Method for rapidly planning flight path of unmanned aerial vehicle for electric power tower inspection

Abstract

The invention discloses an unmanned aerial vehicle flight path rapid planning method for electric power tower inspection, and the method comprises the following steps: (1), obtaining the basic information of a target electric power tower, including the latitude and longitude of the tower, the altitude, the height, the voltage grade and the line topological relation; and (2) generating a full view waypoint of the tower based on the basic information: calculating the position of the waypoint through a preset distance to the tower top and a preset distance in front of the tower in combination with a three-dimensional coordinate conversion algorithm, and setting the pitch angle of a pan-tilt to be-43 degrees. According to the invention, through four core innovations of automatic generation, dynamic adaptation, intelligent emergency and cooperative management, the problems of low path planning efficiency, poor flexibility, insufficient safety and the like in the prior art are solved, the efficiency, precision and reliability of unmanned aerial vehicle electric power inspection are significantly improved, and the dependence on artificial experience and hardware cost is reduced at the same time.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) power line inspection, and specifically to a method for rapid flight path planning of UAVs for power pole inspection. Background Technology

[0002] With the advancement of smart grid construction, drones have become an important tool for power facility inspection, especially in scenarios such as pole defect detection, line corridor hazard investigation, and emergency repairs. Currently, drone inspections rely on manual operation or pre-set fixed routes, and there are technical bottlenecks in route planning: The following are the main problems with drone path planning in current power pole inspection: 1. Inefficient path planning: Existing UAV inspection path planning methods often rely on complex algorithms and a large amount of computing resources, resulting in long path generation times. This makes it impossible to meet the needs of rapid on-site flight inspections, especially in emergency inspections or large-scale inspection missions.

[0003] 2. Lack of targeted optimization: Many general-purpose UAV route planning algorithms do not fully consider the special characteristics of power pole inspection, such as the need for rapid imaging of multiple key locations such as the front, back, left, right and top of the power distribution tower, as well as the special needs of transmission tower inspection (such as infrared temperature measurement), resulting in inflexible route generation.

[0004] 3. High degree of human intervention: Although some path planning methods can provide routes, they often require inspectors to manually adjust the routes based on the specific location of the tower and the surrounding environment. This not only increases the workload, but may also introduce errors due to human factors, affecting the accuracy and efficiency of the inspection.

[0005] Therefore, a rapid flight path planning method for UAVs used in power pole inspection is proposed. Summary of the Invention

[0006] This invention solves the problems existing in the prior art through the following technical solution, which includes the following steps: Step (1): Obtain basic information about the target power pole, including the pole's latitude and longitude, altitude, height, voltage level, and line topology; Step (2): Based on the basic information, generate a waypoint for the entire tower: calculate the waypoint position by using the preset distance from the top of the tower and the distance in front of the tower, combined with a three-dimensional coordinate transformation algorithm, and set the gimbal pitch angle to -43°; Step (3): Generate waypoints around the tower: Based on the preset distance from the top of the tower and the safety distance, generate waypoints around the tower in the four directions of front, back, left and right of the tower, and set the gimbal pitch angle to -45°; Step (4): Generate tower top waypoint: Generate a vertical shooting waypoint at a preset safe distance directly above the tower, and fix the gimbal pitch angle at -90°; Step (5): Generate the large side channel waypoint: Based on the positional relationship of adjacent towers, calculate the channel waypoint position and gimbal pitch angle facing the large side; Step (6): Sort the tower overview waypoints, tower circumnavigation waypoints, tower top waypoints and large side passage waypoints in a preset order to generate a single tower inspection route; Step (7): According to the order of the line towers, assemble the route of each tower from the small number side to the large number side to generate a complete inspection route; Step (8): The complete inspection route is executed by a high-precision obstacle avoidance UAV, and environmental data is collected in real time to dynamically correct the flight path.

[0007] Furthermore, the dynamic adjustment process of the distance from the top of the tower and the distance in front of the tower in step (2) according to the voltage level is as follows: The default distance from the top of the 10kV and below power distribution line towers is 6 meters, and the default distance in front of the tower is 8 meters. The default distance from the top of a 35kV transmission line tower is 12 meters, and the default distance in front of the tower is 15 meters. For each voltage level increase, the distance from the top of the tower increases by 2 meters, and the distance in front of the tower increases by 3 meters.

[0008] Furthermore, in step (3), the rule for generating waypoints around the tower is as follows: The default distance from the top of the 10kV and below power distribution line towers is 1.5 meters, and the default safe distance is 6 meters. The default distance from the top of a 35kV transmission line tower is 2 meters, and the default safe distance is 12 meters. For each voltage level increase, the distance from the top of the tower increases by 1 meter, and the safe distance increases by 2 meters.

[0009] Furthermore, in step (4), the safe distance to the tower top waypoint is adjusted according to the voltage level: The default value for towers of 10kV and below distribution lines is 8 meters, and the default value for towers of 35kV transmission lines is 13 meters. For each voltage level increase, the safe distance increases by 10 meters.

[0010] Furthermore, in step (5), the method for generating the large side channel waypoint includes: Generate an initial waypoint at a predetermined distance from the top of the tower; The gimbal pitch angle α is calculated based on the center positions of adjacent towers, and the waypoint position is corrected using a three-dimensional coordinate transformation algorithm.

[0011] Furthermore, in step (6), the sorting order of the single tower waypoints is as follows: tower full view waypoint, tower around waypoint, tower top waypoint, and large side passage waypoint.

[0012] Furthermore, in step (8), the specific method for dynamically correcting the flight path is as follows: The drone uses a lidar-equipped device to detect obstacles in real time and generate local obstacle avoidance paths. Adjust waypoint altitude and flight speed based on meteorological sensor data to ensure path safety.

[0013] Furthermore, it also provides emergency protection for drones through an emergency strategy module. This means that an emergency landing point is preset in the inspection route. The landing point is located in an open area adjacent to the tower. When the drone's battery level is detected to be below the threshold or it encounters a sudden obstacle, it will automatically switch to the landing point path. The specific emergency response procedure is as follows: Dynamic generation of emergency landing sites: Based on tower locations and real-time terrain data, landing sites are generated according to the following rules: Scan open areas within a 50-meter radius of the tower, prioritizing coordinate points that are flat and unobstructed. If the planned landing point is covered by an obstacle, an alternative landing point is generated in real time based on the A* algorithm and updated to the flight control terminal. The multi-level emergency triggering mechanism includes Level 1 and Level 2 warnings: Level 1 warning trigger conditions: The drone's battery level is below 20% or it encounters a sudden obstacle (such as birds or temporary construction facilities). Level 2 warning trigger conditions: The weather sensor detects a wind speed exceeding 10 m / s or the rainfall intensity affects the visibility distance; Once triggered, the drone automatically selects an alternate landing point based on priority: Level 1 triggering prioritizes switching to the nearest alternate landing point; Level 2 triggering prioritizes switching to an alternate landing point with a higher wind resistance level. Path switching and status synchronization: Generate the shortest obstacle avoidance path from the current location to the alternate landing point. The path planning uses the RRT* (Fast Explore Random Tree) algorithm to ensure dynamic obstacle avoidance. When switching routes, the system sends fault codes, location coordinates, and remaining battery power to the cloud platform via the 5G communication module, and receives optimized route instructions from the cloud. Recovery mechanism after emergency landing: If the reason for diversion is insufficient battery power, the drone will automatically charge at the diversion point or wait for battery replacement before continuing to perform the unfinished inspection task. If the reason for the diversion is environmental interference, the drone will replan its route and resume inspection after confirming that the environment is safe on the cloud platform.

[0014] Compared with existing technologies, this invention has the following advantages: The rapid flight path planning method for UAVs used in power pole inspection improves inspection efficiency and automation. Based on preset parameters and a three-dimensional coordinate transformation algorithm, it automates the process from pole data input to complete flight path generation, significantly shortening planning time. Automatically adapts key parameters such as safety distance and tower spacing based on voltage level, reducing manual configuration workload. Supports optimized waypoint sorting for scenarios such as routine inspection, infrared temperature measurement, and post-disaster special inspection, meeting diverse needs and enhancing inspection accuracy and coverage. Detailed imaging of key components: Multi-angle waypoints are designed for parts such as insulator strings and tower bases of transmission towers to ensure blind-spot-free detection. By using lidar obstacle avoidance, meteorological data fusion, and cloud feedback, the flight path is optimized in real time, improving the stability of the shooting angle.

[0015] Dynamically generate alternate landing points and combine A and RRT algorithms to plan obstacle avoidance paths to ensure the safe evacuation of drones in case of emergencies; A multi-level triggering mechanism distinguishes between risks such as insufficient power and environmental interference, and initiates emergency responses accordingly; Environmental interference resistance: The flight altitude and speed are adjusted according to real-time wind speed and rainfall data to reduce the impact of severe weather on inspections.

[0016] Reduce operation and maintenance costs and reliance on manual labor; standardize parameters and use adaptive rules; reduce reliance on pilot experience and lower training costs by setting parameters based on voltage levels. The mission is automatically recovered. After an emergency landing, it supports charging and re-flying or automatic restart after the environment is safe, reducing manual intervention. The mission range is divided based on the endurance and combined with the spatiotemporal conflict detection algorithm to achieve non-overlapping paths, improving the efficiency of large-scale line inspection. Based on historical data, iteratively optimize waypoint parameters and flight speed to promote intelligent upgrades in path planning (refer to previous solutions). It supports customizable parameters such as safety distance and pan-tilt angle, and is compatible with new types of poles or inspection equipment in the future, making the system more worthy of widespread use. Attached Figure Description

[0017] Figure 1 This is an overall flowchart of the present invention; Figure 2 This is the tower overview waypoint generation map of the present invention; Figure 3 This is the tower navigation point generation diagram of the present invention; Figure 4 This is the waypoint generation diagram around the tower of the present invention; Figure 5 This is the waypoint generation map at the top of the tower according to the present invention; Figure 6 This is the large-size side-channel waypoint map of the present invention. Detailed Implementation

[0018] The embodiments of the present invention are described in detail below. These embodiments are implemented based on the technical solution of the present invention, and provide detailed implementation methods and specific operation processes. However, the scope of protection of the present invention is not limited to the following embodiments.

[0019] like Figure 1-6 As shown, this embodiment provides a technical solution: a method for rapid flight path planning of a drone for power pole inspection, including the following steps: Includes the following steps: Step (1): Obtain basic information about the target power pole, including the pole's latitude and longitude, altitude, height, voltage level, and line topology; Input the location information of the power grid lines and towers for which automated flight path planning is required, including line name, tower order, tower latitude and longitude, tower altitude, and tower height. Thanks to the increased application of drones over the past few years, this power grid information is now maintained in the relevant digital management systems for the power grid. It can be obtained through batch import or via an API. Step (2): Based on the aforementioned basic information, generate a waypoint for the entire tower: Calculate the waypoint position using a preset distance from the tower top and distance from the tower front, combined with a three-dimensional coordinate transformation algorithm, and set the gimbal pitch angle to -43°. The dynamic adjustment process of the distance from the top of the tower and the distance in front of the tower according to the voltage level in step (2) is as follows: The default distance from the top of the 10kV and below power distribution line towers is 6 meters, and the default distance in front of the tower is 8 meters. The default distance from the top of a 35kV transmission line tower is 12 meters, and the default distance in front of the tower is 15 meters. For each voltage level increase, the distance from the top of the tower increases by 2 meters, and the distance in front of the tower increases by 3 meters. Tower panoramic waypoint generation: A tower panoramic waypoint is a specific flight pathpoint set during drone inspections of power poles to capture the overall view of the tower. Figure 2 As shown, this method involves extending vertically downwards from the top of the tower to a virtual point as the shooting point, with the extension distance being a preset distance from the top of the tower. From the direction of the smaller side tower (facing the smaller side tower as the azimuth angle), the shooting point is extended horizontally to a distance in front of the tower. At the end of this extended distance in front of the tower, the point is extended vertically upwards to a point where the angle between this point and the shooting point is 43°. This point, the shooting point, and the end of the distance in front of the tower form a right triangle. Using trigonometric functions and 3D geographic coordinate transformation, the waypoint location information for the entire tower can be calculated and generated. The default angle of the gimbal for waypoint shooting is -43°. Among them, the distance from the top of the tower is an adjustable parameter. The default distance from the top of the tower for 10kV and below distribution lines is 6 meters, and the default distance from the top of the tower for 35kV transmission lines is 12 meters. The distance is automatically increased by 2 meters for each voltage level increase.

[0020] Among them, the tower front distance is an adjustable parameter. The default tower front distance for 10kV and below distribution lines is 8 meters, and the default tower front distance for 35kV transmission lines is 15 meters. For each voltage level increase, the distance is automatically increased by 3 meters. Step (3): Generate waypoints around the tower: Based on the preset distance from the tower top and the safety distance, generate waypoints around the tower in four directions: in front, behind, left, and right of the tower, and set the gimbal pitch angle to -45°. In step (3), the rules for generating waypoints around the tower are as follows: The default distance from the top of the 10kV and below power distribution line towers is 1.5 meters, and the default safe distance is 6 meters. The default distance from the top of a 35kV transmission line tower is 2 meters, and the default safe distance is 12 meters. For each voltage level increase, the distance from the top of the tower increases by 1 meter, and the safe distance increases by 2 meters. Step (4): Generate tower top waypoint: Generate a vertical shooting waypoint at a preset safe distance directly above the tower, with the gimbal tilt angle fixed at -90°. In step (4), the safe distance to the tower top waypoint is adjusted according to the voltage level: The default value for towers of 10kV and below distribution lines is 8 meters, and the default value for towers of 35kV transmission lines is 13 meters. For each voltage level increase, the safe distance increases by 10 meters; Tower top waypoint generation: The tower top waypoint is generated by taking a picture from directly above the tower top and looking down. Figure 5 As shown, this method involves extending a virtual point vertically upwards at the top of the tower by a preset safe distance to serve as the tower top waypoint position, with the waypoint gimbal angle fixed at -90°.

[0021] The safety distance is adjustable as a parameter. For power distribution lines (10kV and below), the default safety distance is 8 meters; for transmission lines (35kV), the default safety distance is 13 meters. The distance automatically increases by 10 meters for each voltage level increase. The waypoint gimbal angle is fixed at -90°. Step (5): Generate the large side channel waypoint: Based on the positional relationship of adjacent towers, calculate the channel waypoint position and gimbal pitch angle facing the large side; In step (5), the method for generating the large side channel waypoint includes: Generate an initial waypoint at a predetermined distance from the top of the tower; The gimbal pitch angle α is calculated based on the center positions of adjacent towers, and the waypoint position is corrected using a three-dimensional coordinate transformation algorithm. Generate a large side passage waypoint, such as Figure 6 As shown, the large side passage waypoint is a waypoint photographed directly above the tower top, facing the large side tower. The method of generating it is to extend vertically upwards from directly above the tower top at a preset distance to a virtual point as the location of the large side passage waypoint.

[0022] The gimbal angle of the waypoint is automatically calculated. Specifically, with the tower facing the larger side, the middle position of the next lower tower is taken as the shooting point. The shooting point extends horizontally towards the smaller tower and intersects with the point where the waypoint extends vertically downward, forming a right triangle. The gimbal angle α of the waypoint is calculated from this, and the gimbal angle of the UAV waypoint is -α.

[0023] Among them, the distance from the top of the tower is an adjustable parameter. For 10kV and below distribution lines, the distance from the top of the tower is 10 meters by default. For 35kV transmission lines, the distance from the top of the tower is 15 meters by default. For each voltage level increase, the distance is automatically increased by 10 meters. Step (6): Sort the tower overview waypoints, tower circumnavigation waypoints, tower top waypoints and large side passage waypoints in a preset order to generate a single tower inspection route; The waypoints of the towers are sorted in the following order: tower overview waypoints, tower circumnavigation waypoints, tower top waypoints, and large side passage waypoints. The flight routes for each tower are then generated in this order. Step (7): According to the order of the line towers, assemble the route of each tower from the small number side to the large number side to generate a complete inspection route; Based on the tower routes, a complete inspection route is generated. From the smallest tower to the largest tower, the routes of different towers are organized in order to generate a complete inspection route that can be executed by the UAV. Step (8): The complete inspection route is executed by a high-precision obstacle avoidance UAV, and environmental data is collected in real time to dynamically correct the flight path; Based on the pole and tower routes, a complete inspection route is generated. From the smallest pole to the largest pole, the routes of different poles are organized in order to generate a complete inspection route that can be executed by the UAV.

[0024] In step (8), the specific method for dynamically correcting the flight path is as follows: The drone uses a lidar-equipped device to detect obstacles in real time and generate local obstacle avoidance paths. Adjust waypoint altitude and flight speed based on meteorological sensor data to ensure path safety.

[0025] It also provides emergency protection for drones through an emergency strategy module. This means that an emergency landing point is preset in the inspection route. The landing point is located in an open area adjacent to the tower. When the drone's battery level is detected to be below the threshold or it encounters a sudden obstacle, it will automatically switch to the landing point path. The specific emergency response procedure is as follows: Dynamic generation of emergency landing sites: Based on tower locations and real-time terrain data, landing sites are generated according to the following rules: Scan open areas within a 50-meter radius of the tower, prioritizing coordinate points that are flat and unobstructed. If the planned landing point is covered by an obstacle, an alternative landing point is generated in real time based on the A* algorithm and updated to the flight control terminal. The multi-level emergency triggering mechanism includes Level 1 and Level 2 warnings: Level 1 warning trigger conditions: The drone's battery level is below 20% or it encounters a sudden obstacle (such as birds or temporary construction facilities). Level 2 warning trigger conditions: The weather sensor detects a wind speed exceeding 10 m / s or the rainfall intensity affects the visibility distance; Once triggered, the drone automatically selects an alternate landing point based on priority: Level 1 triggering prioritizes switching to the nearest alternate landing point; Level 2 triggering prioritizes switching to an alternate landing point with a higher wind resistance level. Path switching and status synchronization: Generate the shortest obstacle avoidance path from the current location to the alternate landing point. The path planning uses the RRT* (Fast Explore Random Tree) algorithm to ensure dynamic obstacle avoidance. When switching routes, the system sends fault codes, location coordinates, and remaining battery power to the cloud platform via the 5G communication module, and receives optimized route instructions from the cloud. Recovery mechanism after emergency landing: If the reason for diversion is insufficient battery power, the drone will automatically charge at the diversion point or wait for battery replacement before continuing to perform the unfinished inspection task. If the reason for the diversion is environmental interference, the drone will replan its route and resume inspection after confirming that the environment is safe on the cloud platform.

[0026] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0027] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0028] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A method for rapid flight path planning of unmanned aerial vehicles (UAVs) for power pole inspection, characterized in that, Includes the following steps: Step (1): Obtain basic information about the target power pole, including the pole's latitude and longitude, altitude, height, voltage level, and line topology; Step (2): Based on the basic information, generate a waypoint for the entire tower: calculate the waypoint position by using the preset distance from the top of the tower and the distance in front of the tower, combined with a three-dimensional coordinate transformation algorithm, and set the gimbal pitch angle to -43°; Step (3): Generate waypoints around the tower: Based on the preset distance from the top of the tower and the safety distance, generate waypoints around the tower in the four directions of front, back, left and right of the tower, and set the gimbal pitch angle to -45°; Step (4): Generate tower top waypoint: Generate a vertical shooting waypoint at a preset safe distance directly above the tower, and fix the gimbal pitch angle at -90°; Step (5): Generate the large side channel waypoint: Based on the positional relationship of adjacent towers, calculate the channel waypoint position and gimbal pitch angle facing the large side; Step (6): Sort the tower overview waypoints, tower circumnavigation waypoints, tower top waypoints and large side passage waypoints in a preset order to generate a single tower inspection route; Step (7): According to the order of the line towers, assemble the route of each tower from the small number side to the large number side to generate a complete inspection route; Step (8): The high-precision obstacle avoidance UAV executes the complete patrol route and collects environmental data in real time to dynamically correct the flight path.

2. The method for rapid flight path planning of a UAV for power pole inspection according to claim 1, characterized in that: The dynamic adjustment process of the distance from the top of the tower and the distance in front of the tower according to the voltage level in step (2) is as follows: The default distance from the top of the 10kV and below power distribution line towers is 6 meters, and the default distance in front of the tower is 8 meters. The default distance from the top of a 35kV transmission line tower is 12 meters, and the default distance in front of the tower is 15 meters. For each voltage level increase, the distance from the top of the tower increases by 2 meters, and the distance in front of the tower increases by 3 meters.

3. The method for rapid flight path planning of a UAV for power pole inspection according to claim 1, characterized in that: In step (3), the rules for generating waypoints around the tower are as follows: The default distance from the top of the 10kV and below power distribution line towers is 1.5 meters, and the default safe distance is 6 meters. The default distance from the top of a 35kV transmission line tower is 2 meters, and the default safe distance is 12 meters. For each voltage level increase, the distance from the top of the tower increases by 1 meter, and the safe distance increases by 2 meters.

4. The method for rapid flight path planning of a UAV for power pole inspection according to claim 2, characterized in that: In step (4), the safe distance to the tower top waypoint is adjusted according to the voltage level: The default value for towers of 10kV and below distribution lines is 8 meters, and the default value for towers of 35kV transmission lines is 13 meters. For each voltage level increase, the safe distance increases by 10 meters.

5. The method for rapid flight path planning of a UAV for power pole inspection according to claim 1, characterized in that: In step (5), the method for generating the large side channel waypoint includes: Generate an initial waypoint at a predetermined distance from the top of the tower; The gimbal pitch angle α is calculated based on the center positions of adjacent towers, and the waypoint position is corrected using a three-dimensional coordinate transformation algorithm.

6. The method for rapid flight path planning of a UAV for power pole inspection according to claim 1, characterized in that: In step (6), the sorting order of the waypoints for a single tower is as follows: tower overview waypoint, tower circumnavigation waypoint, tower top waypoint, and large side passage waypoint.

7. The method for rapid flight path planning of a UAV for power pole inspection according to claim 1, characterized in that: In step (8), the specific method for dynamically correcting the flight path is as follows: The drone uses a lidar-equipped device to detect obstacles in real time and generate local obstacle avoidance paths. Adjust waypoint altitude and flight speed based on meteorological sensor data to ensure path safety.

8. The method for rapid flight path planning of a UAV for power pole inspection according to claim 1, characterized in that: It also provides emergency protection for drones through an emergency strategy module. This means that an emergency landing point is preset in the inspection route. The landing point is located in an open area adjacent to the tower. When the drone's battery level is detected to be below the threshold or it encounters a sudden obstacle, it will automatically switch to the landing point path. The specific emergency response procedure is as follows: Dynamic generation of emergency landing sites: Based on tower locations and real-time terrain data, landing sites are generated according to the following rules: Scan open areas within a 50-meter radius of the tower, prioritizing coordinate points that are flat and unobstructed. If the planned landing point is covered by an obstacle, an alternative landing point is generated in real time based on the A* algorithm and updated to the flight control terminal. The multi-level emergency triggering mechanism includes Level 1 and Level 2 warnings: Level 1 warning trigger conditions: The drone's battery level is below 20% or it encounters a sudden obstacle; Level 2 warning trigger conditions: The weather sensor detects a wind speed exceeding 10 m / s or the rainfall intensity affects the visibility distance; Once triggered, the drone automatically selects an alternate landing point based on priority: Level 1 triggering prioritizes switching to the nearest alternate landing point; Level 2 triggering prioritizes switching to an alternate landing point with a higher wind resistance level. Path switching and status synchronization: Generate the shortest obstacle avoidance path from the current location to the alternate landing point. The path planning uses the RRT* algorithm to ensure dynamic obstacle avoidance. When switching routes, the system sends fault codes, location coordinates, and remaining battery power to the cloud platform via the 5G communication module, and receives optimized route instructions from the cloud. Recovery mechanism after emergency landing: If the reason for diversion is insufficient battery power, the drone will automatically charge at the diversion point or wait for battery replacement before continuing to perform the unfinished inspection task. If the reason for the diversion is environmental interference, the drone will replan its route and resume inspection after confirming that the environment is safe on the cloud platform.

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