High-voltage transmission line electricity verification positioning method based on unmanned aerial vehicle sensing array

Abstract

The invention provides a high-voltage transmission line electricity testing positioning method based on an unmanned aerial vehicle sensing array, relates to the technical field of electric power detection, and solves the problem of various limitations in the existing electricity testing positioning process. The method comprises the following steps: designing a cross beam, connecting the cross beam to the lower part of the unmanned aerial vehicle, and configuring MEMS electric field sensing modules at four end points of the cross beam; operating the unmanned aerial vehicle to fly to a position corresponding to a preset safety distance of the power transmission line, and obtaining a corresponding initial electric field value; adjusting the attitude of the unmanned aerial vehicle based on the initial electric field value, and obtaining an induced electric field value output by the MEMS electric field sensing module at the moment; calculating the distance from the measuring point corresponding to the unmanned aerial vehicle to the power transmission line and the elevation angle of the measuring point corresponding to the unmanned aerial vehicle relative to the power transmission line; and combining the electric field measurement value at the moment and standard data corresponding to the power transmission line to carry out electricity verification and distance measurement judgment and analyze the live-line condition of the power transmission line. According to the invention, a non-contact and high-precision electricity testing positioning scheme is provided, and the maintenance efficiency and the application reliability are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of electric power detection, and in particular to a method for detecting and locating electric power of a high-voltage transmission line based on an unmanned aerial vehicle sensor array. Background Art

[0002] In the power system, high-voltage transmission lines play a vital role, and their operating status is directly related to the safety and stability of the power grid. As an important part of daily maintenance and fault repair, the electrical testing and positioning of transmission lines put forward efficient, accurate and safe technical means. However, the traditional manual contact measurement method requires operators to approach high-voltage lines to operate. Although a series of safety protection measures can reduce the risk of electric shock to a certain extent, operators still face challenges such as exposure to high-voltage electric fields and operational difficulties caused by narrow space, which increases the risk of operation. In addition, as the voltage level increases, the length of the insulating part also increases, which not only makes the tester less portable, but also greatly increases the difficulty of operation.

[0003] The drone electrical inspection method was introduced as a non-contact measurement method to address the above problems. This method uses infrared ranging technology, which can realize the electrical inspection and positioning of transmission lines under certain conditions. However, the ranging accuracy of this technology is easily affected by external environmental factors such as weather conditions, temperature changes, and light conditions. In complex terrain or severe climatic conditions, the reliability of ranging and positioning will be significantly reduced. In addition, in order to improve the measurement accuracy, it is usually necessary to combine infrared ranging data with visible light images for calculation, which not only increases the complexity of data processing, but also increases the weight and energy consumption of the equipment due to the additional load, thereby increasing the overall complexity of the system. Therefore, this method is not conducive to the practical application of portable drone platforms.

[0004] In view of the above situation, although the existing technical solutions have solved the problem of manual contact measurement to a certain extent, there are still many limitations in practical applications. In order to meet the safety and efficiency requirements of modern power systems, a more advanced, reliable and easy-to-implement technical solution is urgently needed to overcome the defects in the existing technology and ensure efficient power testing and precise positioning of high-voltage transmission lines in most application scenarios. Summary of the invention

[0005] The purpose of the present invention is to solve the limitations of the existing high-voltage transmission line electrical inspection and positioning process, such as insufficient operational safety, limited measurement accuracy, low equipment integration, poor adaptability and low efficiency. Therefore, a high-voltage transmission line electrical inspection and positioning method based on an unmanned aerial vehicle sensor array is proposed. The present invention uses an unmanned aerial vehicle equipped with a cross-beam MEMS electric field sensor array and an array electric field measurement method to form a non-contact, high-precision electrical inspection and positioning solution, which can achieve efficient and accurate electrical inspection and positioning through attitude correction and distance elevation angle calculation; at the same time, it also improves operational safety and system integration, adapts to complex line environments, and significantly improves maintenance efficiency and application reliability.

[0006] The present invention adopts the following technical solutions to achieve the purpose:

[0007] A method for detecting and locating high-voltage transmission lines based on an unmanned aerial vehicle sensor array, the method comprising the following steps:

[0008] S1. Design a cross beam and connect it under the drone.

[0009] S2. Configure MEMS electric field sensing modules at the four ends of the cross beam;

[0010] S3. When performing electrical positioning, operate the drone to fly to a position corresponding to a preset safety distance of the power transmission line, and obtain the initial electric field value of the MEMS electric field sensor module corresponding to the position;

[0011] S4, based on the initial electric field value, adjusting the attitude of the UAV at the position;

[0012] S5. After the attitude adjustment of the UAV is completed, the induced electric field value output by the MEMS electric field sensor module is obtained; based on the induced electric field value, the distance from the corresponding measuring point of the UAV to the transmission line and the elevation angle of the corresponding measuring point of the UAV relative to the transmission line are calculated;

[0013] S6. Based on the calculated distance and elevation angle, combined with the electric field measurement value at this time and the corresponding standard data of the transmission line, conduct electrical distance measurement and judgment, analyze the energized condition of the transmission line, and complete the electrical positioning.

[0014] Specifically, in step S1, an evenly spaced cross-beam structure, i.e., a cross beam, is designed with the center of mass of the drone as the corresponding position of the intersection; the cross beam is composed of two mutually perpendicular equal-length mean beam arms crossing at their respective midpoints, and the intersection position is the intersection.

[0015] Preferably, a landing gear is added under the UAV. When the cross beam is connected under the UAV, the center of mass of the cross beam and the center of mass of the UAV after the landing gear is added coincide in the vertical projection; the center of mass of the overall UAV device after the cross beam is connected is offset downward compared to the center of mass of the UAV device without the cross beam connected.

[0016] Further, in step S2, the MEMS electric field sensor module includes an A sensor module, a B sensor module, a C sensor module and a D sensor module; the A sensor module is configured at the end point of the cross beam corresponding to the front of the drone, the B sensor module is configured at the end point of the cross beam corresponding to the rear of the drone, the C sensor module is configured at the end point of the cross beam corresponding to the left of the drone, and the D sensor module is configured at the end point of the cross beam corresponding to the right of the drone.

[0017] Specifically, according to the MEMS electric field sensing modules configured on each end of the cross beam, the two beam arms of the cross beam are defined as the longitudinal beam AB and the transverse beam CD respectively; the longitudinal beam AB is the measuring longitudinal axis, and the transverse beam CD is the measuring transverse axis.

[0018] Furthermore, in step S4, by comparing the initial electric field values ​​of the C sensor module and the D sensor module on the transverse beam CD, the orientation posture of the drone is adjusted so that the adjusted induced electric field values ​​of the C sensor module and the D sensor module are equal, and the front of the drone is facing the power transmission line. At this time, the direction of the longitudinal beam AB and the direction of the transmission line are perpendicular to each other on the horizontal projection plane.

[0019] In summary, due to the adoption of this technical solution, the beneficial effects of the present invention are as follows:

[0020] The method of the present invention provides a new solution for the electrical detection and positioning of high-voltage transmission lines. The solution can accurately calculate the distance and elevation angle between the UAV and the transmission line to ensure the accuracy of the electrical detection and positioning. Moreover, by integrating the sensor array into a single platform, the integration of the electrical detection and positioning function is realized, thereby avoiding the need for an additional ranging module and greatly improving the integration and stability of the system.

[0021] After adopting the method of the present invention, the UAV platform can complete the task of testing and locating high-voltage transmission lines more efficiently. Since it no longer relies on traditional infrared ranging technology, it reduces the sensitivity to external environmental factors such as weather, temperature and light changes, and enhances reliability in complex terrain or severe weather conditions. In addition, by simplifying the structural design, the weight of the equipment is reduced and the energy consumption is reduced, which effectively extends the flight time of the UAV and improves its stability and operational flexibility in practical applications.

[0022] The method of the present invention also significantly reduces the safety risks during operation and maintenance. Since there is no need for direct human contact with high-voltage wires, the safety of workers is greatly protected; at the same time, the high-precision measurement of the sensor enables the drone to accurately obtain the required data while maintaining a safe distance, further ensuring the safety of the operation. This not only improves work efficiency, but also ensures the accuracy of data collection, providing more reliable technical support for daily maintenance and troubleshooting of power systems. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the overall process of the method of the present invention;

[0024] Figure 2 This is a schematic diagram of the electrical positioning operation of the UAV in the method of the present invention;

[0025] Figure 3 This is a schematic diagram of the structure of the UAV electrical testing and positioning device used in the method of the present invention;

[0026] Figure 4 The figure is a schematic diagram of the measurement principle of the high voltage line electrical testing and positioning in the method of the present invention.

[0027] The meanings of the symbols in the accompanying drawings are as follows:

[0028] 1-fuselage, 2-rotor, 3-image sensor, 4-landing gear, 5-cross beam, 6-A sensor module, 7-B sensor module, 8-C sensor module, 9-D sensor module. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0030] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] Example 1

[0032] A high-voltage transmission line electrical inspection and positioning method based on drone sensor array. Figure 1 The overall process of the method is shown, which can be viewed simultaneously; the steps of the method can be summarized as follows:

[0033] S1. Design a cross beam and connect it under the drone.

[0034] S2. Configure MEMS electric field sensing modules at the four ends of the cross beam;

[0035] S3. When performing electrical positioning, operate the drone to fly to a position corresponding to a preset safety distance of the power transmission line, and obtain the initial electric field value of the MEMS electric field sensor module corresponding to the position;

[0036] S4, based on the initial electric field value, adjusting the attitude of the UAV at the position;

[0037] S5. After the attitude adjustment of the UAV is completed, the induced electric field value output by the MEMS electric field sensor module is obtained; based on the induced electric field value, the distance from the corresponding measuring point of the UAV to the transmission line and the elevation angle of the corresponding measuring point of the UAV relative to the transmission line are calculated;

[0038] S6. Based on the calculated distance and elevation angle, combined with the electric field measurement value at this time and the corresponding standard data of the transmission line, conduct electrical distance measurement and judgment, analyze the energized condition of the transmission line, and complete the electrical positioning.

[0039] The core of this embodiment is to use a drone equipped with a cross beam, and the four ends of the cross beam are equipped with MEMS electric field sensing modules to achieve non-contact accurate electrical testing and efficient positioning of the power transmission line. The electric field measurement at the four ends is arranged according to the array. Combining the output value of the module with the geometric parameters of the array, the distance and elevation angle between the drone and the power transmission line can be calculated, thereby determining the spatial position and energized state of the power transmission line, and achieving the main purpose of electrical testing and positioning.

[0040] This embodiment improves the accuracy and stability of electric field measurement by applying a multi-point sensing method combined with the adjustment of the drone's posture; the monitoring of the induced electric field value can ensure that the drone always maintains an accurate relative position with the transmission line. In addition, this embodiment forms a device dedicated to electrical testing and positioning with the cross beam and the drone. The electrical testing and positioning functions are simultaneously completed by the cross beam and its configured sensor module, realizing functional integration, thereby reducing the additional load of the drone, and improving the integration of the device and the applicability of the drone platform. The method of this embodiment can be widely used in power grid operation and maintenance. When applied, it is only necessary to operate the drone to fly and obtain monitoring data to make a judgment, which provides an efficient and safe solution for the inspection and fault detection of high-voltage transmission lines, and the intelligence level of the power system is also improved.

[0041] Example 2

[0042] Based on Example 1, this example introduces each step in the method in detail.

[0043] In step S1, an evenly spaced cross-beam structure, i.e., a cross beam, is designed with the center of mass of the drone as the corresponding position of the intersection. The cross beam is composed of two mutually perpendicular equal-length mean beam arms that cross at their respective midpoints, and the intersection position is the intersection. At the same time, a landing gear is added under the drone. When the cross beam is connected to the bottom of the drone, the center of mass of the cross beam and the center of mass of the drone after the landing gear is added are overlapped in the vertical projection. The center of mass of the overall drone device after the cross beam is connected is offset downward compared to the center of mass of the drone device without the cross beam. The above characteristics minimize the adverse effects of the cross beam after the sensor array is installed on the flight stability of the drone.

[0044] Specifically, see here Figure 3 As shown in the diagram, the UAV includes a fuselage 1, a rotor 2 and a landing gear 4; the rotor 2 is located above the fuselage 1 and connected to the fuselage 1 through an arm; the landing gear 4 is fixed to the arm through a snap-on structure and is located on both sides below the fuselage 1; a receiving cavity is formed below the fuselage 1 of the UAV and in the middle of the landing gears 4 on both sides, and the intersection of the cross beam 5 is located in the receiving cavity and connected to the bottom of the fuselage 1; the cross-shaped cross section of the cross beam 5 is parallel to the bottom surface of the landing gear 4; the cross beam 5 corresponds to the beam arms of the landing gears 4 on both sides, and respectively passes through the hollow structures of the landing gears 4 on both sides.

[0045] Compared with the bare drone, the overall center of mass of the drone with the landing gear 4 and the cross beam 5 added in this embodiment is shifted downward, and the center of mass moves away from the rotor 2 under the condition that the horizontal offset is zero. The stability of the entire device is thus improved, and the interference of flight vibration on the electric field measurement can be reduced, thereby enhancing the wind resistance of the device.

[0046] In step S2, see Figure 3 As shown in the figure, the MEMS electric field sensor module includes an A sensor module 6, a B sensor module 7, a C sensor module 8 and a D sensor module 9; the A sensor module 6 is configured at the end point of the cross beam 5 corresponding to the front of the UAV, the B sensor module 7 is configured at the end point of the cross beam 5 corresponding to the rear of the UAV, the C sensor module 8 is configured at the end point of the cross beam 5 corresponding to the left of the UAV, and the D sensor module 9 is configured at the end point of the cross beam 5 corresponding to the right of the UAV.

[0047] In this embodiment, according to the MEMS electric field sensing module configured at each end of the cross beam 5, the two beam arms of the cross beam 5 are defined as the longitudinal beam AB and the transverse beam CD respectively; the longitudinal beam AB is the longitudinal axis for measurement, and the transverse beam CD is the transverse axis for measurement. The configured MEMS electric field sensing module measures the electric field of the transmission line based on the charge induction principle, and the module itself adopts a μm-level sensitive chip under a vacuum packaging structure, so that a good shielding measurement effect can be achieved under limited volume and weight conditions.

[0048] like Figure 3 As shown, the drone is also equipped with an image sensor 3, which is used to obtain image data of the power transmission line area in front of the drone. In step S3, when the drone flies to the position corresponding to the preset safe distance of the power transmission line, after its fuselage 1 is stably hovering, the position of the drone is determined in combination with the acquired image data; here, the initial electric field value of the MEMS electric field sensor module can be combined with the drone image transmission to avoid the entire device being too close to the power transmission line. This process can be referred to in Figure 2 Status indication. Figure 2 The state shown is also the state after the drone attitude is adjusted correctly, that is, the content in the following step S4.

[0049] In step S4, by comparing the initial electric field values ​​of the C sensor module and the D sensor module on the beam CD, the orientation of the drone is adjusted so that the adjusted induced electric field values ​​of the C sensor module and the D sensor module are equal, and the front of the drone is facing the power transmission line. At this time, the direction of the beam AB and the direction of the transmission line are perpendicular to each other on the horizontal projection plane.

[0050] This embodiment introduces a detailed implementation method of step S4 as follows:

[0051] After the attitude adjustment of the UAV is completed, the induced electric field value E at the intersection of the cross beams and the vertical distance L from the intersection to the transmission line are determined as the calculation basis of step S5; the determination method is as follows:

[0052] We choose an infinitely long straight conductor as the approximate model of the high-voltage transmission line and obtain the field strength E at any point P outside the transmission line based on the idea of ​​differential integration. P for:

[0053]

[0054] Where λ is the line charge density, ε0 ​​is the vacuum dielectric constant, and d is the vertical distance from point P to the transmission line. For a transmission line with equal charge density, the field strength at point P and the distance d from the point to the line have the following inverse proportional relationship:

[0055]

[0056] In the formula, k is the proportional coefficient, and the k value does not change with the change of the position of point P; therefore, for multiple measuring points with equal distances to the transmission line, the electric field strength values ​​of each measuring point are equal; when the front of the drone is facing the transmission line, the induced electric field values ​​of the C sensor module and the D sensor module are equal, and the transverse beam CD is parallel to the transmission line, so the following formula is obtained:

[0057] L C =L D

[0058] Where, L C is the vertical distance from the end point of the C sensor module to the transmission line, L D is the vertical distance from the end point of the D sensor module to the transmission line; at this time, based on the idea of ​​equivalent substitution, the induced electric field value E at the intersection of the cross beam is determined, that is, when the UAV is adjusted to face the transmission line in front, the intersection of the longitudinal beam AB and the transverse beam CD is the geometric center point of the cross beam, and its vertical distance to the transmission line is the same as the vertical distance from the C and D sensor modules to the transmission line respectively, and the induced electric field value of the transmission line at the C and D sensor modules and the intersection is also equal, as shown in the following formula:

[0059] L C =L D =L

[0060] E C =E D =E

[0061] In the formula, E C is the induced electric field value obtained by the C sensor module, E D The D sensing module obtains the corresponding value; thereby the induced electric field value E and the distance L are determined.

[0062] The process of step S5 is specifically based on the midline theorem and the cosine theorem, which can be found in Figure 4 As an illustration of the measurement principle, the relative spatial relationship between the transmission line and the measurement array is characterized by the vertical distance L from the intersection of the cross beam 5 to the transmission line and the elevation angle θ at the B sensor module 7. After the drone's orientation is adjusted in step S4, the longitudinal beam AB is perpendicular to the transmission line, the transverse beam CD is parallel to the transmission line, and the triangle formed by the longitudinal beam AB and the closest point on the transmission line is within the plumb plane, thereby ensuring the correctness of the elevation angle θ as the corresponding measurement point of the drone relative to the transmission line.

[0063] Therefore, in step S5, according to the centerline theorem, the distances between the A sensor module and the B sensor module on the longitudinal beam AB and the transmission line are related as follows:

[0064]

[0065] Where, L A is the vertical distance from the end point of sensor module A to the transmission line, L B is the vertical distance from the endpoint of the B sensor module to the transmission line; R is the distance from any sensor module to the intersection of the cross beam, and L is the vertical distance from the intersection to the transmission line; combined with the principle that the field strength at any point is inversely proportional to the distance from the point to the line, the above relationship is equivalent to the following formula:

[0066]

[0067] In the formula, E A is the induced electric field value obtained by sensor module A, E B is obtained by the B sensor module; thus, the proportional coefficient k can be written as:

[0068]

[0069] Then, the vertical distances from the endpoints of the A sensor module and the B sensor module on the longitudinal beam AB to the transmission line are calculated as follows:

[0070]

[0071] According to the cosine theorem, the elevation angle θ of the B sensor module to the transmission line satisfies the following relationship:

[0072]

[0073] Substitute L A and L B Then, the elevation angle θ is obtained as:

[0074]

[0075] Based on the calculated vertical distance between each sensor module and the transmission line, the elevation angle θ of the B sensor module, and the distance R from any sensor module to the intersection of the cross beam determined when the cross beam is designed, the relative position of the UAV and the transmission line is determined. Combined with the corresponding standard data of the transmission line and the fixed height and ranging function of the UAV, the power test and positioning of the transmission line are completed. For example, by flying the UAV and detecting whether there is an induced electric field at the corresponding position, it can be intuitively determined whether the transmission line is currently energized; for the transmission line to be tested with an abnormal energized state, combined with the corresponding standard data of the transmission line, the electric field strength at the corresponding position can be clearly determined, and based on the corresponding measured induced electric field, the distance and elevation angle between the UAV and the transmission line at this time can be calculated to determine whether it is abnormally energized.

[0076] In summary, the present invention is a multi-point measurement method based on geometric and physical models. The application of multi-point sensing data can ensure the adjustment of the drone's attitude and the accuracy of the measurement results. After the method of the present invention is applied to the operation and maintenance of the power grid, the promotion and application of non-contact electrical inspection and positioning will help improve the efficiency of power grid operation, reduce maintenance costs, and enhance the intelligence level of the power system.

Claims

1. A high-voltage transmission line electrical inspection and positioning method based on an unmanned aerial vehicle sensor array, characterized in that: The method comprises the following steps: S1. Design a cross beam and connect it under the drone. S2. Configure MEMS electric field sensing modules at the four ends of the cross beam; S3. When performing electrical positioning, operate the drone to fly to a position corresponding to a preset safety distance of the power transmission line, and obtain the initial electric field value of the MEMS electric field sensor module corresponding to the position; S4, based on the initial electric field value, adjusting the attitude of the UAV at the position; S5. After the attitude adjustment of the UAV is completed, the induced electric field value output by the MEMS electric field sensor module is obtained; based on the induced electric field value, the distance from the corresponding measuring point of the UAV to the transmission line and the elevation angle of the corresponding measuring point of the UAV relative to the transmission line are calculated; S6. Based on the calculated distance and elevation angle, combined with the electric field measurement value at this time and the corresponding standard data of the transmission line, conduct electrical distance measurement and judgment, analyze the energized condition of the transmission line, and complete the electrical positioning.

2. The high-voltage transmission line electrical inspection and positioning method according to claim 1 is characterized in that: In step S1, an evenly spaced cross-beam structure, i.e., a cross beam, is designed with the center of mass of the drone as the corresponding position of the intersection. The cross beam is composed of two mutually perpendicular equal-length mean beam arms crossing at their respective midpoints, and the intersection position is the intersection.

3. The high-voltage transmission line electrical inspection and positioning method according to claim 2 is characterized in that: A landing gear is added under the UAV. When the cross beam is connected under the UAV, the center of mass of the cross beam and the center of mass of the UAV after the landing gear is added coincide in vertical projection; the center of mass of the overall UAV device after the cross beam is connected is offset downward compared to the center of mass of the UAV device without the cross beam connected.

4. The high-voltage transmission line electrical inspection and positioning method according to claim 3 is characterized in that: The UAV includes a fuselage, a rotor and a landing gear; the rotor is located above the fuselage and connected to the fuselage through an arm; the landing gear is fixed to the arm through a snap-on structure and is located on both sides below the fuselage; a receiving cavity is formed below the fuselage of the UAV and in the middle of the landing gears on both sides, and the intersection of the cross beam is located in the receiving cavity and connected to the bottom of the fuselage; the cross-shaped cross section of the cross beam is parallel to the bottom surface of the landing gear; the beam arms of the cross beam corresponding to the landing gears on both sides respectively pass through the hollow structures of the landing gears on both sides.

5. The high-voltage transmission line electrical inspection and positioning method according to claim 2 is characterized in that: In step S2, the MEMS electric field sensor module includes an A sensor module, a B sensor module, a C sensor module and a D sensor module; the A sensor module is configured at the end point of the cross beam corresponding to the front of the drone, the B sensor module is configured at the end point of the cross beam corresponding to the rear of the drone, the C sensor module is configured at the end point of the cross beam corresponding to the left of the drone, and the D sensor module is configured at the end point of the cross beam corresponding to the right of the drone.

6. The high-voltage transmission line electrical testing and positioning method according to claim 5 is characterized in that: According to the MEMS electric field sensing modules configured on each end of the cross beam, the two beam arms of the cross beam are defined as the longitudinal beam AB and the transverse beam CD respectively; the longitudinal beam AB is the measuring longitudinal axis, and the transverse beam CD is the measuring transverse axis.

7. The high-voltage transmission line electrical inspection and positioning method according to claim 1 is characterized in that: In step S3, the drone is also equipped with an image sensor, which is used to obtain image data of the power transmission line area in front of the drone; when the drone flies to a position corresponding to a preset safety distance of the power transmission line, the position of the drone is determined in combination with the obtained image data.

8. The high-voltage transmission line electrical inspection and positioning method according to claim 6 is characterized in that: In step S4, by comparing the initial electric field values ​​of the C sensor module and the D sensor module on the beam CD, the orientation of the drone is adjusted so that the adjusted induced electric field values ​​of the C sensor module and the D sensor module are equal, and the front of the drone is facing the power transmission line. At this time, the direction of the beam AB and the direction of the transmission line are perpendicular to each other on the horizontal projection plane.

9. The high-voltage transmission line electrical inspection and positioning method according to claim 8 is characterized in that: After the attitude adjustment of the UAV is completed, the induced electric field value E at the intersection of the cross beams and the vertical distance L from the intersection to the transmission line are determined as the calculation basis of step S5; the determination method is as follows: We choose an infinitely long straight conductor as the approximate model of the high-voltage transmission line and obtain the field strength E at any point P outside the transmission line based on the idea of ​​differential integration. P for: Where λ is the line charge density, ε0 ​​is the vacuum dielectric constant, and d is the vertical distance from point P to the transmission line. For a transmission line with equal charge density, the field strength at point P and the distance d from the point to the line have the following inverse proportional relationship: In the formula, k is the proportional coefficient, and the k value does not change with the change of the position of point P; therefore, for multiple measuring points with equal distances to the transmission line, the electric field strength values ​​of each measuring point are equal; when the front of the drone is facing the transmission line, the induced electric field values ​​of the C sensor module and the D sensor module are equal, and the transverse beam CD is parallel to the transmission line, so the following formula is obtained: L C =L D Where, L C is the vertical distance from the end point of the C sensor module to the transmission line, L D is the vertical distance from the end point of the D sensor module to the transmission line; at this time, based on the idea of ​​equivalent substitution, the induced electric field value E at the intersection of the cross beam is determined, that is, when the UAV is adjusted to face the transmission line in front, the intersection of the longitudinal beam AB and the transverse beam CD is the geometric center point of the cross beam, and its vertical distance to the transmission line is the same as the vertical distance from the C and D sensor modules to the transmission line respectively, and the induced electric field value of the transmission line at the C and D sensor modules and the intersection is also equal, as shown in the following formula: L i =L D =L AND C =And D =And In the formula, E C is the induced electric field value obtained by the C sensor module, E D The D sensing module obtains the corresponding value; thereby the induced electric field value E and the distance L are determined.

10. The high-voltage transmission line electrical inspection and positioning method according to claim 9, characterized in that: In step S5, according to the centerline theorem, the distances between the A sensor module and the B sensor module on the longitudinal beam AB and the transmission line are related as follows: Where, L A is the vertical distance from the end point of sensor module A to the transmission line, L B is the vertical distance from the endpoint of the B sensor module to the transmission line; R is the distance from any sensor module to the intersection of the cross beam, and L is the vertical distance from the intersection to the transmission line; combined with the principle that the field strength at any point is inversely proportional to the distance from the point to the line, the above relationship is equivalent to the following formula: In the formula, E A is the induced electric field value obtained by sensor module A, E B is obtained by the B sensor module; thus, the proportional coefficient k can be written as: Then, the vertical distances from the endpoints of the A sensor module and the B sensor module on the longitudinal beam AB to the transmission line are calculated as follows: According to the cosine theorem, the elevation angle θ of the B sensor module to the transmission line satisfies the following relationship: Substitute L A and L B Then, the elevation angle θ is obtained as: Therefore, based on the calculated vertical distance between each sensor module and the transmission line, the elevation angle θ of the B sensor module, and the distance R from any sensor module to the intersection of the cross beam determined during the design of the cross beam, the relative position of the UAV and the transmission line is determined. Combined with the corresponding standard data of the transmission line and the height-fixing and ranging function of the UAV, the power inspection and positioning of the transmission line is completed.

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