CN112468994A - Power line inspection unmanned aerial vehicle air networking communication system and method - Google Patents
Power line inspection unmanned aerial vehicle air networking communication system and method Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
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- B64C39/02—Aircraft not otherwise provided for characterised by special use
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
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- G—PHYSICS
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- 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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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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Abstract
The invention relates to an unmanned aerial vehicle air networking communication system and method for power line inspection. The method comprises the following steps: the ground command issuing terminal is communicated with the signal selecting terminals and the signal selecting terminals in a networking manner, and sends the planned unmanned aerial vehicle line patrol path and the camera shooting angle to each single signal terminal; the signal selection terminal selects other signal selection terminals with the highest communication priority to carry out connection communication with the ground command issuing terminal, and if the communication priority of the signal selection terminal and the ground command issuing terminal is the highest, the signal selection terminal is directly connected with the ground command issuing terminal for communication; and the ground command issuing terminal receives the geographical position of the unmanned aerial vehicle and the shooting picture of the camera which are sent by the single signal terminal and uploaded by the signal selection terminal with the highest communication priority in real time. The invention solves the problems that the signal loss of the unmanned aerial vehicle and the ground station in the prior art can automatically switch to the return flight mode, so that the routing inspection task cannot be completed, and routing inspection data is incomplete and unreliable.
Description
Technical Field
The invention belongs to the technical field of communication, and particularly relates to an aerial networking communication system and method for an unmanned aerial vehicle for power line inspection.
Background
The power line inspection can effectively inspect the power line, analyze, diagnose, perform emergency treatment and provide an overhaul plan according to reported information, eliminate fault hidden dangers in time, ensure safe power supply of power transmission equipment and achieve the safe, stable and economic operation target of a power system.
The unmanned aerial vehicle among the prior art patrols and examines the mode of power line and does: the unmanned aerial vehicle is operated by the control hand to carry out routing inspection around the overhead high-voltage line, and the fault or the dangerous case is found and then reported by the handheld terminal. When the overhead high-voltage line unmanned aerial vehicle patrols and examines in the field, can appear the condition that the signal loses and leads to unmanned aerial vehicle to lose the antithetical couplet because of the physics separation between unmanned aerial vehicle and the control hand, after the signal loss appears, ordinary line unmanned aerial vehicle that patrols then can automatic switch to the mode of returning a journey, has increased like this and has returned the risk and economic cost that the in-process hinders more and the definite degree of difficulty in headroom and bring.
Disclosure of Invention
The invention aims to solve the problems that in the prior art, after signals of an unmanned aerial vehicle and a ground station are lost, the unmanned aerial vehicle and the ground station can be automatically switched to a return flight mode, so that a routing inspection task cannot be completed, routing inspection data is incomplete and unreliable, and provides an aerial networking communication system and method for a power line routing inspection unmanned aerial vehicle.
In order to achieve the purpose, the technical scheme of the invention is as follows: the utility model provides an unmanned aerial vehicle aerial network deployment communication system is patrolled and examined to power line, includes: ground order issue terminal, a plurality of signal selection terminal, a plurality of stand-alone signal terminal, all set up a signal selection terminal and a stand-alone signal terminal on every unmanned aerial vehicle, wherein:
the ground command issuing terminal is built in a ground station and used for planning an unmanned aerial vehicle routing inspection path and a camera shooting angle according to the received waypoint information and task information and storing the planned unmanned aerial vehicle routing inspection path and the camera shooting angle in a single-machine signal terminal;
the signal selecting terminals are communicated with the ground command issuing terminal in a networking mode, and any signal selecting terminal is communicated with the ground command issuing terminal by selecting the signal selecting terminal with the highest communication priority;
and the stand-alone signal terminal is used for uploading the geographic position of the unmanned aerial vehicle and the shooting picture of the camera to the ground command issuing terminal through the signal selection terminal.
In an embodiment of the invention, which signal selection terminal in each unmanned aerial vehicle has the highest communication priority with the ground command issuing terminal is determined, and the other signal selection terminals upload the geographical position of the unmanned aerial vehicle and the shooting picture of the camera of the single signal terminal to the ground command issuing terminal through the signal selection terminal in a transmission mode with the highest communication priority among the other signal selection terminals. Even certain unmanned aerial vehicle is too far away or there is the influence of barrier between because of the distance from ground order issue terminal, this unmanned aerial vehicle can not return journey automatically yet, but with nearest unmanned aerial vehicle's signal selection terminal intercommunication transmission data, the line radius and the line efficiency of patrolling and examining of unmanned aerial vehicle patrolling and examining have been prolonged to the mode based on aerial network deployment, the efficiency of patrolling and examining has been improved effectively, the mode through communication priority uploads data to ground order issue terminal, the redundancy control of system has been increased, avoid factor data signal incomplete, the power line accident that unreliable leads to takes place.
In an embodiment of the present invention, the ground command issuing terminal performs networking communication with the signal selecting terminals, and when the signal selecting terminals perform networking communication, a communication connection is established through a 4G network/5G network or/and a 915mHz data transmission station.
In an embodiment of the present invention, when the ground command issuing terminal performs networking communication with the signal selecting terminals, if a communication connection is established between the ground command issuing terminal and the 915mHz data transmission station through a 5G network, the communication priority is highest; if the communication connection is established with the 915mHz data transmission radio station through the 4G network, the communication priority is normal; if the communication connection is established through the 915mHz data transmission station, the communication priority is the lowest.
In one embodiment of the present invention, when networking communication is performed between the signal selection terminals, if communication connection is established through a 915mHz data transmission radio station, the communication priority is the highest; if the communication connection is established with the 915mHz data transmission radio station through the 5G network, the communication priority is normal; if a communication connection is established between the 4G network and the 915mHz data radio station, the communication priority is the lowest.
In an embodiment of the invention, when the single-machine signal terminal uploads the geographical position of the unmanned aerial vehicle and the shooting picture of the camera to the ground command issuing terminal through the signal selection terminals of other unmanned aerial vehicles, the GPS information and the longitude and latitude information and the attitude information obtained by IMU Kalman filtering are preferentially uploaded, and the signal selection terminals of other unmanned aerial vehicles preferentially store the longitude and latitude information and the attitude information uploaded by the single-machine signal terminal.
The invention also provides an aerial networking communication method of the power line inspection unmanned aerial vehicle, which comprises the following steps:
the ground command issuing terminal is communicated with the signal selecting terminals and the signal selecting terminals in a networking manner, and sends the planned unmanned aerial vehicle line patrol path and the camera shooting angle to each single signal terminal;
the signal selection terminal selects other signal selection terminals with the highest communication priority to carry out connection communication with the ground command issuing terminal, and if the communication priority of the signal selection terminal and the ground command issuing terminal is the highest, the signal selection terminal is directly connected with the ground command issuing terminal for communication;
and the ground command issuing terminal receives the geographical position of the unmanned aerial vehicle and the shooting picture of the camera which are sent by the single signal terminal and uploaded by the signal selection terminal with the highest communication priority in real time.
In an embodiment of the present invention, when the ground command issuing terminal performs networking communication with the signal selecting terminals and the signal selecting terminals, the ground command issuing terminal establishes communication connection with a 4G network/5G network or/and a 915mHz data transmission station.
In an embodiment of the present invention, the unmanned aerial vehicle line patrol path and the camera shooting angle sent by the ground command issuing terminal to each stand-alone signal terminal are planned by the ground command issuing terminal according to the received waypoint information and task information.
In an embodiment of the present invention, the step of the signal selection terminal selecting another signal selection terminal with the highest communication priority to perform connection communication with the ground command issuing terminal includes:
when the ground command issuing terminal is in networking communication with the signal selection terminals, if communication connection is established between the ground command issuing terminal and the signal selection terminals through a 5G network and a 915mHz data transmission radio station, the communication priority is highest; if the communication connection is established with the 915mHz data transmission radio station through the 4G network, the communication priority is normal; if the communication connection is established through the 915mHz data transmission radio station, the communication priority is the lowest;
when networking communication is carried out among the signal selection terminals, if communication connection is established through a 915mHz data transmission radio station, the communication priority is highest; if the communication connection is established with the 915mHz data transmission radio station through the 5G network, the communication priority is normal; if a communication connection is established between the 4G network and the 915mHz data radio station, the communication priority is the lowest.
In an embodiment of the present invention, the step of receiving, by the ground command issuing terminal, the geographical position of the unmanned aerial vehicle and the camera shooting picture transmitted by the single-machine signal terminal uploaded in real time by the signal selection terminal with the highest communication priority includes:
when the stand-alone signal terminal uploads the geographic position of the unmanned aerial vehicle and the shooting picture of the camera to the ground command issuing terminal through the signal selection terminals of other unmanned aerial vehicles, GPS information and longitude and latitude information and attitude information obtained through IMU Kalman filtering are preferentially uploaded, and the signal selection terminals of other unmanned aerial vehicles preferentially store the longitude and latitude information and the attitude information uploaded by the stand-alone signal terminal.
Compared with the prior art, the invention has the following beneficial effects: according to the invention, even if a certain unmanned aerial vehicle is too far away from a ground command issuing terminal or is influenced by obstacles, the unmanned aerial vehicle cannot automatically return due to signal loss, but is communicated with a nearest signal selection terminal of the unmanned aerial vehicle to transmit data, the line patrol radius and the line patrol efficiency of the unmanned aerial vehicle are prolonged based on an aerial networking mode, the patrol efficiency is effectively improved, data are uploaded to the ground command issuing terminal through a communication priority mode, the redundancy control of the system is increased, and the power line accidents caused by incomplete data signals and incapability of depending on spectrums are avoided.
Drawings
FIG. 1 is a block diagram of a system of the present invention;
FIG. 2 is a block diagram of the system modules of an embodiment of the present invention with three drones;
FIG. 3 is a diagram illustrating data transmission according to communication priority according to an embodiment of the present invention;
FIG. 4 is another diagram illustrating the transmission of data according to communication priorities according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a networking method of the present invention;
fig. 6 is a schematic diagram of data transmission of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 7 is another schematic diagram of data transmission of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 8 is a schematic diagram of a data processing process of a single-signal terminal according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present invention, the terms "signal selection terminal 1", "signal selection terminal 2", and the like are used only for distinguishing descriptions, and are not to be construed as indicating or implying relative importance or any such actual relationship or order between these entities or operations.
The invention is realized by the following technical scheme, and the aerial networking communication method for the power line inspection unmanned aerial vehicle comprises the following steps:
step S1: the ground command issuing terminal is communicated with the signal selecting terminals and the signal selecting terminals in a networking mode, and sends the planned unmanned aerial vehicle line patrol path and the camera shooting angle to each single signal terminal.
The ground command issuing terminal is built on a ground station, and a signal selection terminal and a single signal terminal connected with the signal selection terminal are built on each unmanned aerial vehicle. Before the unmanned aerial vehicle patrols and examines, firstly, networking communication among all terminals is established, and a line patrol task is issued to all unmanned aerial vehicles.
When networking communication among all terminals is established, networking communication among a ground command issuing terminal, a plurality of signal selection terminals and a plurality of signal selection terminals is established, and when the networking communication is established, communication connection is established among all terminals through a 4G network/5G network or/and a 915mHz data transmission radio station. Referring to fig. 1, if n unmanned aerial vehicles are provided, there are n signal selection terminals and n single signal terminals connected to the signal selection terminals one by one, the signal selection terminals are networked with each other (only some of the signal selection terminals are sequentially networked in fig. 1), and each signal selection terminal is networked with a ground command issuing terminal.
When each unmanned aerial vehicle is assigned with the line patrol task, the ground command issuing terminal firstly receives the waypoint information and the task information, plans the line patrol path of the unmanned aerial vehicle and the shooting angle of the camera according to the waypoint information and the task information, and stores the planned line patrol path of the unmanned aerial vehicle and the shooting angle of the camera in the single signal terminal. The inspection tasks of all unmanned aerial vehicles may be different, so that the ground command issuing terminal can send the inspection task to the corresponding single signal terminal of the unmanned aerial vehicle when the ground command issuing terminal reaches the unmanned aerial vehicle inspection path and the camera shooting angle.
The single signal terminal realizes the position control and the task control of the unmanned aerial vehicle, when the ground command issuing terminal distributes the planned unmanned aerial vehicle line patrol path, the waypoint information of the flight task of the unmanned aerial vehicle is input into GIS information through the ground command issuing terminal for storage before the unmanned aerial vehicle takes off, the route according to the GIS information is patrolled and examined, and the in-process of patrolling and examining is shot on site according to the shooting angle of the camera.
Step S2: the signal selection terminal selects other signal selection terminals with the highest communication priority to carry out connection communication with the ground command issuing terminal, and if the communication priority of the signal selection terminal and the ground command issuing terminal is the highest, the signal selection terminal is directly connected with the ground command issuing terminal for communication.
When the ground command issuing terminal is in networking communication with the signal selection terminals, if communication connection is established between the ground command issuing terminal and the signal selection terminals through a 5G network and a 915mHz data transmission radio station, the communication priority is highest; if the communication connection is established with the 915mHz data transmission radio station through the 4G network, the communication priority is normal; if the communication connection is established through the 915mHz data transmission station, the communication priority is the lowest. The signal strength between the ground command issuing terminal and the signal selecting terminal can also be regarded as the distance, and the closer the distance is, the stronger the signal strength is, the higher the communication priority is, as shown in table 1:
table 1 communication priority ranking table
The priority determination principle shown in table 1 is:
under an ideal condition (transmitting 1w power without shielding), the radius of a transmission range of a 915mHz data transmission station is about 10km, a 5G network is a point-to-point transmission mode, and the transmission range is the minimum. Therefore, when the signal selection terminal and the ground command issuing terminal communicate in a mode of a 5G network and a 915mHz data radio station, the communication range is the minimum, the signal strength is the strongest, and the communication priority is the highest.
When networking communication is carried out among the signal selection terminals, if communication connection is established through a 915mHz data transmission radio station, the communication priority is highest; if the communication connection is established with the 915mHz data transmission radio station through the 5G network, the communication priority is normal; if a communication connection is established between the 4G network and the 915mHz data radio station, the communication priority is the lowest. The signal strength between signal selection terminals can also be considered as the separation distance, the closer the separation distance. The stronger the signal strength, the higher the communication priority, as shown in table 2:
TABLE 2
The priority determination principle shown in table 2 is:
under an ideal condition (1w power, no shielding), the transmission range of a 915mHz data transmission station is about 10km, and a 5G network is a point-to-point transmission mode and has the minimum transmission range. Therefore, when the signal selection terminals only communicate through the 915mHz data transmission station, the fact that the two unmanned aerial vehicles have the farthest flight distance and the lowest signal strength is indicated, and therefore the communication priority is the highest, namely, the link between the unmanned aerial vehicles is guaranteed to contain the 915mHz link.
In the process of routing inspection, each unmanned aerial vehicle can continuously move and networking is formed among the signal selection terminals, so that the signal selection terminals can share the signal intensity of the signal selection terminals and the ground command issuing terminal, and the highest communication priority of the signal selection terminal and the ground command issuing terminal is balanced. Please refer to fig. 2, suppose that the existing three drones perform routing inspection, that is, the signal selection terminal 1, the signal selection terminal 2, and the signal selection terminal 3 are in networking communication with each other and are in networking communication with the ground command issuing terminal.
Referring to fig. 3, if the communication priority between the signal selection terminal 3 and the ground command issuing terminal is the highest and the communication priority between the signal selection terminal 1 and the ground command issuing terminal is the lowest among the three unmanned aerial vehicles at a certain time or in a certain period of time during the inspection process, the signal selection terminal 3 finally uploads the data of the single signal terminals of the three unmanned aerial vehicles to the ground command issuing terminal. Then, when the single-machine signal terminal selects the data transmission sequence, the signal selection terminal 1 and the signal selection terminal 2 need to balance the priorities of each other, please refer to fig. 3 continuously, for example, the priority between the signal selection terminal 1 and the signal selection terminal 2 is greater than that between the signal selection terminal 1 and the signal selection terminal 3, the signal selection terminal 1 first transmits the data of the single-machine signal terminal 1 to the signal selection terminal 2, the signal selection terminal 2 then transmits the data of the single-machine signal terminal 1 and the single-machine signal terminal 2 to the signal selection terminal 3, and finally, the signal selection terminal 3 uploads the data of the single-machine signal terminal 1, the single-machine signal terminal 2 and the single-machine signal terminal 3 to the ground command issuing terminal.
For another example, referring to fig. 4, when it is determined that the communication priority between the signal selection terminal 3 and the ground command issuing terminal is the highest, if the priority between the signal selection terminal 1 and the signal selection terminal 3 is greater than the priority between the signal selection terminal 1 and the signal selection terminal 2, and the priority between the signal selection terminal 2 and the signal selection terminal 3 is also greater than the priority between the signal selection terminal 2 and the signal selection terminal 1, the signal selection terminal 1 directly transmits the data of the stand-alone signal terminal 1 to the signal selection terminal 3, and similarly, the signal selection terminal 2 directly transmits the data of the stand-alone signal terminal 2 to the signal selection terminal 3.
In summary, according to the communication priorities of the unmanned aerial vehicles and the ground command issuing terminals, which signal selection terminal of the unmanned aerial vehicle has the highest communication priority with the ground command selection terminal is determined, and the other signal selection terminals are connected in series in the mode of the highest priority, that is, in the transmission mode with the closest distance, and transmit the data of the respective single signal terminal to the signal selection terminal with the highest communication priority with the ground command issuing terminal. If the priority of a certain signal selection terminal and a ground command issuing terminal is the highest, the signal selection terminal directly transmits data with the ground command issuing terminal, i.e. the networking method shown in fig. 5.
For another example:
please refer to fig. 6, the distance between the drone a and the ground command issuing terminal (hereinafter referred to as ground station) is smaller than the distance between the drone a and other drones, and meanwhile, the distance between the drone D and the ground station in the drone B, C, D is the closest, so the distance between the drone C and the drone D is smaller than the distance between the drone B and the drone D, and the distance between the drone B and the drone C is smaller than the distance between the drone B and the drone D, so the final data transmission mode is:
A→
B→C→D→
referring to fig. 7, the data transmission method is:
Easy understanding, unmanned aerial vehicle's signal selection terminal can select the communication priority highest, and the nearest mode of transmission distance transmits unit signal terminal's data promptly, and unmanned aerial vehicle and ground order issue terminal are because the influence of barrier among the prior art of solution for can automatic drawback of returning after the communication at unmanned aerial vehicle disconnection and ground order issue terminal, also can be real-time simultaneously, transmit the data that unmanned aerial vehicle gathered effectively.
Step S3:
and the ground command issuing terminal receives the geographical position of the unmanned aerial vehicle and the shooting picture of the camera which are sent by the single signal terminal and uploaded by the signal selection terminal with the highest communication priority in real time.
Referring to fig. 8, when the standalone signal terminal uploads the geographical position of the unmanned aerial vehicle and the picture taken by the camera to the ground command issuing terminal through the signal selection terminals of other unmanned aerial vehicles, GPS information and longitude and latitude information and attitude information obtained by IMU kalman filtering are preferentially uploaded, and the signal selection terminals of other unmanned aerial vehicles preferentially store the longitude and latitude information and attitude information uploaded by the standalone signal terminal.
Based on the above method, the present solution further provides an aerial networking communication system for power line inspection unmanned aerial vehicle, please refer to fig. 1, which includes: ground order issue terminal, a plurality of signal selection terminal, a plurality of stand-alone signal terminal, all set up a signal selection terminal and a stand-alone signal terminal on every unmanned aerial vehicle, wherein:
the ground command issuing terminal is built in a ground station and used for planning an unmanned aerial vehicle routing inspection path and a camera shooting angle according to the received waypoint information and task information and storing the planned unmanned aerial vehicle routing inspection path and the camera shooting angle in a single-machine signal terminal;
the signal selecting terminals are communicated with the ground command issuing terminal in a networking mode, and any signal selecting terminal is communicated with the ground command issuing terminal by selecting the signal selecting terminal with the highest communication priority;
and the stand-alone signal terminal is used for uploading the geographic position of the unmanned aerial vehicle and the shooting picture of the camera to the ground command issuing terminal through the signal selection terminal.
And the ground command issuing terminal is in networking communication with the signal selection terminals, and when the signal selection terminals are in networking communication, communication connection is established through a 4G network/5G network or/and a 915mHz data transmission radio station.
When the ground command issuing terminal is in networking communication with the signal selection terminals, if communication connection is established between the ground command issuing terminal and the signal selection terminals through a 5G network and a 915mHz data transmission radio station, the communication priority is highest; if the communication connection is established with the 915mHz data transmission radio station through the 4G network, the communication priority is normal; if the communication connection is established through the 915mHz data transmission station, the communication priority is the lowest.
When networking communication is carried out between the signal selection terminals, if communication connection is established through a 915mHz data transmission radio station, the communication priority is highest; if the communication connection is established with the 915mHz data transmission radio station through the 5G network, the communication priority is normal; if a communication connection is established between the 4G network and the 915mHz data radio station, the communication priority is the lowest.
When the stand-alone signal terminal uploads the geographic position of the unmanned aerial vehicle and the shooting picture of the camera to the ground command issuing terminal through the signal selection terminals of other unmanned aerial vehicles, GPS information and longitude and latitude information and attitude information obtained through IMU Kalman filtering are preferentially uploaded, and the signal selection terminals of other unmanned aerial vehicles preferentially store the longitude and latitude information and the attitude information uploaded by the stand-alone signal terminal.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. The utility model provides an unmanned aerial vehicle aerial network deployment communication system is patrolled and examined to power line which characterized in that includes: ground order issue terminal, a plurality of signal selection terminal, a plurality of stand-alone signal terminal, all set up a signal selection terminal and a stand-alone signal terminal on every unmanned aerial vehicle, wherein:
the ground command issuing terminal is built in a ground station and used for planning an unmanned aerial vehicle routing inspection path and a camera shooting angle according to the received waypoint information and task information and storing the planned unmanned aerial vehicle routing inspection path and the camera shooting angle in a single-machine signal terminal;
the signal selecting terminals are communicated with the ground command issuing terminal in a networking mode, and any signal selecting terminal is communicated with the ground command issuing terminal by selecting the signal selecting terminal with the highest communication priority;
and the stand-alone signal terminal is used for uploading the geographic position of the unmanned aerial vehicle and the shooting picture of the camera to the ground command issuing terminal through the signal selection terminal.
2. The system of claim 1, wherein: and the ground command issuing terminal is in networking communication with the signal selection terminals, and when the signal selection terminals are in networking communication, communication connection is established through a 4G network/5G network or/and a 915mHz data transmission radio station.
3. The system of claim 2, wherein: when the ground command issuing terminal is in networking communication with the signal selection terminals, if communication connection is established between the ground command issuing terminal and the signal selection terminals through a 5G network and a 915mHz data transmission radio station, the communication priority is highest; if the communication connection is established with the 915mHz data transmission radio station through the 4G network, the communication priority is normal; if the communication connection is established through the 915mHz data transmission station, the communication priority is the lowest.
4. The system of claim 2, wherein: when networking communication is carried out between the signal selection terminals, if communication connection is established through a 915mHz data transmission radio station, the communication priority is highest; if the communication connection is established with the 915mHz data transmission radio station through the 5G network, the communication priority is normal; if a communication connection is established between the 4G network and the 915mHz data radio station, the communication priority is the lowest.
5. The system of claim 1, wherein: when the stand-alone signal terminal uploads the geographic position of the unmanned aerial vehicle and the shooting picture of the camera to the ground command issuing terminal through the signal selection terminals of other unmanned aerial vehicles, GPS information and longitude and latitude information and attitude information obtained through IMU Kalman filtering are preferentially uploaded, and the signal selection terminals of other unmanned aerial vehicles preferentially store the longitude and latitude information and the attitude information uploaded by the stand-alone signal terminal.
6. An aerial networking communication method of an unmanned aerial vehicle for power line inspection is characterized in that: the method comprises the following steps:
the ground command issuing terminal is communicated with the signal selecting terminals and the signal selecting terminals in a networking manner, and sends the planned unmanned aerial vehicle line patrol path and the camera shooting angle to each single signal terminal;
the signal selection terminal selects other signal selection terminals with the highest communication priority to carry out connection communication with the ground command issuing terminal, and if the communication priority of the signal selection terminal and the ground command issuing terminal is the highest, the signal selection terminal is directly connected with the ground command issuing terminal for communication;
and the ground command issuing terminal receives the geographical position of the unmanned aerial vehicle and the shooting picture of the camera which are sent by the single signal terminal and uploaded by the signal selection terminal with the highest communication priority in real time.
7. The method of claim 6, wherein: and when the ground command issuing terminal is in networking communication with the signal selection terminals and the signal selection terminals, the communication connection is established through a 4G network/5G network or/and a 915mHz data transmission radio station.
8. The method of claim 6, wherein: and the unmanned aerial vehicle line patrol path and the camera shooting angle sent by the ground command issuing terminal to each single-machine signal terminal are planned by the ground command issuing terminal according to the received waypoint information and task information.
9. The method of claim 7, wherein: the step that the signal selection terminal selects other signal selection terminals with the highest communication priority to carry out connection communication with the ground command issuing terminal comprises the following steps:
when the ground command issuing terminal is in networking communication with the signal selection terminals, if communication connection is established between the ground command issuing terminal and the signal selection terminals through a 5G network and a 915mHz data transmission radio station, the communication priority is highest; if the communication connection is established with the 915mHz data transmission radio station through the 4G network, the communication priority is normal; if the communication connection is established through the 915mHz data transmission radio station, the communication priority is the lowest;
when networking communication is carried out among the signal selection terminals, if communication connection is established through a 915mHz data transmission radio station, the communication priority is highest; if the communication connection is established with the 915mHz data transmission radio station through the 5G network, the communication priority is normal; if a communication connection is established between the 4G network and the 915mHz data radio station, the communication priority is the lowest.
10. The method of claim 8, wherein: the ground command issuing terminal receives the geographical position of the unmanned aerial vehicle and the shooting picture of the camera which are uploaded by the signal selection terminal with the highest communication priority and are sent by the single signal terminal in real time, and the steps comprise:
when the stand-alone signal terminal uploads the geographic position of the unmanned aerial vehicle and the shooting picture of the camera to the ground command issuing terminal through the signal selection terminals of other unmanned aerial vehicles, GPS information and longitude and latitude information and attitude information obtained through IMU Kalman filtering are preferentially uploaded, and the signal selection terminals of other unmanned aerial vehicles preferentially store the longitude and latitude information and the attitude information uploaded by the stand-alone signal terminal.
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