Power transmission channel inspection method and device based on asynchronous ad hoc network, equipment and medium

Abstract

This invention discloses a method, apparatus, equipment, and medium for power transmission channel inspection based on asynchronous self-organizing networks. The method comprises: a first UAV collecting data within a corresponding area according to inspection task instructions; if a second UAV is detected and its signal strength is greater than or equal to a link establishment threshold, then a network is established with the second UAV, and the data transmitted by the second UAV is received and stored; wherein the second UAV is adjacent to the first UAV but farther from the monitoring center; if a third UAV is detected and its signal strength is greater than or equal to the link establishment threshold, then a network is established with the third UAV, and the stored data is transmitted to the third UAV; wherein the third UAV is adjacent to the first UAV but closer to the monitoring center; if the first UAV is the closest UAV to the monitoring center, then the stored data is transmitted to the monitoring center for analysis. Therefore, by implementing this invention, the efficiency of power transmission channel inspection can be improved.

Description

Technical Field

[0001] This invention relates to the field of power system inspection and wireless ad hoc network technology, and in particular to a method, apparatus, equipment and medium for power transmission channel inspection based on asynchronous ad hoc network. Background Technology

[0002] In the field of high-voltage and ultra-high-voltage overhead power transmission, the safe and stable operation of transmission channels is the core guarantee for the reliable power supply of the power system. These transmission channels are usually characterized by long distances and traversing sparsely populated areas such as mountains and jungles. These areas generally suffer from weak or no communication signal coverage, which poses a great challenge to inspection work.

[0003] Current mainstream inspection and networking solutions have the following significant drawbacks: First, traditional manual inspections require inspectors to trek long distances through complex environments such as rugged terrain and dense vegetation, which not only consumes a large amount of manpower, material resources, and time, but also raises concerns about personal safety. Furthermore, inspection efficiency is low, making it difficult to conduct comprehensive and detailed inspections of long-distance transmission lines, easily overlooking potential safety hazards. Second, small aircraft have limited inspection ranges, and large aircraft generally rely on temporary leasing services, lacking systematic and regular operation. Faults may occur and worsen between inspections, making it impossible to detect potential dangers in a timely manner and affecting power transmission stability. Third, to overcome the shortcomings of irregular inspections, the routine deployment of drones for periodic inspections has become a trend. However, in complex areas with scarce infrastructure and poor signal coverage, sparsely deployed drones struggle to maintain continuous self-organizing networks, resulting in inspection information not being promptly collected at the monitoring center. This leads to problems of potential risks being "difficult to detect, late to detect, and slow to report," seriously affecting operational efficiency and safety. Fourth, while existing synchronous continuous self-organizing network solutions can guarantee network continuity and information transmission to a certain extent, they require the deployment of a large number of drone nodes to maintain network stability, resulting in high construction costs. At the same time, too many nodes will increase network complexity and communication resource requirements, and may reduce the quality and efficiency of information transmission in areas with poor signal coverage. Summary of the Invention

[0004] This invention provides a method, apparatus, equipment, and medium for power transmission channel inspection based on asynchronous self-organizing networks, which can improve the efficiency of power transmission channel inspection.

[0005] This invention provides a power transmission channel inspection method based on an asynchronous ad hoc network, applicable to a first unmanned aerial vehicle (UAV). The power transmission channel inspection method includes: Receive inspection task instructions generated based on the geographical information of the power transmission channel and the performance parameters of the UAV, and collect data in the corresponding area according to the inspection task instructions; If a second drone is detected during data acquisition, and the signal strength of the second drone is greater than or equal to a preset link establishment threshold, then a network is established with the second drone and a first communication window period is calculated. The data transmitted by the second drone within the first communication window period is received and stored. The second drone is a drone that is adjacent to the first drone but farther from the monitoring center. If a third drone is detected during data acquisition, and the signal strength of the third drone is greater than or equal to the link establishment threshold, then a network is established with the third drone and a second communication window period is calculated. During the second communication window period, the stored data is transmitted to the third drone. The third drone is a drone that is adjacent to the first drone and closer to the monitoring center. If the first drone is the drone closest to the monitoring center, the stored data will be transmitted to the monitoring center so that the monitoring center can analyze the data and generate inspection results; if the first drone is not the drone closest to the monitoring center, the collected and received data will be stored in the local storage device when the presence of the third drone is not detected.

[0006] This invention, through receiving inspection task instructions generated based on power transmission channel geographic information and UAV performance parameters and collecting data within the corresponding area, provides a data transmission foundation for subsequent UAV self-organizing networks. By networking with a second UAV when signal conditions are met and calculating the communication window period to receive its data, it can receive data stored by UAVs farther from the monitoring center. By networking with a third UAV when signal conditions are met and transmitting data to the third UAV, it can transmit its own stored data to UAVs closer to the monitoring center. By transmitting the stored data of the UAV closest to the monitoring center to the monitoring center, a chain-like relay transmission of inspection data from far to near can be completed. Compared to existing technologies that require the deployment of a large number of UAV nodes, this application can improve the efficiency of power transmission channel inspection.

[0007] Furthermore, after collecting data in the corresponding area according to the inspection task instruction, the method further includes: The collected data is stored in the first storage device of the first drone, and the data is subjected to feature recognition. Based on the feature recognition results, potential data in the data is marked. The first storage device is the local storage device of the first drone.

[0008] The embodiments of the present invention can achieve local preliminary processing of data by storing collected data and performing feature recognition and hazard marking, and provide a basis for subsequent priority transmission.

[0009] Further, the calculation of the first communication window period includes: The first real-time position and first flight speed of the first UAV, and the second real-time position and second flight speed of the second UAV are obtained; Calculate the current distance between the first drone and the second drone based on the first real-time location and the second real-time location; Calculate the relative speeds of the first UAV and the second UAV in the direction of the line connecting them, based on the first flight speed and the second flight speed. Based on the current distance, the relative speed, and the preset communication distance threshold, the time from the current moment until the distance between the first UAV and the second UAV reaches the communication distance threshold is calculated, and the time is determined as the first communication window period.

[0010] This invention calculates the communication window period based on real-time location, speed, and communication distance thresholds, enabling the assessment of the communication duration between UAVs and providing a time planning basis for data transmission.

[0011] Further, receiving and storing the data transmitted by the second UAV during the first communication window includes: Based on the first communication window period and the first communication bandwidth between the first UAV and the second UAV, calculate the first transmission data volume corresponding to the first communication window period; If the first amount of transmitted data is greater than or equal to the amount of data stored in the second storage device of the second UAV, then all data stored in the second storage device will be transmitted and stored in the first storage device; wherein, the second storage device is the local storage device of the second UAV. If the first amount of data to be transmitted is less than the amount of data stored in the second storage device, then all the potential data stored in the second storage device will be transmitted and stored in the first storage device in order of the severity of the potential risks, until the amount of data transmitted is equal to the first amount of data to be transmitted.

[0012] The embodiments of the present invention calculate the amount of data that can be transmitted based on the communication window period and bandwidth, and prioritize the transmission of data according to the severity of the hidden danger, thereby ensuring the priority transmission of hidden danger information under limited communication conditions.

[0013] Further, the calculation of the second communication window period includes: The first real-time position and first flight speed of the first UAV, and the third real-time position and third flight speed of the third UAV are obtained. Calculate the current distance between the first UAV and the third UAV based on the first real-time location and the third real-time location; Calculate the relative speeds of the first UAV and the third UAV in the direction of the line connecting them, based on the first flight speed and the third flight speed. Based on the current distance, the relative speed, and the preset communication distance threshold, the time from the current moment until the distance between the first UAV and the third UAV reaches the communication distance threshold is calculated, and the time is determined as the second communication window period.

[0014] This invention calculates the communication window period based on real-time location, speed, and communication distance thresholds, enabling the assessment of the communication duration between UAVs and providing a time planning basis for data transmission.

[0015] Further, transmitting the stored data to the third UAV during the second communication window includes: Based on the second communication window period and the second communication bandwidth between the first UAV and the third UAV, calculate the second transmission data volume corresponding to the second communication window period; If the second amount of transmitted data is greater than or equal to the amount of data stored in the first storage device, then all data stored in the first storage device will be transmitted and stored in the third storage device of the third UAV; wherein, the third storage device is the local storage device of the third UAV. If the second amount of data to be transmitted is less than the amount of data stored in the first storage device, then all the potential data stored in the first storage device will be transmitted and stored in the third storage device in order of the severity of the potential risks, until the amount of data transmitted is equal to the amount of data to be transmitted.

[0016] The embodiments of the present invention calculate the amount of data that can be transmitted based on the communication window period and bandwidth, and prioritize the transmission of data according to the severity of the hidden danger, thereby ensuring the priority transmission of hidden danger information under limited communication conditions.

[0017] Furthermore, the step of transmitting the stored data to the monitoring center includes: All data stored in the first storage device is transmitted to the ground control station corresponding to the first UAV, so that the ground control station transmits all data to the monitoring center via a wired communication link.

[0018] This invention transmits data from a ground control station to a monitoring center via a wired link, ensuring the reliability and security of the final data transmission through a stable wired connection.

[0019] Another embodiment of the present invention provides a power transmission channel inspection device based on an asynchronous self-organizing network, applicable to a first unmanned aerial vehicle (UAV). The power transmission channel inspection device includes: a data acquisition module, a first networking module, a second networking module, and a data analysis module. The data acquisition module is used to receive inspection task instructions generated based on the geographical information of the power transmission channel and the performance parameters of the UAV, and to collect data in the corresponding area according to the inspection task instructions. The first networking module is used to form a network with the second drone and calculate a first communication window period if a second drone is detected during data acquisition and the signal strength of the second drone is greater than or equal to a preset link establishment threshold, and to receive and store the data transmitted by the second drone within the first communication window period; wherein the second drone is a drone that is adjacent to the first drone and farther away from the monitoring center; The second networking module is used to form a network with the third drone and calculate a second communication window period if a third drone is detected during data acquisition and the signal strength of the third drone is greater than or equal to the link establishment threshold. During the second communication window period, the stored data is transmitted to the third drone. The third drone is a drone that is adjacent to the first drone and closer to the monitoring center. The data analysis module is used to transmit the stored data to the monitoring center if the first drone is the drone closest to the monitoring center, so that the monitoring center can analyze the data and generate inspection results; wherein, if the first drone is not the drone closest to the monitoring center, the collected and received data is stored in the local storage device when the existence of the third drone is not detected.

[0020] Another embodiment of the present invention provides a terminal device, including: a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor. When the processor executes the computer program, it implements the steps of the transmission channel inspection method based on asynchronous self-organizing network of the present invention.

[0021] Another embodiment of the present invention also provides a computer-readable storage medium item, including: a stored computer program, which, when the computer program is running, controls the device where the computer-readable storage medium is located to perform the steps of a transmission channel inspection method based on an asynchronous self-organizing network as described in the present invention. Attached Figure Description

[0022] Figure 1 This is a flowchart illustrating an embodiment of the power transmission channel inspection method based on asynchronous self-organizing network provided by the present invention. Figure 2This is a flowchart illustrating another embodiment of the power transmission channel inspection method based on asynchronous self-organizing network provided by the present invention. Figure 3 This is a flowchart illustrating another embodiment of the power transmission channel inspection method based on asynchronous self-organizing network provided by the present invention. Figure 4 This is a schematic diagram of the structure of an embodiment of the power transmission channel inspection system based on asynchronous self-organizing network provided by the present invention; Figure 5 This is a schematic diagram of one embodiment of the power transmission channel inspection device based on asynchronous self-organizing network provided by the present invention. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0024] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0025] In the description of the embodiments of this application, technical terms such as "first" and "second" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly defined.

[0026] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0027] In the description of the embodiments in this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0028] In the description of the embodiments of this application, the term "multiple" refers to two or more (including two), similarly, "multiple sets" refers to two or more (including two sets), and "multiple pieces" refers to two or more (including two pieces).

[0029] See Figure 1 To address the problem of requiring the deployment of a large number of drone nodes in existing technologies, an embodiment of the present invention provides a transmission channel inspection method based on an asynchronous self-organizing network, applicable to a first drone. The transmission channel inspection method includes steps S101 to S104: Step S101: Receive the inspection task instruction generated based on the geographical information of the power transmission channel and the performance parameters of the UAV, and collect data in the corresponding area according to the inspection task instruction.

[0030] It should be noted that receiving inspection task instructions generated based on the geographical information of the power transmission channel and the performance parameters of the UAV, and collecting data in the corresponding area according to the inspection task instructions, means that the UAV system pre-generates inspection task instructions for each UAV node based on the route, length, terrain features of the power transmission line, and performance parameters such as the UAV's endurance, flight speed, and communication distance. These instructions include the inspection route, take-off and landing locations, inspection cycle, and flight altitude for different locations. The flight altitude can be determined using a terrain complexity function. Dynamic adjustments are made to ensure that each UAV node can balance comprehensive inspection and image acquisition clarity. Under the control of the ground station, multiple UAV nodes autonomously fly to the inspection area according to the flight path and operation sequence in the inspection mission instructions, and use onboard visible light, infrared or lidar and other detection equipment to conduct comprehensive monitoring of things such as broken conductor strands, tilted towers, obstacles in passages, geological hazards or surrounding construction.

[0031] Preferably, after collecting data in the corresponding area according to the inspection task instruction, the method further includes: The collected data is stored in the first storage device of the first drone, and the data is subjected to feature recognition. Based on the feature recognition results, potential data in the data is marked. The first storage device is the local storage device of the first drone.

[0032] Specifically, the drone flies autonomously along a planned route without networking with other drones. Its onboard intelligent processing module performs preliminary processing on the collected information, using specific algorithms to identify and mark potential hazards. For example, it uses image feature extraction algorithms to identify broken strands in conductors, calculates the feature difference between the collected image and a standard image, and determines the collected image as a potential hazard when the feature difference exceeds a preset threshold.

[0033] Furthermore, the data collected by the drone node is stored on a local storage device to ensure that the data is not lost. At the same time, it is sent to the directly connected ground control station through a self-organizing network device. If there is a wired link between the directly connected ground control station and the monitoring center, the drone node deletes the data that has been successfully transmitted on the local storage device.

[0034] In particular, each drone node is equipped with a high-performance storage device, and the capacity of each storage device should be twice the amount of data that the corresponding drone is expected to collect during each inspection, to ensure sufficient storage of inspection information within a certain period.

[0035] Step S102: If a second drone is detected during data acquisition, and the signal strength of the second drone is greater than or equal to a preset link establishment threshold, then network with the second drone and calculate a first communication window period, receive and store the data transmitted by the second drone within the first communication window period; wherein, the second drone is a drone that is adjacent to the first drone and farther away from the monitoring center.

[0036] It should be noted that if a second drone is detected during data collection, and the signal strength of the second drone is greater than or equal to a preset link establishment threshold, then the drone will establish a network with the second drone and calculate a first communication window period. Receiving and storing the data transmitted by the second drone within the first communication window period means that the drone continuously monitors the signal strength of other drones during the inspection process. When it identifies a drone (i.e., the second drone) that is farther away from the monitoring center and whose signal strength reaches the threshold for establishing a stable communication link, it automatically establishes a link and network with the second drone, forming a temporary self-organizing network link. Subsequently, based on the real-time position, flight speed and heading of both parties, as well as the preset communication distance threshold, the estimated duration for which the two parties maintain effective communication is calculated, i.e., the first communication window period. Within the first communication window period, the first drone receives the inspection data it has collected from the second drone and stores the data in its local storage device, thereby realizing the relay aggregation of inspection data between drones and expanding the data coverage of a single inspection.

[0037] Preferably, the calculation of the first communication window period includes: The first real-time position and first flight speed of the first UAV, and the second real-time position and second flight speed of the second UAV are obtained; Calculate the current distance between the first drone and the second drone based on the first real-time location and the second real-time location; Calculate the relative speeds of the first UAV and the second UAV in the direction of the line connecting them, based on the first flight speed and the second flight speed. Based on the current distance, the relative speed, and the preset communication distance threshold, the time from the current moment until the distance between the first UAV and the second UAV reaches the communication distance threshold is calculated, and the time is determined as the first communication window period.

[0038] In one embodiment, suppose the first UAV and the second UAV are flying towards each other, and the distance between them when the signal strength reaches the link establishment threshold is . The relative speed between the two is The preset communication distance threshold is The first communication window period is The communication distance threshold is set based on the drone's signal coverage and communication capabilities.

[0039] Preferably, receiving and storing the data transmitted by the second UAV during the first communication window includes: Based on the first communication window period and the first communication bandwidth between the first UAV and the second UAV, calculate the first transmission data volume corresponding to the first communication window period; If the first amount of transmitted data is greater than or equal to the amount of data stored in the second storage device of the second UAV, then all data stored in the second storage device will be transmitted and stored in the first storage device; wherein, the second storage device is the local storage device of the second UAV. If the first amount of data to be transmitted is less than the amount of data stored in the second storage device, then all the potential data stored in the second storage device will be transmitted and stored in the first storage device in order of the severity of the potential risks, until the amount of data transmitted is equal to the first amount of data to be transmitted.

[0040] In one embodiment, the first communication bandwidth is set to... The first communication window period is The first transmitted data volume is .

[0041] Specifically, due to the massive amount of video data from real-time monitoring, and given the limited link bandwidth, priority is given to transmitting potential hazard information, which is assessed using a hazard severity evaluation function. calculate Value, by Values ​​are sorted from largest to smallest and transmitted. When bandwidth is sufficient, in addition to ensuring that the accumulated inspection data can be transmitted within the window period, the remaining bandwidth is used to transmit real-time monitoring video at an appropriate frame rate. When bandwidth is limited, while prioritizing the transmission of data indicating potential hazards, low frame rate video or still images are transmitted within the remaining bandwidth.

[0042] Step S103: If a third UAV is detected during data acquisition, and the signal strength of the third UAV is greater than or equal to the link establishment threshold, then network with the third UAV and calculate the second communication window period. During the second communication window period, the stored data is transmitted to the third UAV. The third UAV is a UAV that is adjacent to the first UAV and closer to the monitoring center.

[0043] It should be noted that if a third drone is detected during data collection, and the signal strength of the third drone is greater than or equal to the link establishment threshold, then a network is established with the third drone and a second communication window period is calculated. Transmitting the stored data to the third drone within the second communication window period means that the drone continuously monitors the signal strength of other drones during the inspection process. When it identifies a drone closer to the monitoring center (i.e., the third drone) whose signal strength reaches the threshold for establishing a stable communication link, it automatically establishes a link and network with the third drone, forming a temporary self-organizing network link. Subsequently, based on the real-time positions, flight speeds, and headings of both drones, as well as the preset communication distance threshold, the estimated duration for which they maintain effective communication is calculated, i.e., the second communication window period. Within the second communication window period, the third drone receives the inspection data it has collected from the first drone and stores this data in its local storage device, thereby realizing the relay aggregation of inspection data between drones and expanding the data coverage of a single inspection.

[0044] Preferably, the calculation of the second communication window period includes: The first real-time position and first flight speed of the first UAV, and the third real-time position and third flight speed of the third UAV are obtained. Calculate the current distance between the first UAV and the third UAV based on the first real-time location and the third real-time location; Calculate the relative speeds of the first UAV and the third UAV in the direction of the line connecting them, based on the first flight speed and the third flight speed. Based on the current distance, the relative speed, and the preset communication distance threshold, the time from the current moment until the distance between the first UAV and the third UAV reaches the communication distance threshold is calculated, and the time is determined as the second communication window period.

[0045] Preferably, transmitting the stored data to the third UAV during the second communication window includes: Based on the second communication window period and the second communication bandwidth between the first UAV and the third UAV, calculate the second transmission data volume corresponding to the second communication window period; If the second amount of transmitted data is greater than or equal to the amount of data stored in the first storage device, then all data stored in the first storage device will be transmitted and stored in the third storage device of the third UAV; wherein, the third storage device is the local storage device of the third UAV. If the second amount of data to be transmitted is less than the amount of data stored in the first storage device, then all the potential data stored in the first storage device will be transmitted and stored in the third storage device in order of the severity of the potential risks, until the amount of data transmitted is equal to the amount of data to be transmitted.

[0046] Step S104: If the first drone is the drone closest to the monitoring center, the stored data is transmitted to the monitoring center so that the monitoring center can analyze the data and generate inspection results; if the first drone is not the drone closest to the monitoring center, the collected and received data is stored in the local storage device when the existence of the third drone is not detected.

[0047] It should be noted that if the first drone is the closest drone to the monitoring center, then transmitting the stored data to the monitoring center so that the monitoring center can analyze the data and generate inspection results means that the drone closest to the monitoring center, through its directly connected ground control station, packages and transmits all inspection data stored in its local memory, including its own collected data and any data it may receive from the upstream second drone, to the monitoring center. After receiving the complete data packet, the monitoring center calls data analysis algorithms to perform fusion processing, hazard identification, and status assessment on the multi-source heterogeneous data, and automatically generates standardized power transmission channel inspection results, thereby completing the closed loop of this inspection task.

[0048] Preferably, transmitting the stored data to the monitoring center includes: All data stored in the first storage device is transmitted to the ground control station corresponding to the first UAV, so that the ground control station transmits all data to the monitoring center via a wired communication link.

[0049] In one embodiment, a complete power transmission channel inspection task is as follows: Figure 2 As shown, let Figure 2 Drone 1 in the text is the first drone. Figure 2Drone 2 in the text is the second drone, and the first drone is located away from the monitoring center (i.e. Figure 2 The control center is located near the first drone. The first drone transmits its own collected data and data received when networking with the second drone to the monitoring center via fiber optic cable connecting its direct connection to the ground control station and the monitoring center. The data received when networking with the second drone includes data collected by the second drone itself and data from drones adjacent to it but further from the monitoring center (i.e.,...). Figure 2 The data received by UAV 3 when it forms a network; similarly, the data transmitted by UAV 3 when it forms a network also includes the data collected by itself and the data transmitted from each UAV that is farther away from the monitoring center.

[0050] Specifically, the monitoring center can manually review the received hazard data. For hazard types that are difficult to determine directly through manual review, multi-dimensional data can be integrated for cross-analysis, including image feature comparison, historical record queries, and real-time sensor feedback, to ensure the accuracy of hazard identification results and the reliability of judgment, minimizing false alarms, missed alarms, or omissions of critical issues. For example, for the degree of tower tilt, high-definition images taken from multiple angles can be combined with triangulation principles and data analysis algorithms for precise calculation and auxiliary judgment.

[0051] In one embodiment, after receiving the inspection data, the monitoring center can integrate the high-definition video stream, visible light and infrared images, high-precision geographical location information and various airborne sensor parameters collected by the UAV according to the multi-source heterogeneous data fusion algorithm, construct a three-dimensional digital status model of the power transmission channel, and identify subtle deformations, appearance abnormalities and potential operational risks of the equipment through spatiotemporal sequence comparison and analysis.

[0052] In one embodiment, the monitoring center, based on the fused multimodal data, can automatically trigger tiered early warnings by combining preset transmission line safety operation thresholds and a historical fault case library: for emergency hazards (such as conductor breakage or severe tower tilt), real-time audible and visual alarms are pushed to the mobile maintenance terminal; for general hazards (such as insulator surface contamination or bird nest construction), a periodic inspection task list is generated, and maintenance personnel are assisted in formulating differentiated handling strategies and maintenance plans.

[0053] In one embodiment, the monitoring center can use image recognition technology to automatically analyze video and image data, identify potentially overlooked equipment anomalies, and immediately trigger an alarm and generate a detailed report containing location, type, and level once a problem is detected, so as to promptly notify maintenance personnel to follow up and handle the issue.

[0054] In one embodiment, the monitoring center can establish a standardized historical data management system to classify, store, and archive the raw data, algorithm processing results, and manual review records generated during the inspection process. It supports multi-condition retrieval and statistical analysis by time (monthly, quarterly), space (tower number, line section), and hazard type, providing systematic data support for power transmission channel health status assessment, life prediction, and power grid planning optimization.

[0055] This invention, through receiving inspection task instructions generated based on power transmission channel geographic information and UAV performance parameters and collecting data within the corresponding area, provides a data transmission foundation for subsequent UAV self-organizing networks. By networking with a second UAV when signal conditions are met and calculating the communication window period to receive its data, it can receive data stored by UAVs farther from the monitoring center. By networking with a third UAV when signal conditions are met and transmitting data to the third UAV, it can transmit its own stored data to UAVs closer to the monitoring center. By transmitting the stored data of the UAV closest to the monitoring center to the monitoring center, a chain-like relay transmission of inspection data from far to near can be completed. Compared to existing technologies that require the deployment of a large number of UAV nodes, this application can improve the efficiency of power transmission channel inspection.

[0056] Optionally, in this embodiment of the invention, after data collection is performed in the corresponding area according to the inspection task instruction, the method further includes: The collected data is stored in the first storage device of the first drone, and the data is subjected to feature recognition. Based on the feature recognition results, potential data in the data is marked. The first storage device is the local storage device of the first drone.

[0057] The embodiments of the present invention can achieve local preliminary processing of data by storing collected data and performing feature recognition and hazard marking, and provide a basis for subsequent priority transmission.

[0058] Optionally, in this embodiment of the invention, calculating the first communication window period includes: The first real-time position and first flight speed of the first UAV, and the second real-time position and second flight speed of the second UAV are obtained; Calculate the current distance between the first drone and the second drone based on the first real-time location and the second real-time location; Calculate the relative speeds of the first UAV and the second UAV in the direction of the line connecting them, based on the first flight speed and the second flight speed. Based on the current distance, the relative speed, and the preset communication distance threshold, the time from the current moment until the distance between the first UAV and the second UAV reaches the communication distance threshold is calculated, and the time is determined as the first communication window period.

[0059] This invention calculates the communication window period based on real-time location, speed, and communication distance thresholds, enabling the assessment of the communication duration between UAVs and providing a time planning basis for data transmission.

[0060] Optionally, in this embodiment of the invention, receiving and storing the data transmitted by the second UAV during the first communication window includes: Based on the first communication window period and the first communication bandwidth between the first UAV and the second UAV, calculate the first transmission data volume corresponding to the first communication window period; If the first amount of transmitted data is greater than or equal to the amount of data stored in the second storage device of the second UAV, then all data stored in the second storage device will be transmitted and stored in the first storage device; wherein, the second storage device is the local storage device of the second UAV. If the first amount of data to be transmitted is less than the amount of data stored in the second storage device, then all the potential data stored in the second storage device will be transmitted and stored in the first storage device in order of the severity of the potential risks, until the amount of data transmitted is equal to the first amount of data to be transmitted.

[0061] The embodiments of the present invention calculate the amount of data that can be transmitted based on the communication window period and bandwidth, and prioritize the transmission of data according to the severity of the hidden danger, thereby ensuring the priority transmission of hidden danger information under limited communication conditions.

[0062] Optionally, in this embodiment of the invention, calculating the second communication window period includes: The first real-time position and first flight speed of the first UAV, and the third real-time position and third flight speed of the third UAV are obtained. Calculate the current distance between the first UAV and the third UAV based on the first real-time location and the third real-time location; Calculate the relative speeds of the first UAV and the third UAV in the direction of the line connecting them, based on the first flight speed and the third flight speed. Based on the current distance, the relative speed, and the preset communication distance threshold, the time from the current moment until the distance between the first UAV and the third UAV reaches the communication distance threshold is calculated, and the time is determined as the second communication window period.

[0063] This invention calculates the communication window period based on real-time location, speed, and communication distance thresholds, enabling the assessment of the communication duration between UAVs and providing a time planning basis for data transmission.

[0064] Optionally, in this embodiment of the invention, transmitting the stored data to the third UAV during the second communication window includes: Based on the second communication window period and the second communication bandwidth between the first UAV and the third UAV, calculate the second transmission data volume corresponding to the second communication window period; If the second amount of transmitted data is greater than or equal to the amount of data stored in the first storage device, then all data stored in the first storage device will be transmitted and stored in the third storage device of the third UAV; wherein, the third storage device is the local storage device of the third UAV. If the second amount of data to be transmitted is less than the amount of data stored in the first storage device, then all the potential data stored in the first storage device will be transmitted and stored in the third storage device in order of the severity of the potential risks, until the amount of data transmitted is equal to the amount of data to be transmitted.

[0065] The embodiments of the present invention calculate the amount of data that can be transmitted based on the communication window period and bandwidth, and prioritize the transmission of data according to the severity of the hidden danger, thereby ensuring the priority transmission of hidden danger information under limited communication conditions.

[0066] Optionally, in this embodiment of the invention, transmitting the stored data to the monitoring center includes: All data stored in the first storage device is transmitted to the ground control station corresponding to the first UAV, so that the ground control station transmits all data to the monitoring center via a wired communication link.

[0067] This invention transmits data from a ground control station to a monitoring center via a wired link, ensuring the reliability and security of the final data transmission through a stable wired connection.

[0068] like Figure 3 As shown, based on the above-mentioned method embodiments, another embodiment of the transmission channel inspection method based on asynchronous self-organizing network is provided, including steps S1 to S3; Step S1: The drone collects data and stores it locally. The stored data is initially identified using a lightweight model. Potential hazards in the stored data are marked, and the transmission order of the stored data is determined according to the degree of hazard. Step S1 is equivalent to step S101.

[0069] Step S2: When the networking conditions are met among the drones, the data stored by each drone is transmitted from farthest to nearest according to its distance from the monitoring center; wherein, executing step S2 is equivalent to executing steps S102 and S103.

[0070] Step S3: The drone closest to the monitoring center transmits all its collected data and relay data back to the monitoring center. The monitoring center integrates the data, performs manual review and algorithm verification, and generates an inspection report. Executing step S3 is equivalent to executing step S104.

[0071] This invention enables relay-chain propagation of inspection data through UAV networking, which can improve the overall process efficiency of power transmission channel inspection and ensure the stability of information transmission in complex environments.

[0072] like Figure 4 As shown, based on the above-described method embodiments, an embodiment of a power transmission channel inspection system based on an asynchronous self-organizing network is provided, including a resonant self-organizing network system and a monitoring center. The resonant self-organizing network system consists of multiple UAV nodes and corresponding ground control stations, with some ground control stations connected to the monitoring center via fiber optic links. Each UAV node includes a switch, sensors, self-organizing network devices, storage devices, and computing devices. Each ground control station includes a switch, satellite communication, self-organizing network devices, storage devices, control devices, and optical port devices. The monitoring center includes a switch, satellite communication, a computing server, storage devices, monitoring devices, and optical port devices. The UAV nodes can execute steps S101 to S103, the ground control station can execute the action of "transmitting the stored data to the monitoring center" in step S104, and the monitoring center can execute the action of "analyzing the data and generating inspection results" in step S104.

[0073] The embodiments of the present invention, through asynchronous resonant networking and chain relay mechanism, can reduce the number of UAV nodes for power transmission channel inspection and lower construction costs without significantly reducing information transmission speed and latency.

[0074] like Figure 5 As shown, based on the above method embodiments, corresponding apparatus embodiments are provided; An embodiment of the present invention provides a power transmission channel inspection device based on an asynchronous self-organizing network, applicable to a first unmanned aerial vehicle (UAV). The power transmission channel inspection device includes: a data acquisition module 501, a first networking module 502, a second networking module 503, and a data analysis module 504. The data acquisition module 501 is used to receive inspection task instructions generated based on the geographical information of the power transmission channel and the performance parameters of the UAV, and to collect data in the corresponding area according to the inspection task instructions. The first networking module 502 is used to form a network with the second drone and calculate a first communication window period if the presence of a second drone is detected during data acquisition and the signal strength of the second drone is greater than or equal to a preset link establishment threshold, and to receive and store the data transmitted by the second drone within the first communication window period; wherein, the second drone is a drone that is adjacent to the first drone and farther away from the monitoring center; The second networking module 503 is used to form a network with the third drone and calculate a second communication window period if a third drone is detected during data acquisition and the signal strength of the third drone is greater than or equal to the link establishment threshold. During the second communication window period, the stored data is transmitted to the third drone. The third drone is a drone that is adjacent to the first drone and closer to the monitoring center. The data analysis module 504 is used to transmit the stored data to the monitoring center if the first drone is the drone closest to the monitoring center, so that the monitoring center can analyze the data and generate inspection results; wherein, if the first drone is not the drone closest to the monitoring center, the collected and received data is stored in the local storage device when the existence of the third drone is not detected.

[0075] Optionally, in this embodiment of the invention, a data storage submodule is further included after the data acquisition module 501; The data storage submodule is used to store the collected data in the first storage device of the first UAV, and to perform feature recognition on the data, and mark the potential data in the data according to the feature recognition results; wherein, the first storage device is the local storage device of the first UAV.

[0076] The embodiments of the present invention can achieve local preliminary processing of data by storing collected data and performing feature recognition and hazard marking, and provide a basis for subsequent priority transmission.

[0077] Optionally, in this embodiment of the invention, the first networking module 502 includes: a first parameter acquisition submodule, a first distance calculation submodule, a first speed calculation submodule, and a first communication window period submodule; The first parameter acquisition submodule is used to acquire the first real-time position and first flight speed of the first UAV, and the second real-time position and second flight speed of the second UAV; The first distance calculation submodule is used to calculate the current distance between the first UAV and the second UAV based on the first real-time location and the second real-time location; The first speed calculation submodule is used to calculate the relative speed between the first UAV and the second UAV in the direction of the line connecting them, based on the first flight speed and the second flight speed. The first communication window submodule is used to calculate the time from the current moment until the distance between the first UAV and the second UAV reaches the communication distance threshold based on the current distance, the relative speed and the preset communication distance threshold, and to determine the time as the first communication window period.

[0078] This invention calculates the communication window period based on real-time location, speed, and communication distance thresholds, enabling the assessment of the communication duration between UAVs and providing a time planning basis for data transmission.

[0079] Optionally, in this embodiment of the invention, the first networking module 502 further includes: a first data transmission quantum module, a first data transmission submodule, and a second data transmission submodule; The first data transmission quantum module is used to calculate the first data transmission amount corresponding to the first communication window period based on the first communication window period and the first communication bandwidth between the first UAV and the second UAV. The first data transmission submodule is configured to transmit all data stored in the second storage device and store it in the first storage device if the first transmitted data volume is greater than or equal to the data volume stored in the second storage device of the second UAV; wherein the second storage device is the local storage device of the second UAV. The second data transmission submodule is used to transmit and store all the potential data stored in the second storage device to the first storage device in order of the severity of the potential risks if the first data transmission volume is less than the data volume stored in the second storage device, until the data transmission volume is equal to the first data transmission volume.

[0080] The embodiments of the present invention calculate the amount of data that can be transmitted based on the communication window period and bandwidth, and prioritize the transmission of data according to the severity of the hidden danger, thereby ensuring the priority transmission of hidden danger information under limited communication conditions.

[0081] Optionally, in this embodiment of the invention, the second networking module 503 includes: a second parameter acquisition submodule, a second distance calculation submodule, a second speed calculation submodule, and a second communication window period submodule; The second parameter acquisition submodule is used to acquire the first real-time position and first flight speed of the first UAV, and the third real-time position and third flight speed of the third UAV; The second distance calculation submodule is used to calculate the current distance between the first UAV and the third UAV based on the first real-time location and the third real-time location; The second speed calculation submodule is used to calculate the relative speed between the first UAV and the third UAV in the direction of the line connecting them, based on the first flight speed and the third flight speed. The second communication window submodule is used to calculate the time from the current moment until the distance between the first UAV and the third UAV reaches the communication distance threshold based on the current distance, the relative speed and the preset communication distance threshold, and to determine the time as the second communication window period.

[0082] This invention calculates the communication window period based on real-time location, speed, and communication distance thresholds, enabling the assessment of the communication duration between UAVs and providing a time planning basis for data transmission.

[0083] Optionally, in this embodiment of the invention, the second networking module 503 further includes: a second data transmission quantum module, a third data transmission submodule, and a fourth data transmission submodule; The second data transmission quantum module is used to calculate the second data transmission amount corresponding to the second communication window period based on the second communication window period and the second communication bandwidth between the first UAV and the third UAV. The third data transmission submodule is configured to, if the second data transmission volume is greater than or equal to the data volume stored in the first storage device, transmit all data stored in the first storage device and store it in the third storage device of the third UAV; wherein, the third storage device is the local storage device of the third UAV; The fourth data transmission submodule is used to transmit and store all the potential data stored in the first storage device to the third storage device in order of the severity of the potential risks if the second data transmission volume is less than the data volume stored in the first storage device, until the data transmission volume is equal to the second data transmission volume.

[0084] The embodiments of the present invention calculate the amount of data that can be transmitted based on the communication window period and bandwidth, and prioritize the transmission of data according to the severity of the hidden danger, thereby ensuring the priority transmission of hidden danger information under limited communication conditions.

[0085] Optionally, in this embodiment of the invention, the data analysis module 504 includes: a data feedback submodule; The data backhaul submodule is used to transmit all data stored in the first storage device to the ground control station corresponding to the first UAV, so that the ground control station transmits all data to the monitoring center through a wired communication link.

[0086] This invention transmits data from a ground control station to a monitoring center via a wired link, ensuring the reliability and security of the final data transmission through a stable wired connection.

[0087] It is understood that the above-described device embodiments correspond to the method embodiments of the present invention, and can implement the transmission channel inspection method based on asynchronous self-organizing network provided by any of the above-described method embodiments of the present invention.

[0088] This invention, through receiving inspection task instructions generated based on power transmission channel geographic information and UAV performance parameters and collecting data within the corresponding area, provides a data transmission foundation for subsequent UAV self-organizing networks. By networking with a second UAV when signal conditions are met and calculating the communication window period to receive its data, it can receive data stored by UAVs farther from the monitoring center. By networking with a third UAV when signal conditions are met and transmitting data to the third UAV, it can transmit its own stored data to UAVs closer to the monitoring center. By transmitting the stored data of the UAV closest to the monitoring center to the monitoring center, a chain-like relay transmission of inspection data from far to near can be completed. Compared to existing technologies that require the deployment of a large number of UAV nodes, this application can improve the efficiency of power transmission channel inspection.

[0089] It should be noted that the device embodiments described above are merely illustrative, and some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Furthermore, in the accompanying drawings of the device embodiments provided by this invention, the connection relationships between modules indicate that they have communication connections, which can specifically be implemented as one or more communication buses or signal lines. Those skilled in the art can understand and implement this without any creative effort.

[0090] Based on the above embodiment of a transmission channel inspection method based on an asynchronous ad hoc network, another embodiment of the present invention provides a terminal device, which includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor. When the processor executes the computer program, it implements a transmission channel inspection method based on an asynchronous ad hoc network according to any embodiment of the present invention.

[0091] For example, in this embodiment, the computer program can be divided into one or more modules, which are stored in the memory and executed by the processor to complete the present invention. The one or more modules may be a series of computer program instruction segments capable of performing a specific function, which describe the execution process of the computer program in the terminal device.

[0092] The terminal device may be a desktop computer, laptop, handheld computer, or cloud server, etc. The terminal device may include, but is not limited to, a processor and a memory.

[0093] The processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor. The processor is the control center of the terminal device, connecting all parts of the terminal device via various interfaces and lines.

[0094] Based on the above-described method embodiments, another embodiment of the present invention provides a computer-readable storage medium including a stored computer program, wherein, when the computer program is executed, it controls the device where the computer-readable storage medium is located to execute the transmission channel inspection method based on asynchronous self-organizing network described in any of the above-described method embodiments of the present invention.

[0095] The modules / units integrated in the device / terminal equipment, if implemented as software functional units and sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the above embodiments of the present invention can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc.

[0096] The above description represents the preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A method for power transmission channel inspection based on asynchronous ad hoc network, characterized in that, The power transmission channel inspection method, applicable to the first unmanned aerial vehicle (UAV), includes: Receive inspection task instructions generated based on the geographical information of the power transmission channel and the performance parameters of the UAV, and collect data in the corresponding area according to the inspection task instructions; If a second drone is detected during data acquisition, and the signal strength of the second drone is greater than or equal to a preset link establishment threshold, then a network is established with the second drone and a first communication window period is calculated. The data transmitted by the second drone within the first communication window period is received and stored. The second drone is a drone that is adjacent to the first drone but farther from the monitoring center. If a third drone is detected during data acquisition, and the signal strength of the third drone is greater than or equal to the link establishment threshold, then a network is established with the third drone and a second communication window period is calculated. During the second communication window period, the stored data is transmitted to the third drone. The third drone is a drone that is adjacent to the first drone and closer to the monitoring center. If the first drone is the drone closest to the monitoring center, the stored data will be transmitted to the monitoring center so that the monitoring center can analyze the data and generate inspection results; if the first drone is not the drone closest to the monitoring center, the collected and received data will be stored in the local storage device when the presence of the third drone is not detected.

2. The method of claim 1, wherein the method further comprises: After data collection is performed in the corresponding area according to the inspection task instruction, the method further includes: The collected data is stored in the first storage device of the first drone, and the data is subjected to feature recognition. Based on the feature recognition results, potential data in the data is marked. The first storage device is the local storage device of the first drone.

3. The method of claim 1, wherein the method further comprises: The calculation of the first communication window period includes: The first real-time position and first flight speed of the first UAV, and the second real-time position and second flight speed of the second UAV are obtained; Calculate the current distance between the first drone and the second drone based on the first real-time location and the second real-time location; Calculate the relative speeds of the first UAV and the second UAV in the direction of the line connecting them, based on the first flight speed and the second flight speed. Based on the current distance, the relative speed, and the preset communication distance threshold, the time from the current moment until the distance between the first UAV and the second UAV reaches the communication distance threshold is calculated, and the time is determined as the first communication window period.

4. The method of claim 2, wherein the method further comprises: The receiving and storing of data transmitted by the second UAV during the first communication window includes: Based on the first communication window period and the first communication bandwidth between the first UAV and the second UAV, calculate the first transmission data volume corresponding to the first communication window period; If the first amount of transmitted data is greater than or equal to the amount of data stored in the second storage device of the second UAV, then all data stored in the second storage device will be transmitted and stored in the first storage device; wherein, the second storage device is the local storage device of the second UAV. If the first amount of data to be transmitted is less than the amount of data stored in the second storage device, then all the potential data stored in the second storage device will be transmitted and stored in the first storage device in order of the severity of the potential risks, until the amount of data transmitted is equal to the first amount of data to be transmitted.

5. The method of claim 1, wherein the method further comprises: transmitting a message to the first node to request the first node to transmit a message to the second node. The calculation of the second communication window period includes: ​ The first real-time position and first flight speed of the first UAV, and the third real-time position and third flight speed of the third UAV are obtained. Calculate the current distance between the first UAV and the third UAV based on the first real-time location and the third real-time location; Calculate the relative speeds of the first UAV and the third UAV in the direction of the line connecting them, based on the first flight speed and the third flight speed. Based on the current distance, the relative speed, and the preset communication distance threshold, the time from the current moment until the distance between the first UAV and the third UAV reaches the communication distance threshold is calculated, and the time is determined as the second communication window period.

6. The method of claim 2, wherein the method further comprises: The step of transmitting the stored data to the third UAV during the second communication window includes: Based on the second communication window period and the second communication bandwidth between the first UAV and the third UAV, calculate the second transmission data volume corresponding to the second communication window period; If the second amount of transmitted data is greater than or equal to the amount of data stored in the first storage device, then all data stored in the first storage device will be transmitted and stored in the third storage device of the third UAV; wherein, the third storage device is the local storage device of the third UAV. If the second amount of data to be transmitted is less than the amount of data stored in the first storage device, then all the potential data stored in the first storage device will be transmitted and stored in the third storage device in order of the severity of the potential risks, until the amount of data transmitted is equal to the amount of data to be transmitted.

7. The transmission channel inspection method based on asynchronous self-organizing network as described in claim 4, characterized in that, The step of transmitting the stored data to the monitoring center includes: All data stored in the first storage device is transmitted to the ground control station corresponding to the first UAV, so that the ground control station transmits all data to the monitoring center via a wired communication link.

8. A power transmission channel inspection device based on an asynchronous ad hoc network, characterized by The power transmission channel inspection device, applicable to the first unmanned aerial vehicle (UAV), includes: a data acquisition module, a first networking module, a second networking module, and a data analysis module; The data acquisition module is used to receive inspection task instructions generated based on the geographical information of the power transmission channel and the performance parameters of the UAV, and to collect data in the corresponding area according to the inspection task instructions. The first networking module is used to form a network with the second drone and calculate a first communication window period if a second drone is detected during data acquisition and the signal strength of the second drone is greater than or equal to a preset link establishment threshold, and to receive and store the data transmitted by the second drone within the first communication window period; wherein the second drone is a drone that is adjacent to the first drone and farther away from the monitoring center; The second networking module is used to form a network with the third drone and calculate a second communication window period if a third drone is detected during data acquisition and the signal strength of the third drone is greater than or equal to the link establishment threshold. During the second communication window period, the stored data is transmitted to the third drone. The third drone is a drone that is adjacent to the first drone and closer to the monitoring center. The data analysis module is used to transmit the stored data to the monitoring center if the first drone is the drone closest to the monitoring center, so that the monitoring center can analyze the data and generate inspection results; wherein, if the first drone is not the drone closest to the monitoring center, the collected and received data is stored in the local storage device when the existence of the third drone is not detected.

9. A terminal device, comprising: The method includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor. When the processor executes the computer program, it implements a transmission channel inspection method based on an asynchronous self-organizing network as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, include: A stored computer program, wherein, when the computer program is executed, it controls the device containing the computer-readable storage medium to perform a transmission channel inspection method based on an asynchronous self-organizing network as described in any one of claims 1-7.

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