RU2821208C1 - Intelligent system for automatic remote monitoring of state and safety of power transmission lines in continuous mode - Google Patents

Abstract

FIELD: computer engineering.

SUBSTANCE: intelligent system for automatic remote monitoring of the state and safety of power transmission lines in continuous mode comprises: a group of all-weather UAVs, each of which is equipped with an infrared camera and a photogrammetric camera, an electric motor and a storage battery, at that, the UAV hardware-software system consists of a machine vision subsystem, a memory control subsystem, a control subsystem, a navigation subsystem based on a GPS or GLONASS navigator, 3D reconstruction unit, an infrared survey data analysis unit, an information integration unit, an image recognition unit, and the memory control subsystem includes a memory unit of permissible values of the diagnosed parameters, a unit for storing weight coefficients of a convolutional neural network, a buffer of collected data, a knowledge base of the control subsystem; UAV basing and automatic maintenance stations (hereinafter base stations), installed on transformer substations at a certain distance from each other and made with possibility of UAV recharging and monitoring of technical condition; central server is configured to receive and process data received from the drone, analyze the video stream, generate reports, commands to change the flight task, archiving information and sending it to responsible persons.

EFFECT: higher speed and quality of power transmission lines monitoring.

1 cl, 1 dwg

Description

The invention relates to systems for automatic remote monitoring of extended objects using unmanned aerial vehicles (UAVs) and can be used in the power industry to monitor the condition of power lines and power substations installed over areas of considerable length.

The device “Automatic unmanned complex for diagnosing the condition of extended objects equipped with its own information system” RU 2 464 643 C1 is known.

An automatic unmanned complex for diagnosing the condition of extended objects, equipped with its own information system, containing a helicopter-type remotely piloted aircraft (RPA), on which an automatic control system with an on-board systems control unit, an automatic remote control system for the flight of the RPV is installed, connected to the first information bus (IS). and the operation of its systems, an on-board system for diagnosing the state of extended objects (BSDSPO) with a set of on-board sensors and on-board transceiver equipment of a radio telemetry system (BARTS) with receiving and transmitting antennas, and also contains a mobile ground control point (MGCU) of the UAV, consisting of connected to the second ISH of the remote control aircraft control panel, the BSDSPO control panel and the ground transceiver equipment of the radio telemetry system (NARTS) with receiving and transmitting antennas, while the remote control unit of the remote control aircraft is connected by a modem to a multi-channel data transmission line (MCDLD), combining the central unit for the operation of an extended object (CPEPO) and N local points of an extended object (LP), as well as at least N ground-based subsystems for diagnosing the state of extended objects (NGDSPO) installed on the LP, each of which consists of a ground-based diagnostic console (GDP) and a set of built-in sensors connected to the third IS, and located nearby section of an extended object of a set of autonomous sensors, while the PND is connected by a modem to the MKLPD and to the NARTS with receiving and transmitting antennas, characterized in that in the BSDSPO and in each NDDSPO a converter of the values of the output signals of the set of on-board sensors BSDSPO and a set of autonomous sensors NPDSPO and a converter are additionally introduced values of the output signals of a set of built-in NPDSPO sensors into quantitative values of signs of compliance of the actual values of the diagnosed parameters of the state of an extended object with the permissible ones, which is made in the form of a series-connected memory block of the permissible values of the diagnosed parameters, even inputs of the block of elements “I” and a computer, while a set of on-board BSDSPO sensors and a set of built-in NPDSPO sensors are connected to the odd inputs of the corresponding blocks of elements “I”, the outputs of the BSDSPO and NPDSPO computers are connected respectively to the first and fourth ISH, as well as to the BSDSPO MNPU control panel, one additionally included in each PND NPDSPO and in the TsPEPO connected, respectively, to the second, third and fourth IS software module, which ensures the formation of color graphic images (CGO) of the state of an extended object. The technical result of the device is the expansion of the functionality of the device in terms of simultaneous compact presentation of heterogeneous diagnostic information about the state of an extended object and its changes and thereby increasing the efficiency and accuracy of diagnosing the state of extended objects.

The disadvantages of the known device are:

1) The use of one UAV, which has a negative impact on the following factors:

- productivity (it takes more time to perform a power line survey compared to a UAV group);

- accuracy of the result (obtaining a detailed model of a power line made on a large scale is complicated by both the need to recharge the battery or refuel the UAV, as well as the significant time costs associated with detailed shooting of each element of the power line);

- limiting the number of simultaneously used sensors (the simultaneous use of several types of sensors is limited by the carrying capacity of the UAV, significant amounts of battery charge or fuel consumption).

2) The UAV is not equipped with a machine vision subsystem, which can significantly increase its capabilities in terms of functioning in an autonomous mode from the operator.

3) Lack of a function for automatically identifying problem situations (defects in supports, wires, insulators, fallen trees, overheating of power line elements, fires, floods in the protective zone of power lines) based on calculated quantitative parameters, predicting their development, as well as generating recommendations for their elimination.

4) Lack of a function for generating a three-dimensional model of a power line and its protective strip with automatic identification of power line elements, which will allow you to assess the current state of the power line, generate (or clarify) drawings and other documentation, and analyze it for its reconstruction.

A known device is RU 174 052 U1 “Software and hardware complex for monitoring the condition of overhead power lines”, containing an unmanned aerial vehicle 1, on board of which there is a digital camera 2, a thermal imaging scanner 3, a laser scanner 4, a navigation GPS_GLONASS receiver 5 and an inertial navigation system 6. In addition, the device contains an information and computing unit 7 located on board the unmanned aerial vehicle 1 and configured to communicate with the operator's ground station 8. The technical result is an expansion of the functionality of the device for monitoring the condition of overhead power lines, made in the form of an aircraft, in part simultaneously obtaining comprehensive diagnostic information about the condition of power lines and thereby increasing efficiency and accuracy.

The disadvantages of the known device are:

1) The use of one UAV, which has a negative impact on the following factors:

- productivity (it takes more time to perform a power line survey compared to a UAV group);

- accuracy of the result (obtaining a detailed model of a power line made on a large scale is complicated by both the need to recharge the battery or refuel the UAV, as well as the significant time costs associated with detailed shooting of each element of the power line);

- limiting the number of simultaneously used sensors (the simultaneous use of several types of sensors is limited by the carrying capacity of the UAV, significant amounts of battery charge or fuel consumption).

2) Lack of a function for automatically identifying problem situations (defects in supports, wires, insulators, fallen trees, overheating of power line elements, fires, floods in the protective zone of power lines) based on calculated quantitative parameters, predicting their development, as well as generating recommendations for their elimination.

3) A large number of sensors installed on a UAV entails significant amounts of electricity consumption and, as a result, the need for frequent recharging or refueling of the UAV during operation.

4) The inability to transmit power line monitoring results to a ground station during the flight of the UAV, which would speed up the procedure for processing this data (at the ground station), and would also reduce the risk of losing this data as a result of a crash or damage to the UAV.

The device “Robotic complex for monitoring power lines and electrical substations” RU 2 464 643 C1 is known. The claimed invention relates to a complex that is intended for monitoring high-voltage lines and electrical substations installed over areas of considerable length. The declared complex carries out helicopter patrols of an area of 200 kilometers up to 12 times a day, in any weather. At the same time, it monitors the condition of insulators, suspensions, joints and connections. Controls the level of overgrowth of trees and shrubs on power lines (hereinafter referred to as power lines), and the presence of unauthorized people in the area of supports and substations. Monitors the fire situation throughout. Generates reports for submission to responsible persons, and interacts with repair teams. When requested, it hovers over the problem area and transmits, in real time, the overall picture of the incident, a detailed image of the problem parts, including temperature and ultraviolet image, allowing a realistic assessment of the incident.

The disadvantages of the known device are:

1) The use of one UAV, which has a negative impact on the following factors:

- productivity (it takes more time to perform a power line survey compared to a UAV group);

- accuracy of the result (obtaining a detailed model of a power line made on a large scale is complicated both by the need to recharge the UAV battery and by the significant time costs associated with detailed shooting of each element of the power line);

- limiting the number of simultaneously used sensors (simultaneous use of several types of sensors is limited by the UAV’s carrying capacity and significant amounts of battery charge consumption).

2) Lack of a function for generating a three-dimensional model of a power line and its protective strip with automatic identification of power line elements, which will allow you to assess the current state of power lines, generate (or clarify) an information model of power lines, construct drawings and other documentation (individual elements of power lines, sections), produce analysis for the need for its reconstruction.

3) Installing access points seven kilometers along the UAV’s route, as well as installing a communication line connecting them (to form a seamless wi-fi field) is a labor-intensive process and requires significant financial costs.

4) Installation of an automatic service complex exclusively in the middle of the route. The concept of “route middle” depends on the length of the route itself and in certain cases the UAV may not have enough fuel to reach it.

The closest to the claimed technical solution in terms of technical essence and achieved technical result is the device RU 2 789 896 C1 “Intelligent system for automatic remote monitoring of power line condition.”

An intelligent system for automatic remote monitoring of the condition of power lines, consisting of a group of all-weather UAVs, an automated maintenance complex, an information processing center and software, with each UAV equipped with a laser scanner, an IR camera, a UV camera, forming a comprehensive model of the power line section and the security zone, including three-dimensional, PC and UV models, a list of identified power line elements, as well as objects of the security zone, a list of identified threats and dangerous situations, and is controlled by two programs, while the first is responsible for direct control of the device, altitude, flight speed, scanning of the surrounding space and collision avoidance, controlling flight conditions, forms an adequate response to changing weather conditions, maintains a communication channel and information transfer, receives commands from the central server, adjusts the flight mission, the second program is installed on the central server and receives and processes data received from the UAV, carries out video stream analytics, generates reports, commands to change the flight task, archives information and sends reports to responsible persons, an automatic service complex provides UAV reception, technical condition analysis, refueling, downloads information accumulated during the flight to internal media, ensures UAV departure flight schedule, transmits information to the central server, the complex operates autonomously, is a box in which the UAV lands, the complex includes a refueling tank and a device for automatic refueling, the box is additionally equipped with a tank with anti-icing liquid and propeller irrigation devices, when In this case, management of the service complex is carried out by software installed on the central server, the central server can be located in any place convenient for work, performs the functions of receiving, accumulating and storing information, provides constant analytics of the received information, carries out mailing containing analytics information, and generates a summary a certificate of the results of monitoring and analysis of incidents and the state of controlled objects, equipment, provides employees with access to archives and databases, while UAVs are divided by hierarchy level into leading and auxiliary, which are subordinate to the leading ones and are used for a more detailed inspection of power lines and security zone, the number of leading UAVs is one per strip 30 m wide between the right and left boundaries of the power line security zone, the number of auxiliary UAVs per one leading UAV is two, if the leading UAV is inspecting the power line itself, or one, if the leading UAV is inspecting the power line security zone In addition, the UAV, regardless of type, includes the UAV hardware and software complex corresponding to the first program, a drive system, a fuel tank, a transceiver antenna with a coverage radius of 240 km, providing a radio bridge directly between the UAV, between the UAV and the central server at a speed not less than 50 Mbit/s, while the UAV hardware and software complex consists of a machine vision subsystem, a memory management subsystem, a control subsystem, a navigation subsystem implemented on the basis of a GPS or GLONASS navigator, while the machine vision subsystem and the control subsystem are integrated into the firmware of individual high-performance microcontrollers, while the machine vision subsystem includes a set of on-board sensors, including a laser scanning device with the function of determining the color of points, an IR camera, a UV camera, a 3D reconstruction unit, a PC data analysis unit, a UV imaging data analysis unit, information integration block, pattern recognition block, memory management subsystem includes a memory block for acceptable values of diagnosed parameters, a storage block for weight coefficients of a convolutional neural network, a buffer of collected data, a knowledge base of the control subsystem, the control subsystem includes a control block, a flight trajectory prediction block, a control generation block influences, a coordination unit, a self-diagnosis unit, in addition, the central server includes a central server hardware and software complex corresponding to the second program, a transceiver antenna with a coverage radius of 240 km, providing a radio bridge directly between the UAV, between the UAV and the central server at a speed not less than 50 Mbit/s, input device, output device, while the result of the work of the central server is a comprehensive model of power lines, including a three-dimensional model of power lines and a security zone, a PC model of power lines and a security zone, a UV model of power lines and a security zone, detailed three-dimensional, PC, UV models of individual power line elements indicating the types and geographical coordinates of these elements, sag of wires, angle of inclination of power line supports, displacement of power line supports, forecast of the development of identified threats and dangerous situations, list of recommendations for decision makers to eliminate threats and dangerous ones identified on power lines situations, in addition, the automatic service complex includes a transceiver antenna with a coverage radius of 240 km, providing a radio bridge with a central server at a speed of at least 50 Mbit/s. The technical result of the prototype is to increase the speed and reliability of the process of monitoring the condition of power lines, as well as the accuracy of the resulting result, reducing costs associated with the installation and maintenance of a communication and information transmission system.

Prototype disadvantages:

1) The use of UAVs based on internal combustion engines (ICE), which require more complex maintenance compared to electric motors.

2) The use of gasoline as fuel in internal combustion engines entails increased safety requirements, especially near power lines.

3) The need to store fuel reserves at the automatic maintenance complex for refueling the UAV.

4) An airborne laser scanner has greater mass and power consumption than a photogrammetric camera with similar accuracy.

5) The use of a group of UAVs is justified when forming a three-dimensional model of power lines, as well as identifying minor damage to its elements (however, they can potentially have a negative impact on the performance of power lines). At the same time, the use of a group of UAVs on a regular basis in order to identify potential intruders located in the security zone of power lines, or to quickly monitor the condition of power lines and the width of the clearing is not advisable.

The technical objective of the claimed invention is to eliminate the shortcomings of the prototype, as well as to increase the speed and quality of monitoring the condition of power lines.

The technical result of the claimed invention is to ensure the continuity of the process of monitoring the condition and safety of power lines by reducing

- costs and risks associated with the use and maintenance of UAVs based on internal combustion engines (the explosion hazard of such UAVs, the need to refuel them during operation);

- costs associated with the use of laser scanners for surveying power lines and its security zone (considerable weight and energy consumption of laser scanners).

The technical result is achieved by the fact that an intelligent system for automatic remote monitoring of the condition and safety of power lines in a continuous mode, consisting of a group of all-weather UAVs, an automated maintenance complex, an information processing center and software, with each UAV equipped with an IR camera and controlled by two programs, in this case, the first is responsible for direct control of the device, altitude, flight speed, scanning the surrounding space and avoiding collisions, controlling flight conditions, forms an adequate response to changing weather conditions, maintains a communication channel and information transfer, receives commands from the central server, adjusts the flight mission , the second program is installed on the central server and receives and processes data received from the UAV, performs video stream analytics, generates reports, commands to change the flight task, archives information and sends reports to responsible persons, an automatic service complex provides UAV reception, technical condition analysis, downloads information accumulated during the flight onto internal media, ensures the UAV takes off according to the flight schedule, transmits information to the central server, the complex operates autonomously, is a box in which the UAV lands, additionally the box is equipped with a container with anti-icing liquid and devices irrigation of screws, while the management of the service complex is carried out by software installed on the central server, the central server is designed to be located in any place convenient for work, performs the functions of receiving, accumulating and storing information, provides constant analytics of the received information, and carries out mailing containing information analysts, generates a summary report on the results of monitoring and analysis of incidents and the state of monitored objects, equipment, provides employees with access to archives and databases, the UAV, regardless of the type, includes the UAV hardware and software complex corresponding to the first program, a drive system, a fuel tank, In this case, the UAV hardware and software complex consists of a machine vision subsystem, a memory management subsystem, a control subsystem, a navigation subsystem implemented on the basis of a GPS or GLONASS navigator, while the machine vision subsystem and the control subsystem are integrated into the firmware of individual high-performance microcontrollers, while the machine vision subsystem includes a set of onboard sensors, including an IR camera, a 3D reconstruction unit, an IR data analysis unit, an information integration unit, a pattern recognition unit, a memory management subsystem includes a memory unit for acceptable values of diagnosed parameters, a unit for storing weight coefficients of a convolutional neural network, a buffer collected data, the knowledge base of the control subsystem, the control subsystem includes a control unit, a flight trajectory prediction unit, a control action generation unit, a coordination unit, a self-diagnosis unit, in addition, the central server includes a central server hardware and software complex corresponding to the second program, transceiver an antenna with a coverage radius of 240 km, providing a radio bridge directly between the UAV, between the UAV and the central server with a speed of at least 50 Mbit/s, an input device, an output device, and the result of the work of the central server is a comprehensive model of power lines, including a three-dimensional model of power lines and security zone, IR model of power lines and security zones, detailed three-dimensional, IR models of individual power line elements indicating the types and geographic coordinates of these elements, wire sag, angle of inclination of power line supports, displacement of power line supports, forecast of the development of identified threats and dangerous situations, a list of recommendations for decision makers to eliminate threats and dangerous situations identified on power lines, characterized in that the UAVs used are equipped with an electric motor and battery, a transceiver antenna representing a satellite communication module that ensures the exchange of messages with a volume of at least 1 kByte with a frequency of at least one message per minute, with a photogrammetric camera, forming a comprehensive model of the power line section and the security zone, including three-dimensional, IR models, a list of identified elements of the power line, as well as objects of the security zone, a list of identified threats and dangerous situations, while UAVs are divided into main and backup, located subordinate to the main ones and used for a more detailed inspection of power lines and security zones, the automatic service complex is combined with a UAV base station, which is installed at transformer substations and ensures simultaneous charging of the battery of two UAVs.

The invention is illustrated by the following illustrations.

Figure 1 shows a general diagram of the system.

Figure 1 shows:

1 - power transmission line (PTL);

2 - power line supports;

3 - transformer substations;

4-6 - UAVs (helicopters) equipped with an electric motor and a battery, a photogrammetric camera, an IR camera, a transceiver antenna (must provide communication with base stations in the format of text messages, can be a GSM module or a satellite communication module), microprocessor and read-only memory, completely autonomous from the operator, orientation in space is carried out on the basis of machine vision and navigation subsystems. In this case, UAVs 4-5 are the main ones, 6 are the backup ones (they are included in the work in the following cases: if it is necessary to photograph individual elements of power lines, threats, dangerous situations with a high degree of detail; if it is necessary to provide overflight of a power line section with a high degree of intensity);

7 - central server (high-performance computer);

8, 9 - UAV basing and automatic maintenance stations (hereinafter referred to as base stations). Installed at transformer substations, it is a box in which the UAV lands, providing analysis of the technical condition of the UAV and charging the battery. They download the information accumulated during the flight onto internal media, ensure the helicopter takes off according to the flight schedule, and transmit the information collected by the helicopters to the central server. Includes a transceiver antenna with a coverage radius of 240 km, providing a radio bridge with a central server at a speed of at least 50 Mbit/s (can be replaced with an equivalent transceiver antenna used for the needs of a transformer substation). Base stations must provide simultaneous charging of two UAVs. The distance between base stations 8-9 should be selected in such a way that the UAV has enough battery charge to fly it (for example, for a 35 kV overhead line, the average distance between transformer substations is approximately 35 km);

10 - decision maker (DM).

In comparison with the device RU 2 789 896 C1 “Intelligent system for automatic remote monitoring of power line condition”, changes have also been made to the following elements:

1) The elements of the automatic maintenance complex and the base station are combined into the element “UAV basing and automatic maintenance station”, which is located at transformer substations and serves for temporary storage of information collected by the UAV, for communication with the central server, basing the UAV and charging the battery.

2) Central server: subsystem for processing data received from the UAV: the block for generating a UV model of power lines, as well as the surrounding space, is excluded.

3) UAV:

- the fuel tank was replaced with a battery;

- the transmitting and receiving antenna (weight - no more than 0.3 kg, bandwidth - 80/40/20/10/5 MHz, data transmission speed - 50 - 300 Mbit/s within a radius of at least 240 km) was replaced with a receiving antenna transmitting antenna (GSM module or satellite communication module that ensures the exchange of messages with a volume of at least 1 kByte with a frequency of at least one message per minute).

4) UAV machine vision subsystems:

- the laser scanning device with the function of determining the color of dots has been replaced with a photogrammetric camera;

- UV camera and UV data analysis unit are excluded.

The following is a description of how the system works.

1) The central server 7, based on the power line coordinates entered by the decision maker 10, generates a flight mission and transmits it to the UAV 4-5.

The flight mission has the following format:

{<ptE>, sb, reg, int},

where ptE are the coordinates of the end point of the trajectory formed by the UAV (the base station at which the UAV is currently located is taken as the starting point, for example 9, the end point can only be another base station, for example 8), sb are the scanning strip parameters (coordinates lower left point, bandwidth), reg - UAV operating mode (with the exception of emergency mode, which can only be activated during operation), in particular:

a) monitoring threats and dangerous situations;

b) monitoring of threats and dangerous situations and the formation of a comprehensive model of power lines and security zones;

int - degree of intensity of UAV flights:

- high - all three UAVs (4-6) fly over the power lines; after charging the battery, the UAV immediately returns to work;

- medium - flight over a power line section is carried out with a time interval of less than 3 hours, UAVs 4-5 are involved in the flight, UAV 6 is included in the work in the following cases: if it is necessary to photograph individual elements of power lines, threats, dangerous situations with a high degree of detail; if it is necessary to ensure flight over a power line section with a high degree of intensity;

- low - flyover of a power line section is carried out with a time interval of 3 hours or more, UAVs 4-5 are involved in the flyover, UAV 6 is included in the work in the following cases: if it is necessary to photograph individual elements of power lines, threats, dangerous situations with a high degree of detail; if necessary, ensure flight over a power line section with a high degree of intensity.

The relevance of a comprehensive model of power lines and a security zone (includes a three-dimensional model and a thermogram) can be maintained for a long time. Therefore, there is no need to form a complex model for each departure of a group of UAVs. Selection of operating modes (“monitoring threats and dangerous situations”, “monitoring threats and dangerous situations and forming an integrated model of power lines and security zones”) will reduce the load on the UAV’s computing systems and communication systems.

In this case, a power line element (identified by laser scanning results) means wires, supports, insulators, transformers; a security zone object (identified by laser scanning results) means trees, shrubs, anthropogenic objects (cars), people.

A dangerous situation (identified by the results of laser scanning, IR and UV photography) refers to the following types of situations:

- fire;

- overheating of power transmission line elements;

- corona discharges on defective insulators;

- trees falling on power line wires or supports;

- icing of wires.

In this case, a threat (identified by the results of laser scanning and IR photography) refers to the following types of situations:

- overhanging tree with risk of falling on power lines;

- narrowing the width of the clearing for power lines due to the growth of trees and shrubs;

- visible damage to supports, wires, insulators, transformers;

- presence of unidentified persons in the security zone of the power line group.

2) UAVs 4-5 perform a large-scale survey of power line 1 and its security zone using the following on-board sensors: photogrammetric camera, IR camera. UAVs 4-5 (at a high degree of flight intensity - UAVs 4-6) fly one after another at a distance covered by them in at least 2 minutes at maximum speed. UAVs exchange messages with current coordinates with each other and with the base station in the following format with a time interval of 1 minute:

<id,gc>,

where id is the unique identifier of the UAV that sent the message; coord - geographic coordinates of the UAV at the time the message was sent.

The flight altitude of the UAV must allow for a survey width that fully includes power lines and the security zone. In this case, it should be possible to distinguish objects 1 cm in size.

The disadvantage of a photogrammetric camera compared to a laser scanner is the inability to shoot in the dark. However, to orient a UAV in the dark (instead of a photogrammetric camera), an IR camera can be used, which will also make it possible to quickly identify threats such as the presence of unidentified persons in the security zone of a power line group (the likelihood of illegal actions on the part of such persons in the dark, usually higher), and dangerous situations such as overheating of power line elements.

If a message with current coordinates from one UAV (hereinafter referred to as the emergency UAV) was not received by other UAVs and the base station, the UAVs switch to emergency operation mode and perform the following actions:

- a serviceable UAV flies around the territory with its center at the last point, the coordinates of which were transmitted by the emergency UAV, with a radius equal to the distance covered by the UAV in at least 2 minutes at maximum speed);

- when an emergency UAV is detected, a signal is sent to the central server 7;

- if there were three UAVs in the air, then the remaining UAV continues to fly over the power lines.

In the operating mode “monitoring threats and dangerous situations” (can be activated both during daylight and dark hours), UAVs 4-5 (4-6 at a high level of work intensity) fly over power lines, identify threats and dangerous situations on Power lines and in the security zone. If a threat or dangerous situation is detected, the UAV takes pictures of it and stores it in permanent memory (in daylight, a photogrammetric camera is used for filming; in the dark, an IR camera is used). Text messages about detected threats and dangerous situations are transmitted in real time to the central server 7 and the nearest base station 8-9 (if there is no connection with the central server). Base station 8-9, which has a more powerful transceiver antenna than the UAV, transmits the received information to the central server 7. For more detailed shooting of a threat or dangerous situation, the central server can send a backup UAV 6.

Format of text messages about detection of threats or dangerous situations:

<ids,ts, gc>, where ids is the identifier of the threat or dangerous situation, ts is the type (class) of the threat or dangerous situation, gc is the geographic coordinates of the dangerous situation.

The operating mode “monitoring threats and dangerous situations and forming a comprehensive model of power lines and security zones”, in addition to the actions performed within the framework of the operating mode “monitoring threats and dangerous situations”, also involves the generation of data on the UAV in the following formats:

- A list of identified elements of power lines, as well as objects of the security zone, consisting of elements of the following type:

<id,to, gc>, where id is the object identifier, to is the type (class) of the object, gc is the geographic coordinates of the object.

- A comprehensive model of a power line section and a security zone based on a point cloud, in which each point has the following description:

<x,y,z,c,t,u,id, ids>

where x,y,z are the spatial coordinates of the point; c - chromaticity; t - thermogram pixel corresponding to point x,y,z; id - identifier of the object to which this point belongs (if the point does not belong to the object, then id=null); ids - identifier of a dangerous situation (distinguished by an aircraft-type UAV) to which this point belongs (if the point does not belong to a dangerous situation, then ids=null).

3) UAV 4-5 periodically performs self-diagnosis. In this case, the following parameters are monitored: current fuel level, state of microprocessors, memory, drives, sensors, navigation subsystem.

3.1) If critical problems are detected with microprocessors, memory, drives, sensors (photogrammetric camera during daylight hours, IR camera during dark times), and the navigation subsystem, a decision is made to urgently return to the nearest base station 8-9.

3.2) If the UAV has a low battery charge level, a decision is made to immediately move it to the nearest base station 8-9. If the current battery charge level is not enough for the base station 8-9, then the UAV lands within the security zone of the power line and activates the emergency operation mode.

4) UAVs 4-6 upload the collected visual information.

UAVs 4-6, after flying over the power line section and landing, upload all collected visual information (namely, photos and videos of threats and dangerous situations, a list of identified power line elements, as well as objects of the security zone, a comprehensive model of the power line section and the security zone) to permanent storage devices located at base stations 8-9. Base stations 8-9 through transceiver antennas transmit the downloaded visual information to the central server 7.

5) Depending on the data received from the UAV 4-6 (via base stations 8-9) the central server 7 performs the following actions:

5.1) In the operating mode “monitoring threats and dangerous situations” (clause 1, a), the central server 7 analyzes the information received from the UAV 4-6, on the basis of which the following actions can be performed:

a) The central server 7 immediately signals the decision maker 10 about a dangerous situation. If a threat is detected, a notification to the decision maker 10 in text form is sufficient. In both cases, the central server 7 provides the decision maker 10 with a list of recommendations for eliminating the detected threat or dangerous situation.

b) The central server 7 records information about a threat or dangerous situation into permanent memory.

c) Based on the descriptions of the threats of dangerous situations that occurred previously, stored in permanent memory, server 7 performs a forecast of the development of the current threat or dangerous situation, and also assesses the likelihood of the potential occurrence of threats and dangerous situations in various sections of the power line.

5.2) In the operating mode “monitoring threats and dangerous situations and forming a comprehensive model of power lines and a security zone”, in addition to the actions performed within the framework of the mode “monitoring threats and dangerous situations” based on data received from UAVs 4-6 (comprehensive model of a power line section and a security zone ; complex models of power line elements, security zone objects, threats, dangerous situations; a list of identified power line elements, as well as a list of identified threats and dangerous situations) forms a comprehensive model of power line 1, which includes:

- three-dimensional model of power lines and security zones;

- IR model of power lines and security zone;

- three-dimensional, IR models of individual power transmission line elements indicating the types and geographic coordinates of these elements.

The central server analyzes the three-dimensional model of power lines and the security zone in order to determine the following parameters:

- wire sag;

- angle of inclination of power transmission line supports;

- displacement of power transmission line supports.

Based on a three-dimensional model of the power line and the security zone, the central server identifies new dangerous situations (“dance of wires”).

Based on retrospective integrated models, power lines predict the development of identified threats and dangerous situations.

A list of recommendations is being compiled for decision makers to eliminate threats and dangerous situations identified on power lines.

Thus, from the above illustrations it is clear that the stated technical task is being achieved, namely eliminating the shortcomings of the prototype, as well as increasing the speed and quality of monitoring the condition of power lines.

Claims (1)

An intelligent system for automatic remote monitoring of the condition and safety of power lines in continuous mode, consisting of a group of all-weather UAVs, an automated maintenance complex, an information processing center and software, with each UAV equipped with an IR camera and controlled by two programs, with the first being responsible for direct control device, altitude, flight speed, scanning the surrounding space and avoiding collisions, controlling flight conditions, forms an adequate response to changing weather conditions, maintains a communication channel and information transfer, receives commands from the central server, adjusts the flight mission, the second program is installed on the central server and receives and processes data received from the UAV, performs video stream analytics, generates reports, commands to change the flight task, archives information and sends reports to responsible persons, an automatic service complex provides UAV reception, technical condition analysis, downloads information accumulated during the flight , on internal media, ensures the departure of the UAV according to the flight schedule, transmits information to the central server, the complex operates autonomously, is a box in which the UAV lands, additionally the box is equipped with a container with anti-icing liquid and propeller irrigation devices, while controlling the complex maintenance is carried out by software installed on the central server, the central server is designed to be located in any place convenient for work, performs the functions of receiving, accumulating and storing information, provides constant analytics of the information received, carries out mailing containing analytics information, generates a summary certificate of the results monitoring and analysis of incidents and the state of controlled objects, equipment, provides employees with access to archives and databases, the UAV, regardless of type, includes the UAV hardware and software complex corresponding to the first program, a drive system, a fuel tank, while the UAV hardware and software complex consists from a machine vision subsystem, a memory management subsystem, a control subsystem, a navigation subsystem implemented on the basis of a GPS or GLONASS navigator, while the machine vision subsystem and the control subsystem are integrated into the firmware of individual high-performance microcontrollers, while the machine vision subsystem includes a set of on-board sensors, including IR -camera, 3D reconstruction unit, IR data analysis unit, information integration unit, pattern recognition unit, memory management subsystem includes a memory unit for acceptable values of diagnosed parameters, a unit for storing weight coefficients of a convolutional neural network, a buffer of collected data, a knowledge base of the control subsystem , the control subsystem includes a control unit, a flight trajectory prediction unit, a control action generation unit, a coordination unit, a self-diagnosis unit, in addition, the central server includes a central server hardware and software complex corresponding to the second program, a transceiver antenna with a coverage radius of 240 km , providing a radio bridge directly between the UAV, between the UAV and the central server with a speed of at least 50 Mbit/s, an input device, an output device, while the result of the work of the central server is a comprehensive model of the power line, including a three-dimensional model of the power line and the security zone, an IR model of the power line and security zone, detailed three-dimensional IR models of individual power line elements indicating the types and geographical coordinates of these elements, the sag of wires, the angle of inclination of power line supports, the displacement of power line supports, a forecast for the development of identified threats and dangerous situations, a list of recommendations for decision makers to eliminate those identified in Power lines of threats and dangerous situations, characterized in that the UAVs used are equipped with an electric motor and a battery, a transceiver antenna representing a satellite communication module that ensures the exchange of messages with a volume of at least 1 kByte with a frequency of at least one message per minute, a photogrammetric camera, forming a complex model of the power line section and the security zone, including three-dimensional IR models, a list of identified elements of the power line, as well as objects of the security zone, a list of identified threats and dangerous situations, while UAVs are divided into main and backup, subordinate to the main ones and used for more detailed inspection of power lines and security zones, an automatic service complex is combined with a UAV base station, which is installed at transformer substations and ensures simultaneous charging of the battery of two UAVs.