A planning method and control system for safe routes of power inspection drones

Abstract

The present invention discloses a planning method and control system for a safe route of an electric power inspection UAV. The planning method includes starting the UAV, calculating the total cruising mileage, planning the initial route, planning the inspection route, endurance detection, returning, shutdown detection and stopping for charging. The control system includes a UAV assembly and a background control system. The UAV assembly is wirelessly connected to the background control system via a communication interface. The UAV assembly includes an airborne control system, a battery system, a positioning device, a ranging radar and an image acquisition device. The airborne control system is respectively connected to the battery system, the positioning device, the ranging radar and the image acquisition device by signal; the background control system includes a data entry module, a calculation module, a storage module and an output module. Beneficial effects: The present invention can ensure the accuracy of the inspection data while improving the safety of the UAV's cruising; it can maximize the use of the UAV's endurance to realize the inspection of the most towers, thereby improving the inspection efficiency.

Description

Technical Field

[0001] The present invention relates to a method and a control system for planning a route of an unmanned aerial vehicle (UAV), and in particular to a method and a control system for planning a safe route of an electric power inspection UAV, and belongs to the technical field of UAV inspection. Background Art

[0002] With the leapfrog growth of the national economy, the demand for energy is increasing, so the scale of the power grid is constantly expanding. Electricity is an indispensable energy source for all walks of life in society. Once a power system fails, it will bring immeasurable losses to the country and society.

[0003] At present, my country's power system is still composed of power generation, transmission, transformation, and distribution. Among them, ensuring the reliability of transmission lines is an important part of smart grid construction. In real life, transmission lines need to pass through various complex geographical environments, such as large-scale reservoirs, lakes, and mountains, which bring many difficulties to the detection of power lines. Especially for power lines passing through the edge of primitive forests, high altitudes, ice and snow covered areas, and frequent landslides, mudslides and other geological disasters along the line, most areas are high and steep, and transportation and communications are extremely underdeveloped. How to solve the daily detection of power lines and improve detection accuracy and efficiency has become a major problem that plagues the power industry.

[0004] In the field of power line inspection, the traditional production and operation management method, which mainly relies on manual drawing work, relies solely on line operation and maintenance personnel to conduct ground inspections on foot. It is not only labor-intensive and risky, but also inefficient. In some cases, existing defects cannot be discovered or eliminated in time, and information cannot be transmitted in a timely, effective and accurate manner, which often delays defect handling and accident repairs, and brings difficulties to production and operation management personnel to accurately and timely grasp the operation status of the power grid. With the development of science and technology, the method of drone inspection has gradually replaced the method of manual inspection. The methods of drone inspection are mainly divided into fixed-wing inspection and multi-rotor inspection. Among them, multi-rotor inspection mainly relies on drone pilots to control drones to take pictures of power lines and find hidden dangers. However, there are still some disadvantages in the way drone pilots control drones: such as low inspection efficiency, human operation errors causing crashes and even damage to power transmission equipment.

[0005] Chinese patent CN 110134143 A discloses a power inspection method, system, electronic equipment and storage, the method comprising: obtaining coordinates of all towers to be inspected imported through a preset interface; generating an inspection route according to the coordinates of all towers; obtaining the altitude of each waypoint to obtain the flight altitude; automatically generating an inspection route using the inspection route and the flight altitude, and controlling a drone to perform power inspection according to the inspection route.

[0006] However, this method does not consider the impact of environmental factors such as wind speed, wind direction and ambient temperature on the drone route during the drone inspection process, as well as the requirements for the safe distance between the drone and the power grid. The safe distance requirements between the drone and the power line vary depending on the voltage level of the power line and specific circumstances. Usually, strong electromagnetic interference will be generated around the power grid, which will affect the electronic equipment of the inspection drone and may even cause the drone to lose control and crash in severe cases. For example, a drone needs to maintain a safe distance of more than 6 meters from a 10 kV high-voltage line during flight.

[0007] However, in order to ensure the accuracy of the inspection data, it is necessary to inspect the target line at close range and from multiple angles. Currently, the inspection routes of drones are all point-to-point straight-line inspection routes, which can easily cause unclear image data or even missed inspections during the inspection process. Summary of the invention

[0008] Purpose of the invention: The purpose of the present invention is to overcome the above-mentioned technical deficiencies and provide a method and control system for planning safe routes for power inspection UAVs. The method and control system for planning safe routes take into account factors such as the UAV's cruising range and wind force, wind direction, and electromagnetic interference from the power grid during the inspection process. This can ensure the accuracy of the inspection data while improving the safety of the UAV's cruise.

[0009] Technical solution: A method for planning a safe route for a power inspection drone, comprising the following steps:

[0010] Step 1: Start the drone, and the onboard control system will self-check to confirm that the device is normal, calculate the current mileage, obtain the current starting coordinates, and proceed to step 2 after the self-check passes; otherwise, the device will be repaired to eliminate the fault;

[0011] Step 2: Calculate the total cruising mileage. Enter the coordinates of all towers to be inspected. The background control system calculates the straight-line distance between the starting coordinates and the coordinates of the nearest tower and the straight-line distance between adjacent towers. The sum of the straight-line distance between the take-off coordinates and the coordinates of the nearest tower and the straight-line distance between adjacent towers is the cruising distance. Calculate the round-trip mileage based on the cruising distance. Multiply the round-trip mileage by the safety factor to get the total cruising mileage.

[0012] Step 3: Plan the initial route, and confirm the initial route according to the current cruising range and total cruising range of the drone; when the total cruising range is less than the current cruising range of the drone, confirm the initial route and proceed to step 4; when the total cruising range is greater than the current cruising range of the drone, reduce the number of towers to be inspected and recalculate the total cruising range until the total cruising range is less than the current cruising range of the drone, confirm the initial route and proceed to step 4;

[0013] Step 4: Plan the inspection route. The drone flies to the nearest tower and plans the inspection route based on the safe distance.

[0014] Step 5: Endurance detection: Real-time detection of the current endurance and current coordinates. If the difference between the current endurance and the distance between the current coordinates and the starting coordinates is less than the safe endurance, the aircraft will return home immediately. If the difference between the current endurance and the distance between the current coordinates and the starting coordinates is greater than the safe endurance, the aircraft will continue to inspect until the flight mission of the confirmed initial route is completed, and then proceed to step 6.

[0015] Step 6: Return, plan the return route according to the current coordinates and the starting coordinates;

[0016] Step 7: Stop and check. After landing, the system checks the remaining cruising range of the drone. If the remaining cruising range is less than or equal to the safe cruising range in step 5, the drone will return to step 8. If the remaining cruising range is greater than the safe cruising range in step 5 and less than the total cruising range, the drone will return to step 3 to re-plan the initial route. If the remaining cruising range is greater than the total cruising range, the drone will return to step 1 and start over.

[0017] Step 8: Stop the aircraft and charge.

[0018] The present invention plans an initial route according to the cruising range of the UAV in combination with the coordinates of all the pole towers to be inspected; then a safe distance is selected according to the voltage value transmitted by the cable, and the inspection is carried out while ensuring that the on-site inspection route is not less than the safe distance, and the inspection mode needs to be planned according to the inspection requirements. The inspection mode is divided into a simple inspection mode and a spiral detour mode. The simple inspection mode is to fly completely in accordance with the direction of the cable; the spiral detour mode refers to flying forward in a spiral along the cable extension line during the inspection process; during the inspection process, it is necessary to detect the current cruising range and the current coordinates in real time to ensure that the UAV can return safely, because the cruising process will be affected by wind and temperature, resulting in the cruising range being unable to meet the needs of the actual inspection flight. If the wind is too strong, the UAV will continuously correct the route, which will result in a reduction in the remaining cruising range, and the ambient temperature will also result in a reduction in the remaining cruising range. Therefore, in order to ensure the safe flight of the UAV, it is necessary to monitor the current cruising range in real time; the UAV will return after the remaining cruising range is insufficient or the current inspection task is completed; after returning and landing, the remaining cruising range will be detected again, and the inspection route will be replanned according to the remaining cruising range. If the remaining cruising range is insufficient, the UAV will be stopped for charging, and the inspection task will be completed.

[0019] The present invention plans a safe route by comprehensively considering factors such as the UAV's cruising range and wind force, wind direction, and electromagnetic interference of the power grid during the inspection process, which can ensure the accuracy of the inspection data while improving the safety of the UAV's cruising.

[0020] Preferably, in order to accurately calculate the total cruise mileage, the method for calculating the total cruise mileage in step 2 is as follows:

[0021] S2.1. Input the coordinates of all towers to be inspected, including the longitude, latitude and height of each tower and the number of towers to be inspected;

[0022] S2.2, calculate the cruising distance, select the nearest tower according to the starting coordinates and calculate the initial flight distance according to its tower height, then start from the nearest tower and calculate the straight-line distances between the towers in turn according to their respective longitudes and latitudes and sum them up to obtain the effective inspection distance. The sum of the initial flight distance and the effective inspection distance is the cruising distance;

[0023] S2.3, calculate the return distance, and calculate the return distance based on the distance between the longitude and latitude of the last tower to be inspected and the starting coordinates;

[0024] S2.4. Calculate the round trip mileage. The sum of the cruising distance and the return distance is the round trip mileage.

[0025] S2.5. Calculate the total cruising mileage. Multiply the round-trip mileage by the safety factor to get the total cruising mileage.

[0026] Preferably, in order to further improve the safety of drone inspection, the safety factor is not less than 1.5. Since the actual inspection process will be affected by wind and ambient temperature, in order to improve the safety of flight, the safety factor needs to be set to at least 1.5.

[0027] Preferably, in order to further improve the reliability of route planning, in step three, when the total cruising mileage is greater than the current cruising mileage of the drone, the number of towers to be inspected is reduced and the total cruising mileage is recalculated, starting from the tower farthest from the starting coordinates and reducing them one by one. Each time a tower is reduced, it is recalculated and compared with the current cruising mileage once, until the total cruising mileage is less than the current cruising mileage of the drone, and a new initial route is confirmed.

[0028] When there are a large number of poles and towers that need to be inspected, a single inspection cannot be achieved. It is necessary to reasonably plan the number of poles and towers to be inspected in a single inspection based on the UAV's range, and conduct the inspections in multiple times. The UAV's range can be used to the maximum extent to inspect the most poles and towers, thereby improving inspection efficiency.

[0029] Preferably, in order to further accurately plan the inspection route, the method for planning the inspection route in step 4 is as follows:

[0030] S4.1. Obtain the voltage value of the line transmission. The system obtains the voltage value of the line to be inspected;

[0031] S4.2. Select the safety distance value according to the voltage value. The system selects the corresponding safety distance value according to the obtained voltage value query standard;

[0032] S4.3. Plan the inspection route of the tower. The drone will rise to the height of the power transmission equipment, take the power transmission equipment as the center, and hover with a radius not less than the safe distance value. The flight parameters and the corresponding inspection images will be transmitted back to the background control system in real time. A safe distance must also be maintained from the cables during the hovering flight. In order to re-inspect the fault location later, the current flight parameters need to be recorded. The flight parameters include the current longitude, latitude, altitude, and relative position to the inspection target.

[0033] S4.4. Plan the inspection route of cables between adjacent towers. The UAV should maintain a safe distance from the cables and fly along the cable extension line. The flight parameters and corresponding inspection images should be transmitted back to the background control system in real time.

[0034] Preferably, in order to improve the inspection accuracy, when planning the inspection route of the cables between adjacent towers in step S4.4, the flight route is to fly forward in a spiral along the cable extension line while maintaining a safe distance from the cables.

[0035] The inspection mode needs to be planned according to the inspection requirements. The inspection mode is divided into simple inspection mode and spiral bypass mode. The simple inspection mode is to fly completely along the cable direction; the spiral bypass mode means flying forward in a spiral along the cable extension line during the inspection. The spiral bypass mode can inspect the cables from multiple angles, which can improve the inspection accuracy.

[0036] Optimized option, in order to further improve the inspection effect, during the inspection route of the cables between adjacent towers, the drone inspection will simultaneously detect the distance between the drone and the cables, and keep the distance between the drone and the cables consistent during the entire inspection process. During the drone inspection process, it will inevitably be affected by wind force, causing deviation from the route, which will affect the data collection of the inspection image acquisition equipment. Therefore, when it deviates from the route, it is necessary to correct the route in time to ensure that the distance between the drone and the cables is kept consistent during the entire inspection process.

[0037] A control system for realizing a method for planning a safe route for a power inspection drone comprises a drone assembly and a background control system, wherein the drone assembly and the background control system are wirelessly connected via a communication interface.

[0038] The UAV assembly includes an airborne control system, a battery system, a positioning device, a ranging radar and an image acquisition device, and the airborne control system is respectively connected with the battery system, the positioning device, the ranging radar and the image acquisition device by signals;

[0039] The onboard control system obtains the current range through the battery system.

[0040] The onboard control system obtains the current starting coordinates through the positioning device.

[0041] The onboard control system detects the actual distance to the tower and cable to be tested through the ranging radar.

[0042] The airborne control system collects image data of the tower and cable to be tested through the image acquisition device and transmits it back to the background control system through the communication interface;

[0043] The background control system includes data entry module, calculation module, storage module and output module.

[0044] The data entry module records the coordinates of all towers to be inspected and the voltage values ​​of the lines to be inspected.

[0045] The calculation module calculates the total cruising mileage based on the input coordinates of all towers to be inspected.

[0046] The storage module stores the image data of the tower and the cable to be tested and the corresponding flight parameters collected by the image acquisition device, and transmits the image data to the calculation module. The image data is processed and analyzed by the calculation module and the fault data is transmitted to the output module.

[0047] The output module outputs the fault data and stores it in the storage module.

[0048] Beneficial effects: The present invention plans safe routes by comprehensively considering the UAV's cruising range and factors such as wind force, wind direction, and electromagnetic interference from the power grid during the inspection process, which can ensure the accuracy of the inspection data while improving the safety of the UAV's cruising. When there are a large number of poles and towers that need to be inspected, a single inspection cannot be achieved. It is necessary to reasonably plan the number of poles and towers for a single inspection based on the UAV's cruising range, and conduct inspections in multiple times; the UAV's cruising range can be used to the maximum extent to inspect the most poles and towers, thereby improving inspection efficiency. The spiral bypass mode can inspect cables from multiple angles, which can improve inspection accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 This is a control flow chart of the present invention;

[0050] Figure 2 This is a schematic diagram of the structure of the present invention. DETAILED DESCRIPTION

[0051] 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.

[0052] like Figure 1As shown, a method for planning a safe route for a power inspection drone includes the following steps:

[0053] Step 1: Start the drone, and the onboard control system will self-check to confirm that the device is normal, calculate the current mileage, obtain the current starting coordinates, and proceed to step 2 after the self-check passes; otherwise, the device will be repaired to eliminate the fault;

[0054] Step 2: Calculate the total cruising mileage. Enter the coordinates of all towers to be inspected. The background control system calculates the straight-line distance between the starting coordinates and the coordinates of the nearest tower and the straight-line distance between adjacent towers. The sum of the straight-line distance between the take-off coordinates and the coordinates of the nearest tower and the straight-line distance between adjacent towers is the cruising distance. Calculate the round-trip mileage based on the cruising distance. Multiply the round-trip mileage by the safety factor to get the total cruising mileage.

[0055] In order to accurately calculate the total cruising mileage, the method for calculating the total cruising mileage in step 2 is as follows:

[0056] S2.1. Input the coordinates of all towers to be inspected, including the longitude, latitude and height of each tower and the number of towers to be inspected;

[0057] S2.2, calculate the cruising distance, select the nearest tower according to the starting coordinates and calculate the initial flight distance according to its tower height, then start from the nearest tower and calculate the straight-line distances between the towers in turn according to their respective longitudes and latitudes and sum them up to obtain the effective inspection distance. The sum of the initial flight distance and the effective inspection distance is the cruising distance;

[0058] S2.3, calculate the return distance, and calculate the return distance based on the distance between the longitude and latitude of the last tower to be inspected and the starting coordinates;

[0059] S2.4. Calculate the round trip mileage. The sum of the cruising distance and the return distance is the round trip mileage.

[0060] S2.5. Calculate the total cruising mileage. Multiply the round-trip mileage by the safety factor to get the total cruising mileage.

[0061] In order to further improve the safety of drone inspections, the safety factor is not less than 1.5. Since the actual inspection process will be affected by wind and ambient temperature, in order to improve flight safety, the safety factor needs to be set to at least 1.5.

[0062] Step 3: Plan the initial route, and confirm the initial route according to the current cruising range and total cruising range of the drone; when the total cruising range is less than the current cruising range of the drone, confirm the initial route and proceed to step 4; when the total cruising range is greater than the current cruising range of the drone, reduce the number of towers to be inspected and recalculate the total cruising range until the total cruising range is less than the current cruising range of the drone, confirm the initial route and proceed to step 4;

[0063] In order to further improve the reliability of route planning, in step three, when the total cruising mileage is greater than the current cruising mileage of the drone, the number of towers to be inspected is reduced and the total cruising mileage is recalculated, starting from the tower farthest from the starting coordinates and reducing them one by one. Each time a tower is reduced, it is recalculated and compared with the current cruising mileage once, until the total cruising mileage is less than the current cruising mileage of the drone, and a new initial route is confirmed.

[0064] When there are a large number of poles and towers that need to be inspected, a single inspection cannot be achieved. It is necessary to reasonably plan the number of poles and towers to be inspected in a single inspection based on the UAV's range, and conduct the inspections in multiple times. The UAV's range can be used to the maximum extent to inspect the most poles and towers, thereby improving inspection efficiency.

[0065] Step 4: Plan the inspection route. The drone flies to the nearest tower and plans the inspection route based on the safe distance.

[0066] In order to further accurately plan the inspection route, the method for planning the inspection route in step 4 is as follows:

[0067] S4.1. Obtain the voltage value of the line transmission. The system obtains the voltage value of the line to be inspected;

[0068] S4.2. Select the safety distance value according to the voltage value. The system selects the corresponding safety distance value according to the obtained voltage value query standard;

[0069] S4.3. Plan the inspection route of the tower. The drone will rise to the height of the power transmission equipment, take the power transmission equipment as the center, and hover with a radius not less than the safe distance value. The flight parameters and the corresponding inspection images will be transmitted back to the background control system in real time. A safe distance must also be maintained from the cables during the hovering flight. In order to re-inspect the fault location later, the current flight parameters need to be recorded. The flight parameters include the current longitude, latitude, altitude, and relative position to the inspection target.

[0070] S4.4. Plan the inspection route of cables between adjacent towers. The UAV should maintain a safe distance from the cables and fly along the cable extension line. The flight parameters and corresponding inspection images should be transmitted back to the background control system in real time.

[0071] In order to improve the inspection accuracy, when planning the inspection route of the cables between adjacent towers in step S4.4, the flight route is to fly forward in a spiral along the cable extension line while maintaining a safe distance value from the cables.

[0072] The inspection mode needs to be planned according to the inspection requirements. The inspection mode is divided into simple inspection mode and spiral bypass mode. The simple inspection mode is to fly completely along the cable direction; the spiral bypass mode means flying forward in a spiral along the cable extension line during the inspection. The spiral bypass mode can inspect the cables from multiple angles, which can improve the inspection accuracy.

[0073] Step 5: Endurance detection: Real-time detection of the current endurance and current coordinates. If the difference between the current endurance and the distance between the current coordinates and the starting coordinates is less than the safe endurance, the aircraft will return home immediately. If the difference between the current endurance and the distance between the current coordinates and the starting coordinates is greater than the safe endurance, the aircraft will continue to inspect until the flight mission of the confirmed initial route is completed, and then proceed to step 6.

[0074] In order to further improve the inspection effect, during the inspection route of the cables between adjacent towers, the drone inspection will also detect the distance between the drone and the cables, and keep the distance between the drone and the cables consistent during the entire inspection process. During the drone inspection process, it will inevitably be affected by wind, causing deviation from the route, which will affect the data collection of the inspection image acquisition equipment. Therefore, when it deviates from the route, it is necessary to correct the route in time to ensure that the distance between the drone and the cables is consistent during the entire inspection process.

[0075] Step 6: Return, plan the return route according to the current coordinates and the starting coordinates;

[0076] Step 7: Stop and check. After landing, the system checks the remaining cruising range of the drone. If the remaining cruising range is less than or equal to the safe cruising range in step 5, the drone will return to step 8. If the remaining cruising range is greater than the safe cruising range in step 5 and less than the total cruising range, the drone will return to step 3 to re-plan the initial route. If the remaining cruising range is greater than the total cruising range, the drone will return to step 1 and start over.

[0077] Step 8: Stop the aircraft and charge.

[0078] The present invention plans an initial route according to the cruising range of the UAV in combination with the coordinates of all the pole towers to be inspected; then a safe distance is selected according to the voltage value transmitted by the cable, and the inspection is carried out while ensuring that the on-site inspection route is not less than the safe distance, and the inspection mode needs to be planned according to the inspection requirements. The inspection mode is divided into a simple inspection mode and a spiral detour mode. The simple inspection mode is to fly completely in accordance with the direction of the cable; the spiral detour mode refers to flying forward in a spiral along the cable extension line during the inspection process; during the inspection process, it is necessary to detect the current cruising range and the current coordinates in real time to ensure that the UAV can return safely, because the cruising process will be affected by wind and temperature, resulting in the cruising range being unable to meet the needs of the actual inspection flight. If the wind is too strong, the UAV will continuously correct the route, which will result in a reduction in the remaining cruising range, and the ambient temperature will also result in a reduction in the remaining cruising range. Therefore, in order to ensure the safe flight of the UAV, it is necessary to monitor the current cruising range in real time; the UAV will return after the remaining cruising range is insufficient or the current inspection task is completed; after returning and landing, the remaining cruising range will be detected again, and the inspection route will be replanned according to the remaining cruising range. If the remaining cruising range is insufficient, the UAV will be stopped for charging, and the inspection task will be completed.

[0079] The present invention plans a safe route by comprehensively considering factors such as the UAV's cruising range and wind force, wind direction, and electromagnetic interference of the power grid during the inspection process, which can ensure the accuracy of the inspection data while improving the safety of the UAV's cruising.

[0080] like Figure 2 As shown, a control system for realizing a method for planning a safe route for a power inspection drone includes a drone assembly and a background control system. The drone assembly and the background control system are wirelessly connected via a communication interface.

[0081] The UAV assembly includes an airborne control system, a battery system, a positioning device, a ranging radar and an image acquisition device, and the airborne control system is respectively connected with the battery system, the positioning device, the ranging radar and the image acquisition device by signals;

[0082] The onboard control system obtains the current range through the battery system.

[0083] The onboard control system obtains the current starting coordinates through the positioning device.

[0084] The onboard control system detects the actual distance to the tower and cable to be tested through the ranging radar.

[0085] The airborne control system collects image data of the tower and cable to be tested through the image acquisition device and transmits it back to the background control system through the communication interface;

[0086] The background control system includes data entry module, calculation module, storage module and output module.

[0087] The data entry module records the coordinates of all towers to be inspected and the voltage values ​​of the lines to be inspected.

[0088] The calculation module calculates the total cruising mileage based on the input coordinates of all towers to be inspected.

[0089] The storage module stores the image data of the tower and the cable to be tested and the corresponding flight parameters collected by the image acquisition device, and transmits the image data to the calculation module. The image data is processed and analyzed by the calculation module and the fault data is transmitted to the output module.

[0090] The output module outputs the fault data and stores it in the storage module.

[0091] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for planning a safe route for a power inspection drone, characterized in that: The following steps are involved: Step 1: Start the drone, and the onboard control system will self-check to confirm that the device is normal, calculate the current mileage, obtain the current starting coordinates, and proceed to step 2 after the self-check passes; otherwise, the device will be repaired to eliminate the fault; Step 2: Calculate the total cruising mileage. Enter the coordinates of all towers to be inspected. The background control system calculates the straight-line distance between the starting coordinates and the coordinates of the nearest tower and the straight-line distance between adjacent towers. The sum of the straight-line distance between the take-off coordinates and the coordinates of the nearest tower and the straight-line distance between adjacent towers is the cruising distance. Calculate the round-trip mileage based on the cruising distance. Multiply the round-trip mileage by the safety factor to get the total cruising mileage. The method for calculating the total cruise mileage in step 2 is as follows: S2.

1. Input the coordinates of all towers to be inspected, including the longitude, latitude and height of each tower and the number of towers to be inspected; S2.2, calculate the cruising distance, select the nearest tower according to the starting coordinates and calculate the initial flight distance according to its tower height, then start from the nearest tower and calculate the straight-line distances between the towers in turn according to their respective longitudes and latitudes and sum them up to obtain the effective inspection distance. The sum of the initial flight distance and the effective inspection distance is the cruising distance; S2.3, calculate the return distance, and calculate the return distance based on the distance between the longitude and latitude of the last tower to be inspected and the starting coordinates; S2.

4. Calculate the round trip mileage. The sum of the cruising distance and the return distance is the round trip mileage. S2.

5. Calculate the total cruising mileage by multiplying the round-trip mileage by the safety factor to get the total cruising mileage; Step 3: Plan the initial route and confirm the initial route based on the current range and total cruising mileage of the drone; When the total cruising mileage is less than the current cruising mileage of the drone, confirm the initial route and proceed to step 4; when the total cruising mileage is greater than the current cruising mileage of the drone, reduce the number of towers to be inspected and recalculate the total cruising mileage until the total cruising mileage is less than the current cruising mileage of the drone, confirm the initial route and proceed to step 4; Step 4: Plan the inspection route. The drone flies to the nearest tower and plans the inspection route based on the safe distance. The method for planning the inspection route in step 4 is as follows: S4.

1. Obtain the voltage value transmitted by the line. The system obtains the voltage value transmitted by the line to be inspected; S4.

2. Select the safety distance value according to the voltage value. The system selects the corresponding safety distance value according to the obtained voltage value query standard; S4.

3. Plan the inspection route of the tower. The drone will rise to the height of the power transmission equipment, take the power transmission equipment as the center, and hover with a radius not less than the safe distance value. The flight parameters and the corresponding inspection images will be transmitted to the background control system in real time. S4.

4. Plan the inspection route of cables between adjacent towers. The UAV flies along the cable extension route while maintaining a safe distance from the cables. The flight parameters and corresponding inspection images are transmitted back to the background control system in real time. Step 5: Endurance detection: Real-time detection of the current endurance and current coordinates. If the difference between the current endurance and the distance between the current coordinates and the starting coordinates is less than the safe endurance, the aircraft will return home immediately. If the difference between the current endurance and the distance between the current coordinates and the starting coordinates is greater than the safe endurance, the aircraft will continue to inspect until the flight mission of the confirmed initial route is completed, and then proceed to step 6. Step 6: Return, plan the return route according to the current coordinates and the starting coordinates; Step 7: Stop and check. After landing, the system checks the remaining cruising range of the drone. If the remaining cruising range is less than or equal to the safe cruising range in step 5, the drone will return to step 8. If the remaining cruising range is greater than the safe cruising range in step 5 and less than the total cruising range, the drone will return to step 3 to re-plan the initial route. If the remaining cruising range is greater than the total cruising range, the drone will return to step 1 and start over. Step 8: Stop the aircraft and charge.

2. The method for planning a safe route for a power inspection drone according to claim 1 is characterized by: The safety factor is not less than 1.

5.

3. The method for planning a safe route for a power inspection drone according to claim 1 is characterized by: In step 3, when the total cruising mileage is greater than the current cruising mileage of the drone, the number of towers to be inspected is reduced and the total cruising mileage is recalculated, starting from the tower farthest from the starting coordinates and reducing them one by one. Each time a tower is reduced, the total cruising mileage is recalculated and compared with the current cruising mileage, until the total cruising mileage is less than the current cruising mileage of the drone, and a new initial route is confirmed.

4. The method for planning a safe route for a power inspection drone according to claim 1 is characterized by: When planning the inspection route of the cables between adjacent towers in step S4.4, the flight route is to fly forward in a spiral along the cable extension line while maintaining a safe distance value from the cables.

5. The method for planning a safe route for a power inspection drone according to claim 1 or 4, characterized in that: During the inspection route of cables between adjacent towers, the drone will simultaneously detect the distance between the drone and the cables, keeping the distance between the drone and the cables consistent throughout the inspection process.

6. A control system for implementing the method for planning a safe route for a power inspection drone as described in claim 5, comprising a drone assembly and a background control system, wherein the drone assembly and the background control system are wirelessly connected via a communication interface, and characterized in that: The UAV assembly includes an airborne control system, a battery system, a positioning device, a ranging radar and an image acquisition device, and the airborne control system is respectively connected with the battery system, the positioning device, the ranging radar and the image acquisition device by signals; The onboard control system obtains the current range through the battery system. The onboard control system obtains the current starting coordinates through the positioning device. The onboard control system detects the actual distance to the tower and cable to be tested through the ranging radar. The airborne control system collects image data of the tower and cable to be tested through the image acquisition device and transmits it back to the background control system through the communication interface; The background control system includes data entry module, calculation module, storage module and output module. The data entry module records the coordinates of all towers to be inspected and the voltage values ​​of the lines to be inspected. The calculation module calculates the total cruising mileage based on the input coordinates of all towers to be inspected. The storage module stores the image data of the tower and the cable to be tested and the corresponding flight parameters collected by the image acquisition device, and transmits the image data to the calculation module. The image data is processed and analyzed by the calculation module and the fault data is transmitted to the output module. The output module outputs the fault data and stores it in the storage module.

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