Multi-mode communication system suitable for high-voltage zero-measuring robot system

Abstract

The invention discloses a multi-mode communication system suitable for a high-voltage zero-measuring robot system. The multi-mode communication system comprises an unmanned aerial vehicle, a robot unit, a ground base station, a mounting connection unit and a pilot assistant. LRWIFI communication is adopted between the robot unit and the ground base station. LORA communication is adopted between the mounting connection unit and the pilot assistant. LORA communication is adopted between the mounting connection unit and the ground base station; and the LRWIFI antenna of the ground base station adopts a directional gain design and points to an operation area of the robot unit. Through accurate analysis of communication requirements among different devices, an adaptive communication mode is selected and reasonable arrangement is carried out, so that stable, efficient and safe data transmission among the devices in a high-voltage environment is realized.

Description

Technical Field

[0001] This invention belongs to the field of high-voltage transmission line detection technology, and in particular relates to a multimodal communication system suitable for high-voltage zero-measurement robot systems. Background Technology

[0002] The high-voltage zero-test robot system refers to a system that uses a heavy-duty drone as a transport vehicle to precisely lift and transport the insulator zero-test robot to the tension insulator strings of high-voltage power lines at high altitudes. Once in place, ground personnel remotely control the robot to conduct inspections. After the inspection is completed, the drone transfers the robot to another work location or returns it to the ground. The entire process requires no manual climbing of the tower and allows for live-line work without affecting the normal power grid transmission. When using drone and robot collaborative technology to conduct insulator inspections on transmission lines, multiple devices often need to work together, including the movement and inspection of the robot itself on the insulator strings, the docking and disengagement of the drone and robot, and real-time monitoring of work data and the issuance of control commands from the ground. The communication quality between the various devices directly determines the safety, accuracy, and efficiency of the inspection operation.

[0003] Chinese patent document CN114189824A discloses a communication method for unmanned aerial vehicles (UAVs) based on LoRa communication, as well as an inspection UAV and system. It includes two LoRa node modules: a first LoRa node module and a second LoRa node module. The first LoRa node module is mounted on a Raspberry Pi and is used to complete data interaction with the LoRa gateway of the LoRa forest base station for communication between the ground station and the UAV. The first LoRa node module and the LoRa forest base station use channel 0. The second LoRa node module is connected to an RTK rover and is used to obtain RTK differential calibration information from the RTK base station for UAV positioning. The second LoRa node module and the LoRa gateway of the RTK rover use channel 4. This ensures that the first and second LoRa node modules do not interfere with each other, and the two data links use different channels to avoid conflict.

[0004] The LORA communication used in the above-mentioned patented solutions has the following disadvantages: ① Low-power wide-area network (LPWAN) communication based on spread spectrum communication technology operates in the Sub-GHz band (such as 433MHz, 868MHz, etc.). It achieves long-distance signal transmission with low transmission power through narrowband spread spectrum modulation. However, frequency resources in the Sub-GHz band need to be applied for, and the available frequency bands and power restrictions vary in different regions, requiring parameter adjustments according to the application area; ② Narrow bandwidth and low transmission rate (usually several Mbps) can only transmit a small amount of data (such as status commands and simple parameters), which cannot meet the needs of high-definition video and large data transmission; ③ High communication latency. Due to the use of low-rate modulation, signal transmission and processing take a long time, making it unsuitable for scenarios with high real-time requirements. Summary of the Invention

[0005] To overcome the technical problems of insufficient adaptability and poor communication reliability of unmanned testing equipment for high-voltage transmission lines due to the presence of strong power frequency electromagnetic fields and wide-spectrum discharge sparks around them, this invention aims to provide a multimodal communication system suitable for high-voltage zero-measurement robot systems. By accurately analyzing the communication needs between different devices, selecting suitable communication modes, and rationally arranging them, stable, efficient, and secure data transmission between devices under high-voltage environments can be achieved.

[0006] To achieve the above objectives, the present invention employs the following technical solution: a multimodal communication system suitable for a high-voltage zero-measurement robot system, comprising a drone, a robot unit, a ground base station, a mounting connection unit for connecting the drone and the robot unit, and a pilot assistant for controlling the mounting connection unit; the robot unit communicates with the ground base station via LRWIFI; the mounting connection unit communicates with the pilot assistant via LORA; the mounting connection unit communicates with the ground base station via LORA; wherein, the robot unit is equipped with an LRWIFI transceiver communication module A, which is connected to the main control chip of the robot unit via a LAN interface; the ground base station is equipped with an LRWIFI transceiver communication module B wirelessly connected to the LRWIFI transceiver communication module A, which is connected to the main control chip of the ground base station via a LAN interface; the LRWIFI antenna of the ground base station adopts a directional gain design, pointing towards the working area of ​​the robot unit.

[0007] Specifically, the LRWIFI transceiver module A and the LRWIFI transceiver module B operate in the 2.4GHz frequency band.

[0008] When the robot unit operates on the insulator string, the distance to the ground base station is typically hundreds to thousands of meters. It needs to transmit high-definition video, a large amount of detection data, and control commands, requiring communication with high bandwidth, strong anti-interference capabilities, and long transmission distances. 4G / 5G public networks may have signal blind spots in remote areas, and communication costs are high, with real-time performance unstable due to operator network load. Ordinary WiFi communication has short transmission distances and weak anti-electromagnetic interference capabilities, making it unsuitable for medium- to long-distance communication scenarios. LRWIFI communication operates in the 2.4GHz band, offering high bandwidth to meet high-speed data transmission requirements. Simultaneously, by optimizing signal modulation technology to improve anti-interference capabilities, it can maintain signal stability in the complex electromagnetic environment of high-voltage lines, making it suitable for medium- to long-distance communication scenarios between the robot unit and the ground base station. Furthermore, the compatibility of LRWIFI communication simplifies subsequent equipment debugging and expansion processes, reducing system setup difficulty.

[0009] Furthermore, the mounting connection unit is equipped with a LORA communication module A, which is connected to the main control chip of the mounting connection unit via a USART interface; the pilot assistant is equipped with a LORA communication module B that is wirelessly connected to the LORA communication module A, which is connected to the main control chip of the pilot assistant via a USART interface.

[0010] The mounting connection unit needs to perform long-distance, lightweight data interaction with the drone assistant. Both are portable devices, and the mounting connection unit should not be charged frequently, as this would affect the robot's deployment and deployment efficiency. Therefore, the communication requires low power consumption, long-distance transmission capability, and strong anti-interference ability. LORA communication's ultra-low power consumption can significantly extend the device's battery life, avoiding frequent charging; its long-distance transmission capability can cover the drone's mounting and docking operation range, and its strong anti-interference capability allows for stable command transmission in complex electromagnetic environments near high-voltage lines; simultaneously, LORA's low data rate is perfectly suited to lightweight data requirements, has low hardware costs, and is suitable for large-scale applications.

[0011] Specifically, the ground base station is equipped with a LORA communication module C that is wirelessly connected to the LORA communication module A, and the LORA communication module C is connected to the main control chip of the ground base station through a USART interface.

[0012] Because the internal system of the robot unit is complex and the coupling between various communication systems is strong, interference from high-voltage electric and magnetic fields is unavoidable when operating in a high-voltage environment. If the system is interfered with even for a moment, a system failure at any node could cause communication instability. Therefore, LORA communication is used independently of other communication systems to prevent system disconnection and the inability to bring the robot back from the high-voltage line. Thus, when communication between the base station and the robot body is interrupted, the drone hook can be controlled through the base station and the pilot assistant.

[0013] Furthermore, it includes a ground tablet, which communicates with the ground base station via 5.8G WIFI; wherein, the ground base station is equipped with a 5.8G WIFI communication module, which is connected to the USB interface of the LRWIFI transceiver communication module B; the ground base station and the ground tablet have a point-to-point wireless connection.

[0014] Furthermore, the robot unit is equipped with a high-voltage zero-measurement unit; the high-voltage zero-measurement unit communicates with the robot unit via optical fiber.

[0015] Specifically, the optical fiber in the optical fiber communication adopts a concealed design and fits into the skeleton of the robot unit; the optical fiber is provided with a shielding shell.

[0016] Furthermore, the robot unit is equipped with an infrared wireless transmitting module; the robot unit monitors the communication status with the ground base station in real time, and the infrared wireless transmitting module is activated when the communication with the ground base station is lost; the drone is equipped with an infrared wireless receiving module for wirelessly connecting with the infrared wireless transmitting module.

[0017] Specifically, the robot unit determines the disconnection from the ground base station by periodically sending heartbeat frames and detecting response signals.

[0018] The robot unit needs to work in conjunction with the high-voltage zero-measurement unit, and both are located near high-voltage transmission lines in a complex electromagnetic environment. Even in scenarios where the transmission line is de-energized, the high-voltage zero-measurement unit releases tens of kilovolts of high voltage during testing, still posing a problem of high voltage affecting communication. Therefore, as operating equipment within the core high-voltage area, the robot unit and the high-voltage zero-measurement unit must possess extremely strong electromagnetic insulation and data transmission stability to avoid high voltage interference with the communication link. The fiber optic communication has extremely strong electromagnetic insulation, completely isolating electromagnetic interference and electrostatic effects, ensuring stable transmission of the detection data from the high-voltage zero-measurement unit to the robot unit; simultaneously, the high bandwidth of fiber optic communication can meet the high-speed transmission requirements of detection data, avoiding misjudgments of detection results due to signal interference and ensuring communication reliability in high-voltage environments.

[0019] Compared to existing technologies, the advantages of this invention are as follows: By setting up multiple communication modes, the invention employs fiber optic communication between the robot unit and the high-voltage zero-measurement unit to cope with the complex electromagnetic environment; LRWIFI communication between the robot unit and the ground base station meets the application requirements of high bandwidth and high-speed transmission; LORA communication is used between the mounting connection unit and the pilot assistant, and between the mounting connection unit and the ground, to meet the needs of long-distance, lightweight data interaction, while also avoiding the drawbacks of LORA communication; and 5.8G WIFI communication is used between the ground base station and the ground tablet to meet the needs of high transmission efficiency and data security. The use of differentiated communication mode combinations in different communication scenarios ensures stable and secure data interaction, improving the safety and accuracy of equipment use. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of the present invention. Detailed Implementation

[0021] The present invention will now be further described in conjunction with the accompanying drawings and specific embodiments. It should be noted that, without conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments.

[0022] In the description of this invention, it should be noted that directional terms such as "center," "lateral," "longitudinal," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise" indicate the orientation and positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. They should not be construed as limiting the specific protection scope of this invention.

[0023] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features. Thus, the use of "first" and "second" to define a feature may explicitly or implicitly include one or more of that feature, and in the description of this invention, "a number" means two or more, unless otherwise explicitly specified.

[0024] In this invention, unless otherwise explicitly specified and limited, terms such as "set" and "install" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can also refer to a mechanical connection; they can refer to a direct connection or a connection through an intermediate medium; or they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0025] Conventional communication systems have the following problems: Insufficient adaptability of a single communication mode: Some systems use WiFi communication as the mainstream transmission method, but WiFi technology has weak anti-interference ability in the complex electromagnetic environment of high-voltage lines and has a limited transmission distance, which cannot meet the medium and long distance communication needs between the robot body and the ground control terminal of hundreds to thousands of meters.

[0026] Poor communication reliability under high voltage conditions: There are strong power frequency electromagnetic fields and wide-spectrum discharge sparks around high voltage transmission lines. Traditional wireless communication systems lack targeted anti-electromagnetic interference designs, leading to equipment control failures.

[0027] This invention provides a multimodal communication method suitable for high-voltage testing robot systems. By accurately analyzing the communication needs between different devices, selecting appropriate communication modes and arranging them reasonably, stable, efficient, and secure data transmission between devices under high-voltage conditions can be achieved.

[0028] See Figure 1 Different combinations of communication modes are used for communication scenarios between different devices.

[0029] 1. Fiber optic communication between the robot unit and the high-voltage zero-measurement unit.

[0030] The robot needs to work in conjunction with high-voltage zero-point measuring equipment, and both are located near high-voltage transmission lines in a complex electromagnetic environment. Even in scenarios where the transmission lines are de-energized, the high-voltage zero-point measuring equipment releases tens of kilovolts of voltage during testing, still posing a risk of communication interference. Therefore, as operating equipment within the core high-voltage area, both the robot and the high-voltage zero-point measuring equipment must possess extremely strong electromagnetic insulation and data transmission stability to prevent high-voltage interference with the communication link. Strong electromagnetic insulation for fiber optic communication completely isolates electromagnetic interference and electrostatic effects, ensuring stable transmission of test data from the high-voltage zero-point measuring equipment to the robot. Simultaneously, the high bandwidth of fiber optic communication meets the high-speed transmission requirements of test data, preventing misinterpretations of test results due to signal interference and guaranteeing communication reliability in high-voltage environments.

[0031] Specific layout: Fiber optic cable is used as the communication medium, and the main control chip of the robot body is directly connected to the main control chip of the high-voltage zero-measurement equipment through the fiber optic interface; the fiber optic cabling adopts a concealed design, is fixed to the robot skeleton, and avoids wear or pulling during operation; the fiber optic cabling is encapsulated in a shielded shell, which ensures sealing and insulation performance under high-voltage conditions.

[0032] 2. Communication between the robot unit and the ground base station unit: LRWIFI

[0033] When a robot operates on an insulator string, the distance to the base station is typically hundreds to thousands of meters. It needs to transmit high-definition video, large amounts of detection data, and control commands, requiring communication with high bandwidth, strong anti-interference capabilities, and long transmission distances. 4G / 5G public networks may have signal blind spots in remote areas, and communication costs are high, with real-time performance unstable due to operator network load. Ordinary WiFi communication has short transmission distances and weak electromagnetic interference resistance, making it unsuitable for medium- to long-distance communication scenarios. LRWIFI operates in the 2.4GHz band, offering high bandwidth to meet high-speed data transmission requirements. Simultaneously, by optimizing signal modulation technology to improve anti-interference capabilities, it can maintain signal stability in the complex electromagnetic environment of high-voltage lines, making it suitable for medium- to long-distance communication scenarios between robots and base stations. Furthermore, LRWIFI's compatibility simplifies subsequent equipment debugging and expansion processes, reducing system setup difficulty.

[0034] Specific deployment: An LRWIFI transceiver communication module is configured on the robot body and connected to the main control chip via a LAN interface; an LRWIFI transceiver communication module is also configured on the ground base station and connected to the main control chip via a LAN interface, and a high-performance LRWIFI antenna is installed with a directional gain design, pointing towards the robot's working area.

[0035] All wireless communication is affected by obstructions. However, because LRWIFI transmits a large amount of data, it has an advantage over other communication methods with the same data transmission capacity, and its structural size is very small. LRWIFI's 2.4G communication has its own proprietary protocol, and with the use of advanced signal processing algorithms and advanced modulation and demodulation technologies, it can maintain high signal quality and stability when transmitting signals over long distances.

[0036] 3. LORA communication between the mounting connection unit and the remote control unit - pilot assistant (the remote controller of the mounting connection unit).

[0037] The drone's mounting tool needs to interact with the pilot's assistant over a long distance, using lightweight data. Both are portable devices, and the mounting tool should not be charged frequently, as this would affect the robot's deployment and deployment efficiency. Therefore, the communication system must possess low power consumption, long-distance transmission capabilities, and strong anti-interference capabilities. LoRa communication's ultra-low power consumption significantly extends device battery life, avoiding frequent charging. Its long-distance transmission capability covers the operational range of the drone's mounting and docking, and its strong anti-interference capability allows for stable command transmission even in complex electromagnetic environments near high-voltage lines. Furthermore, LoRa's low data rate perfectly suits lightweight data requirements, has low hardware costs, and is suitable for large-scale applications.

[0038] Specific configuration: A LORA communication module is integrated into the drone's mounting tool and connected to its main control chip via a USART interface; a matching LORA receiver module is configured in the drone pilot assistant and connected to its main control chip via a USART interface.

[0039] The robot unit is equipped with an infrared wireless transmitting module; the robot unit monitors the communication status with the ground base station in real time, and the infrared wireless transmitting module is activated when the communication with the ground base station is lost; the drone is equipped with an infrared wireless receiving module for wireless connection with the infrared wireless transmitting module.

[0040] Disconnection detection: The control unit of the robot unit monitors the status of the radio frequency communication link with the ground base station unit in real time, and determines the disconnection by periodically sending heartbeat frames and detecting the reply signal; when no heartbeat response is received from the ground base station unit for 3 consecutive times, it is determined to be in a disconnection state.

[0041] Emergency Trigger: After the disconnection is determined, the robot unit immediately activates the infrared wireless communication device and sends an initialization signal containing the device identifier, disconnection status, and communication request through the infrared transmitter. At the same time, the UAV's infrared device enters the listening state and continuously scans the surrounding infrared signals.

[0042] Link establishment: When the drone approaches the robot unit to within an effective communication distance of 0.2m-10m, and both infrared devices meet the line-of-sight (LoS) transmission conditions, the drone's infrared receiver captures the initialization signal, parses the device identifier through the modem module, confirms the match, and sends a response signal; after the robot receives the response signal, the two-way communication link is established, and the entire switching process takes ≤50ms.

[0043] Link maintenance: During communication, a Cyclic Redundancy Check (CRC) mechanism is used to verify data integrity, and the bit error rate is controlled within 0.001%. If a signal interruption occurs, the system automatically initiates a retransmission mechanism. If the cumulative number of retransmissions exceeds a threshold, the link establishment process is re-executed. 4. Connection between the mounted unit and the ground base station: LoRa communication

[0044] For the same reason, LORA communication already meets the communication needs between drone mounts, pilot assistants and base stations, so there is no need to add additional communication methods or interfaces.

[0045] Specific deployment: The UAV mount integrates a LORA communication module, which is connected to its main control chip via a USART interface. A matching LORA receiver module and antenna are configured in the base station, which are connected to its main control chip via a USART interface.

[0046] Due to the complexity of the robot's internal systems and the strong coupling between various communication systems, interference from high-voltage electric and magnetic fields is unavoidable when operating in a high-voltage environment. If the system is interfered with even for a moment, a system failure at any node could cause communication instability. Therefore, LoRa communication is used independently of other communication systems to prevent system disconnection and ensure the robot can be brought back from the high-voltage line. Thus, when communication between the base station and the robot itself is interrupted, the drone hook can be controlled via the base station and the pilot's assistant. 5. Communication between the ground base station and the remote control unit - ground tablet (embedded control software): 5.8G Wi-Fi.

[0047] The base station and the ground computer are in close proximity and require high-frequency transmission of large amounts of data and high-definition video. This necessitates high transmission efficiency and data security. 5.8G Wi-Fi offers high transmission rates and ample channel resources, enabling rapid exchange of large amounts of data and preventing data backlog. Its low interference ensures stable data transmission, especially in scenarios with multiple devices operating simultaneously, where proper channel planning can prevent congestion. Furthermore, 5.8G Wi-Fi supports advanced encryption protocols, guaranteeing the security of detection data and preventing data leakage or tampering, thus meeting the local data exchange needs between the base station and the ground computer.

[0048] Specific deployment: A 5.8G Wi-Fi communication module is configured on the ground base station and connected to the base station's main control chip via a USB interface through LRWIFI. The 5.8G module is inserted into the LRWIFI USB interface to establish a point-to-point wireless connection with a ground computer.

[0049] The above description is merely a specific embodiment of the present invention, but the technical features of the present invention are not limited thereto. Any changes or modifications made by those skilled in the art within the scope of the present invention are covered by the patent scope of the present invention.

Claims

1. A multimodal communication system suitable for high-voltage zero-measurement robot systems, characterized in that: The system includes a drone, a robot unit, a ground base station, a mounting connection unit for connecting the drone and the robot unit, and a pilot assistant for controlling the mounting connection unit. The robot unit communicates with the ground base station via LRWIFI; the mounting connection unit communicates with the pilot assistant via LORA; and the mounting connection unit communicates with the ground base station via LORA. The robot unit is equipped with an LRWIFI transceiver module A, which is connected to the robot unit's main control chip via a LAN interface. The ground base station is equipped with an LRWIFI transceiver module B, which is wirelessly connected to the LRWIFI transceiver module A and is connected to the ground base station's main control chip via a LAN interface. The LRWIFI antenna of the ground base station employs a directional gain design, pointing towards the robot unit's operating area.

2. The communication system as described in claim 1, characterized in that: The LRWIFI transceiver module A and the LRWIFI transceiver module B operate in the 2.4GHz frequency band.

3. The communication system as described in any one of claims 1-2, characterized in that: The mounting connection unit is equipped with a LORA communication module A, which is connected to the main control chip of the mounting connection unit via a USART interface; the pilot assistant is equipped with a LORA communication module B that is wirelessly connected to the LORA communication module A, which is connected to the main control chip of the pilot assistant via a USART interface.

4. The communication system as described in claim 3, characterized in that: The ground base station is equipped with a LORA communication module C that is wirelessly connected to the LORA communication module A. The LORA communication module C is connected to the main control chip of the ground base station through a USART interface.

5. The communication system as described in any one of claims 1-2, characterized in that: The device includes a ground tablet, which communicates with the ground base station via 5.8G Wi-Fi. The ground base station is equipped with a 5.8G Wi-Fi communication module, which is connected to the USB interface of the LRWi-Fi transceiver module B. The ground base station and the ground tablet have a point-to-point wireless connection.

6. The communication system as described in any one of claims 1-2, characterized in that: The robot unit is equipped with a high-voltage zero-measurement unit; the high-voltage zero-measurement unit communicates with the robot unit via optical fiber.

7. The communication system as described in claim 6, characterized in that: The optical fiber in the optical fiber communication adopts a concealed design and fits into the skeleton of the robot unit; the optical fiber is provided with a shielding shell.

8. The communication system as described in any one of claims 1-2, characterized in that: The robot unit is equipped with an infrared wireless transmitting module; the robot unit monitors the communication status of the LRWIFI communication with the ground base station in real time, and the infrared wireless transmitting module is activated when the communication with the ground base station is lost; the UAV is equipped with an infrared wireless receiving module for wireless connection with the infrared wireless transmitting module.

9. The communication system as described in claim 8, characterized in that: The robot unit determines whether it is disconnected from the ground base station by periodically sending heartbeat frames and detecting response signals.

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