Power line simulation flight path planning method based on three-dimensional reconstruction

Abstract

The invention discloses an electric power line simulation flight path planning method based on three-dimensional reconstruction. The method comprises the following steps: constructing an electric power line corridor environment model; marking a no-fly zone based on the power line corridor environment model to obtain a final power line corridor environment model; solving a static reference path according to the final electric power line corridor environment model; starting the aircraft to inspect according to the static reference path, and when the aircraft encounters an obstacle, combining feedback of the depth camera and the laser radar to update an obstacle avoidance path in real time; dynamic control logic of line-imitating flight of the aircraft is established, and the safety inspection capability of the aircraft is guaranteed in all directions; by means of accurate three-dimensional environment modeling and no-fly zone division, the scientificity and safety of initial path planning are ensured, meanwhile, the path can be rapidly adjusted according to the real-time environment, the method can be used for line routing inspection, line routing inspection under extreme weather such as severe convection and the like, and the efficiency and precision of unmanned aerial vehicle routing inspection are effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of path planning, and particularly to a power line imitation flight path planning method based on three-dimensional reconstruction. Background Art

[0002] In complex terrain environments such as mountains, canyons, and forests, the inspection of power lines is a high-risk and refined task. The traditional manual inspection method has low efficiency and high danger, while the inspection by unmanned aerial vehicle (UAV) has become an important alternative. However, due to problems such as large elevation fluctuations, dense obstacles, and uncertain dynamic environments in complex terrain, the path planning method is required to ensure both the safety and efficiency of the inspection task and to adapt to the complex and changeable actual environment.

[0003] The UAV imitation flight needs to accurately navigate within a narrow safety corridor around the power line, and at the same time avoid static obstacles such as towers and trees and sudden dynamic objects (such as bird flocks and floating objects). Traditional path planning algorithms such as A* and Dijkstra are mostly used in static environments and lack dynamic obstacle avoidance capabilities, making it difficult to meet the requirements of complex terrain and real-time adjustment. Therefore, an innovative method combining path planning and dynamic obstacle avoidance technology has become an important direction of technology research and development. Summary of the Invention

[0004] Aiming at the deficiencies of the existing technology, the present invention provides a power line imitation flight path planning method based on three-dimensional reconstruction, aiming to solve the problems in the background art.

[0005] To achieve the above object, the present invention provides the following technical solution: A power line imitation flight path planning method based on three-dimensional reconstruction, including the following steps: Step S1: Collect high-precision terrain data of the area to be inspected, three-dimensional coordinate point cloud input of the power line, and tower position data, and use three-dimensional modeling technology to construct a power line corridor environment model; Step S2: Based on the power line corridor environment model, taking the power line in the power line corridor environment model as the center, model the obstacles and divide them into flight danger zones, and mark the no-fly zones to obtain the final power line corridor environment model; Step S3: According to the final power line corridor environment model, use the A* algorithm (A-star) to solve the static reference path; Step S4: Start the aircraft to conduct inspections according to the static reference path. When the aircraft encounters an obstacle, combine the feedback of the depth camera and lidar to update the obstacle avoidance path in real time; Step S5: Establish a dynamic control logic for the UAV imitation flight, including coordinating dynamic speed control, attitude adjustment, and error compensation.

[0006] Furthermore, collect high-precision topographic data of the area to be inspected: Use a drone equipped with lidar to obtain the original surface point cloud, perform inverse distance weighting interpolation on the original surface point cloud to obtain a high-resolution digital elevation model (DEM); Based on the high-resolution DEM, use the triangulated irregular network (TIN) algorithm to generate a terrain grid model. Collect pole tower position data: According to the line drawing, use the RANSAC feature extraction algorithm to identify the center point coordinates of the pole tower base to obtain the pole tower position, construct a connection relationship between the suspension points of adjacent pole towers, and generate a parameterized pole tower layout point cloud. Collect the three-dimensional coordinate point cloud input of the power line: According to the pole tower position, extract the three-dimensional coordinates of the conductor suspension points, and based on the three-dimensional coordinates of the conductor suspension points, define a catenary model. Assume that the suspension points are in the form of fixed ends at both ends, and the conductor sag is calculated according to the catenary equation.

[0007] Furthermore, the specific process of step S2 is as follows: Define a safety corridor centered on the power line; The center line of the power line is obtained from the catenary model and calculated according to the catenary equation: ; In the formula, represents the coordinates of a certain point on the catenary; represents the coordinates of the lowest point of the catenary; represents the conductor tension and suspension parameters, which are determined by the line tension and self-weight; is the reference height; Discretize the catenary model into multiple points, and each point corresponds to the position of the line in the three-dimensional space, i.e., the power line corridor environment model; With the line center line as the axis, expand the safety distance axially , forming a tubular area, then the three-dimensional safety corridor area is expressed as: ; In the formula, represents the three-dimensional Euclidean distance; represents any point in the three-dimensional space; is an index variable used to represent each point in the discretized catenary model; represents the three-dimensional coordinates; Represent the pole tower as a cylindrical area, and calculate the no-fly zone of the pole tower according to the obtained center point coordinates of the pole tower base : ; In the formula, represents the center point coordinates of the pole tower base; represents the radius of the pole tower; represents the total height of the pole tower; Segment the vegetation point cloud through the PointNet algorithm and envelope the vegetation as a convex hull model , then the vegetation no-fly zone : ; In the formula, represents the buffer distance; represents the point to the convex hull model distance.

[0008] Furthermore, the specific process of step S3 is as follows: Step S3.1: rasterize the final power line corridor environment model, define the feasible area through distance calculation and status marking according to the three-dimensional safety corridor area and no-fly area, and obtain the three-dimensional raster map; Step S3.2: According to the three-dimensional raster map, adopt the improved three-dimensional A* algorithm to obtain the initial static path of the plan; Step S3.3: Smooth the initial static path with a Bézier curve to obtain the static reference path.

[0009] Furthermore, the specific process of obtaining the initial static path of the plan by adopting the improved three-dimensional A* algorithm according to the three-dimensional raster map is as follows: Step S3.21: Define the nodes in the three-dimensional raster map as , where represents the actual cost from the starting point of the three-dimensional raster map to the current node, represents the heuristic cost from the current node to the end point in the three-dimensional raster map; represents the total path cost of the three-dimensional raster map; Among them, the actual cost is the cumulative path length, expressed as: ; In the formula, represents the cumulative cost of the parent node; represents the three-dimensional Euclidean distance between the current node and the corresponding parent node; Among them, the heuristic cost is the estimated shortest path distance to the end point, expressed as: ; In the formula, represents the coordinates of the end point, that is, the target node, in the three-dimensional space; Step S3.22: Put the starting point into the open list OPEN; Set , represents the starting point to the starting point The actual cost is 0; represents the starting point to the end point The heuristic cost; represents the starting point to the end point The distance; Set , represents the starting point to the end point The total path cost; Empty the closed list CLOSED; Step S3.23: Take out the node with the minimum cost from the open list OPEN , represented as: ; Step S3.24: Move into the closed list CLOSED. When , terminate and backtrack the path; Step S3.25: Expand the neighborhood of the current node to obtain neighborhood nodes. For each neighborhood node : When , skip; When is better than the current node, update the parent node of ; ; Step S3.26: Repeat Step S3.21 - Step S3.25 until the target path, i.e., the shortest path from the starting point to the end point, is found or the open list OPEN is empty; Step S3.27: After searching for the end point , generate the initial static path of the plan by backtracking the path : ; In the formula, represents the th node in , represents the total number of nodes in; represents the coordinates in three-dimensional space.

[0010] Furthermore, the specific process of smoothing the initial static path with a Bézier curve to obtain the static reference path is as follows: Step S3.31: Use a third-order Bézier curve, and each curve segment is generated by passing through three adjacent nodes in : ; In the formula, represents a third-order Bézier curve; represents a parameter between 0 and 1; represents the th node in represents the th node in Step S3.32: Perform Bézier interpolation on adjacent nodes to generate a smooth path segment : ; In the formula, represents the th third-order Bézier curve segment; Step S3.33: Detect whether the smooth path segment exceeds the safety corridor or enters the no-fly zone. If so, use local correction for adjustment until the smooth path segment does not exceed the safety corridor or enter the no-fly zone, and obtain a static reference path.

[0011] Furthermore, the specific process of Step S5 is as follows: Dynamically adjust the speed of the aircraft according to the curvature of the power line; The three-dimensional curvature of the power line is expressed as: ; In the formula, represents the vector cross product, which is used to calculate the deviation of the curvature direction; represents the direction vector of the current node; represents the direction vector of the subsequent node; Dynamically adjust the aircraft speed according to the curvature : : ; In the formula, represents the maximum safe speed of the aircraft; represents the minimum safe speed of the aircraft; represents the curvature threshold; Correct the speed and attitude of the aircraft according to the real-time wind field data; Measure the wind field data in real time through the environmental sensors of the aircraft : , represents the velocity component of the wind in the axis direction, represents the velocity component of the wind in the axis direction; represents the velocity component of the wind in the axis direction; Correct the velocity and attitude of the aircraft according to real-time wind field data; The velocity of the aircraft relative to the air is: ; Adjust the attitude of the aircraft based on the reference wind speed, adjust horizontally for yaw , adjust vertically for pitch , calculate the yaw angle correction value as , and the pitch angle correction value as ; ; ; The actual attitude adjustment of the aircraft is expressed as: ; ; In the formula, represents the adjusted yaw angle; represents the static yaw angle; represents the adjusted pitch angle; represents the static pitch angle; Real-time monitor the distance deviation between the aircraft and the power line, and according to the distance deviation, use the PID control algorithm to perform real-time correction on the flight trajectory of the aircraft.

[0012] Compared with the existing technology, the present invention has the following beneficial effects: Through precise three-dimensional environmental modeling and safety corridor division, the present invention ensures the scientificity and safety of path planning, and at the same time can quickly adjust the path according to the real-time environment, improving the scheduling efficiency and adaptability, and realizing refined operation; The present invention efficiently avoids dynamic obstacles and optimizes flight energy consumption, and combines the method of static global planning and dynamic real-time adjustment to greatly improve the flexibility and efficiency of path planning; In the flight execution stage, the present invention uses multi-sensor data fusion of the global navigation satellite system GNSS and the inertial measurement unit IMU to real-time monitor flight deviation, and introduces the first error feedback PID control to optimize the flight attitude. At the same time, through wind speed matching and flight curvature dynamic adjustment logic, the flight safety in complex terrain environments is further guaranteed, the robustness of the system is improved, and path deviation is avoided. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 is the method flow chart of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0014] As Figure 1 shown, the present invention provides a technical solution: a method for planning the flight path of a power line imitation line based on three-dimensional reconstruction, including the following steps:

[0015] Step S1: Collect high-precision terrain data of the area to be inspected, three-dimensional coordinate point cloud input of the power line, and pole position data, and use three-dimensional modeling technology to construct an environmental model of the power line corridor.

[0016] Collect high-precision terrain data of the area to be inspected: Use a drone equipped with lidar to obtain the original point cloud of the ground surface, perform inverse distance weighting interpolation (IDW) on the original point cloud of the ground surface, obtain a high-resolution digital elevation model DEM, and represent it as a grid matrix , where is the elevation value of the grid point ; Based on the high-resolution digital elevation model DEM, use the irregular triangulation algorithm to generate a terrain grid model.

[0017] Collect pole position data: According to the line drawing, use the feature extraction algorithm RANSAC to identify the coordinates of the center point of the pole base, obtain the pole position, construct a connection relationship between the suspension points of adjacent poles, and generate a parameterized pole layout point cloud.

[0018] Collect three-dimensional coordinate point cloud input of the power line: According to the pole position, extract the three-dimensional coordinates of the wire suspension points, define a catenary model based on the three-dimensional coordinates of the wire suspension points, assume that the suspension points are in the form of being fixed at both ends (such as the tower heads of two poles), and calculate the wire sag according to the catenary equation.

[0019] Unify the high-precision terrain data, pole position data, and three-dimensional coordinate point cloud input of the area to be inspected into the ENU coordinate system to obtain an environmental model of the power line corridor.

[0020] Step S2: Based on the environmental model of the power line corridor, with the power line in the environmental model of the power line corridor as the center, model obstacles and divide them into flight danger areas, mark no-fly areas, and obtain the final environmental model of the power line corridor.

[0021] Define a safety corridor centered on the power line; The center line of the power line is obtained from the catenary model in S1 and obtained according to the catenary equation: ; In the formula, represents the coordinates of a certain point on the catenary; represents the coordinates of the lowest point of the catenary; represents the wire tension and suspension parameters, which are determined by the line tension and self-weight; is the reference height; represents the hyperbolic cosine function.

[0022] Discretize the catenary model into multiple points, each point corresponds to the position of the line in three-dimensional space (the power line corridor environment model).

[0023] With the center line of the line as the axis, expand the safety distance axially to form a tubular area. Power lines with different voltage levels correspond to different values, then the three-dimensional safety corridor area is expressed as: ; In the formula, represents the three-dimensional Euclidean distance; represents an arbitrary point in three-dimensional space; is an index variable used to represent each point in the discretized catenary model; represents the three-dimensional coordinates.

[0024] Represent the tower as a cylindrical area, and calculate the no-fly zone of the tower according to the coordinates of the center point of the tower base obtained in S1 : ; In the formula, represents the coordinates of the center point of the tower base; represents the radius of the tower; represents the total height of the tower.

[0025] Segment the vegetation point cloud through the PointNet algorithm and envelope the vegetation into a convex hull model then the no-fly zone of the vegetation : ; In the formula, represents the buffer distance; represents the point to the convex hull model distance.

[0026] Step S3: According to the final power line corridor environment model, use the A* algorithm (A-star) to solve the static reference path.

[0027] Step S3.1: Rasterize the final power line corridor environment model. According to the three-dimensional safety corridor area and the no-fly zone, define the feasible area through distance calculation and status marking to obtain a three-dimensional raster map. The status of each raster in the three-dimensional raster map is: passable (0) or obstacle (1).

[0028] Step S3.2: According to the three-dimensional grid map, use the improved three-dimensional A* algorithm to obtain the initial planned static path.

[0029] Step S3.3: Smooth the initial static path using a Bézier curve to obtain the static reference path.

[0030] Among them, the specific process of obtaining the initial planned static path by using the improved three-dimensional A* algorithm according to the three-dimensional grid map is as follows: Step S3.21: Define the nodes in the three-dimensional grid map as , where represents the actual cost from the starting point of the three-dimensional grid map to the current node, represents the heuristic cost from the current node to the end point in the three-dimensional grid map; represents the total path cost of the three-dimensional grid map.

[0031] Among them, the actual cost is the cumulative path length, expressed as: ; In the formula, represents the cumulative cost of the parent node; represents the three-dimensional Euclidean distance between the current node and its parent node.

[0032] Among them, the heuristic cost is the estimated shortest path distance (straight-line distance) to the end point, expressed as: ; In the formula, represents the coordinates of the end point (target node) in three-dimensional space.

[0033] Step S3.22: Put the starting point into the open list (OPEN); Set , represents the actual cost from the starting point to the starting point , which is 0; represents the heuristic cost from the starting point to the end point (target node) ; represents the distance from the starting point to the end point (target node) .

[0034] Set , represents the total path cost from the starting point to the end point (target node) .

[0035] Empty the CLOSED list. The CLOSED list is used to store the processed nodes to prevent duplicate processing.

[0036] Step S3.23: Take out the node with the minimum cost from the OPEN list , expressed as:

[0037] .

[0038] Step S3.24: Move into the CLOSED list. When , terminate and backtrack the path.

[0039] Step S3.25: Expand the 26 neighborhoods of the current node to obtain neighborhood nodes. For each neighborhood node :

[0040] When , skip it.

[0041] When is better than the current node, update the parent node of .

[0042] Step S3.26: Repeat steps S3.21 - S3.25 until the target path (the shortest path from the start point to the end point) is found or the OPEN list is empty.

[0043] Step S3.27: When the end point (the target node) is searched, generate the initial static path through backtracking the path : ; In the formula, represents the th node in , represents the total number of nodes in ; represents the coordinates of

[0044] in the three - dimensional space. Step S3.31: Use the third - order Bézier curve. Each section of the curve is generated by three adjacent nodes in ; In the formula, Represents a third-order Bézier curve; Represents a parameter between 0 and 1; Represents The th node in; Represents The th node in.

[0045] Step S3.32: Perform Bézier interpolation on adjacent nodes to generate a smooth path segment : ; In the formula, Represents the th third-order Bézier curve segment.

[0046] Step S3.33: Detect whether the smooth path segment exceeds the safety corridor or enters the no-fly zone. If so, use local correction for adjustment until the smooth path segment does not exceed the safety corridor or enter the no-fly zone, and obtain a static reference path.

[0047] Step S4: Start the aircraft to perform inspection according to the static reference path. When the aircraft encounters an obstacle, combine the feedback of the depth camera and lidar to update the obstacle avoidance path in real time.

[0048] Step S5: Establish a dynamic control logic for the aircraft to fly along the line, including coordinating dynamic speed control, attitude adjustment and error compensation, to comprehensively ensure the safety inspection ability of the aircraft.

[0049] Dynamically adjust the speed of the aircraft according to the curvature of the power line to ensure flight safety at the turning of the line.

[0050] The three-dimensional curvature of the power line Is expressed as: ; In the formula, Represents the vector cross product, which is used to calculate the deviation of the curvature direction; Represents the direction vector of the current node; Represents the direction vector of the subsequent node.

[0051] Dynamically adjust the aircraft speed according to the curvature : : ; In the formula, Represents the maximum safe speed of the aircraft; Represents the minimum safe speed of the aircraft; Represents the curvature threshold.

[0052] Correct the speed and attitude of the aircraft according to the real-time wind field data.

[0053] Measure the wind field data in real time through the environmental sensors of the aircraft (such as anemometers or meteorological data) : , Represents the velocity component of the wind in the axis direction, Represents the velocity component of the wind in the axis direction; Represents the velocity component of the wind in the axis direction.

[0054] Correct the speed and attitude of the aircraft according to the real-time wind field data to maintain flight stability.

[0055] The speed of the aircraft relative to the air is: .

[0056] Adjust the attitude of the aircraft with reference to the wind speed, adjust horizontally for yaw , adjust vertically for pitch , calculate the yaw angle correction value as , and the pitch angle correction value as . ; .

[0057] The actual attitude adjustment of the aircraft is expressed as: ; ; In the formula, Represents the adjusted yaw angle, that is, the yaw attitude of the aircraft during actual flight; Represents the static yaw angle, that is, the yaw direction of the aircraft without the influence of wind speed or other disturbances; Represents the adjusted pitch angle, that is, the pitch attitude of the aircraft during actual flight; Represents the static pitch angle, that is, the elevation angle of the aircraft without the influence of wind speed or other disturbances.

[0058] Use the data of the Global Navigation Satellite System (GNSS) and the Inertial Measurement Unit (IMU) to monitor the distance deviation between the aircraft and the power line in real time. GNSS provides position data, and IMU provides acceleration and attitude data.

[0059] According to the distance deviation between the aircraft and the power line, use the PID control algorithm to correct the flight trajectory of the aircraft in real time.

[0060] Although embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A method for planning a flight path for a power line based on three-dimensional reconstruction, characterized in that: The steps include: Step S1: collect high-precision terrain data of the area to be inspected, three-dimensional coordinate point cloud input of the power line, and tower location data, and use three-dimensional modeling technology to build a power line corridor environment model; Step S2: Based on the power line corridor environment model, with the power line in the power line corridor environment model as the center, the obstacles are modeled and divided into flight hazard zones, and the no-fly zones are marked to obtain the final power line corridor environment model; Step S3: according to the final power line corridor environment model, use the A* algorithm A-star to solve the static reference path; Step S4: Start the aircraft to inspect according to the static reference path. When the aircraft encounters an obstacle, the obstacle avoidance path is updated in real time based on the feedback from the depth camera and lidar. Step S5: Establishing the dynamic control logic of the aircraft's linear flight, including coordinating dynamic speed control, attitude adjustment and error compensation.

2. The method for planning a power line flight path based on three-dimensional reconstruction according to claim 1, characterized in that: Collect high-precision terrain data of the area to be inspected: Use a drone equipped with a laser radar to obtain the original surface point cloud, perform inverse distance weighted interpolation on the original surface point cloud, and obtain a high-resolution digital elevation model DEM; Based on the high-resolution digital elevation model DEM, use the irregular triangulated network algorithm to generate a terrain grid model; Collect tower location data: According to the line drawing, the coordinates of the center point of the tower base are identified through the feature extraction algorithm RANSAC to obtain the tower position, establish a connection relationship between the suspension points of adjacent towers, and generate a parameterized tower layout point cloud; Collect the three-dimensional coordinate point cloud input of the power line: According to the position of the tower, extract the three-dimensional coordinates of the conductor suspension point, define the catenary model based on the three-dimensional coordinates of the conductor suspension point, assume that the suspension point is fixed at both ends, and calculate the conductor sag according to the catenary equation.

3. The method for planning a power line flight path based on three-dimensional reconstruction according to claim 2, characterized in that: The specific process of step S2 is: Define a safe corridor centered on the power line; the center line of the power line is derived from the catenary model and obtained according to the catenary equation: ； In the formula, Represents the coordinates of a point on the catenary; Indicates the lowest point of the catenary coordinate; Indicates the tension and suspension parameters of the conductor, which are determined by the line tension and deadweight; is the base height; The catenary model is discretized into multiple points, each point The position of the corresponding line in the three-dimensional space, i.e., the power line corridor environment model; Take the line centerline as the axis and expand the safety distance axially , forming a tubular area, then the three-dimensional safety corridor area It is expressed as: ； In the formula, represents the three-dimensional Euclidean distance; Represents any point in three-dimensional space; is an index variable used to represent each point in the discretized catenary model; Represents three-dimensional coordinates; Represent the tower as a cylindrical area, and calculate the tower no-fly zone based on the coordinates of the tower base center point. : ； In the formula, Indicates the coordinates of the center point of the tower base; Indicates the radius of the tower; Indicates the total height of the tower; The vegetation point cloud is segmented by the PointNet algorithm, and the vegetation is encapsulated as a convex hull model. , then the vegetation no-fly zone : ； In the formula, Indicates the buffer distance; Indicate point To the convex hull model distance.

4. The method for planning a power line flight path based on three-dimensional reconstruction according to claim 3 is characterized in that: The specific process of step S3 is: Step S3.1: rasterize the final power line corridor environment model, define the feasible area through distance calculation and status marking according to the three-dimensional safety corridor area and the no-fly zone, and obtain a three-dimensional grid map; Step S3.2: According to the three-dimensional grid map, an improved three-dimensional A* algorithm is used to obtain the initial static path of the plan; Step S3.3: Use the Bézier curve to smooth the initial static path to obtain a static reference path.

5. The method for planning a power line flight path based on three-dimensional reconstruction according to claim 4 is characterized in that: According to the three-dimensional grid map, the specific process of obtaining the initial static path of planning by using the improved three-dimensional A* algorithm is as follows: Step S3.21: Define the nodes in the three-dimensional grid map as ,in, Represents the actual cost from the starting point of the three-dimensional grid map to the current node. Represents the heuristic cost from the current node to the end point in the three-dimensional grid map; Represents the total path cost of the three-dimensional grid map; The actual cost is the cumulative path length, expressed as: ； In the formula, Represents the cumulative cost of the parent node; Represents the three-dimensional Euclidean distance between the current node and the corresponding parent node; Among them, the heuristic cost To estimate the shortest path distance to the end point, it is expressed as: ； In the formula, Indicates the coordinates of the end point, i.e. the target node, in three-dimensional space; Step S3.22: Set the starting point Put it into the open list OPEN; set up , Indicates the starting point To the starting point The actual cost is 0; Indicates the starting point To the end The heuristic cost of Indicates the starting point To the end distance; set up , Indicates the starting point To the end The total path cost of Set the close list CLOSED to empty; Step S3.23: Take the node with the minimum cost from the open list OPEN , expressed as: ； Step S3.24: Move to the closed list CLOSED, when , then terminate and backtrack; Step S3.25: Expand the neighborhood of the current node to obtain neighboring nodes. For each neighboring node : when ,jump over; when Better than the current node, update The parent node of ; Step S3.26: Repeat steps S3.21 to S3.25 until the target path, i.e. the shortest path from the start point to the end point, is found or the open list OPEN is empty; Step S3.27: When the search reaches the end point After that, the initial static path is generated by backtracking the path : ； In the formula, express The nodes, , express The total number of nodes; express Coordinates in three-dimensional space.

6. The method for planning a power line flight path based on three-dimensional reconstruction according to claim 5, characterized in that: The specific process of using the Bézier curve to smooth the initial static path and obtain the static reference path is as follows: Step S3.31: Use a third-order Bézier curve, where each segment of the curve passes through The three adjacent nodes are generated: ； In the formula, represents a third-order Bézier curve; Represents a parameter between 0 and 1; express The nodes; express The nodes; Step S3.32: Perform Bézier interpolation on adjacent nodes to generate smooth path segments : ； In the formula, Indicates Segment third-order Bézier curve; Step S3.33: Detect smooth path segments Is it beyond the safety corridor or entering the no-fly zone? If yes, use local correction to adjust until the path segment is smooth. Do not exceed the safety corridor or enter the no-fly zone to obtain a static reference path.

7. The method for planning a power line flight path based on three-dimensional reconstruction according to claim 6, characterized in that: The specific process of step S5 is: Dynamically adjust the speed of the aircraft based on the curvature of the power lines; Three-dimensional curvature of power lines It is expressed as: ； In the formula, Represents the vector cross product, which is used to calculate the deviation in the curvature direction; Represents the direction vector of the current node; Represents the direction vector of the subsequent node; According to the curvature Dynamically adjust aircraft speed : ； In the formula, Indicates the maximum safe speed of the aircraft; Indicates the minimum safe speed of the aircraft; represents the curvature threshold; Correct the speed and attitude of the aircraft according to real-time wind field data; Real-time measurement of wind field data through aircraft environmental sensors : , Indicates that the wind The velocity component in the axial direction, Indicates that the wind The velocity component in the axial direction; Indicates that the wind The velocity component in the axial direction; Correct the speed and attitude of the aircraft based on real-time wind field data; The speed of the aircraft relative to the air is: ; Adjust the aircraft attitude based on wind speed, and adjust horizontally to yaw , vertical adjustment to pitch , calculate the yaw angle correction value , the pitch angle correction value is ; ； ； The actual attitude adjustment of the aircraft is expressed as: ； ； In the formula, Indicates the adjusted yaw angle; represents the static yaw angle; Indicates the adjusted pitch angle; Indicates the static pitch angle; The distance deviation between the aircraft and the power line is monitored in real time, and the PID control algorithm is used to correct the flight trajectory of the aircraft in real time according to the distance deviation.

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