440 results about "Real-time operating system" patented technology

The invention discloses a multi-device cooperative control method applied to deployment of an embedded real-time operating system, and relates to the field of embedded real-time operating systems, which comprises the following steps of: S1, constructing a real-time dependency relationship graph of a task link, a multi-device cooperative task is disassembled into sub-task link units including an execution path, a real-time constraint threshold and a cross-device communication dependency relationship. According to the multi-device cooperative control method applied to the deployment of the embedded real-time operating system, the problems of task priority conflict and resource utilization imbalance in a multi-device heterogeneous environment are effectively solved through a dynamic priority transmission mechanism and a distributed resource elastic perception model. The system can sense equipment load, communication link stability and task real-time requirements in real time, dynamically adjust sub-task weights and execution paths, ensure conflict-free transmission of end-to-end delay constraints, optimize the global resource utilization rate and avoid the problem of equipment overload or idle caused by traditional static scheduling.

The invention discloses an industrial control data processing system and method based on an embedded real-time operating system, and relates to the technical field of industrial automation control, and the industrial control data processing system comprises a dynamic weight evaluation module, a resource elastic distribution module and a dual self-healing verification module; and the dynamic weight evaluation module is used for generating a dynamic weight value according to the task type, the data security level, the deadline margin and the historical execution abnormal rate. According to the industrial control data processing system and method based on the embedded real-time operating system, the task criticality is quantified in real time through the dynamic weight evaluation module, and the real-time response capability and the resource utilization efficiency of the industrial control system are improved in combination with elastic resource allocation driven by load prediction. A dynamic weight mechanism ensures that the emergency task can instantly preempt resources, and the problem of low-priority task blocking caused by traditional static priority scheduling is avoided.

The invention relates to the field of air conditioning unit control, in particular to an industrial park elevator system optimization control system and a method thereof.The hardware part comprises a sensor unit, an executing mechanism, a field control unit, communication equipment and a server unit; the software part comprises a real-time operating system, a sensor data acquisition and fusion preprocessing module, a digital twinborn simulation platform, a model prediction control module and a cloud deep reinforcement learning module; the method comprises the steps of S1, data acquisition and primary processing, S2, data transmission and caching, S3, digital twin modeling and system simulation, S4, optimization control strategy generation and issuing, S5, online scheduling and deep reinforcement learning optimization, S6, safety monitoring and exception handling, and S7, closed-loop feedback and continuous optimization. Efficient integration of elevator modules is achieved through digital twinning and model prediction control cooperation; intelligent data processing is realized through deep reinforcement learning and adaptive data fusion; and safe and energy-saving operation is realized through fault tolerance and safety monitoring.

The invention discloses an intelligent cabin system control method and system based on an open source gap system, and the method comprises the steps: deploying a gap wireless communication module in an intelligent cabin system, and building communication connection with all sensors in the intelligent cabin system through the gap wireless communication module; deploying a gap controller in the intelligent cabin system, wherein the gap controller obtains sensor data collected by a plurality of sensors through the gap wireless communication module; and the swan gap controller performs real-time processing and analysis on the sensor data through a real-time operating system and an AI algorithm to obtain a data analysis result, and generates an intelligent cabin decision according to the data analysis result. According to the invention, the wireless, intelligent and mobile control of the intelligent cabin is realized through the open-source wide-gap system, and the operation efficiency and safety of equipment are improved.

The invention relates to the technical field of security auditing, in particular to a security auditing method and system for an industrial control system, and the method comprises the following steps: aiming at a key control task, a communication task and a security task of a real-time operating system, collecting a period, a starting timestamp, a finishing timestamp, a central processing unit occupied time slice and peak memory usage amount data. According to the method, the period, timestamp, central processing unit occupation and memory usage data of a key task of a real-time operating system are collected, a task execution time boundary and a resource consumption envelope are set, and then an expected relation rule set of a task time sequence and resource consumption is constructed by applying historical data statistics and logic rule deduction; and meanwhile, the key length of symmetric and asymmetric encryption, initialization vector generation, hash algorithm selection, key derivation parameters and encryption operation context are stipulated, so that a comprehensive and specific ICS behavior specification baseline is established.

The invention discloses a high-performance satellite platform based on a real-time operating system and a wireless bus and a working method of the high-performance satellite platform, and belongs to satellite communication technologies, future deep space exploration and low-orbit satellite constellations. On the basis of an original structure of a satellite platform, a real-time operating system is effectively combined with a wireless bus system, and the real-time operating system comprises a kernel module, a communication module, an equipment driving module, a file system module, an application interface module, a safety module and a fault management module. The wireless bus system comprises a physical layer, a data link layer, a network layer, a transmission layer and an application layer. According to the invention, efficient and reliable communication and task execution capabilities are provided for a satellite platform, the requirements of real-time performance and reliability of a satellite in a complex environment are effectively met through modular design and tight work of the system, and meanwhile, complex lines and interfaces brought by a wired system are avoided.

The invention discloses a PLC scheduling algorithm based on a multi-core soft real-time operating system, and relates to the technical field of voltage control, and the algorithm comprises the following four steps: 1, starting a target industrial control system, completing hardware self-inspection, memory allocation and communication module starting, and sending an initialization ready signal after confirming that an assembly is normal; 2, according to PLC task functions and real-time performance, four types of standardized tasks are divided, priority levels are defined, sub-priorities are configured, a dependency relationship is identified, and a task chain is established; 3, counting the number of tasks and task chains, distributing resources by using multiple binding cores, and constructing a global ready queue to adapt to dynamic scheduling; and 4, monitoring an interrupt event through an interrupt manager, realizing high-priority task preemption by semaphores, and allocating tasks to corresponding CPU cores, so that the problems of soft real-time multi-core task preemption and data conflict are solved, the scheduling real-time performance and the data security are improved, the system failure rate is reduced, and the industrial control efficiency and stability are improved.

The invention discloses a chip prototype verification method and device, a medium and a product, and relates to the technical field of integrated circuit verification, and the method comprises the steps: dynamically dividing a central processing unit core of a multi-core chip into a first core group and a second core group in a chip prototype verification platform; performing data interaction on the first core group and the second core group through the inter-core communication agent to obtain a verification control instruction; converting the test case into a chip register operation instruction or a real-time operating system drive call instruction based on the verification control instruction; distributing the chip register operation instruction to the first core group to execute a hardware real-time verification process, and distributing the real-time operation system drive calling instruction to the second core group to execute a multi-task scheduling verification process so as to respectively obtain a corresponding register snapshot and a task scheduling log; and aligning the register snapshot with the task scheduling log according to a time axis so as to generate a chip function verification result report based on the alignment data. Cooperative verification of bare computer verification and real-time operating system verification is realized.

The invention provides a multi-core log management architecture and method based on a power gap operating system and a computer program product, which are suitable for the technical field of computers, and comprise a master core, a slave core and a shared memory area, the slave core further comprises a log generation module, a buffer module and a log uploading module; the main core is responsible for operating a power gap operating system; the slave core is responsible for running a naked running program or a real-time operating system; the log uploading module writes target log data in the buffer module into a shared memory area when the data cached in the buffer module reaches a preset condition; under the condition that the master core monitors that the slave core uploads the target log data to the shared memory area in the shared memory area, the target log data in the shared memory area is read, and integration, classification and storage operation is conducted on the target log data in sequence. Therefore, the efficiency problem of log collection, storage and management in the multi-core heterogeneous architecture can be solved, the characteristics of the master core and the slave core are fully utilized, and the log processing capacity of the system is improved.

The invention discloses a real time operating system (RTOS) multi-task priority scheduling and real-time control method based on advanced RISC machines (ARM), and relates to the technical field of embedded computing and control. Comprising the following steps: S1, time slice management setting: dividing CPU time according to a preset time period to obtain time slices; s2, performing task scheduling: setting each task according to a task control block, and performing context switching and priority arbitration through an OSScheduler () function; and S3, performing exception response: performing forced interruption and exception recovery operation through a set multi-stage exception classification mechanism. Through a three-level decision model and a partition response mechanism, it can be ensured that a high-priority task can be responded in time within strict time constraints, the hard real-time requirement is met, meanwhile, CPU time is divided through a fixed time slice, a counter is updated through timer interruption, and therefore the time deviation of task execution can be reduced, and the task execution efficiency is improved. And the certainty of the system is improved.

The invention provides a tower crane remote real-time operation system which comprises the following modules: a remote control system is used for receiving and converting an operation signal of a handheld assembly and transmitting the operation signal to a tower crane cab monitoring system, and the tower crane cab monitoring system is used for collecting operation parameters and environment data of a tower crane in real time and transmitting the operation signal to a remote control system; the operation signal and the collected data are sent to the tower crane lifting, amplitude-changing and corner integrated frequency converter control system, and the tower crane lifting, amplitude-changing and corner integrated frequency converter control system is used for controlling the lifting, amplitude-changing and corner actions of the tower crane in real time according to the operation signal or the collected data. The intelligent interaction control module cooperates with the multi-source data fusion analysis module and the building state sensing and feedback module, tower crane data, construction area building states and associated influence parameters are comprehensively integrated, the building state sensing and feedback module monitors building deformation and stress, it is guaranteed that construction and design are consistent in combination with a BIM model, the deviation is smaller than or equal to 3 mm, and construction safety and progress are guaranteed.

The invention belongs to the technical field of medical equipment and medical signal processing, and relates to a non-invasive blood glucose dynamic detection system which is mainly composed of a terminal subsystem and an upper computer subsystem. The terminal subsystem comprises a system control and information processing module, a signal acquisition module, a data transmission module and a power management module; the upper computer subsystem comprises a data packet receiving and analyzing module, a data storage and management module, a data processing module, a deep learning training module and a reasoning estimation module. Wherein the system control and information processing module manages a multi-signal acquisition task by introducing a real-time operating system, ensures the real-time performance of acquisition, packs the acquired signals into a data packet, and sends the data packet to the upper computer subsystem through the data transmission module. In the upper computer subsystem, a user can carry out self-defined training according to the stored data so as to obtain a detection model used for estimating the blood glucose value.

The invention discloses a body intelligent controller architecture based on an end side intelligent model and an operation method, and belongs to the technical field of industrial body intelligence. According to the architecture, a CPU, a GPU and an FPGA are integrated by adopting a heterogeneous multi-core processor, and high-speed interconnection is realized through a star-type + NoC hybrid topology; a multi-level task scheduling mechanism is constructed based on a real-time operating system, and it is ensured that control tasks are executed preferentially. End-side visual model lightweight (YOLOv5s model parameters are reduced to 3.5 M) and FPGA hardware acceleration (control instruction time delay is 10ns) are innovatively realized on an algorithm framework layer, and a transmission bottleneck is eliminated through a zero-copy data path. The system supports model hot switching less than or equal to 10ms and FPGA bit stream online updating less than or equal to 50ms, and has MD5 check and an automatic rollback mechanism. Compared with a traditional separation type scheme, the processing time delay is reduced by 25 times, the hardware cost is reduced, the size is reduced, and the real-time performance, reliability and deployment flexibility of the industrial robot and other intelligent agents with the body are remarkably improved.

The invention relates to the technical field of embedded maps, and provides a vector map display method under a VxWorks system, which comprises the following steps: S1, analyzing a vector map source file through an MITAB library, and extracting geometric space topological data, geographic coordinate system parameters, style attributes and projection parameters; s2, constructing a hierarchical storage structure based on SQLite3, and storing vector map information including a spatial data table, a style configuration table and a metadata table into a geographic information database; s3, creating a map display control MapWidget inherited from a QGraphics View class based on a Qt framework, loading the geographic information database through a dynamic configuration interface, and initializing a coordinate system conversion module, a multi-level view window module and a covering management system; and S4, dynamically rendering and outputting an interactive vector map interface through a layer priority scheduling strategy in a VxWorks real-time operating system. Through the design of the cross-platform data middle layer, the extensible general symbology system and the resource efficiency optimization, the data compatibility problem of the embedded system and the commercial GIS software is solved.

The invention discloses an embedded platform-oriented lightweight multi-sensor data accurate and real-time fusion method, which comprises the following steps of: establishing a double-ring buffer area based on DMA (Direct Memory Access) to realize real-time acquisition of multi-sensor data; aligning multi-sensor data based on hardware timestamps and dynamic drift compensation; carrying out filtering processing on multi-sensor data by adopting dynamic cascade filtering, sliding window rapid sorting, segmented self-adaptive loss filtering and robust iterative estimation based on noise confidence; performing data fusion on the filtered multi-sensor data by compressing state dimensions and simplifying covariance matrix operation; the priority of multi-sensor data acquisition, multi-sensor data filtering and multi-sensor data fusion is distributed through a real-time operating system, and task scheduling is carried out. According to the method provided by the invention, the dynamic cascade filtering for lightweight data processing is combined with the lightweight dynamic weight anti-interference fusion algorithm, so that the real-time responsiveness and the data accuracy of the system can be improved.

The invention discloses a pulsed neutron generator control system based on LabVIEW, and the system comprises a neutron generator industrial personal computer which operates a virtual human-computer interaction interface developed based on LabVIEW; the console core board carries a DSP main control chip and is embedded into a real-time operating system; the driving sampling board is connected with the console core board and is integrated with a signal conditioning circuit; the neutron generator industrial personal computer communicates with the console core board through a Modbus protocol, and controls and drives the sampling board to output control signals of the three independent power supply ion sources, the storage and the acceleration pole to the neutron tube; wherein the console core board generates three paths of PWM signals with the PWM frequency of 2.5 kHz and the step length of 8191, and the three paths of PWM signals are converted into analog control signals through the driving sampling board. According to the control system, the PWM control precision is greatly improved, the voltage control precision is improved to 0.012% (100% higher than that of a conventional scheme) through the combination of the 8191 step length (13-bit resolution) and the 2.5 kHz frequency, and the neutron yield fluctuation is controlled within + / -1.5%.

The invention provides a switching value and analog quantity acquisition system, and the system comprises a switching value acquisition module which is used for carrying out the signal acquisition through the combination of polling and interruption, and monitoring an interference source in real time through the photoelectric isolation and filtering technology in the signal acquisition process; the analog quantity acquisition module is used for performing data acquisition by adopting a multi-channel parallel acquisition mode, eliminating high-frequency noise and low-frequency interference by utilizing a digital filtering technology, and dynamically adjusting an acquisition range by utilizing a self-adaptive algorithm; the quick response module is used for performing task processing and performance optimization by utilizing a real-time operating system, so that the system response time is at a millisecond level; and the data storage module is used for designing a storage strategy in the main program and realizing data check, error processing and security storage. According to the invention, the response speed, anti-interference performance and signal integrity during switching value acquisition are guaranteed, high precision, real-time performance and the like during analog quantity acquisition are ensured, and the performance of an acquisition system is greatly improved.

The invention provides a mechanical arm control system and control method based on an embedded virtual machine architecture. A real-time operating system and a non-real-time operating system are deployed on the same embedded board card; the non-real-time operating system transmits control words of all the drivers to a driver communication module deployed on the real-time operating system through a control queue based on the received control request, and the driver communication module transmits state data of all the drivers to the non-real-time operating system through a state queue; and the motion planning module deployed on the non-real-time operating system transmits the generated position data to the driver communication module through the position queue according to a preset control period, and issues the control word and the position data to the driver through the driver communication module. By the adoption of the method, the problems that a non-real-time operating system is interrupted, communication stability is poor due to multi-task resource preemption, control response is slow, state coverage is caused by jitter of the non-real-time operating system, and a mechanical arm is stuck due to position transmission jitter can be solved.

The invention discloses an intelligent motion control system with a body, which comprises a system-on-chip, the system-on-chip is provided with a plurality of interfaces, the system-on-chip is integrated with a multi-core CPU and a graphics processor, the system-on-chip runs an NECRO real-time operating system, and the control system comprises a multi-mode acquisition unit for receiving environment information acquired by an external sensor; the large model processing unit is used for calculating a task instruction according to the environment information; the motion control unit is used for calculating the motion track and speed of each joint controller of the robot according to the task instruction, generating a motion instruction and issuing the motion instruction to the joint controllers of the robot, the CPU comprises a plurality of cores, each core is correspondingly connected with an EtherCAT network port, the EtherCAT network ports are used for being connected with the joint controllers of the robot, and the EtherCAT network ports are used for being connected with the joint controllers of the robot. And the CPU establishes a core of the CPU as a master station according to the external connection condition of the EtherCAT network port, and establishes a slave station at an interface of the joint controller. According to the control system, the plurality of master stations are adopted to control the joint controllers of the robot respectively, so that control is smoother.

The invention belongs to the technical field of computer information processing, and particularly discloses an internet of things equipment firmware-oriented fuzz test input optimization device, which comprises a static analysis module used for carrying out firmware analysis through an API interface, identifying an input transmission point of bare computer firmware, and realizing automatic identification through a custom script; the dynamic simulation module is used for identifying an input transfer point of the firmware of the real-time operating system and realizing a length inference mechanism and a final input transfer algorithm; the input routing mapping module is used for identifying and dynamically monitoring a data retrieval point, an input processing point and an availability check instruction in firmware to obtain a mapping result; the input transmission point identification module is used for automatically identifying an input transmission point of the firmware based on the mapping result; and the sensing module is used for dynamically determining the minimum length and the maximum length of the input data of the input transmission point, optimizing the input transmission point of the firmware fuzz test, and dynamically calculating the length of the reserved data. According to the invention, the fuzz testing efficiency can be improved.

The present disclosure is directed to a scheduler in a real time operating system for a central processing unit (CPU) that runs a number of, and diverse set of processes in a ready queue, the scheduler when executed by the CPU performs steps including dividing the ready queue of P processes into two lists, list 1 contains n processes while list 2 contains m processes, where n+m=P, averaging total execution times of the processes in each list, generating a first quantum s based on an average of each list, generating a second quantum t based on the average of each list, comparing total execution time of a candidate process which needs to be assigned to the CPU with the quantum values, and assigning the value of a quantum, based on the comparing, that is the quantum value closest to the total execution time of the candidate process, to that process as a time period for running on the CPU.

The invention discloses an embedded system resource allocation method and system based on hardware virtualization. The method comprises the following steps: deploying a Type-1 virtual machine monitor system on a multi-core processor hardware platform supporting virtualization extension; the Type-1 virtual machine monitor carries out virtualization, resource partitioning and security isolation on hardware resources, and creates operation system execution environment'domain 'partitions zoneG and zoneR. A universal operating system is deployed in a zoneG domain partition to take charge of a high-computing-power computing task, and a real-time operating system is deployed in a zoneR to take charge of a real-time computing task. Low-delay inter-core communication between a real-time operating system and a general operating system is realized based on an OpenAMP protocol, and data is transmitted through a shared memory and an interrupt mechanism; according to the requirements of real-time tasks and non-real-time tasks, a Type-1 virtual machine monitor dynamically adjusts a resource allocation strategy, and the priority and deadline of the real-time tasks are ensured.

The invention discloses a power embedded RTOS-oriented clock management method and related equipment, and the method comprises the steps: collecting the current clock data of a power embedded RTOS system, carrying out the feature extraction of the current clock data, constructing a clock feature library, and constructing a clock data model in a normal clock operation state, generating normal clock data according to the clock data model; the frequency stability, the clock jitter rate and the clock drift rate of the current clock data are calculated, and whether the deviation between the current clock data and the normal clock data exceeds a clock threshold value or not is judged; and when the deviation exceeds the clock threshold value, executing a corresponding exception handling flow according to the frequency stability, the clock jitter rate and the clock drift rate, and dynamically adjusting the range of the clock threshold value. According to the embodiment of the invention, combined judgment and dynamic adjustment can be carried out by combining drift, jitter and frequency stability thresholds, and accurate monitoring and anomaly detection of the clock are realized. The method can be widely applied to the technical field of clock management.

The invention provides a distributed message control method and system for industrial robot control, and relates to the technical field of industrial robot control, the method comprises the following steps: receiving data issued by an industrial robot and storing the data to a network sending queue, the data comprising state data, sensor information and a task instruction; and grading the data in the network sending queue through a multi-level priority queue scheduling algorithm to obtain a plurality of queues with different priorities, and sequentially sending the queues to the network receiving queue based on the different priorities, so that a subscriber receives the data in the network receiving queue. According to the embodiment of the invention, based on a time-sensitive network technology and in combination with a real-time operating system priority scheduling mechanism, efficient message receiving and transmitting queue design is carried out, high-reliability distributed real-time message transmission is realized, and the requirement of industrial robot control is met.

The invention belongs to the technical field of flexible manufacturing production line equipment state monitoring and cooperative control, and particularly discloses an edge side real-time data processing board card for a flexible production line and an implementation method of the edge side real-time data processing board card. The board card adopts an ARM + FPGA heterogeneous system-on-chip architecture, an FPGA end integrates a multi-channel data acquisition module, a Kalman filtering module, a real-time diagnosis module, a 1588 clock synchronization module and a PCIE-DMA module by utilizing hardware parallel characteristics, and data acquisition, preprocessing, fault diagnosis, high-precision synchronization and high-speed data transmission are realized through a pipeline architecture; and the ARM end realizes DDR (Double Data Rate) storage management, POWERLINK protocol communication and instruction scheduling functions based on a real-time operating system. The board cards communicate with a control station through a standard Ethernet interface, a CPCI standard interface is adopted to be embedded into an industrial personal computer, and 5Gbps high-speed data interaction between the board cards is achieved based on a PCIE protocol. According to the invention, hardware acceleration is carried out in the whole process of edge side data acquisition-processing-diagnosis, the cloud load is obviously reduced, and the fault response real-time performance is improved.

The invention discloses a battery charging and discharging power control precision optimization method for a BMS system, and relates to the technical field of charging and discharging parameter control, and the method comprises the steps: constructing a second-order resistance-capacitance network equivalent circuit model, and fitting model parameters through a pulse charging and discharging experiment; identifying an error source and quantifying a charge-discharge power control error of the current BMS; a Hall effect sensor and a voltage sampling chip are selected for experimental data acquisition; establishing a compensation model of the temperature to the charging and discharging efficiency; introducing an adaptive control algorithm; a multi-stage constant current-constant voltage charging algorithm is adopted; integrating the capacity attenuation model and the internal resistance growth model; a real-time operating system and a time-triggered task scheduling mechanism are adopted to control the cycle of a charging and discharging power control instruction, and dynamic resource allocation and delay control are carried out. By adopting technical means such as a second-order resistance-capacitance network equivalent circuit model, the precision and the stability of battery charging and discharging power control are remarkably improved.

The invention discloses a method for storing data in a FLASH in real time, and belongs to the technical field of embedded systems. According to the method, the erasing operation of the FLASH is automatically executed by an embedded system, a mode of circularly storing data according to an address sequence is adopted, and meanwhile, the next sector adjacent to the sector which is being written is erased. A real-time operating system is used for scheduling erasing operation and storage operation, erasing tasks with low priorities and writing tasks with high priorities are created, event marks are matched, and data are stored in real time. The method has the advantages that the conflict between writing and erasing operations is avoided through task scheduling without the control of an upper computer, and the embedded system can automatically store data in the FLASH in real time.

The invention discloses a first-in first-out semaphore scheduling method based on a POSIX interface, and the method comprises the steps: modifying a POSIX interface of a user space and a cortex synchronization mechanism of a kernel space, increasing the support for an FIFO strategy, defining a semaphore strategy type identifier, and modifying a correlation function to support the setting of a scheduling strategy when semaphore is created. And modifying the system call to process the FIFO policy semaphore; and unifying the priority of each semaphore application thread, inserting the threads into a waiting queue according to an application sequence, and awakening the thread which firstly enters the queue when the semaphore is available. According to the method, the performance and the resource utilization rate of multi-thread concurrency control in the embedded real-time operating system are improved, meanwhile, the problems of deadlock, hunger and the like are avoided, and the reliability and the user experience of the system are improved.

The invention relates to a priority dynamic scheduling and load self-adaption method for an unmanned aerial vehicle in a complex task scene based on an AUTOSAR real-time operating system. According to the method, the task priority is dynamically adjusted through a multi-dimensional dynamic priority scheduling algorithm, multi-core load balancing is achieved in combination with a prediction-based task migration strategy and a hybrid load balancing algorithm, resource allocation is optimized by adopting resource pooling dynamic allocation and PID feedback control, and the problem that when the AUTOSAR is applied to flight control of the unmanned aerial vehicle, the load balancing efficiency is high is solved. The problems that a static priority mechanism cannot respond to an emergency scene, the task load balancing control capability is lacked, task execution is easy to interfere and resource allocation is low in efficiency are solved, the real-time responsiveness, the task completion rate and the resource utilization rate of an unmanned aerial vehicle flight control system are effectively improved, and the flight safety and the operation reliability of the unmanned aerial vehicle in a complex scene are guaranteed.

The invention discloses an unmanned aerial vehicle power transmission line patrol method, which comprises the steps of S1, intelligent route planning, constructing a power transmission corridor digital twin model based on three-dimensional laser point cloud data, S2, autonomous flight control, adopting an STM32F4 series MCU as a bottom layer controller, and running a real-time operation system, S3, multi-modal data acquisition, adopting a multi-modal sensor matrix and a cooperative acquisition mechanism, and carrying out multi-modal data acquisition. S4, real-time transmission processing is carried out, and adaptive code rate control is adopted; and S5, intelligent analysis and decision making are carried out, and a deep learning module is adopted. According to the unmanned aerial vehicle power transmission line patrol method, key defects such as insulator damage and wire strand breakage in a power transmission line are recognized and analyzed in real time, image processing and target detection are directly completed at an equipment end through edge computing capability, and only high-definition images with suspected defects are screened and returned to a ground station or a data center; the transmission data volume and the communication load are greatly reduced, the mechanism effectively realizes the real-time preliminary screening of the line defects, and the inspection efficiency and the response speed are improved.