A live-line state sensing and early warning system applied to a power transmission line of a UAV

Abstract

The application discloses a live-line state sensing and early warning system applied to a power transmission line of an unmanned plane, comprising a multistage live-line state identification module, a single-chip microcomputer control system, a DC-DC module, a visual distance-exceeding prompting module and an unmanned plane operation platform; the multistage live-line state identification module, the single-chip microcomputer control system, the DC-DC module and the visual distance-exceeding prompting module are all integrally packaged on the unmanned plane operation platform.The application has the beneficial effects that: through the cooperative work of the multistage live-line state identification module and the single-chip microcomputer control system and the setting of multistage voltage thresholds, three states of no electricity, induced live line and power frequency live line can be clearly distinguished, thus accurate decision basis is provided for operation and maintenance personnel, safety accidents or unnecessary power cut caused by misjudgment are avoided, and the reliability and safety of detection are remarkably improved.

Description

Technical Field

[0001] This invention relates to the field of high-voltage electrical equipment condition monitoring technology, and in particular to a live-line condition sensing and early warning system for power transmission lines applied to unmanned aerial vehicles (UAVs). Background Technology

[0002] Live-line condition monitoring of transmission lines is a fundamental and crucial step in ensuring the safe operation of the power grid and the safety of maintenance personnel. Traditional methods, such as manual handheld voltage detectors or tower-climbing for voltage detection, suffer from significant drawbacks including high labor intensity, low efficiency, and high safety risks. With the maturity of drone technology, using drones equipped with detection equipment for transmission line inspection has become an industry trend, significantly improving inspection efficiency and coverage while reducing the risk of personnel being directly exposed to high-voltage environments. However, when transplanting traditional voltage detection and early warning functions to drone platforms, existing technical solutions reveal serious shortcomings in areas such as state recognition accuracy, alarm effectiveness, power supply, and platform compatibility.

[0003] First, the most basic and widely used voltage detection technology is the capacitive induction voltage detector (handheld). Its principle is to sense the electric field around the circuit through metal electrodes at the top of an insulating rod, driving an internal neon tube to light up or emit a faint buzzing sound. This method can only qualitatively determine whether the circuit carries a significant power frequency voltage, completely failing to distinguish between "power frequency energized" and "induced energized." In complex multi-circuit lines on the same tower or crossing areas, the induced voltage can reach hundreds or even thousands of volts, enough to trigger an alarm on a traditional voltage detector. This can lead maintenance personnel to misjudge the circuit as "actually energized," delaying work, or overlooking the objective fact that although it is not power frequency electricity, it still poses a danger. Another common type of fixed-installation online monitoring device typically uses voltage transformers (PTs) or capacitive voltage dividers for precise measurement. While it can quantitatively obtain voltage values, it is large, heavy, requires power outages for installation, and is expensive, failing to meet the needs of drones for temporary, mobile, and lightweight installation. Currently, the solutions for combining voltage detection functions with drones on the market use drones equipped with simple electric field sensors. This typically involves suspending a probe based on a field-effect transistor (FET) or microelectromechanical system (MEMS) electric field sensor beneath the drone, measuring the electric field strength to infer the line voltage state. However, this approach has significant drawbacks: First, the electric field strength is easily affected by the drone's rotor vibrations, flight altitude and attitude, and interference from nearby objects, resulting in large fluctuations in the measured values ​​and making it difficult to set stable thresholds to accurately distinguish between different voltage levels (no voltage, induced voltage, and charged voltage). Second, its output is usually an analog signal or a simple binary switch signal, unable to individually identify and warn of the specific state of induced voltage on the grounding line, thus limiting its functionality.

[0004] Secondly, whether it's traditional handheld voltage detectors or alarm devices mounted on some early drones, their sound and light prompting modules are generally simple in design and low in power. The light source is mostly ordinary LEDs, and the sound source is mostly a piezoelectric buzzer, with a driving voltage of 3-12V and a power consumption of less than a few hundred milliwatts. This design may be sufficient for handheld close-range observation, but when placed on a drone, the effective sensing distance is severely insufficient. In bright daylight, low-brightness LEDs are difficult for ground personnel to detect; in the background of wind and drone noise in the wild, the faint buzzing sound cannot be effectively transmitted. The fundamental reason is that the internal power supply of the device (mostly small batteries) or the limited inductive power extraction cannot provide sufficient voltage and power support for high-brightness LEDs and high-decibel sound units, forming a core contradiction between "strong prompting needs" and "weak power supply capabilities."

[0005] Finally, most existing solutions are structurally simple, bundled integrations. The most common approach is to mechanically fix a miniaturized, but unmodified, traditional voltage detector or sensor to the drone's landing gear or fuselage using cable ties, adhesives, or simple clips. This method has significant drawbacks: the external attachment alters the drone's aerodynamic shape and center of gravity, potentially affecting flight stability and maneuverability; moreover, each operation requires cumbersome bundling and calibration, resulting in low efficiency. Furthermore, the connection between the device and the drone is merely mechanical, lacking reliable electrical and data interfaces, making it difficult to achieve synchronous sensing of the voltage detection status and intelligent operational linkage between the drone and the device; once fixed, the orientation of the detection probe cannot be flexibly adjusted according to the line location and the drone's attitude, easily leading to blind spots or accidental contact. Summary of the Invention

[0006] The purpose of this invention is to overcome the shortcomings of existing technologies, such as poor reliability and insufficient practicality, which make it difficult to meet the high standards of safety, efficiency and intelligence required for power line inspection by drones, and to provide a live-line condition perception and early warning system for power transmission lines that can be applied to drones.

[0007] The objective of this invention is achieved through the following technical solution: a live-line status perception and early warning system for power transmission lines applied to drones, comprising a multi-level live-line status identification module, a single-chip microcomputer control system, a DC-DC module, a visual over-distance prompting module, and a drone operation platform;

[0008] The multi-level live state identification module uses a signal sampling module to sample the voltage of overhead lines of different voltage levels under different states, and transmits the pre-processed data to the microcontroller control system.

[0009] The microcontroller control system determines the energization status of the line based on the pre-processed signal. When it detects induced current or power frequency energization, it triggers the DC-DC module to work.

[0010] The DC-DC module is used to boost the input low voltage and increase the power to provide voltage power for the visual over-distance prompt module;

[0011] The visual over-distance alert module constructs a multi-dimensional differential alarm system based on color coding and directional sound emission to distinguish and alert different device states;

[0012] The multi-level live status recognition module, single-chip microcomputer control system, DC-DC module and visual over-distance prompting module are all integrated and packaged on the UAV operation platform.

[0013] Preferably, the multi-level energized state identification module includes contact electrodes, a resistor network, a reverse parallel diode rectifier circuit, a transistor amplifier circuit, and a self-test button;

[0014] Contact electrodes are used to acquire voltage signals from power transmission lines;

[0015] Resistor networks are used for safe voltage division of high-voltage signals;

[0016] A reverse parallel diode rectifier circuit is used to convert an alternating voltage divider signal into a unidirectional pulsating signal;

[0017] The transistor amplifier circuit performs voltage following and electrically isolates the sampling terminal and the control terminal, and outputs to the microcontroller control system.

[0018] The self-test button is connected in parallel with the circuit and is used to manually trigger the test when there is no external signal to verify the function of the subsequent circuit.

[0019] Preferably, the microcontroller control system includes a signal processing module. The signal processing module uses the ADC analog-to-digital converter module of the STM32 chip to digitize the sampled signal, compares the signal amplitude with the preset induced current threshold and the power frequency threshold, and outputs digital logic signals in three states: no power, induced current, or power frequency current. When the output signal is induced current or power frequency current, the signal processing module outputs a trigger signal to start the DC-DC module.

[0020] Preferably, the standard for setting the preset threshold is to simulate and calculate the characteristic data of the induced voltage of the target transmission line under typical operating conditions such as multiple circuits on the same tower using COMSOL Multiphysics or ANSYS Maxwell electromagnetic simulation software. The induced voltage threshold corresponds to the peak range of the induced voltage obtained from the simulation, and the power frequency threshold corresponds to the characteristic range of the rated voltage of the transmission line.

[0021] Preferably, the DC-DC module includes an energy storage inductor, a power switching transistor, a freewheeling diode, an output filter capacitor, and a control chip.

[0022] Preferably, the visual over-distance alert module includes a logic processing module and an audible and visual alarm module;

[0023] The logic processing module is used to parse the status signals output by the microcontroller control system and drive the audible and visual alarm module;

[0024] The audible and visual alarm module includes a green LED, a yellow LED, a red LED, and a buzzer. When there is no power, the green LED lights up; when there is induced power, the yellow LED and the buzzer work together; when there is power frequency energization, the red LED and the buzzer provide a strong warning output.

[0025] The present invention has the following advantages:

[0026] 1. This invention uses a multi-level energized state identification module and a single-chip microcomputer control system to work together to set multiple voltage thresholds, thereby clearly distinguishing between three states: no power, induced energization, and power frequency energization. This provides maintenance personnel with accurate decision-making basis, avoids safety accidents or unnecessary power outages caused by misjudgment, and significantly improves the reliability and safety of detection.

[0027] 2. When the microcontroller control system detects an energized or induced-electric state, the present invention immediately controls the DC-DC module to operate, increasing the limited input voltage to a level sufficient to drive high-power devices. This enables the visual over-distance warning module to use high-intensity LEDs and high-decibel buzzers, thereby meeting the over-distance warning requirements of UAV inspections. Attached Figure Description

[0028] Figure 1 A schematic diagram of the architecture of a power transmission line energization and early warning system for use by drones;

[0029] Figure 2 This is a schematic diagram of the DC-DC module circuit structure;

[0030] Figure 3 This is a schematic diagram of the signal sampling module circuit structure;

[0031] Figure 4 This is a schematic diagram of the circuit structure of a microcontroller control system.

[0032] Figure 5 A schematic diagram of the circuit structure for visualizing the over-distance prompting module;

[0033] Figure 6 This is a schematic diagram of an electroscope;

[0034] Figure 7 This is a schematic diagram showing the spatial distribution of a double-circuit line on the same tower.

[0035] Figure 8 This is a schematic diagram of the potential distribution under normal operating conditions of line 1;

[0036] Figure 9 This is a schematic diagram of the potential distribution when line 2 is grounded;

[0037] Figure 10 This is a schematic diagram of the electric field mode distribution under normal operation of line 1;

[0038] Figure 11 A schematic diagram showing the electric field mode distribution when line 2 is grounded;

[0039] Figure 12 This is a schematic diagram showing the distribution of the grounding status of Line 2 under normal operation of Line 1. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0041] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0042] It should be noted that, unless otherwise specified, the embodiments and features described in this invention can be combined with each other.

[0043] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0044] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this invention is in use, or the orientation or positional relationship commonly understood by those skilled in the art. They are only used 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, and therefore should not be construed as a limitation of this invention. In addition, the terms "first," "second," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0045] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and 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 based on the specific circumstances.

[0046] In this embodiment, as Figure 1 As shown, a power transmission line energization and early warning system for use with unmanned aerial vehicles (UAVs) includes a multi-level energization status identification module, a microcontroller control system, a DC-DC module, a visual over-distance warning module, and an UAV operating platform.

[0047] The multi-level live state identification module uses a signal sampling module to sample the voltage of overhead lines of different voltage levels under different states, and transmits the pre-processed data to the microcontroller control system.

[0048] The microcontroller control system determines the energization status of the line based on the pre-processed signal. When it detects induced current or power frequency energization, it triggers the DC-DC module to work.

[0049] The DC-DC module is used to boost the input low voltage and increase the power to provide voltage power for the visual over-distance prompt module;

[0050] The visual over-distance alert module constructs a multi-dimensional differential alarm system based on color coding and directional sound emission to distinguish and alert different device states;

[0051] The multi-level energized state identification module, microcontroller control system, DC-DC module, and visual over-distance warning module are all integrated and packaged on the UAV operating platform. By working collaboratively with the microcontroller control system to simultaneously set multiple voltage thresholds, the multi-level energized state identification module clearly distinguishes between three states: no power, induced voltage, and power frequency voltage. This provides maintenance personnel with accurate decision-making basis, avoiding safety accidents or unnecessary power outages due to misjudgment, and significantly improving the reliability and safety of detection. When the microcontroller control system identifies an energized or induced voltage state, it immediately controls the DC-DC module to operate, boosting the limited input voltage to a level sufficient to drive high-power devices. This allows the visual over-distance warning module to use high-intensity LEDs and a high-decibel buzzer, thus meeting the over-distance warning requirements of UAV inspections. Specifically, the specific steps of this invention are as follows:

[0052] S1: The line voltage signal is sampled through contact electrodes, and after being processed by voltage division, rectification, isolation and amplification, it is sent to the microcontroller control system;

[0053] S2: The microcontroller control system compares the sampled signal value with multiple preset thresholds to determine whether the line is in a state of no power, induced power, or power frequency power.

[0054] S3: When the judgment result is induced charging or power frequency charging, the microcontroller control system immediately triggers the DC-DC module to work and raise the input voltage to the preset high voltage;

[0055] S4: Use the boosted high voltage to drive the audible and visual alarm module to issue a graded warning signal corresponding to the judgment result in step S2;

[0056] S5: Steps S1 to S4 are all executed through the device with the UAV interface and the motion detection is completed by the UAV.

[0057] Furthermore, such as Figure 3 As shown, the multi-level live state identification module includes contact electrodes, a resistor network, a reverse parallel diode rectifier circuit, a transistor amplifier circuit, and a self-test button.

[0058] Contact electrodes are used to acquire voltage signals from power transmission lines;

[0059] Resistor networks are used for safe voltage division of high-voltage signals;

[0060] A reverse parallel diode rectifier circuit is used to convert an alternating voltage divider signal into a unidirectional pulsating signal;

[0061] The transistor amplifier circuit performs voltage following and electrically isolates the sampling terminal and the control terminal, and outputs to the microcontroller control system.

[0062] The self-test button is connected in parallel with the circuit for manual triggering of tests when there is no external signal, verifying the functionality of subsequent circuits. Specifically, the signal sampling module uses a contact electrode and resistor connection structure to accurately sample the energized, induced-electrical, and de-energized states of 110 kV and 330 kV high-voltage lines. The sampled signal is sequentially current-limited and voltage-divided by a high-power resistor to achieve high-voltage safety reduction, and then converted from an alternating signal to a unidirectional pulsating signal by a reverse parallel diode rectifier circuit. The rectified signal is input to a common-collector amplifier circuit composed of PNP transistors, utilizing their voltage-following characteristics to achieve electrical isolation between the sampling and control ends, while simultaneously improving signal driving capability. The stabilized electrical signal processed in the above manner is transmitted to the microcontroller control system for judging the energized state of the line and responding to control logic. The circuit includes a parallel self-test button, which can be manually triggered for testing when there is no external signal input, effectively verifying the reliability and response accuracy of subsequent circuits. This sampling circuit is compact, safe, and stable, meeting the application requirements of high-voltage transmission line energization detection and intelligent control systems. In another embodiment, the signal sampling module can be enhanced with high-frequency filtering and phase detection. By analyzing the frequency components of the sampled signal or its phase relationship with the reference power frequency signal, it can more reliably distinguish between power frequency band current and high-frequency harmonic interference or induced current, thereby further optimizing the anti-interference capability of the identification.

[0063] Furthermore, such as Figure 4 As shown, the microcontroller control system includes a signal processing module. This module uses the STM32 chip's ADC (Analog-to-Digital Converter) module to digitize the sampled signal, comparing the signal amplitude with preset induced current thresholds and power frequency thresholds. It outputs digital logic signals in three states: no power, induced current, or power frequency current. When the output signal is induced current or power frequency current, the signal processing module outputs a trigger signal to activate the DC-DC module. Specifically, the microcontroller control system of this invention uses the STM32F103C8 chip as its core to construct a minimum system circuit. This minimum system circuit includes a reset module, a crystal oscillator module, and a microcontroller core circuit module. These three components work together to complete the key functions of signal sampling and processing, logic judgment, and alarm control. The reset module consists of resistor R4 (… ) and capacitor C5 ( The system comprises a power-on reset circuit, which can trigger an automatic reset upon system power-on or during abnormal operation, restoring the microcontroller to a stable initial state and effectively preventing program malfunction. The crystal oscillator module uses a dual-oscillator configuration: the main crystal oscillator X1 (8 MHz) and load capacitors C3 and C4 (25 pF) provide a high-frequency clock for the system, ensuring timing stability and high precision in computation and control; the auxiliary crystal oscillator X2 (32.768 kHz) and load capacitors C1 and C2 (22 pF) are used for real-time clock functionality, providing a low-frequency clock reference for the timing detection logic. The microcontroller core circuit module is based on the STM32F103C8 chip, which integrates an ARM processor. Featuring a Cortex-M3 core, a 12-bit high-precision ADC analog-to-digital converter, multi-channel GPIO interfaces, and various communication peripherals, the ADC module performs analog-to-digital conversion on the sampled signals, extracts signal characteristics under different voltage states, and outputs control levels after the logic judgment unit performs an "OR" logic operation to provide rated trigger conditions for the alarm module. This control system has a simple structure, rapid response, and high stability, and can operate safely and reliably in high-voltage environments, realizing intelligent identification and alarm control of energized, induced, and de-energized states of transmission lines.

[0064] In this embodiment, the preset threshold is set by simulating the induced voltage characteristic data of the target transmission line under typical operating conditions such as multiple circuits on the same tower using COMSOL Multiphysics or ANSYS Maxwell electromagnetic simulation software. The induced voltage threshold corresponds to the peak range of the induced voltage obtained from the simulation, and the power frequency energized threshold corresponds to the characteristic range of the rated voltage of the transmission line. Specifically, using the COMSOL Multiphysics electromagnetic simulation module, simulation calculations and characteristic analyses of the electric and magnetic field distribution around the transmission line were completed for two typical operating conditions: double-circuit energized and single-side energized, for a single-tower double-circuit transmission line. Figure 7 The image shows the distribution of a double-circuit transmission line on the same tower with a voltage level of LGJ-240 / 30 (110kV). Line 1 is on the left, and Line 2 is on the right. The voltage level is set to 110 kV, the overall outer diameter of the transmission line is set to 21.6mm, the diameter of the stranded steel core is set to 7.2mm, the phase spacing of each circuit is set to 4m, and the spacing between Line 1 and Line 2 is set to 5m. Figure 8 As shown, the curve exhibits a clear alternation of peaks and troughs. The left region has a relatively low negative potential range, the middle region shows dramatic potential fluctuations, including high positive potentials and low negative potentials, and the right region has a relatively stable negative potential range. This variation reflects the spatial distribution differences of the electric field around the three-phase conductors. The potential gradient is extremely large near the conductors, and the potential gradually stabilizes away from the conductors, with a maximum potential of approximately 63000V (63kV). Figure 9As shown, due to electromagnetic induction, line 2 still induced a potential from line 1 even when the power was off, with the maximum value occurring in the middle phase region, reaching 549.071V. Figures 10-12 As shown, when line 1 is operating normally, it generates an alternating magnetic field in the surrounding space. This magnetic field induces an electric field in line 2, which is de-energized and grounded, through electromagnetic induction. Due to the cancellation effect of the electric fields from the upper and lower sources, the components with opposite vector directions weaken each other, resulting in a significant reduction in electric field strength. This ultimately presents a distribution that is "low in the middle and high at both ends." According to the provided COMSOL electromagnetic simulation data, in a 110kV double-circuit transmission line on the same tower, under the condition that line 1 is operating normally and line 2 is de-energized and grounded, the maximum induced voltage generated by electromagnetic induction in line 2 is 549.071V, and this maximum value appears in the middle phase region of line 2. In another embodiment, those skilled in the art can, depending on available resources, select other finite element analysis software (such as ANSYS Maxwell) or analytical calculation methods based on actual line parameters to establish a database of induced voltages under different voltage levels (such as 220kV, 500kV) and different tower types (multi-circuit on the same tower, single-circuit, compact type) as the basis for setting the state identification threshold.

[0065] In this embodiment, the DC-DC module includes an energy storage inductor, a power switch, a freewheeling diode, an output filter capacitor, and a control chip. Specifically, it adopts a classic non-isolated boost topology based on the TPS5430QDDARQ1, such as... Figure 2 As shown, the main chip U51 (TPS5430QDDARQ1) is Texas Instruments' automotive-grade 3A buck converter, integrating MOSFET switches, supporting a wide input voltage range of 5.5V~36V, with an adjustable output voltage (minimum 1.22V), and a fixed switching frequency of 500kHz; the input filter consists of C108 / C81 / C80 / C70 (multiple capacitors in parallel to filter input noise); the bootstrap capacitor is C69 (10nF, providing drive voltage for the high-voltage side MOSFET inside the chip); and the energy storage inductor is L1 (15... (In conjunction with the switching transistor to achieve energy storage and transfer); freewheeling diode U52 (SS34F, providing a path for inductor current when the switching transistor is off); output filters C75 / C83 / C82 / C99 / C98 / C100 (multiple capacitors in parallel to stabilize output voltage and suppress ripple), that is, the 5.5V~36V DC voltage input from VBUS is controlled by a PWM switch (internal MOSFET of the chip) to achieve energy storage and transfer; the ... (High-frequency switching), after energy conversion and filtering by inductors and diodes, outputs a stable low-voltage DC voltage (V_OUT). The voltage is determined by the voltage divider circuit of the feedback pin FB. In the figure, FB needs to be connected to an external voltage divider resistor to adjust the output. After the multi-stage live state recognition module detects that the transmission line is energized, it boosts the low input voltage of the device's built-in power supply or inductive power unit and increases the output power. This provides stable and high-power power support for the high-intensity sound and light alarm module of the visual over-distance prompting module, ensuring the reliable realization of the long-distance prompting function in complex environments. In other words, the DC-DC module realizes active conversion and power enhancement of electrical energy form through an efficient topology structure. It is no longer limited by the initial power supply voltage value, but dynamically boosts according to the optimal operating voltage of the alarm unit. Experimental tests show that the conversion efficiency of this boost module can reach more than 92% when working at full load. This means that only a small amount of energy is lost in the form of heat, and most of the input power is effectively converted into high-voltage output power. This effect directly enables the application of high-brightness and high-loudness alarm devices that were originally unusable due to voltage limitations.

[0066] Furthermore, such as Figure 5 As shown, the visual over-distance alert module includes a logic processing module and an audible and visual alarm module;

[0067] The logic processing module is used to parse the status signals output by the microcontroller control system and drive the audible and visual alarm module;

[0068] The audible and visual alarm module includes green LEDs, yellow LEDs, red LEDs, and a buzzer. When there is no power, the green LEDs illuminate; when there is induced power, the yellow LEDs and buzzer work in tandem; when there is power frequency energization, the red LEDs and buzzer provide a strong alert. Specifically, the visual over-distance warning module consists of a logic processing module and an audible and visual alarm module. The logic processing module uses 74LS00 NAND gates and 74LS32 OR gates to construct a multi-channel logic judgment circuit, logically analyzing the three types of state signals: no power, induced power, and energized, and outputting the corresponding control level to the audible and visual alarm module based on the state recognition result. The audible and visual alarm module used in this invention is a high-power, high-performance display device. The voltage and power required for its operation are provided by a DC-DC boost module, which fully meets the rated operating requirements of the alarm module. The audible and visual alarm module drives three sets of audible and visual alarm modules (green, yellow, and red) according to logic instructions, enabling long-range, high-visibility alerts in drone inspection environments. The specific operating modes are as follows: When the line is de-energized, only the green indicator light illuminates and simultaneously emits an audible alarm; when the line is energized, the yellow indicator light and buzzer work in tandem; when the line is energized, a bright red LED and buzzer are triggered for a strong alert output; if there is no valid electrical signal input to the line, the module remains silent and does not generate any alerts. During the system's self-test function, the logic processing module simultaneously sets all three status instructions to valid, causing the green, yellow, and red audible and visual units to illuminate simultaneously and emit an audible alert. This verifies the integrity and reliability of the indicator lights, electroacoustic devices, and driving circuits, enabling multi-color visual alerts and audible and visual alarms based on status levels. It features visibility in strong light environments, long-distance sensing capability, and high reliability in complex scenarios.

[0069] Furthermore, such as Figure 6As shown, the UAV-mounted voltage detector of this invention consists of four main components: a UAV connecting shaft, a telescopic insulating rod, the voltage detector body, and contact electrodes. These components work together mechanically and through signal linkage to achieve accurate detection of the energized state of high-voltage lines and reliable signal transmission. The device can be adapted and assembled with a UAV robotic arm clamp, enabling stable mounting on the UAV platform and efficient deployment in various operational scenarios. The UAV connecting shaft, as the core coupling interface between the device and the UAV robotic arm, not only achieves stable mechanical docking with the UAV but also features multi-dimensional angle adjustment. Utilizing the shaft's attitude adaptability, the voltage detector can flexibly adjust its detection position according to the UAV's flight attitude, enabling remote non-contact / contact detection of high-voltage lines in the air, significantly improving the operational safety and scenario adaptability of high-voltage inspections. The telescopic insulating rod is made of high-strength composite insulating material with a surface treated for anti-slip and anti-fouling properties, possessing both excellent electrical insulation performance and mechanical load-bearing strength. It adopts a four-section telescopic structure design, adaptable to 110 kV and 330 kV power requirements. The safety operating clearance requirements for different voltage levels, such as kV, necessitate flexible adjustment of the rod length. This achieves both a lightweight design goal to accommodate UAV payload constraints and the ability to meet the high-voltage live-line testing needs across multiple voltage levels and scenarios. The electroscope body is the core functional module of the device. Its shell is made of flame-retardant engineering plastic in one piece and integrates five functional sub-modules: signal sampling, signal conditioning, microcontroller control, audible and visual alarm, and power management. After receiving the electric field induction signal collected by the contact electrode, this module sequentially completes signal amplification, rectification and filtering, analog-to-digital conversion, and logic discrimination processing. The output digital control signal can accurately trigger the audible and visual alarm module. The contact electrode is located at the front detection end of the device and is made of high-conductivity metal material. It is specifically designed to contact high-voltage conductors or equipment to capture effective electric field induction signals. Its structure has been optimized through electromagnetic simulation and can maintain good conductivity and anti-electromagnetic interference capabilities in complex high-voltage environments, ensuring the accuracy and long-term stability of the sampled signal. In summary, this voltage detector, through integration with a drone platform, achieves an intelligent upgrade and remote operation mode for live-line testing of high-voltage lines. The whole machine has technical features such as reasonable structural layout, safe and reliable operation, and excellent anti-interference performance. It is especially suitable for routine inspection of high-voltage transmission lines, real-time monitoring of live status, and auxiliary testing scenarios of smart grid systems.

[0070] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A live-line status perception and early warning system for power transmission lines applied to unmanned aerial vehicles (UAVs), characterized in that: It includes a multi-level live status recognition module, a microcontroller control system, a DC-DC module, a visual over-distance warning module, and a drone operation platform; The multi-level energized state identification module uses a signal sampling module to sample the voltage of overhead lines of different voltage levels under different states, and transmits the pre-processed data to the microcontroller control system. The microcontroller control system determines the energized state of the line based on the pre-processed signal. When it detects induced current or power frequency energized state, it triggers the DC-DC module to work. The DC-DC module is used to boost the input low voltage and increase its power to provide voltage energy for the visual over-distance prompting module; The visual over-distance prompting module constructs a multi-dimensional differential alarm system based on color coding and directional sound emission to distinguish and prompt different device states; The multi-level live status identification module, the single-chip microcomputer control system, the DC-DC module, and the visual over-distance prompting module are all integrated and packaged on the UAV operating platform.

2. The energized state perception and early warning system for power transmission lines applied to UAVs according to claim 1, characterized in that: The multi-level energized state identification module includes contact electrodes, a resistor network, a reverse parallel diode rectifier circuit, a transistor amplifier circuit, and a self-test button. The contact electrodes are used to acquire the voltage signal of the transmission line. The resistor network is used for safe voltage division of high-voltage signals; The reverse parallel diode rectifier circuit is used to convert the alternating voltage divider signal into a unidirectional pulsating signal. The transistor amplifier circuit performs voltage following and electrically isolates the sampling terminal and the control terminal, and outputs to the microcontroller control system. The self-test button is connected in parallel with the circuit and is used to manually trigger the test when there is no external signal to verify the function of the subsequent circuit.

3. The energized state perception and early warning system for power transmission lines applied to UAVs according to claim 2, characterized in that: The microcontroller control system includes a signal processing module. The signal processing module uses the ADC analog-to-digital converter module of the STM32 chip to digitize the sampled signal, compares the signal amplitude with the preset induced current threshold and the power frequency threshold, and outputs digital logic signals in three states: no power, induced current, or power frequency current. When the output signal is induced current or power frequency current, the signal processing module outputs a trigger signal to start the DC-DC module.

4. The energized state perception and early warning system for power transmission lines applied to UAVs according to claim 3, characterized in that: The preset threshold is set by simulating the characteristic data of the induced voltage of the target transmission line under typical operating conditions such as multiple circuits on the same tower using COMSOL Multiphysics or ANSYS Maxwell electromagnetic simulation software. The induced voltage threshold corresponds to the peak range of the induced voltage obtained from the simulation, and the power frequency threshold corresponds to the characteristic range of the rated voltage of the transmission line.

5. The energized state perception and early warning system for power transmission lines applied to UAVs according to claim 4, characterized in that: The DC-DC module includes an energy storage inductor, a power switching transistor, a freewheeling diode, an output filter capacitor, and a control chip.

6. The live-line status perception and early warning system for power transmission lines applied to UAVs according to claim 5, characterized in that: The visual over-distance prompting module includes a logic processing module and an audible and visual alarm module; The logic processing module is used to parse the status signals output by the microcontroller control system and drive the audible and visual alarm module. The audible and visual alarm module includes a green LED, a yellow LED, a red LED, and a buzzer. When there is no power, the green LED lights up; when there is induced power, the yellow LED and the buzzer work in tandem; when there is power frequency energization, the red LED and the buzzer provide a strong alert.

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