A high-voltage transmission line electric detection positioning method based on an unmanned aerial vehicle sensing array

Abstract

The application provides a high-voltage transmission line electric test positioning method based on a UAV sensing array, relates to the technical field of electric power detection, and solves the multiple limitations of the existing electric test positioning process. The method comprises the following steps: designing a cross beam and connecting the cross beam below a UAV, and configuring MEMS electric field sensing modules at four end points of the cross beam; operating the UAV to fly to a position corresponding to a preset safe distance of a transmission line, and acquiring an initial electric field value corresponding to the position; adjusting the attitude of the UAV based on the initial electric field value, and acquiring an induced electric field value output by the MEMS electric field sensing module at the moment; calculating the distance from a 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; combining the electric field measurement value at the moment and the corresponding standard data of the transmission line, performing electric test distance measurement judgment, and analyzing the live line condition of the transmission line. The application is a non-contact and high-precision electric test positioning scheme, and improves the maintenance efficiency and application reliability.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of power detection, in particular to a high-voltage transmission line electric field detection and positioning method based on a UAV sensor array. BACKGROUND

[0002] In the power system, high-voltage transmission lines play a crucial role, and their operating state is directly related to the safety and stability of the power grid. As an important part of daily maintenance and fault repair, electric field detection and positioning of transmission lines require efficient, accurate, and safe technical means. However, traditional manual contact measurement methods require operators to approach high-voltage lines for work, although a series of safety precautions can reduce the risk of electric shock to some extent, operators still face challenges such as exposure to high-voltage electric fields and narrow spaces, increasing the risk of operation. In addition, as the voltage level increases, the length of the insulation part also increases, which not only makes the electric field detector less portable, but also greatly increases the difficulty of operation.

[0003] The unmanned aerial vehicle electric field detection method is introduced as a non-contact measurement method to address the above problems. This method uses infrared ranging technology to achieve electric field detection 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 harsh weather conditions, the reliability of ranging and positioning will decrease significantly. In addition, in order to improve measurement accuracy, infrared ranging data is usually combined 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 UAV platforms.

[0004] In view of the above, although the existing technical solutions have solved the problem of manual contact measurement to some extent, there are still many limitations in practical application. In order to meet the needs of modern power systems for safety and efficiency, a more advanced, reliable, and easy-to-implement technical solution is needed to overcome the shortcomings of existing technology and ensure efficient electric field detection and accurate positioning of high-voltage transmission lines in most application scenarios. SUMMARY

[0005] The purpose of the present invention is to solve the limitations of existing high-voltage transmission line electrical testing and positioning processes, such as insufficient operational safety, limited measurement accuracy, low equipment integration, poor adaptability, and low efficiency. Therefore, a high-voltage transmission line electrical testing and positioning method based on an unmanned aerial vehicle sensor array is proposed. The present invention uses a cross-beam MEMS electric field sensor array mounted on an unmanned aerial vehicle and an array-type electric field measurement method to form a non-contact, high-precision electrical testing and positioning solution. It can achieve efficient and accurate electrical testing 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 (UAV) sensor array comprises 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 endpoints of the cross beam;

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

[0011] S4. Based on the initial electric field value, adjust 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 current electric field measurement value and the corresponding standard data of the transmission line, conduct electrical distance measurement and judgment, analyze the live status of the transmission line, and complete 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 beam arms that cross at their respective midpoints, and the intersection position is the intersection point.

[0015] Preferably, 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 coincide 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 connected.

[0016] Furthermore, in step S2, the MEMS electric field sensing module includes a sensing module A, a sensing module B, a sensing module C and a sensing module D; the sensing module A is configured at the end point of the cross beam corresponding to the front of the drone, the sensing module B is configured at the end point of the cross beam corresponding to the rear of the drone, the sensing module C is configured at the end point of the cross beam corresponding to the left of the drone, and the sensing module D 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 at 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 measurement longitudinal axis, and the transverse beam CD is the measurement 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 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. The front of the drone is facing the power transmission line, and 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 high-voltage transmission line electrical detection and positioning. This solution can accurately calculate the distance and elevation angle between the drone and the transmission line, ensuring 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 achieved, thus avoiding the need for additional ranging modules and greatly improving the system's integration and stability.

[0021] By implementing the method presented in this invention, drone platforms can more efficiently complete the task of testing and locating high-voltage transmission lines. By eliminating reliance on traditional infrared ranging technology, they are less sensitive to external environmental factors such as weather, temperature, and light changes, enhancing reliability in complex terrain or harsh climates. Furthermore, by simplifying the structural design, the device's weight is reduced, and energy consumption is lowered, effectively extending the drone's flight time and enhancing its stability and operational flexibility in practical applications.

[0022] This method also significantly reduces safety risks during operation and maintenance. By eliminating the need for direct human contact with high-voltage power lines, worker safety is greatly protected. Furthermore, the high-precision sensor measurements enable drones to accurately acquire required data while maintaining a safe distance, further ensuring operational safety. This not only improves work efficiency but also ensures the accuracy of data collection, providing more reliable technical support for routine maintenance and troubleshooting of power systems. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 Schematic diagram of the overall process of the method of the present invention;

[0024] Figure 2 Schematic diagram of the electrical testing and positioning operation of a UAV in the method of the present invention;

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

[0026] Figure 4 Schematic diagram of the measurement principle of 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] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings herein 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 as claimed, but rather merely represents selected embodiments of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort shall fall within the scope of protection of the present invention.

[0031] Example 1

[0032] A high-voltage transmission line electrical detection 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 endpoints of the cross beam;

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

[0036] S4. Based on the initial electric field value, adjust 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 current electric field measurement value and the corresponding standard data of the transmission line, conduct electrical distance measurement and judgment, analyze the live status of the transmission line, and complete electrical positioning.

[0039] The core of this embodiment lies in the use of a drone-mounted cross-beam with MEMS electric field sensing modules distributed at each of the four endpoints to achieve non-contact, precise electrical testing and efficient positioning of power transmission lines. The electric field measurements at the four endpoints are arranged in an array. Combining the module outputs with the array's geometric parameters, the distance and elevation angle between the drone and the power transmission line are calculated, thereby determining the line's spatial position and energized state, achieving the primary 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 in combination 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 the operation and maintenance of power grids. When used, it is only necessary to operate the drone to fly and obtain monitoring data to make a judgment, providing 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 provides a detailed introduction to each step in the method.

[0043] In step S1, an evenly spaced cross-beam structure, or cross beam, is designed, with the drone's center of mass as the intersection point. The cross beam consists of two mutually perpendicular, equal-length arms intersecting at their respective midpoints, with the intersection point being the intersection point. Simultaneously, a landing gear is added beneath the drone. Once the cross beam is attached, the center of mass of the cross beam and the center of mass of the drone with the landing gear added coincide in vertical projection. The center of mass of the entire drone assembly with the cross beam attached is offset downward compared to the center of mass of the drone assembly without the cross beam attached. These features minimize the adverse effects of the cross beam, equipped with a sensor array, on the drone's flight stability.

[0044] Specifically, see here Figure 3 As shown in the figure, the UAV includes a fuselage 1, a rotor 2 and a landing gear 4; the rotor 2 is located above the fuselage 1 and is 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 gear 4 on both sides, and the intersection of the cross beam 5 is located in the receiving cavity and is 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 beam arms of the cross beam 5 corresponding to the landing gear 4 on both sides respectively pass through the hollow structure of the landing gear 4 on both sides.

[0045] Compared to a bare drone, the center of mass of the drone in this embodiment, with the landing gear 4 and cross beam 5 added, shifts downward, moving away from the rotor 2 when the horizontal offset is zero. This improves the stability of the entire device, reducing the interference of flight vibration on electric field measurements and enhancing the device's wind resistance.

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

[0047] In this embodiment, the two arms of the cross beam 5 are defined as longitudinal beam AB and transverse beam CD, respectively, based on the MEMS electric field sensing modules installed at each end of the cross beam 5. The longitudinal beam AB serves as the longitudinal measurement axis, while the transverse beam CD serves as the transverse measurement axis. These MEMS electric field sensing modules measure the electric field of the transmission line based on the charge induction principle. The modules themselves utilize micron-level sensitive chips in a vacuum-encapsulated structure, achieving well-shielded measurement results within a limited volume and weight.

[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 a position corresponding to a preset safe distance from the power transmission line, after its fuselage 1 is stably hovering, the position of the drone is determined based on 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's 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. 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 provides a detailed description of an implementation method of step S4 as follows:

[0051] After the UAV attitude adjustment 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 for 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 uniform charge density, the field strength at point P and the distance d from that point to the line have the following inverse proportional relationship:

[0055]

[0056] Where k is the proportionality coefficient, and the value of k does not change with the position of point P. Therefore, for multiple measuring points with equal distances to the transmission line, the electric field strength values ​​at each measuring point are equal. When the front of the drone is facing the transmission line, the induced electric field values ​​of sensor modules C and D are equal, and the transverse beam CD is parallel to the transmission line. Therefore, the following formula is obtained:

[0057] L C =L D

[0058] Where, L C is the vertical distance from the endpoint of the C sensor module to the transmission line, L D is the vertical distance from the endpoint of the D sensor module to the transmission line. 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, the intersection of the longitudinal beam AB and the transverse beam CD is the geometric center of the cross beam. 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. Therefore, the induced electric field values ​​of the transmission line at the C and D sensor modules and the intersection are also equal, as shown in the following formula:

[0059] L C =L D =L

[0060] E C =E D =E

[0061] Where, 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 completing the determination of the induced electric field value E and the distance L.

[0062] The process of step S5 is specifically based on the midline theorem and the cosine theorem, which can be found in Figure 4 To illustrate 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 cross beams 5 to the transmission line and the elevation angle θ at sensor module B 7. After adjusting the drone's orientation in step S4, the longitudinal beams AB are perpendicular to the transmission line, the transverse beams CD are parallel to the line, and the triangle formed by the longitudinal beams AB and the closest point on the line lies within the plumb line. This ensures that the elevation angle θ, representing the drone's corresponding measurement point relative to the transmission line, is correct.

[0063] Therefore, in step S5, according to the centerline theorem, the distances between the sensor modules A and B on the longitudinal beam AB and the power transmission line are related by the following equation:

[0064]

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

[0066]

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

[0068]

[0069] Then, the vertical distance between the endpoints of sensor module A and sensor module B on the longitudinal beam AB and the transmission line is 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 distances between each sensor module and the transmission line, the elevation angle θ of sensor module B, and the distance R from any sensor module to the cross-beam intersection, determined during the cross-beam design, the relative position of the drone and the transmission line is determined. Combined with the standard data for the transmission line and the drone's fixed-height ranging capabilities, the transmission line's electrical detection and positioning can be completed. For example, by flying the drone and detecting the presence of an induced electric field at the corresponding location, it is possible to intuitively determine whether the transmission line is currently energized. For transmission lines with abnormally energized conditions, the electric field strength at the corresponding location can be determined by combining the corresponding standard data for the transmission line. Based on the measured induced electric field, the distance and elevation angle between the drone and the transmission line at that time can be calculated to determine whether the transmission line is abnormally energized.

[0076] In conclusion, the application is a multi-point measurement method based on geometric and physical models, and the application of multi-point sensing data can ensure the adjustment of the attitude of the unmanned aerial vehicle and the accuracy of the measurement results. After the application of the method of the application to the operation and maintenance of the power grid, through the popularization and application of the non-contact electricity testing positioning, the operation efficiency of the power grid is improved, the maintenance cost is reduced, and the intelligent level of the power system is improved.

Claims

1. A high-voltage transmission line electrical detection and positioning method based on a drone 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 end points of the cross beam, including sensing module A, sensing module B, sensing module C, and sensing module D; The A sensor module is configured at the end point of the cross beam corresponding to the front of the UAV, the B sensor module is configured at the end point of the cross beam corresponding to the rear of the UAV, the C sensor module is configured at the end point of the cross beam corresponding to the left of the UAV, and the D sensor module is configured at the end point of the cross beam corresponding to the right of the UAV; S3. When performing electrical positioning, operate the drone to fly to a position corresponding to a preset safe distance from the power transmission line, and obtain the initial electric field value corresponding to the position of the MEMS electric field sensor module; S4. Based on the initial electric field value, adjust the attitude of the UAV at the position: by comparing the initial electric field values ​​of the C sensor module and the D sensor module on the beam CD, adjust the orientation of the UAV so that the induced electric field values ​​of the C sensor module and the D sensor module are equal after adjustment. The front of the UAV is facing the power transmission line. At this time, the direction of the beam AB and the direction of the power transmission line are perpendicular to each other on the horizontal projection plane. 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 current electric field measurement value and the corresponding standard data of the transmission line, conduct an electrical distance measurement judgment, analyze the energized state of the transmission line, and complete the electrical location. In step S5, after the UAV attitude adjustment is completed, the induced electric field value at the intersection of the cross beam is determined. , and the vertical distance from the intersection to the transmission line , as the basis for distance calculation; 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 value of any point outside the transmission line based on the idea of ​​differential integration. Field strength for: Where, is the line charge density, is the dielectric constant of vacuum, for The vertical distance from the point to the transmission line; for a transmission line with equal charge density, the point Field strength and distance from the point to the line There is an inverse proportional relationship as follows: Where, is the proportionality coefficient, and Value does not follow the point The electric field strength of the UAV changes with the change of its position; 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 UAV 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: Where, is the vertical distance from the endpoint of the C sensor module to the transmission line, is the vertical distance from the endpoint of the D sensor module to the transmission line; based on the idea of ​​equivalent substitution, the induced electric field value at the intersection of the cross beam is determined , that is, when the UAV is adjusted to face the transmission line, the intersection of the longitudinal beam AB and the transverse beam CD is the geometric center of the cross beam. The vertical distance from the cross beam to the transmission line is the same as the vertical distance from the C and D sensor modules to the transmission line. Therefore, the induced electric field values ​​of the transmission line at the C and D sensor modules and the intersection are also equal, as shown in the following formula: Where, is the induced electric field value obtained by the C sensor module. The induced electric field value obtained by the D sensor module is thus completed. and distance of confirmation.

2. The high-voltage transmission line electrical testing and positioning method according to claim 1, 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 intersection point. The cross beam is composed of two mutually perpendicular equal-length beam arms that intersect at their respective midpoints, and the intersection point is the intersection point.

3. The high-voltage transmission line electrical testing and positioning method according to claim 2, characterized in that: 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 coincide in vertical projection; the center of mass of the entire 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 connected.

4. The high-voltage transmission line electrical testing and positioning method according to claim 3, characterized in that: The drone includes a fuselage, a rotor and a landing gear; the rotor is located above the fuselage and is 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 drone and in the middle of the landing gear 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 gear on both sides respectively pass through the hollow structure of the landing gear on both sides.

5. The high-voltage transmission line electrical testing and positioning method according to claim 1, characterized in that: According to the MEMS electric field sensing modules configured at 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 measurement longitudinal axis, and the transverse beam CD is the measurement transverse axis.

6. The high-voltage transmission line electrical testing and positioning method according to claim 1, 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 based on the obtained image data.

7. The high-voltage transmission line electrical testing and positioning method according to claim 1, 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 power transmission line are related by the following equation: Where, is the vertical distance from the endpoint of sensor module A to the transmission line, is the vertical distance from the endpoint of sensor module B to the transmission line; is the distance from any sensor module to the intersection of the cross beams, 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 that point to the line, the above relationship is equivalent to the following formula: Where, is the induced electric field value obtained by sensor module A. The induced electric field value obtained by the B sensor module; the proportional coefficient Written as: Then, the vertical distance between the endpoints of sensor module A and sensor module B on the longitudinal beam AB and the transmission line is calculated as follows: According to the cosine theorem, the elevation angle of the transmission line to the B sensor module is Satisfies the following relationship: Substitution and Then, find the elevation angle for: Therefore, the vertical distance between each sensor module and the transmission line, the elevation angle of sensor module B , and the distance from any sensor module to the cross beam intersection determined during the cross beam design On the basis of the common data, the relative position of the UAV and the transmission line is determined, and the power testing and positioning of the transmission line is completed by combining the corresponding standard data of the transmission line and the height-fixing and ranging functions of the UAV.

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