Power frequency electric field correction method, device and drone for drone line inspection

Abstract

The present invention belongs to the field of drone technology and discloses a power frequency electric field correction method, device and drone for drone line inspection, including: obtaining the original field strength of the inspection route in a simulation model; setting several mounting methods for drone sensors, each mounting method performs inspection tests on the transmission line of the simulation model along the inspection route to obtain several test field strengths, each test field strength corresponding to a mounting method; obtaining the test field strength corresponding to each degree of distortion; obtaining the distortion coefficient of the original field strength based on the test field strength and the original field strength of the mounting method with the smallest degree of distortion; and performing a first correction on the real field strength obtained by the drone inspection in a real environment based on the distortion coefficient. Beneficial effect: By obtaining the sensor mounting position with the smallest distortion through simulation testing, the distorted electric field during the drone inspection can be reduced; by correcting the real field strength through the distortion coefficient, the influence of the distorted electric field is effectively eliminated, and a more accurate real field strength is obtained.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles (UAVs), and in particular to a method and device for correcting a power frequency electric field for UAV line inspection, and a UAV. Background Art

[0002] When a drone encounters the power-frequency electromagnetic environment of a power line, induced charges appear on its surface, generating an induced electric field. This field, superimposed on the original electric field, creates a distorted electric field. Consequently, the field strength measured by the electric field sensor deviates from the actual field strength. To ensure that the obtained field strength is closer to the actual field strength, more accurately guide the drone's flight, and improve inspection quality, it is necessary to calibrate the field strength during drone inspections. Summary of the Invention

[0003] The purpose of the present invention is to provide a method for correcting the power frequency electric field of a UAV line inspection, so as to correct the field strength during the UAV inspection process and make the field strength obtained during the inspection more accurate.

[0004] In order to achieve the above objectives, the present invention provides a power frequency electric field correction method for UAV line inspection, comprising:

[0005] Obtain the original field strength of the transmission line in the simulation model without the intervention of drones;

[0006] According to the several mounted modes of the drone sensors, a patrol test is conducted on the transmission line of the simulation model along the patrol route for each mounted mode, and several test field strengths are obtained, each test field strength corresponding to one mounted mode;

[0007] Several distortion degrees are obtained based on the original field strength and several test field strengths, and each distortion degree corresponds to one test field strength;

[0008] According to the test field strength of the mounting method with the least distortion and the original field strength, the distortion coefficient of the original field strength in the rectangular coordinate system is obtained;

[0009] A first correction is performed on the actual field strength obtained by the UAV in a real environment along the inspection route according to the distortion coefficient.

[0010] In this way, the simulation model can be used to conveniently conduct simulation tests on the transmission line, and the optimal installation position of the sensor can be obtained through experiments to reduce the distorted field strength; the obtained real field strength can be corrected by the first correction coefficient to make the obtained real field strength more accurate.

[0011] Furthermore, the distortion degrees are obtained according to the original field strength and the test field strengths, specifically:

[0012] The original field strength and the plurality of test field strengths each include the field strength at each location on the inspection route; obtaining field strengths at a first number of different locations from the original field strength, obtaining field strengths at a first number of different locations from the test field strength, and matching the locations of the field strengths obtained from the test field strengths with the locations of the field strengths obtained from the original field strengths; substituting the field strengths obtained from the original field strengths and the field strengths obtained from the test field strengths into a first formula to obtain a degree of distortion of the test field strengths;

[0013] The first formula is specifically:

[0014]

[0015] Where i is the number of different locations on the inspection route, K is the value of the first quantity, and E 0 is the original field strength, E is the test field strength, δ is the distortion coefficient, E i is the original field strength at position i, is the original field strength at position i.

[0016] In this way, according to the above scheme, the degree of distortion of the sensor when it is installed at different positions is obtained, and then the preferred position of the sensor is screened to reduce the distortion field strength during the inspection process.

[0017] Furthermore, the distortion coefficient of the original field strength in the rectangular coordinate system is obtained based on the test field strength of the mounting mode with the least distortion and the original field strength, specifically:

[0018] Obtain the field strength components of the test field strength in the x-direction, y-direction, and z-direction for the mounting method with the least degree of distortion, and obtain the field strength components of the original field strength in the x-direction, y-direction, and z-direction;

[0019] The distortion coefficient of the original field strength in the x-direction is obtained according to the component of the test field strength in the x-direction, the component of the original field strength in the x-direction, and the second formula; the second formula is:

[0020]

[0021] Where n is the number of points selected on the inspection route, i is the number of different positions on the inspection route, is the x-direction field strength component of the original field strength at position i, Ex i is the field strength component in the x direction at position i of the test field strength;

[0022] The distortion coefficient of the original field intensity in the y direction is obtained according to the component of the test field intensity in the y direction, the component of the original field intensity in the y direction, and the third formula; the third formula is:

[0023]

[0024] in, is the y-direction field strength component of the original field strength at position i, Ey i is the field strength component in the y direction at position i of the test field strength;

[0025] The distortion coefficient of the original field intensity in the z direction is obtained according to the component of the test field intensity in the z direction, the component of the original field intensity in the z direction, and the fourth formula; the fourth formula is:

[0026]

[0027] in, is the z-direction field strength component of the original field strength at position i, E zi is the field strength component in the z direction at position i.

[0028] In this way, the distortion coefficient of the real field intensity in each direction can be obtained, and the real field intensity in each direction can be corrected to obtain a more accurate real field intensity.

[0029] Furthermore, a first correction is performed on the actual field strength obtained by the UAV in the real environment along the inspection route according to the distortion coefficient, specifically:

[0030] The real field strength obtained by the drone during inspection in the real environment is obtained, and the real field strength is decomposed to obtain the field strength components of the real field strength in the x, y, and z directions. Each field strength component is multiplied by the corresponding distortion coefficient to complete the first correction of the real field strength.

[0031] In this way, the component of the obtained true field intensity in each direction can be corrected through the first correction, so that the true field intensity is more accurate.

[0032] Furthermore, the correction method further includes:

[0033] Obtain a second correction coefficient of the field strength of the UAV at different flight angles;

[0034] A second correction is performed on the first-corrected real field strength according to the second correction coefficient.

[0035] In this way, the interference of external factors during the flight of the drone can be corrected, making the field strength obtained by the drone more accurate.

[0036] Furthermore, the second correction coefficient for obtaining the field strength of the drone at different flight angles is specifically:

[0037] Set the three rotation axis directions of the drone in space. When the direction of one of the rotation axes remains unchanged, make the drone rotate in the plane determined by the other two rotation axes; fix each rotation axis direction in turn, and obtain the relationship between the field strength change of the drone and the current flight angle when each rotation axis is fixed; and obtain the second correction coefficient based on the relationship between the field strength change when the drone rotates and the current flight angle.

[0038] In this way, the correction coefficient of the drone at each flight angle can be obtained. When the flight angle of the drone is known through the gyroscope, correction can be performed according to the second correction coefficient.

[0039] Furthermore, the second correction is performed on the real field strength after the first correction according to the second correction coefficient, specifically:

[0040] Obtaining the flight angle of the drone during the first calibration, and obtaining a second calibration coefficient of the drone based on the flight angle of the drone;

[0041] The second correction is performed by multiplying the first-corrected true field strength by the second correction coefficient.

[0042] In this way, the second correction coefficient can eliminate the influence of external factors such as wind on the drone inspection, making the field strength obtained by the drone more accurate.

[0043] The present invention also discloses a power frequency electric field correction device for UAV line inspection, comprising: a first acquisition module, a first test module, a second acquisition module, a third acquisition module and a first correction module;

[0044] The first acquisition module acquires the original field strength of the inspection route of the power transmission line of the simulation model when no drone is involved;

[0045] The first testing module is configured to perform an inspection test on the power transmission line of the simulation model along the inspection route for each of the several mounted modes of the drone sensor according to the set mode, thereby obtaining a plurality of test field strengths, each test field strength corresponding to one of the mounted modes;

[0046] The second acquisition module is configured to obtain a plurality of distortion degrees according to the field strength and a plurality of test field strengths, each distortion degree corresponding to a test field strength;

[0047] The third acquisition module is used to obtain the distortion coefficient λ of the original field strength in the x, y, and z directions based on the test field strength of the mounting mode with the minimum distortion and the original field strength. x ,λ y ,λ z ;

[0048] The first correction module is used to perform a first correction on the actual field strength obtained by the drone in a real environment along the inspection route according to the distortion coefficient.

[0049] Furthermore, the distortion degrees are obtained according to the original field strength and the test field strengths, specifically:

[0050] The original field strength and the plurality of test field strengths each include the field strength at each location on the inspection route; obtaining field strengths at a first number of different locations from the original field strength, obtaining field strengths at a first number of different locations from the test field strength, and matching the locations of the field strengths obtained from the test field strengths with the locations of the field strengths obtained from the original field strengths; substituting the field strengths obtained from the original field strengths and the field strengths obtained from the test field strengths into a first formula to obtain a degree of distortion of the test field strengths;

[0051] The first formula is specifically:

[0052]

[0053] Where i is the number of different locations on the inspection route, K is the value of the first quantity, and E 0 is the original field strength, E is the test field strength, δ is the distortion coefficient, E i is the original field strength at position i, is the original field strength at position i.

[0054] The present invention also discloses a UAV, which uses the above-mentioned correction device to calibrate the field strength during the UAV inspection process.

[0055] Compared with the existing technology, the embodiments of the present invention provide a method, device and drone for correcting the power frequency electric field for drone line inspection, which have the following beneficial effects: by obtaining the sensor mounting position with the least distortion through simulation testing, the distorted electric field during drone inspection can be reduced; the real field strength is corrected by the distortion coefficient, effectively eliminating the influence of the distorted electric field and obtaining a more accurate real field strength. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] Figure 1 This is a first flow chart of a method for correcting power frequency electric field during UAV line inspection according to the present invention;

[0057] Figure 2 This is a simplified schematic diagram of simulation modeling of a power frequency electric field correction method for UAV line inspection according to the present invention;

[0058] Figure 3 This is a second flow chart of a method for correcting power frequency electric field during UAV line inspection according to the present invention;

[0059] Figure 4This is a simplified schematic diagram of a device for obtaining a second correction coefficient in a power frequency electric field correction method for UAV line inspection according to the present invention;

[0060] Figure 5 It is a structural schematic diagram of an industrial frequency electric field correction device for UAV line inspection of the present invention. DETAILED DESCRIPTION

[0061] The following embodiments of the present invention are described in further detail with reference to the accompanying drawings and examples. The following examples are used to illustrate the present invention but are not intended to limit the scope of the present invention.

[0062] Example 1:

[0063] like Figure 1 As shown, the present invention discloses a power frequency electric field correction method for UAV line inspection, which mainly includes the following steps:

[0064] Step S1, obtaining the original field strength of the inspection route of the transmission line of the simulation model when no drone is involved;

[0065] Step S2: performing inspection tests on the power transmission line of the simulation model along the inspection route for each of the several mounted modes of the drone sensor according to the set modes, and obtaining several test field strengths, each test field strength corresponding to one of the mounted modes;

[0066] Step S3, obtaining a plurality of distortion degrees according to the original field strength and a plurality of test field strengths, where each distortion degree corresponds to a test field strength;

[0067] Step S4, obtaining a distortion coefficient of the original field strength in a rectangular coordinate system based on the test field strength of the mounting method with the minimum distortion and the original field strength;

[0068] Step S5: performing a first correction on the actual field strength obtained by the UAV along the inspection route in the actual environment according to the distortion coefficient.

[0069] Reference Figure 2 ,Since the transmission lines in the real environment are different, it is necessary to ,model the transmission lines to be inspected and obtain the ,transmission lines to be inspected in the simulation software.

[0070] In this embodiment, the simulation software takes a 500kV single-circuit line that is actually being flown as an example. The conductor spacing is 13.5m, the conductor model is 4×LGJ400 / 35, and the three-phase voltages A, B, and C differ by 120°. Under the premise of not significantly affecting the field strength of the line space, in order to reduce the complexity of the model and improve the calculation speed, the following simplifications are made in the model: the influence of the hanging insulator is ignored; the tower is solidified and the steel angle is ignored; the split conductors are treated equivalently using equivalent formulas. The simulation result obtained without the intervention of the drone is recorded as the field strength E 0 .

[0071] In this embodiment, the sensor selected by the present invention can obtain field strength components in three dimensions: x, y, and z.

[0072] In this embodiment, the rectangular coordinate system includes three axes, which are denoted as x, y, and z. The distortion coefficients in the three directions are λ x ,λ y ,λ z .

[0073] Because the distortion field strength is affected by many external factors, we can find ways to reduce their influence. During the experiment, we found that the sensor mounting position has a significant impact on the distortion field strength. Therefore, through simulation, we obtained the optimal sensor mounting position to reduce the distortion field strength.

[0074] In step S2, for ease of explanation, the sensor is mounted at the center of the upper side of the drone (denoted as Position 1) and the center of the lower side of the drone (denoted as Position 2). In practice, there are many different mounting methods, not limited to the upper side, lower side, or the center of a certain side. Technicians will need to adjust the mounting method based on the model of the drone and the type of rotating sensor.

[0075] Taking the two aforementioned mounting methods as an example, in step S2, a simulated inspection test is performed for each mounting method to obtain the corresponding test field strength. The test field strengths obtained from the flight tests of the sensor in position 1 and position 2 are E′ and E″ respectively.

[0076] In step S3, several distortion degrees are obtained according to the original field strength and several test field strengths, each distortion degree corresponds to one test field strength, specifically:

[0077] The original field strength and the plurality of test field strengths each include the field strength at each location on the inspection route; obtaining field strengths at a first number of different locations from the original field strength, obtaining field strengths at a first number of different locations from the test field strength, and matching the locations of the field strengths obtained from the test field strengths with the locations of the field strengths obtained from the original field strengths; substituting the field strengths obtained from the original field strengths and the field strengths obtained from the test field strengths into a first formula to obtain a degree of distortion of the test field strengths;

[0078] The first formula is specifically:

[0079]

[0080] Where i is the number of different locations on the inspection route, K is the value of the first quantity, and E 0 is the original field strength, E is the test field strength, δ is the distortion coefficient, E i is the original field strength at position i, is the original field strength at position i.

[0081] In this embodiment, if there are only positions 1 and 2, the specific technical solution is:

[0082] Calculate δ1 and δ2 using the first formula for data at the same location. δ1 and δ2 represent the degree of distortion between the field strength obtained during actual flight at sensor locations 1 and 2 compared to the field strength calculated in simulation. The smaller of δ1 and δ2 is the preferred sensor placement location. Repeat the above experiment for all possible sensor placement locations and select the optimal location. The subscript i represents the data at the i-th point, and K represents the total number of points selected.

[0083]

[0084]

[0085] Assuming that the distortion degree of position 1 is the smallest, the test field strength at position 1 is retained for subsequent calculations, and the test field strengths at other positions are discarded.

[0086] In step S4, the distortion coefficient of the original field strength in the rectangular coordinate system is obtained based on the test field strength of the mounting mode with the minimum distortion and the original field strength, specifically:

[0087] Obtain the field strength components of the test field strength in the x-direction, y-direction, and z-direction for the mounting method with the least degree of distortion, and obtain the field strength components of the original field strength in the x-direction, y-direction, and z-direction;

[0088] The distortion coefficient of the original field strength in the x-direction is obtained according to the component of the test field strength in the x-direction, the component of the original field strength in the x-direction, and the second formula; the second formula is:

[0089]

[0090] Where n is the number of points selected on the inspection route, i is the number of different positions on the inspection route, is the x-direction field strength component of the original field strength at position i, Ex i is the field strength component in the x direction at position i of the test field strength;

[0091] The distortion coefficient of the original field intensity in the y direction is obtained according to the component of the test field intensity in the y direction, the component of the original field intensity in the y direction, and the third formula; the third formula is:

[0092]

[0093] in, is the y-direction field strength component of the original field strength at position i, Ey i is the field strength component in the y direction at position i of the test field strength;

[0094] The distortion coefficient of the original field intensity in the z direction is obtained according to the component of the test field intensity in the z direction, the component of the original field intensity in the z direction, and the fourth formula; the fourth formula is:

[0095]

[0096] in, is the z-direction field strength component of the original field strength at position i, E zi is the field strength component in the z direction at position i.

[0097] Substituting the field strength data at position 1 into the second, third, and fourth formulas, the distortion coefficient when the drone is set at position 1 can be obtained. In this embodiment, the larger the value of n, the more accurate the obtained distortion coefficient.

[0098] In step S5, the first correction is performed on the actual field strength obtained by the UAV in the real environment along the inspection route according to the distortion coefficient, specifically:

[0099] The real field strength obtained by the drone during inspection in the real environment is obtained, and the real field strength is decomposed to obtain the field strength components of the real field strength in the x, y, and z directions. Each field strength component is multiplied by the corresponding distortion coefficient to complete the first correction of the real field strength.

[0100] In summary, the present invention obtains the sensor mounting position with the least distortion through experimental testing, which can reduce the distorted electric field during drone inspections; the real field strength is corrected by the distortion coefficient, effectively eliminating the influence of the distorted electric field and obtaining a more accurate real field strength.

[0101] Example 2:

[0102] During actual flight, the drone's fuselage may sway and shake due to environmental influences, resulting in an angular deviation from its original position. This requires correction for the electric field measurement error caused by this swaying motion. However, since inspections are not conducted in windy weather, this deviation is unlikely to be particularly large, likely within a few degrees. This can be corrected using a second correction factor.

[0103] Reference Figure 3 Based on Example 1, the present invention discloses a power frequency electric field correction method for UAV line inspection, which mainly includes the following steps:

[0104] Step S1, obtaining the original field strength of the inspection route of the power transmission line of the simulation model when no drone is involved;

[0105] Step S2: performing inspection tests on the power transmission line of the simulation model along the inspection route for each of the several mounted modes of the drone sensor according to the set modes, and obtaining several test field strengths, each test field strength corresponding to one of the mounted modes;

[0106] Step S3, obtaining a plurality of distortion degrees according to the original field strength and a plurality of test field strengths, where each distortion degree corresponds to a test field strength;

[0107] Step S4, obtaining a distortion coefficient of the original field strength in a rectangular coordinate system based on the test field strength of the mounting method with the minimum distortion and the original field strength;

[0108] Step S5, performing a first correction on the actual field strength obtained by the UAV along the inspection route in the real environment according to the distortion coefficient;

[0109] Step S6, obtaining a second correction coefficient of the field strength of the UAV at different flight angles;

[0110] Step S7: Perform a second correction on the actual field strength that has undergone the first correction according to the second correction coefficient.

[0111] Since Example 2 is written based on Example 1, the description of steps S1 to S5 refers to Example 1 and will not be repeated in Example 2.

[0112] In step S6, the second correction coefficient of the field strength of the UAV at different flight angles is obtained, specifically:

[0113] Set the three rotation axis directions of the drone in space. When the direction of one of the rotation axes remains unchanged, make the drone rotate in the plane determined by the other two rotation axes; fix each rotation axis direction in turn, and obtain the relationship between the field strength change of the drone and the current flight angle when each rotation axis is fixed; and obtain the second correction coefficient based on the relationship between the field strength change when the drone rotates and the current flight angle.

[0114] Reference Figure 4 , an optional device and method for obtaining a second correction coefficient, the device includes: (1) an iron frame: simulating a pole tower to support the line, (2) a transmission line, (3) a test drone, (4) a device for grabbing or adsorbing the drone, (5) an operating lever to drive the drone to rotate in three directions, and (6) an operating platform: a three-axis reference turntable device that can rotate freely in space, with reference scales on all three axes, and a scale accuracy of no more than 0.1°, to ensure that it can be accurately rotated to any direction. It is required that the distortion caused by the devices (4), (5), and (6) to the field strength is very small. The grabbing and adsorption positions are tested to find the position with the least interference to the field strength measurement, so as to minimize the interference of the device itself.

[0115] By rotating the reference turntable in space, fixing one axis each time, the sensor is rotated in the plane determined by the other two axes, and repeating this step to obtain the distortion relationship.

[0116] Assuming that the rotation angle in the xOy plane is α, the rotation angle in the xOz plane is β, and the rotation angle in the yOz plane is γ, and ignoring the effect of the xOy plane rotation on the z-axis field strength, the effect of the xOz plane rotation on the y-axis field strength, and the effect of the yOz plane rotation on the x-axis field strength, we get the matrix B:

[0117]

[0118] In this embodiment, the matrix B is the second correction coefficient.

[0119] In this embodiment, the second correction is performed on the first-corrected real field strength according to the second correction coefficient, specifically as follows:

[0120] Obtaining the flight angle of the drone during the first calibration, and obtaining a second calibration coefficient of the drone based on the flight angle of the drone;

[0121] The second correction is performed by multiplying the first-corrected true field strength by the second correction coefficient.

[0122] In this embodiment, when the second correction coefficient is used, the flight angle of the drone is obtained based on the drone's gyroscope. The angle is substituted into the second correction coefficient to obtain a specific second correction coefficient. The second correction coefficient is then multiplied by the actual field strength after the first correction coefficient. The final corrected field strength E is established by the following equation:

[0123] E=BλE 真 ;

[0124] Among them, the E 真 is the real field strength.

[0125] In summary, the second correction coefficient can further eliminate the distortion of the field strength caused by changes in the flight attitude of the drone due to wind and other reasons during the flight, thereby improving the accuracy of the field strength obtained by the drone inspection.

[0126] Example 3:

[0127] The present invention also discloses a power frequency electric field correction device for UAV line inspection, comprising: a first acquisition module 101, a first test module 102, a second acquisition module 103, a third acquisition module 104 and a first correction module 105;

[0128] The first acquisition module 101 is used to obtain the original field strength of the inspection route of the power transmission line of the simulation model when no drone is involved;

[0129] The first testing module 102 is configured to perform an inspection test on the power transmission line of the simulation model along the inspection route for each of the several mounted modes of the drone sensor according to the set mode, thereby obtaining a plurality of test field strengths, each test field strength corresponding to one of the mounted modes;

[0130] The second acquisition module 103 is configured to obtain a plurality of distortion degrees according to the original field strength and a plurality of test field strengths, where each distortion degree corresponds to a test field strength;

[0131] The third acquisition module 104 is configured to obtain a distortion coefficient of the original field intensity in a rectangular coordinate system based on the test field intensity of the mounting method with the minimum distortion and the original field intensity;

[0132] The first correction module 105 is configured to perform a first correction on the actual field strength obtained by the UAV along the inspection route in a real environment according to the distortion coefficient.

[0133] In this embodiment, the distortion degrees are obtained according to the original field strength and the test field strengths, specifically:

[0134] The original field strength and the plurality of test field strengths each include the field strength at each location on the inspection route; obtaining field strengths at a first number of different locations from the original field strength, obtaining field strengths at a first number of different locations from the test field strength, and matching the locations of the field strengths obtained from the test field strengths with the locations of the field strengths obtained from the original field strengths; substituting the field strengths obtained from the original field strengths and the field strengths obtained from the test field strengths into a first formula to obtain a degree of distortion of the test field strengths;

[0135] The first formula is specifically:

[0136]

[0137] Where i is the number of different locations on the inspection route, K is the value of the first quantity, and E 0 is the original field strength, E is the test field strength, δ is the distortion coefficient, E i is the original field strength at position i, is the original field strength at position i.

[0138] The working principle of the correction device of the present invention is the same as the correction method in Example 1, and the description of the correction method in Example 1 can be used to implement the correction device and further limit the correction device.

[0139] The correction device further includes a second correction module, which is configured to perform a second correction on the real field strength corrected by the first correction coefficient according to a second correction coefficient.

[0140] In summary, the calibration device of the present invention can perform inspections in an optimal sensor mounting manner and calibrate the distorted field intensity during the inspection process, making the field intensity obtained during the inspection more accurate.

[0141] Example 3:

[0142] The present invention also discloses a drone, which uses the calibration device described in Example 3 to calibrate the field strength during the drone inspection process.

[0143] In summary, the embodiments of the present invention provide a method, device, and drone for correcting the power frequency electric field for drone line inspections. Compared to existing technologies, the advantages of the present invention are as follows: By obtaining the sensor mounting position with the least distortion through simulation testing, the distorted electric field during drone inspections can be reduced; the true field strength is corrected using the distortion coefficient, effectively eliminating the influence of the distorted electric field and obtaining a more accurate true field strength; and the distorted field strength caused by external factors such as wind is eliminated using a second correction coefficient.

[0144] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and substitutions can be made without departing from the technical principles of the present invention. These improvements and substitutions should also be regarded as the scope of protection of the present invention.

Claims

1. A method for correcting power frequency electric field for UAV line inspection, characterized in that: include: Obtain the original field strength of the transmission line in the simulation model without the intervention of drones; According to the several mounted modes of the drone sensors, a patrol test is conducted on the transmission line of the simulation model along the patrol route for each mounted mode, and several test field strengths are obtained, each test field strength corresponding to one mounted mode; Several distortion degrees are obtained based on the original field strength and several test field strengths, and each distortion degree corresponds to one test field strength; According to the test field strength of the mounting method with the least distortion and the original field strength, the distortion coefficient of the original field strength in the rectangular coordinate system is obtained; Performing a first correction on the actual field strength obtained by the UAV along the inspection route in a real environment according to the distortion coefficient; Obtain a second correction coefficient of the field strength of the UAV at different flight angles; Performing a second correction on the first-corrected real field strength according to a second correction coefficient; The second correction coefficient for obtaining the field strength of the UAV at different flight angles is specifically: Set the three rotation axis directions of the drone in space. When the direction of one rotation axis remains unchanged, make the drone rotate in the plane determined by the other two rotation axes. Fix each rotation axis direction in turn, and obtain the relationship between the change in field intensity and the current flight angle of the drone when each rotation axis is fixed. Then, obtain the second correction coefficient based on the relationship between the change in field intensity and the current flight angle when the drone rotates. The second correction is performed on the real field strength after the first correction according to the second correction coefficient, specifically: Obtaining the flight angle of the drone during the first calibration, and obtaining a second calibration coefficient of the drone based on the flight angle of the drone; The second correction is performed by multiplying the first-corrected true field strength by the second correction coefficient.

2. The power frequency electric field correction method for UAV line inspection according to claim 1 is characterized in that: The distortion degrees are obtained according to the original field strength and the test field strengths, specifically: The original field strength and the plurality of test field strengths each include the field strength at each location on the inspection route; obtaining field strengths at a first number of different locations from the original field strength, obtaining field strengths at a first number of different locations from the test field strength, and matching the locations of the field strengths obtained from the test field strengths with the locations of the field strengths obtained from the original field strengths; substituting the field strengths obtained from the original field strengths and the field strengths obtained from the test field strengths into a first formula to obtain a degree of distortion of the test field strengths; The first formula is specifically: Where i is the number of different locations on the inspection route, K is the value of the first quantity, and E 0 is the original field strength, E is the test field strength, δ is the distortion coefficient, E i is the original field strength at position i, is the original field strength at position i.

3. The power frequency electric field correction method for UAV line inspection according to claim 1 is characterized in that: The distortion coefficient of the original field strength in the rectangular coordinate system is obtained based on the test field strength of the mounting mode with the minimum distortion and the original field strength, specifically: Obtain the field strength components of the test field strength in the x-direction, y-direction, and z-direction for the mounting method with the least degree of distortion, and obtain the field strength components of the original field strength in the x-direction, y-direction, and z-direction; The distortion coefficient of the original field strength in the x-direction is obtained according to the component of the test field strength in the x-direction, the component of the original field strength in the x-direction, and the second formula; the second formula is: Where n is the number of points selected on the inspection route, i is the number of different positions on the inspection route, is the x-direction field strength component of the original field strength at position i, Ex i is the field strength component in the x direction at position i of the test field strength; The distortion coefficient of the original field intensity in the y direction is obtained according to the component of the test field intensity in the y direction, the component of the original field intensity in the y direction, and the third formula; the third formula is: in, is the y-direction field strength component of the original field strength at position i, Ey i is the field strength component in the y direction at position i of the test field strength; The distortion coefficient of the original field intensity in the z direction is obtained according to the component of the test field intensity in the z direction, the component of the original field intensity in the z direction, and the fourth formula; the fourth formula is: in, is the z-direction field strength component of the original field strength at position i, E zi is the field strength component in the z direction at position i.

4. The power frequency electric field correction method for UAV line inspection according to claim 1 is characterized in that: The first correction of the actual field strength obtained by the UAV along the inspection route in the real environment according to the distortion coefficient is specifically as follows: The real field strength obtained by the drone during inspection in the real environment is obtained, and the real field strength is decomposed to obtain the field strength components of the real field strength in the x, y, and z directions. Each field strength component is multiplied by the corresponding distortion coefficient to complete the first correction of the real field strength.

5. A power frequency electric field correction device for UAV line inspection, characterized in that: include: a first acquisition module, a first testing module, a second acquisition module, a third acquisition module, a first correction module, and a second calibration module; The first acquisition module is used to obtain the original field strength of the inspection route of the power transmission line of the simulation model when no drone is involved; The first testing module is configured to perform an inspection test on the power transmission line of the simulation model along the inspection route for each of the several mounted modes of the drone sensor according to the set mode, thereby obtaining a plurality of test field strengths, each test field strength corresponding to one of the mounted modes; The second acquisition module is configured to obtain a plurality of distortion degrees according to the original field strength and a plurality of test field strengths, each distortion degree corresponding to a test field strength; The third acquisition module is used to obtain the distortion coefficient λ of the original field strength in the x, y, and z directions based on the test field strength of the mounting mode with the minimum distortion and the original field strength. x ,λ y ,λ z ; The first correction module is used to perform a first correction on the actual field strength obtained by the UAV along the inspection route in a real environment according to the distortion coefficient; The second correction module is used to obtain a second correction coefficient of the field strength of the UAV at different flight angles, and perform a second correction on the actual field strength corrected by the first correction coefficient according to the second correction coefficient; The second correction coefficient for obtaining the field strength of the UAV at different flight angles is specifically: Set the three rotation axis directions of the drone in space. When the direction of one rotation axis remains unchanged, make the drone rotate in the plane determined by the other two rotation axes. Fix each rotation axis direction in turn, and obtain the relationship between the change in field intensity and the current flight angle of the drone when each rotation axis is fixed. Then, obtain the second correction coefficient based on the relationship between the change in field intensity and the current flight angle when the drone rotates. The second correction is performed on the real field strength after the first correction according to the second correction coefficient, specifically: Obtaining the flight angle of the drone during the first calibration, and obtaining a second calibration coefficient of the drone based on the flight angle of the drone; The second correction is performed by multiplying the first-corrected true field strength by the second correction coefficient.

6. The power frequency electric field correction device for UAV line inspection according to claim 5 is characterized in that: The distortion degrees are obtained according to the original field strength and the test field strengths, specifically: The original field strength and the plurality of test field strengths each include the field strength at each location on the inspection route; obtaining field strengths at a first number of different locations from the original field strength, obtaining field strengths at a first number of different locations from the test field strength, and matching the locations of the field strengths obtained from the test field strengths with the locations of the field strengths obtained from the original field strengths; substituting the field strengths obtained from the original field strengths and the field strengths obtained from the test field strengths into a first formula to obtain a degree of distortion of the test field strengths; The first formula is specifically: Where i is the number of different locations on the inspection route, K is the value of the first quantity, and E 0 is the original field strength, E is the test field strength, δ is the distortion coefficient, E i is the original field strength at position i, is the original field strength at position i.

7. A drone, characterized in that: The UAV applies the correction device described in any one of claims 5 or 6 to calibrate the field strength during the UAV inspection process.

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