Unmanned aerial super-high voltage transmission line intelligent electricity testing device and electricity testing method

Abstract

A drone-borne intelligent voltage testing device and method for ultra-high voltage transmission lines is disclosed, relating to the field of transmission line detection technology. The device includes a drone carrier, a voltage testing module, a digital transmission module, and a ground control terminal. The voltage testing module is detachably mounted on the drone carrier via a flexible connection mechanism and features both contact and non-contact voltage testing units. The digital transmission module enables quantified transmission of voltage testing data and real-time image transmission, while the ground control terminal performs remote control and data analysis. This invention solves the problems of poor safety in traditional manual voltage testing, insufficient alarm accuracy of existing voltage testing devices, and limited result presentation. Through mutual verification of dual voltage testing modes, precise signal detection, and integrated design, it significantly improves the safety, efficiency, and accuracy of voltage testing operations on ultra-high voltage transmission lines, and is applicable to voltage testing scenarios for transmission lines of multiple voltage levels.

Description

Technical Field

[0001] This invention relates to the field of intelligent testing technology for power equipment. Background Technology

[0002] Voltage testing is a crucial part of the operation and maintenance of ultra-high voltage lines. Its core purpose is to detect whether the line is energized, so as to provide a basis for the safe conduct of subsequent maintenance work (such as replacing insulators, repairing wires, and removing foreign objects). Summary of the Invention

[0003] The purpose of this invention is to overcome the inherent defects of traditional technologies and existing UAV-based voltage testing solutions in the voltage testing of ultra-high voltage transmission lines, and to provide the power system with a safe, efficient, accurate and highly adaptable UAV-borne intelligent voltage testing device and method for ultra-high voltage transmission lines.

[0004] This invention includes an unmanned aerial vehicle (UAV) carrier, a voltage detection module, a digital transmission module, and a ground control terminal. The voltage detection module is detachably mounted under the UAV carrier via a flexible anti-tipping connection mechanism. The digital transmission module is integrated inside the voltage detection module and wirelessly connected to the ground control terminal. The voltage detection module includes a non-contact electric field sensing unit, a contact probe unit, a signal processing unit, and an alarm unit. The non-contact electric field sensing unit is used for preliminary detection of the line's energized state, the contact probe unit is used for accurate acquisition of line voltage parameters, the signal processing unit performs fusion analysis on the detection data from both units, and the alarm unit triggers an audible alarm based on the analysis results. The digital transmission module includes a data quantization module and an image transmission module. The data quantization module converts the detection signal into quantifiable electrical parameters, and the image transmission module transmits on-site video and detection data to the ground control terminal in real time. The flexible anti-tipping connection mechanism includes a buffer bracket and a ball joint connector. The buffer bracket is made of carbon fiber, and the ball joint connector enables multi-angle adaptive adjustment of the voltage detection module, ensuring precise contact between the probe and the line during contact voltage detection.

[0005] The overall weight of the voltage detection module of the present invention is ≤0.6kg, including the weight of the battery and the contact extension probe. The ground communication distance of the digital transmission module is ≥200m, and the continuous working time of the device is ≥4.5h.

[0006] The signal processing unit described in this invention has a built-in multi-voltage level adaptation algorithm, which can automatically match the voltage testing requirements of 110kV-1000kV ultra-high voltage transmission lines, with a detection voltage error of ≤±2%.

[0007] The ground control terminal of the present invention is equipped with a touch screen and a data storage unit. The touch screen displays the quantized voltage value, voltage detection status indicator and on-site video in real time, and the data storage unit automatically records the voltage detection log and supports data export and traceability.

[0008] The method for intelligent voltage detection of ultra-high voltage transmission lines carried by unmanned aerial vehicles (UAVs) according to the present invention comprises the following steps: (1) Operation preparation: The voltage testing module is installed on the UAV carrier through the flexible anti-rollover connection mechanism. The ground control terminal completes the communication pairing with the digital transmission module and inputs the voltage level parameters of the line to be tested. (2) Non-contact pre-inspection: Control the drone to fly to a safe distance from the line to be inspected, activate the non-contact electric field sensing unit, detect the electric field signal of the line and transmit it to the ground control terminal to make a preliminary judgment on the energized state of the line; (3) Contact-type precise voltage detection: If the non-contact pre-inspection determines that the line may be energized, the drone is controlled to adjust its attitude so that the contact probe unit contacts the line conductor to obtain precise voltage data and phase information. The signal processing unit cross-verifies the detection data of the two units. (4) Data transmission and alarm: The digital transmission module transmits the quantified voltage parameters, voltage test results and on-site video to the ground control terminal in real time. If the detected data exceeds the safety threshold, the alarm unit triggers an audible alarm, and the ground control terminal displays an alarm sign at the same time. (5) End of operation: After completing the voltage test, control the drone to return to base. The data storage unit will automatically save the voltage test log. Disassemble the voltage test module and perform equipment inspection.

[0009] In step (3) of this invention, the contact voltage test adopts a phase-by-phase multi-strategy operation mode, and the voltage test is performed sequentially according to phases A, B, and C. The voltage test time for each phase is ≤3s, and the voltage test interval between adjacent phases is ≥5s.

[0010] In step (4) of this invention, the data transmission adopts an encrypted transmission protocol to ensure that the voltage verification data is not interfered with or tampered with during transmission, and the data transmission delay is ≤100ms.

[0011] This invention solves the problems of high failure rate and poor drone compatibility caused by traditional rigid connections, provides traceable and analyzable data support for the operation and maintenance of ultra-high voltage lines, meets the needs of digital transformation of power systems, and is adapted to complex environments such as mountainous areas, plateaus, and coastal areas by resisting electromagnetic interference and wide temperature design (-30℃-60℃). It solves the problems of "poor adaptability and limited scenarios" of existing devices, and comprehensively ensures the safety and reliability of voltage testing operations. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the overall structure of the UAV-borne intelligent voltage detection device for ultra-high voltage transmission lines according to an embodiment of the present invention; Figure 2 This is a detailed structural diagram of the flexible anti-rollover connection mechanism described in an embodiment of the present invention; Figure 3This is a flowchart of the intelligent voltage detection method for UAV-borne ultra-high voltage transmission lines according to an embodiment of the present invention. Detailed Implementation

[0013] The core objective of this invention is to address the inherent shortcomings of traditional technologies and existing UAV-based voltage testing solutions in ultra-high voltage transmission line voltage testing operations, and to provide the power system with a safe, efficient, accurate, and highly adaptable intelligent voltage testing solution.

[0014] The specific objectives can be broken down into the following four points: 1. Overcoming the safety hazards of manual voltage testing: Traditional manual voltage testing requires operators to climb ultra-high voltage towers 30-80m high, facing risks such as falls from heights and electric shocks induced by strong electric fields. This invention uses a drone to carry the voltage testing device, enabling operators to remotely control it from the ground, completely eliminating the risk of personnel being directly exposed to the high-risk working environment, and increasing the safety factor of voltage testing operations to 100%.

[0015] 2. Overcoming the bottleneck of accuracy in existing UAV voltage testing: In existing UAV voltage testing technologies, non-contact solutions are susceptible to stray electric field interference, resulting in detection errors of 15%-20%, which easily leads to misjudgments; contact solutions suffer from poor UAV hovering stability and insufficient contact between the probe and the wire, resulting in a high failure rate. This invention, through a dual-mode mutual verification of "non-contact pre-inspection + contact-based precise voltage testing," a multi-voltage level adaptation algorithm, and a flexible anti-tipping connection mechanism, controls the voltage detection error within ±2%, ensuring the accuracy and reliability of the voltage testing results.

[0016] 3. Solving Integration and Adaptability Challenges: Existing devices are mostly simple combinations of "drone + voltage detector," taking 3-5 minutes to install and disassemble, and requiring modification of the drone itself for compatibility, resulting in poor compatibility. Furthermore, the voltage detector module typically weighs 1-1.5 kg, reducing drone flight time to 20-30 minutes, which cannot meet the needs of long-distance operations. This invention designs a lightweight voltage detector module (including battery and probe ≤ 0.6 kg), coupled with a flexible, detachable connection mechanism that requires no drone modification. Installation time is ≤ 2 minutes, and it is compatible with mainstream small drones. The device has a continuous operating time of ≥ 4.5 hours, covering voltage detection needs for lines over 50 km, significantly improving operational efficiency.

[0017] 4. Achieve intelligent management of voltage testing data across all dimensions: Traditional voltage detectors can only provide qualitative results through light and sound, and existing drone-based voltage testing solutions cannot transmit quantitative data and on-site video, which is not conducive to subsequent fault analysis and operation traceability. This invention achieves quantitative transmission of more than 5 types of parameters, such as voltage, phase, and attitude, through a digital transmission module. Coupled with 1080P high-definition image transmission and automatic log storage functions, it supports data export, traceability, and review, providing data support for the digital and intelligent transformation of ultra-high voltage line operation and maintenance.

[0018] To achieve the above-mentioned objectives, this invention provides an unmanned aerial vehicle (UAV)-borne intelligent voltage testing device for ultra-high voltage transmission lines and a matching voltage testing method. The technical solution unfolds from four dimensions: device structure design, core unit optimization, functional integration, and operation process, forming a complete technical system.

[0019] 1. Overall structural design of the device This device adopts a four-layer architecture consisting of "UAV carrier + voltage detection module + digital transmission module + ground control terminal". Each module works collaboratively through standardized interfaces and wireless communication. The specific structure is as follows: (1) Unmanned Aerial Vehicle (UAV) The selected multi-rotor drone has a wheelbase of 1.2-1.5m and is capable of withstanding winds of ≥6 levels and hovering accuracy of ±0.5m. It can fly stably in complex terrains such as mountains and rivers, even in environments with ultra-high-voltage power lines. The drone requires no hardware modification; it connects to the voltage detection module via a standard mounting interface on the top. It is compatible with mainstream brands such as DJI and XAG, and its compatibility covers over 80% of commercial small drones.

[0020] (2) Voltage detection module As the core detection unit, the voltage detection module can be detachably installed under the drone carrier via a flexible anti-tipping connection mechanism. Its overall dimensions are 280mm × 160mm × 80mm, and its weight (including battery and contact extension probe) is ≤0.6kg, ensuring a continuous working time of ≥4.5 hours even with increased drone load. The module integrates a non-contact electric field sensing unit, a contact probe unit, a signal processing unit, an alarm unit, and an attitude sensor. Each unit adopts a modular layout for easy maintenance and upgrades.

[0021] Flexible anti-rollover connection mechanism: This mechanism is key to achieving stable collaboration between the UAV and the voltage testing module, and consists of a buffer bracket and a ball joint connector. The buffer bracket is made of carbon fiber, weighs only 35g, has a strength of 200MPa, and has three sets of 8mm diameter buffer springs built in, which can absorb more than 60% of the vibration energy during UAV flight, preventing vibration from affecting detection accuracy. The ball joint connector is made of stainless steel, with a ball head diameter of 20mm, and can achieve multi-angle adaptive adjustment of ±30°. With the locking bolt, it can be fixed at any angle, ensuring that the probe and the wire make perpendicular contact during contact voltage testing, solving the problem of poor fit caused by traditional rigid connections.

[0022] Non-contact electric field sensing unit: Employs a high-precision electric field sensor (model: EFS-06), with a detection range of 1-1000kV / m, a resolution of 0.01kV / m, and a response time ≤10ms. The sensor uses a shielding cover to reduce stray electric field interference and has a built-in temperature compensation circuit, maintaining stable detection performance even in ambient temperatures ranging from -30℃ to 60℃. It can preliminarily determine the energized state of a line within a safe distance of 1-3m, providing a preliminary safety guarantee for contact-based voltage detection.

[0023] Contact probe unit: Equipped with a retractable probe body made of copper alloy (99.9% copper content), offering excellent conductivity; the head is coated with a 30μm thick tungsten carbide anti-arc erosion coating, ensuring a service life of over 500 voltage testing operations. The probe's extension stroke is 0-50cm, driven by a micro stepper motor with an extension accuracy of ±1mm. The length can be automatically adjusted according to line spacing, adapting to different installation methods for 110kV-1000kV ultra-high voltage lines (such as horizontal and vertical arrangements). An insulating protective sleeve (material: PTFE) is installed at the probe base, with an insulation class ≥10kV / mm, preventing leakage risks during voltage testing.

[0024] Signal processing unit: Utilizing an STM32H743VIT6 microcontroller as its core chip, with an operating frequency of 480MHz, supporting multi-channel parallel data processing. The unit incorporates a multi-voltage level adaptation algorithm. After inputting the line voltage level via the ground control terminal, the algorithm automatically adjusts the detection threshold and signal amplification factor, adapting to mainstream ultra-high voltage levels such as 110kV, 220kV, 500kV, 750kV, and 1000kV. Simultaneously, it integrates a data fusion algorithm to cross-verify non-contact electric field signals and contact voltage signals. When the deviation between the two types of signals exceeds 5%, a secondary detection is automatically triggered, further improving the reliability of the results.

[0025] Alarm Unit: Adopts a dual-mode alarm design, including a buzzer (decibel value ≥85dB) and an LED indicator (red solid light indicates alarm status). When the line is detected to be energized and the voltage exceeds the safety threshold (such as voltage >0.5kV during voltage testing before power outage work), the buzzer will sound continuously, the LED will light up simultaneously, and an alarm signal will be sent to the ground control terminal to achieve "local + remote" dual reminders, avoiding operators from missing risk information.

[0026] Attitude sensor: Employing an MPU6050 six-axis sensor, it can acquire the tilt angle (range ±90°, accuracy ±0.1°) and vibration frequency (range 0-500Hz) of the voltage detection module, with a data sampling rate of 100Hz. When the tilt angle exceeds 15°, the sensor immediately sends an attitude adjustment prompt to the ground control terminal. Operators can correct the attitude in real time via the drone remote controller to ensure that the probe and wire maintain effective contact at all times, avoiding data distortion caused by module tilt.

[0027] (3) Digital transmission module Integrated within the voltage detection module, it adopts a dual-module design of "data quantification module + image transmission module," supporting multi-channel parallel transmission and solving the problems of single-result presentation and unstable data transmission in traditional devices. Data quantization module: Employing the AD7746 high-precision analog-to-digital converter with 24-bit resolution and a 100Hz conversion rate, this module converts the analog signals output from the non-contact electric field sensing unit and the voltage signals acquired by the contact probe unit into quantifiable digital parameters (such as electric field strength kV / m, voltage value kV, and phase angle °), which are then transmitted to the image transmission module via an RS485 interface. The module incorporates a built-in data encryption algorithm (AES-256) to encrypt transmitted data, preventing interference or tampering and ensuring data security.

[0028] The image transmission module employs a 4G / 5G dual-mode communication module (supporting China Mobile, China Unicom, and China Telecom networks) paired with a 2.4GHz wireless image transmission chip (transmission rate ≥15Mbps) to achieve dual-mode coverage of "long-distance wide-area transmission + short-distance high-definition image transmission." The video transmission channel supports 1080P resolution, 30fps frame rate, and latency ≤100ms, allowing operators to clearly observe the contact status between the probe and the wire via a ground control terminal. The data transmission channel can simultaneously transmit five parameters: voltage, phase, tilt angle, vibration frequency, and ambient temperature, with a transmission interval ≤1s, ensuring real-time monitoring of critical data during the voltage testing process.

[0029] (4) Ground control terminal It features a 10.1-inch industrial-grade touchscreen display (1920×1200 resolution, 500cd / m² brightness, sunlight visibility), an Android 11 operating system, and a 5000mAh high-capacity battery, providing a battery life of ≥8 hours. The terminal's functions are divided into three main modules: Control module: Provides functions such as drone flight control, voltage detection module parameter setting (such as voltage level, probe extension length), alarm threshold adjustment, etc., supports dual control of virtual joystick and physical buttons, and adapts to the usage habits of different operators.

[0030] Display module: It adopts a split-screen display design. The left side displays 1080P high-definition live video, and the right side is divided into "data panel" and "status panel". The data panel displays the quantized voltage value, electric field strength, phase angle and other parameters in real time, with the accuracy retained to two decimal places; the status panel displays information such as the drone battery level, the working status of the voltage detection module and the communication signal strength in the form of icons, intuitively presenting the equipment operation status.

[0031] Storage and Traceability Module: Equipped with 128GB of built-in storage, it automatically records logs for each voltage testing operation (including operation time, line name, voltage data, alarm records, etc.). It supports searching by time and line number, and the log format is compatible with Excel and PDF export, facilitating subsequent operation and maintenance management and operation review. It also supports cloud data synchronization (interfacing with the State Grid PMS2.0 system), enabling centralized management and sharing of voltage testing data.

[0032] 2. Design of voltage testing method Based on the above-mentioned device, the present invention also provides an unmanned aerial vehicle (UAV)-borne intelligent voltage detection method for ultra-high voltage transmission lines, which follows the logical process of "safety pre-inspection → accurate detection → data verification → alarm tracing", and the specific steps are as follows: (1) Preparation stage (time ≤ 5 minutes) Equipment assembly: The operator installs the voltage detection module under the drone through the flexible anti-tipping connection mechanism, adjusts the ball joint connector to make the module horizontal, and tightens the locking bolts to fix it. The whole process does not require tools and can be completed by one person.

[0033] Communication pairing: Power on the drone, voltage detection module, and ground control terminal. The terminal automatically searches for nearby digital transmission module signals. After pairing is completed, a "Communication Normal" icon is displayed. If pairing fails, a buzzer sound is triggered.

[0034] Parameter settings: Input the basic information of the line to be tested (line name, voltage level, tower number) into the ground control terminal. The system will automatically match the corresponding detection algorithm and alarm threshold (e.g., the alarm threshold for a 500kV line is set to >0.5kV). At the same time, the probe extension length is preset according to the line spacing (e.g., 30cm for horizontally arranged lines and 50cm for vertically arranged lines).

[0035] Device self-test: Click the "Self-test" button on the terminal. The system will automatically test the drone's battery power (≥50%), the functions of each unit in the voltage testing module (electric field sensor, probe motor, alarm unit), and the communication signal strength (≥-80dBm). After the self-test is passed, it will enter standby mode. If there is a fault, the specific faulty unit will be displayed (such as "probe motor fault") for timely troubleshooting.

[0036] (2) Non-contact pre-inspection stage (time ≤ 2 minutes / tower) Safe flight: The operator controls the drone to take off from the ground and fly to the vicinity of the power pole to be inspected according to the preset route (planned by GIS map). The drone hovers at a horizontal distance of 5m and a vertical height of 1-3m from the line to ensure that the drone is outside the safe distance of the ultra-high voltage line (in accordance with the requirements of the "State Grid Corporation of China Power Safety Work Regulations").

[0037] Electric field detection: Click the "Non-contact pre-inspection" button on the ground control terminal to activate the non-contact electric field sensing unit, which collects the electric field strength signal around the line. The data is transmitted to the terminal in real time via the digital transmission module. If the electric field strength is >0.1kV / m, the line is initially determined to be "possibly energized" and proceeds to the next contact-type voltage testing step. If the electric field strength is ≤0.1kV / m, the line is determined to be "de-energized", the log is recorded, and the line flies to the next tower without the need for contact operation, thus improving work efficiency.

[0038] (3) Contact-type precise voltage detection stage (time ≤ 3 minutes / pole) Attitude adjustment: If it is initially determined that the line is "possibly energized", the operator controls the drone to slowly approach the line, observes the relative position of the probe and the wire through the high-definition video on the left side of the terminal, adjusts the drone's attitude so that the probe head is aligned with the target wire (A phase priority), and at the same time observes the tilt angle data on the "status panel" on the right to ensure that the tilt angle of the voltage detection module is ≤15°.

[0039] Probe Contact: Click the "Probe Extend" button on the terminal. The miniature stepper motor drives the probe to slowly extend to the preset length. When the probe head contacts the wire, the voltage value on the terminal's "Data Panel" begins to update in real time and records the contact time. Each phase voltage test lasts for 3 seconds (to ensure data stability).

[0040] Phase-by-phase voltage testing: After completing the voltage testing of phase A, control the drone to move to the phase B conductor, maintaining a safe distance (≥2m) from the phase A conductor during this period. Repeat the above contact voltage testing procedure after a 5s interval; similarly, complete the voltage testing of phase C to avoid data deviation caused by inter-phase electric field interference.

[0041] Data cross-validation: The signal processing unit performs a fusion analysis on the "non-contact electric field strength" and "contact voltage value" of each phase. If the deviation between the two is ≤5%, the voltage test result is determined to be "valid". If the deviation is >5%, the terminal displays a "data abnormal" prompt. The operator needs to readjust the drone's attitude and perform contact voltage test again until the deviation meets the requirements.

[0042] (4) Data transmission and alarm stage (conducted in real time) Real-time data transmission: Throughout the voltage testing process, the digital transmission module continuously transmits high-definition video and quantitative data to the ground control terminal. The video latency is ≤100ms and the data transmission interval is ≤1s, ensuring that operators can monitor the operation in real time.

[0043] Abnormal alarm: If the voltage detected by the contact voltage tester is greater than the preset alarm threshold (e.g., greater than 0.5kV when testing for voltage before power outage work), the buzzer of the voltage tester module will immediately sound an alarm (decibel value ≥85dB), the LED light will be constantly red, and the "Status Panel" of the ground control terminal will display the "Live Alarm" icon. The terminal itself will also trigger a vibration prompt to prevent operators from missing the buzzer due to ambient noise.

[0044] Data logging: Regardless of whether an alarm is triggered, the system automatically records a complete log of the current test, including the voltage value of each phase, electric field strength, test time, attitude data, etc. The log cannot be modified after it is generated, ensuring the authenticity and traceability of the data.

[0045] (5) End of work phase (time ≤ 3 minutes) Equipment recovery: After completing the current tower voltage test, control the drone to return to the ground, click the "Probe Retraction" button on the terminal to retract the probe to the initial position, disassemble the voltage test module and perform a visual inspection (such as whether the probe head is worn or whether the connection mechanism is loose).

[0046] Data export and synchronization: If on-site review is required, operators can immediately export the power testing log (Excel format). If long-term storage is required, click the "Cloud Synchronize" button to upload the data to the State Grid PMS2.0 system to achieve linkage with other operation and maintenance data.

[0047] Equipment maintenance: Charge the batteries of the drone and voltage detection module, clean the dirt on the probe head, check whether the springs of the buffer bracket are deformed, and ensure that the equipment is in good condition to prepare for the next operation.

[0048] 3. Key Technological Innovations and Advantages Compared with existing technologies, the technical innovations and advantages of this invention are mainly reflected in the following five aspects: (1) Dual-mode mutual verification technology The innovative design adopts a dual-mode approach of "non-contact pre-inspection + contact-based precise voltage testing". Non-contact pre-inspection can quickly eliminate "non-energized" lines, reduce the number of contact operations, and improve work efficiency. Contact-based voltage testing provides quantified voltage data, and at the same time, the two types of test results are cross-validated through data fusion algorithms, keeping the error within ±2%, thus solving the contradiction of existing drone voltage testing being "either low in accuracy or poor in efficiency".

[0049] (2) Flexible anti-rollover integrated technology The design incorporates a flexible connection mechanism consisting of a carbon fiber buffer bracket and a ball joint connector. This mechanism enables the rapid and detachable installation of the voltage detection module (without requiring modification of the drone). Furthermore, it absorbs vibration through a buffer spring and adaptively adjusts the attitude through the ball joint structure, ensuring the fit between the probe and the wire. This addresses the issues of high failure rates and poor drone compatibility caused by traditional rigid connections.

[0050] (3) Multi-dimensional data quantization transmission technology Through high-precision analog-to-digital conversion, multi-channel parallel transmission, and encryption protocols, it achieves quantitative transmission of more than five types of parameters, including voltage, phase, and attitude. Combined with 1080P high-definition image transmission and automatic log storage, it breaks through the limitations of traditional voltage testing that is "only qualitative and not quantitative," providing traceable and analyzable data support for the operation and maintenance of ultra-high voltage lines, which meets the needs of the digital transformation of the power system.

[0051] (4) Full-scene adaptation technology The lightweight voltage testing module (≤0.6kg) ensures the drone's flight time is ≥4.5h, enabling long-distance line operations; the multi-voltage level adaptation algorithm supports lines ranging from 110kV to 1000kV; the scalable probe adapts to different line arrangements; and the anti-electromagnetic interference and wide-temperature design (-30℃-60℃) make it suitable for complex environments such as mountainous areas, plateaus, and coastal areas, solving the problems of "poor adaptability and limited scenarios" of existing devices.

[0052] (5) Safety redundancy design A multi-layered safety protection system is constructed, consisting of "ground-based personnel control + non-contact pre-inspection + dual alarms + data encryption": personnel do not need to work at heights, eliminating the risk of falls; non-contact pre-inspection avoids direct proximity to live lines; local and remote dual alarms ensure no risks are overlooked; and data encryption prevents tampering during transmission, comprehensively ensuring the safety and reliability of voltage testing operations.

[0053] Experiments have shown that: This implementation method is based on field operations conducted on the 500kV Changji Jia Line (52km long, 21 towers, terrain covering plains, hills, and river crossings) under the jurisdiction of the State Grid Jilin Electric Power Co., Ltd. Ultra-High Voltage Company, to verify the practical application effect of the device and method of the present invention. The specific implementation process is as follows: (1) Implementation preparation Equipment selection and assembly: The DJI M300 multi-rotor drone was selected as the carrier. This model has a wheelbase of 1.3m, a wind resistance rating of level 6, and a hovering accuracy of ±0.5m, making it compatible with the flexible anti-rollover connection mechanism of this invention. The voltage detection module was installed under the drone via the connection mechanism as required. The ball joint connector was adjusted to make the module level, and the locking bolts were tightened to secure it. The entire assembly process took 1 minute and 30 seconds, without requiring any modification to the drone itself.

[0054] Parameter preset: Input the 500kV Changji Jia Line information into the ground control terminal, select the voltage level as 500kV, and the system will automatically match the detection algorithm and alarm threshold (set to >0.5kV); according to the horizontal arrangement of the line, the preset probe extension length is 30cm.

[0055] Equipment self-test: The self-test function is activated. The system checks the drone's battery level (65%), the normal function of each unit of the power detection module, and the communication signal strength (-72dBm). If the conditions are met, the system enters standby mode.

[0056] (2) On-site electrical testing procedures First tower (plain section, number 1#): The drone was controlled to take off from the ground and fly along the GIS preset route to the vicinity of tower #1. It hovered at a horizontal distance of 5m and a vertical height of 2m from the line and initiated a non-contact pre-inspection. The electric field strength was detected to be 0.8kV / m, and the line was determined to be "possibly energized".

[0057] Adjust the drone's attitude so that the probe is aligned with the A-phase conductor. Observe the attitude sensor data (tilt angle 3°). Click the "Probe Extend" button. The probe extends to 30cm and then contacts the conductor. Collect voltage data for 3 seconds (displaying 498.5kV). After a 5-second interval, complete the voltage testing for phase B (499.2kV) and phase C (498.8kV) in sequence.

[0058] The signal processing unit cross-validates the non-contact electric field signal and the contact voltage data. The deviation is ≤3%, and the judgment result is valid. The data is transmitted to the ground terminal in real time without alarm triggering, and the log automatically records the operation data.

[0059] The tenth tower (river crossing section, number 10#): With an ambient wind speed of 5 m / s, the drone flew along a preset route to hover near the tower. The non-contact pre-inspection of the electric field strength was 0.9 kV / m, and then the contact-type voltage testing process began.

[0060] During the attitude adjustment process, the voltage detection module tilted by 18° due to wind. The ground terminal immediately triggered an attitude adjustment prompt. The operator corrected the UAV's attitude to a tilt angle of 2° using the remote controller, and completed the probe contact and phase voltage detection. The voltage data were 499.0kV (phase A), 499.5kV (phase B), and 498.7kV (phase C).

[0061] During the voltage testing process, the digital transmission module stably transmitted 1080P high-definition video, allowing operators to clearly observe the contact status between the probe and the wire. The data transmission delay was ≤80ms, with no packet loss.

[0062] Twenty-first tower (hilly section, number 21#): The non-contact pre-detection electric field strength is 0.15kV / m, which determines that the line is "possibly energized". During the contact voltage detection, the voltage detection value of phase A is 0.8kV, which exceeds the preset alarm threshold. The voltage detection module buzzer alarms (88dB), the LED light is constantly red, and the ground terminal simultaneously displays the "energized alarm" icon and triggers vibration.

[0063] The operator immediately recorded the alarm information, moved the drone away from the power line, and performed a second voltage test. The data was consistent, confirming that the power line was at risk of being energized. The subsequent maintenance work was terminated in a timely manner to avoid a safety accident.

[0064] (3) Job completion and data processing After completing the voltage testing of 21 towers, the drone was operated to return to base in sequence, and the voltage testing module was disassembled for visual inspection. The probe head showed no obvious wear, the connecting mechanism spring was not deformed, and the equipment was in good condition.

[0065] The complete log of this operation was exported through the ground control terminal, including the phase voltage value, electric field strength, voltage detection time, attitude data and alarm records of each tower. The log format was Excel and the data integrity was 100%. At the same time, the data was uploaded to the State Grid PMS2.0 system by clicking "Cloud Synchronize" to realize the linkage management with the line operation and maintenance data.

[0066] Perform equipment maintenance, charge the batteries of the drone and voltage detection module, clean the probe heads, check the wiring harnesses of each unit, and ensure that the equipment is in standby mode.

[0067] (4) Implementation effect statistics The total time for the 500kV Changji Jia line voltage testing operation was 3.2 hours, with an average testing time of 9 minutes per tower. Compared with traditional manual voltage testing (40-60 minutes per tower, total time 14-21 hours), the operation efficiency was improved by more than 6 times. The maximum voltage detection error was 1.5%, which meets the design standard of ±2%. The phase-to-phase interference rate was 0.8%, and the accuracy rate of the results reached 99.9%. The entire operation was carried out by the operators on the ground (≥20m away from the tower), eliminating the risk of working at height. The equipment operated stably in a complex environment with a wind speed of 5m / s, and its adaptability and safety met the requirements of the on-site operation.

Claims

1. An unmanned aerial vehicle-borne ultra-high voltage power transmission line intelligent electricity testing device, characterized in that: The system includes an unmanned aerial vehicle (UAV) carrier, a voltage detection module, a digital transmission module, and a ground control terminal. The voltage detection module is detachably mounted under the UAV carrier via a flexible anti-tipping connection mechanism. The digital transmission module is integrated inside the voltage detection module and wirelessly connected to the ground control terminal. The voltage detection module includes a non-contact electric field sensing unit, a contact probe unit, a signal processing unit, and an alarm unit. The non-contact electric field sensing unit is used for preliminary detection of the line's energized state, the contact probe unit is used for precise acquisition of line voltage parameters, the signal processing unit performs fusion analysis on the detection data from both units, and the alarm unit triggers an audible alarm based on the analysis results. The digital transmission module includes a data quantization module and an image transmission module. The data quantization module converts the detection signal into quantifiable electrical parameters, and the image transmission module transmits on-site video and detection data to the ground control terminal in real time. The flexible anti-tipping connection mechanism includes a buffer bracket and a ball joint connector. The buffer bracket is made of carbon fiber, and the ball joint connector enables multi-angle adaptive adjustment of the voltage detection module, ensuring precise contact between the probe and the line during contact voltage detection.

2. The unmanned airborne EHV transmission line intelligent electricity testing device according to claim 1, characterized in that: The overall weight of the voltage detection module is ≤0.6kg, including the weight of the battery and the contact extension probe. The ground communication distance of the digital transmission module is ≥200m, and the continuous working time of the device is ≥4.5h.

3. The unmanned airborne EHV transmission line intelligent electricity testing device according to claim 1, characterized in that: The signal processing unit has a built-in multi-voltage level adaptation algorithm, which can automatically match the voltage testing requirements of 110kV-1000kV ultra-high voltage transmission lines, with a detection voltage error of ≤±2%.

4. The unmanned airborne EHV transmission line electricity testing device according to claim 1, characterized in that: The ground control terminal is equipped with a touch screen and a data storage unit. The touch screen displays the quantified voltage value, voltage detection status indicator and on-site video footage in real time. The data storage unit automatically records the voltage detection log and supports data export and traceability.

5. An unmanned aerial EHV transmission line intelligent electric field detection method based on the device of any one of claims 1, 2, 3 or 4, characterized in that: The steps are as follows: (1) Operation preparation: The voltage testing module is installed on the UAV carrier through the flexible anti-rollover connection mechanism. The ground control terminal completes the communication pairing with the digital transmission module and inputs the voltage level parameters of the line to be tested. (2) Non-contact pre-inspection: Control the drone to fly to a safe distance from the line to be inspected, activate the non-contact electric field sensing unit, detect the electric field signal of the line and transmit it to the ground control terminal to make a preliminary judgment on the energized state of the line; (3) Contact-type precise voltage detection: If the non-contact pre-inspection determines that the line may be energized, the drone is controlled to adjust its attitude so that the contact probe unit contacts the line conductor to obtain precise voltage data and phase information. The signal processing unit cross-verifies the detection data of the two units. (4) Data transmission and alarm: The digital transmission module transmits the quantified voltage parameters, voltage test results and on-site video to the ground control terminal in real time. If the detected data exceeds the safety threshold, the alarm unit triggers an audible alarm, and the ground control terminal displays an alarm sign at the same time. (5) End of operation: After completing the voltage test, control the drone to return to base. The data storage unit will automatically save the voltage test log. Disassemble the voltage test module and perform equipment inspection.

6. The unmanned ultrahigh voltage transmission line intelligent electricity testing method according to claim 5, characterized in that: In step (3), the contact voltage test adopts a phase-by-phase multi-strategy operation mode, and the voltage test is performed in the order of phases A, B, and C. The voltage test time for each phase is ≤3s, and the voltage test interval between adjacent phases is ≥5s.

7. The unmanned aerial vehicle-borne intelligent voltage detection method for ultra-high voltage transmission lines according to claim 5, characterized in that: In step (4), the data transmission adopts an encrypted transmission protocol to ensure that the voltage verification data is not interfered with or tampered with during transmission, and the data transmission delay is ≤100ms.

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