A method and system for analyzing safe distance of unmanned aerial vehicle inspection

Abstract

The present invention provides a method for analyzing the safe distance of unmanned aerial vehicle inspection, including: constructing a magnetic induction intensity equation according to a rectangular coordinate system model; using the magnetic induction intensity equation to calculate the magnetic induction intensity of any transmission line at any point in the rectangular coordinate system to obtain a transmission line magnetic field model; performing electromagnetic field simulation on the transmission line according to the transmission line magnetic field model to obtain the electromagnetic field distribution result of the transmission line; and obtaining the minimum safe distance of the unmanned aerial vehicle during inspection according to the electromagnetic field distribution result of the transmission line. The present invention uses the transmission line magnetic field model to perform electromagnetic field simulation on the transmission line to obtain the electromagnetic field distribution result of the transmission line, and based on this, obtains the minimum safe distance of the unmanned aerial vehicle during inspection, which can greatly reduce the probability of a loss of control accident caused by the interference of the magnetic field on the unmanned aerial vehicle, protect the safety of the unmanned aerial vehicle itself and the transmission line, and significantly improve the inspection efficiency of the transmission line.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle inspection, and in particular to a method and system for analyzing the safety distance of unmanned aerial vehicle inspection. Background Art

[0002] The use of a small multi-rotor UAV inspection system to carry out inspections on overhead power transmission lines requires real-time transmission of telemetry, remote control signals and images between the UAV and the ground station. In the past, some units have conducted relevant research on the realization of long-distance transmission of signals and images. However, according to the results of pilot applications and related tests on the anti-electromagnetic interference performance of UAV inspection systems and the measurement and control distance, even at a relatively small distance, the data transmission of the UAV inspection system often suffers from packet loss and large delays. In addition, affected by the voltage of AC and DC lines, communication base stations, terrain environment, etc., the coordinated control response performance between the communication, flight control and mission control modules of the UAV inspection system is poor, which brings great difficulties to the operators in controlling the position and attitude of the UAV inspection system. As a result, crashes have occurred in actual applications. Therefore, it is necessary to improve the anti-radio interference capability of the UAV inspection system data link, the electromagnetic compatibility performance and coordinated control response performance between the communication, flight control and mission control units, so as to ensure the safety of the operation. However, no units at home and abroad have conducted relevant research.

[0003] The radiated electric field formed by the corona discharge of the transmission line is in the form of pulses, which interferes with the electromagnetic field around the line and sometimes even produces corona vibration. The dynamic response amplitude of the vibration is large, the frequency is low and the randomness is large. The higher the voltage level, the more obvious the above problems are. In addition, there is ion flow in the DC transmission project. In addition, radio interference from base stations in the environment always exists. The small multi-rotor UAV inspection system is integrated with body structural parts, GPS, IMU, flight control module, drive module, motor, power control module, communication module and mission payload (visible light, infrared), etc. The system involves many electronic components, power supply and signal lines, and is easily affected by the above interference. Especially when inspecting the nearby lines, problems such as transmission interruption and packet loss are prone to occur. The slight degree leads to a decrease in control performance, and in severe cases, the flight is even out of control.

[0004] Small multi-rotor drones are mainly used for inspection of power transmission lines with voltage levels of 500kV and above. Due to the limitations of the imaging performance of the mission equipment, they generally need to operate close to the line. When inspecting the mid-phase conductor, they may need to fly across the phase lines, which has varying degrees of impact on the safe operation of the line. At present, there is a lack of data on the impact of drone inspection systems on the electrical safety performance of lines at home and abroad, and it is impossible to grasp the minimum safety distance requirements that should be maintained during typical small multi-rotor drone inspection operations. Therefore, it is necessary to study the impact of different levels of operating voltage on small multi-rotor drones. On this basis, combined with the safety and control response performance requirements of drones, and considering the technical performance of mission equipment, the safe distance for inspection operations is obtained, and the operation method is optimized on the basis of ensuring the safety of inspections. Summary of the invention

[0005] In order to overcome the deficiencies of the prior art, the object of the present invention is to provide a method and system for analyzing the safety distance of an unmanned aerial vehicle inspection.

[0006] To achieve the above object, the present invention provides the following solutions:

[0007] A method for analyzing the safety distance of unmanned aerial vehicle inspection, comprising:

[0008] Establishing a rectangular coordinate system model; the rectangular coordinate system model is established with the intersection point directly below the middle phase wire of the three-phase transmission line and the ground as the coordinate origin, the direction perpendicular to the ground and the three-phase transmission line as the horizontal axis, and the vertical axis as the vertical axis;

[0009] Constructing a magnetic induction intensity equation according to the rectangular coordinate system model;

[0010] The magnetic induction intensity equation is used to calculate the magnetic induction intensity of any transmission line at any point in the rectangular coordinate system to obtain the transmission line magnetic field model;

[0011] According to the transmission line magnetic field model, the electromagnetic field simulation of the transmission line is carried out to obtain the electromagnetic field distribution result of the transmission line;

[0012] The minimum safe distance for UAVs during inspections is obtained based on the electromagnetic field distribution results of the transmission lines.

[0013] Preferably, constructing the magnetic induction intensity equation according to the rectangular coordinate system model includes:

[0014] According to the Biot-Savart law, a magnetic induction intensity equation is constructed in a rectangular coordinate system model; wherein the magnetic induction intensity equation is:

[0015]

[0016] Where B represents the magnetic induction intensity, μ 0represents the magnetic permeability, I represents the current flowing through the transmission line, R represents the distance between the drone and the central axis of the conductor, l is the closed circle around the conductor with a distance R, and e R Represents the vector perpendicular to the dl direction.

[0017] Preferably, the transmission line magnetic field model is:

[0018]

[0019] B represents the magnetic induction intensity of the transmission line at any point (x, y) in the surrounding space, μ represents the magnetic permeability of the medium, and I represents the current.

[0020] Preferably, the step of obtaining the minimum safe distance of the drone during inspection based on the electromagnetic field distribution result of the transmission line includes:

[0021] Using the formula:

[0022]

[0023] Get the minimum safe distance of the drone during inspection; where d 2 Indicates the actual minimum safety distance, I 2 Indicates the actual line current, I 1 Indicates the simulated line current during simulation, d 1 Indicates the minimum safety distance during simulation.

[0024] The present invention also provides a drone inspection safety distance analysis system, comprising:

[0025] A rectangular coordinate system building module is used to establish a rectangular coordinate system model; the rectangular coordinate system model is established with the intersection point directly below the middle phase wire of the three-phase transmission line and the ground as the coordinate origin, the direction perpendicular to the ground and the three-phase transmission line as the horizontal axis, and the vertical axis upward as the vertical axis;

[0026] A magnetic induction intensity equation construction module, used to construct a magnetic induction intensity equation according to the rectangular coordinate system model;

[0027] A magnetic induction intensity calculation module is used to calculate the magnetic induction intensity of any transmission line at any point in a rectangular coordinate system using a magnetic induction intensity equation to obtain a transmission line magnetic field model;

[0028] The electromagnetic field simulation module is used to perform electromagnetic field simulation on the transmission line according to the transmission line magnetic field model to obtain the electromagnetic field distribution result of the transmission line;

[0029] The safety distance determination module is used to obtain the minimum safety distance of the drone during inspection based on the electromagnetic field distribution results of the transmission line.

[0030] Preferably, the magnetic induction intensity equation building module includes:

[0031] The magnetic induction intensity equation construction unit is used to construct the magnetic induction intensity equation in a rectangular coordinate system model according to the Biot-Savart law; wherein the magnetic induction intensity equation is:

[0032]

[0033] Where B represents the magnetic induction intensity, μ 0 represents the magnetic permeability, I represents the current flowing through the transmission line, R represents the distance between the drone and the central axis of the conductor, l is the closed circle around the conductor with a distance R, and e R Represents the vector perpendicular to the dl direction.

[0034] Preferably, the transmission line magnetic field model is:

[0035]

[0036] B represents the magnetic induction intensity of the transmission line at any point (x, y) in the surrounding space, μ represents the magnetic permeability of the medium, and I represents the current.

[0037] Preferably, the safety distance determination module includes:

[0038] Safety distance determination unit, used to adopt the formula:

[0039]

[0040] Get the minimum safe distance of the drone during inspection; where d 2 Indicates the actual minimum safety distance, I 2 Indicates the actual line current, I 1 Indicates the simulated line current during simulation, d 1 Indicates the minimum safety distance during simulation.

[0041] According to the specific embodiments provided by the present invention, the present invention discloses the following technical effects:

[0042] The present invention provides a method for analyzing the safe distance of unmanned aerial vehicle inspection, including: taking the intersection point directly below the ground and the middle phase wire of the three-phase transmission line as the coordinate origin, taking the direction perpendicular to the ground and the three-phase transmission line as the horizontal axis, and vertically upward as the vertical axis to establish a rectangular coordinate system model; constructing a magnetic induction intensity equation according to the rectangular coordinate system model; using the magnetic induction intensity equation to calculate the magnetic induction intensity of any transmission line at any point in the rectangular coordinate system to obtain a transmission line magnetic field model; performing electromagnetic field simulation on the transmission line according to the transmission line magnetic field model to obtain the electromagnetic field distribution result of the transmission line; and obtaining the minimum safe distance of the unmanned aerial vehicle during inspection according to the electromagnetic field distribution result of the transmission line. The present invention uses the transmission line magnetic field model to perform electromagnetic field simulation on the transmission line to obtain the electromagnetic field distribution result of the transmission line, and based on this, obtains the minimum safe distance of the unmanned aerial vehicle during inspection, which can greatly reduce the probability of a loss of control accident caused by the interference of the magnetic field on the unmanned aerial vehicle, protect the safety of the unmanned aerial vehicle itself and the transmission line, and significantly improve the inspection efficiency of the transmission line. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0044] Figure 1 A flow chart of a method for analyzing the safety distance of a drone inspection in an embodiment of the present invention;

[0045] Figure 2 This is an equivalent capacitance diagram of the drone at different positions in the embodiment provided by the present invention. DETAILED DESCRIPTION

[0046] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0047] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0048] The terms "first", "second", "third" and "fourth" in the specification and claims of the present application and the drawings are used to distinguish different objects rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a series of steps, processes, methods, etc. are not limited to the listed steps, but may optionally include steps that are not listed, or may optionally include other step elements inherent to these processes, methods, products or devices.

[0049] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0050] The purpose of the present invention is to provide a method and system for analyzing the safe distance of an unmanned aerial vehicle inspection, so as to solve the problem that the existing unmanned aerial vehicles are prone to losing control during inspections.

[0051] See also Figure 1 To achieve the above purpose, the present invention provides the following solution: A method for analyzing the safety distance of an unmanned aerial vehicle inspection, comprising:

[0052] Step 1: Establish a rectangular coordinate system model; the rectangular coordinate system model is established with the intersection of the ground and the middle phase wire of the three-phase transmission line directly below as the coordinate origin, the direction perpendicular to the ground and the three-phase transmission line as the horizontal axis, and the vertical axis as the vertical axis;

[0053] Step 2: constructing a magnetic induction intensity equation according to the rectangular coordinate system model;

[0054] Furthermore, step 2 includes:

[0055] The physical quantity that characterizes the ability of electric current to generate a magnetic field is called the magnetic field intensity H. The total magnetic flux or the corresponding magnetic induction intensity (also known as magnetic flux density, that is, the magnetic flux per unit area) generated by the same magnetic field intensity in the surrounding medium, the magnetic induction intensity depends on the magnetic permeability μ of the surrounding space medium. If there is a material with high magnetic permeability (ferromagnetic material, such as a transformer coil with a closed iron core) around the current-carrying conductor, the magnetic field will usually be highly concentrated in the magnetic object, inducing a very high magnetic flux and corresponding magnetic induction intensity in the iron core. In air, diamonds, non-magnetic metals and a large number of non-ferromagnetic materials in nature, their magnetic conductivity is the same as that in a vacuum, and the magnetic permeability (the magnetic flux that can be generated per unit magnetic field intensity) is a constant (μ). 0 =4π*10 -7 Wb / Am), the magnetic conductivity of ferromagnetic materials is usually expressed as a multiple of the magnetic permeability in vacuum, μ r To express, μ r It is called relative magnetic permeability.

[0056] The total magnetic flux or magnetic induction intensity is proportional to the magnetic field strength. The unit of measurement for magnetic flux Φ is Weber (Wb), and the unit of measurement for magnetic induction intensity B is Tesla (T). In the human body environment, the unit of measurement for magnetic induction intensity is generally mT or μT.

[0057] According to the Biot-Savart law, a magnetic induction intensity equation is constructed in a rectangular coordinate system model; wherein the magnetic induction intensity equation is:

[0058]

[0059] Where B represents the magnetic induction intensity, μ 0 represents the magnetic permeability, I represents the current flowing through the transmission line, R represents the distance between the drone and the central axis of the conductor, l is the closed circle around the conductor with a distance R, and e R represents a vector perpendicular to the direction of dl, and d represents the differential operator.

[0060] Step 3: Use the magnetic induction intensity equation to calculate the magnetic induction intensity of any transmission line at any point in the rectangular coordinate system to obtain the transmission line magnetic field model; where the transmission line magnetic field model is:

[0061]

[0062] B represents the magnetic induction intensity of the transmission line at any point (x, y) in the surrounding space, μ represents the magnetic permeability of the medium, and I represents the current.

[0063] Step 4: Perform electromagnetic field simulation on the transmission line according to the transmission line magnetic field model to obtain the electromagnetic field distribution result of the transmission line;

[0064] The existing DC transmission system structure can be divided into a two-terminal DC transmission system and a multi-terminal DC transmission system. The two-terminal DC transmission system has only one rectifier station and one inverter station. It has only two interfaces with the AC system. It is the simplest DC transmission system. The DC transmission projects in operation in the world generally adopt this method. The two-terminal DC transmission system can be divided into three types: monopolar, bipolar and back-to-back. The present invention selects a bipolar DC transmission system and uses ANSYS software for simulation analysis.

[0065] The tower is 5Z2-Z1, with a height of 42m and a horizontal span of 420m. The conductor is 4*LGJ-720 / 50 steel-core aluminum stranded wire, with a diameter of 33.6mm, a split spacing of 400mm, and four splits, arranged in a twelve-prism manner; the ground wire is JLB-150 aluminum-clad steel stranded wire. The insulator is a 500kV composite insulator, arranged in a V-string, with a structural height of 6.2m and equalizing rings installed at both ends. The dielectric constant of the composite insulator shed is 3.5. The hardware structure is simplified, and a rectangular block is used to replace it during modeling. The electric field strength distribution model of the ±500kV DC transmission line can be obtained by applying +500kV and -500kV operating voltages to the two-pole conductors respectively.

[0066] The present invention selects the inner side, outer side and 0.5m, 1.0m, 1.5m, 3.0m and 5.0m below the conductor for measurement, and the electric field strength is shown in Table 1 below.

[0067] Table 1 Electric field distribution of ±500kV DC transmission line

[0068]

[0069]

[0070] As shown in Table 1, the electric field intensity at the surface of each pole conductor is the largest, which can reach more than 160kV / m. Radiating outward from the conductor as the center, the electric field intensity gradually decreases: the outer side of the conductor decays faster, decaying to 128kV / m at 1.0m, decaying to 75kV / m at 1.5m, decaying to 48kV / m at 3.0m, and then slowly decaying to 0; the inner side of the conductor decays slowly, decaying to 156kV / m at 1.0m, still reaching 139kV / m at 1.5m, and decaying to 73kV / m at 3.0m; the decay speed below the conductor is between the outer and inner sides of the conductor.

[0071] The transmission line towers are all grounded, and their potential is zero. Take the drones at the same distance from the conductor inside, below, and outside. Figure 2 As shown. The drones are located at 1, 2, and 3 (inside, below, and outside) in the figure, and the distance from the wire is d. According to the capacitance formula:

[0072]

[0073] It can be seen that the equivalent capacitance between the drone and the conductor at the above three locations is the same. Consider the equivalent capacitance between the drone and the zero potential: At position 1, the drone and the tower body form an equivalent capacitance C 1 , the distance is d 1 ; At position 2, the drone and the ground form an equivalent capacitance C 2 , the distance is d2 ; At position 3, the drone forms an equivalent capacitance C with infinity 3 , the distance is d 3 Due to d 1 <d 2 <d 3 , so C 1 >C 2 >C 3 The voltage between the wire and the zero potential is equivalent to the equivalent capacitance C between the drone and the wire, and the equivalent capacitance C between the drone and the zero potential. 1 (C 2 or C 3 ) are connected in series to divide the voltage. Therefore, at points 1, 2, and 3, the voltage magnitudes are:

[0074] U 1 >U 2 >U 3

[0075] The electric field strength is proportional to the voltage, so the electric field magnitudes at the three locations are:

[0076] E 1 >E 2 >E 3

[0077] From this we can see that at the same distance from the conductor, the field strength is the largest on the inside of the conductor, followed by the bottom of the conductor, and the smallest on the outside of the conductor.

[0078] When a drone approaches a power transmission line for inspection, the rotor, tripod and electronic components inside the fuselage may have a certain impact on the spatial electric field distribution around the line, especially the rotor and tripod, which have a rod-shaped tip, which are more prone to charge accumulation and field strength distortion.

[0079] The UAV model is a coaxial counter-propeller eight-rotor type, made of carbon fiber, 0.83m long, 0.83m wide, and 0.57m high. The front end of the arm and the tripod simulate metal conductors (the front end of the arm is the motor; the tripod is made of carbon tube, which is a conductor). The UAV model is placed in the simulation model built using ANSYS software, and the electric field distribution of the transmission line containing the UAV is obtained in Table 2.

[0080] Table 2

[0081]

[0082] According to the table above, when the drone is located outside the horizontal direction of the wire, the impact on the electric field is relatively weak, and the general distribution has basically no obvious change, only the electric field at the tripod is slightly enhanced; when the drone is located below the wire, the impact on the electric field is relatively obvious, and the fuselage, rotor and tripod are all greatly enhanced, especially at the tripod, where the electric field is enhanced by about 1 to 2 times compared to when there is no drone. As mentioned above, the equivalent capacitance below the wire is larger than the outside, and the ionization and polarization of the charge inside it are more intense. Because the drone tripod (conductor) is pointed and the charge density is high, the field is strong there.

[0083] The magnetic field simulation model is the same as the model used in the electric field simulation. The transmission capacity of the existing ±500kV DC transmission line is generally 1000MW~2000MW, and the transmission current is 2kA~4kA. During the simulation, a current of 3kA is applied to the two poles of the line. The magnetic field distribution is measured at 0.5m, 1.0m, 1.5m, 3.0m and 5.0m inside, outside and below the conductor, and the magnetic field strength is shown in Table 3.

[0084] Table 3

[0085]

[0086] Since the drone uses a magnetometer for navigation, in general, the magnetometer can withstand a magnetic field strength of 90uT to 100uT. During the inspection process, when the magnetic field generated by the transmission line is large enough and reaches the critical value that the magnetometer can withstand, the drone will not be able to operate normally. According to Ampere's law, the magnetic field generated by the current in the line is a concentric circle surrounding the wire, and the closer to the wire, the greater the magnetic field. Therefore, drones often appear to be adsorbed by the wire. Because the tower is made of steel, its magnetic conductivity is better than that of air, so the magnetic field strength is greater near the tower than in the air, followed by the bottom, and the smallest on the outside.

[0087] The same method is used to conduct electromagnetic field simulation analysis on transmission lines with voltage levels of 220kV and above, and the electric field strength and magnetic field strength are measured at the same locations, as shown in Table 4 below.

[0088] Table 4 Electric field distribution of 220kV transmission line

[0089]

[0090] Table 5 Electric field distribution of 500kV transmission line

[0091]

[0092] Table 6 Electric field distribution of 50kV transmission line

[0093]

[0094] Table 7 Electric field distribution of 1000kV transmission line

[0095]

[0096] Table 8 Electric field distribution of ±500kV transmission line

[0097]

[0098] Table 9 Electric field distribution of ±660kV transmission line

[0099]

[0100] Table 10 Electric field distribution of ±800kV transmission line

[0101]

[0102] Table 11 Magnetic field distribution of ±500kV transmission line

[0103]

[0104] Table 12 Magnetic field distribution of ±660kV transmission line

[0105]

[0106] Table 13 Magnetic field distribution of ±800kV transmission line

[0107]

[0108] Step 5: Obtain the minimum safe distance for drones during inspections based on the electromagnetic field distribution results of the transmission line.

[0109] From the above simulation results, it can be seen that as the voltage level increases, the electric field strength in the space around the transmission line also increases, and the magnitude of the increase is roughly equivalent to the magnitude of the voltage level increase. The magnetic field strength is mainly affected by the line current.

[0110] According to the Biot-Savart law, the magnetic induction intensity B generated by a current-carrying loop with a current I at a certain point (x, y) in space is:

[0111]

[0112] When the current increases, the magnetic field strength increases, and the increase is proportional to the current size. For example, the rated current of ±800kV is 4kA, and its magnetic field strength is theoretically about 1.33 times that of the ±500kV line.

[0113] During simulation, the simulated line current is I 1 , the corresponding minimum safe distance for drone inspection is d 1. Then when the actual line current is I 2 When the minimum safety distance d 2 Should be:

[0114]

[0115] Among them, d 2 Indicates the actual minimum safety distance, I 2 Indicates the actual line current, I 1 Indicates the simulated line current during simulation, d 1 Indicates the minimum safety distance during simulation.

[0116] The present invention uses the transmission line magnetic field model to perform electromagnetic field simulation on the transmission line to obtain the electromagnetic field distribution result of the transmission line, and based on this, obtains the minimum safe distance of the UAV during inspection, which can greatly reduce the probability of loss of control accidents caused by the UAV being disturbed by the magnetic field, protect the safety of the UAV itself and the transmission line, and significantly improve the inspection efficiency of the transmission line.

[0117] The present invention also provides a drone inspection safety distance analysis system, comprising:

[0118] A rectangular coordinate system building module is used to establish a rectangular coordinate system model; the rectangular coordinate system model is established with the intersection point directly below the middle phase wire of the three-phase transmission line and the ground as the coordinate origin, the direction perpendicular to the ground and the three-phase transmission line as the horizontal axis, and the vertical axis upward as the vertical axis;

[0119] A magnetic induction intensity equation construction module, used to construct a magnetic induction intensity equation according to the rectangular coordinate system model;

[0120] A magnetic induction intensity calculation module is used to calculate the magnetic induction intensity of any transmission line at any point in a rectangular coordinate system using a magnetic induction intensity equation to obtain a transmission line magnetic field model;

[0121] The electromagnetic field simulation module is used to perform electromagnetic field simulation on the transmission line according to the transmission line magnetic field model to obtain the electromagnetic field distribution result of the transmission line;

[0122] The safety distance determination module is used to obtain the minimum safety distance of the drone during inspection based on the electromagnetic field distribution results of the transmission line.

[0123] Preferably, the magnetic induction intensity equation building module includes:

[0124] The magnetic induction intensity equation construction unit is used to construct the magnetic induction intensity equation in a rectangular coordinate system model according to the Biot-Savart law; wherein the magnetic induction intensity equation is:

[0125]

[0126] Where B represents the magnetic induction intensity, μ 0 represents the magnetic permeability, I represents the current flowing through the transmission line, R represents the distance between the drone and the central axis of the conductor, l is the closed circle around the conductor with a distance R, and e R Represents the vector perpendicular to the dl direction.

[0127] Preferably, the transmission line magnetic field model is:

[0128]

[0129] B represents the magnetic induction intensity of the transmission line at any point (x, y) in the surrounding space, μ represents the magnetic permeability of the medium, and I represents the current.

[0130] Preferably, the safety distance determination module includes:

[0131] Safety distance determination unit, used to adopt the formula:

[0132]

[0133] Get the minimum safe distance of the drone during inspection; where d 2 Indicates the actual minimum safety distance, I 2 Indicates the actual line current, I 1 Indicates the simulated line current during simulation, d 1 Indicates the minimum safety distance during simulation.

[0134] According to the specific embodiments provided by the present invention, the present invention discloses the following technical effects:

[0135] The present invention uses the transmission line magnetic field model to perform electromagnetic field simulation on the transmission line to obtain the electromagnetic field distribution result of the transmission line, and based on this, obtains the minimum safe distance of the UAV during inspection, which can greatly reduce the probability of loss of control accidents caused by the UAV being disturbed by the magnetic field, protect the safety of the UAV itself and the transmission line, and significantly improve the inspection efficiency of the transmission line.

[0136] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the method disclosed in the embodiment, since it corresponds to the device disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the device part description.

[0137] The principles and implementation methods of the present invention are described in this article using specific examples. The description of the above embodiments is only used to help understand the method and core idea of ​​the present invention. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A method for analyzing the safety distance of an unmanned aerial vehicle inspection, comprising: Establishing a rectangular coordinate system model; the rectangular coordinate system model is established with the intersection point directly below the middle phase wire of the three-phase transmission line and the ground as the coordinate origin, the direction perpendicular to the ground and the three-phase transmission line as the horizontal axis, and the vertical axis as the vertical axis; Constructing a magnetic induction intensity equation according to the rectangular coordinate system model; The magnetic induction intensity equation is used to calculate the magnetic induction intensity of any transmission line at any point in the rectangular coordinate system to obtain the transmission line magnetic field model; According to the transmission line magnetic field model, the electromagnetic field simulation of the transmission line is carried out to obtain the electromagnetic field distribution result of the transmission line; The minimum safe distance of the UAV during inspection is obtained based on the electromagnetic field distribution results of the transmission line; The step of constructing a magnetic induction intensity equation according to the rectangular coordinate system model comprises: According to the Biot-Savart law, a magnetic induction intensity equation is constructed in a rectangular coordinate system model; wherein the magnetic induction intensity equation is: Among them, B represents the magnetic induction intensity, μ0 represents the magnetic permeability, I represents the current flowing through the transmission line, R represents the distance between the drone and the central axis of the conductor, l is a closed circle around the conductor with a distance of R, and e R represents the vector perpendicular to the dl direction; The transmission line magnetic field model is: B represents the magnetic induction intensity of the transmission line at any point (x, y) in the surrounding space, μ represents the magnetic permeability of the medium, and I represents the current; The method of obtaining the minimum safe distance of the drone during inspection based on the electromagnetic field distribution results of the transmission line includes: Using the formula: The minimum safe distance of the UAV during inspection is obtained; where d2 represents the actual minimum safe distance, I2 represents the current of the actual line, I1 represents the simulated line current during simulation, and d1 represents the minimum safe distance during simulation.

2. A drone inspection safety distance analysis system, characterized in that: include: A rectangular coordinate system building module is used to establish a rectangular coordinate system model; the rectangular coordinate system model is established with the intersection point directly below the middle phase wire of the three-phase transmission line and the ground as the coordinate origin, the direction perpendicular to the ground and the three-phase transmission line as the horizontal axis, and the vertical axis upward as the vertical axis; A magnetic induction intensity equation construction module, used to construct a magnetic induction intensity equation according to the rectangular coordinate system model; A magnetic induction intensity calculation module is used to calculate the magnetic induction intensity of any transmission line at any point in a rectangular coordinate system using a magnetic induction intensity equation to obtain a transmission line magnetic field model; The electromagnetic field simulation module is used to perform electromagnetic field simulation on the transmission line according to the transmission line magnetic field model to obtain the electromagnetic field distribution result of the transmission line; The safety distance determination module is used to obtain the minimum safety distance of the drone during inspection based on the electromagnetic field distribution results of the transmission line; The magnetic induction intensity equation building module includes: The magnetic induction intensity equation construction unit is used to construct the magnetic induction intensity equation in a rectangular coordinate system model according to the Biot-Savart law; wherein the magnetic induction intensity equation is: Among them, B represents the magnetic induction intensity, μ0 represents the magnetic permeability, I represents the current flowing through the transmission line, R represents the distance between the drone and the central axis of the conductor, l is a closed circle around the conductor with a distance of R, and e R represents the vector perpendicular to the dl direction; The transmission line magnetic field model is: B represents the magnetic induction intensity of the transmission line at any point (x, y) in the surrounding space, μ represents the magnetic permeability of the medium, and I represents the current; The safety distance determination module comprises: Safety distance determination unit, used to adopt the formula: The minimum safe distance of the UAV during inspection is obtained; where d2 represents the actual minimum safe distance, I2 represents the current of the actual line, I1 represents the simulated line current during simulation, and d1 represents the minimum safe distance during simulation.

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