Intelligent power transmission line tower on-line monitoring multifunctional line patrol system

Abstract

The invention discloses an intelligent power transmission line tower online monitoring multifunctional line patrol system, and relates to the technical field of power facility monitoring. The system comprises an on-site monitoring terminal, a communication network and a remote monitoring center platform, the on-site monitoring terminal integrates a master control module, a multi-parameter sensing module, a data wireless transmission module, a power supply module and an acousto-optic bird repelling device, can collect multi-dimensional parameters such as tower inclination, settlement, equipment temperature and weather, and transmits data through 4G / 5G and Beidou short message dual-mode communication. The remote monitoring center platform realizes intelligent grading early warning, one-key order sending and precise navigation, and forms a'monitoring-analysis-early warning-disposal 'closed loop. The system solves the problems that a traditional monitoring function is single, response lags behind and the like, adapts to complex scenes such as a goaf and a remote area, improves the operation and maintenance intelligence level and emergency disposal efficiency of a power transmission line, and reduces the operation and maintenance cost.

Description

Technical Field

[0001] This invention relates to the field of online monitoring technology for power facilities, specifically a multi-functional online monitoring system for intelligent transmission line towers. Background Technology

[0002] Transmission lines are the lifeblood of the power system, and their safe and stable operation is of paramount importance. However, the towers scattered across the field, especially those traversing complex geological environments such as mining subsidence areas, mountainous regions, and river networks, as well as areas prone to icing and strong winds, have long faced numerous safety threats. For example, mining subsidence areas can easily lead to uneven ground settlement, causing towers to tilt; low temperatures and snow in winter can easily cause conductors and fittings to become icy, leading to overloads and wind-induced flashovers; conductive fittings that have been in operation for a long time or have poor contact are prone to overheating, posing a risk of burning out; and bird activity can also threaten the insulation of the lines.

[0003] Currently, monitoring of transmission line towers mainly relies on the following two methods: 1. Regular manual inspections: Inspectors periodically visit the site to conduct checks using methods such as telescope observation and infrared thermometer spot checks. This method is inefficient, costly, highly susceptible to weather and geographical conditions, and cannot achieve 24-hour uninterrupted monitoring, nor can it provide timely early warnings for sudden malfunctions.

[0004] 2. Single-function online monitoring devices: Existing technologies include some online monitoring devices such as independent tilt sensors, video surveillance devices, or micro-weather stations. However, these devices are single-function, typically monitoring only one parameter (such as tilt or image), and each system operates independently, forming "information silos." Maintenance personnel need to log into multiple different platforms to view data, making it impossible to achieve comprehensive, collaborative perception and integrated intelligent judgment of the tower's operating status. Furthermore, existing devices generally lack the ability to efficiently link monitoring, early warning, and maintenance response. When a fault is detected, work orders still need to be dispatched manually, resulting in poor navigation accuracy and slow response speed.

[0005] Therefore, there is an urgent need in this field for an intelligent online monitoring system that can integrate multiple sensing methods, achieve data fusion analysis and intelligent early warning, and quickly link early warning information with precise navigation and operation and maintenance, so as to comprehensively improve the safety operation and maintenance level of transmission lines. Summary of the Invention

[0006] To address the shortcomings of the existing technology, the purpose of this invention is to provide a multi-functional online monitoring system for intelligent transmission line towers to solve the problems mentioned in the background section.

[0007] To achieve the above objectives, a specific embodiment of the present invention provides a multi-functional online monitoring system for intelligent transmission line towers, comprising a field monitoring terminal, a communication network, and a remote monitoring center platform. The field monitoring terminal interacts with the remote monitoring center platform via the communication network. The field monitoring terminal includes a main control module, and a multi-parameter sensing module, a wireless data transmission module, and a power supply module electrically connected to the main control module. The multi-parameter sensing module is used to collect multi-dimensional physical parameters of the tower and its surrounding environment. The remote monitoring center platform includes an intelligent analysis and early warning unit and a task dispatching unit. The intelligent analysis and early warning unit receives and analyzes the multi-dimensional physical parameters and generates tiered early warning information based on preset thresholds. The task dispatching unit responds to the tiered early warning information by generating and sending a handling instruction containing tower location information.

[0008] According to the embodiments of this application, the intelligent transmission line tower online monitoring multi-functional patrol system aims to realize real-time and synchronous monitoring of multi-dimensional states such as tower tilt, settlement, temperature, images, and meteorological parameters, and to conduct hierarchical early warning through intelligent analysis, ultimately achieving automated closed-loop management from "problem discovery" to "precise dispatch and handling".

[0009] In addition, the intelligent transmission line tower online monitoring multi-functional line inspection system proposed in this application may also have the following additional technical features: In one embodiment of this application, the multi-parameter sensing module includes: a tilt sensor for monitoring the tilt angle of the tower; a Beidou / GPS positioning module for acquiring the precise three-dimensional coordinates of the tower in real time; an infrared thermal imager, mounted on a pan-tilt unit, for scanning the temperature of the tower's conductive hardware and surge arresters; and a visible light camera, mounted on the pan-tilt unit together with the infrared thermal imager, for acquiring visual images of the tower and its surrounding environment. The visible light camera is a multi-functional rotating camera unit with at least 20 million pixels and night vision capabilities, capable of 360° horizontal and 90° vertical rotation via remote control through the remote monitoring center platform. The infrared thermal imager has a measurement range of -20℃ to 200℃ and a measurement accuracy of ≤±0.5℃, and its temperature measurement point can be precisely aligned with the target by the rotation of the pan-tilt unit in conjunction with the main control module.

[0010] In one embodiment of this application, the intelligent analysis and early warning unit includes: a tilt early warning subunit, configured to generate a yellow early warning when the tilt angle detected by the tilt sensor is greater than 10°, and to generate a red early warning when the tilt angle is greater than 16°; and a settlement early warning subunit, configured to generate a red early warning when the absolute value of the altitude change is greater than 20cm and a yellow early warning when the absolute value of the altitude change is between 10cm and 20cm by comparing the altitude coordinates obtained in real time by the Beidou / GPS positioning module with the initial altitude coordinates.

[0011] In one embodiment of this application, the intelligent analysis and early warning unit further includes a temperature early warning subunit, configured to generate a temperature anomaly alarm when the temperature of any critical component detected by the infrared thermal imager exceeds a preset safety threshold.

[0012] In one embodiment of this application, the on-site monitoring terminal further includes an acoustic and optical bird deterrent device, which is electrically connected to the main control module. The device includes a red light emitter for emitting red light with a wavelength of 620nm to 660nm and a sound wave generator for emitting ultrasonic waves with a frequency of 10kHz to 20kHz. The main control module can control the acoustic and optical bird deterrent device to operate at regular intervals and to trigger operation after identifying birds based on the image data from the visible light camera.

[0013] In one embodiment of this application, the power module is a solar battery system, including a solar panel, an energy storage unit, and a charging management unit; the solar panel is fixed to the sun-facing side of the top of the tower by an adjustable bracket, and the charging management unit has overcharge, over-discharge, and short-circuit protection functions.

[0014] In one embodiment of this application, the BeiDou / GPS positioning module is a BeiDou-3 positioning and navigation module with a positioning accuracy of ≤±2cm; when the system triggers an early warning, the real-time BeiDou coordinate information of the tower is synchronized to the mobile terminal of the patrol personnel through the task dispatching unit.

[0015] In one embodiment of this application, the multi-parameter sensing module further includes an anti-icing monitoring unit and an anti-wind deviation monitoring unit; the anti-icing monitoring unit includes a temperature sensor and a humidity sensor, used to collect ambient temperature and humidity data to predict the risk of icing; the anti-wind deviation monitoring unit includes a wind speed sensor, used to collect ambient wind speed data to trigger an anti-wind deviation warning.

[0016] In one embodiment of this application, the task dispatching unit is configured to: in response to a user's operation on the interactive interface of the remote monitoring center platform regarding the early warning information, automatically generate a handling instruction containing the BeiDou coordinates of the abnormal tower and the type of abnormality, and send it to the designated patrol personnel's mobile terminal with one click; the patrol personnel's mobile terminal has a built-in navigation function and can plan a route based on the BeiDou coordinates.

[0017] In one embodiment of this application, the communication network adopts a dual-mode communication mechanism of 4G / 5G and BeiDou short message, prioritizing 4G / 5G communication in areas with public network signals and automatically switching to BeiDou short message communication in areas without public network signals.

[0018] The advantages of this invention compared to existing technologies are: (1) It integrates multiple monitoring functions such as tilt, settlement, temperature, visual images, and meteorology into one, breaking the limitations of traditional single-function monitoring devices and realizing comprehensive and three-dimensional monitoring of the tower status.

[0019] (2) By setting multi-level warning thresholds, the system can automatically determine the severity level of the fault (such as yellow and red warnings), help maintenance personnel distinguish the priority of handling, allocate resources reasonably, and improve maintenance efficiency.

[0020] (3) It innovatively integrates real-time monitoring, intelligent early warning and task dispatch and precise navigation functions, realizing full automation and intelligence of "discovery-analysis-dispatch-navigation-handling", which greatly shortens the fault response time.

[0021] (4) The system adopts a solar energy combined with dual-mode communication (4G / 5G + Beidou short message) scheme, which ensures that the system can work stably for a long time in remote and harsh environments without mains power and public network signal. It is especially suitable for pole monitoring in special terrains such as mining subsidence areas and mountainous areas.

[0022] (5) The integrated sound and light bird deterrence and high-definition rotating camera functions not only realize the active defense against bird damage, but also enable managers to remotely control the details of the site in real time, improving the safety level of the line while reducing the risk of manual inspection.

[0023] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of the present 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 some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a system architecture diagram of a multi-functional online monitoring system for intelligent transmission line towers according to an embodiment of the present invention; Figure 2This is a detailed structural diagram of the multi-parameter sensing module of the intelligent transmission line tower online monitoring multi-functional line patrol system in one embodiment of the present invention; Figure 3 This is a detailed structural diagram of the intelligent analysis and early warning unit of the intelligent transmission line tower online monitoring multi-functional line patrol system in one embodiment of the present invention; Figure 4 This is a detailed structural diagram of the power module of a multi-functional online monitoring system for intelligent transmission line towers according to an embodiment of the present invention; Figure 5 This is a detailed structural diagram of the sound and light bird deterrent device of the intelligent transmission line tower online monitoring multi-functional line patrol system according to an embodiment of the present invention; Figure 6 This is a data flow diagram of a multi-functional online monitoring system for intelligent transmission line towers according to an embodiment of the present invention; Figure 7 This is a diagram illustrating the early warning analysis logic of an intelligent transmission line tower online monitoring multi-functional patrol system according to an embodiment of the present invention. Figure 8 This is a communication transmission flowchart of a multi-functional online monitoring system for intelligent transmission line towers according to an embodiment of the present invention. Figure 9 This is a power management flowchart of an intelligent transmission line tower online monitoring multi-functional line inspection system according to an embodiment of the present invention; Figure 10 This is a flowchart illustrating the bird deterrent mechanism of a multi-functional online monitoring system for intelligent transmission line towers according to an embodiment of the present invention. Figure 11 This is a system collaborative operation and data flow diagram of an intelligent transmission line tower online monitoring multi-functional line inspection system according to an embodiment of the present invention; Figure 12 This is a flowchart illustrating the fault self-diagnosis and handling process of a multi-functional online monitoring system for intelligent transmission line towers according to an embodiment of the present invention. Figure 13 This is a flowchart illustrating the system maintenance and management process of an intelligent transmission line tower online monitoring multi-functional patrol system according to an embodiment of the present invention.

[0026] Explanation of reference numerals in the attached figures: 100. On-site monitoring terminal; 200. Communication network; 300. Remote monitoring center platform; 1. Main control module; 2. Multi-parameter sensing module; 3. Wireless data transmission module; 4. Power supply module; 5. Intelligent analysis and early warning unit; 6. Task dispatching unit; 21. Tilt sensor; 22. Beidou / GPS positioning module; 23. Infrared thermal imager; 24. Visible light camera; 7. Pan-tilt unit; 51. Tilt early warning subunit; 52. Settlement early warning subunit; 53. Temperature early warning subunit; 11. Sound and light bird deterrent; 301. Red light emitter; 302. Sound wave generator; 401. Solar panel; 402. Energy storage unit; 403. Charging management unit; 702. Mobile terminal for patrol personnel; 8. Anti-icing monitoring unit; 801. Temperature sensor; 802. Humidity sensor; 9. Anti-wind deflection monitoring unit; 901. Wind speed sensor. Detailed Implementation

[0027] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0028] like Figures 1 to 13 As shown, the intelligent transmission line tower online monitoring multi-functional line inspection system of this invention consists of three parts: a field monitoring terminal 100, a communication network 200, and a remote monitoring center platform 300. The three parts form a complete monitoring-analysis-early warning-response closed loop through data interaction.

[0029] (a) Installation and deployment of on-site monitoring terminal 100 The on-site monitoring terminal 100 is installed entirely on the transmission line tower body, and is compatible with different types (straight-line towers, tension towers) and different heights of transmission towers. The specific installation locations are as follows: The main control module 1 is integrated into a waterproof, dustproof, and shockproof equipment box. The equipment box is fixedly installed on the crossarm support in the middle of the tower, 5-8 meters above the ground. The equipment box adopts an IP65 protection level design and is equipped with shockproof foam pads and cooling fans inside to ensure that the main control module 1 can work stably in extreme outdoor environments (-40℃~65℃). The components of the multi-parameter sensing module 2 are installed in different positions on the tower and are electrically connected to the main control module 1 through waterproof cables. The cables are run through flame-retardant protective sleeves and are fixedly arranged along the cable trays on the tower body to avoid aging caused by wind and sun. The solar panel 401 of the power module 4 is fixed to the sun-facing side of the tower top by an adjustable metal bracket. The bracket can be manually adjusted within the range of 0°-60° to adapt to the solar altitude angle of different latitude regions and ensure solar energy collection efficiency. The energy storage unit 402 and the charging management unit 403 are both installed in the equipment box of the main control module 1 and are arranged side by side with the main control module 1 for easy wiring and power supply. The red light emitter 301 of the sound and light bird deterrent device 11 is symmetrically installed on the pan-tilt bracket 7 on both sides of the visible light camera 24 to ensure that the red light coverage range is consistent with the camera's monitoring range; the sound wave generator 302 is installed on the load-bearing angle steel below the crossarm of the pole, at a horizontal distance of not less than 1.5 meters from the conductor to avoid affecting the insulation of the line. The temperature sensor 801 and humidity sensor 802 of the anti-icing monitoring unit 8 are integrated in the same protective housing and installed on the crossarm of the tower near the conductor, at a vertical distance of 0.8-1 meter from the conductor, to ensure that the collected temperature and humidity data can reflect the real environment around the conductor; the wind speed sensor 901 of the anti-wind deflection monitoring unit 9 is installed on the crossarm on the windward side of the top of the tower, 0.5 meters above the highest point of the top of the tower, and without obstruction, to ensure the accuracy of wind speed collection.

[0030] (ii) Deployment of Communication Network 200 The communication network 200 adopts a dual-mode communication mechanism of 4G / 5G and BeiDou short message service, wherein: The 4G / 5G antenna and Beidou short message antenna of the data wireless transmission module 3 are both installed on the top of the tower where there is no obstruction. They are connected to the data wireless transmission module 3 in the equipment box through a feeder. The antenna adopts a lightning protection design with a grounding resistance of ≤4Ω to avoid lightning damage to the equipment. The switching logic of dual-mode communication is controlled by the program built into the main control module 1. The main control module 1 detects the signal strength of the 4G / 5G network in real time (by receiving the signal strength indication value sent by the base station). When the signal strength is ≥-70dBm, the 4G / 5G communication mode is used first. When the signal strength is <-70dBm or three consecutive communication failures occur, it automatically switches to the Beidou short message communication mode to ensure uninterrupted data transmission.

[0031] (III) Deployment of the Remote Monitoring Center Platform 300 The remote monitoring center platform 300 is deployed in the power transmission line operation and maintenance management office. It includes an industrial-grade server (running the software system of intelligent analysis and early warning unit 5 and task dispatch unit 6), monitoring terminals (for displaying monitoring data and early warning information), printers (for outputting reports), and other equipment. It achieves data interaction with the communication network 200 through a fiber optic network. The mobile terminal 702 for inspection personnel is a smartphone with an Android or iOS system, which has an operation and maintenance APP that is compatible with the remote monitoring center platform 300 and supports 4G / 5G communication and Beidou navigation.

[0032] I. Detailed Structure and Working Principle of Each Module (I) Main Control Module 1 The main control module 1 uses an STM32H743VIT6 microcontroller as its core processor. This processor has a 480MHz clock speed, 1MB RAM, and 2MB Flash memory, which is sufficient to support the data processing and real-time control requirements of multiple modules. The main control module 1 is electrically connected to other modules through the following interfaces: The tilt sensor 21, Beidou / GPS positioning module 22, temperature sensor 801, humidity sensor 802, and wind speed sensor 901 of the multi-parameter sensing module 2 are connected via I2C interface to realize data acquisition. It is connected to the infrared thermal imager 23 and the visible light camera 24 via an RS485 interface to receive image data and device status information, and at the same time output control commands; It connects to the gimbal 7 via a GPIO interface, outputs PWM control signals, and drives the horizontal and vertical rotation motors of the gimbal 7. It is connected to the sound and light bird deterrent 11 through a relay interface to control the start and stop of the red light emitter 301 and the sound wave generator 302; It connects to the data wireless transmission module 3 via a UART serial port to enable data transmission and reception; The charging management unit 403 of the power module 4 is connected to the ADC interface to monitor the voltage and remaining power of the energy storage unit 402 in real time.

[0033] The core functions of main control module 1 include: module self-test, data preprocessing, command issuance, communication control, and fault diagnosis, among which: Module self-test: After the system is powered on, the main control module 1 sends self-test commands to each connected module in sequence and receives the response signals from each module. If a module does not respond or responds abnormally, the main control module 1 records the fault information (module name, fault time) and sends it to the remote monitoring center platform 300 through the communication network 200. Data preprocessing: Filtering the data collected by each sensor (using a moving average filtering algorithm with a window size of 5), outlier removal (when the collected data exceeds the preset reasonable range, it is judged as an outlier and replaced with the previous valid data), and format conversion (converting analog signals into digital signals and uniformly converting them into JSON format). Command issuance: Receive control commands (such as remotely controlling camera rotation, adjusting warning thresholds, activating bird deterrents, etc.) issued by the remote monitoring center platform 300, parse them, send execution commands to the corresponding modules, and feed back the execution results to the remote monitoring center platform 300.

[0034] In the data preprocessing of the main control module 1, the specific algorithm for outlier removal is as follows: five data points are continuously collected, and their average value and standard deviation are calculated. If the deviation of a data point from the average value exceeds three times the standard deviation, it is determined to be an outlier and removed. The previous valid data point is then used as a replacement. For the image and temperature data transmitted by the infrared thermal imager 23 and the visible light camera 24, the main control module 1 first performs lossless compression (using the LZ77 algorithm), with a compression ratio of no less than 50%, to reduce communication bandwidth usage. An independent storage area is allocated in the Flash memory of the main control module 1 to cache the monitoring data of the most recent 24 hours. When the communication network 200 is interrupted, the data is temporarily stored locally and retransmitted preferentially after communication is restored.

[0035] (II) Multi-parameter sensing module 2 The multi-parameter sensing module 2 is the core of realizing multi-dimensional condition monitoring of the tower. The specific structure and working principle of each component are as follows: 1. Tilt sensor 21 The tilt sensor 21 is a dual-axis MEMS tilt sensor, model SCA60C, with a measurement range of ±30°, a measurement accuracy of ±0.1°, and an operating voltage of 12V. This sensor is installed on a vertical plane in the middle of the tower body. The X-axis of the sensor is parallel to the vertical direction of the tower, and the Y-axis is parallel to the horizontal direction of the tower. By detecting the components of gravitational acceleration on the X and Y axes, the tilt angle of the tower in the two vertical directions is calculated. The sensor collects data every 5 seconds and transmits it to the main control module 1 via an I2C interface.

[0036] 2. Beidou / GPS positioning module 22 The Beidou / GPS positioning module 22 uses a dual-mode positioning module of Beidou-3 BDS-3 and GPS, model UM220-IV, supporting BDS B1C / B1I / B2a and GPS L1 / L5 frequency bands, with a positioning accuracy of ±2cm statically and ±5cm dynamically. The module is integrated into the equipment box of the main control module 1. The antenna extends to an unobstructed area at the top of the tower and connects to the main control module 1 via a UART serial port. It collects the three-dimensional coordinates (longitude, latitude, and altitude) of the tower every 10 seconds and transmits them to the main control module 1. After system installation and debugging, upon initial power-on, the module continuously collects 10 sets of altitude data. The main control module 1 averages these data to obtain the initial altitude coordinates of the tower, which are stored in the Flash memory as a reference value for subsequent settlement monitoring.

[0037] 3. Infrared thermal imager 23 and gimbal 7 The infrared thermal imager 23 uses a non-contact infrared thermal imaging module, model G1080, with a measurement range of -20℃ to 200℃, a measurement accuracy of ±0.5℃, a pixel count of 384×288, a frame rate of 25Hz, and an operating voltage of 12V. This thermal imager is fixed to the pan-tilt unit 7 via a bracket and installed side-by-side with the visible light camera 24, its lens facing the conductive hardware and surge arresters of the tower.

[0038] The gimbal 7 uses a high-precision motorized gimbal, model PT300, which supports 360° horizontal rotation (rotation speed 0-30° / s) and -90°~90° vertical rotation (rotation speed 0-20° / s). It receives PWM control signals from the main control module 1 through the GPIO interface to achieve precise positioning. The temperature measurement point of the infrared thermal imager 23 is precisely aligned through the linkage between the main control module 1 and the gimbal 7: the remote monitoring center platform 300 can preset the coordinate positions of conductive hardware and surge arresters (based on the image calibration captured by the camera), and after being sent to the main control module 1, the main control module 1 controls the gimbal 7 to rotate to the corresponding angle, so that the lens of the infrared thermal imager 23 is aligned with the target component. At the same time, the thermal imager starts temperature scanning, collects the temperature data of the target component, and completes a full-range scan every 30 seconds. If an abnormal temperature is detected, the scanning cycle is shortened to 5 seconds.

[0039] 4. Visible light camera 24 The visible light camera 24 is a high-definition network camera, model IPC-HFW5249M-I8, with 20 megapixels, supporting 1080P video recording, and featuring infrared night vision (night vision distance ≥ 50 meters). It operates on 12V. The camera and infrared thermal imager 23 are mounted together on the pan-tilt unit 7, with a 110° lens angle. It connects to the main control module 1 via an RS485 interface and can be remotely controlled via the remote monitoring center platform 300 to rotate 360° horizontally and 90° vertically, capturing real-time visual images of the surrounding environment of the tower. Image data is transmitted in H.265 encoding format, with a bandwidth usage ≤ 4Mbps. Simultaneously, the camera has a built-in image recognition algorithm that can analyze the captured images in real-time, identifying bird outlines (based on shape and movement characteristics). When a bird is detected lingering for more than 3 seconds, a bird presence signal is sent to the main control module 1.

[0040] 5. Anti-icing monitoring unit 8 and anti-wind deflection monitoring unit 9 The temperature sensor 801 of the anti-icing monitoring unit 8 is a DS18B20 digital temperature sensor with a measurement range of -55℃ to 125℃ and an accuracy of ±0.5℃; the humidity sensor 802 is a DHT22 digital humidity sensor with a measurement range of 0 to 100%RH and an accuracy of ±2%RH. Both are connected to the main control module 1 via an I2C interface, collecting ambient temperature and humidity data every 10 seconds. The main control module 1 calculates the icing risk index based on preset icing criteria (temperature ≤ 0℃ and relative humidity ≥ 85%, duration ≥ 10 minutes). When the high-risk threshold is reached, an icing warning is triggered.

[0041] The wind speed sensor 901 of the wind deflection monitoring unit 9 is a cup-type wind speed sensor, model FC-2A, with a measurement range of 0~60m / s and an accuracy of ±0.3m / s. It is connected to the main control module 1 through the I2C interface, collects the instantaneous wind speed every 5 seconds, and calculates the average wind speed every 1 minute. When the average wind speed is ≥15m / s, the wind deflection warning is triggered.

[0042] (III) Intelligent Analysis and Early Warning Unit 5 The Intelligent Analysis and Early Warning Unit 5 is a software module running on the 300 server of the remote monitoring center platform. It is developed in C++ and built on the Qt framework. It has functions such as data reception, analysis, early warning generation, and information display. The working principle of each sub-unit is as follows: 1. Tilt Early Warning Subunit 51 The tilt early warning subunit 51 receives the tower tilt angle data (including tilt angles in the X and Y axes) transmitted by the main control module 1, and calculates the composite tilt angle (composite angle = √(X-axis angle)). 2 +Y axis angle 2 The result is compared with a preset threshold. When the composite tilt angle is ≤10°, it is judged as a normal state, and the remote monitoring center platform 300 interface displays a green status indicator; When 10° < composite tilt angle ≤ 16°, a yellow warning message is generated. The warning message includes the tower number, tilt angle, collection time, and warning level. A yellow warning pop-up window will appear on the remote monitoring center platform 300 interface, and a buzzer will sound (volume 60dB). When the composite tilt angle is greater than 16°, a red warning message is generated. A red warning pop-up window appears on the remote monitoring center platform 300 interface, a buzzer sounds continuously, and a text message reminder is sent to the mobile phone of the designated operation and maintenance personnel.

[0043] 2. Settlement Early Warning Subunit 52 Settlement early warning subunit 52 receives the real-time elevation coordinates of the tower transmitted by the main control module 1, compares them with the initial elevation coordinates, calculates the elevation change (change = real-time elevation - initial elevation), and judges based on the absolute value of the change: When the absolute value of the altitude change is ≤10cm, it is considered to be in a normal state, and the interface displays a green indicator. When 10cm < absolute value of altitude change ≤ 20cm, a yellow warning message is generated and a yellow warning pop-up window appears on the interface. When the absolute value of the altitude change is greater than 20cm, a red warning message is generated, a red warning pop-up window appears on the interface, and an SMS reminder is triggered at the same time.

[0044] 3. Temperature Early Warning Subunit 53 Temperature warning subunit 53 receives temperature data of conductive hardware and surge arresters transmitted by infrared thermal imager 23, and loads corresponding preset safety thresholds according to component type (e.g., 80℃ threshold for copper conductive hardware, 100℃ threshold for surge arresters): When the temperature of all components is less than or equal to the corresponding threshold, it is considered to be in a normal state. When the temperature of a component exceeds the corresponding threshold, a temperature anomaly alarm is generated. The alarm information includes the component name, measured temperature, threshold, and acquisition time. An orange alarm pop-up window appears on the interface, and the location of the abnormal component is marked in the image.

[0045] All early warning information is stored in the server's MySQL database, which supports querying and exporting by pole number, early warning level, time range, and other criteria.

[0046] (iv) Task dispatch unit 6 Task dispatching unit 6 also runs on the remote monitoring center platform 300 server, and communicates with intelligent analysis and early warning unit 5. The workflow is as follows: 1. When the intelligent analysis and early warning unit 5 generates a red or yellow early warning, the task dispatch unit 6 automatically extracts the key information from the early warning information (tower number, anomaly type, early warning level, BeiDou coordinates, and collection time). 2. After viewing the early warning information on the interactive interface of the remote monitoring center platform 300, the maintenance personnel click the "One-click Dispatch" button, and the task dispatch unit 6 automatically matches the patrol personnel responsible for the area where the tower is located (based on the preset area-person correspondence). 3. Task dispatch unit 6 generates standardized handling instructions. The handling instruction format is "[Early Warning Handling] Tower number: XXX, Anomaly type: XXX, Early warning level: XXX, Location coordinates (latitude and longitude): XXX, Requirements: Arrive at the scene within XXX time to handle the situation, and report the results after handling the situation". 4. The handling instruction is sent to the designated patrol personnel's mobile terminal 702 via the communication network 200. After receiving the instruction, the mobile APP will automatically pop up a message reminder and display the location of the abnormal tower and the user's own location on the map interface. The task dispatch unit 6 also has a built-in timeout reminder mechanism: a timer is started when the disposal instruction is issued. If no feedback is received from the inspection personnel within 24 hours, the system automatically sends the first reminder message to the inspection personnel's mobile terminal 702; if no feedback is received after 36 hours, the system automatically escalates the disposal instruction and forwards it to the next higher-level operation and maintenance management personnel, and generates a disposal timeout record report.

[0047] 5. When the patrol personnel click the "Navigation" button, the mobile APP will call the built-in Beidou navigation function to plan the optimal route (including road driving route and walking route) based on the Beidou coordinates of the tower, and display the distance and estimated arrival time in real time. 6. After the inspection personnel arrive at the scene, they shall inspect and handle any abnormalities. After handling, they shall upload photos of the scene (no less than 3, including the overall scene and details) and fill in the handling results (such as "The tower tilt is caused by foundation settlement. Warning signs have been set up and the construction unit has been contacted for reinforcement") via the mobile APP, and click "Submit Feedback". 7. After receiving the feedback information, the task dispatch unit 6 associates and stores it with the corresponding early warning information. After the operation and maintenance personnel confirm the completion of the handling on the remote monitoring center platform 300, they click "early warning cleared", thus completing the early warning process.

[0048] The main control module 1 has a built-in fault self-diagnosis function, configured to periodically send heartbeat detection commands to each sensor module and execution module, and receive response signals; if no response is received from a module for three consecutive times, the communication link of that module is determined to be faulty, and a fault code containing the module identifier is generated and uploaded to the remote monitoring center platform 300 through the communication network 200; if the module response is normal but the collected data continuously exceeds the physically reasonable range (e.g., the reading of the tilt sensor 21 is always 0 or at a maximum value), it is determined to be abnormal sensor data, and an abnormal event log is recorded locally. After receiving the fault code or identifying the abnormal data, the remote monitoring center platform 300 issues a visual alarm on the monitoring interface, prompting maintenance personnel to perform remote restart or on-site inspection.

[0049] (v) Sound and light bird deterrent device 11 The sound and light bird deterrent device 11 consists of a red light emitter 301, a sound wave generator 302, and a drive circuit. The drive circuit is connected to the main control module 1 through a relay interface, and has two working modes: timed operation and trigger operation. 1. Scheduled working mode The main control module 1 has a built-in timer, and maintenance personnel can set the timed operating parameters through the remote monitoring center platform 300 (e.g., the working period is from 6:00 to 18:00 daily, with 3 minutes of operation every 20 minutes). Upon reaching the set time, the main control module 1 sends a start command to the drive circuit. The red light emitter 301 emits red light with a wavelength of 620nm-660nm (light intensity 1000cd), flashing (flash frequency 10Hz); the sound wave generator 302 emits ultrasonic waves with a frequency of 10kHz-20kHz (sound intensity 85dB), with the frequency randomly varying within the set range to prevent birds from developing adaptation. After the working time ends, the main control module 1 sends a stop command, and the bird deterrent stops working.

[0050] 2. Trigger working mode When the visible light camera 24 detects a bird and sends a signal to the main control module 1, the main control module 1 immediately sends a start command to the bird deterrent device. The red light emitter 301 and the sound wave generator 302 start working and work continuously for 5 minutes before automatically stopping. If the camera still detects a bird within 30 seconds after stopping, it will start working again until the bird leaves.

[0051] (vi) Power Module 4 Power module 4 is a solar battery power supply system. The working principle of each component is as follows: Solar panel 401 is a monocrystalline silicon solar panel with a power of 100W, an open circuit voltage of 21.6V, and a short circuit current of 5.5A. After converting solar energy into electrical energy, it is transmitted to the charging management unit 403 through wires. The charging management unit 403 uses the TP4056 lithium battery charging management chip, which has constant current and constant voltage charging function, adjustable charging current (0.5A-2A), and also has overcharge protection (charging voltage upper limit 14.4V), over-discharge protection (discharge voltage lower limit 10.8V), and short circuit protection (automatically cuts off the circuit when short circuit occurs and automatically restores after the fault is cleared) to ensure the safe use of the energy storage unit 402. The energy storage unit 402 uses a 12V 100Ah lithium iron phosphate battery with a cycle life of ≥2000 cycles and good low-temperature performance (capacity retention rate of ≥80% at -20℃). It provides a stable 12V DC power supply for all power-consuming modules such as the main control module 1, multi-parameter sensing module 2, and sound and light bird deterrent 11. Power supply logic of power module 4: When there is sufficient sunlight, part of the electrical energy generated by the solar panel 401 is directly used to power each module, and the other part is used to charge the energy storage unit 402 through the charging management unit 403; when there is insufficient sunlight or at night, the energy storage unit 402 discharges to power each module, ensuring that the system operates 24 hours a day without interruption, and can provide power for 7 days on cloudy or rainy days.

[0052] (vii) Data wireless transmission module 3 The data wireless transmission module 3 is a dual-mode module using 4G / 5G and BeiDou short message service, model EC200S-CN (4G / 5G part) + UM220-IV (BeiDou short message part). It connects to the main control module 1 via a UART serial port, with a baud rate of 9600bps, 8 data bits, 1 stop bit, and no parity bit. The module's working principle is as follows: In 4G / 5G communication mode, the module accesses the Internet through the base station and establishes a TCP / IP connection with the server of the remote monitoring center platform 300 to realize real-time data transmission. It supports a maximum transmission rate of 100Mbps, which can meet the transmission requirements of high-definition video data. In the BeiDou short message communication mode, the module sends data to the BeiDou receiving terminal of the remote monitoring center platform 300 via BeiDou satellites. Each data transmission is ≤1000 bytes, mainly transmitting key data such as early warning information and coordinate information. The transmission delay is ≤30 seconds, ensuring emergency communication in remote areas without public network access.

[0053] II. Complete System Workflow The workflow of the intelligent transmission line tower online monitoring multi-functional patrol system of the present invention includes eight stages: system initialization, real-time monitoring, data transmission, intelligent analysis, early warning generation, task assignment, on-site handling, and result feedback, forming a complete closed-loop management, as detailed below: 1. System Initialization After the system installation and debugging are completed, the maintenance personnel issue an "initialization command" through the remote monitoring center platform 300. After receiving the command, the main control module 1 starts the self-test of each module, and sequentially tests the connection status and working status of components such as tilt sensor 21, Beidou / GPS positioning module 22, infrared thermal imager 23, visible light camera 24, and sound and light bird deterrent 11. The self-test results are fed back to the remote monitoring center platform 300 through the communication network 200. After passing the self-test, the Beidou / GPS positioning module 22 starts positioning and continuously collects 10 sets of three-dimensional coordinate data. The main control module 1 performs average calculation on the data to obtain the initial altitude coordinates and initial latitude and longitude coordinates, which are then stored in the Flash memory. Maintenance personnel set various early warning thresholds (tilt angle, altitude change, component temperature, wind speed, etc.) and timed operating parameters of the sound and light bird deterrent device 11 through the remote monitoring center platform 300. The parameters are stored in the database of the main control module 1 and the remote monitoring center platform 300 to complete the initialization.

[0054] 2. Real-time monitoring After the system enters normal working state, the multi-parameter sensing module 2 collects data according to the preset cycle: the tilt sensor 21 collects the tilt angle every 5 seconds, the Beidou / GPS positioning module 22 collects the three-dimensional coordinates every 10 seconds, the infrared thermal imager 23 scans the temperature every 30 seconds, the visible light camera 24 collects images in real time, the anti-icing monitoring unit 8 collects the temperature and humidity every 10 seconds, and the anti-wind deflection monitoring unit 9 collects the wind speed every 5 seconds. The sound and light bird deterrent 11 operates according to the set timing parameters, and is triggered to operate based on the bird recognition results of the visible light camera 24. The main control module 1 monitors the voltage and remaining power of the power module 4 in real time. When the remaining power of the energy storage unit 402 is ≤20%, it automatically reduces the power consumption of non-critical modules (such as reducing the frame rate of the camera to 15Hz and reducing the working frequency of the bird deterrent) to ensure that the core monitoring function is normal.

[0055] 3. Data transmission The main control module 1 preprocesses the data collected by each sensor (filtering, outlier removal, format conversion), packages it in the format of "data type - acquisition time - value", and sends it to the remote monitoring center platform 300 in real time through the data wireless transmission module 3 and the communication network 200. The image data from the visible light camera 24 is transmitted in real time via 4G / 5G communication to the remote monitoring center platform 300, allowing maintenance personnel to view it in real time. When the system triggers an early warning, the main control module 1 prioritizes transmitting data related to the early warning (abnormal parameters, coordinates, and image screenshots) to ensure that the remote monitoring center platform 300 can quickly obtain key information.

[0056] 4. Intelligent Analysis After receiving the data, the intelligent analysis and early warning unit 5 of the remote monitoring center platform 300 performs analysis by each subunit: the tilt early warning subunit 51 calculates the composite tilt angle and compares it with the threshold; the settlement early warning subunit 52 calculates the altitude change and makes a judgment; the temperature early warning subunit 53 compares the component temperature with the threshold; and the anti-icing and anti-wind deviation analysis logic judges the risk level. After the analysis is completed, the intelligent analysis and early warning unit 5 displays the results (normal / early warning) in real time on the interface of the remote monitoring center platform 300. The interface uses a map visualization to mark the location and working status of each tower, which is convenient for maintenance personnel to have a global grasp.

[0057] 5. Early Warning Generation When the analysis results meet the warning conditions, the intelligent analysis and warning unit 5 automatically generates the corresponding level of warning information and provides prompts in a preset manner (pop-up window, buzzer, SMS). After the early warning information is generated, it automatically links to the historical monitoring data of the tower (the trend of tilt angle change, altitude change, and temperature change in the past 7 days) and displays it on the interface in the form of curves to help maintenance personnel judge the abnormal development trend.

[0058] 6. Task Assignment After the maintenance personnel view the early warning information and historical data, they click the "One-click Dispatch" button. The task dispatch unit 6 automatically generates a disposal instruction and sends it to the mobile terminal 702 of the patrol personnel responsible for the area. After receiving the handling instruction, the 702 mobile terminal of the patrol personnel will automatically pop up a reminder, displaying the location of the abnormal tower, the type of abnormality, the warning level, and providing navigation function.

[0059] 7. On-site handling The patrol personnel followed the navigation route on the mobile app to the site of the abnormal tower. Along the way, they could view the latest monitoring data and images of the tower in real time through the app to understand the abnormal situation. Upon arrival at the scene, the inspection personnel investigated the cause of the anomaly (such as whether the tower tilt was due to foundation settlement, whether the component overheating was due to poor contact, whether icing had formed, etc.) and took corresponding measures (such as setting up warning signs, tightening hardware, and removing icing). During the handling process, the patrol personnel used an app to take photos and videos of the scene, and recorded the handling steps and results.

[0060] 8. Results Feedback After the incident was resolved, the patrol personnel filled out a report through the app, including the time of the incident, the personnel involved, the cause of the anomaly, the measures taken, and the results (such as "restored to normal" or "follow-up required"), and uploaded photos and videos before clicking "submit feedback". After receiving the handling report, the remote monitoring center platform 300 will have maintenance personnel review the handling results. If the review is successful, the system will click "Clear Warning" and return to normal monitoring status. If the review fails (e.g., the handling is not thorough), a new handling instruction will be generated and dispatched to the patrol personnel for secondary handling. All relevant data (instructions, feedback, photos, videos) from the handling process are stored in association with the early warning information to form a complete operation and maintenance file, supporting subsequent query and traceability.

[0061] The system supports historical trend analysis and report generation of monitoring data. The remote monitoring center platform 300 can automatically generate tower tilt trend charts, temperature change curves, and early warning statistical reports on a daily, weekly, monthly, and yearly basis. Users can set custom analysis rules, such as focusing on the tilt angle changes of specific towers within a specific wind speed range, or analyzing the correlation between temperature warnings and ambient humidity. The platform provides a data export interface, supporting the export of all monitoring data (including raw data, early warning information, and handling records) within a specified time period to CSV or Excel format for in-depth data analysis and archiving.

[0062] III. System Maintenance and Troubleshooting (a) Routine maintenance A monthly inspection of the on-site monitoring terminal 100 is conducted to check the sealing of the equipment box, the firmness of the cable connections, whether there is dust or obstructions on the surface of the solar panel 401 (if so, clean it), and whether the voltage of the energy storage unit 402 is normal. Each module is tested quarterly through the remote monitoring center platform 300, including the accuracy of sensor data acquisition, the rotation accuracy of the PTZ 7, the working status of the bird deterrent device, and the stability of communication transmission. The conversion efficiency of the solar panel 401 is tested annually, and the capacity of the energy storage unit 402 is calibrated annually to ensure the stability of the power supply system.

[0063] (II) System Calibration and Parameter Setting After initial system installation or major maintenance, parameter calibration is required. Tilt sensor 21 calibration: When the tower is confirmed to be vertical, a calibration command is issued via the remote monitoring center platform 300, and the main control module 1 records the current dual-axis angle reading as the zero-point reference. Beidou / GPS positioning module 22 calibration: At a reference point with known precise coordinates, 100 sets of positioning data are continuously collected, the average value is taken as the initial coordinates, and the positioning error correction coefficient is calculated and stored in Flash. Infrared thermal imager 23 temperature calibration: Using a blackbody furnace as the standard temperature source, comparisons are made at five temperature points: -20℃, 0℃, 50℃, 100℃, and 200℃, to correct the temperature measurement curve coefficient. All calibration parameters can be remotely set or updated via the platform.

[0064] (III) Troubleshooting When the remote monitoring center platform 300 fails to receive monitoring data from a certain tower for more than 30 minutes, it is determined to be a communication failure. The maintenance personnel first check the public network signal status of the area through the platform. If the public network signal is normal, the patrol personnel are arranged to go to the site to check the data wireless transmission module 3 and the antenna. If the public network signal is abnormal, the Beidou short message communication is checked to see if it is normal. If necessary, the personnel go to the site to investigate. When the data collected by the sensor shows continuous abnormalities (such as the tilt sensor 21 data remaining unchanged), the maintenance personnel can check the installation status of the sensor by remotely controlling the camera. If the installation is loose, personnel will be arranged to tighten it on site; if the sensor is faulty, it will be replaced with a sensor of the same model. When the power module 4 fails to supply power normally, check whether the solar panel 401 is damaged, whether the charging management unit 403 is faulty, and whether the energy storage unit 402 is malfunctioning. Repair or replace according to the cause of the fault.

[0065] It should be noted that the control method in the embodiments of this application can be automatically controlled by a controller. The control method of the controller can be implemented by simple programming by those skilled in the art, which is common knowledge in the field. Furthermore, this application is mainly used to protect mechanical structures, so the control method and circuit connection will not be explained in detail here.

[0066] The technical solution described in the above-mentioned embodiments of this application aims to achieve real-time and synchronous monitoring of multi-dimensional states such as tower tilt, settlement, temperature, images, and meteorological parameters, and to conduct hierarchical early warning through intelligent analysis, ultimately realizing automated closed-loop management from "problem discovery" to "precise dispatch and handling".

[0067] Obviously, the above-described embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention also intends to include these modifications and variations.

Claims

1. A multi-functional online monitoring system for intelligent transmission line towers, characterized in that: It includes a field monitoring terminal (100), a communication network (200), and a remote monitoring center platform (300), among which, The on-site monitoring terminal (100) interacts with the remote monitoring center platform (300) through the communication network (200); The field monitoring terminal (100) includes: Main control module (1) And a multi-parameter sensing module (2), a data wireless transmission module (3) and a power supply module (4) electrically connected to the main control module (1); The multi-parameter sensing module (2) is used to collect multi-dimensional physical parameters of the tower and its surrounding environment; The remote monitoring center platform (300) includes an intelligent analysis and early warning unit (5) and a task dispatching unit (6). The intelligent analysis and early warning unit (5) is used to receive and analyze the multidimensional physical parameters and generate graded early warning information according to preset thresholds; The task dispatching unit (6) is used to generate and send a disposal instruction containing tower location information in response to the hierarchical early warning information.

2. The intelligent transmission line tower online monitoring multi-functional line inspection system according to claim 1, characterized in that, The multi-parameter sensing module (2) includes: Inclination sensor (21) is used to monitor the tilt angle of the tower; The Beidou / GPS positioning module (22) is used to obtain the precise three-dimensional coordinates of the tower in real time; An infrared thermal imager (23) is installed via a gimbal (7) and is used to scan the temperature of the conductive fittings and surge arresters of the tower. A visible light camera (24) and an infrared thermal imager (23) are mounted together on the pan-tilt unit (7) to collect visual images of the tower and its surrounding environment; The visible light camera (24) is a multi-functional rotating camera unit with a pixel count of not less than 20 million and night vision capabilities. It can be remotely controlled by the remote monitoring center platform (300) to rotate 360° horizontally and 90° vertically. The infrared thermal imager (23) has a measurement range of -20℃ to 200℃ and a measurement accuracy of ≤ ±0.5℃. Its temperature measurement point can be accurately aligned with the target by the rotation of the gimbal (7) in conjunction with the main control module (1).

3. The intelligent transmission line tower online monitoring multi-functional line inspection system according to claim 2, characterized in that, The intelligent analysis and early warning unit (5) includes: The tilt warning subunit (51) is configured to generate a yellow warning when the tilt angle detected by the tilt sensor (21) is greater than 10°, and to generate a red warning when the tilt angle is greater than 16°. The settlement early warning subunit (52) is configured to generate a red warning when the absolute value of the altitude change is greater than 20cm and a yellow warning when the absolute value of the altitude change is between 10cm and 20cm by comparing the altitude coordinates obtained in real time by the Beidou / GPS positioning module (22) with the initial altitude coordinates.

4. The intelligent transmission line tower online monitoring multi-functional line inspection system according to claim 3, characterized in that, The intelligent analysis and early warning unit (5) also includes a temperature early warning subunit (53), which is configured to generate a temperature abnormality alarm when the temperature of any critical component detected by the infrared thermal imager (23) exceeds a preset safety threshold.

5. The intelligent transmission line tower online monitoring multi-functional line inspection system according to claim 1, characterized in that, The on-site monitoring terminal (100) also includes an acoustic and light bird deterrent (11), which is electrically connected to the main control module (1). It includes a red light emitter (301) for emitting red light with a wavelength of 620nm to 660nm and a sound wave generator (302) for emitting ultrasonic waves with a frequency of 10kHz to 20kHz. The main control module (1) can control the acoustic and light bird deterrent (11) to work at regular intervals and trigger its operation after identifying birds based on the image data of the visible light camera (24).

6. The intelligent transmission line tower online monitoring multi-functional line inspection system according to claim 1, characterized in that, The power module (4) is a solar battery system, including a solar panel (401), an energy storage unit (402) and a charging management unit (403); the solar panel (401) is fixed to the sun-facing side of the top of the tower by an adjustable bracket, and the charging management unit (403) has overcharge, over-discharge and short-circuit protection functions.

7. The intelligent transmission line tower online monitoring multi-functional line inspection system according to claim 2, characterized in that, The Beidou / GPS positioning module (22) is a Beidou-3 positioning and navigation module with a positioning accuracy of ≤ ±2cm. When the system triggers an early warning, the real-time Beidou coordinate information of the tower is synchronized to the mobile terminal (702) of the patrol personnel through the task dispatching unit (6).

8. The intelligent transmission line tower online monitoring multi-functional line inspection system according to claim 1, characterized in that, The multi-parameter sensing module (2) also includes an anti-icing monitoring unit (8) and an anti-wind deflection monitoring unit (9). The anti-icing monitoring unit (8) includes a temperature sensor (801) and a humidity sensor (802) for collecting ambient temperature and humidity data to predict the risk of icing. The wind deflection monitoring unit (9) includes a wind speed sensor (901) for collecting environmental wind speed data to trigger a wind deflection warning.

9. The intelligent transmission line tower online monitoring multi-functional line inspection system according to claim 1, characterized in that, The task dispatching unit (6) is configured to: respond to the user's operation on the interactive interface of the remote monitoring center platform (300) on the early warning information, automatically generate a handling instruction containing the Beidou coordinates of the abnormal tower and the abnormal type, and send it to the designated patrol personnel mobile terminal (702) with one click; the patrol personnel mobile terminal (702) has a built-in navigation function and can plan a route according to the Beidou coordinates.

10. The intelligent transmission line tower online monitoring multi-functional line inspection system according to claim 1, characterized in that, The communication network (200) adopts a dual-mode communication mechanism of 4G / 5G and Beidou short message. In areas with public network signal, 4G / 5G communication is used first, and in areas without public network, it automatically switches to Beidou short message communication.

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