CN112751414A - Transmission line inspection system and method based on 5G link - Google Patents
Transmission line inspection system and method based on 5G link Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J13/00—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network
- H02J13/00002—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network characterised by monitoring
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C1/00—Registering, indicating or recording the time of events or elapsed time, e.g. time-recorders for work people
- G07C1/20—Checking timed patrols, e.g. of watchman
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0047—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with monitoring or indicating devices or circuits
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/34—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering
- H02J7/35—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering with light sensitive cells
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
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Abstract
The invention discloses a power transmission line inspection system and a power transmission line inspection method based on a 5G link, wherein the power transmission line inspection system comprises a ground command control station, a processor, a laser radar sensor, a 5G communication unit, a camera and a signal receiver, wherein the processor, the laser radar sensor, the 5G communication unit, the camera and the signal receiver are arranged on an unmanned aerial vehicle; laser radar sensor, 5G communication unit, camera and signal receiver treater respectively, the treater passes through 5G communication unit and connects ground command control station, ground command control station sends the task of patrolling and examining to the unmanned aerial vehicle treater through 5G communication unit, the unmanned aerial vehicle treater will patrol and examine the data of patrolling and examining that the in-process was obtained and feed back to ground command control station through 5G communication unit, ground command control station can analyze out the state of transmission line based on patrolling and examining the data, thereby realize patrolling and examining of transmission line. The invention can realize the real-time observation of the running state of the transmission line, quickly troubleshoot the hidden trouble of the fault, ensure the normal running of the high-voltage transmission line and improve the routing inspection efficiency of the transmission line.
Description
Technical Field
The invention relates to the technical field of power grid transmission line safety monitoring, in particular to a transmission line inspection system and a transmission line inspection method based on a 5G link.
Background
At present, the application in different fields such as aerial photography, agriculture, plant protection, miniature autodyne, express delivery transportation, disaster relief, observing wild animals, infectious disease monitoring, surveying and mapping, news reports, electric power inspection, disaster relief, film and television shooting, romantic manufacturing and the like is very wide, the application of unmanned aerial vehicles is not in the way, and surveying and mapping unmanned aerial vehicles are one of the unmanned aerial vehicle types. Along with the rapid development of economy, the demand of society on electric power is rapidly increased, power lines are being greatly expanded, China is vast in territory, and lines can penetrate through various complex terrain environments, so that the appearance of an unmanned aerial vehicle power transmission line inspection mode is promoted, and the problem of complex terrain power transmission line inspection is well solved. However, the safety requirement of remote field high-voltage transmission line inspection on unmanned aerial vehicle inspection is very high, and image-based fault detection also depends on stable, reliable and timely acquisition of image data, so that how to ensure the safety of the high-voltage line and the stability and timeliness of image shooting in the inspection process of the unmanned aerial vehicle becomes the key and difficult point of unmanned aerial vehicle transmission line inspection.
In addition, for realizing the complete comprehensive inspection of transmission line among the prior art, survey and drawing unmanned aerial vehicle's working range is very big, and the distance is far away and flying height is higher, so can appear the electric quantity very easily and not enough and lead to once accomplishing the condition of patrolling and examining the task or arousing unmanned aerial vehicle to fall because of the electric quantity is not enough, cause serious loss.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide the transmission line inspection system based on the 5G link, the system transmits the inspection result of the unmanned aerial vehicle to the ground command control station in real time through the 5G communication link, thereby being beneficial to the operation and maintenance personnel of the transmission line to observe the operation state of the transmission line in real time, rapidly inspecting the fault hidden danger, timely eliminating the fault, ensuring the normal operation of the high-voltage transmission line and simultaneously improving the inspection efficiency of the transmission line.
The second purpose of the invention is to provide a transmission line inspection method based on a 5G link, which can control an unmanned aerial vehicle to realize inspection of a transmission line in a mode of a minimum range and a shortest path, and avoid the situation that the unmanned aerial vehicle falls due to incapability of completing inspection at one time or insufficient electric quantity because of insufficient electric quantity in the long-time large-range inspection process.
The first purpose of the invention is realized by the following technical scheme: a power transmission line inspection system based on a 5G link comprises a ground command control station, a processor, a 5G communication unit, a camera and a signal receiver, wherein the processor, the 5G communication unit, the camera and the signal receiver are arranged on an unmanned aerial vehicle; wherein:
the camera is connected with the processor and is used for shooting image and/or video information under the driving of the processor and transmitting the shot image and/or video information to the processor;
the signal receiver is connected with the processor and used for detecting the strength state information of the signal transmitted by the wireless signal transmitting equipment on the power transmission line under the driving of the processor;
the 5G communication unit is connected with the processor, and the processor is in wireless connection with the ground command control station through the 5G communication unit; the processor sends the inspection data to a ground command control station through a 5G wireless network; the ground command control station sends the polling task to a processor on the unmanned aerial vehicle through a 5G communication unit, and simultaneously analyzes the state of the power transmission line based on the received polling data;
the patrol data comprises images and/or video information shot by the camera and strength state information of signals sent by the wireless signal sending equipment on the power transmission line;
the inspection task comprises an unmanned aerial vehicle inspection area, an inspection path, an inspection target and inspection contents.
Preferably, the power transmission line inspection system further comprises an unmanned aerial vehicle autonomous charging platform;
the unmanned aerial vehicle autonomous charging platform comprises a power supply and a wireless charging transmitting device connected with a voltage output end of the power supply; the power supply comprises a storage battery and a solar cell panel, the solar cell panel is connected with the storage battery through a charging controller to charge the storage battery, and a voltage output end of the storage battery is used as a power supply output end of the power supply;
the power transmission line inspection system further comprises a GPS module, a wireless charging receiving device and a first electric quantity detection unit, wherein the GPS module, the wireless charging receiving device and the first electric quantity detection unit are arranged on the unmanned aerial vehicle; the processor on the unmanned aerial vehicle is connected with the storage battery of the unmanned aerial vehicle through the first electric quantity detection unit, and the electric quantity information of the storage battery is detected through the first electric quantity detection unit.
Furthermore, the unmanned aerial vehicle autonomous charging platform further comprises a first controller, a second electric quantity detection unit and a 5G communication unit; the first controller is connected with a power supply of the unmanned aerial vehicle autonomous charging platform through a second electric quantity detection unit, and electric quantity information of the power supply is detected through the second electric quantity detection unit; the first controller is connected with the 5G communication unit, wireless connection is established with the ground command control station through the 5G communication unit, and the electric quantity information of the power supply is fed back to the ground command control station.
Preferably, the number of the unmanned aerial vehicles is one or more; when the number of the unmanned aerial vehicles is multiple, the processor on each unmanned aerial vehicle is in wireless connection with the ground command control station through the 5G communication unit;
the processors on the unmanned aerial vehicles respectively send the patrol data to the ground command control station through the 5G communication unit;
the ground command control station sends corresponding inspection tasks to the processors on the unmanned aerial vehicles through the 5G communication unit respectively, and particularly, each unmanned aerial vehicle is distributed to an inspection area;
the power transmission line inspection system also comprises an upper computer;
and the ground command control station uploads the received patrol data and an analysis result obtained based on the patrol data to an upper computer through a network.
Preferably, the ground command control station is an inspection work vehicle, and the inspection work vehicle comprises an intelligent terminal connected with or internally provided with a 5G communication unit;
the power transmission line inspection system also comprises a wireless communication module which is arranged on the unmanned aerial vehicle and connected with the processor; a sensor used for detecting the state of the power transmission line in the power transmission line is connected with a second controller, and the second controller is connected with a wireless communication module; the wireless communication unit of the unmanned aerial vehicle processor is driven by the processor to be in pairing connection with a wireless communication module connected with a second controller, and sensing information detected by a sensor connected with the second controller is acquired and serves as routing inspection data;
the inspection system further comprises a laser radar sensor, the laser radar sensor is connected with the processor and used for detecting the position information of the unmanned aerial vehicle relative to other objects and sending the detected position information to the processor.
The second purpose of the invention is realized by the following technical scheme: the invention relates to a transmission line inspection method based on a 5G link, which is realized by a transmission line inspection system based on the 5G link and comprises the following steps:
the ground command control station determines a routing inspection area corresponding to the unmanned aerial vehicle according to the distribution of the power transmission line, plans an optimal routing inspection path for the unmanned aerial vehicle in the routing inspection area, and distributes routing inspection targets and routing inspection contents for the unmanned aerial vehicle;
the ground command control station transmits a polling task consisting of the polling area information, the polling path information, the polling target and the polling content to a processor of the corresponding unmanned aerial vehicle through a 5G network;
the processor of the unmanned aerial vehicle receives the inspection task through the 5G network, flies to an inspection area according to the inspection task, and inspects an inspection target in the inspection area according to an inspection path; wherein:
the unmanned aerial vehicle is controlled to fly to the position of a certain distance of the routing inspection target based on the routing inspection task aiming at each routing inspection target on the routing inspection path:
when the inspection content aiming at the inspection target is the shot image and/or video information, the processor drives the camera to shoot the image and/or video information aiming at the inspection target;
when the inspection content of the inspection target is required to be used for detecting the strength state information of the signal transmitted by the wireless signal transmitting equipment on the power transmission line, the processor drives the signal receiving equipment to enter a working state, and the signal receiving equipment judges the strength of the signal according to the signal received from the wireless signal transmitting equipment and transmits the signal strength information to the processor;
the processor transmits the image, the video information and the signal intensity information as patrol data to a ground command control station through a 5G network; and the ground command control station judges the state of the power transmission line based on the patrol data.
Preferably, when the ground command control station is used for routing inspection of the unmanned aerial vehicle, the optimal routing inspection path of the unmanned aerial vehicle is planned according to the shortest path, the minimum time consumption and the unmanned aerial vehicle routing inspection full coverage principle.
Preferably, the inspection target in the inspection task comprises a tower of the power transmission line, a connecting hardware fitting, a multi-split conductor, an insulator, a radio remote unit and a GPS module;
the wireless signal transmitting equipment on the power transmission line comprises a GPS module on the power transmission line;
the inspection task comprises tower inspection, and specifically comprises the following steps:
controlling the unmanned aerial vehicle to fly and suspend at a position corresponding to a certain distance of a tower, then driving a camera to shoot pictures and/or videos of the tower by a processor, and sending the pictures and/or videos of the tower serving as patrol data to a ground command control station through a 5G network;
the ground command control station judges the inclined state of the tower, the fixed and lost state of the iron tower bolts, the deformation state of the iron tower material and the corrosion degree information according to the pictures and/or videos of the tower;
the polling task comprises the inspection of the remote radio unit, and specifically comprises the following steps:
controlling the unmanned aerial vehicle to fly and suspend at a position which corresponds to a certain distance of the remote radio unit, then driving a camera to shoot pictures and/or videos of the remote radio unit by a processor, and sending the pictures and/or videos of the tower as patrol data to a ground command control station through a 5G network;
the ground command control station detects the jumper wire installation and rotation integrity of the radio remote unit, the installation and fixation state of the radio remote unit and the working states of an optical fiber label, a power supply label and a grounding label of the radio remote unit according to the picture and/or video of the radio remote unit, and inspects the phenomena of grounding, water prevention and electric leakage of a power line of the radio remote unit based on the picture and/or video of the radio remote unit;
the inspection task comprises the inspection of a GPS module on the power transmission line, and specifically comprises the following steps:
controlling the unmanned aerial vehicle to fly and suspend at a certain distance position on the power transmission line, which is checked by a corresponding GPS module, driving a signal receiving device to enter a working state by a processor, judging the intensity of the signal by the signal receiving device according to the signal received from the corresponding GPS module, sending signal intensity information to the processor, and sending the signal intensity information of the corresponding GPS module as patrol data to a ground command control station through a 5G network by the processor;
and the ground command control station judges whether the corresponding GPS module equipment on the power transmission line has faults or not and meets working requirements or not according to the signal intensity information of the GPS module.
Preferably, when the unmanned aerial vehicles are multiple, the ground command control station divides the area to be inspected into a plurality of inspection areas according to the distribution of the power transmission lines; determining a routing inspection area of each unmanned aerial vehicle, and planning an optimal routing inspection path for each unmanned aerial vehicle in the routing inspection area, wherein when the optimal routing inspection path of each unmanned aerial vehicle is planned, routing inspection paths which are different from each other and are not interfered with each other are generated according to position information of power transmission lines in each routing inspection area; and meanwhile, each unmanned aerial vehicle is distributed with an inspection target and inspection contents.
Preferably, the power transmission line inspection method further includes the following steps:
the processor on the unmanned aerial vehicle detects the electric quantity information of the storage battery through the electric quantity detection unit, and when the electric quantity information is lower than the warning value, the processor sends an unmanned aerial vehicle autonomous charging platform position query instruction to the ground command control station through the 5G network;
the ground command control station determines an unmanned aerial vehicle autonomous charging platform closest to the current position of the unmanned aerial vehicle according to the current position of the unmanned aerial vehicle, and sends the position information of the unmanned aerial vehicle autonomous charging platform to a processor of the unmanned aerial vehicle through a 5G network;
the processor of the unmanned aerial vehicle flies to the position of the unmanned aerial vehicle autonomous charging platform through the GPS module of the unmanned aerial vehicle, the position of a wireless charging receiving device on the unmanned aerial vehicle is opposite to that of a wireless charging transmitting device on the unmanned aerial vehicle autonomous charging platform, and a power supply on the unmanned aerial vehicle autonomous charging platform charges a storage battery of the unmanned aerial vehicle;
when a first electric quantity detection unit of the unmanned aerial vehicle detects that the storage battery of the unmanned aerial vehicle is charged, a charging completion instruction is sent to a ground command control station through a 5G network, and after receiving the charging completion instruction, the ground command control station sends a corresponding inspection task to an unmanned aerial vehicle processor to control the unmanned aerial vehicle to complete the unfinished part of the inspection task;
the ground command control station acquires the electric quantity information of the power supply source of the unmanned aerial vehicle autonomous charging platform in real time through a 5G network, and when the ground command control station receives an unmanned aerial vehicle autonomous charging platform position query instruction sent by an unmanned aerial vehicle processor, the ground command control station sends the position information of the unmanned aerial vehicle autonomous charging platform, of which the electric quantity of the power supply source exceeds a set value and is closest to the unmanned aerial vehicle, to the unmanned aerial vehicle processor;
the power transmission line inspection method further comprises the following steps:
when an emergency occurs, the ground command control station sends an emergency control instruction to the unmanned aerial vehicle processor through the 5G network, so that the unmanned aerial vehicle completes a corresponding emergency task or return trip.
Compared with the prior art, the invention has the following advantages and effects:
(1) the invention relates to a power transmission line inspection system based on a 5G link, which comprises a ground command control station, a processor, a laser radar sensor, a 5G communication unit, a camera and a signal receiver, wherein the processor, the laser radar sensor, the 5G communication unit, the camera and the signal receiver are arranged on an unmanned aerial vehicle; wherein: laser radar sensor, 5G communication unit, camera and signal receiver treater respectively, the treater passes through 5G communication unit and connects ground command control station, ground command control station sends the task of patrolling and examining to the unmanned aerial vehicle treater through 5G communication unit, make unmanned aerial vehicle accomplish according to the task of patrolling and examining and patrol and examine, the unmanned aerial vehicle treater will patrol and examine the data of patrolling and examining that the in-process obtained and feed back to ground command control station through 5G communication unit, ground command control station can analyze out the state of transmission line based on patrolling and examining the data, thereby realize patrolling and examining of transmission line. Therefore, the system transmits the unmanned aerial vehicle inspection result to the ground command control station in real time through the 5G communication link, so that the operation and maintenance personnel of the power transmission line can observe the operation state of the power transmission line in real time, quickly inspect the hidden trouble of the fault and timely eliminate the fault, the normal operation of the high-voltage power transmission line is ensured, and the inspection efficiency of the power transmission line is improved; in the inspection process, no human intervention is needed, so that human resources and time cost are effectively saved.
(2) The power transmission line inspection system based on the 5G link comprises an unmanned aerial vehicle autonomous charging platform, wherein the unmanned aerial vehicle autonomous charging platform comprises a power supply and a wireless charging transmitting device connected with a voltage output end of the power supply; still including setting up GPS module, first electric quantity detecting element and the wireless receiving arrangement that charges on unmanned aerial vehicle, the wireless receiving arrangement that charges of connecting the last battery of unmanned aerial vehicle holds, and unmanned aerial vehicle's battery is connected through first electric quantity detecting element to the treater on the unmanned aerial vehicle, detects the electric quantity information of battery through first electric quantity detecting element. Based on above-mentioned structure, unmanned aerial vehicle treater can control unmanned aerial vehicle and fly to unmanned aerial vehicle autonomous charging platform when detecting that unmanned aerial vehicle battery power is not enough, charges through unmanned aerial vehicle autonomous charging platform. Thereby realized unmanned aerial vehicle's automation and charged, can effectively avoid unmanned aerial vehicle to patrol and examine the phenomenon of task and crash because the electric quantity is not enough, also ensured unmanned aerial vehicle's security when further improving and patrolling and examining efficiency. In addition, the power supply source on the unmanned aerial vehicle autonomous charging platform comprises a storage battery and a solar cell panel, the storage battery can be charged through the solar cell panel, and the service life of the storage battery is prolonged while energy is saved and the environment is protected.
(3) In the power transmission line inspection system based on the 5G link, the unmanned aerial vehicle autonomous charging platform also comprises a controller, a second electric quantity detection unit and a 5G communication unit, the electric quantity information of the power supply can be detected in real time based on the controller and the second electric quantity detection unit, and the electric quantity information of the power supply of the unmanned aerial vehicle autonomous charging platform can be fed back to the ground command control station in real time through the 5G communication unit, so that the ground command control station can control the unmanned aerial vehicle to fly to the unmanned aerial vehicle autonomous charging platform with sufficient corresponding electric quantity for charging according to the electric quantity information of each unmanned aerial vehicle autonomous charging platform, and the charging efficiency is ensured.
(4) In the transmission line inspection system based on the 5G link, the number of the unmanned aerial vehicles can be one or more, and when the number of the unmanned aerial vehicles is more, the processors on the unmanned aerial vehicles are respectively in wireless connection with the ground command control station through the 5G communication unit; the ground command control station in the system can simultaneously control a plurality of unmanned aerial vehicles to carry out inspection in each inspection area, and the inspection efficiency is greatly improved. In addition, the transmission line inspection system also comprises an upper computer; the ground command control station uploads the received patrol data and an analysis result obtained based on the patrol data to an upper computer through a network, and remote monitoring of the power transmission line can be achieved.
(5) In the transmission line inspection system based on the 5G link, the ground command control station can be an inspection work vehicle, and the inspection work vehicle comprises an intelligent terminal connected with or internally provided with a 5G communication unit; based on the method, the ground command control station can be moved to the ground corresponding to the area to be inspected according to the actual inspection requirement, so that the inspection cost is saved. In addition, the power transmission line inspection system further comprises a wireless communication module which is arranged on the unmanned aerial vehicle and connected with the processor, so that the processor and a second controller connected with the sensor in the power transmission line can be connected in a matched mode, information detected by the sensor in the power transmission line can be acquired, information directly detected by related detection equipment on the power transmission line can be acquired based on the information, and the power transmission line can be inspected in more detail.
(6) In the power transmission line inspection method based on the 5G link, before the unmanned aerial vehicle inspects the power transmission line, the ground command control station determines the inspection area corresponding to the unmanned aerial vehicle according to the distribution of the power transmission line, plans the optimal inspection path for the unmanned aerial vehicle in the inspection area, and distributes the inspection target and the inspection content for the unmanned aerial vehicle, wherein the optimal path is planned according to the shortest path, the minimum time consumption and the unmanned aerial vehicle inspection full coverage principle in the inspection area, so that the unmanned aerial vehicle can be controlled to inspect the power transmission line in the mode of the minimum range and the shortest path, and the condition that the unmanned aerial vehicle can not finish inspection at one time or the unmanned aerial vehicle falls due to insufficient electric quantity in the long-time large-.
(7) In the power transmission line inspection method based on the 5G link, inspection targets considered in inspection comprise towers, connecting fittings, multi-split conductors, insulators, radio remote units, GPS modules and the like of the power transmission line, for example, specific inspection tasks can comprise inspection of the towers, inspection of the Radio Remote Units (RRUs) and inspection of the GPS modules, and in the inspection process, a ground command control station can realize inspection of inclined states of the towers, fixed and lost states of iron tower bolts, deformed states of iron tower materials and corrosion degrees by analyzing pictures of the towers; the ground command control station can detect the installation and rotation integrity and the fixed state of the RRU patch cord, the working state of an optical fiber label, a power supply label and a grounding label and the determination of the grounding, water prevention and electric leakage phenomena of the RRU power line by analyzing the radio remote unit photo; the ground command control station can determine whether the GPS module on the power transmission line meets the working requirement currently or not based on the strength information of the signal sent by the GPS module.
(8) In the power transmission line inspection method based on the 5G link, when the unmanned aerial vehicle processor judges that the electric quantity of the storage battery of the unmanned aerial vehicle is insufficient and the storage battery needs to be charged, the processor sends an unmanned aerial vehicle autonomous charging platform position query instruction to a ground command control station through a 5G network; the ground command control station determines an unmanned aerial vehicle autonomous charging platform closest to the current position of the unmanned aerial vehicle according to the current position of the unmanned aerial vehicle, and sends the position information of the unmanned aerial vehicle autonomous charging platform to a processor of the unmanned aerial vehicle through a 5G network; make unmanned aerial vehicle can obtain charging as early as possible, guaranteed unmanned aerial vehicle's relative security. In addition, after the storage battery of the unmanned aerial vehicle is charged, the ground command control station sends the corresponding polling task to the unmanned aerial vehicle processor, and controls the unmanned aerial vehicle to finish the unfinished part in the polling task, so that the unmanned aerial vehicle can automatically finish the polling task, and the polling efficiency is further improved.
Drawings
Fig. 1 is a block diagram of the power transmission line inspection system of the present invention.
Fig. 2 is a circuit block diagram of the autonomous charging platform of the unmanned aerial vehicle in the power transmission line inspection system of the invention.
Fig. 3 is a flow chart of the transmission line inspection method of the invention.
Detailed Description
The present invention will be described in further detail with reference to examples and drawings, but the present invention is not limited thereto.
Example 1
The embodiment discloses a power transmission line inspection system based on a 5G link, which comprises a ground command control station, a processor, a laser radar sensor, a 5G communication unit, a camera, a signal receiver and a wireless communication module, wherein the processor, the laser radar sensor, the 5G communication unit, the camera, the signal receiver and the wireless communication module are arranged on an unmanned aerial vehicle; wherein:
the 5G communication unit is connected with the processor, and the processor establishes wireless connection with the ground command control station through the 5G communication unit. The processor sends the inspection data to a ground command control station through a 5G wireless network; the ground command control station sends the polling task to a processor on the unmanned aerial vehicle through a 5G communication unit, and simultaneously analyzes the state of the power transmission line based on the received polling data; the inspection task comprises an unmanned aerial vehicle inspection area, an inspection path, an inspection target and inspection contents.
Laser radar sensor connection treater for detect the position information of power transmission line, shaft tower etc. relative unmanned aerial vehicle, and send the position information who detects for the treater, unmanned aerial vehicle can detect unmanned aerial vehicle and patrol and examine the distance between the target based on laser radar sensor in real time, thereby control unmanned aerial vehicle for patrolling and examining the distance between the target, in order to conveniently acquire relevant data of patrolling and examining.
The camera is connected with the processor and is used for shooting image and/or video information under the driving of the processor and transmitting the shot image and/or video information to the processor, and the processor transmits the shot image and/or video information to the ground command control station as patrol data through the 5G network.
The signal receiver is connected with the processor and used for detecting the strength state information of the signal sent by the wireless signal sending equipment on the power transmission line under the driving of the processor, and the processor sends the strength state information as routing inspection data to the ground command control station through the 5G network. A wireless signal transmitting device on a power transmission line such as a GPS module for navigation and positioning on the power transmission line.
The wireless communication module is connected with the processor, wherein a sensor used for detecting the state of the power transmission line in the power transmission line is connected with a second controller, and the second controller is connected with the wireless communication module; the wireless communication unit of the unmanned aerial vehicle processor is connected in a matching mode with a wireless communication module connected with the second controller under the driving of the processor, acquires sensing information detected by a sensor connected with the second controller, and takes the sensing information as routing inspection data. In this embodiment, the wireless communication module may be a bluetooth module, a ZigBee module, or the like. In this embodiment, the sensors for detecting the state of the power transmission line in the power transmission line include an angle sensor arranged at the top of a tower, an attitude sensor arranged on the tower, a temperature sensor arranged on the power transmission line, and other sensors with various detection functions.
Therefore, the system of the embodiment transmits the inspection result of the unmanned aerial vehicle to the ground command control station in real time through the 5G communication link, so that operation and maintenance personnel of the power transmission line can observe the operation state of the power transmission line in real time, the fault hidden danger can be rapidly inspected, the fault can be eliminated in time, the normal operation of the high-voltage power transmission line is ensured, and the inspection efficiency of the power transmission line is improved; in the inspection process, no human intervention is needed, so that human resources and time cost are effectively saved.
In this embodiment, the power transmission line inspection system further comprises an unmanned aerial vehicle autonomous charging platform; as shown in fig. 2, the autonomous charging platform of the unmanned aerial vehicle includes a power supply and a wireless charging transmitting device connected to a voltage output terminal of the power supply; the power supply comprises a storage battery and a solar cell panel, the solar cell panel is connected with the storage battery through a charging controller to charge the storage battery, and a voltage output end of the storage battery is used as a power supply output end of the power supply; the power transmission line inspection system also comprises a GPS module, a wireless charging receiving device and a first electric quantity detection unit which are arranged on the unmanned aerial vehicle, wherein the wireless charging receiving device is connected with a charging end of a storage battery on the unmanned aerial vehicle; the processor on the unmanned aerial vehicle is connected with the storage battery of the unmanned aerial vehicle through the first electric quantity detection unit, and the electric quantity information of the storage battery is detected through the first electric quantity detection unit. In this embodiment, unmanned aerial vehicle can recommend the unmanned aerial vehicle of phase position independently charging platform for unmanned aerial vehicle by the ground command control station under the not enough condition of electric quantity, and unmanned aerial vehicle flies to unmanned aerial vehicle independently charging platform based on GPS module's locating information, realizes charging to the unmanned aerial vehicle battery through the wireless emitter that charges of the wireless receiving device that charges on the unmanned aerial vehicle and unmanned aerial vehicle independently charging platform.
In this embodiment, as shown in fig. 2, the autonomous charging platform of the unmanned aerial vehicle further includes a first controller, a second electric quantity detection unit, and a 5G communication unit; the first controller is connected with a power supply of the unmanned aerial vehicle autonomous charging platform through a second electric quantity detection unit, and electric quantity information of the power supply is detected through the second electric quantity detection unit; the first controller is connected with the 5G communication unit, wireless connection is established with the ground command control station through the 5G communication unit, and the electric quantity information of the power supply is fed back to the ground command control station, so that the electric quantity information of the power supply in the unmanned aerial vehicle autonomous charging platform can be mastered in real time based on the ground command control station.
In this embodiment, above-mentioned first electric quantity detecting element and second electric quantity detecting element all can be bleeder circuit, bleeder circuit is established ties in proper order by a plurality of resistance and obtains, the voltage output end of unmanned aerial vehicle battery is connected as the one end of the bleeder circuit of first electric quantity detecting element, other end ground connection, the bleeder circuit is connected to unmanned aerial vehicle's treater, the voltage output end of battery in the unmanned aerial vehicle autonomic charging platform is connected to the one end of the bleeder circuit as two electric quantity detecting element, other end ground connection, the bleeder circuit is connected to first controller.
In this embodiment, can set up one or more unmanned aerial vehicle autonomous charging platform according to the frequency of patrolling and examining the regional size and patrolling and examining, make things convenient for charging of many unmanned aerial vehicles.
In the two implementation modes, the number of the unmanned aerial vehicles is one or more; when the number of the unmanned aerial vehicles is multiple, the processor on each unmanned aerial vehicle is in wireless connection with the ground command control station through the 5G communication unit;
the processors on the unmanned aerial vehicles respectively send the patrol data to the ground command control station through the 5G communication unit; the ground command control station sends corresponding inspection tasks to the processors on the unmanned aerial vehicles through the 5G communication unit, and particularly distributes each unmanned aerial vehicle to an inspection area. Based on this, ground command control station can control many unmanned aerial vehicles simultaneously and patrol and examine the region at each in this embodiment system, has had very big improvement to the efficiency of patrolling and examining.
In this embodiment, the power transmission line inspection system further comprises an upper computer; the ground command control station uploads the received patrol data and an analysis result obtained based on the patrol data to an upper computer through a network; the upper computer can be a cloud server or an entity server and the like. In addition, the ground command control station comprises a computer, such as a server, and the power transmission line operation and maintenance personnel can access the server in the ground command control station through the mobile terminal, so that the operation state of the power transmission line can be observed in real time.
In this embodiment, the ground command control station is an inspection vehicle, and the inspection vehicle includes an intelligent terminal connected to or embedded with a 5G communication unit, and may specifically be a server as described above.
Example 2
The embodiment discloses a 5G link-based power transmission line inspection method implemented by a 5G link-based power transmission line inspection system according to embodiment 1, and as shown in fig. 3, the method specifically includes:
s1, the ground command control station determines a routing inspection area corresponding to the unmanned aerial vehicle according to the distribution of the power transmission line, plans an optimal routing inspection path for the unmanned aerial vehicle in the routing inspection area, and distributes routing inspection targets and routing inspection contents for the unmanned aerial vehicle.
In this embodiment, the optimal routing inspection path of the unmanned aerial vehicle is planned according to the shortest path, the minimum time consumption and the principle of full coverage of unmanned aerial vehicle routing inspection, so that the unmanned aerial vehicle can patrol corresponding contents of the routing inspection targets in the routing inspection area according to the optimal routing inspection path.
In this embodiment, when the number of the unmanned aerial vehicles is multiple, the ground command control station divides an area to be inspected into a plurality of inspection areas according to the distribution of the power transmission lines; determining a routing inspection area of each unmanned aerial vehicle, and planning an optimal routing inspection path for each unmanned aerial vehicle in the routing inspection area, wherein when the optimal routing inspection path of each unmanned aerial vehicle is planned, routing inspection paths which are different from each other and are not interfered with each other are generated according to position information of power transmission lines in each routing inspection area; and meanwhile, each unmanned aerial vehicle is distributed with an inspection target and inspection contents.
In this embodiment, the inspection target includes a tower of the power transmission line, a link fitting, a multi-split conductor, an insulator, a radio remote unit, a GPS module on the power transmission line, and the like.
And S2, the ground command control station forms a patrol task by the patrol area information, the patrol path information, the patrol target and the patrol content and sends the patrol task to the processor of the corresponding unmanned aerial vehicle through the 5G network.
S3, the processor of the unmanned aerial vehicle receives the inspection task through the 5G network, flies to an inspection area according to the inspection task, and inspects an inspection target in the inspection area according to an inspection path; wherein: in the process of patrolling and examining, the last laser radar sensor of unmanned aerial vehicle detects the position information of power transmission line, shaft tower etc. for unmanned aerial vehicle to send the position information who detects for the treater, the treater can control the unmanned aerial vehicle and patrol and examine the distance of target including vertical distance and horizontal distance for power transmission line and shaft tower etc. based on the information that laser radar sensor detected. In the embodiment, when the inspection target is inspected, the unmanned aerial vehicle reaches the position near a certain inspection target according to the set inspection path and hovers, and the minimum clearance radius between the unmanned aerial vehicle and the power transmission line tower is not less than 5 meters; unmanned aerial vehicle discerns wire and surrounding barrier while flying patrolling and examining the in-process, realizes the accurate discernment of front end.
The unmanned aerial vehicle is controlled to fly to the position of a certain distance of the routing inspection target based on the routing inspection task aiming at each routing inspection target on the routing inspection path:
when the inspection content aiming at the inspection target is the shot image and/or video information, the processor drives the camera to shoot the image and/or video information aiming at the inspection target.
When the inspection content of the inspection target is required to be used for detecting the strength state information of the signal transmitted by the wireless signal transmitting equipment on the power transmission line, the processor drives the signal receiving equipment to enter a working state, and the signal receiving equipment judges the strength of the signal according to the signal received from the wireless signal transmitting equipment and transmits the signal strength information to the processor.
When the inspection content of the inspection target is required to be the information detected by the acquisition sensor, the processor drives the connected wireless communication module to search the wireless communication module which is arranged in the nearby power transmission line with the corresponding name and is connected with the second controller, and the pairing connection is realized; after the pairing connection, the unmanned aerial vehicle processor reads the sensing information stored in the second controller connected with the sensor.
S4, the processor transmits the image, the video information, the signal intensity information, the sensing information and the like as patrol data to a ground command control station through a 5G network; the ground command control station analyzes the fault state of the power transmission line based on the inspection data, wherein when the inspection data is image or video information, the inspection data is processed by adopting an image recognition algorithm, an interested region is extracted from the inspection data, and the fault state of the power transmission line is judged based on the interested region; and when the routing inspection data is signal intensity information, sensing information and the like, comparing the signal intensity information and the sensing information with corresponding normal values, and determining a corresponding fault state or pre-judging the fault state according to a comparison result. Namely, the ground command control station realizes the back-end defect identification. In this implementation, ground command control station can be with patrolling and examining data and patrolling and examining data analysis result and uploading to the host computer. In this embodiment, when an emergency occurs, the ground command control station may send an emergency control instruction to the processor of the unmanned aerial vehicle through the 5G network, so that the unmanned aerial vehicle completes a corresponding emergency task or return trip.
The inspection tasks in this embodiment may include tower inspection, radio remote unit inspection, GPS module inspection on the power transmission line, and the like,
the specific process of pole tower inspection is as follows:
controlling the unmanned aerial vehicle to fly and suspend at a position corresponding to a certain distance of a tower, then driving a camera to shoot pictures and/or videos of the tower by a processor, and sending the pictures and/or videos of the tower serving as patrol data to a ground command control station through a 5G network;
the ground command control station judges the inclined state of the tower, the fixed and lost state of the iron tower bolts, the deformation state of the iron tower material and the corrosion degree information according to the pictures and/or videos of the tower;
the specific process of the remote radio unit inspection is as follows:
controlling the unmanned aerial vehicle to fly and suspend at a position which corresponds to a certain distance of the remote radio unit, then driving a camera to shoot pictures and/or videos of the remote radio unit by a processor, and sending the pictures and/or videos of the tower as patrol data to a ground command control station through a 5G network;
the ground command control station detects the jumper wire installation and rotation integrity of the radio remote unit, the installation and fixation state of the radio remote unit and the working states of an optical fiber label, a power supply label and a grounding label of the radio remote unit according to the picture and/or video of the radio remote unit, and inspects the phenomena of grounding, water prevention and electric leakage of a power line of the radio remote unit based on the picture and/or video of the radio remote unit;
the specific process of the GPS module inspection on the power transmission line comprises the following steps:
controlling the unmanned aerial vehicle to fly and suspend at a certain distance position on the power transmission line, which is checked by a corresponding GPS module, driving a signal receiving device to enter a working state by a processor, judging the intensity of the signal by the signal receiving device according to the signal received from the corresponding GPS module, sending signal intensity information to the processor, and sending the signal intensity information of the corresponding GPS module as patrol data to a ground command control station through a 5G network by the processor;
and the ground command control station judges whether the corresponding GPS module equipment on the power transmission line has faults or not and meets working requirements or not according to the signal intensity information of the GPS module.
In the above method of this embodiment, in the process of unmanned aerial vehicle routing inspection, the following process is further included:
sa, the electric quantity information of the storage battery is detected by the processor on the unmanned aerial vehicle through the electric quantity detection unit, and when the electric quantity information is lower than a warning value, the processor sends an unmanned aerial vehicle autonomous charging platform position query instruction to the ground command control station through the 5G network.
Sb, determining an unmanned aerial vehicle autonomous charging platform closest to the current position of the unmanned aerial vehicle by the ground command control station according to the current position of the unmanned aerial vehicle, and sending position information of the unmanned aerial vehicle autonomous charging platform to a processor of the unmanned aerial vehicle through a 5G network; in this embodiment, when the ground command control station can acquire the electric quantity information of the power supply of the autonomous charging platform of the unmanned aerial vehicle through the 5G network in real time, the ground command control station sends the position information of the autonomous charging platform of the unmanned aerial vehicle, which is closest to the unmanned aerial vehicle and exceeds the set value, to the processor of the unmanned aerial vehicle when receiving the position query instruction of the autonomous charging platform of the unmanned aerial vehicle sent by the processor of the unmanned aerial vehicle.
In this embodiment, the ground command control station obtains the position information of the autonomous charging platform of the unmanned aerial vehicle through the positioning of the GPS module in the autonomous charging platform of the unmanned aerial vehicle or the station building data based on the autonomous charging platform of the unmanned aerial vehicle. The second controller in the unmanned aerial vehicle autonomous charging platform can send the positioning information of the GPS module to the ground command control station based on the 5G network.
Sc, unmanned aerial vehicle's treater flies to unmanned aerial vehicle from the position of charging the platform through unmanned aerial vehicle's GPS module on, and the wireless charge receiving arrangement on the unmanned aerial vehicle and the wireless charge emitter position on the unmanned aerial vehicle from the platform of charging are relative this moment, and unmanned aerial vehicle charges for unmanned aerial vehicle's battery from the power supply on the platform of charging.
Sd, after the first electric quantity detecting unit of unmanned aerial vehicle detected that unmanned aerial vehicle's battery charges and accomplishes, send through the 5G network and charge and accomplish the instruction and give ground command control station, ground command control station receives and charges and accomplish the instruction after, sends and corresponds to patrol and examine the task and give the unmanned aerial vehicle treater, control unmanned aerial vehicle accomplishes and patrols and examines the unfinished part in the task, continues to patrol and examine the task promptly.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.
Claims (10)
1. A power transmission line inspection system based on a 5G link is characterized by comprising a ground command control station, a processor, a 5G communication unit, a camera and a signal receiver, wherein the processor, the 5G communication unit, the camera and the signal receiver are arranged on an unmanned aerial vehicle; wherein:
the camera is connected with the processor and is used for shooting image and/or video information under the driving of the processor and transmitting the shot image and/or video information to the processor;
the signal receiver is connected with the processor and used for detecting the strength state information of the signal transmitted by the wireless signal transmitting equipment on the power transmission line under the driving of the processor;
the 5G communication unit is connected with the processor, and the processor is in wireless connection with the ground command control station through the 5G communication unit; the processor sends the inspection data to a ground command control station through a 5G wireless network; the ground command control station sends the polling task to a processor on the unmanned aerial vehicle through a 5G communication unit, and simultaneously analyzes the state of the power transmission line based on the received polling data;
the patrol data comprises images and/or video information shot by the camera and strength state information of signals sent by the wireless signal sending equipment on the power transmission line;
the inspection task comprises an unmanned aerial vehicle inspection area, an inspection path, an inspection target and inspection contents.
2. The transmission line inspection system based on the 5G link according to claim 1, further comprising an unmanned aerial vehicle autonomous charging platform;
the unmanned aerial vehicle autonomous charging platform comprises a power supply and a wireless charging transmitting device connected with a voltage output end of the power supply; the power supply comprises a storage battery and a solar cell panel, the solar cell panel is connected with the storage battery through a charging controller to charge the storage battery, and a voltage output end of the storage battery is used as a power supply output end of the power supply;
the power transmission line inspection system further comprises a GPS module, a wireless charging receiving device and a first electric quantity detection unit, wherein the GPS module, the wireless charging receiving device and the first electric quantity detection unit are arranged on the unmanned aerial vehicle; the processor on the unmanned aerial vehicle is connected with the storage battery of the unmanned aerial vehicle through the first electric quantity detection unit, and the electric quantity information of the storage battery is detected through the first electric quantity detection unit.
3. The power transmission line inspection system based on the 5G link according to claim 2, wherein the unmanned aerial vehicle autonomous charging platform further comprises a first controller, a second electric quantity detection unit and a 5G communication unit; the first controller is connected with a power supply of the unmanned aerial vehicle autonomous charging platform through a second electric quantity detection unit, and electric quantity information of the power supply is detected through the second electric quantity detection unit; the first controller is connected with the 5G communication unit, wireless connection is established with the ground command control station through the 5G communication unit, and the electric quantity information of the power supply is fed back to the ground command control station.
4. The power transmission line inspection system based on the 5G link according to claim 1, wherein the number of the unmanned aerial vehicles is one or more; when the number of the unmanned aerial vehicles is multiple, the processor on each unmanned aerial vehicle is in wireless connection with the ground command control station through the 5G communication unit;
the processors on the unmanned aerial vehicles respectively send the patrol data to the ground command control station through the 5G communication unit;
the ground command control station sends corresponding inspection tasks to the processors on the unmanned aerial vehicles through the 5G communication unit respectively, and particularly, each unmanned aerial vehicle is distributed to an inspection area;
the power transmission line inspection system also comprises an upper computer;
and the ground command control station uploads the received patrol data and an analysis result obtained based on the patrol data to an upper computer through a network.
5. The transmission line inspection system based on the 5G link according to claim 1, wherein the ground command control station is an inspection work vehicle, and the inspection work vehicle comprises an intelligent terminal connected with or internally provided with a 5G communication unit;
the power transmission line inspection system also comprises a wireless communication module which is arranged on the unmanned aerial vehicle and connected with the processor; a sensor used for detecting the state of the power transmission line in the power transmission line is connected with a second controller, and the second controller is connected with a wireless communication module; the wireless communication unit of the unmanned aerial vehicle processor is driven by the processor to be in pairing connection with a wireless communication module connected with a second controller, and sensing information detected by a sensor connected with the second controller is acquired and serves as routing inspection data;
the inspection system further comprises a laser radar sensor, the laser radar sensor is connected with the processor and used for detecting the position information of the unmanned aerial vehicle relative to other objects and sending the detected position information to the processor.
6. The transmission line inspection method based on the 5G link, which is implemented by the transmission line inspection system based on the 5G link according to any one of claims 1 to 5, is characterized by comprising the following steps:
the ground command control station determines a routing inspection area corresponding to the unmanned aerial vehicle according to the distribution of the power transmission line, plans an optimal routing inspection path for the unmanned aerial vehicle in the routing inspection area, and distributes routing inspection targets and routing inspection contents for the unmanned aerial vehicle;
the ground command control station transmits a polling task consisting of the polling area information, the polling path information, the polling target and the polling content to a processor of the corresponding unmanned aerial vehicle through a 5G network;
the processor of the unmanned aerial vehicle receives the inspection task through the 5G network, flies to an inspection area according to the inspection task, and inspects an inspection target in the inspection area according to an inspection path; wherein:
the unmanned aerial vehicle is controlled to fly to the position of a certain distance of the routing inspection target based on the routing inspection task aiming at each routing inspection target on the routing inspection path:
when the inspection content aiming at the inspection target is the shot image and/or video information, the processor drives the camera to shoot the image and/or video information aiming at the inspection target;
when the inspection content of the inspection target is required to be used for detecting the strength state information of the signal transmitted by the wireless signal transmitting equipment on the power transmission line, the processor drives the signal receiving equipment to enter a working state, and the signal receiving equipment judges the strength of the signal according to the signal received from the wireless signal transmitting equipment and transmits the signal strength information to the processor;
the processor transmits the image, the video information and the signal intensity information as patrol data to a ground command control station through a 5G network; and the ground command control station judges the state of the power transmission line based on the patrol data.
7. The power transmission line inspection method based on the 5G link according to claim 6, wherein when the ground command control station plans the inspection path of the unmanned aerial vehicle, the optimal inspection path of the unmanned aerial vehicle is planned according to the principle that the path is shortest, the time consumption is minimum and the unmanned aerial vehicle is in inspection full coverage.
8. The transmission line inspection method based on the 5G link according to claim 6, wherein the inspection target in the inspection task comprises a tower, a connecting fitting, a multi-split conductor, an insulator, a radio remote unit and a GPS module of the transmission line;
the wireless signal transmitting equipment on the power transmission line comprises a GPS module on the power transmission line;
the inspection task comprises tower inspection, and specifically comprises the following steps:
controlling the unmanned aerial vehicle to fly and suspend at a position corresponding to a certain distance of a tower, then driving a camera to shoot pictures and/or videos of the tower by a processor, and sending the pictures and/or videos of the tower serving as patrol data to a ground command control station through a 5G network;
the ground command control station judges the inclined state of the tower, the fixed and lost state of the iron tower bolts, the deformation state of the iron tower material and the corrosion degree information according to the pictures and/or videos of the tower;
the polling task comprises the inspection of the remote radio unit, and specifically comprises the following steps:
controlling the unmanned aerial vehicle to fly and suspend at a position which corresponds to a certain distance of the remote radio unit, then driving a camera to shoot pictures and/or videos of the remote radio unit by a processor, and sending the pictures and/or videos of the tower as patrol data to a ground command control station through a 5G network;
the ground command control station detects the jumper wire installation and rotation integrity of the radio remote unit, the installation and fixation state of the radio remote unit and the working states of an optical fiber label, a power supply label and a grounding label of the radio remote unit according to the picture and/or video of the radio remote unit, and inspects the phenomena of grounding, water prevention and electric leakage of a power line of the radio remote unit based on the picture and/or video of the radio remote unit;
the inspection task comprises the inspection of a GPS module on the power transmission line, and specifically comprises the following steps:
controlling the unmanned aerial vehicle to fly and suspend at a certain distance position on the power transmission line, which is checked by a corresponding GPS module, driving a signal receiving device to enter a working state by a processor, judging the intensity of the signal by the signal receiving device according to the signal received from the corresponding GPS module, sending signal intensity information to the processor, and sending the signal intensity information of the corresponding GPS module as patrol data to a ground command control station through a 5G network by the processor;
and the ground command control station judges whether the corresponding GPS module equipment on the power transmission line has faults or not and meets working requirements or not according to the signal intensity information of the GPS module.
9. The transmission line inspection method based on the 5G link according to claim 6, wherein when the number of the unmanned aerial vehicles is multiple, the ground command control station divides an area to be inspected into a plurality of inspection areas according to the distribution of the transmission line; determining a routing inspection area of each unmanned aerial vehicle, and planning an optimal routing inspection path for each unmanned aerial vehicle in the routing inspection area, wherein when the optimal routing inspection path of each unmanned aerial vehicle is planned, routing inspection paths which are different from each other and are not interfered with each other are generated according to position information of power transmission lines in each routing inspection area; and meanwhile, each unmanned aerial vehicle is distributed with an inspection target and inspection contents.
10. The power transmission line inspection method based on the 5G link according to claim 6, further comprising the following steps:
the processor on the unmanned aerial vehicle detects the electric quantity information of the storage battery through the electric quantity detection unit, and when the electric quantity information is lower than the warning value, the processor sends an unmanned aerial vehicle autonomous charging platform position query instruction to the ground command control station through the 5G network;
the ground command control station determines an unmanned aerial vehicle autonomous charging platform closest to the current position of the unmanned aerial vehicle according to the current position of the unmanned aerial vehicle, and sends the position information of the unmanned aerial vehicle autonomous charging platform to a processor of the unmanned aerial vehicle through a 5G network;
the processor of the unmanned aerial vehicle flies to the position of the unmanned aerial vehicle autonomous charging platform through the GPS module of the unmanned aerial vehicle, the position of a wireless charging receiving device on the unmanned aerial vehicle is opposite to that of a wireless charging transmitting device on the unmanned aerial vehicle autonomous charging platform, and a power supply on the unmanned aerial vehicle autonomous charging platform charges a storage battery of the unmanned aerial vehicle;
when a first electric quantity detection unit of the unmanned aerial vehicle detects that the storage battery of the unmanned aerial vehicle is charged, a charging completion instruction is sent to a ground command control station through a 5G network, and after receiving the charging completion instruction, the ground command control station sends a corresponding inspection task to an unmanned aerial vehicle processor to control the unmanned aerial vehicle to complete the unfinished part of the inspection task;
the ground command control station acquires the electric quantity information of the power supply source of the unmanned aerial vehicle autonomous charging platform in real time through a 5G network, and when the ground command control station receives an unmanned aerial vehicle autonomous charging platform position query instruction sent by an unmanned aerial vehicle processor, the ground command control station sends the position information of the unmanned aerial vehicle autonomous charging platform, of which the electric quantity of the power supply source exceeds a set value and is closest to the unmanned aerial vehicle, to the unmanned aerial vehicle processor;
the power transmission line inspection method further comprises the following steps:
when an emergency occurs, the ground command control station sends an emergency control instruction to the unmanned aerial vehicle processor through the 5G network, so that the unmanned aerial vehicle completes a corresponding emergency task or return trip.
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