Power grid equipment unmanned aerial vehicle inspection route planning method

Abstract

The invention provides a power grid equipment unmanned aerial vehicle inspection route planning method which comprises the following steps: forming direction judgment of a to-be-inspected site set through data analysis on the basis of site coordinates, then establishing a reference straight line, and performing site inspection route attribution planning through site aggregation maximization on the basis of the reference straight line. According to the unmanned aerial vehicle routing inspection route planning method, the consistency of the navigation angles between the stations in the same routing inspection route is effectively improved, the navigation distance between the stations is reduced, and the route routing inspection efficiency can be greatly improved.

Description

Technical Field

[0001] The present application relates to the field of drone inspection technology, and in particular to a method for planning a route for drone inspection of power grid equipment. Background Art

[0002] The statements in this section merely provide background technical information related to the present application and do not necessarily constitute prior art.

[0003] With the rapid development of industrialization and informatization, the penetration rate of electrical equipment has increased rapidly year by year, and the demand for power supply at all levels of society has become increasingly greater. As a result, power facilities have become a key infrastructure for social development.

[0004] In order to ensure the reliable and safe operation of transmission lines, the power grid operation department needs to regularly inspect and maintain the power grid system to ensure that faults and hidden dangers are eliminated before they occur. At present, the length of my country's power grid lines has exceeded one million kilometers, covering an extremely wide range. The traditional manual inspection scheme has become unsustainable, resulting in most lines being unable to be effectively inspected. In the later stage, accident maintenance and regular maintenance are used to make up for it. Therefore, it is impossible to prevent safety hazards in a timely manner, which has a negative impact on social life. With the advancement of science and technology, drone inspections have become an effective way to inspect power grid lines. However, due to the wide distribution of power grids and the scattered towers in every corner, the use of drone inspections will inevitably encounter endurance problems. Existing technologies that deal with the endurance problem focus more on studying how to replenish electricity during the inspection process. However, no matter how much electricity is replenished, it is impossible to complete a one-time inspection of lines and towers in the ubiquitous power grid. Faced with ubiquitous power grids and a large number of towers, it is necessary to divide the inspection sites into different inspection routes, and have different drones or different shifts of the same drone perform independent inspections to improve the management efficiency of the inspection. Existing technologies for the division of sites to routes generally divide them according to the order of site numbers, which is inefficient. Therefore, how to optimize the route planning method for drone inspections of power grid equipment and improve the rationality of inspection route design is a problem that the industry needs to solve. Summary of the invention

[0005] In order to solve the above problems, this application proposes a method for planning a route for drone inspection of power grid equipment.

[0006] The present application provides a method for planning a route for a UAV inspection of power grid equipment, based on a planning system consisting of a site management module, a reference site estimation module, a reference direction determination module, and a route planning module, and includes the following steps;

[0007] Step 1: The site management module calculates floor(Etotal / Esite) according to the average power consumption Esite of each site and the endurance power Etotal of the drone to obtain the number of sites R for each inspection route, and calculates ceil(G / R) according to the total number of elements G in the list of sites to be inspected ListSite to obtain the number of routes N, and assigns n to 1;

[0008] Step 2: The reference site estimation module calculates the sum of the distances between each site g and all other sites except site g in ListSite, OtherDis(g), based on the two-dimensional coordinate information of each site in ListSite. The value of g is 1, ..., G. Then, the one with the smallest value in OtherDis(g) is selected and defined as the reference site SiteRef.

[0009] Step 3, the reference direction determination module estimates the direction angle of the ListSite site set to form a reference straight line line_ref;

[0010] Step 4: The route planning module uses line_ref as a reference and divides the G sites into N routes based on maximizing the aggregation of sites within the route.

[0011] Preferably, in step 2, the calculation formula of the distance sum OtherDis(g) is as follows:

[0012]

[0013] In formula (1), x(g) and y(g) are the two-dimensional coordinate values ​​of site g, and x(h) and y(h) are the two-dimensional coordinate values ​​of site h.

[0014] Preferably, in step 3, the reference direction determination module estimates the direction angle of the ListSite site set to form a reference straight line line_ref, and the specific method is as follows:

[0015] Step 3.1, the reference direction determination module presets the angle step AngleDelta, then obtains M by calculating ceil(360 / AngleDelta), and determines the slope Slope(m)=tan(m*AngleDelta) corresponding to the M angles, where the value range of m is 1, .., M;

[0016] Step 3.2, the reference direction determination module calculates the straight line line(m) passing through the SiteRef coordinate point and having a slope of Slope(m). The specific calculation method is:

[0017] Assume that the SiteRef coordinate point is (X_SiteRef, Y_SiteRef),

[0018] Calculation: B = Y_SiteRef - Slope (m) * X_SiteRef;

[0019] Then line(m) is Y=Slope(m)*X+B (2)

[0020] Step 3.3, the reference direction determination module calculates the total vertical distance TotalDistance(m) between each site in ListSite and line(m);

[0021] Step 3.4, the reference direction determination module defines the straight line with the smallest total vertical distance as line_min, and assigns the slope of line_min to CenterSlope;

[0022] Step 3.5, the reference direction determination module calculates the vertical distance between each site in the ListSite site set and line_min, assigns the coordinates of the site with the maximum vertical distance to {X_start, Y_start}, and determines the straight line passing through the coordinate point {X_start, Y_start} with a slope of CenterSlope as the reference straight line line_ref.

[0023] Preferably, in step 3.3, the vertical distance between each site in ListSite and line(m) is calculated as follows:

[0024] Step 3.3.1, the reference direction determination module calculates the slope of the line perpendicular to line(m): VerticalSlope(m)=tan(m*AngleDelta+90);

[0025] Step 3.3.2, the reference direction determination module determines the straight line Verticalline(m) passing through the coordinate points of each station and having a slope of VerticalSlope(m) according to step 3.2:

[0026] Assume that the Site coordinate point is (X_Site, Y_Site),

[0027] Calculation: C = Y_Site - Slope (m) * X_Site;

[0028] Then Verticalline(m) is Y=VerticalSlope(m)*X+C (3)

[0029] Step 3.3.3, the reference direction determination module calculates the cross coordinate points (Cross_X, Cross_Y) of equation (2) and equation (3):

[0030] Cross_X=(CB) / (Slope(m)-VerticalSlope(m)) (4)

[0031] Cross_Y=Slope(m)*((CB) / (Slope(m)-VerticalSlope(m)))+B (5)

[0032] Step 3.3.4, the reference direction determination module calculates the distance Dis2Pos between the station coordinates (X_Sit, Y_Sit) and the cross coordinate point (Cross_X, Cross_Y), where Dis2Pos is the vertical distance between the station and line (m):

[0033]

[0034] Preferably, in step 4, the route planning module uses line_ref as a reference and divides the G sites into N routes based on maximizing site aggregation within the route. The specific method is as follows:

[0035] Step 4.1: The route planning module determines whether n is greater than N. If yes, it jumps to step 4.3; if no, it jumps to step 4.2;

[0036] Step 4.2, the route planning module finds the R sites with the longest vertical distance from line_ref from ListSite, forms a set of the R sites, puts them into ListRoad as ListRoad(n), deletes the R sites from ListSite, assigns n+1 to n, and then jumps to step 4.1;

[0037] Step 4.3, the route planning module outputs ListRoad, and each set in the ListRoad is the inspection object of each route in the inspection route planning of the drone of the power grid equipment to be inspected.

[0038] Compared with the prior art, the beneficial effects of this application are:

[0039] This application is based on site coordinates, and through data analysis, it forms a direction determination of the set of sites to be inspected, and then establishes a reference straight line. With the reference straight line as a reference, the site inspection route attribution planning is maximized through site aggregation, which effectively improves the consistency of navigation angles between sites within the same inspection route and reduces the navigation distance between sites. The drone inspection route planning method proposed in the present invention can greatly improve the route inspection efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The drawings in the specification, which constitute a part of the present application, are used to provide further understanding of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute improper limitations on the present application.

[0041] Figure 1 The method flow diagram of this application is as follows:

[0042] Figure 2 This is an illustration of the effect of traditional route planning.

[0043] Figure 3 This is an illustration of the route planning effect of this application.

[0044] Figure 4 The following is a schematic diagram of the system composition of this application. DETAILED DESCRIPTION

[0045] The present application is further described below in conjunction with the accompanying drawings and embodiments.

[0046] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present disclosure. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0047] In the present disclosure, terms such as "upper", "lower", "left", "right", "front", "back", "vertical", "horizontal", "side", "bottom" and the like indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings. They are relational words determined only for the convenience of describing the structural relationships of the various parts or elements of the present disclosure, and do not specifically refer to any part or element in the present disclosure and should not be understood as limitations on the present disclosure.

[0048] Example 1

[0049] like Figures 1 to 4 As shown, the present application provides a power grid equipment drone inspection route planning system, including a site management module, a reference site estimation module, a reference direction determination module, and a route planning module. The functions of each module are as follows:

[0050] The site management module calculates the number of sites R for each inspection route by calculating floor(Etotal / Esite) according to the average power consumption Esite of each site and the endurance power Etotal of the drone. It also calculates ceil(G / R) according to the total number of elements G in the list of sites to be inspected ListSite to get the number of routes N, and assigns n a value of 1.

[0051] Reference site estimation module, based on the two-dimensional coordinate information of each site in ListSite, this module calculates the sum of the distances OtherDis(g) between each site g and all other sites except site g in ListSite, where g is 1, ..., G, and then selects the smallest value in OtherDis(g), which is defined as the reference site SiteRef;

[0052] A reference direction determination module, which assigns an estimated direction angle of the ListSite site set to form a reference line line_ref;

[0053] Route planning module, which uses line_ref as a reference and divides G sites into N routes based on maximizing site aggregation within the route.

[0054] Based on the above planning system, the present application also provides a method for planning a route for a UAV inspection of power grid equipment, which specifically includes the following steps:

[0055] Step 1: The site management module calculates floor(Etotal / Esite) according to the average power consumption Esite of each site and the endurance power Etotal of the drone to obtain the number of sites R for each inspection route, and calculates ceil(G / R) according to the total number of elements G in the list of sites to be inspected ListSite to obtain the number of routes N, and assigns n to 1;

[0056] Step 2: The reference site estimation module calculates the sum of the distances between each site g and all other sites except site g in ListSite, OtherDis(g), based on the two-dimensional coordinate information of each site in ListSite. The value of g is 1, ..., G. Then, the one with the smallest value in OtherDis(g) is selected and defined as the reference site SiteRef.

[0057] Step 3, the reference direction determination module estimates the direction angle of the ListSite site set to form a reference straight line line_ref;

[0058] Step 4: The route planning module uses line_ref as a reference and divides the G sites into N routes based on maximizing the aggregation of sites within the route.

[0059] Specifically, in step 1, floor(Etotal / Esite), where floor is a floor rounding function, for example, floor(5 / 4)=1, floor(4 / 4)=1; ceil(G / R), where ceil is a ceiling rounding function, for example, ceil(5 / 4)=2, ceil(4 / 4)=1.

[0060] Specifically, in step 2, the calculation formula of the distance sum OtherDis(g) is as follows:

[0061]

[0062] In formula (1), x(g) and y(g) are the two-dimensional coordinate values ​​of site g, and x(h) and y(h) are the two-dimensional coordinate values ​​of site h.

[0063] Specifically, in step 3, the reference direction determination module estimates the direction angle of the ListSite site set to form a reference straight line line_ref, and the specific method is as follows:

[0064] Step 3.1, the reference direction determination module presets the angle step AngleDelta, then obtains M by calculating ceil(360 / AngleDelta), and determines the slope Slope(m)=tan(m*AngleDelta) corresponding to the M angles, where the value range of m is 1, .., M;

[0065] Step 3.2, the reference direction determination module calculates the straight line line(m) passing through the SiteRef coordinate point and having a slope of Slope(m). The specific calculation method is:

[0066] Assume that the SiteRef coordinate point is (X_SiteRef, Y_SiteRef),

[0067] Calculation: B = Y_SiteRef - Slope (m) * X_SiteRef;

[0068] Then line(m) is Y=Slope(m)*X+B (2)

[0069] Step 3.3, the reference direction determination module calculates the total vertical distance TotalDistance(m) between each site in ListSite and line(m);

[0070] Step 3.4, the reference direction determination module defines the straight line with the smallest total vertical distance as line_min, and assigns the slope of line_min to CenterSlope;

[0071] Step 3.5, the reference direction determination module calculates the vertical distance between each site in the ListSite site set and line_min, assigns the coordinates of the site with the maximum vertical distance to {X_start, Y_start}, and determines the straight line passing through the coordinate point {X_start, Y_start} with a slope of CenterSlope as the reference straight line line_ref.

[0072] Specifically, in step 3.3, the vertical distance between each site in ListSite and line(m) is calculated as follows:

[0073] Step 3.3.1, the reference direction determination module calculates the slope of the line perpendicular to line(m): VerticalSlope(m)=tan(m*AngleDelta+90);

[0074] Step 3.3.2, the reference direction determination module determines the straight line Verticalline(m) passing through the coordinate points of each station and having a slope of VerticalSlope(m) according to step 3.2:

[0075] Assume that the Site coordinate point is (X_Site, Y_Site),

[0076] Calculation: C = Y_Site - Slope (m) * X_Site;

[0077] Then Verticalline(m) is Y=VerticalSlope(m)*X+C (3)

[0078] Step 3.3.3, the reference direction determination module calculates the cross coordinate points (Cross_X, Cross_Y) of equation (2) and equation (3):

[0079] Cross_X=(CB) / (Slope(m)-VerticalSlope(m)) (4)

[0080] Cross_Y=Slope(m)*((CB) / (Slope(m)-VerticalSlope(m)))+B (5)

[0081] Step 3.3.4, the reference direction determination module calculates the distance Dis2Pos between the station coordinates (X_Sit, Y_Sit) and the cross coordinate point (Cross_X, Cross_Y), where Dis2Pos is the vertical distance between the station and line (m):

[0082]

[0083] Specifically, in step 4, the route planning module uses line_ref as a reference and divides G sites into N routes based on maximizing site aggregation within the route. The specific method is as follows:

[0084] Step 4.1: The route planning module determines whether n is greater than N. If yes, it jumps to step 4.3; if no, it jumps to step 4.2;

[0085] Step 4.2, the route planning module finds the R sites with the longest vertical distance from line_ref from ListSite, forms a set of the R sites, puts them into ListRoad as ListRoad(n), deletes the R sites from ListSite, assigns n+1 to n, and then jumps to step 4.1;

[0086] Step 4.3, the route planning module outputs ListRoad, and each set in the ListRoad is the inspection object of each route in the inspection route planning of the drone of the power grid equipment to be inspected.

[0087] The specific implementation methods of the present application are described below with specific examples:

[0088] This embodiment includes 16 sites to be inspected, that is, the total number of elements G in ListSite is 16, and each site is numbered as site 1, site 2, ..., site 16 in sequence. The drone's endurance power Etotal is 500 kWh, and the average power consumption Esite for each site inspection is 125 kWh.

[0089] According to step 1, the site management module calculates floor(Etotal / Esite)=floor(500 / 125)=4 according to the average power consumption Esite of each site inspection and the UAV's endurance power Etotal, and obtains the number of sites R for each inspection route as 4. According to the total number of elements G in the list of sites to be inspected ListSite, ceil(G / R)=ceil(16 / 4)=4 is calculated, and the number of routes N is 4, and n is assigned a value of 1.

[0090] Next, according to step 2, the reference site estimation module calculates the sum of the distances OtherDis(g) between each site g and all other sites other than site g in ListSite based on the two-dimensional coordinate information of each site in ListSite, where g is 1, ..., G, and then selects the smallest value in OtherDis(g), which is defined as the reference site SiteRef; in step 2, the reference site estimation module calculates the sum of the distances OtherDis(g) between each site g and all other sites other than site g in ListSite based on the two-dimensional coordinate information of each site in ListSite, and the specific calculation formula is as shown in formula (1):

[0091]

[0092] In formula (1), x(g) and y(g) are the two-dimensional coordinate values ​​of site g, and x(h) and y(h) are the two-dimensional coordinate values ​​of site h. In this embodiment, if the calculation result, OtherDis(g), g takes the value of 1, ..., 16, and OtherDis(7) is the smallest, then site 7 is defined as the reference site SiteRef.

[0093] Next, according to step 3, the reference direction determination module estimates the direction angle of the ListSite site set to form a reference straight line line_ref; in step 3, the reference direction determination module estimates the direction angle of the ListSite site set to form a reference straight line line_ref, and the specific steps are as follows:

[0094] According to step 3.1, the reference direction determination module presets the angle step AngleDelta, then calculates ceil(360 / AngleDelta) to obtain M, and determines the slopes corresponding to the M angles Slope(m)=tan(m*AngleDelta), where the value range of m is 1, .., M. In this embodiment, the value of AngleDelta is 10, and the value of M is 36, which means that 36 slope straight lines are constructed;

[0095] Next, according to step 3.2, the reference direction determination module calculates the straight line line(m) passing through the SiteRef coordinate point and having a slope of Slope(m). The specific calculation method is:

[0096] Assume that the SiteRef coordinate point is (X_SiteRef, Y_SiteRef),

[0097] Calculation: B = Y_SiteRef - Slope (m) * X_SiteRef;

[0098] Then line(m) is Y=Slope(m)*X+B (2)

[0099] Next, according to step 3.3, the reference direction determination module calculates the sum of the vertical distances TotalDistance(m) between each site in ListSite and line(m);

[0100] Next, according to step 3.4, the reference direction determination module defines the straight line with the smallest sum of vertical distances as line_min, and assigns the slope of line_min to CenterSlope;

[0101] Next, according to step 3.5, the reference direction determination module calculates the vertical distance between each site in the ListSite site set and line_min, assigns the coordinates of the site with the maximum vertical distance to {X_start, Y_start}, and determines the straight line passing through the coordinate point {X_start, Y_start} with a slope of CenterSlope as the reference straight line line_ref;

[0102] In step 3.3, the vertical distance between each station and line (m) is calculated as follows:

[0103] According to step 3.3.1, the reference direction determination module calculates the slope of the line perpendicular to line(m) VerticalSlope(m)=tan(m*AngleDelta+90);

[0104] Then according to step 3.3.2, the reference direction determination module determines a straight line Verticalline(m) passing through the coordinate points of each station and having a slope VerticalSlope(m) according to step 3.2:

[0105] Assume that the Site coordinate point is (X_Site, Y_Site),

[0106] Calculation: C = Y_Site - Slope (m) * X_Site;

[0107] Then Verticalline(m) is Y=VerticalSlope(m)*X+C (3)

[0108] Then according to step 3.3.3, the reference direction determination module calculates the cross coordinate points (Cross_X, Cross_Y) of equations (2) and (3):

[0109] Cross_X=(CB) / (Slope(m)-VerticalSlope(m)) (4)

[0110] Cross_Y=Slope(m)*((CB) / (Slope(m)-VerticalSlope(m)))+B (5)

[0111] Then according to step 3.3.4, the reference direction determination module calculates the distance Dis2Pos between the station coordinates (X_Sit, Y_Sit) and the cross coordinate point (Cross_X, Cross_Y), where Dis2Pos is the vertical distance between the station and line (m):

[0112]

[0113] Finally, according to step 4, the route planning module uses line_ref as a reference and divides the G sites into N routes based on maximizing the aggregation of sites within the route. The route planning module uses line_ref as a reference and divides the G sites into N routes based on maximizing the aggregation of sites within the route. The specific steps are as follows:

[0114] According to step 4.1, the route planning module determines whether n is greater than N. If yes, it jumps to step 4.3; if no, it jumps to step 4.2;

[0115] According to step 4.2, the route planning module finds the R sites with the longest vertical distance from line_ref from ListSite, forms a set of the R sites, puts them into ListRoad as ListRoad(n), deletes the R sites from ListSite, assigns n+1 to n, and then jumps to step 4.1;

[0116] According to step 4.3, the route planning module outputs ListRoad, and each set in the ListRoad is the inspection object of each route in the inspection route planning of the drone of the power grid equipment to be inspected.

[0117] If the 16 stations in this embodiment are arranged in 4 rows with 4 stations in each row, that is, arranged in a 4*4 matrix, and then the matrix is ​​rotated 45 degrees clockwise to obtain the station layout, the interval between stations is 200 meters. If the traditional method is used for inspection, the route planning is carried out according to the station order (see Figure 2 effect), then:

[0118] Traditional route 1 planning: site 1->site 2->site 3->site 4,

[0119] Traditional route 2 planning: station 5->station 6->station 7->station 8,

[0120] Traditional route 3 planning: station 9->station 10->station 11->station 12,

[0121] Traditional route 4 planning: station 13->station 14->station 15->station 16,

[0122] At this time, the cruising range of each route is:

[0123] Traditional route 1 distance: 200+sqrt(200*200+200*200)+sqrt(200*200+400*400)=883 meters,

[0124] Traditional route 2 distance: sqrt(200*200+200*200)+sqrt(400*400+600*600)+sqrt(200*200+200*200)=283+722+283=1288 meters,

[0125] Traditional route 3 distance: sqrt(200*200+200*200)+sqrt(400*400+600*600)+sqrt(200*200+200*200)=283+722+283=1288 meters,

[0126] Traditional route 4 distance: sqrt(400*400+200*200)+sqrt(200*200+200*200)+200=448+283+200=931 meters;

[0127] The total navigation distance of the traditional inspection route planning is: 883+1288+1288+931=4390 meters, where sqrt is the square root function.

[0128] The method of this application uses the site coordinates as the basis, forms the direction determination of the set of sites to be inspected through data analysis, and then establishes a reference straight line. With the reference straight line as a reference, the site inspection route attribution planning is carried out by maximizing site aggregation. The route planning obtained is as follows (see Figure 3 Effect):

[0129] We invented route 1 planning: site 1->site 3->site 6->site 10,

[0130] We invented route 2 planning: site 2->site 5->site 9->site 13,

[0131] We invented route 3 planning: station 4->station 8->station 12->station 15,

[0132] We invented route 4 planning: station 7->station 11->station 14->station 16,

[0133] We found that the sailing distance of each route is 600 meters, so the total sailing distance is 600*4=2400 meters.

[0134] Through this embodiment, it can be seen that the navigation distance of the drone inspection site of the present application is only 2400 / 4390=55% of that of the traditional solution, which saves 45% of the navigation cost. In addition, due to the high consistency of the navigation angle of the present application, it can further save the time and energy consumption caused by frequent adjustments of the navigation direction. Through this embodiment, it can be seen that the drone inspection route planning method proposed in this application can greatly improve the route inspection efficiency.

[0135] The above are only preferred embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

[0136] Although the above describes the specific implementation methods of the present application in conjunction with the accompanying drawings, it is not intended to limit the scope of protection of the present application. Technical personnel in the relevant field should understand that on the basis of the technical solution of the present application, various modifications or variations that can be made by technical personnel in this field without creative work are still within the scope of protection of the present application.

Claims

1. A method for planning a route for a power grid equipment drone inspection, characterized in that: Based on the planning system consisting of a site management module, a reference site estimation module, a reference direction determination module, and a route planning module, the following steps are included; Step 1: The site management module calculates floor(Etotal / Esite) according to the average power consumption Esite of each site and the endurance power Etotal of the drone to obtain the number of sites R for each inspection route, and calculates ceil(G / R) according to the total number of elements G in the list of sites to be inspected ListSite to obtain the number of routes N, and assigns n to 1; Step 2: The reference site estimation module calculates the sum of the distances between each site g and all other sites except site g in ListSite, OtherDis(g), based on the two-dimensional coordinate information of each site in ListSite. The value of g is 1, ..., G. Then, the one with the smallest value in OtherDis(g) is selected and defined as the reference site SiteRef. Step 3, the reference direction determination module estimates the direction angle of the ListSite site set to form a reference straight line line_ref; Step 4: The route planning module uses line_ref as a reference and divides the G sites into N routes based on maximizing the aggregation of sites within the route.

2. A method for planning a route for inspection of power grid equipment by a drone according to claim 1, characterized in that: In step 2, the calculation formula of the distance sum OtherDis(g) is as follows: In formula (1), x(g) and y(g) are the two-dimensional coordinate values ​​of site g, and x(h) and y(h) are the two-dimensional coordinate values ​​of site h.

3. A method for planning a route for inspection of power grid equipment by a drone according to claim 1, characterized in that: In step 3, the reference direction determination module estimates the direction angle of the ListSite site set to form a reference straight line line_ref. The specific method is as follows: Step 3.1, the reference direction determination module presets the angle step AngleDelta, then obtains M by calculating cei l(360 / AngleDelta), and determines the slope Slope(m)=tan(m*AngleDelta) corresponding to the M angles, where the value range of m is 1, .., M; Step 3.2, the reference direction determination module calculates the straight line line(m) passing through the SiteRef coordinate point and having a slope of Slope(m). The specific calculation method is: Assume that the SiteRef coordinate point is (X_SiteRef, Y_SiteRef), Calculation: B = Y_SiteRef - Slope (m) * X_SiteRef; Then line(m) is Y=Slope(m)*X+B(2) Step 3.3, the reference direction determination module calculates the total vertical distance TotalDistance(m) between each site in ListSite and line(m); Step 3.4, the reference direction determination module defines the straight line with the smallest total vertical distance as line_min, and assigns the slope of line_min to CenterSlope; Step 3.5, the reference direction determination module calculates the vertical distance between each site in the ListSite site set and line_min, assigns the coordinates of the site with the maximum vertical distance to {X_start, Y_start}, and determines the straight line passing through the coordinate point {X_start, Y_start} with a slope of CenterSlope as the reference straight line line_ref.

4. A method for planning a route for inspection of power grid equipment by a drone according to claim 3, characterized in that: In step 3.3, the vertical distance between each site in ListSite and line(m) is calculated as follows: Step 3.3.1, the reference direction determination module calculates the slope of the line perpendicular to line(m): VerticalSlope(m)=tan(m*AngleDelta+90); Step 3.3.2, the reference direction determination module determines the straight line Verticalline(m) passing through the coordinate points of each station and having a slope VerticalSlope(m) according to step 3.2: Assume that the Site coordinate point is (X_Site, Y_Site), Calculation: C = Y_Site - Slope (m) * X_Site; Then Verticalline(m) is Y=VerticalSlope(m)*X+C(3) Step 3.3.3, the reference direction determination module calculates the cross coordinate points (Cross_X, Cross_Y) of equation (2) and equation (3): Cross_X=(CB) / (Slope(m)-VerticalSlope(m)) (4) Cross_Y=Slope(m)*((CB) / (Slope(m)-VerticalSlope(m)))+B(5) Step 3.3.4, the reference direction determination module calculates the distance Dis2Pos between the station coordinates (X_Sit, Y_Sit) and the cross coordinate point (Cross_X, Cross_Y), where Dis2Pos is the vertical distance between the station and line (m):

5. A method for planning a route for inspection of power grid equipment by a drone according to any one of claims 1 to 4, characterized in that: In step 4, the route planning module uses line_ref as a reference and divides the G sites into N routes based on the maximum aggregation of sites within the route. The specific method is as follows: Step 4.1: The route planning module determines whether n is greater than N. If yes, it jumps to step 4.3; if no, it jumps to step 4.2; Step 4.2, the route planning module finds the R sites with the longest vertical distance from line_ref from ListSite, forms a set of the R sites, puts them into ListRoad as ListRoad(n), deletes the R sites from ListSite, assigns n+1 to n, and then jumps to step 4.1; Step 4.3, the route planning module outputs ListRoad, and each set in the ListRoad is the inspection object of each route in the inspection route planning of the drone of the power grid equipment to be inspected.

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