Power transmission line inspection unmanned aerial vehicle navigation method and device, unmanned aerial vehicle, equipment and medium

Abstract

The invention relates to a power transmission line inspection unmanned aerial vehicle navigation method and device, an unmanned aerial vehicle, equipment and a medium, and relates to the technical field of unmanned aerial vehicles. The method comprises the following steps: acquiring a first electric field intensity collected by a first electric field sensor and a second electric field intensity collected by a second electric field sensor of the unmanned aerial vehicle in an inspection process; the first electric field sensor and the second electric field sensor are vertically arranged; according to the first electric field intensity and the second electric field intensity, determining the synthetic electric field intensity of the position of the unmanned aerial vehicle; and determining a flight strategy of the unmanned aerial vehicle according to the synthesized electric field intensity, a preset electric field intensity range, the first electric field intensity, the second electric field intensity and a preset electric field proportion range to control the unmanned aerial vehicle to fly relative to the power transmission line according to a preset safety distance. The method can improve the navigation accuracy of the unmanned aerial vehicle.

Description

Technical Field

[0001] The present application relates to the field of drone technology, and in particular to a method, device, drone equipment and medium for drone navigation of power transmission line inspection. Background Art

[0002] Transmission lines are the guarantee for maintaining the safe and stable operation of the power grid. Therefore, it is necessary to inspect the transmission lines and detect abnormalities in the transmission lines in time. Usually, with the increase of voltage level, the height of the line tower will increase, and drones will be used for inspection. At present, drones are used to inspect transmission lines, and drone magnetic field navigation technology, also known as geomagnetic navigation, is a technology that uses the earth's magnetic field information to achieve navigation. In the field of drones, this technology is mainly used to assist inertial navigation systems to measure and correct heading angles to improve the flight stability and accuracy of drones. However, around high-voltage lines, currents generate magnetic fields, which will interfere with geomagnetic navigation, and the line current changes all the time, and this interference is difficult to eliminate. Therefore, the current drone navigation method for transmission line inspection has the problem of low navigation accuracy. Summary of the invention

[0003] Based on this, it is necessary to provide a transmission line inspection drone navigation method, device, drone, equipment and medium that can improve the accuracy of drone navigation in response to the above-mentioned technical problems.

[0004] In a first aspect, the present application provides a transmission line inspection drone navigation method, comprising:

[0005] Acquire a first electric field strength collected by a first electric field sensor and a second electric field strength collected by a second electric field sensor of the drone during an inspection process; the first electric field sensor and the second electric field sensor are arranged perpendicular to each other;

[0006] Determining a composite electric field strength at a location of the UAV based on the first electric field strength and the second electric field strength;

[0007] The flight strategy of the UAV is determined based on the synthetic electric field strength, the preset electric field strength range, the first electric field strength, the second electric field strength and the preset electric field ratio range to control the UAV to fly relative to the transmission line at a preset safety distance.

[0008] In one embodiment, the preset electric field ratio range is obtained by the following method, including:

[0009] Acquire a first angle between the first electric field sensor and a horizontal plane and a second angle between the power transmission line and the horizontal plane;

[0010] Determine, according to the first electric field strength and the second electric field strength, the first angle and the second angle, a ratio of the first electric field strength to the second electric field strength, a difference between the first angle and the second angle, and a correlation relationship between the ratio and the difference;

[0011] According to the relationship between the preset safety distance and the difference, obtaining the height of the UAV corresponding to the difference;

[0012] Determine the correlation between the ratio and the height of the drone according to the correlation between the ratio and the difference and the corresponding height of the drone;

[0013] A preset electric field ratio range is determined based on a correlation between the ratio and the height of the drone.

[0014] In one embodiment, the flight strategy includes a horizontal flight strategy and a vertical flight strategy; the flight strategy of the drone is determined according to the synthetic electric field strength, the preset electric field strength range, the first electric field strength, the second electric field strength and the preset electric field ratio range, including:

[0015] Determining a horizontal flight strategy of the UAV according to the synthetic electric field strength and the preset electric field strength range;

[0016] The vertical flight strategy of the UAV is determined according to the ratio of the first electric field strength to the second electric field strength and a preset electric field ratio range.

[0017] In one embodiment, after determining the flight strategy of the drone according to the synthetic electric field strength, the preset electric field strength range, the first electric field strength, the second electric field strength and the preset electric field ratio range, the method further includes:

[0018] According to the horizontal flight strategy and the vertical flight strategy, the UAV is controlled to move horizontally and / or vertically until the synthetic electric field strength is within the preset electric field strength range and the ratio is within the preset electric field ratio range.

[0019] In one embodiment, determining the horizontal flight strategy of the UAV according to the synthetic electric field strength and the preset electric field strength range includes:

[0020] When the composite electric field strength is greater than the upper limit of the preset electric field strength range, determining the horizontal flight strategy to fly in a horizontal direction away from the power transmission line until the composite electric field strength is within the preset electric field strength range;

[0021] When the composite electric field strength is less than the lower limit of the preset electric field strength range, the horizontal flight strategy is determined to be horizontal flight close to the transmission line until the composite electric field strength is within the preset electric field strength range.

[0022] In one embodiment, the preset electric field ratio range includes a first ratio threshold, a critical value, and a second ratio threshold, the first ratio threshold is greater than the critical value, the critical value is greater than the second ratio threshold, and the vertical flight strategy of the drone is determined according to the ratio of the first electric field strength to the second electric field strength and the preset electric field ratio range, including:

[0023] When the ratio of the first electric field strength to the second electric field strength is less than the first ratio threshold and greater than the critical value, determining the vertical flight strategy to fly in a vertical upward direction until the ratio is greater than or equal to the first ratio threshold;

[0024] When the ratio of the first electric field strength to the second electric field strength is greater than the second ratio threshold and less than the critical value, the vertical flight strategy is determined to be flying in a vertical downward direction until the ratio is less than or equal to the second ratio threshold.

[0025] In a second aspect, the present application also provides a drone, including:

[0026] A first electric field sensor, a second electric field sensor, an insulating rod and a controller;

[0027] Wherein, the first electric field sensor and the second electric field sensor are both connected to the controller, the first electric field sensor and the second electric field sensor are vertically arranged at one end of the insulating rod, the other end of the insulating rod is fixed on the drone, and the insulating rod is parallel to the horizontal plane;

[0028] Wherein, the controller is arranged inside the drone, and is used to implement the steps of any one of the methods in the above embodiments.

[0029] In a third aspect, the present application also provides a transmission line inspection drone navigation device, comprising:

[0030] A data acquisition module, used to acquire a first electric field strength collected by a first electric field sensor and a second electric field strength collected by a second electric field sensor of the drone during an inspection; the first electric field sensor and the second electric field sensor are arranged perpendicular to each other;

[0031] An electric field determination module, configured to determine a composite electric field strength at a location of the drone based on the first electric field strength and the second electric field strength;

[0032] A flight control module is used to determine the flight strategy of the UAV based on the synthetic electric field strength, the preset electric field strength range, the first electric field strength, the second electric field strength and the preset electric field ratio range, so as to control the UAV to fly relative to the power transmission line at a preset safety distance.

[0033] In a fourth aspect, the present application further provides a computer device, comprising a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0034] Acquire a first electric field strength collected by a first electric field sensor and a second electric field strength collected by a second electric field sensor of the drone during an inspection process; the first electric field sensor and the second electric field sensor are arranged perpendicular to each other;

[0035] Determining a composite electric field strength at a location of the UAV based on the first electric field strength and the second electric field strength;

[0036] The flight strategy of the UAV is determined based on the synthetic electric field strength, the preset electric field strength range, the first electric field strength, the second electric field strength and the preset electric field ratio range to control the UAV to fly relative to the transmission line at a preset safety distance.

[0037] In a fifth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the following steps are implemented:

[0038] Acquire a first electric field strength collected by a first electric field sensor and a second electric field strength collected by a second electric field sensor of the drone during an inspection process; the first electric field sensor and the second electric field sensor are arranged perpendicular to each other;

[0039] Determining a composite electric field strength at a location of the UAV based on the first electric field strength and the second electric field strength;

[0040] The flight strategy of the UAV is determined based on the synthetic electric field strength, the preset electric field strength range, the first electric field strength, the second electric field strength and the preset electric field ratio range to control the UAV to fly relative to the transmission line at a preset safety distance.

[0041] The above-mentioned transmission line inspection drone navigation method, device, equipment and medium obtain the first electric field strength collected by the first electric field sensor of the drone and the second electric field strength collected by the second electric field sensor during the inspection process as the measurement basis of the current distance between the drone and the transmission line, and also as the basis for the navigation of the drone; wherein the first electric field sensor and the second electric field sensor are arranged perpendicular to each other, and the relative position and distance between the drone and the transmission line can be detected in multiple directions. According to the first electric field strength and the second electric field strength, the synthetic electric field strength at the position of the drone is determined to determine the electric field strength in the horizontal direction of the drone. Further, according to the synthetic electric field strength, the preset electric field strength range, the first electric field strength, the second electric field strength and the preset electric field ratio range, the flight strategy of the drone is determined to control the drone to fly at a preset safe distance. The electric field strength in different directions and the judgment range in different directions are selected to determine whether the position of the drone and the distance between the drone and the transmission line are safe, and the corresponding adjustment method is determined, and the magnetic field interference is avoided, so as to realize the accurate navigation of the drone during the transmission line inspection. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the drawings required for use in the embodiments of the present application or related technical descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0043] FIG1 is a diagram showing an application environment of a transmission line inspection drone navigation method according to an embodiment;

[0044] FIG2 is a schematic diagram of a flow chart of a method for navigating a transmission line inspection drone in one embodiment;

[0045] FIG3 is a schematic diagram of the geometric relationship between the first electric field sensor, the second electric field sensor and the power transmission line of the drone in one embodiment;

[0046] FIG4 is a curve diagram showing the correlation between the ratio of the first electric field strength to the second electric field strength and the height of the drone in one embodiment;

[0047] FIG5 is a schematic diagram of a flow chart of steps for determining a flight strategy of a drone in one embodiment;

[0048] FIG6 is a schematic diagram of the structure of a drone in one embodiment;

[0049] FIG7 is a structural block diagram of a transmission line inspection drone navigation device according to one embodiment;

[0050] FIG. 8 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0051] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0052] The transmission line inspection drone navigation method provided in the embodiment of the present application can be applied in the application environment as shown in FIG1 , which includes: drone 102, first electric field sensor 104, second electric field sensor 106, transmission line 108 and control system 110. Among them, the first electric field sensor 104 and the second electric field sensor 106 are both connected to the control system 110, and the control system 110 can be deployed on the controller of the drone 102 or on a remote server, and the remote server is connected to the drone via wireless communication. The control system 110 obtains the first electric field strength collected by the first electric field sensor 104 of the drone 102 and the second electric field strength collected by the second electric field sensor 106 during the inspection process, wherein the first electric field sensor 104 and the second electric field sensor 106 are arranged perpendicular to each other. The control system 110 determines the composite electric field strength at the location of the drone 102 based on the first electric field strength and the second electric field strength, and further determines the flight strategy of the drone 102 based on the composite electric field strength, the preset electric field strength range, the first electric field strength, the second electric field strength and the preset electric field ratio range, so as to control the drone 102 to fly at a preset safety distance.

[0053] In an exemplary embodiment, as shown in FIG2 , a transmission line inspection drone navigation method is provided, which is described by taking the method applied to the control system 110 in FIG1 as an example, and includes the following steps S202 to S206. Among them:

[0054] Step S202, obtaining a first electric field strength collected by a first electric field sensor and a second electric field strength collected by a second electric field sensor of the drone during an inspection process.

[0055] Among them, the first electric field sensor and the second electric field sensor are arranged perpendicularly to each other at one end of the insulating rod extending from the drone, and can detect the relative position and distance between the drone and the transmission line in two directions.

[0056] Among them, the first electric field sensor and the second electric field sensor can be a one-dimensional power frequency electric field sensor, which is a device used to measure electric field strength. It is mainly used in monitoring power systems and electrical equipment. It can sense and record changes in power frequency (usually 50Hz or 60Hz) electric fields to help evaluate the electromagnetic environment around power lines, substations and other electrical facilities.

[0057] Among them, electric field strength can be a physical quantity used to indicate the strength and direction of the electric field. The ratio of the electrostatic force exerted on a charge at a point in the electric field to its charge is called the electric field strength at that point.

[0058] Optionally, the control system obtains a first electric field strength collected by a first electric field sensor and a second electric field strength collected by a second electric field sensor set on an insulating rod of the drone to characterize the distance between the drone and the transmission line. The larger the electric field strength value, the closer the drone is to the transmission line.

[0059] Step S204: Determine the composite electric field strength at the location of the UAV based on the first electric field strength and the second electric field strength.

[0060] The composite electric field strength may be the total electric field strength of the first electric field strength and the second electric field strength concentrated in the direction of the drone.

[0061] Optionally, the control system calculates the synthetic electric field strength at the location of the drone according to the first electric field strength and the second electric field strength, and the calculation method is:

[0062]

[0063] in, is the composite electric field strength, is the first electric field strength, is the second electric field strength.

[0064] Step S206, determining the flight strategy of the UAV according to the synthetic electric field strength, the preset electric field strength range, the first electric field strength, the second electric field strength and the preset electric field ratio range, so as to control the UAV to fly at a preset safety distance.

[0065] Among them, the preset electric field strength range can be calculated based on the preset safety distance and the correlation between the distance between the drone and the transmission line and the synthetic electric field strength. It is the range within which the synthetic electric field strength should be when the drone flies safely.

[0066] Among them, the preset electric field ratio range can correspond to the preset safety distance, and when the drone is flying safely, the ratio of the first electric field strength to the second electric field strength should be in the range.

[0067] Optionally, the control system compares the synthetic electric field strength under the current flight conditions of the UAV with a preset electric field strength range, and compares the ratio of the current first electric field strength to the second electric field strength with the preset electric field ratio range, to determine the direction and distance the UAV needs to move, thereby obtaining the flight strategy of the UAV and controlling the UAV to fly at a preset safety distance.

[0068] In the above-mentioned transmission line inspection drone navigation method, the first electric field strength collected by the first electric field sensor of the drone and the second electric field strength collected by the second electric field sensor during the inspection process are obtained as the measurement basis of the current distance between the drone and the transmission line, and also as the basis for the navigation of the drone; wherein the first electric field sensor and the second electric field sensor are arranged perpendicular to each other, and the relative position and distance between the drone and the transmission line can be detected in multiple directions. According to the first electric field strength and the second electric field strength, the synthetic electric field strength at the position of the drone is determined to determine the electric field strength in the horizontal direction of the drone. Further, according to the synthetic electric field strength, the preset electric field strength range, the first electric field strength, the second electric field strength and the preset electric field ratio range, the flight strategy of the drone is determined to control the drone to fly at a preset safe distance. The electric field strength in different directions and the judgment range in different directions are selected to determine whether the position of the drone and the distance between the drone and the transmission line are safe, and the corresponding adjustment method is determined, and the magnetic field interference is avoided, so as to realize the accurate navigation of the drone during the transmission line inspection.

[0069] In an exemplary embodiment, the preset electric field ratio range described in the above embodiment is obtained by the following method, including:

[0070] Obtain a first angle between the first electric field sensor and the horizontal plane and a second angle between the transmission line and the horizontal plane; determine the ratio of the first electric field strength to the second electric field strength, the difference between the first angle and the second angle, and the correlation between the ratio and the difference based on the first electric field strength and the second electric field strength, the first angle, and the second angle; obtain the height of the drone corresponding to the difference based on the relationship between the preset safety distance and the difference; determine the correlation between the ratio and the height of the drone based on the correlation between the ratio and the difference and the corresponding height of the drone; determine a preset electric field ratio range based on the correlation between the ratio and the height of the drone.

[0071] Among them, because the first electric field sensor and the second electric field sensor are arranged perpendicular to each other, the angle between the first electric field sensor and the second electric field sensor is 90 degrees.

[0072] The first angle and the second angle are in the range of 0° to 90°.

[0073] The height of the drone in this embodiment may be the height difference between the height of the drone and the height of the power transmission line.

[0074] Optionally, as shown in FIG3 , a schematic diagram of the geometric relationship between the first electric field sensor, the second electric field sensor and the transmission line of the drone is provided. The control system obtains the first angle between the first electric field sensor and the horizontal plane and the second angle between the transmission line and the horizontal plane. From the description of the previous embodiment, it can be seen that the calculation method of the composite electric field strength can deduce that the first electric field strength and the second electric field strength can be expressed as:

[0075]

[0076]

[0077] in, represents the first electric field value, represents the second electric field value, represents the composite electric field strength, represents the first angle between the first electric field sensor and the horizontal plane, Represents the second angle between the transmission line and the horizontal plane. Therefore, it can be obtained that the relationship between the ratio of the first electric field strength and the second electric field strength determined according to the first electric field strength and the second electric field strength, the first angle, and the second angle and the difference between the first angle and the second angle is a tangent function relationship:

[0078]

[0079] In addition, the control system calculates the height of the drone relative to the transmission line corresponding to the difference between the first angle and the second angle based on the trigonometric function relationship between the horizontal distance between the drone and the transmission line in the preset safety distance and the difference between the first angle and the second angle. When the second angle increases, the height of the drone relative to the transmission line will increase accordingly. The control system further performs function fitting according to the tangent function relationship between the ratio and the difference between the first angle and the second angle, and the height of the corresponding drone, to determine the correlation between the ratio of the first electric field strength and the second electric field strength and the height of the drone. As shown in FIG4, when the first angle is 45°, a curve schematic diagram of the correlation between the ratio of the first electric field strength and the second electric field strength and the height of the drone is provided. According to FIG4, when the height of the drone from the horizontal plane where the power transmission line is located is close to 0, the ratio of the first electric field strength and the second electric field strength deviates from 1, and the closer the height of the drone is to 0, the faster the change. In the range where the height of the drone relative to the transmission line is about 0, the ratio of the first electric field strength and the second electric field strength changes suddenly. According to this change, it can be judged whether the drone and the transmission line are located on the same horizontal plane, that is, the height of the drone relative to the transmission line is 0. Therefore, according to the curve, the corresponding ratio range of the first electric field strength and the second electric field strength when the height of the drone relative to the transmission line is 0, that is, the preset electric field ratio range, can be obtained. For example, according to the curve changes in FIG. 4 , it can be known that the preset electric field ratio range should be set to (+∞, 1.4] and [0.7, -∞].

[0080] In this embodiment, the ratio of the first electric field strength and the second electric field strength of the drone and the trigonometric function relationship between the difference between the first angle and the second angle are derived through the geometric relationship formed by the relative positions of the first electric field sensor, the second electric field sensor and the transmission line of the drone, and the functional relationship between the height of the drone relative to the transmission line in the vertical direction and the ratio of the first electric field strength and the second electric field strength is derived according to the preset safety distance of the drone, and the functional relationship is converted into a visual curve graph, and the ratio range between the first electric field strength and the second electric field strength corresponding to the range of about 0 of the height of the drone relative to the transmission line is determined according to the curve graph as the preset electric field ratio range, so that in the subsequent flight navigation process of the drone, the height of the drone relative to the transmission line can be determined according to the electric field strength signals collected by the first electric field sensor and the second electric field sensor of the drone, and the height of the drone is adjusted in time so that the drone and the transmission line are on the same horizontal plane, which is convenient for improving the inspection effect of the drone and ensuring the accuracy of the inspection route.

[0081] In an exemplary embodiment, the flight strategy includes a horizontal flight strategy and a vertical flight strategy. As shown in FIG5 , step S206 determines the flight strategy of the drone according to the synthetic electric field strength, the preset electric field strength range, the first electric field strength, the second electric field strength and the preset electric field ratio range, including:

[0082] Step S502, determining the horizontal flight strategy of the UAV according to the synthetic electric field strength and the preset electric field strength range.

[0083] Among them, the horizontal flight strategy is used to control the horizontal flight direction and horizontal flight distance of the drone.

[0084] Optionally, the control system compares the synthetic electric field strength with a preset electric field strength range, and determines the horizontal flight strategy of the UAV based on the comparison result. For example, if the comparison result is that the current synthetic electric field strength of the UAV exceeds the preset electric field strength range, the UAV is controlled to move in a direction that reduces the difference between the synthetic electric field strength and the preset electric field strength range. When the synthetic electric field strength is within the preset electric field strength range, the horizontal movement is stopped.

[0085] Step S504, determining the vertical flight strategy of the UAV according to the ratio of the first electric field strength to the second electric field strength and a preset electric field ratio range.

[0086] Among them, the vertical flight strategy is used to control the vertical flight direction and vertical flight distance of the UAV.

[0087] Optionally, the control system compares the ratio of the first electric field strength and the second electric field strength, and a preset electric field ratio range, and determines the vertical flight strategy of the UAV based on the comparison result. Similarly, when the comparison result is that the ratio of the current first electric field strength and the second electric field strength of the UAV exceeds the preset electric field ratio range, the UAV is controlled to move in the direction of reducing the difference between the ratio and the preset electric field ratio range until the ratio is within the preset electric field ratio range.

[0088] In this embodiment, the horizontal flight strategy of the drone is determined by comparing the synthetic electric field of the drone with a preset electric field strength range, and the vertical flight strategy of the drone is determined by comparing the ratio of the first electric field strength to the second electric field strength of the drone with a preset electric field ratio range. The position of the drone is dynamically adjusted according to the horizontal flight strategy and the vertical flight strategy, thereby realizing accurate inspection of the transmission lines by the drone. In addition, monitoring the electric field strength can avoid improper approach of the drone to high voltage areas, reduce the risk of collision with transmission lines, and ensure the safety of the drone.

[0089] In an exemplary embodiment, as shown in FIG5 , after determining the flight strategy of the drone according to the synthetic electric field strength, the preset electric field strength range, the first electric field strength, the second electric field strength and the preset electric field ratio range, the steps of the above embodiment further include:

[0090] According to the horizontal flight strategy and the vertical flight strategy, the UAV is controlled to move horizontally and / or vertically until the synthetic electric field strength is within a preset electric field strength range and the ratio is within a preset electric field ratio range.

[0091] Optionally, the control system controls the UAV to move horizontally and / or vertically according to the horizontal flight strategy and the vertical flight strategy, and monitors the first electric field strength and the second electric field strength sent by the first electric field sensor and the second electric field sensor in real time during the movement, so as to monitor the change of the composite electric field strength and the change of the ratio of the first electric field strength to the second electric field strength. When the composite electric field strength is within the preset electric field strength range and the ratio is within the preset electric field ratio range, the control system stops controlling the UAV to move horizontally and / or vertically, indicating that the UAV is already in a state of flying at a preset safety distance.

[0092] In this embodiment, when the control system adopts the horizontal flight strategy and the vertical flight strategy to control the UAV to move horizontally and / or vertically, it needs to monitor the changes in the synthetic electric field strength of the UAV and the changes in the ratio of the first electric field strength to the second electric field strength in real time. When both are within the corresponding range, the horizontal or vertical movement of the UAV is stopped, thereby further ensuring the accuracy of the UAV inspection route and ensuring the safety of the UAV flying at a preset safe distance.

[0093] In an exemplary embodiment, step S502 determines the horizontal flight strategy of the drone according to the synthetic electric field strength and the preset electric field strength range, including:

[0094] When the composite electric field strength is greater than the upper limit of the preset electric field strength range, the horizontal flight strategy is determined to be horizontal flight away from the transmission line until the composite electric field strength is within the preset electric field strength range; when the composite electric field strength is less than the lower limit of the preset electric field strength range, the horizontal flight strategy is determined to be horizontal flight close to the transmission line until the composite electric field strength is within the preset electric field strength range.

[0095] Optionally, the relationship between the horizontal distance and the composite intensity between the UAV and the transmission line is an inverse relationship, but due to the influence of other transmission lines or towers, it is not a linear inverse relationship, and the horizontal distance decreases as the composite intensity increases. Therefore, when the composite electric field intensity is greater than the upper limit of the preset electric field intensity range, it indicates that the horizontal distance between the UAV and the transmission line is less than the preset safety distance. The control system determines the horizontal flight strategy to control the UAV to fly in a horizontal direction away from the transmission line until the composite electric field intensity is within the preset electric field intensity range. When the composite electric field intensity is less than the lower limit of the preset electric field intensity range, it indicates that the horizontal distance between the UAV and the transmission line is too large, which may affect the inspection effect. The control system determines the horizontal flight strategy to control the UAV to fly in a horizontal direction close to the transmission line until the composite electric field intensity is within the preset electric field intensity range. Preferably, the preset electric field intensity range can be set to [0.9*E max , 1.1*E max ], where E max It indicates setting the optimal value of the synthetic electric field strength according to the actual inspection needs.

[0096] In this embodiment, the specific method for determining the horizontal movement direction and movement process of the horizontal flight strategy is further explained. The horizontal movement direction of the UAV is determined by comparing the synthetic electric field strength with the upper and lower limits of the preset electric field strength range, and the time point when the UAV stops horizontal movement is determined based on the real-time synthetic electric field strength during the movement, thereby further improving the accurate navigation of the UAV.

[0097] In an exemplary embodiment, the preset electric field ratio range includes a first ratio threshold, a critical value, and a second ratio threshold, the first ratio threshold is greater than the critical value, and the critical value in step S504 is greater than the second ratio threshold. According to the ratio of the first electric field strength to the second electric field strength, and the preset electric field ratio range, the vertical flight strategy of the drone is determined, including:

[0098] When the ratio of the first electric field strength to the second electric field strength is less than the first ratio threshold and greater than the critical value, the vertical flight strategy is determined to be flying in the vertical upward direction until the ratio is greater than or equal to the first ratio threshold; when the ratio of the first electric field strength to the second electric field strength is greater than the second ratio threshold and less than the critical value, the vertical flight strategy is determined to be flying in the vertical downward direction until the ratio is less than or equal to the second ratio threshold.

[0099] Optionally, according to the relationship curve between the ratio and the height of the drone shown in FIG4, it can be seen that the first ratio threshold is 1.4, the critical value is 1, and the second ratio threshold is 0.7. When the ratio is less than 1.4 and greater than 1, the height of the drone relative to the transmission line is less than 0, indicating that the drone deviates vertically downward relative to the horizontal plane where the transmission line is located. When the ratio is greater than 0.7 and less than 1, the height of the drone relative to the transmission line is greater than 0, indicating that the drone deviates vertically upward relative to the horizontal plane where the transmission line is located. Both of these situations will affect the inspection effect of the drone and deviate from the optimal inspection route. Therefore, when the ratio of the first electric field strength to the second electric field strength is less than the first ratio threshold and greater than the critical value, the control system determines the vertical flight strategy to control the drone to fly in a vertical upward direction until the ratio is greater than or equal to the first ratio threshold; when the ratio of the first electric field strength to the second electric field strength is greater than the second ratio threshold and less than the critical value, the control system determines the vertical flight strategy to control the drone to fly in a vertical downward direction until the ratio is less than or equal to the second ratio threshold.

[0100] In this embodiment, the specific method for determining the horizontal movement direction and movement process of the vertical flight strategy is further explained. The vertical movement direction of the drone is determined by comparing the ratio of the first electric field strength and the second electric field strength with the first threshold, the critical value and the second threshold of the preset electric field ratio range. The time point when the drone stops vertical movement is determined based on the real-time ratio of the first electric field strength and the second electric field strength during the movement, which further ensures the inspection effect of the drone and ensures the movement of the drone along the inspection route, thereby improving the accurate navigation of the drone.

[0101] In an exemplary embodiment, a drone is provided, as shown in FIG6 , which provides a top view schematic diagram of the drone, including:

[0102] A first electric field sensor, a second electric field sensor, an insulating rod and a controller.

[0103] Among them, the first electric field sensor and the second electric field sensor are both connected to the controller, the first electric field sensor and the second electric field sensor are vertically arranged at one end of the insulating rod, the other end of the insulating rod is fixed on the drone, and the insulating rod is parallel to the horizontal plane.

[0104] Wherein, the controller is arranged inside the drone and is used to implement the steps of the method in any one of the above embodiments.

[0105] In an exemplary embodiment, another transmission line inspection drone navigation method is provided, which is applied to the drone in FIG6 , and includes:

[0106] Sensor settings of the drone. The drone extends forward through a lightweight insulating rod and carries two one-dimensional power frequency electric field sensors. These two sensors are perpendicularly arranged and perpendicular to the cross-section of the transmission line conductor. The sensor arranged above is defined as sensor X (the first electric field sensor), and the sensor arranged below is defined as sensor Y (the second electric field sensor).

[0107] Step 1: Set the electric field intensity detection threshold Emin of the sensor, which is 3 to 5 times the zero offset value or error value of the sensor.

[0108] Step 2: Set the off-line distance (preset safety distance) of the drone and calculate the set value of the electric field intensity Emax from this. The set value Emax should be greater than the threshold Emin.

[0109] Step 3: The drone approaches the conductor (transmission line). The electric field value of sensor X (the first electric field intensity) is Ex = E * sin(φ - α), and the electric field value of sensor Y (the second electric field intensity) is Ey = E * cos(φ - α). E represents the electric field intensity at the position of the sensor, φ represents the angle between sensor X and the horizontal plane, taking values from 0 to 90°, and α represents the angle between the sensor and the conductor in the cross-section of the conductor and the horizontal plane, taking values from -90° to 90°, which is the electric field intensity at the point where the sensor is located.

[0110] Among them, the electric field intensity is negatively correlated with the distance, but affected by the environment (other conductors and iron towers), the two are not in an inverse proportional linear relationship.

[0111] Optionally, assuming φ = 45°, when the drone flies from top to bottom, when the height of the drone from the horizontal plane where the conductor is located approaches 0, Ex / Ey deviates from 1, and the closer it is to 0, the faster the change. Within a small distance above and below the height of 0, Ex / Ey undergoes a mutation. According to this trend, it can be judged whether the drone is level with the conductor. This result has nothing to do with the electric field intensity.

[0112] Step 4: If the combined electric field intensity E of sensor X and sensor Y is greater than the detection threshold Emin, the drone flies vertically upward or downward at a constant speed. During the process of flying vertically upward or downward at a constant speed, if E is greater than Emax, the drone flies horizontally away from the conductor until E < Emax, and then continues to fly vertically upward or downward at a constant speed.

[0113] Step 5: On the premise of ensuring that E is less than Emax, calculate Ex / Ey. When Ex / Ey is greater than 1.4 or less than 0.7, the drone stops flying vertically upward or downward.

[0114] Step 6: While keeping Ex / Ey greater than 1.4 or less than 0.7, the drone flies towards the conductor so that E is within the range of [0.9 * Emax, 1.1 * Emax].

[0115] Step 7, while keeping Ex / Ey greater than 1.4 or less than 0.7, and E in [0.9*Emax, 1.1*Emax], the UAV flies along the wire direction. During the flight, if Ex / Ey is less than 1.4 or greater than 0.7, adjust it up and down slightly to make Ex / Ey greater than 1.4 or less than 0.7; if E is not in [0.9*Emax, 1.1*Emax], adjust it horizontally slightly to make E in [0.9*Emax, 1.1*Emax].

[0116] In this embodiment, the method provided in this embodiment is not affected by magnetic fields and satellite signals, and can fly normally when the current of the high-voltage line changes or the satellite signal is poor. The UAV and the wire are accurately positioned by electric field measurement, up to the centimeter level. Ensure that the UAV maintains a safe distance from the wire during the inspection process to avoid the risk of electric shock. Automatically control the flight, reduce manual operations, and improve the efficiency and accuracy of the inspection. It can adapt to different weather and terrain conditions to ensure the smooth completion of the inspection task.

[0117] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0118] Based on the same inventive concept, the embodiment of the present application also provides a transmission line inspection drone navigation device for implementing the transmission line inspection drone navigation method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more transmission line inspection drone navigation device embodiments provided below can refer to the limitations of the transmission line inspection drone navigation method above, and will not be repeated here.

[0119] In an exemplary embodiment, as shown in FIG. 7 , a transmission line inspection drone navigation device 700 is provided, comprising: a data acquisition module 702 , an electric field determination module 704 , and a flight control module 706 , wherein:

[0120] The data acquisition module 702 is used to acquire the first electric field strength collected by the first electric field sensor and the second electric field strength collected by the second electric field sensor of the drone during the inspection process; the first electric field sensor and the second electric field sensor are arranged perpendicular to each other.

[0121] The electric field determination module 704 is used to determine the composite electric field strength at the location of the drone based on the first electric field strength and the second electric field strength.

[0122] The flight control module 706 is used to determine the flight strategy of the drone according to the synthetic electric field strength, the preset electric field strength range, the first electric field strength, the second electric field strength and the preset electric field ratio range, so as to control the drone to fly at a preset safety distance.

[0123] Furthermore, in one embodiment, the transmission line inspection UAV navigation device 700 also includes a range determination module, which is used to obtain a first angle between the first electric field sensor and the horizontal plane and a second angle between the transmission line and the horizontal plane; determine the ratio of the first electric field strength and the second electric field strength, the difference between the first angle and the second angle, and the correlation between the ratio and the difference based on the first electric field strength and the second electric field strength, the first angle and the second angle; obtain the height of the UAV corresponding to the difference based on the relationship between the preset safety distance and the difference; determine the correlation between the ratio and the height of the UAV based on the correlation between the ratio and the difference and the corresponding height of the UAV; determine the preset electric field ratio range based on the correlation between the ratio and the height of the UAV.

[0124] Furthermore, in one embodiment, the flight control module 706 is also used to determine the horizontal flight strategy of the UAV based on the synthetic electric field strength and the preset electric field strength range; and to determine the vertical flight strategy of the UAV based on the ratio of the first electric field strength to the second electric field strength and the preset electric field ratio range.

[0125] Furthermore, in one embodiment, the flight control module 706 is also used to control the UAV to move horizontally and / or vertically according to the horizontal flight strategy and the vertical flight strategy until the synthetic electric field strength is within a preset electric field strength range and the ratio is within a preset electric field ratio range.

[0126] Furthermore, in one embodiment, the flight control module 706 is also used to determine the horizontal flight strategy as horizontal flight away from the transmission line until the composite electric field strength is within the preset electric field strength range when the composite electric field strength is greater than the upper limit of the preset electric field strength range; and to determine the horizontal flight strategy as horizontal flight close to the transmission line until the composite electric field strength is within the preset electric field strength range when the composite electric field strength is less than the lower limit of the preset electric field strength range.

[0127] Furthermore, in one embodiment, the flight control module 706 is also used to, when the ratio of the first electric field strength to the second electric field strength is less than a first proportional threshold value and greater than or equal to a critical value, determine the vertical flight strategy to be flight in a vertical upward direction until the ratio is greater than or equal to the first proportional threshold value; and when the ratio of the first electric field strength to the second electric field strength is greater than a second proportional threshold value and less than or equal to the critical value, determine the vertical flight strategy to be flight in a vertical downward direction until the ratio is less than or equal to the second proportional threshold value.

[0128] Each module in the above-mentioned transmission line inspection drone navigation device 700 can be implemented in whole or in part by software, hardware, or a combination thereof. Each of the above-mentioned modules can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to each of the above modules.

[0129] In an exemplary embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be shown in FIG8. The computer device includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. Among them, the processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store data such as the first electric field strength, the second electric field strength, and the composite strength. The input / output interface of the computer device is used to exchange information between the processor and the external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a transmission line inspection drone navigation method is implemented.

[0130] Those skilled in the art will understand that the structure shown in FIG. 8 is merely a block diagram of a partial structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different arrangement of components.

[0131] In one embodiment, a computer device is further provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above method embodiments when executing the computer program.

[0132] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0133] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0134] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., but are not limited to this.

[0135] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0136] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the present application. It should be noted that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A transmission line inspection drone navigation method, characterized in that: The method comprises: Acquire a first electric field strength collected by a first electric field sensor and a second electric field strength collected by a second electric field sensor of the drone during an inspection process; the first electric field sensor and the second electric field sensor are arranged perpendicular to each other; Determining a composite electric field strength at a location of the UAV based on the first electric field strength and the second electric field strength; The flight strategy of the UAV is determined based on the synthetic electric field strength, the preset electric field strength range, the first electric field strength, the second electric field strength and the preset electric field ratio range to control the UAV to fly relative to the transmission line at a preset safety distance.

2. The method according to claim 1, characterized in that The preset electric field ratio range is obtained by the following method, including: Acquire a first angle between the first electric field sensor and a horizontal plane and a second angle between the power transmission line and the horizontal plane; Determine, according to the first electric field strength and the second electric field strength, the first angle and the second angle, a ratio of the first electric field strength to the second electric field strength, a difference between the first angle and the second angle, and a correlation relationship between the ratio and the difference; According to the relationship between the preset safety distance and the difference, obtaining the height of the UAV corresponding to the difference; Determine the correlation between the ratio and the height of the drone according to the correlation between the ratio and the difference and the corresponding height of the drone; A preset electric field ratio range is determined based on a correlation between the ratio and the height of the drone.

3. The method according to claim 1, characterized in that: The flight strategy includes a horizontal flight strategy and a vertical flight strategy; the flight strategy of the UAV is determined according to the synthetic electric field strength, the preset electric field strength range, the first electric field strength, the second electric field strength and the preset electric field ratio range, including: Determining a horizontal flight strategy of the UAV according to the synthetic electric field strength and the preset electric field strength range; The vertical flight strategy of the UAV is determined according to the ratio of the first electric field strength to the second electric field strength and a preset electric field ratio range.

4. The method according to claim 3, characterized in that After determining the flight strategy of the drone according to the synthetic electric field strength, the preset electric field strength range, the first electric field strength, the second electric field strength and the preset electric field ratio range, the method further includes: According to the horizontal flight strategy and the vertical flight strategy, the UAV is controlled to move horizontally and / or vertically until the synthetic electric field strength is within the preset electric field strength range and the ratio is within the preset electric field ratio range.

5. The method according to claim 3, characterized in that: The step of determining the horizontal flight strategy of the UAV according to the synthetic electric field strength and the preset electric field strength range includes: When the composite electric field strength is greater than the upper limit of the preset electric field strength range, determining the horizontal flight strategy to fly in a horizontal direction away from the power transmission line until the composite electric field strength is within the preset electric field strength range; When the composite electric field strength is less than the lower limit of the preset electric field strength range, the horizontal flight strategy is determined to be horizontal flight close to the transmission line until the composite electric field strength is within the preset electric field strength range.

6. The method according to claim 3, characterized in that The preset electric field ratio range includes a first ratio threshold, a critical value, and a second ratio threshold, the first ratio threshold is greater than the critical value, and the critical value is greater than the second ratio threshold; Determining the vertical flight strategy of the UAV according to the ratio of the first electric field strength to the second electric field strength and a preset electric field ratio range includes: When the ratio of the first electric field strength to the second electric field strength is less than the first ratio threshold and greater than the critical value, determining the vertical flight strategy to fly in a vertical upward direction until the ratio is greater than or equal to the first ratio threshold; When the ratio of the first electric field strength to the second electric field strength is greater than the second ratio threshold and less than the critical value, the vertical flight strategy is determined to be flying in a vertical downward direction until the ratio is less than or equal to the second ratio threshold.

7. A drone, characterized in that: The drone comprises: A first electric field sensor, a second electric field sensor, an insulating rod and a controller; Wherein, the first electric field sensor and the second electric field sensor are both connected to the controller, the first electric field sensor and the second electric field sensor are vertically arranged at one end of the insulating rod, the other end of the insulating rod is fixed on the drone, and the insulating rod is parallel to the horizontal plane; Wherein, the controller is arranged inside the drone, and is used to implement the steps of any one of the methods of claims 1 to 6.

8. A transmission line inspection drone navigation device, characterized in that: The device comprises: A data acquisition module, used to acquire a first electric field strength collected by a first electric field sensor and a second electric field strength collected by a second electric field sensor of the drone during an inspection; the first electric field sensor and the second electric field sensor are arranged perpendicular to each other; An electric field determination module, used to determine the composite electric field strength at the location of the UAV according to the first electric field strength and the second electric field strength; A flight control module is used to determine the flight strategy of the UAV based on the synthetic electric field strength, the preset electric field strength range, the first electric field strength, the second electric field strength and the preset electric field ratio range, so as to control the UAV to fly relative to the power transmission line at a preset safety distance.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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