Transmission line engineering unmanned aerial vehicle inspection route planning method

Abstract

The application provides a power transmission line engineering unmanned aerial vehicle inspection route planning method, which is used in the foundation pit opening, foundation pouring, tower assembling and stringing stages of engineering construction. The planning method firstly controls the unmanned aerial vehicle to fly to the power transmission line engineering, collects on-site pictures, judges the current construction stage of the engineering, and plans the autonomous inspection route of the unmanned aerial vehicle according to different construction stages. The application can efficiently and safely plan the inspection route, and the unmanned aerial vehicle autonomously executes the inspection route, so that the requirement for the pilot can be reduced or the professional pilot can be gradually replaced.

Description

Technical Field

[0001] This invention relates to the field of power grid operation and maintenance technology, and in particular to a method for planning unmanned aerial vehicle (UAV) inspection routes for power transmission line projects. Background Technology

[0002] Power transmission line construction projects are mostly located in mountainous areas, where construction sites are complex and change rapidly, construction workers are highly mobile, and high-altitude operations pose significant safety risks.

[0003] In existing power transmission line construction projects, drone safety inspections are mainly carried out by safety inspectors and a professional pilot who bring the drone to the construction site. Within the field of vision, the drone is controlled by a remote controller to take off and reach the designated inspection point to take photos or record construction videos.

[0004] In the complex on-site environment of power transmission line construction projects, it is necessary to manage on-site equipment, facilities, and personnel in accordance with safety inspection requirements. Furthermore, drone flight must consider safe distances from ground obstacles and equipment, elevation differences, operating altitude, shooting attitude, and flight time limitations. Only by comprehensively considering multiple factors can drones be safely and manually controlled to fly safely in complex power transmission line construction sites and collect clear and complete video images to complete the inspection task. Therefore, existing technical solutions place very high demands on on-site drone operators, requiring at least two people to complete safety inspections, and the inspection efficiency is relatively low. Summary of the Invention

[0005] This invention proposes a method for planning inspection routes by unmanned aerial vehicles (UAVs) in power transmission line engineering. This method can efficiently and safely plan inspection routes, and the UAVs can autonomously execute the inspection routes, thereby reducing the requirements for pilots or gradually replacing professional pilots.

[0006] The present invention adopts the following technical solution.

[0007] A method for planning drone inspection routes for power transmission line projects, applicable to the excavation, foundation pouring, tower erection, and line stringing stages of engineering construction, is characterized by: firstly, controlling the drone to fly to the power transmission line project site, collecting on-site images, determining the current construction stage, and then planning the drone's autonomous inspection route according to different construction stages; including the following methods: Method A: When the construction stage is determined to be the foundation excavation and foundation pouring stage, obtain the construction drawings of the transmission line project, and obtain the latitude and longitude coordinates and altitude of the four foundations of the tower according to the construction drawings; generate a planar inspection route covering the entire foundation construction scene in a rectangular area covering the foundation construction scene. Method B: When the construction stage is determined to be the tower erection stage, obtain the construction drawings of the transmission line project, obtain the coordinates of the tower center and the tower design height according to the construction drawings, set the tower erection project operation area as cylindrical, and generate a surrounding inspection route covering the tower erection construction scene. Method C: When the construction phase is determined to be the stringing phase, point cloud data of the engineering line is collected by laser scanning, and point cloud processing and transmission line tower labeling are performed. Then, based on the point cloud model, the towers to be inspected are selected, inspection waypoints are calculated, and channel inspection routes and fine inspection routes covering the tension stringing operation are generated.

[0008] In Method A, both the excavation of the foundation pit and the pouring of the foundation are carried out based on the ground foundation pit opening, which is equipped with a protective fence and a hole cover plate. Method A involves using a gimbal camera mounted on a drone to take vertically downward photos of all pit openings, safety fences, integrated equipment, and construction personnel on the ground in the foundation construction area before planning a plan for the area. The specific planning process includes the following steps. Step A1: First, obtain the construction drawings of the transmission line project, and then obtain the latitude and longitude coordinates and altitude of the four foundations of the tower based on the construction drawings. Step A2: Based on the tower foundation coordinates obtained from the construction drawings, control the drone to fly to the construction site, take and transmit the on-site video footage, confirm again whether the on-site construction stage is the foundation stage, measure the scope of the project, locate at least four boundary points P1, P2, P3, and P4, and obtain the corresponding latitude and longitude coordinates and altitude, thereby obtaining a rectangular area covering the foundation construction scene. Step A3: Set the overlap rate of the shooting range of the drone gimbal camera to k1 for two adjacent flight paths, and calculate the flight path with a distance of d1 between the two adjacent flight paths. Step A4: Set the overlap rate of the shooting range of the UAV gimbal camera to k2 for two adjacent waypoints on the same route, and calculate the waypoints with a distance of ι1 between two adjacent waypoints on each route and the latitude and longitude coordinates of each waypoint. Step A5: Set the flight altitude H1, flight speed, and waypoint photography actions for the drone route, including gimbal pitch angle, number of photos, and zoom level; generate a planar inspection route covering the entire infrastructure scene.

[0009] The tower assembly stage in Method B is the tower construction stage. First, a support pole is erected in the middle, and then the tower materials are gradually built up from the surrounding ground anchors. The construction workers need to fix the tower materials on the tower. Method B involves planning a flight path around the tower assembly site, with the flight path fully covering the tower assembly site from top to bottom, and ensuring that the drone's gimbal camera is aimed at the personnel working at height on the tower and the construction personnel moving tower materials at the ground foundation when taking pictures, including the following steps; Step B1: First, obtain the construction drawings of the transmission line project, and obtain the coordinates of the center of the tower and the design height of the tower based on the construction drawings; Step B2: Based on the center coordinates and tower height obtained from the construction drawings, control the drone to fly to the construction site, and reconfirm whether the on-site construction stage is the tower assembly stage by taking and transmitting on-site video footage. Measure the engineering operation area. The maximum horizontal distance between the facility operation area and the tower center axis OO₄ is R. The actual engineering operation height of the tower assembly stage, including the pole mounting, is H2, thus obtaining the cylindrical tower assembly engineering operation area. Step B3: Set the flight altitude of the lower flight path to h1, the overlap rate of the shooting range of the UAV gimbal camera of the two adjacent flight paths to k1, the horizontal distance to the cylindrical engineering operation area to d2, calculate the circular flight path with a height difference of h2 between the two adjacent flight paths, the plane of the flight path is perpendicular to the central axis OO΄ of the tower, and the intersection point is the center of the flight path, and the radius of the flight path is R+d2. Step B4: Set the overlap rate of the shooting range of the UAV gimbal camera to k2 for two adjacent waypoints on the same route, and calculate the waypoints with a distance of ι2 between two adjacent waypoints on each route and the latitude and longitude coordinates of each waypoint. Step B5: Set the drone's flight speed along the flight path and the photo-taking actions to be performed at waypoints. The photo-taking actions include gimbal pitch angle, number of photos, and zoom level; generate a circumferential inspection flight path covering the tower construction scene.

[0010] In the stringing stage of method C, construction workers install insulator strings and pulleys at the hanging points of each connection point on the tower, and start stringing the conductors and ground wires from the traction machine in the tensioning field of the project site.

[0011] The planning of the channel inspection route in Method C includes the following steps; Step C1: First, collect point cloud data of the engineering line using laser scanning, and then perform point cloud processing and label the transmission line towers; Step C2: Based on the point cloud model, select the towers to be inspected; Step C3: Set the flight path distance from the top of the tower to the height h3 during channel inspection; Step C4: Calculate and obtain the inspection waypoints located directly above the towers. The distance between each waypoint is equal to the distance between each tower, which is ι. n Then set the drone's flight speed and the photo-taking actions the drone needs to perform at waypoints. The photo-taking actions include the gimbal pitch angle, the number of photos taken, and the zoom level; generate a channel inspection route covering the tensioning and overhead line operation.

[0012] The planning of the detailed inspection route in Method C includes the following steps; Step D1: First, collect point cloud data of the engineering line through laser scanning, and then perform point cloud processing and label the transmission line towers; Step D2: Based on the point cloud model, select the towers to be inspected; Step D3: Set the safe altitude value h4 for the flight path distance from the top of the tower during fine inspection; Step D4: Calculate and obtain the starting waypoints for the inspection on both sides of the tower; Step D5: Set the distance d3 from each attachment point on the tower during fine inspection; that is, calculate the inspection waypoints corresponding to each attachment point, and the horizontal distance between the waypoints and each attachment point on the tower is d3; then set the drone's flight speed and the waypoint's photo-taking action, including the gimbal pitch angle, number of photos, and zoom magnification; generate a fine inspection route covering the tensioning and tying operation, that is, when the drone is inspecting, it starts from the top of one side of the tower, starts to inspect each attachment point downwards in sequence, then rises back to the starting point, crosses to the starting point on the other side of the tower, and then inspects each attachment point on the other side downwards. After the inspection is completed, it returns to the starting point along the same route. In methods A, B, and C, the UAV communicates with the management agency. The UAV's built-in microprocessor automatically generates flight routes based on the GPS geographic coordinates of the inspection task type and waypoints given by the management agency, and executes automated inspection tasks without the need for real-time pilot control. The inspection task types include inspection during the excavation stage of the foundation pit, inspection during the foundation pouring stage, inspection during the tower erection stage, inspection during the cable laying stage, and fine inspection during the cable laying stage.

[0013] This invention can efficiently and safely plan inspection routes, and the drone can autonomously execute the inspection routes, thereby reducing the requirements for pilots or gradually replacing professional pilots.

[0014] The advantages of this invention also include: i. This application proposal can automatically plan inspection routes based on parameter settings, and the drone can perform automated inspections based on these inspection routes without the need for a pilot to operate the drone in real time. ii. The automatically planned inspection routes can fully cover the power transmission line engineering site and have a certain degree of standardization, which helps to improve the quality of inspection. Attached Figure Description

[0015] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments: Appendix Figure 1 This is a schematic diagram of the route planning process for the inspection during the excavation stage and the foundation pouring stage of the foundation pit. Appendix Figure 2 This is a schematic diagram of the inspection routes during the excavation stage and the foundation pouring stage (①②③④⑤⑥⑦⑧⑨ in the diagram represent waypoints); Appendix Figure 3This is a schematic diagram of the route planning process for the tower assembly phase inspection; Appendix Figure 4 This is a schematic diagram of the inspection route during the tower assembly phase (①②③④⑤⑥⑦⑧ in the diagram represent waypoints); Appendix Figure 5 This is a schematic diagram of the route planning process for channel inspection during the overhead line construction phase; Appendix Figure 6 This is a schematic diagram of the route for channel inspection during the overhead line construction phase (①②③ in the diagram represent waypoints). Appendix Figure 7 This is a schematic diagram of the route planning process for detailed inspection during the wiring stage; Appendix Figure 8 This is a schematic diagram of the route for detailed inspection during the wiring stage (①②③④⑤⑥⑦⑧⑨ in the diagram represent waypoints). Detailed Implementation

[0016] As shown in the figure, a method for planning drone inspection routes for power transmission line projects is used in the construction stages of foundation pit excavation, foundation pouring, tower erection, and line stringing. The method is characterized by: first, controlling the drone to fly to the power transmission line project site, collecting on-site images, determining the current construction stage, and then planning the drone's autonomous inspection route according to different construction stages; including the following methods: Method A: When the construction stage is determined to be the foundation excavation and foundation pouring stage, obtain the construction drawings of the transmission line project, and obtain the latitude and longitude coordinates and altitude of the four foundations of the tower according to the construction drawings; generate a planar inspection route covering the entire foundation construction scene in a rectangular area covering the foundation construction scene. Method B: When the construction stage is determined to be the tower erection stage, obtain the construction drawings of the transmission line project, obtain the coordinates of the tower center and the tower design height according to the construction drawings, set the tower erection project operation area as cylindrical, and generate a surrounding inspection route covering the tower erection construction scene. Method C: When the construction phase is determined to be the stringing phase, point cloud data of the engineering line is collected by laser scanning, and point cloud processing and transmission line tower labeling are performed. Then, based on the point cloud model, the towers to be inspected are selected, inspection waypoints are calculated, and channel inspection routes and fine inspection routes covering the tension stringing operation are generated.

[0017] In Method A, both the excavation of the foundation pit and the pouring of the foundation are carried out based on the ground foundation pit opening, which is equipped with a protective fence and a hole cover plate. Method A involves using a gimbal camera mounted on a drone to take vertically downward photos of all pit openings, safety fences, integrated equipment, and construction personnel on the ground in the foundation construction area before planning a plan for the area. The specific planning process includes the following steps. Step A1: First, obtain the construction drawings of the transmission line project, and obtain the latitude and longitude coordinates and altitude of the four foundations of the tower according to the construction drawings; Step A2: Based on the tower foundation coordinates obtained from the construction drawings, control the drone to fly to the construction site, take and transmit the on-site video footage, confirm again whether the on-site construction stage is the foundation stage, measure the scope of the project, locate at least four boundary points P1, P2, P3, and P4, and obtain the corresponding latitude and longitude coordinates and altitude, thereby obtaining a rectangular area covering the foundation construction scene. Step A3: Set the overlap rate of the shooting range of the drone gimbal camera to k1 for two adjacent flight paths, and calculate the flight path with a distance of d1 between the two adjacent flight paths. Step A4: Set the overlap rate of the shooting range of the UAV gimbal camera to k2 for two adjacent waypoints on the same route, and calculate the waypoints with a distance of ι1 between two adjacent waypoints on each route and the latitude and longitude coordinates of each waypoint. Step A5: Set the flight altitude H1, flight speed, and waypoint photography actions for the drone route, including gimbal pitch angle, number of photos, and zoom level; generate a planar inspection route covering the entire infrastructure scene.

[0018] The tower assembly stage in Method B is the tower construction stage. First, a support pole is erected in the middle, and then the tower materials are gradually built up from the surrounding ground anchors. Construction workers need to fix the tower materials on the tower. Method B involves planning a flight path around the tower assembly site, with the flight path fully covering the tower assembly site from top to bottom, and ensuring that the drone's gimbal camera is aimed at the personnel working at height on the tower and the construction personnel moving tower materials at the ground foundation when taking pictures, including the following steps; Step B1: First, obtain the construction drawings of the transmission line project, and obtain the coordinates of the center of the tower and the design height of the tower based on the construction drawings; Step B2: Based on the center coordinates and tower height obtained from the construction drawings, control the drone to fly to the construction site, and reconfirm whether the on-site construction stage is the tower assembly stage by taking and transmitting on-site video footage. Measure the engineering operation area. The maximum horizontal distance between the facility's working area and the tower's central axis OO' is R. The actual engineering operation height of the tower assembly stage, including the pole erection, is H2, thus obtaining the cylindrical tower assembly engineering operation area. Step B3: Set the flight altitude of the lower flight path to h1, the overlap rate of the shooting range of the UAV gimbal camera of the two adjacent flight paths to k1, the horizontal distance to the cylindrical engineering operation area to d2, calculate the circular flight path with a height difference of h2 between the two adjacent flight paths, the plane of the flight path is perpendicular to the central axis OO΄ of the tower, and the intersection point is the center of the flight path, and the radius of the flight path is R+d2. Step B4: Set the overlap rate of the shooting range of the UAV gimbal camera to k2 for two adjacent waypoints on the same route, and calculate the waypoints with a distance of ι2 between two adjacent waypoints on each route and the latitude and longitude coordinates of each waypoint. Step B5: Set the drone's flight speed along the flight path and the photo-taking actions to be performed at waypoints. The photo-taking actions include gimbal pitch angle, number of photos, and zoom level; generate a circumferential inspection flight path covering the tower construction scene.

[0019] In the stringing stage of method C, construction workers install insulator strings and pulleys at the hanging points of each connection point on the tower, and start stringing the conductors and ground wires from the traction machine in the tensioning field of the project site.

[0020] The planning of the channel inspection route in Method C includes the following steps; Step C1: First, collect point cloud data of the engineering line using laser scanning, and then perform point cloud processing and label the transmission line towers; Step C2: Based on the point cloud model, select the towers to be inspected; Step C3: Set the flight path distance from the top of the tower to the height h3 during channel inspection; Step C4: Calculate and obtain the inspection waypoints located directly above the towers. The distance between each waypoint is equal to the distance between each tower, which is ι. n Then set the drone's flight speed and the photo-taking actions the drone needs to perform at waypoints. The photo-taking actions include the gimbal pitch angle, the number of photos taken, and the zoom level; generate a channel inspection route covering the tensioning and overhead line operation.

[0021] The planning of the detailed inspection route in Method C includes the following steps; Step D1: First, collect point cloud data of the engineering line through laser scanning, and then perform point cloud processing and label the transmission line towers; Step D2: Based on the point cloud model, select the towers to be inspected; Step D3: Set the safe altitude value h4 for the flight path distance from the top of the tower during fine inspection; Step D4: Calculate and obtain the starting waypoints for the inspection on both sides of the tower; Step D5: Set the distance d3 from each attachment point on the tower during fine inspection; that is, calculate the inspection waypoints corresponding to each attachment point, and the horizontal distance between the waypoints and each attachment point on the tower is d3; then set the drone's flight speed and the waypoint's photo-taking action, including the gimbal pitch angle, number of photos, and zoom magnification; generate a fine inspection route covering the tensioning and tying operation, that is, when the drone is inspecting, it starts from the top of one side of the tower, starts to inspect each attachment point downwards in sequence, then rises back to the starting point, crosses to the starting point on the other side of the tower, and then inspects each attachment point on the other side downwards. After the inspection is completed, it returns to the starting point along the same route. In methods A, B, and C, the UAV communicates with the management agency. The UAV's built-in microprocessor automatically generates flight routes based on the GPS geographic coordinates of the inspection task type and waypoints given by the management agency, and executes automated inspection tasks without the need for real-time pilot control. The inspection task types include inspection during the excavation stage of the foundation pit, inspection during the foundation pouring stage, inspection during the tower erection stage, inspection during the cable laying stage, and fine inspection during the cable laying stage.

Claims

1. A method for planning unmanned aerial vehicle (UAV) inspection routes for power transmission line projects, used in the stages of foundation pit excavation, foundation pouring, tower erection, and line stringing during engineering construction, characterized by: The planning method first controls the drone to fly to the power transmission line project, collects on-site pictures, determines the current construction stage of the project, and plans the drone's autonomous inspection route according to different construction stages. Including the following methods: Method A: When the construction stage is determined to be the foundation excavation and foundation pouring stage, obtain the construction drawings of the transmission line project, and obtain the latitude and longitude coordinates and altitude of the four foundations of the tower according to the construction drawings; generate a planar inspection route covering the entire foundation construction scene in a rectangular area covering the foundation construction scene. Method B: When the construction stage is determined to be the tower erection stage, obtain the construction drawings of the transmission line project, obtain the coordinates of the tower center and the tower design height according to the construction drawings, set the tower erection project operation area as cylindrical, and generate a surrounding inspection route covering the tower erection construction scene. Method C: When the construction stage is determined to be the stringing stage, the point cloud data of the engineering line is collected by laser scanning, and the point cloud is processed and the transmission line towers are marked. Then, based on the point cloud model, the towers to be inspected are selected, the inspection waypoints are calculated, and the channel inspection route and fine inspection route covering the tension stringing operation are generated. In Method A, both the excavation of the foundation pit and the pouring of the foundation are carried out based on the ground foundation pit opening, which is equipped with a protective fence and a hole cover plate. Method A involves using a gimbal camera mounted on a drone to take vertically downward photos of all pit openings, safety fences, integrated equipment, and construction personnel on the ground in the foundation construction area before planning a plan for the area. The specific planning process includes the following steps. Step A1: First, obtain the construction drawings of the transmission line project, and obtain the latitude and longitude coordinates and altitude of the four foundations of the tower according to the construction drawings; Step A2: Based on the tower foundation coordinates obtained from the construction drawings, control the drone to fly to the construction site, take and transmit the on-site video footage, confirm again whether the on-site construction stage is the foundation stage, measure the scope of the project, locate at least four boundary points P1, P2, P3, and P4, and obtain the corresponding latitude and longitude coordinates and altitude, thereby obtaining a rectangular area covering the foundation construction scene. Step A3: Set the overlap rate of the shooting range of the drone gimbal camera to k1 for two adjacent flight paths, and calculate the flight path with a distance of d1 between the two adjacent flight paths. Step A4: Set the overlap rate of the shooting range of the UAV gimbal camera to k2 for two adjacent waypoints on the same route, and calculate the waypoints with a distance of ι1 between two adjacent waypoints on each route and the latitude and longitude coordinates of each waypoint. Step A5: Set the flight altitude H1, flight speed, and waypoint photography actions for the drone route, including gimbal pitch angle, number of photos, and zoom level; generate a planar inspection route covering the entire infrastructure scene.

2. The method for planning unmanned aerial vehicle (UAV) inspection routes for power transmission line projects according to claim 1, characterized in that: The tower assembly stage in Method B is the tower construction stage. First, a support pole is erected in the middle, and then the tower materials are gradually built up from the surrounding ground anchors. Construction workers need to fix the tower materials on the tower. Method B involves planning a flight path around the tower assembly site, with the flight path fully covering the tower assembly site from top to bottom, and ensuring that the drone's gimbal camera is aimed at the personnel working at height on the tower and the construction personnel moving tower materials at the ground foundation when taking pictures, including the following steps; Step B1: First, obtain the construction drawings of the transmission line project, and obtain the coordinates of the center of the tower and the design height of the tower based on the construction drawings; Step B2: Based on the center coordinates and tower height obtained from the construction drawings, control the drone to fly to the construction site, capture and transmit video footage to confirm whether the construction phase is the tower erection phase, and measure the scope of the work and the distance of the work area from the tower's center axis. The maximum horizontal distance is R, and the actual engineering operation height including the gantry crane during the tower erection stage is H2, thus obtaining a cylindrical tower erection engineering operation area; Step B3: Set the flight altitude of the lower flight path to h1, the overlap rate of the camera's field of view between two adjacent flight paths to k1, and the horizontal distance between the drone and the cylindrical engineering work area to d2. Calculate the circular flight path with an altitude difference of h2 between the two adjacent flight paths. The plane containing the flight path is aligned with the central axis of the tower. The lines are perpendicular and their intersection point is the center of the flight path, with a radius of R+d2. Step B4: Set the overlap rate of the shooting range of the UAV gimbal camera to k2 for two adjacent waypoints on the same route, and calculate the waypoints with a distance of ι2 between two adjacent waypoints on each route and the latitude and longitude coordinates of each waypoint. Step B5: Set the drone's flight speed along the flight path and the photo-taking actions to be performed at waypoints. The photo-taking actions include gimbal pitch angle, number of photos, and zoom level; generate a circumferential inspection flight path covering the tower construction scene.

3. The method for planning unmanned aerial vehicle (UAV) inspection routes for power transmission line projects according to claim 1, characterized in that: In the stringing stage of method C, construction workers install insulator strings and pulleys at the hanging points of each connection point on the tower, and start stringing the conductors and ground wires from the traction machine in the tensioning field of the project site.

4. The method for planning unmanned aerial vehicle (UAV) inspection routes for power transmission line projects according to claim 3, characterized in that: The planning of the channel inspection route in Method C includes the following steps; Step C1: First, collect point cloud data of the engineering line using laser scanning, and then perform point cloud processing and label the transmission line towers; Step C2: Based on the point cloud model, select the towers to be inspected; Step C3: Set the flight path distance from the top of the tower to the height h3 during channel inspection; Step C4: Calculate and obtain the inspection waypoints located directly above the towers. The distance between each waypoint is equal to the distance between each tower, which is ι. n Then set the drone's flight speed and the photo-taking actions the drone needs to perform at waypoints. The photo-taking actions include the gimbal pitch angle, the number of photos taken, and the zoom level; generate a channel inspection route covering the tensioning and overhead line operation.

5. The method for planning unmanned aerial vehicle (UAV) inspection routes for power transmission line projects according to claim 1, characterized in that: The planning of the detailed inspection route in Method C includes the following steps; Step D1: First, collect point cloud data of the engineering line through laser scanning, and then perform point cloud processing and label the transmission line towers; Step D2: Based on the point cloud model, select the towers to be inspected; Step D3: Set the safe altitude value h4 for the flight path distance from the top of the tower during fine inspection; Step D4: Calculate and obtain the starting waypoints for the inspection on both sides of the tower; Step D5: Set the distance d3 from each anchor point on the tower during fine inspection; that is, calculate the inspection waypoints corresponding to each anchor point, and the horizontal distance between the waypoints and each anchor point on the tower is d3; then set the drone's flight speed and the waypoint's photo-taking action, including the gimbal pitch angle, number of photos, and zoom level; generate a fine inspection route covering the tensioning and erection operation, that is, when the drone is inspecting, it starts from the top of one side of the tower, starts to inspect each anchor point downwards in sequence, then rises back to the starting point, crosses to the starting point on the other side of the tower, and then inspects each anchor point on the other side downwards. After the inspection is completed, it returns to the starting point along the same route.

6. The method for planning unmanned aerial vehicle (UAV) inspection routes for power transmission line projects according to claim 1, characterized in that: In methods A, B, and C, the UAV communicates with the management agency. The UAV's built-in microprocessor automatically generates flight routes based on the GPS geographic coordinates of the inspection task type and waypoints given by the management agency, and executes automated inspection tasks without the need for real-time pilot control. The inspection task types include inspection during the excavation stage of the foundation pit, inspection during the foundation pouring stage, inspection of the passageway during the cable laying stage, and detailed inspection during the cable laying stage.

Images