Power patrol unmanned aerial vehicle operation post-position landing method, device and medium

Abstract

The application discloses a power patrol unmanned aerial vehicle operation post-operation fixed-point landing method and device and a medium, wherein the method is applied to a fixed-point landing system; the method comprises the following steps: obtaining three-dimensional coordinates and attitude information of an unmanned aerial vehicle in a power patrol area through a positioning subsystem; when the unmanned aerial vehicle flies to a preset specific range from a predetermined landing point, obtaining a horizontal direction offset amount of the unmanned aerial vehicle and a distance from the predetermined landing point and a vertical height difference through a landing guiding subsystem; when the unmanned aerial vehicle starts landing, calculating a rotor motor speed adjustment amount and an expected flight attitude change amount of the unmanned aerial vehicle according to the information obtained in the above steps through an intelligent control subsystem, so that the unmanned aerial vehicle is controlled to approach the preset landing point; the landing guiding information obtaining and landing control steps are repeated in the unmanned aerial vehicle landing process until the unmanned aerial vehicle lands on the preset landing point. The method significantly improves the landing precision and safety of the multi-rotor unmanned aerial vehicle in a complex power facility environment.

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 power system operation and maintenance, multi-rotor drones offer significant advantages for power line inspections, but post-operation landing presents numerous challenges. Unfavorable factors surrounding power facilities, such as strong electromagnetic interference, complex airflow, and variable terrain, make traditional landing methods inadequate for high-precision, pinpoint landings. For example, electromagnetic interference can easily cause drone navigation signals to lose accuracy, leading to positioning errors; airflow fluctuations can cause the landing trajectory to deviate; and inaccurate landings can cause drones to collide with power equipment, resulting in safety incidents and equipment damage. Therefore, the development of efficient and reliable pinpoint landing systems and methods is urgent. Summary of the Invention

[0003] The present invention provides a method, equipment and medium for a power inspection 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 fixed-point landing of a power inspection UAV 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 posture information of the UAV in the power inspection area through the positioning subsystem;

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

[0008] S3. When the UAV begins to land, the intelligent control subsystem calculates, based on the three-dimensional coordinates, the attitude information, the horizontal offset, the distance, and the vertical height difference, a speed adjustment amount for each rotor motor of the UAV and a desired flight attitude change amount, thereby controlling the UAV to approach a preset landing point.

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

[0010] Optionally, the positioning subsystem includes: a plurality of reference 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 position coordinates of the base station itself 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 based on 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 inspection area based on the differential data.

[0016] Optionally, the landing guidance subsystem includes: an optical guidance marker and a radio frequency signal transmitter 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 sign 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 includes: a radio frequency signal transmitter, a power amplifier and an antenna;

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

[0021] The radio frequency signal transmitter is configured to generate a corresponding radio frequency signal based on the coordinates and altitude information of a preset landing point, wherein the radio frequency signal includes a specific frequency and encoding format; the power amplifier amplifies the radio frequency signal and then transmits it directionally 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 sensor recognizes the optical guide mark, and when the optical guide mark is recognized, the horizontal offset of the UAV is calculated based on the recognized image;

[0025] At the same time, the RF signal transmitted 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.

[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 UAV 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 of the UAV and the expected flight attitude change 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 approach the 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 posture information are updated in real time;

[0032] The horizontal distance and vertical height between the drone and a preset landing point are obtained based on the real-time three-dimensional coordinates and the posture information. When the horizontal distance and the vertical height both meet corresponding preset safety values, the drone is controlled to land at a preset safety speed until the drone 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 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 code, and the program code is used to execute the method for fixed-point landing of the power inspection 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 drone after operation, which can significantly improve the landing accuracy and safety of multi-rotor drones 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 following briefly introduces the drawings required for use in the embodiments or the description of the prior art. 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 any creative work.

[0040] Figure 1 A flowchart of a method for fixed-point landing of a power inspection UAV after operation provided by 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 making creative work are within the scope of protection of the present invention.

[0042] See also Figure 1 In an embodiment of the present invention, a method for fixed-point landing of a power inspection UAV after operation is provided, which is applied to a fixed-point landing system. 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 posture 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 UAV's horizontal offset, as well as the distance and vertical height difference from the preset landing point.

[0046] Step 103: When the drone begins to land, the intelligent control subsystem calculates the speed adjustment of each rotor motor of the drone and the desired flight attitude change based on the three-dimensional coordinates, attitude information, horizontal offset, distance and vertical height difference, thereby controlling the drone 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 set up in the power inspection area, a mobile station positioning module carried by a drone, and a data processing center.

[0049] It should be noted that the base station consists of multiple base stations distributed throughout the power inspection area. Each base station is equipped with an advanced multi-satellite positioning receiver (such as GPS, Beidou, and Galileo multi-mode receivers). It accurately receives satellite signals and determines its own position coordinates to obtain satellite observation data. The base station's position information and satellite observation data are then transmitted via high-speed data transmission networks (such as 5G or dedicated microwave links).

[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 the centimeter level.

[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] : reference station coordinates.

[0059] : coordinate increment obtained by rtk solution.

[0060] : accelerometer measured acceleration components in body coordinate system.

[0061] : gyro measured angular velocity components in body coordinate system.

[0062] In one embodiment, the landing guidance subsystem comprises: optical guidance marks and radio frequency signal transmitting devices arranged in the preset landing point preset range, and image recognition modules and radio frequency receivers carried on the unmanned aerial vehicle;

[0063] The optical guidance mark is composed of a high-brightness and high-directional LED light source array in a specific shape, and is equipped with a power module for power supply.

[0064] The image recognition module comprises an optical sensor and an image recognition unit, and 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 preprocessing circuit, and the preprocessing circuit comprises a filtering circuit and a demodulation circuit.

[0067] The radio frequency signal transmitter is used to generate corresponding radio frequency signals according to the coordinate and height information of the preset landing point, and the radio frequency signals contain specific frequency and coding format; the power amplifier amplifies the radio frequency signals and then radiates and propagates in the air through the antenna.

[0068] The radio frequency receiver is used to receive and preprocess the radio frequency signals to obtain the coordinates of the preset landing point.

[0069] It should be noted that the optical guidance mark: a special optical guidance mark is arranged near the power tower preset landing point, which is composed of a high-brightness and high-directional LED light source array in a specific shape (such as cross-shaped or circular), and is equipped with a power module for power supply to ensure stable light emission when the unmanned aerial vehicle 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 image of the optical guidance mark. 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 calculates the horizontal offset of the drone ( , ).

[0071] Radio frequency signal transmitting and receiving device:

[0072] Transmitter Principle and Construction: The RF signal transmitter is located near the designated landing point and primarily consists of an RF signal generator, a power amplifier, and an antenna. The RF signal generator generates an RF signal based on the precise coordinates and altitude of the designated landing point. This signal contains a specific frequency and encoding format to distinguish it from other ambient signals. The power amplifier amplifies the RF signal, enhancing its transmission range and signal strength, ensuring reliable reception within a certain range for drones. The antenna radiates the amplified RF signal into the air. Using a directional antenna allows the signal to be focused toward the airspace where the drone is likely to be located, improving 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, retaining only the target RF signal. Then, the signal is demodulated by the demodulation circuit and the landing point coordinates ( 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, is the measurement 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 UAV 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 based on the satellite signal and the received satellite observation data to obtain differential data;

[0082] The data processing center calculates the three-dimensional coordinates and posture 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 receiving the differential data, the data processing center 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 planned landing point, the optical sensor recognizes the optical guide mark. When the optical guide mark is recognized, the horizontal offset of the UAV is calculated based on the recognized image;

[0086] At the same time, the RF signal transmitted 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 UAV flies to a specific range (e.g. 50 meters) from the scheduled landing point, the optical guidance mark of the landing guidance subsystem enters the field of view of the UAV optical sensor. The UAV 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 make it 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. Change from expected flight attitude The flight controller sends control signals to each rotor motor based on the calculation results, adjusting the drone's flight attitude and speed to bring it closer to 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 the 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 acquiring landing guidance information and controlling landing are repeated continuously, updating the drone's position and attitude information in real time, and dynamically adjusting flight parameters. When the drone's horizontal distance from the landing point is less than a set threshold (e.g., 1 meter) and its vertical height is less than the safe landing height (e.g., 0.5 meters), the drone is controlled to descend at a low speed (e.g., 0.1 meters per second) until it lands smoothly at the predetermined landing point.

[0096] The following is an explanation of the method for landing the power inspection drone after operation, and its application in actual power inspection operations:

[0097] 1. First, base stations for the high-precision positioning subsystem were strategically deployed throughout the power line inspection area to ensure full coverage of the positioning signal. The base station coordinates were precisely measured and calibrated to ensure accurate and reliable positioning data. Furthermore, optical guidance markers and radio frequency signal transmitters for the landing guidance subsystem were installed at the designated landing points on each power tower, and comprehensive commissioning and testing were performed to ensure proper and stable operation.

[0098] 2. Before the multi-rotor drone performs a power inspection, its intelligent control subsystem is configured with parameters, such as loading flight performance parameters and presetting MPC algorithm-related parameters. During the inspection, the intelligent control subsystem monitors the drone's flight status 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 power inspection drones after operation provided by the present invention can significantly improve the landing accuracy and safety of multi-rotor drones 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 including 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, an embodiment of the present invention also provides a computer-readable storage medium, which is used to store program code, and the program code is used to execute the method for fixed-point landing of the power inspection drone after operation as described in the above method embodiment.

[0105] Those skilled in the art will 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 merely illustrative. For example, the division of units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed can be through some interface, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

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

[0108] In addition, the functional units in the various embodiments of the present invention may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0109] If the integrated unit is implemented as 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, or the portion that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the various embodiments of the method of the present invention. The aforementioned storage medium includes various media that can store program code, such as USB flash drives, mobile hard drives, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical disks.

[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 they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. 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 various 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 includes: a positioning subsystem, a landing guidance subsystem and an intelligent control subsystem, wherein the intelligent control subsystem includes: a flight controller and a model predictive control algorithm module; Fixed-point methods include: S1. Obtaining the three-dimensional coordinates and posture information of the UAV in the power inspection area through the positioning subsystem; S2. When the UAV flies to a preset specific range from the predetermined landing point, the landing guidance subsystem obtains the UAV's horizontal offset, as well as the distance and vertical height difference from the preset landing point; S3. When the UAV begins to land, the intelligent control subsystem calculates, based on the three-dimensional coordinates, the attitude information, the horizontal offset, the distance, and the vertical height difference, a speed adjustment amount for each rotor motor of the UAV and a desired flight attitude change amount, thereby controlling the UAV to approach a preset landing point. S4. During the landing process of the drone, repeat steps S2-S3 and update the three-dimensional coordinates and the posture information in real time until the drone lands at a preset landing point; Wherein, step S3 includes: When the UAV 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 calculates the speed adjustment value of each rotor motor and the expected flight attitude change of the drone based on the three-dimensional coordinates, the attitude information, the horizontal offset, the distance, and the vertical height difference based on the drone dynamics model, and sends the calculated value to the flight controller, so that the flight controller controls the drone to approach a preset landing point; The method of calculating the speed adjustment of each rotor motor and the desired flight attitude change of the drone based on the three-dimensional coordinates, the attitude information, the horizontal offset, the distance, and the vertical height difference based on the drone dynamics model and sending the calculations to the flight controller specifically includes: By solving the optimization problem model, the speed adjustment of each rotor motor of the UAV is calculated and expected flight attitude change ; The optimization problem model is: ； , ； Where Q and 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, is the state vector, is the control input vector, A, B and C are system matrices, is the process noise, To measure noise.

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 reference 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 position coordinates of the base station itself 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 based on 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 inspection 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 transmitter set 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 sign 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 includes: a radio frequency signal transmitter, a power amplifier and an antenna; The radio frequency receiver is provided with a pre-processing circuit, and the pre-processing circuit includes: a filtering circuit and a demodulation circuit; The radio frequency signal transmitter is configured to generate a corresponding radio frequency signal based on the coordinates and altitude information of a preset landing point, wherein the radio frequency signal includes a specific frequency and encoding format; the power amplifier amplifies the radio frequency signal and then transmits it directionally 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 includes: When the UAV flies to a preset specific range from a predetermined landing point, the optical sensor recognizes the optical guide mark, and when the optical guide mark is recognized, the horizontal offset of the UAV is calculated based on the recognized image; At the same time, the RF signal transmitted 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.

6. The method for landing a power inspection drone after operation according to claim 1 is characterized in that: Step S4 includes: 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; The horizontal distance and vertical height between the drone and a preset landing point are obtained based on the real-time three-dimensional coordinates and the posture information. When the horizontal distance and the vertical height both meet corresponding preset safety values, the drone is controlled to land at a preset safety speed until the drone lands at the preset landing point.

7. A fixed-point landing device for power inspection drones after operation, characterized in that: The device includes 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 inspection drone after operation as described in any one of claims 1 to 6 according to the instructions in the program code.

8. 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 inspection drone after operation as described in any one of claims 1-6.

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