulse clusters. The above steps identify continuous valid signals through the periodic determination mechanism of pulse peak light intensity and the method of sliding window accumulation, which can effectively reduce the false trigger rate and improve the system's judgment reliability and energy consumption control accuracy in the early stage of corona recognition.

[0072] S3: The main controller obtains the duration and frequency of the effective pulse cluster and judges whether it is a high voltage corona characteristic based on the preset threshold conditions.

[0073] S3 specifically includes:

[0074] S31: After being woken up, the main controller accesses the historical pulse records in the ultraviolet light sensor's buffer area, extracting the pulse records from the first detected peak light intensity, in continuous... The pulse signal timestamp sequence recorded within a first preset period is used to calculate the start and end times of the current pulse cluster.

[0075] S32: Based on the start and end times of the pulse signal, calculate the duration of the pulse cluster, count the number of effective pulses that occur within the duration, and calculate the pulse frequency value.

[0076] S33: Compare the duration and frequency of the current pulse cluster with the preset high-voltage corona discharge duration and frequency range, respectively. If both of the following conditions are met:

[0077] Condition 1: The duration is within the preset duration range of high-voltage corona discharge;

[0078] Condition 2: The pulse frequency is within the preset frequency range of the high-voltage corona discharge;

[0079] The main controller then determines that the current ultraviolet pulse cluster has high-voltage corona characteristics and proceeds to the next image acquisition control process. The above steps analyze the time and frequency characteristics of the effective pulse cluster and match them with the preset corona discharge characteristic parameters. This enables accurate identification of high-voltage corona phenomena under low-power operation, providing an accurate triggering basis for subsequent image capture.

[0080] S32 specifically includes:

[0081] S321: The main controller extracts the timestamp sequence of valid pulse clusters from the pulse record of the ultraviolet light sensor;

[0082] S322: Calculate the duration of the pulse cluster based on the time difference between the beginning and end of the timestamp sequence. The calculation formula is as follows: ,in, This indicates the time of the first detected pulse in the pulse cluster. Indicates the time of the last pulse;

[0083] S323: Duration Internal statistical effective pulse count That is, the peak intensity of the pulse. Greater than or equal to the threshold The number of records is used as the number of valid pulses in the current pulse cluster;

[0084] S324: Duration based on statistics and effective pulse count Calculate the pulse frequency of the current pulse cluster. The calculation formula is as follows: The above steps extract the duration through timestamp sequences and calculate the pulse frequency based on the number of effective pulses, realizing the extraction and quantitative analysis of the time domain features of ultraviolet signals, providing key parameter basis for subsequent accurate comparison with corona feature thresholds.

[0085] S4: When S3 detects high-voltage corona characteristics, the main controller activates the visible light camera to capture images of the target transmission line area and obtain on-site images.

[0086] S4 specifically includes:

[0087] S41: When the main controller identifies that the current pulse cluster has high voltage corona characteristics according to S3, it immediately sends a wake-up command to the visible light camera module, so that the camera switches from standby state to working state.

[0088] S42: The main controller controls the camera to rotate the pan-tilt head to adjust the shooting angle according to the preset target area positioning parameters, automatically aligns with the monitoring target area of ​​the power transmission line, and sets the exposure parameters and shutter speed to adapt to the current lighting conditions.

[0089] S43: After completing the angle and parameter settings, control the camera to perform image acquisition operations and obtain on-site images of the target transmission line area; the above steps automatically control the camera to start, align and acquire images based on the corona characteristic judgment results by the main controller, which can ensure accurate acquisition of on-site images of the transmission line under corona abnormal conditions, and improve the response efficiency and data integrity of the monitoring system.

[0090] S5: After shooting is completed, the main controller controls the device to re-enter deep sleep mode and resets the ultraviolet light sensor detection cycle to the first preset cycle;

[0091] S5 specifically includes:

[0092] S51: After completing the image acquisition of the target transmission line area, the main controller stores the image data in the designated buffer area and controls the camera module to power off and shut down through the interface protocol to release unnecessary operating resources;

[0093] S52: The main controller sends a command to the system power management module to enter deep sleep mode, shuts down the power supply of all functional modules except the ultraviolet light sensor, and reduces the main controller's own operating frequency and power supply voltage to enter deep sleep mode.

[0094] S53: The main controller writes control parameters to the timing circuit, resetting the detection cycle of the ultraviolet light sensor to the first preset cycle, ensuring that subsequent ultraviolet light signal sampling runs at the normal working frequency, and completing the closed-loop control of the monitoring process; the above steps effectively realize the rapid hibernation and resource recovery of the system after event processing by the main controller through the graded shutdown of the image acquisition module and the system power module, and simultaneously resetting the detection cycle of the ultraviolet light sensor, ensuring the long-term stable operation and energy consumption optimization of the monitoring device.

[0095] S6: If no ultraviolet light pulse signal is detected within M consecutive first preset cycles, the working cycle of the ultraviolet light sensor is adjusted to the second preset cycle; when an ultraviolet light pulse signal is detected within the second preset cycle, the working cycle is reset to the first preset cycle, and the process returns to step S1.

[0096] S6 specifically includes:

[0097] S61: The main controller reads the detection results of the ultraviolet light sensor in each first preset cycle, and when continuously... All detection results within each cycle are invalid, meaning the peak pulse intensity within all cycles is invalid. All are below the set threshold If so, it is determined that there is no valid pulse signal triggering the event;

[0098] S62: In determining continuity After one cycle becomes invalid, the main controller sends a cycle adjustment command to the timing control circuit, changing the working cycle of the ultraviolet light sensor from the first preset cycle. Extended to the second preset period ,satisfy To reduce system power consumption during periods of ineffective monitoring;

[0099] S63: During the operation of the second preset cycle after the extended period, once the pulse peak light intensity is detected within any of the second preset cycles... If the main controller immediately sends a recovery command to the timing control circuit, it resets the working cycle of the ultraviolet light sensor to the first preset cycle and jumps to S1 to restart the monitoring process.

[0100] The design principle of step S6 above lies in introducing a periodic adaptive control mechanism based on historical detection results. Its core purpose is to minimize power consumption while ensuring monitoring effectiveness. When the system does not detect an ultraviolet light pulse signal that meets the threshold for M consecutive first preset periods, it indicates that the possibility of a high-voltage corona event occurring in the current environment is low. At this time, by extending the working period of the ultraviolet light sensor from the high-frequency T1 to the low-frequency T2, the number of wake-ups can be effectively reduced and the system power consumption can be reduced. Once a valid signal reappears in the low-frequency detection period, the system immediately resumes high-frequency sampling to ensure that the system responds to the corona event in a timely manner. Therefore, S6 achieves a dynamic balance between energy consumption and monitoring efficiency without sacrificing responsiveness through a strategy that couples detection behavior with period adjustment.

[0101] This invention encompasses any substitutions, modifications, equivalent methods, and solutions made within the spirit and scope of this invention. To provide the public with a thorough understanding of this invention, specific details are described in detail in the following preferred embodiments; however, those skilled in the art will fully understand the invention even without these details. Furthermore, to avoid unnecessary misunderstanding of the essence of this invention, well-known methods, processes, procedures, components, and circuits are not described in detail.

[0102] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A low-power control method for a UAV power transmission line inspection and monitoring device, characterized in that, Includes the following steps: S1: When the monitoring device is in deep sleep mode, the ultraviolet light sensor is awakened intermittently according to the first preset cycle to detect ultraviolet light pulse signals in the environment; S2: When an ultraviolet light pulse signal that meets the preset amplitude threshold is detected within N consecutive first preset cycles, it is determined that a valid pulse cluster has been captured and the main controller is woken up. S3: The main controller obtains the duration and frequency of the effective pulse cluster and judges whether it is a high voltage corona characteristic based on the preset threshold conditions. S4: When S3 detects high-voltage corona characteristics, the main controller activates the visible light camera to capture images of the target transmission line area and obtain on-site images. S5: After shooting is completed, the main controller controls the device to re-enter deep sleep mode and resets the ultraviolet light sensor detection cycle to the first preset cycle; S6: If no ultraviolet light pulse signal is detected within M consecutive first preset cycles, the working cycle of the ultraviolet light sensor is extended to the second preset cycle; when an ultraviolet light pulse signal is detected within the second preset cycle, the working cycle is reset to the first preset cycle, and the process returns to step S1.

2. The low-power control method for the UAV power transmission line inspection and monitoring device according to claim 1, characterized in that, S1 specifically includes: S11: After the monitoring device enters deep sleep mode, only the ultraviolet light sensor remains in low-power standby mode, and the ultraviolet light sensor is controlled by a timing circuit to operate according to the first preset cycle. Perform intermittent wake-up, with each wake-up lasting for a duration of [duration missing]. ,satisfy conditions; S12: Upon each wake-up, the ultraviolet light sensor samples the ultraviolet light signal within a predetermined wavelength range in the environment through its photomultiplier tube component, with the sampling frequency set to [value missing]. And record the light intensity value sequence in each sampling period; S13: Perform moving average filtering and background noise thresholding on the light intensity value sequence to extract the peak signal with a sudden increase; when a sudden change in light intensity is detected in several consecutive sampling points and the amplitude exceeds the set threshold, it is considered that an ultraviolet light pulse signal has been detected in the corresponding period.

3. The low-power control method for the UAV power transmission line inspection and monitoring device according to claim 2, characterized in that, S13 specifically includes: S131: Perform sliding window differencing on the light intensity value sequence acquired in each period to calculate the light intensity change between adjacent sampling points. ; S132: Determine if continuity exists Each sampling point corresponds to a change in light intensity. All are greater than the mutation detection threshold And the light intensity value at any of the sampling points is greater than the set amplitude threshold. When the conditions are met, the sampling point with the largest light intensity value is extracted as the pulse peak light intensity. ; S133: If the judgment condition of S132 is met, then it is determined that an ultraviolet light pulse signal is detected in the current cycle.

4. The low-power control method for the UAV power transmission line inspection and monitoring device according to claim 3, characterized in that, S2 specifically includes: S21: Whenever the ultraviolet light sensor detects the peak light intensity of a pulse within the current first preset period. satisfy When the condition is met, the corresponding period detection result is recorded as 1; otherwise, it is recorded as 0. The results are then written into the pulse marker sequence in chronological order. The threshold value is set for pulse amplitude. S22: During monitoring, a sliding window mechanism is used to update the pulse marker sequence in real time, retaining only the most recent consecutive pulses. The detection results of the first preset cycle are used to determine the current monitoring status; S23: If all elements in the current pulse marker sequence are 1, then it is determined that a valid pulse cluster has been detected, and the main controller is controlled to wake up from the sleep state.

5. The low-power control method for the UAV power transmission line inspection and monitoring device according to claim 1, characterized in that, S3 specifically includes: S31: After being woken up, the main controller accesses the historical pulse records in the ultraviolet light sensor's buffer area, extracting the pulse records from the first detected peak light intensity, in continuous... The pulse signal timestamp sequence recorded within a first preset period is used to calculate the start and end times of the current pulse cluster. S32: Based on the start and end times of the pulse signal, calculate the duration of the pulse cluster, count the number of effective pulses that occur within the duration, and calculate the pulse frequency value. S33: Compare the duration and frequency of the current pulse cluster with the preset high-voltage corona discharge duration and frequency range, respectively. If both of the following conditions are met: Condition 1: The duration is within the preset duration range of high-voltage corona discharge; Condition 2: The pulse frequency is within the preset frequency range of the high-voltage corona discharge; The main controller then determines that the current ultraviolet pulse cluster has high-voltage corona characteristics.

6. The low-power control method for the UAV power transmission line inspection and monitoring device according to claim 5, characterized in that, Specifically, S32 includes: S321: The main controller extracts the timestamp sequence of valid pulse clusters from the pulse record of the ultraviolet light sensor; S322: Calculate the duration of the pulse cluster based on the time difference between the beginning and end of the timestamp sequence. ; S323: Duration Internal statistical effective pulse count , which represents the effective number of pulses in the current pulse cluster; S324: Duration based on statistics and effective pulse count Calculate the pulse frequency of the current pulse cluster. The calculation formula is as follows: .

7. The low-power control method for the UAV power transmission line inspection and monitoring device according to claim 1, characterized in that, S4 specifically includes: S41: When the main controller identifies that the current pulse cluster has high voltage corona characteristics according to S3, it immediately sends a wake-up command to the visible light camera module, so that the camera switches from standby state to working state. S42: The main controller controls the camera to rotate the pan-tilt head to adjust the shooting angle according to the preset target area positioning parameters, automatically aligns with the monitoring target area of ​​the power transmission line, and sets the exposure parameters and shutter speed. S43: After completing the angle and parameter settings, control the camera to perform image acquisition operations and obtain on-site images of the target transmission line area.

8. The low-power control method for the UAV power transmission line inspection and monitoring device according to claim 1, characterized in that, S5 specifically includes: S51: After completing the image acquisition of the target transmission line area, the main controller stores the image data in the designated buffer area and controls the camera module to power off and shut down through the interface protocol; S52: The main controller sends a command to the system power management module to enter deep sleep mode, turning off the power of all functional modules except the ultraviolet light sensor and entering deep sleep mode; S53: The main controller writes control parameters to the timing circuit, resets the detection cycle of the ultraviolet light sensor to the first preset cycle, and completes the closed-loop control of the monitoring process.

9. The low-power control method for the UAV power transmission line inspection and monitoring device according to claim 1, characterized in that, S6 specifically includes: S61: The main controller reads the detection results of the ultraviolet light sensor in each first preset cycle, and when continuously... All detection results within each cycle are invalid, meaning the peak pulse intensity within all cycles is invalid. All are below the set threshold If so, it is determined that there is no valid pulse signal triggering the event; S62: In determining continuity After one cycle becomes invalid, the main controller sends a cycle adjustment command to the timing control circuit, changing the working cycle of the ultraviolet light sensor from the first preset cycle. Extended to the second preset period ,satisfy ; S63: During the operation of the second preset cycle after the extended period, once the pulse peak light intensity is detected within any of the second preset cycles... If the main controller immediately sends a recovery command to the timing control circuit, it resets the working cycle of the ultraviolet light sensor to the first preset cycle and jumps to S1 to restart the monitoring process.

Images