A power transmission line inspection method and system based on unmanned aerial vehicle multispectral collection

Abstract

The application discloses a kind of transmission line inspection method and system based on unmanned aerial vehicle multispectral collection, it is related to transmission line inspection and repair field, including obtaining past overhead transmission line inspection information, past overhead transmission line inspection information analysis and processing obtain past transmission line information, past inspection route data and past repair information, based on past transmission line information, past inspection route data and past repair information constructs transmission line model, obtains current overhead transmission line information, brings current overhead transmission line information into transmission line model to generate current inspection model and generates dynamic inspection route, according to dynamic inspection route, current overhead transmission line is inspected and dynamic inspection route is corrected in real time to obtain inspection result, the inspection result is analyzed and processed to obtain information to be processed, and the information to be processed is input into transmission line basic model to obtain repair scheme.

Description

Technical Field

[0001] This invention relates to the field of power transmission line inspection and maintenance, and in particular to a power transmission line inspection method and system based on UAV multispectral acquisition. Background Technology

[0002] The power system is one of the important infrastructures that ensures the development of the national economy and the normal operation of people's lives. Transmission lines are a very important component of the power system. In order to ensure the safe and stable operation of transmission lines, inspection and maintenance are essential.

[0003] Traditional manual inspection methods can no longer meet the needs of modern power transmission line inspection. Traditional methods are inefficient, require a large amount of manpower, and are difficult to cover all transmission lines. Furthermore, in some geographically complex and high-risk areas, manual inspection is difficult to carry out, or even impossible.

[0004] At present, autonomous inspection of UAVs still relies on laser point cloud modeling for flight path planning, resulting in excessive upfront investment and a long flight path planning cycle. In addition, UAVs have many problems such as limited means of live-line inspection during autonomous inspection, relying only on visible light and infrared payloads for overhead power line inspection.

[0005] To address these issues, there is an urgent need for a method and system for power transmission line inspection based on UAV multispectral acquisition. Summary of the Invention

[0006] To address the aforementioned issues, this application proposes a method and system for power transmission line inspection based on multispectral data acquisition from unmanned aerial vehicles (UAVs).

[0007] A method for inspecting power transmission lines based on multispectral data acquisition from unmanned aerial vehicles (UAVs) includes the following steps:

[0008] S1. Obtain past overhead transmission line inspection information, analyze and process past overhead transmission line inspection information to obtain past transmission line information, past inspection route data and past maintenance information;

[0009] S2. Construct a transmission line model based on past transmission line information, past inspection route data, and past maintenance information;

[0010] S3. Obtain the current overhead transmission line information, input the current overhead transmission line information into the transmission line model to generate the current inspection model and generate the dynamic inspection route.

[0011] S4. Inspect the current overhead transmission line according to the dynamic inspection route and correct the dynamic inspection route in real time to obtain the inspection results. Analyze and process the inspection results to obtain the information to be processed.

[0012] S5. Input the information to be processed into the basic model of the transmission line to obtain the maintenance plan.

[0013] Preferably, the specific content of constructing the transmission line model based on past transmission line information, past inspection route data, and past maintenance information in S2 includes:

[0014] Analysis of past transmission line information yields tower structure data, tower deployment data, and environmental data;

[0015] Construct a three-dimensional mesh network that includes a three-dimensional coordinate system;

[0016] Based on the tower deployment data, several tower deployment nodes are generated in a three-dimensional mesh network, and the transmission line plan is obtained by connecting the several tower deployment nodes.

[0017] Based on the tower structure data, different tower 3D modules are established, and the different tower 3D modules are deployed on the corresponding tower deployment nodes;

[0018] Extract geographic environmental data from environmental data, and combine the geographic environmental data to supplement the 3D obstacle module on the power transmission line plan;

[0019] Based on past inspection route data, inspection direction lines are generated and marked to obtain the basic model of the transmission line;

[0020] Extract weather and environmental data from the environmental data and match it to the corresponding inspection direction line.

[0021] Preferably, the specific content of S2 in constructing the transmission line model based on past transmission line information, past inspection route data, and past maintenance information also includes:

[0022] Several obstacle features were obtained by feature extraction from the basic model of the transmission line;

[0023] Based on the obstacle characteristics, a number of initial obstacle windows were obtained by performing a three-dimensional window capture on the basic model of the transmission line;

[0024] The initial obstacle windows are classified and merged according to the types of obstacle features to obtain the target obstacle window;

[0025] Each target obstacle window corresponds to several inspection direction line segments, i.e., several obstacle avoidance strategies.

[0026] Preferably, the specific content of S2 in constructing the transmission line model based on past transmission line information, past inspection route data, and past maintenance information also includes:

[0027] A line information map is generated based on the basic model of the transmission line and past maintenance information.

[0028] The line information map establishes basic topological relationships between different structures based on the structural composition of the tower three-dimensional module.

[0029] Past maintenance information is analyzed and different structures and their corresponding defects are extracted. Defect associations of different structures are established on the basis of basic topology.

[0030] A three-dimensional window of different structures in the basic model of the transmission line is collected, and maintenance strategies are marked on the defect association to form a line information map.

[0031] Preferably, the specific content of S3 obtaining the current overhead transmission line information, inputting the current overhead transmission line information into the transmission line model to generate the current inspection model and the dynamic inspection route also includes:

[0032] Obtain current overhead transmission line information and analyze and extract current tower structure data and current tower deployment data;

[0033] Based on the current tower deployment data, determine the coordinate values ​​corresponding to the current tower deployment data on the transmission line plan, record the corresponding coordinate points as the current tower deployment nodes, and then connect the current tower deployment nodes to generate the current deployment plan.

[0034] Based on the current tower structure data, construct the current tower 3D module at the current tower deployment node and record the coordinates of the structural components to obtain the current transmission line foundation model;

[0035] Similarity values ​​are obtained by performing similarity matching between the current deployment plan and the transmission line plan;

[0036] The transmission line plan maps are sorted from high to low based on similarity values, and the inspection direction line corresponding to the transmission line plan map with the highest similarity value is selected as the pre-selected dynamic inspection route.

[0037] Dynamic inspection routes are obtained by filtering from the pre-selected dynamic inspection routes based on the current weather conditions.

[0038] Preferably, the specific content of the inspection results obtained by S4 in inspecting the current overhead transmission line according to the dynamic inspection route and correcting the dynamic inspection route in real time is as follows:

[0039] Real-time collection of inspection data, including RGB images, infrared images, and ultraviolet images;

[0040] During the inspection of the current overhead transmission lines according to the dynamic inspection route, drone inspection points are set up and move in the current transmission line basic model according to the dynamic inspection route.

[0041] Real-time analysis of image transformations in RGB images identifies potential obstacle points;

[0042] The edge dimensions of obstacle points are obtained by analyzing RGB images. The plane contour of suspected obstacle points is calculated and its contour edge coordinates are located by combining the coordinates of inspection points and the attitude angle of inspection points.

[0043] The suspected target obstacle window is obtained by similarity matching between the planar contour of the suspected obstacle point and the initial obstacle window;

[0044] And select the obstacle avoidance strategy in the suspected target obstacle window as the travel strategy pool;

[0045] Based on the current inspection needs of drone inspection points, select a target movement strategy from the movement strategy pool to avoid obstacles;

[0046] After obstacle avoidance is completed, continue the inspection according to the dynamic inspection route.

[0047] Preferably, the specific content of selecting a target movement strategy for obstacle avoidance from the movement strategy pool based on the current inspection needs of drone inspection points is as follows:

[0048] Current inspection requirements for drone inspection points include power constraints and obstacle avoidance time.

[0049] Based on the inspection requirements, several strategies in the movement strategy pool are evaluated to obtain a comprehensive evaluation value. The strategy with the highest comprehensive evaluation value is defined as the target movement strategy.

[0050] The obstacle avoidance time T for different strategies in the travel strategy pool is obtained by simulating the inspection points of the drone in the current basic model of the transmission line;

[0051] Simulate the drone's movement and power consumption under different strategies in the movement strategy pool, and record the total power consumption W.

[0052] A comprehensive evaluation value is obtained by assigning weight coefficients to obstacle avoidance time T and total power consumption W.

[0053] The expression for the comprehensive evaluation value is:

[0054] ;

[0055] Where A is the comprehensive evaluation value, The weighting coefficient for obstacle avoidance time T. The weighting factor for the total power consumption W is... This indicates the remaining battery power of the drone.

[0056] Preferably, S4 analyzes and processes the inspection results to obtain the specific content of the information to be processed, which is as follows:

[0057] Ensure that the coordinate systems of RGB, infrared, and ultraviolet images are consistent by using a calibration board or feature point matching;

[0058] Noise processing is performed on RGB images, infrared images, and ultraviolet images respectively to obtain usable RGB images, usable infrared images, and usable ultraviolet images;

[0059] Visual features, infrared features, and ultraviolet features are obtained by extracting features from available RGB images, available infrared images, and available ultraviolet images, respectively.

[0060] The available RGB and infrared images are fused together, and the infrared features are highlighted while the ultraviolet features are marked and superimposed to obtain the information to be processed.

[0061] Preferably, S5 inputs the information to be processed into the transmission line foundation model to obtain the specific content of the maintenance plan as follows:

[0062] The information to be processed is input into the basic model of the power transmission line, and the infrared and ultraviolet features in the information to be processed are marked by combining the current coordinates of the UAV inspection points and the attitude angle information of the inspection points.

[0063] Record the coordinates of the marked points and verify the structural information and structural defects of the corresponding points in the current power transmission line foundation model;

[0064] By substituting structural information and structural defects into the line information map, the corresponding maintenance plan can be obtained.

[0065] A power transmission line inspection system based on UAV multispectral acquisition includes:

[0066] Data acquisition unit: acquires past overhead transmission line inspection information, analyzes and processes the past overhead transmission line inspection information to obtain past transmission line information, past inspection route data and past maintenance information;

[0067] Model building unit: Constructs a transmission line model based on past transmission line information, past inspection route data, and past maintenance information;

[0068] Route generation unit: Obtains current overhead transmission line information, imports the current overhead transmission line information into the transmission line model to generate the current inspection model and generate dynamic inspection routes;

[0069] The results processing unit inspects the current overhead transmission line according to the dynamic inspection route and corrects the dynamic inspection route in real time to obtain the inspection results. It analyzes and processes the inspection results to obtain the information to be processed and inputs the information to be processed into the transmission line foundation model to obtain the maintenance plan.

[0070] In summary, the transmission line inspection method and system based on UAV multispectral acquisition of the present invention, compared with traditional technologies, fully leverages multi-source data fusion analysis to fully explore the correlation value of historical inspections, line status, and maintenance records, providing a reliable foundation for the model; the dynamic inspection path generation mechanism can adapt to environmental changes and equipment status, reducing redundant inspections and strengthening coverage of key areas; real-time route correction and closed-loop processing of inspection results ensure immediate response to abnormal issues; and intelligent decision-making based on a standardized model, combined with historical experience and current situation, generates accurate maintenance plans, reducing human judgment bias.

[0071] The technical method of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0072] Figure 1 This is a flowchart illustrating the steps of a power transmission line inspection method based on UAV multispectral acquisition according to the present invention.

[0073] Figure 2 This is a module diagram of a power transmission line inspection system based on UAV multispectral acquisition according to the present invention. Detailed Implementation

[0074] The technical method of the present invention will be further described below with reference to the accompanying drawings and embodiments. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of this application.

[0075] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the scope of this application and its application or use.

[0076] Techniques, systems, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, they should be considered part of the instruction manual.

[0077] In all the examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0078] Unless otherwise defined, the technical or scientific terms used in this invention shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention pertains.

[0079] Conductor (ground) wire inspection is a workflow for the regular inspection, maintenance, and monitoring of conductors and ground wires in power systems. Its main purpose is to ensure the safe operation of the lines and prevent faults. The metal wires (such as steel-cored aluminum stranded wire) in transmission lines are responsible for transmitting electrical energy. The ground wire, also known as the lightning protection wire, is used to protect against lightning strikes and electrostatic induction, protecting the conductors and towers. Inspections can detect potential hazards such as conductor breaks and lightning damage in advance, avoiding power outages, ensuring the stable operation of transmission lines, reducing faults caused by extreme weather (such as typhoons and snow), and addressing corrosion and wear issues promptly, thereby reducing maintenance costs. This invention provides a method and system for transmission line inspection based on multispectral acquisition by unmanned aerial vehicles (UAVs).

[0080] Example 1:

[0081] A method for inspecting power transmission lines based on multispectral data acquisition from unmanned aerial vehicles (UAVs), such as Figure 1 As shown, it includes the following steps:

[0082] S1. Obtain past overhead transmission line inspection information, analyze and process the past overhead transmission line inspection information to obtain past transmission line information, past inspection route data and past maintenance information.

[0083] Understandably, analyzing and processing past overhead transmission line inspection information can remove abnormal data and obtain a large amount of normal data, thus preparing for the establishment and training of subsequent models.

[0084] S2. Construct a transmission line model based on past transmission line information, past inspection route data, and past maintenance information.

[0085] Furthermore, the specific content of constructing the transmission line model in S2 based on past transmission line information, past inspection route data, and past maintenance information includes:

[0086] Analysis of past transmission line information yields tower structure data, tower deployment data, and environmental data.

[0087] Construct a three-dimensional mesh network that includes a three-dimensional coordinate system. The three-dimensional mesh network can establish a coordinate system with different grid points as the origin, thereby making the position of the entire model clear.

[0088] Based on the tower deployment data, several tower deployment nodes are generated in a three-dimensional mesh network, and connecting these nodes yields a transmission line plan view.

[0089] Understandably, several tower deployment nodes provide options for the generation of the current model. Only the corresponding tower deployment node needs to be selected to form the line information. If extra towers are generated at the current time, they can be generated based on the already selected tower deployment nodes.

[0090] Based on the tower structure data, different tower 3D modules are established, and the different tower 3D modules are deployed on the corresponding tower deployment nodes;

[0091] Extract geographic environmental data from environmental data, and combine the geographic environmental data to supplement the 3D obstacle module on the power transmission line plan;

[0092] Based on past inspection route data, inspection direction lines are generated and marked to obtain the basic model of the transmission line;

[0093] Extract weather and environmental data from the environmental data and match it to the corresponding inspection direction line.

[0094] Furthermore, the specific content of S2 in constructing the transmission line model based on past transmission line information, past inspection route data, and past maintenance information also includes:

[0095] Several obstacle features were obtained by feature extraction from the basic model of the transmission line;

[0096] Based on the obstacle characteristics, a number of initial obstacle windows were obtained by performing a three-dimensional window capture on the basic model of the transmission line;

[0097] The initial obstacle windows are classified and merged according to the types of obstacle features to obtain the target obstacle window;

[0098] Each target obstacle window corresponds to several inspection direction line segments, i.e., several obstacle avoidance strategies.

[0099] Furthermore, the specific content of S2 in constructing the transmission line model based on past transmission line information, past inspection route data, and past maintenance information also includes:

[0100] A line information map is generated based on the basic model of the transmission line and past maintenance information.

[0101] The line information map establishes basic topological relationships between different structures based on the structural composition of the tower three-dimensional module.

[0102] Past maintenance information is analyzed and different structures and their corresponding defects are extracted. Defect associations of different structures are established on the basis of basic topology.

[0103] A three-dimensional window of different structures in the basic model of the transmission line is collected, and maintenance strategies are marked on the defect association to form a line information map.

[0104] S3. Obtain the current overhead transmission line information, input the current overhead transmission line information into the transmission line model to generate the current inspection model and generate the dynamic inspection route.

[0105] Furthermore, S3 acquires current overhead transmission line information, inputs this information into the transmission line model to generate the current inspection model, and generates a dynamic inspection route. The specific content of this process also includes:

[0106] Obtain current overhead transmission line information and analyze and extract current tower structure data and current tower deployment data;

[0107] Based on the current tower deployment data, determine the coordinate values ​​corresponding to the current tower deployment data on the transmission line plan, record the corresponding coordinate points as the current tower deployment nodes, and then connect the current tower deployment nodes to generate the current deployment plan.

[0108] Based on the current tower structure data, construct the current tower 3D module at the current tower deployment node and record the coordinates of the structural components to obtain the current transmission line foundation model;

[0109] Similarity values ​​are obtained by performing similarity matching between the current deployment plan and the transmission line plan;

[0110] The transmission line plan maps are sorted from high to low based on similarity values, and the inspection direction line corresponding to the transmission line plan map with the highest similarity value is selected as the pre-selected dynamic inspection route.

[0111] Dynamic inspection routes are obtained by filtering from the pre-selected dynamic inspection routes based on the current weather conditions.

[0112] S4. Inspect the current overhead transmission line according to the dynamic inspection route and correct the dynamic inspection route in real time to obtain the inspection results. Analyze and process the inspection results to obtain the information to be processed.

[0113] Furthermore, S4 inspects the current overhead transmission lines according to the dynamic inspection route and corrects the dynamic inspection route in real time to obtain the following specific inspection results:

[0114] Real-time collection of inspection data, including RGB images, infrared images, and ultraviolet images;

[0115] During the inspection of the current overhead transmission lines according to the dynamic inspection route, drone inspection points are set up and move in the current transmission line basic model according to the dynamic inspection route.

[0116] Real-time analysis of image transformations in RGB images identifies potential obstacle points;

[0117] The edge dimensions of obstacle points are obtained by analyzing RGB images. The plane contour of suspected obstacle points is calculated and its contour edge coordinates are located by combining the coordinates of inspection points and the attitude angle of inspection points.

[0118] The suspected target obstacle window is obtained by similarity matching between the planar contour of the suspected obstacle point and the initial obstacle window;

[0119] And select the obstacle avoidance strategy in the suspected target obstacle window as the travel strategy pool;

[0120] Based on the current inspection needs of drone inspection points, select a target movement strategy from the movement strategy pool to avoid obstacles;

[0121] After obstacle avoidance is completed, continue the inspection according to the dynamic inspection route.

[0122] Furthermore, based on the current inspection needs of drone inspection points, the specific details of selecting a target movement strategy from the movement strategy pool for obstacle avoidance are as follows:

[0123] Current inspection requirements for drone inspection points include power constraints and obstacle avoidance time.

[0124] Based on the inspection requirements, several strategies in the movement strategy pool are evaluated to obtain a comprehensive evaluation value. The strategy with the highest comprehensive evaluation value is defined as the target movement strategy.

[0125] The obstacle avoidance time T for different strategies in the travel strategy pool is obtained by simulating the inspection points of the drone in the current basic model of the transmission line;

[0126] Simulate the drone's movement and power consumption under different strategies in the movement strategy pool, and record the total power consumption W.

[0127] A comprehensive evaluation value is obtained by assigning weight coefficients to obstacle avoidance time T and total power consumption W.

[0128] The expression for the comprehensive evaluation value is:

[0129] ;

[0130] Where A is the comprehensive evaluation value, The weighting coefficient for obstacle avoidance time T. The weighting factor for the total power consumption W is... This indicates the remaining battery power of the drone.

[0131] Furthermore, S4 analyzes and processes the inspection results to obtain the specific content of the information to be processed, which is as follows:

[0132] Ensure that the coordinate systems of RGB, infrared, and ultraviolet images are consistent by using a calibration board or feature point matching;

[0133] Noise processing is performed on RGB images, infrared images, and ultraviolet images respectively to obtain usable RGB images, usable infrared images, and usable ultraviolet images;

[0134] Visual features, infrared features, and ultraviolet features are obtained by extracting features from available RGB images, available infrared images, and available ultraviolet images, respectively.

[0135] The available RGB and infrared images are fused together, and the infrared features are highlighted while the ultraviolet features are marked and superimposed to obtain the information to be processed.

[0136] S5. Input the information to be processed into the basic model of the transmission line to obtain the maintenance plan.

[0137] Furthermore, S5 inputs the information to be processed into the transmission line foundation model to obtain the specific content of the maintenance plan, which is as follows:

[0138] The information to be processed is input into the basic model of the power transmission line, and the infrared and ultraviolet features in the information to be processed are marked by combining the current coordinates of the UAV inspection points and the attitude angle information of the inspection points.

[0139] Record the coordinates of the marked points and verify the structural information and structural defects of the corresponding points in the current power transmission line foundation model;

[0140] By substituting structural information and structural defects into the line information map, the corresponding maintenance plan can be obtained.

[0141] Example 2:

[0142] A power transmission line inspection system based on UAV multispectral data acquisition, such as Figure 2 As shown, it includes:

[0143] Data acquisition unit: acquires past overhead transmission line inspection information, analyzes and processes the past overhead transmission line inspection information to obtain past transmission line information, past inspection route data and past maintenance information;

[0144] Model building unit: Constructs a transmission line model based on past transmission line information, past inspection route data, and past maintenance information;

[0145] Route generation unit: Obtains current overhead transmission line information, imports the current overhead transmission line information into the transmission line model to generate the current inspection model and generate dynamic inspection routes;

[0146] The result processing unit inspects the current overhead transmission line according to the dynamic inspection route and corrects the dynamic inspection route in real time to obtain the inspection results. It analyzes and processes the inspection results to obtain the information to be processed and inputs the information to be processed into the transmission line foundation model to obtain the maintenance plan.

[0147] Finally, it should be noted that the above embodiments are only used to illustrate the technical methods of the present invention and not to limit them. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the technical methods of the present invention, and these modifications or equivalent substitutions cannot cause the modified technical methods to deviate from the spirit and scope of the technical methods of the present invention.

Claims

1. A method for inspecting power transmission lines based on multispectral data acquisition from unmanned aerial vehicles (UAVs), characterized in that, Includes the following steps: S1. Obtain past overhead transmission line inspection information, analyze and process past overhead transmission line inspection information to obtain past transmission line information, past inspection route data and past maintenance information; S2. Construct a transmission line model based on past transmission line information, past inspection route data, and past maintenance information; S3. Obtain the current overhead transmission line information, input the current overhead transmission line information into the transmission line model to generate the current inspection model and generate the dynamic inspection route. S4. Inspect the current overhead transmission line according to the dynamic inspection route and correct the dynamic inspection route in real time to obtain the inspection results. Analyze and process the inspection results to obtain the information to be processed. S5. Input the information to be processed into the basic model of the transmission line to obtain the maintenance plan; S3 acquires current overhead transmission line information, inputs this information into the transmission line model to generate the current inspection model, and generates a dynamic inspection route. The specific content also includes: Obtain current overhead transmission line information and analyze and extract current tower structure data and current tower deployment data; Based on the current tower deployment data, determine the coordinate values ​​corresponding to the current tower deployment data on the transmission line plan, record the corresponding coordinate points as the current tower deployment nodes, and then connect the current tower deployment nodes to generate the current deployment plan. Based on the current tower structure data, construct the current tower 3D module at the current tower deployment node and record the coordinates of the structural components to obtain the current transmission line basic model; Similarity values ​​are obtained by performing similarity matching between the current deployment plan and the transmission line plan; The transmission line plan maps are sorted from high to low based on similarity values, and the inspection direction line corresponding to the transmission line plan map with the highest similarity value is selected as the pre-selected dynamic inspection route. The dynamic inspection route is obtained by filtering from the pre-selected dynamic inspection routes based on the current weather conditions. S4 inspects the current overhead transmission lines according to the dynamic inspection route and corrects the dynamic inspection route in real time. The specific content of the inspection results is as follows: Real-time collection of inspection data, including RGB images, infrared images, and ultraviolet images; During the inspection of the current overhead transmission lines according to the dynamic inspection route, drone inspection points are set up and move in the current transmission line basic model according to the dynamic inspection route. Real-time analysis of image transformations in RGB images identifies potential obstacle points; The edge dimensions of obstacle points are obtained by analyzing RGB images. The plane contour of suspected obstacle points is calculated and its contour edge coordinates are located by combining the coordinates of inspection points and the attitude angle of inspection points. The suspected target obstacle window is obtained by similarity matching between the planar contour of the suspected obstacle point and the initial obstacle window; And select the obstacle avoidance strategy in the suspected target obstacle window as the travel strategy pool; Based on the current inspection needs of drone inspection points, select a target movement strategy from the movement strategy pool to avoid obstacles; After obstacle avoidance is completed, continue the inspection according to the dynamic inspection route.

2. The method for inspecting power transmission lines based on UAV multispectral acquisition according to claim 1, characterized in that, The specific content of constructing the transmission line model in S2 based on past transmission line information, past inspection route data, and past maintenance information includes: Analysis of past transmission line information yields tower structure data, tower deployment data, and environmental data; Construct a three-dimensional mesh network that includes a three-dimensional coordinate system; Based on the tower deployment data, several tower deployment nodes are generated in a three-dimensional mesh network, and the transmission line plan is obtained by connecting the several tower deployment nodes. Based on the tower structure data, different tower 3D modules are established, and the different tower 3D modules are deployed on the corresponding tower deployment nodes; Extract geographic environmental data from environmental data, and combine the geographic environmental data to supplement the 3D obstacle module on the power transmission line plan; Based on past inspection route data, inspection direction lines are generated and marked to obtain the basic model of the transmission line; Extract weather and environmental data from the environmental data and match it to the corresponding inspection direction line.

3. The method for inspecting power transmission lines based on UAV multispectral acquisition according to claim 2, characterized in that, The specific content of S2 in constructing the transmission line model based on past transmission line information, past inspection route data, and past maintenance information also includes: Several obstacle features were obtained by feature extraction from the basic model of the transmission line; Based on the obstacle characteristics, a number of initial obstacle windows were obtained by performing a three-dimensional window capture on the basic model of the transmission line; The initial obstacle windows are classified and merged according to the types of obstacle features to obtain the target obstacle window; Each target obstacle window corresponds to several inspection direction line segments, i.e., several obstacle avoidance strategies.

4. The method for inspecting power transmission lines based on UAV multispectral acquisition according to claim 3, characterized in that, The specific content of S2 in constructing the transmission line model based on past transmission line information, past inspection route data, and past maintenance information also includes: A line information map is generated based on the basic model of the transmission line and past maintenance information. The line information map establishes basic topological relationships between different structures based on the structural composition of the tower three-dimensional module. Past maintenance information is analyzed and different structures and their corresponding defects are extracted. Defect associations of different structures are established on the basis of basic topology. A three-dimensional window of different structures in the basic model of the transmission line is collected, and maintenance strategies are marked on the defect association to form a line information map.

5. The method for inspecting power transmission lines based on UAV multispectral acquisition according to claim 4, characterized in that, Based on the current inspection needs of drone inspection points, the specific details of selecting a target movement strategy from the movement strategy pool for obstacle avoidance are as follows: Current inspection requirements for drone inspection points include power constraints and obstacle avoidance time. Based on the inspection requirements, several strategies in the movement strategy pool are evaluated to obtain a comprehensive evaluation value. The strategy with the highest comprehensive evaluation value is defined as the target movement strategy. The obstacle avoidance time T for different strategies in the travel strategy pool is obtained by simulating the inspection points of the drone in the current basic model of the transmission line; Simulate the drone's movement and power consumption under different strategies in the movement strategy pool, and record the total power consumption W. A comprehensive evaluation value is obtained by assigning weight coefficients to obstacle avoidance time T and total power consumption W. The expression for the comprehensive evaluation value is: ； Where A is the comprehensive evaluation value, The weighting coefficient for obstacle avoidance time T. The weighting factor for the total power consumption W is... This indicates the remaining battery power of the drone.

6. The method for inspecting power transmission lines based on UAV multispectral acquisition according to claim 5, characterized in that, S4 analyzes and processes the inspection results to obtain the following specific information to be processed: Ensure that the coordinate systems of RGB, infrared, and ultraviolet images are consistent by using a calibration board or feature point matching. Noise processing is performed on RGB images, infrared images, and ultraviolet images respectively to obtain usable RGB images, usable infrared images, and usable ultraviolet images; Visual features, infrared features, and ultraviolet features are obtained by extracting features from available RGB images, available infrared images, and available ultraviolet images, respectively. The available RGB and infrared images are fused together, and the infrared features are highlighted while the ultraviolet features are marked and superimposed to obtain the information to be processed.

7. The method for inspecting power transmission lines based on UAV multispectral acquisition according to claim 6, characterized in that, S5 inputs the information to be processed into the transmission line foundation model to obtain the specific content of the maintenance plan, which is as follows: The information to be processed is input into the basic model of the power transmission line, and the infrared and ultraviolet features in the information to be processed are marked by combining the current coordinates of the UAV inspection points and the attitude angle information of the inspection points. Record the coordinates of the marked points and verify the structural information and structural defects of the corresponding points in the current power transmission line foundation model; By substituting structural information and structural defects into the line information map, the corresponding maintenance plan can be obtained.

8. A transmission line inspection system based on UAV multispectral acquisition, used to implement the transmission line inspection method based on UAV multispectral acquisition as described in any one of claims 1-7, characterized in that, include: Data acquisition unit: acquires past overhead transmission line inspection information, analyzes and processes the past overhead transmission line inspection information to obtain past transmission line information, past inspection route data and past maintenance information; Model building unit: Constructs a transmission line model based on past transmission line information, past inspection route data, and past maintenance information; Route generation unit: Obtains current overhead transmission line information, imports the current overhead transmission line information into the transmission line model to generate the current inspection model and generate dynamic inspection routes; The results processing unit inspects the current overhead transmission line according to the dynamic inspection route and corrects the dynamic inspection route in real time to obtain the inspection results. It analyzes and processes the inspection results to obtain the information to be processed and inputs the information to be processed into the transmission line foundation model to obtain the maintenance plan.

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