Post-operation fixed-point landing method and device of power patrol unmanned aerial vehicle and medium

Abstract

The invention discloses a fixed-point landing method and device after operation of an electric power patrol unmanned aerial vehicle and a medium. The method is applied to a fixed-point landing system. The method comprises the following steps: acquiring three-dimensional coordinates and attitude information of an unmanned aerial vehicle in an electric power inspection area through a positioning subsystem; when the unmanned aerial vehicle flies to a preset specific range from a preset landing point, the horizontal direction offset of the unmanned aerial vehicle and the distance and the vertical height difference between the unmanned aerial vehicle and the preset landing point are obtained through a landing guide subsystem; when the unmanned aerial vehicle begins to land, the rotating speed adjustment amount and the expected flight attitude variation of each rotor motor of the unmanned aerial vehicle are calculated according to the information obtained in the above steps through the intelligent control subsystem, so that the unmanned aerial vehicle is controlled to approach a preset landing point; and in the landing process of the unmanned aerial vehicle, the landing guide information acquisition and landing control steps are repeated until the unmanned aerial vehicle lands to a preset landing point. By means of the method, the landing precision and safety of the multi-rotor unmanned aerial vehicle in the complex environment of electric power facilities are remarkably improved.

Description

Technical Field

[0001] The present invention relates to the technical field of electric power inspection, and in particular to a method, equipment and medium for a fixed-point landing of an electric power inspection drone after operation. Background Art

[0002] In the operation and maintenance of power systems, multi-rotor drones have significant advantages in patrolling power lines, but the landing process after the operation faces many challenges. Unfavorable factors such as strong electromagnetic interference, complex airflows, and changeable terrain around power facilities make it difficult for traditional landing methods to meet the needs of high-precision fixed-point landing. For example, electromagnetic interference can easily cause the navigation signal of drones to be inaccurate, resulting in positioning deviations; airflow fluctuations cause the landing trajectory to deviate; inaccurate landing may cause the drone to collide with power equipment, resulting in safety accidents and equipment damage. Therefore, it is urgent to develop efficient and reliable fixed-point landing systems and methods. Summary of the invention

[0003] The present invention provides a method, equipment and medium for a power patrol UAV to land at a fixed point after operation, and is used to provide an efficient and reliable fixed-point landing system and method.

[0004] In view of this, the first aspect of the present application provides a method for a power inspection UAV to land at a fixed point after operation, which is applied to a fixed-point landing system, wherein the fixed-point landing system includes: a positioning subsystem, a landing guidance subsystem, and an intelligent control subsystem;

[0005] Fixed-point methods include:

[0006] S1. Obtaining the three-dimensional coordinates and attitude information of the UAV in the power patrol area through the positioning subsystem;

[0007] S2. When the UAV flies to a preset specific range from a predetermined landing point, the landing guidance subsystem obtains the horizontal offset of the UAV, as well as the distance and vertical height difference from the preset landing point;

[0008] S3. When the UAV starts to land, the intelligent control subsystem calculates the speed adjustment amount of each rotor motor of the UAV and the expected flight attitude change amount according to the three-dimensional coordinates, the attitude information, the horizontal direction offset, the distance and the vertical height difference, so as to control the UAV to approach the preset landing point;

[0009] S4. During the landing process of the drone, steps S2-S3 are repeated, and the three-dimensional coordinates and the posture information are updated in real time until the drone lands at a preset landing point.

[0010] Optionally, the positioning subsystem includes: a plurality of base stations arranged in the power patrol area, a mobile station positioning module carried by the UAV, and a data processing center.

[0011] Optionally, step S1 includes:

[0012] When the drone completes its patrol operation, it starts the landing procedure;

[0013] The base station receives satellite signals, determines the base station's own position coordinates based on the satellite signals, obtains satellite observation data, and transmits it externally;

[0014] Receiving satellite signals through a mobile station positioning module, performing differential transmission calculation according to the satellite signals and the received satellite observation data to obtain differential data;

[0015] The data processing center calculates the three-dimensional coordinates and posture information of the UAV in the power patrol area based on the differential data.

[0016] Optionally, the landing guidance subsystem includes: an optical guidance marker and a radio frequency signal transmitting device arranged within a preset range of a preset landing point, and an image recognition module and a radio frequency receiver carried by the UAV;

[0017] The optical guide mark is formed of a high-brightness, high-directional LED light source array in a specific shape and is equipped with a power module for power supply;

[0018] The image recognition module includes: an optical sensor and an image recognition unit, which is provided with an image recognition algorithm based on edge detection and geometric shape matching;

[0019] The radio frequency signal transmitting device comprises: a radio frequency signal transmitter, a power amplifier and an antenna;

[0020] The radio frequency receiver is provided with a preprocessing circuit, and the preprocessing circuit includes: a filtering circuit and a demodulation circuit;

[0021] The radio frequency signal transmitter is used to generate a corresponding radio frequency signal according to the coordinates and height information of the preset landing point, and the radio frequency signal includes a specific frequency and a coding format; after the power amplifier amplifies the radio frequency signal, the radio frequency signal is directionally radiated and propagated into the air through the antenna;

[0022] The radio frequency receiver is used to receive and pre-process the radio frequency signal to obtain the coordinates of the preset landing point.

[0023] Optionally, step S2 includes:

[0024] When the UAV flies to a preset specific range from a predetermined landing point, the optical guide mark is identified by the optical sensor, and when the optical guide mark is identified, the horizontal direction offset of the UAV is calculated according to the identified image;

[0025] At the same time, the RF receiver receives the RF signal transmitted by the RF signal transmitter and pre-processes the coordinates of the preset landing point, thereby calculating the distance and vertical height difference between the UAV and the preset landing point according to the coordinates of the preset landing point.

[0026] Optionally, the intelligent control subsystem includes: a flight controller and a model predictive control algorithm module.

[0027] Optionally, step S3 includes:

[0028] When the drone starts to land, the three-dimensional coordinates, the attitude information, the horizontal offset, the distance and the vertical height difference are received by the flight controller and sent to the model predictive control algorithm module;

[0029] The model predictive control algorithm module, based on the UAV dynamics model, calculates the speed adjustment amount of each rotor motor and the expected flight attitude change amount of the UAV according to the three-dimensional coordinates, the attitude information, the horizontal offset, the distance and the vertical height difference, and sends them to the flight controller, so that the flight controller controls the UAV to make it approach a preset landing point.

[0030] Optionally, step S4 includes:

[0031] During the landing process of the drone, steps S2-S3 are repeated, and the three-dimensional coordinates and the attitude information are updated in real time;

[0032] The horizontal distance and vertical height between the UAV and the preset landing point are obtained according to the real-time three-dimensional coordinates and the posture information. When the horizontal distance and the vertical height both meet the corresponding preset safety values, the UAV is controlled to land at a preset safety speed until the UAV lands at the preset landing point.

[0033] A second aspect of the present invention provides a device for landing an electric patrol drone after operation, the device comprising a processor and a memory:

[0034] The memory is used to store program code and transmit the program code to the processor;

[0035] The processor is used to execute the steps of the method for fixed-point landing of the power inspection drone after operation as described in the first aspect above according to the instructions in the program code.

[0036] A third aspect of the present invention provides a computer-readable storage medium, which is used to store program codes, and the program codes are used to execute the method for fixed-point landing of the power patrol drone after operation as described in the first aspect above.

[0037] It can be seen from the above technical solutions that the present invention has the following advantages:

[0038] The present invention provides a method for fixed-point landing of a power inspection UAV after operation, which can significantly improve the landing accuracy and safety of multi-rotor UAVs in the complex environment of power facilities, effectively reduce the risk of equipment damage and safety accidents caused by landing errors, and greatly improve the efficiency and reliability of power inspection work. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0040] Figure 1 A flowchart of a method for a power inspection UAV to land at a fixed point after operation is provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0041] In order to make the purpose, features and advantages of the present invention more obvious and easy to understand, 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 embodiments described below are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0042] See also Figure 1 , a method for fixed-point landing of a power patrol UAV after operation provided in an embodiment of the present invention is applied to a fixed-point landing system, and the fixed-point landing system includes: a positioning subsystem, a landing guidance subsystem and an intelligent control subsystem;

[0043] Fixed-point methods include:

[0044] Step 101: Obtain the three-dimensional coordinates and attitude information of the UAV in the power inspection area through the positioning subsystem.

[0045] Step 102: When the UAV flies to a preset specific range from the predetermined landing point, the landing guidance subsystem obtains the horizontal offset of the UAV, as well as the distance and vertical height difference from the preset landing point.

[0046] Step 103, when the UAV starts to land, the intelligent control subsystem calculates the speed adjustment of each rotor motor of the UAV and the expected flight attitude change according to the three-dimensional coordinates, attitude information, horizontal offset, distance and vertical height difference, so as to control the UAV to approach the preset landing point.

[0047] Step 104: During the landing process of the drone, steps 102 to 103 are repeated, and the three-dimensional coordinates and attitude information are updated in real time until the drone lands at the preset landing point.

[0048] In one embodiment, the positioning subsystem includes: a plurality of base stations arranged in the power inspection area, a mobile station positioning module mounted on a drone, and a data processing center.

[0049] It should be noted that the base station is composed of multiple base stations distributed in the power inspection area. Each base station is equipped with an advanced multi-star positioning receiver (such as GPS, Beidou, Galileo multi-mode receiver), which accurately receives satellite signals and determines its own position coordinates to obtain satellite observation data, and transmits the base station location information and satellite observation data to the outside through a high-speed data transmission network (such as 5G or microwave dedicated link).

[0050] Mobile station positioning module: The multi-rotor drone is equipped with a mobile station positioning module. After receiving multi-star positioning signals, it performs differential operations with satellite observation data and adopts carrier phase differential (RTK) technology. The positioning accuracy can reach centimeters.

[0051] In the data processing center, the differential data is processed in real time with the help of professional positioning solution software, and the precise three-dimensional coordinates (longitude λ, latitude φ, altitude h) and attitude information (pitch angle) of the drone are calculated according to specific formulas. Yaw angle , Roll Angle ).

[0052] ;

[0053] ;

[0054] ;

[0055] ;

[0056] ;

[0057] ;

[0058] : Base station coordinates.

[0059] : Coordinate increment obtained by rtk solution.

[0060] : The accelerometer measures the component of acceleration in the body coordinate system.

[0061] : The angular velocity measured by the gyroscope in the body coordinate system.

[0062] In one embodiment, the landing guidance subsystem includes: an optical guidance marker and a radio frequency signal transmitting device arranged within a preset range of a preset landing point, and an image recognition module and a radio frequency receiver carried by the drone;

[0063] Optical guide signs are formed of a high-brightness, high-directional LED light source array in a specific shape and are powered by a power module;

[0064] The image recognition module includes: an optical sensor and an image recognition unit, which is provided with an image recognition algorithm based on edge detection and geometric shape matching;

[0065] The radio frequency signal transmitting device comprises: a radio frequency signal transmitter, a power amplifier and an antenna;

[0066] The radio frequency receiver is provided with a pre-processing circuit, which includes: a filtering circuit and a demodulation circuit;

[0067] The radio frequency signal transmitter is used to generate a corresponding radio frequency signal according to the coordinates and height information of the preset landing point, and the radio frequency signal includes a specific frequency and coding format; the power amplifier amplifies the radio frequency signal and then transmits it to the air through the antenna for directionally radiated transmission;

[0068] The radio frequency receiver is used to receive and pre-process the radio frequency signal to obtain the coordinates of the preset landing point.

[0069] It should be noted that the optical guide sign is placed near the scheduled landing point of the power tower. It consists of a high-brightness, highly directional LED light source array in a specific shape (such as a cross or circle), and is equipped with an internal power module to ensure stable light emission when the drone lands.

[0070] Image recognition module: The drone is equipped with an optical sensor and an image recognition unit. When the drone approaches the landing point, the optical sensor captures the optical guidance mark image, and the image recognition unit uses an image recognition algorithm based on edge detection and geometric shape matching to analyze the deviation between the center position of the mark in the image and the optical axis of the drone camera, and obtains the horizontal offset of the drone ( , ).

[0071] Radio frequency signal transmitting and receiving device:

[0072] Transmitter principle and composition: The RF signal transmitter is located near the predetermined landing point and is mainly composed of RF signal generator, power amplifier, antenna and other components. The RF signal generator generates a corresponding RF signal based on the precise coordinates and altitude information of the preset landing point. The signal contains a specific frequency and coding format to distinguish it from other environmental signals. The power amplifier amplifies the RF signal to enhance its transmission distance and signal strength, ensuring that the drone can be reliably received within a certain range. The antenna is responsible for radiating the amplified RF signal into the air. The use of directional antennas can concentrate the signal on the airspace where the drone may appear, thereby improving the signal transmission efficiency.

[0073] Receiver principle and workflow: After receiving the RF signal, the RF receiver on the drone first filters the signal through the filter circuit to remove clutter and interference signals, and only retains the target RF signal. Then, the signal is demodulated by the demodulation circuit, and the landing point coordinates ( ) and other information. Finally, the distance to the landing point is calculated based on the distance formula between two points in space. and vertical height difference , providing key data support for the landing control of the UAV.

[0074] In one embodiment, the intelligent control subsystem includes: a flight controller and a model predictive control algorithm module.

[0075] It should be noted that the flight controller: with a high-performance flight controller as the core, integrates a powerful microprocessor and rich sensor interfaces, and receives the three-dimensional coordinates and attitude information of the positioning subsystem and the guidance information of the landing guidance subsystem.

[0076] MPC algorithm module: The intelligent control subsystem has a built-in intelligent control algorithm module based on model predictive control (MPC). The MPC algorithm makes predictions based on the UAV dynamics model, and its discrete state space model is expressed as: , (in is the state vector, is the control input vector, A, B, C are the system matrices, is the process noise, for measuring noise).

[0077] By solving the optimization problem: (Q, R are weight matrices, is the terminal weight matrix, To control the sequence, is the prediction of the state at time k + 1 based on the information at time k), and the speed adjustment of each rotor motor of the drone is calculated and expected flight attitude change , to achieve precise control of the UAV's flight attitude (pitch, yaw, roll) and flight trajectory, and guide it to land smoothly at the predetermined landing point.

[0078] In one embodiment, step 101 includes:

[0079] When the drone completes its patrol operation, it starts the landing procedure;

[0080] The base station receives satellite signals, determines the base station's own position coordinates based on the satellite signals, obtains satellite observation data, and transmits it externally;

[0081] The satellite signal is received by the mobile station positioning module, and differential transmission calculation is performed according to the satellite signal and the received satellite observation data to obtain differential data;

[0082] The data processing center calculates the three-dimensional coordinates and attitude information of the UAV in the power inspection area based on the differential data.

[0083] It should be noted that after the multi-rotor drone completes the power inspection operation, it starts the fixed-point landing procedure. The base station of the high-precision positioning subsystem continuously transmits satellite observation data, and the mobile station on the drone receives the satellite signal and performs differential transmission with the satellite observation data. After the data processing center receives the differential data, it calculates the precise three-dimensional coordinates of the drone according to the RTK positioning formula ( ) and posture information ( ).

[0084] In one embodiment, step 102 includes:

[0085] When the UAV flies to a preset specific range from the predetermined landing point, the optical guidance mark is identified by the optical sensor. When the optical guidance mark is identified, the horizontal direction offset of the UAV is calculated according to the identified image;

[0086] At the same time, the RF signal emitted by the RF signal transmitter is received by the RF receiver and pre-processed to obtain the coordinates of the preset landing point, thereby calculating the distance and vertical height difference between the UAV and the preset landing point according to the coordinates of the preset landing point.

[0087] It should be noted that when the drone flies to a specific range (such as 50 meters) from the scheduled landing point, the optical guidance mark of the landing guidance subsystem enters the field of view of the drone optical sensor. The drone image recognition system quickly captures the mark image and calculates the horizontal offset ( ). Almost at the same time, the RF signal emitted by the RF signal transmitter is received by the drone, and the coordinates of the landing point are analyzed ( ), and calculate the distance to the landing point according to the spatial distance formula and vertical height difference , providing key data support for the landing control of the UAV.

[0088] In one embodiment, step 103 includes:

[0089] When the drone starts to land, the flight controller receives the three-dimensional coordinates, attitude information, horizontal offset, distance and vertical height difference and sends them to the model predictive control algorithm module;

[0090] The model predictive control algorithm module is based on the UAV dynamics model. It calculates the speed adjustment of each rotor motor and the expected flight attitude change of the UAV according to the three-dimensional coordinates, attitude information, horizontal offset, distance and vertical height difference, and sends them to the flight controller, so that the flight controller controls the UAV to approach the preset landing point.

[0091] It should be noted that the intelligent control subsystem uses the MPC control algorithm to calculate the speed adjustment of each rotor motor of the drone based on the acquired three-dimensional coordinates, attitude information, offset, distance and height difference information. The expected flight attitude change The flight controller sends control signals to each rotor motor based on the calculation results to adjust the UAV's flight attitude and speed so that it approaches the landing point.

[0092] In one embodiment, step 104 includes:

[0093] During the landing process of the drone, steps 102-103 are repeated, and the three-dimensional coordinates and attitude information are updated in real time;

[0094] The horizontal distance and vertical height between the drone and the preset landing point are obtained based on the real-time three-dimensional coordinates and attitude information. When the horizontal distance and vertical height both meet the corresponding preset safety values, the drone is controlled to land at a preset safety speed until the drone lands at the preset landing point.

[0095] It should be noted that during the landing process, the steps of landing guidance information acquisition and landing control are repeated continuously, the position and attitude information of the drone is updated in real time, and the flight parameters are adjusted dynamically. When the horizontal distance between the drone and the landing point is less than the set threshold (such as 1 meter) and the vertical height is less than the safe landing height (such as 0.5 meters), the drone is controlled to descend at a low speed (such as 0.1 meters per second) until it lands smoothly at the predetermined landing point.

[0096] The following is an application description of the method of fixed-point landing of the power inspection drone after operation in actual power inspection operations:

[0097] 1. First, reasonably deploy the base stations of the high-precision positioning subsystem in the power inspection area to ensure that the positioning signal covers the entire area. Accurately measure and calibrate the coordinates of the base stations to ensure that the positioning data is accurate and reliable. At the same time, install the optical guidance markers and radio frequency signal transmitters of the landing guidance subsystem at the scheduled landing points of each power tower, and conduct comprehensive debugging and testing to ensure its normal and stable operation.

[0098] 2. Before the multi-rotor UAV performs the power inspection task, the intelligent control subsystem is configured with parameters, such as loading flight performance parameters, presetting MPC algorithm related parameters, etc. During the inspection process, the intelligent control subsystem monitors the flight status of the UAV in real time.

[0099] 3. After the mission is completed, the UAV will automatically perform the landing operation according to the fixed-point landing method. During the entire landing process, the ground operator can use the monitoring system to view the UAV's position, attitude, landing progress and other information in real time, and can intervene manually in time in case of abnormal situations.

[0100] The method for fixed-point landing of a power inspection UAV after operation provided by the present invention can significantly improve the landing accuracy and safety of multi-rotor UAVs in the complex environment of power facilities, effectively reduce the risk of equipment damage and safety accidents caused by landing errors, and greatly improve the efficiency and reliability of power inspection work.

[0101] Furthermore, an embodiment of the present invention also provides a device for landing a power patrol drone after operation, the device comprising a processor and a memory:

[0102] The memory is used to store program code and transmit the program code to the processor;

[0103] The processor is used to execute the steps of the method for fixed-point landing of the power inspection drone after operation as described in the above method embodiment according to the instructions in the program code.

[0104] Furthermore, a computer-readable storage medium is provided in an embodiment of the present invention, and the computer-readable storage medium is used to store program code, and the program code is used to execute the method for fixed-point landing of the power patrol drone after operation described in the above method embodiment.

[0105] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0106] In the several embodiments provided by the present invention, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0107] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0108] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0109] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0110] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for landing a power inspection drone after operation, characterized in that: Applied to a fixed-point landing system, the fixed-point landing system comprises: a positioning subsystem, a landing guidance subsystem and an intelligent control subsystem; Fixed-point methods include: S1. Obtaining the three-dimensional coordinates and attitude information of the UAV in the power patrol area through the positioning subsystem; S2. When the UAV flies to a preset specific range from a predetermined landing point, the landing guidance subsystem obtains the horizontal offset of the UAV, as well as the distance and vertical height difference from the preset landing point; S3. When the UAV starts to land, the intelligent control subsystem calculates the speed adjustment amount of each rotor motor of the UAV and the expected flight attitude change amount according to the three-dimensional coordinates, the attitude information, the horizontal direction offset, the distance and the vertical height difference, so as to control the UAV to approach the preset landing point; S4. During the landing process of the drone, steps S2-S3 are repeated, and the three-dimensional coordinates and the posture information are updated in real time until the drone lands at a preset landing point.

2. The method for landing a power inspection drone after operation according to claim 1 is characterized in that: The positioning subsystem includes: a plurality of base stations arranged in the power patrol area, a mobile station positioning module carried by the UAV, and a data processing center.

3. The method for landing a power inspection drone after operation according to claim 2 is characterized in that: Step S1 includes: When the drone completes its patrol operation, it starts the landing procedure; The base station receives satellite signals, determines the base station's own position coordinates based on the satellite signals, obtains satellite observation data, and transmits it externally; Receiving satellite signals through a mobile station positioning module, performing differential transmission calculation according to the satellite signals and the received satellite observation data to obtain differential data; The data processing center calculates the three-dimensional coordinates and posture information of the UAV in the power patrol area based on the differential data.

4. The method for landing a power inspection drone after operation according to claim 1 is characterized in that: The landing guidance subsystem includes: an optical guidance marker and a radio frequency signal transmitting device arranged within a preset range of a preset landing point, and an image recognition module and a radio frequency receiver carried by the UAV; The optical guide mark is formed of a high-brightness, high-directional LED light source array in a specific shape and is equipped with a power module for power supply; The image recognition module includes: an optical sensor and an image recognition unit, which is provided with an image recognition algorithm based on edge detection and geometric shape matching; The radio frequency signal transmitting device comprises: a radio frequency signal transmitter, a power amplifier and an antenna; The radio frequency receiver is provided with a preprocessing circuit, and the preprocessing circuit includes: a filtering circuit and a demodulation circuit; The radio frequency signal transmitter is used to generate a corresponding radio frequency signal according to the coordinates and height information of the preset landing point, and the radio frequency signal includes a specific frequency and a coding format; after the power amplifier amplifies the radio frequency signal, the radio frequency signal is directionally radiated and propagated into the air through the antenna; The radio frequency receiver is used to receive and pre-process the radio frequency signal to obtain the coordinates of the preset landing point.

5. The method for landing a power inspection drone after operation according to claim 4 is characterized in that: Step S2 comprises: When the UAV flies to a preset specific range from a predetermined landing point, the optical guide mark is identified by the optical sensor, and when the optical guide mark is identified, the horizontal direction offset of the UAV is calculated according to the identified image; At the same time, the RF receiver receives the RF signal transmitted by the RF signal transmitter and pre-processes the coordinates of the preset landing point, thereby calculating the distance and vertical height difference between the UAV and the preset landing point according to the coordinates of the preset landing point.

6. The method for landing a power inspection drone after operation according to claim 1 is characterized in that: The intelligent control subsystem includes: a flight controller and a model predictive control algorithm module.

7. The method for landing a power inspection drone after operation according to claim 6 is characterized in that: Step S3 includes: When the drone starts to land, the three-dimensional coordinates, the attitude information, the horizontal offset, the distance and the vertical height difference are received by the flight controller and sent to the model predictive control algorithm module; The model predictive control algorithm module, based on the UAV dynamics model, calculates the speed adjustment amount of each rotor motor and the expected flight attitude change amount of the UAV according to the three-dimensional coordinates, the attitude information, the horizontal offset, the distance and the vertical height difference, and sends them to the flight controller, so that the flight controller controls the UAV to make it approach a preset landing point.

8. The method for landing a power inspection drone after operation according to claim 1 is characterized in that: Step S4 comprises: During the landing process of the drone, steps S2-S3 are repeated, and the three-dimensional coordinates and the attitude information are updated in real time; The horizontal distance and vertical height between the UAV and the preset landing point are obtained according to the real-time three-dimensional coordinates and the posture information. When the horizontal distance and the vertical height both meet the corresponding preset safety values, the UAV is controlled to land at a preset safety speed until the UAV lands at the preset landing point.

9. A fixed-point landing device for electric power inspection drones after operation, characterized in that: The device comprises a processor and a memory: The memory is used to store program code and transmit the program code to the processor; The processor is used to execute the method for fixed-point landing of the power patrol drone after operation as described in any one of claims 1-8 according to the instructions in the program code.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium is used to store program code, and the program code is used to execute the method for fixed-point landing of the power patrol drone after operation as described in any one of claims 1-8.

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