CN114979214A - Intelligent cooperative alarm system, method and device for power transmission line - Google Patents
Intelligent cooperative alarm system, method and device for power transmission line Download PDFInfo
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- H04L67/00—Network arrangements or protocols for supporting network services or applications
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- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
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- G—PHYSICS
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- 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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- G16Y40/00—IoT characterised by the purpose of the information processing
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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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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/18502—Airborne stations
- H04B7/18506—Communications with or from aircraft, i.e. aeronautical mobile service
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- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
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- H04L67/125—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks involving control of end-device applications over a network
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- Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
- Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
- Y04S40/00—Systems for electrical power generation, transmission, distribution or end-user application management characterised by the use of communication or information technologies, or communication or information technology specific aspects supporting them
- Y04S40/12—Systems for electrical power generation, transmission, distribution or end-user application management characterised by the use of communication or information technologies, or communication or information technology specific aspects supporting them characterised by data transport means between the monitoring, controlling or managing units and monitored, controlled or operated electrical equipment
- Y04S40/126—Systems for electrical power generation, transmission, distribution or end-user application management characterised by the use of communication or information technologies, or communication or information technology specific aspects supporting them characterised by data transport means between the monitoring, controlling or managing units and monitored, controlled or operated electrical equipment using wireless data transmission
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Abstract
The invention discloses an intelligent cooperative alarm system, method and device for a power transmission line, wherein the system comprises: unmanned aerial vehicle control module, on-line monitoring module, high in the clouds server and management module, wherein, the high in the clouds server respectively with unmanned aerial vehicle control module the on-line monitoring module with management module connects, unmanned aerial vehicle control module control unmanned aerial vehicle carries out the task of patrolling and examining, gather and patrol and examine data and send for the high in the clouds server, on-line monitoring module acquires transmission line's monitoring data and sends for the high in the clouds server, the high in the clouds server receives patrolling and examining data, monitoring data, combine satellite monitoring data to carry out intelligent analysis after, obtain the result of reporting an emergency and ask for help or increased vigilance, send for management module, carry out corresponding emergent scheme by management module according to the type of the result of reporting an emergency, through unmanned aerial vehicle, on-line monitoring and satellite monitoring, gather multidimension data, carry out intelligent warning, the intelligent degree and the accuracy that transmission line reported an emergency and ask for help or increased vigilance.
Description
Technical Field
The invention relates to the technical field of power transmission line detection, in particular to an intelligent cooperative alarm system, method and device for a power transmission line.
Background
With the development of economy, the demand for electricity of people is gradually increased. In order to meet the electricity demand of people, various power transmission devices need to be additionally arranged in various regions, and the devices and the power transmission lines are monitored in real time so as to ensure that the devices can stably operate.
Among the prior art, data are gathered through the mode of artifical patrol and examine and unmanned aerial vehicle monitoring usually, and the analysis obtains transmission line trouble result, and the security is low, and the accuracy of data is relatively poor.
Disclosure of Invention
The invention provides an intelligent cooperative alarm system, method and device for a power transmission line.
A first aspect of an embodiment of the present invention provides an intelligent cooperative alarm system for a power transmission line, where the system includes:
the system comprises an unmanned aerial vehicle control module, an online monitoring module, a cloud server and a management module;
the cloud server is respectively connected with the unmanned aerial vehicle control module, the online monitoring module and the management module;
the unmanned aerial vehicle control module is used for controlling an unmanned aerial vehicle to acquire routing inspection data about the power transmission line and sending the routing inspection data to the cloud server;
the online monitoring module is used for acquiring monitoring data about the power transmission line and sending the monitoring data to the cloud server;
the cloud server is used for respectively receiving the routing inspection data, the monitoring data and satellite monitoring data about the power transmission line, performing alarm analysis on the routing inspection data, the monitoring data and the satellite monitoring data to obtain an alarm result, and sending the alarm result to the management module;
and the management module is used for executing a corresponding emergency plan according to the alarm type of the alarm result.
In a possible implementation manner of the first aspect, the system further includes: a data communication module;
the data communication module is respectively in communication connection with the unmanned aerial vehicle control module and the online monitoring module;
the data communication module is used for sending the inspection data acquired by the unmanned aerial vehicle control module and the monitoring data acquired by the online monitoring module to the cloud server.
In a possible implementation manner of the first aspect, the data communication module includes: the system comprises a fixed station and a relay station, wherein the relay station and the fixed station are arranged on a tower of the power transmission line;
the relay station is used for sending the inspection data collected by the unmanned aerial vehicle control module and the monitoring data collected by the online monitoring module to the corresponding fixed station;
and the fixed station is used for transmitting the routing inspection data and the monitoring data to the cloud server through optical fiber return.
In one possible implementation manner of the first aspect, the unmanned aerial vehicle control module includes: the system comprises a plurality of unmanned aerial vehicles and a mobile hangar, wherein the mobile hangar is arranged on the power transmission line, and the unmanned aerial vehicles are arranged in the mobile hangar;
the mobile hangar is used for controlling the plurality of unmanned aerial vehicles to work;
and the unmanned aerial vehicle is used for polling the power transmission line and acquiring corresponding polling data.
In a possible implementation manner of the first aspect, the online monitoring module is provided with an intelligent sensor and an internet of things gateway;
the intelligent sensor is used for collecting monitoring data of the power transmission line;
and the internet of things gateway is used for communicating with the cloud server.
In a possible implementation manner of the first aspect, the cloud server is further configured to store the inspection data and the monitoring data;
the system is also used for carrying out alarm analysis on the routing inspection data, the monitoring data and the satellite monitoring data according to a preset algorithm model to obtain an alarm result;
the unmanned aerial vehicle monitoring system is also used for generating and sending a first inspection instruction to the unmanned aerial vehicle control module according to the inspection data and the monitoring data, so that the unmanned aerial vehicle control module responds to the inspection instruction to control the unmanned aerial vehicle to collect the inspection data.
In a possible implementation manner of the first aspect, the management module is further configured to acquire and send a custom inspection task to the cloud server, perform image recognition and tree obstacle analysis according to the alarm result, and generate a defect management policy
The cloud server is further used for generating and sending a second inspection instruction to the unmanned aerial vehicle control module according to the user-defined inspection task, so that the unmanned aerial vehicle control module can control the unmanned aerial vehicle to execute user-defined operation.
A second aspect of the embodiments of the present invention provides an intelligent collaborative alarm method for a power transmission line, which is applicable to the above-mentioned intelligent collaborative alarm system for a power transmission line, and the method includes:
respectively acquiring routing inspection data, monitoring data and satellite monitoring data about the power transmission line;
performing alarm analysis on the routing inspection data, the monitoring data and the satellite monitoring data to obtain an alarm result;
and executing a corresponding emergency plan according to the alarm type of the alarm result.
In a possible implementation manner of the second aspect, the performing alarm analysis on the inspection data, the monitoring data, and the satellite monitoring data to obtain an alarm result includes:
respectively determining whether the routing inspection data, the monitoring data and the satellite monitoring data meet corresponding data thresholds;
obtaining an alarm analysis result based on the difference between the patrol data, the monitoring data and the satellite monitoring data and the corresponding data threshold
A third aspect of the embodiments of the present invention provides an intelligent cooperative alarm device for a power transmission line, which is suitable for the above-mentioned intelligent cooperative alarm system for a power transmission line, and the device includes:
the acquisition module is used for respectively acquiring routing inspection data, monitoring data and satellite monitoring data about the power transmission line;
the analysis module is used for carrying out alarm analysis on the routing inspection data, the monitoring data and the satellite monitoring data to obtain an alarm result;
and the alarm module is used for executing a corresponding emergency plan according to the alarm type of the alarm result.
Compared with the prior art, the intelligent collaborative alarm system for the power transmission line provided by the embodiment of the invention has the beneficial effects that: according to the invention, the cloud server can be used for realizing alarm analysis of different functions or different scenes on the routing inspection data acquired by the multiple unmanned aerial vehicles, so that the problems of small line detection function and low accuracy rate caused by insufficient hardware equipment functions of the unmanned aerial vehicles are solved, the detection efficiency and accuracy rate are improved, and the actual detection requirements of users are met.
Drawings
Fig. 1 is a schematic structural diagram of an intelligent cooperative alarm system for a power transmission line according to an embodiment of the present invention;
fig. 2 is a schematic flowchart of an intelligent cooperative alarm method for a power transmission line according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of an intelligent cooperative alarm device for a power transmission line 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. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Among the prior art, data are gathered through the artifical mode of patrolling and examining and unmanned aerial vehicle monitoring usually, and the analysis obtains transmission line trouble result, and the security is low, and the accuracy of data is relatively poor.
In order to solve the above problem, the following specific embodiments will describe and explain an intelligent cooperative alarm system for a power transmission line provided in the embodiments of the present application in detail.
Referring to fig. 1, a schematic structural diagram of an intelligent collaborative alarm system for a power transmission line according to an embodiment of the present invention is shown.
As an example, the intelligent collaborative alarm system for the power transmission line may include:
the system comprises an unmanned aerial vehicle control module, an online monitoring module, a cloud server and a management module;
the cloud server is respectively connected with the unmanned aerial vehicle control module, the online monitoring module and the management module;
the unmanned aerial vehicle control module is used for controlling an unmanned aerial vehicle to collect routing inspection data about the power transmission line and sending the routing inspection data to the cloud server.
The patrol data can comprise data of towers, equipment, surrounding geographic environment and climate on the power transmission line, and can also comprise image data and video data.
And the online monitoring module is used for acquiring monitoring data about the power transmission line and sending the monitoring data to the cloud server.
In an embodiment, the monitoring data of the online monitoring module may be corresponding data of the power transmission line acquired by various sensors.
The cloud server is used for respectively receiving the inspection data, the monitoring data and the satellite monitoring data about the power transmission line, performing alarm analysis on the inspection data, the monitoring data and the satellite monitoring data to obtain an alarm result, and sending the alarm result to the management module.
Wherein, the alarm result can be the identification result of the transmission line abnormity or fault. The cloud server can be configured with a plurality of alarm types in advance, and when the acquired routing inspection data, the acquired monitoring data and the acquired satellite monitoring data are subjected to intelligent analysis, and the result is matched with the corresponding alarm type, an alarm result corresponding to the alarm type is generated.
And the management module is used for executing a corresponding emergency plan according to the alarm type of the alarm result.
The emergency plan may be a specific processing scheme of the alarm result, for example, a short circuit occurs between the second power transmission lines in the city a and the city b, the second generators in the city a and the city b may be turned off, and the generators may be turned on again after the maintenance process is completed.
In an embodiment, to improve the transmission efficiency of data, in an embodiment, the system further includes: a data communication module;
the data communication module is respectively in communication connection with the unmanned aerial vehicle control module and the online monitoring module;
the data communication module is used for sending the inspection data acquired by the unmanned aerial vehicle control module and the monitoring data acquired by the online monitoring module to the cloud server.
Optionally, the data communication module may be in communication connection with the unmanned aerial vehicle control module and the online monitoring module through at least one of Mesh communication, WAPI, 4/5G communication.
Specifically, the data communication module includes: the system comprises a fixed station and a relay station, wherein the relay station and the fixed station are arranged on a tower of the power transmission line;
the relay station is used for sending the inspection data collected by the unmanned aerial vehicle control module and the monitoring data collected by the online monitoring module to the corresponding fixed station;
and the fixed station is used for transmitting the routing inspection data and the monitoring data to the cloud server through optical fiber return.
Specifically, both the fixed station and the relay station may be disposed on a tower.
For example, the unmanned aerial vehicle can send the collected patrol data to the corresponding relay station nearby, and the data are transmitted to the fixed station through the relay station in a data transmission mode and a breakpoint transmission mode, and then the data are sent to the cloud server through the fixed station.
The whole transmission process improves the high bandwidth, low time delay and stability of data transmission through communication protocol configuration and image transmission technology.
To improve the control efficiency of the drone, in one embodiment, the drone control module includes: the system comprises a plurality of unmanned aerial vehicles and a mobile hangar, wherein the mobile hangar is arranged on the power transmission line, and the unmanned aerial vehicles are arranged in the mobile hangar;
the mobile hangar is used for controlling the plurality of unmanned aerial vehicles to work;
and the unmanned aerial vehicle is used for polling the power transmission line and acquiring corresponding polling data.
The mobile hangar can be detachably arranged on the power transmission line, and optionally, can also be arranged at the connecting end of the power transmission line and the power transmission equipment. Make unmanned aerial vehicle can follow its link and take off, then patrol and examine the power transmission line.
In this embodiment, remove the hangar and also can distribute in the way of the route of patrolling and examining of transmission line, remove the hangar simultaneously and can charge for unmanned aerial vehicle provides. The operation data of the mobile machine library also needs to be transmitted back, and the mobile machine library can comprise a communication access link, a data transmission back link and a control link and can be in communication connection with the unmanned aerial vehicle control module by virtue of a tower private network or a public network.
According to the scheme of the embodiment, the unmanned aerial vehicle control subsystem enlarges the inspection radius of the unmanned aerial vehicle through the mobile hangar and the unmanned aerial vehicle terminal, and the inspection and data return efficiency is improved.
In one embodiment, the patrol data may be image data or video data of the power line.
In order to improve the monitoring capability of the online monitoring module, in one embodiment, the online monitoring module is provided with an intelligent sensor and an internet of things gateway;
the intelligent sensor is used for acquiring monitoring data of the power transmission line;
and the internet of things gateway is used for communicating with the cloud server.
The intelligent sensor can comprise a plurality of types of sensors and is used for collecting corresponding data respectively, the survival capability of the system can be enhanced by applying a multi-sensor information fusion technology in the aspects of solving the problems of detection, tracking, target identification and the like, the reliability and the robustness of the whole system are improved, the reliability of data is enhanced, the precision is improved, the time and the space coverage rate of the system are expanded, and the real-time performance, the information utilization rate and the like of the system are increased.
In order to store the processed data for subsequent query or review by a user, in an embodiment, the cloud server is further configured to store the inspection data and the monitoring data.
In this embodiment, can save the data and the monitoring data of patrolling and examining of different periods and types in the cloud server to carry out time sequence analysis, tracking analysis etc. and discernment a plurality of dimensions transmission line's trouble and unusual.
In order to improve the analysis capability of the cloud server, in an embodiment, the cloud server is further configured to perform alarm analysis on the inspection data, the monitoring data and the satellite monitoring data according to a preset algorithm model to obtain the alarm result.
The algorithm model may be a pre-trained alarm recognition model of the power transmission line, and may be an image recognition model or a video recognition model. Alarm analysis results are obtained from the model by inputting the relevant initial data into the model.
In order to efficiently control the unmanned aerial vehicle to perform routing inspection work, in an embodiment, the cloud server is further specifically configured to generate and send a first routing inspection instruction to the unmanned aerial vehicle control module according to the routing inspection data and the monitoring data, so that the unmanned aerial vehicle control module responds to the routing inspection instruction to control the unmanned aerial vehicle to acquire the routing inspection data.
For example, in this embodiment, the cloud server may control the unmanned aerial vehicle to execute a first inspection task through a first inspection instruction, so as to implement a customized inspection task, perform supplementary or targeted inspection on a local area or a location of the power transmission line, and improve accuracy of data acquisition.
In an actual operation, the line inspection is processed, and a user may need to send an unmanned aerial vehicle to execute other different tasks, so as to control the unmanned aerial vehicle to execute work conveniently, in an embodiment, the management module is further configured to obtain and send a custom inspection task to the cloud server;
the cloud server is further used for generating and sending a second inspection instruction to the unmanned aerial vehicle control module according to the user-defined inspection task, so that the unmanned aerial vehicle control module can control the unmanned aerial vehicle to execute user-defined operation.
Wherein, the task is patrolled and examined to the custom can be the task that the user needs unmanned aerial vehicle to carry out, for example, part transportation etc..
The management module acquires a user-defined inspection task which is manually input or intelligently generated, the user-defined inspection task is sent to the cloud server, the cloud server generates a corresponding second inspection instruction and sends the second inspection instruction to the unmanned aerial vehicle control module, and therefore the user-defined inspection strategy of the terminal can be achieved, and the diversity of a data acquisition mode and the practicability of the system are improved.
In order to further improve the analysis capability of the whole system, in an embodiment, the management module is further configured to perform image recognition and tree fault analysis according to the alarm result, and generate a defect management policy.
In this embodiment, the defect management policy may include a defect type of the power transmission line and a corresponding defect handling procedure.
In an embodiment, the management module can collect image information of the power transmission line from a cloud server, an unmanned aerial vehicle control module and the like, and perform image recognition and tree obstacle analysis.
Specifically, the system disclosed in the above embodiment, including unmanned aerial vehicle control module, on-line monitoring module, high in the clouds server and management module, unmanned aerial vehicle control module control unmanned aerial vehicle carries out the task of patrolling and examining, the collection is patrolled and examined data and is sent for high in the clouds server, on-line monitoring module acquires transmission line's monitoring data and sends for high in the clouds server, high in the clouds server receives and patrols and examines data, monitoring data, and after combining satellite monitoring data and carrying out intelligent analysis, obtain and report an emergency and ask for help or increased vigilance the result, send for management module, carry out corresponding emergent scheme by management module according to the type of reporting an emergency and asking for help or increased vigilance the result of reporting an emergency by the police by unmanned aerial vehicle, on-line monitoring and satellite monitoring, gather multidimensional data, carry out intelligence and report an emergency, the degree and the accuracy that transmission line reported an emergency and ask for help or increased vigilance.
In this embodiment, an embodiment of the present invention provides an intelligent collaborative alarm system for a power transmission line, which has the following beneficial effects: according to the invention, the cloud server can be used for realizing alarm analysis of different functions or different scenes on the routing inspection data acquired by the multiple unmanned aerial vehicles, so that the problems of small line detection function and low accuracy rate caused by insufficient hardware equipment functions of the unmanned aerial vehicles are solved, the detection efficiency and accuracy rate are improved, and the actual detection requirements of users are met.
Referring to fig. 2, a flowchart of an intelligent collaborative alarm method for a power transmission line according to an embodiment of the present invention is shown.
In one embodiment, the intelligent collaborative alarm method for the power transmission line is applicable to the intelligent collaborative alarm system for the power transmission line according to the embodiment, and the method includes:
and S21, respectively acquiring patrol data, monitoring data and satellite monitoring data about the power transmission line.
In actual operation, can gather the data of patrolling and examining about the transmission line through controlling unmanned aerial vehicle, can gather the monitoring data about the transmission line through the various sensors that set up at the transmission line. For the specific manner, reference may be made to the above embodiments, and details are not described herein for avoiding redundancy.
And S22, performing alarm analysis on the routing inspection data, the monitoring data and the satellite monitoring data to obtain an alarm result.
By way of example, step S22 may include:
s221, whether the patrol data, the monitoring data and the satellite monitoring data meet corresponding data thresholds or not is respectively determined.
S222, obtaining an alarm analysis result based on the routing inspection data, the monitoring data and the difference value between the satellite monitoring data and the corresponding data threshold value.
Specifically, the polling data may be compared with a corresponding polling threshold, the monitoring data may be compared with a corresponding detection threshold, and the satellite monitoring data may be compared with a corresponding satellite detection threshold, so as to obtain corresponding data difference values respectively.
And then determining the fault type according to the magnitude of the data difference.
And S23, executing a corresponding emergency plan according to the alarm type of the alarm result.
In this embodiment, the steps are the same as those in the above embodiment, and the operations in the above embodiment may be specifically referred to, and are not described herein again to avoid repetition.
Referring to fig. 3, a schematic structural diagram of an intelligent cooperative alarm device for a power transmission line according to an embodiment of the present invention is shown.
In one embodiment, the intelligent cooperative alarm device for the power transmission line is applied to the intelligent cooperative alarm system for the power transmission line according to the embodiment, and the device includes:
the acquisition module 301 is used for respectively acquiring routing inspection data, monitoring data and satellite monitoring data of the power transmission line;
an analysis module 302, configured to perform alarm analysis on the inspection data, the monitoring data, and the satellite monitoring data to obtain an alarm result;
and the alarm module 303 is configured to execute a corresponding emergency plan according to the alarm type of the alarm result.
Optionally, the analysis module is further configured to:
respectively determining whether the routing inspection data, the monitoring data and the satellite monitoring data meet corresponding data thresholds;
and obtaining an alarm analysis result based on the difference values of the routing inspection data, the monitoring data and the satellite monitoring data with the corresponding data threshold values.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.
Claims (10)
1. An intelligent cooperative alarm system for power transmission lines, the system comprising: the system comprises an unmanned aerial vehicle control module, an online monitoring module, a cloud server and a management module;
the cloud server is respectively connected with the unmanned aerial vehicle control module, the online monitoring module and the management module;
the unmanned aerial vehicle control module is used for controlling an unmanned aerial vehicle to acquire routing inspection data about the power transmission line and sending the routing inspection data to the cloud server;
the online monitoring module is used for acquiring monitoring data about the power transmission line and sending the monitoring data to the cloud server;
the cloud server is used for respectively receiving the routing inspection data, the monitoring data and the satellite monitoring data about the power transmission line, performing alarm analysis on the routing inspection data, the monitoring data and the satellite monitoring data to obtain an alarm result, and sending the alarm result to the management module;
and the management module is used for executing a corresponding emergency plan according to the alarm type of the alarm result.
2. The intelligent cooperative alarm system for power transmission lines according to claim 1, wherein the system further comprises: a data communication module;
the data communication module is respectively in communication connection with the unmanned aerial vehicle control module and the online monitoring module;
and the data communication module is used for sending the inspection data acquired by the unmanned aerial vehicle control module and the monitoring data acquired by the online monitoring module to the cloud server.
3. The intelligent cooperative alarm system of the power transmission line according to claim 2, wherein the data communication module comprises: the system comprises a fixed station and a relay station, wherein the relay station and the fixed station are arranged on a tower of the power transmission line;
the relay station is used for sending the inspection data collected by the unmanned aerial vehicle control module and the monitoring data collected by the online monitoring module to the corresponding fixed station;
and the fixed station is used for transmitting the routing inspection data and the monitoring data to the cloud server through optical fiber return.
4. The intelligent cooperative alarm system of the power transmission line according to claim 1, wherein the unmanned aerial vehicle control module comprises: the system comprises a plurality of unmanned aerial vehicles and a mobile hangar, wherein the mobile hangar is arranged on the power transmission line, and the unmanned aerial vehicles are arranged in the mobile hangar;
the mobile hangar is used for controlling the plurality of unmanned aerial vehicles to work;
and the unmanned aerial vehicle is used for polling the power transmission line and acquiring corresponding polling data.
5. The intelligent cooperative alarm system of the power transmission line according to claim 1, wherein the online monitoring module is provided with an intelligent sensor and an internet of things gateway;
the intelligent sensor is used for collecting monitoring data of the power transmission line;
and the internet of things gateway is used for communicating with the cloud server.
6. The intelligent cooperative alarm system for the power transmission line according to claim 1, wherein the cloud server is further configured to store the inspection data and the monitoring data;
the system is also used for carrying out alarm analysis on the routing inspection data, the monitoring data and the satellite monitoring data according to a preset algorithm model to obtain an alarm result;
the unmanned aerial vehicle monitoring system is also used for generating and sending a first inspection instruction to the unmanned aerial vehicle control module according to the inspection data and the monitoring data, so that the unmanned aerial vehicle control module responds to the inspection instruction to control the unmanned aerial vehicle to collect the inspection data.
7. The intelligent cooperative alarm system for the power transmission line according to claim 1, wherein the management module is further configured to obtain and send a custom patrol task to the cloud server, perform image recognition and tree obstacle analysis according to the alarm result, and generate a defect management policy
The cloud server is further used for generating and sending a second inspection instruction to the unmanned aerial vehicle control module according to the user-defined inspection task, so that the unmanned aerial vehicle control module can control the unmanned aerial vehicle to execute user-defined operation.
8. An intelligent cooperative alarm method for a power transmission line, which is applied to the intelligent cooperative alarm system for the power transmission line according to any one of claims 1 to 7, and comprises the following steps:
respectively acquiring routing inspection data, monitoring data and satellite monitoring data about the power transmission line;
performing alarm analysis on the routing inspection data, the monitoring data and the satellite monitoring data to obtain an alarm result;
and executing a corresponding emergency plan according to the alarm type of the alarm result.
9. The intelligent cooperative alarm method for the power transmission line according to claim 8, wherein the alarm analyzing the routing inspection data, the monitoring data and the satellite monitoring data to obtain an alarm result comprises:
respectively determining whether the routing inspection data, the monitoring data and the satellite monitoring data meet corresponding data thresholds;
and obtaining an alarm analysis result based on the difference values of the routing inspection data, the monitoring data and the satellite monitoring data with the corresponding data threshold values.
10. An intelligent cooperative alarm device for transmission lines, which is applied to the intelligent cooperative alarm system for transmission lines according to any one of claims 1 to 7, and comprises:
the acquisition module is used for respectively acquiring routing inspection data, monitoring data and satellite monitoring data about the power transmission line;
the analysis module is used for carrying out alarm analysis on the routing inspection data, the monitoring data and the satellite monitoring data to obtain an alarm result;
and the alarm module is used for executing a corresponding emergency plan according to the alarm type of the alarm result.
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