Method, device and equipment for determining mounting position of unmanned aerial vehicle nest, medium and product

Abstract

According to the unmanned aerial vehicle nest installation position determination method, device, equipment, medium and product, the influence of indexes such as mechanical stress and electric field distribution on iron tower safety, nest safety and nest operation and maintenance convenience is comprehensively considered, the analytic hierarchy process is utilized, a plurality of preset unmanned aerial vehicle nest installation position schemes are accurately evaluated, and the unmanned aerial vehicle nest installation position determination accuracy is improved. Therefore, the nest carrying position is determined through the comprehensive quantitative analysis method, and technical guidance can be provided for determining the positions of the unmanned aerial vehicle nests carried by iron towers of different voltage grades and different tower types.

Description

Technical Field

[0001] The present application relates to the technical field of unmanned aerial vehicles, and particularly to a method, device, equipment, medium and product for determining the installation position of an unmanned aerial vehicle nest. Background Art

[0002] For a long time, traditional power line inspections mainly relied on manual periodic inspections, which were time-consuming, laborious and unsafe. There are many drawbacks to this traditional inspection method. As a new type of power facility inspection technology, unmanned aerial vehicle (UAV) inspections have been widely used in the inspections of high-voltage transmission lines, greatly improving the inspection efficiency and operation safety.

[0003] Due to the short endurance time of UAVs, it is difficult to meet the requirements of continuous inspections of high-voltage transmission lines. Therefore, a fixed UAV supply device (nest) is installed on the transmission line tower. The UAV can perform tasks such as charging, edge computing, and data communication in the nest, enabling sustainable autonomous inspections of the transmission line by UAVs and leading to a leapfrog progress in UAV inspection technology. At present, installing UAV nests on transmission lines to assist in sustainable UAV line inspections has become a research hotspot. The leapfrog line inspection technology and mobile UAV nests have been put into line inspection operations in many places across the country, obtaining a large amount of operation experience.

[0004] Currently, a qualitative method is mostly used to determine the installation position of the UAV nest, such as installing it on the crossarm. There is no general comprehensive quantitative analysis method to determine the installation position of the nest. Summary of the Invention

[0005] The present application provides a method, device, equipment, medium and product for determining the installation position of an unmanned aerial vehicle nest, which can solve one of the problems in the background art.

[0006] To achieve the above object, the present application adopts the following technical solutions:

[0007] In a first aspect, a method for determining the installation position of an unmanned aerial vehicle nest is provided, the method comprising:

[0008] According to the index analysis result, construct a scheme layer, an index layer, a criterion layer and a target layer corresponding to the analytic hierarchy process. The indexes include: tower safety impact index, nest safety impact index and nest operation and maintenance convenience impact index. The criterion layer includes: tower safety, nest safety and nest operation and maintenance convenience; and

[0009] Using the analytic hierarchy process, obtain the required scheme result.

[0010] Based on the above technical solution, comprehensively considering the impacts of indicators such as mechanical stress and electric field distribution on the safety of the iron tower, the safety of the drone nest, and the convenience of drone nest operation and maintenance, using the analytic hierarchy process, accurately evaluate multiple preset drone nest installation position schemes, and obtain the optimal drone nest installation position. In this way, by using this comprehensive quantitative analysis method to determine the drone nest installation position, it can provide technical guidance for determining the drone nest installation positions on iron towers with different voltage levels and different tower types.

[0011] In a possible design mode of the first aspect, the iron tower safety impact indicators include: mechanical stress, electric field distribution, magnetic field distribution, lightning protection performance, icing impact, and / or drone access; the drone nest safety impact indicators include: icing impact, power frequency magnetic field, lightning overvoltage, transient electromagnetic field, electrical insulation, and / or human interference; the drone nest operation and maintenance convenience impact indicators include: drone access, installation and commissioning, and / or operation and maintenance.

[0012] In a possible design mode of the first aspect, the schemes involved in the scheme layer include: tower bottom part, tower body part, and tower head part.

[0013] In a possible design mode of the first aspect, the impacts of the index layer on the criterion layer are divided into: no impact, slight impact, moderate impact, and severe impact. Those exceeding the regulation limits are regarded as moderate impact and severe impact, and those exceeding the regulation limits by 50% and above are regarded as severe impact.

[0014] In a possible design mode of the first aspect, use the expert scoring method to obtain the weights of each factor in the index layer and the criterion layer.

[0015] In a possible design mode of the first aspect, use the expert scoring method to obtain the weights of each factor in the index layer and the criterion layer, specifically including:

[0016] According to the importance of each factor, use the expert scale method to make pairwise comparisons and construct a decision matrix;

[0017] Calculate the anti-symmetric matrix corresponding to the decision matrix;

[0018] Obtain the average matrix of the anti-symmetric matrices corresponding to each factor;

[0019] Based on the average matrix, obtain the optimal transfer matrix;

[0020] Find the eigenvalues and eigenvectors of the optimal transfer matrix; and

[0021] Normalize the eigenvector to obtain the weights of each factor.

[0022] In the second aspect, a device for determining the installation position of a drone nest is provided. The device includes:

[0023] A construction unit, configured to construct a solution layer, an index layer, a criterion layer, and a target layer corresponding to the analytic hierarchy process according to the index analysis result. The indexes include: tower safety impact indexes, nest safety impact indexes, and nest operation and maintenance convenience impact indexes. The criterion layer includes: tower safety, nest safety, and nest operation and maintenance convenience; and

[0024] An acquisition unit, configured to obtain the required solution result by using the analytic hierarchy process.

[0025] In a third aspect, an electronic device is provided. The electronic device includes: a processor, and a memory coupled to the processor. The memory is configured to store a computer program. The processor is configured to execute the computer program stored in the memory, so that the electronic device executes the method according to any possible implementation manner in the first aspect.

[0026] In a fourth aspect, a computer-readable storage medium is provided, including a computer program or instruction. When the computer program or instruction runs on a computer, the computer is enabled to execute the method according to any possible implementation manner in the first aspect.

[0027] In a fifth aspect, a computer program product is provided, including: a computer program or instruction. When the computer program or instruction runs on a computer, the computer is enabled to execute the method according to any possible implementation manner in the first aspect. Description of the Drawings

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for use in the embodiments or related technical descriptions. Obviously, the drawings in the following description are only some embodiments of the embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0029] Figure 1 is a schematic diagram of the structure of the unmanned aerial vehicle nest provided by the embodiment of the present application;

[0030] Figure 2 is a simulation model of the mechanical stress of the tower provided by the embodiment of the present application

[0031] Figure 3 is a schematic diagram of the COMSOL electromagnetic field distribution simulation process provided by the embodiment of the present application;

[0032] Figure 4 is a schematic diagram of the tower type selected for simulation calculation provided by the embodiment of the present application;

[0033] Figure 5It is the influence of the carrier nest provided by the embodiment of the present application on the electric field distribution of the iron tower;

[0034] Figure 6 It is the magnetic field distribution when the nest is carried at different positions provided by the embodiment of the present application;

[0035] Figure 7 It is the electrical safety distance from the nest to the conductor provided by the embodiment of the present application;

[0036] Figure 8 It is the electric field distribution along the height of the iron tower provided by the embodiment of the present application;

[0037] Figure 9 It is the magnetic field distribution along the height of the iron tower provided by the embodiment of the present application;

[0038] Figure 10 It is the position of the nest observation point provided by the embodiment of the present application;

[0039] Figure 11 It is the peak value of the electric potential at each position within 300 ms when the top of the iron tower is struck by lightning provided by the embodiment of the present application;

[0040] Figure 12 It is the composite diagram of the magnetic field of the current-carrying dipole provided by the embodiment of the present application;

[0041] Figure 13 It is the peak value distribution of the magnetic field of the nest within 300 ms when the top of the iron tower is struck by lightning provided by the embodiment of the present application;

[0042] Figure 14 It is the touch voltage and step voltage provided by the embodiment of the present application;

[0043] Figure 15 It is the schematic diagram of the evaluation model provided by the embodiment of the present application. Detailed implementation manners

[0044] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0045] It should be noted that although the functional modules are divided in the device schematic diagram and the logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order from the module division in the device or the flowchart. The terms "first", "second", etc. in the specification, claims and the above drawings are used to distinguish similar objects and do not necessarily need to describe a specific order or sequence.

[0046] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which this application belongs. The terms used herein are for the purpose of describing the embodiments of this application only and are not intended to limit this application.

[0047] The purpose of the solution of this embodiment is to provide a method for determining the mounting position of an unmanned aerial vehicle (UAV) nest on a shared transmission line tower. To achieve the above method, the present invention provides the following technical solutions:

[0048] First, use COMSOL software to perform electromagnetic environment modeling and simulation on the tower-mounted UAV nest, simulate and calculate the influence of the nest mounting position on the electromagnetic field distribution of the tower, and the influence of the power frequency electromagnetic field of the line on the nest. Use Ansys software to establish a mechanical stress simulation model of the tower-mounted nest, simulate and calculate the influence of different mounting positions on the mechanical stress of the tower. Analyze and quantify the influence of the nest mounting position on the lightning protection performance of the nest. Analyze and quantify the influence of the nest mounting position on the installation and commissioning of the nest, the operation and maintenance of the nest, and the convenience of the UAV entering and leaving the nest. On the basis of the above analysis of influencing factors, take the nest mounting position plan as the target layer; take the tower safety, nest safety, nest operation and maintenance convenience, etc. as the criterion layer; take various influencing factors such as mechanical stress, electromagnetic field distribution, electrical insulation, lightning overvoltage, etc. as the index layer, construct an evaluation index system for the nest mounting position plan, and compare and analyze the predetermined installation plans such as the tower head cross arm, wine glass mouth, tower body, tower bottom, etc. where the nest is located to determine the installation position of the UAV nest.

[0049] I. Analysis of influencing factors for the safe and stable operation of a tower-mounted UAV nest

[0050] The nest refers to a patrol UAV supply device mounted on a tower, which has functions of charging the UAV, relaying control, and data communication. The nest is a cubic shape with dimensions of 0.78×0.8×0.9 m3, and a chamfering operation with a radius of 0.2 m is performed on it, having a smooth chamfered outer shape, as Figure 1 ; and the weight is about 60 kg. For the convenience of installation and operation and maintenance, the nest is directly fixed on the tower. This case takes the 220 kV straight tower (wine glass type tower or cat head tower) mounted with a nest as an example. According to the on-site situation, the possible mounting positions of the nest are four locations: the tower head cross arm, the tower head wine glass mouth, the tower body, and the tower bottom. Based on the "Electromagnetic Immunity of Electronic Equipment" regulation, the nest mounted on the tower should meet the requirements of the power frequency magnetic field immunity of the equipment, the wind load requirements of the tower, the electrical insulation requirements of the tower, the lightning protection requirements of electrical equipment, etc.

[0051] The influencing factors on the normal operation of the tower and the nest after the tower is mounted with a UAV nest are: the influence of the nest on the mechanical stress of the tower, the influence of the nest on the electromagnetic field distribution and electrical insulation of the tower, the influence of the power frequency electromagnetic field on the nest, and the influence of lightning and transient electromagnetic pulses on the nest.

[0052] The degree of impact on the iron tower and the drone nest can be divided into four levels: no impact, slight impact, medium impact, and severe impact. Generally, exceeding the regulation limit is taken as the medium impact threshold, and exceeding the limit by 50% is taken as the severe impact threshold. The degree of impact is quantified into four levels on a scale of 0 - 1, defined as no impact: 0 - 0.2, slight impact: 0.2 - 0.5, medium impact: 0.5 - 0.7, severe impact: 0.7 - 1.0.

[0053] 1. Analysis of the impact on the convenience of drone nest operation and maintenance

[0054] (1) Convenience of drone access for operation

[0055] The tower top is the most convenient with the least impact; the tower body is the second; the tower bottom is the most inconvenient with the greatest impact.

[0056] Installing the drone nest on the tower top is the most convenient. Considering the convenience of drone access for operation, the tower top usually has an open vertical space, which can provide sufficient space for the takeoff and landing of drones, reducing the risk of collision with surrounding obstacles; there are fewer human interference factors. The tower top is far from the ground and is less affected by interference factors (such as pedestrians, vehicles, other buildings, etc.), which is beneficial to the safe operation of drones; the view is open. The view from a high place is more open, and drones can more easily perform tasks such as reconnaissance and monitoring, and it is also convenient for navigation and positioning; the communication signal between the drone and the ground control station is less blocked, and the communication quality is better.

[0057] The tower body is the second. The space of the tower body is relatively limited, and complex takeoff and landing paths may be required, increasing the operation difficulty; compared with the tower top, the tower body is closer to the ground and may be affected by certain human interferences, such as trees and buildings. Safety: Installing on the tower body may require additional safety measures to prevent the drone from colliding with the tower body or surrounding objects.

[0058] The tower bottom is the most inconvenient. Space: The tower bottom is usually on the ground or close to the ground, with crowded space, which is not conducive to the takeoff and landing of drones; there are many interfering obstacles: there may be more obstacles near the ground, such as buildings, trees, wires, etc., which increase the difficulty and risk of drone operation; safety issues: Taking off and landing on the ground may be more easily affected by pedestrians, vehicles, etc., posing safety hazards; communication interference: There may be more radio signal interferences near the ground, affecting the communication between the drone and the control station.

[0059] (2) Convenience of drone nest operation and maintenance

[0060] From the perspective of operation and maintenance, installing the drone nest at the tower bottom is relatively convenient, the tower body is the second, and the tower top is the most inconvenient.

[0061] Tower top part: High maintenance difficulty. The top of the tower usually requires special climbing equipment and techniques, with high maintenance difficulty and cost. Safety risks: There are relatively high safety risks in high-altitude operations, such as falling, wind influence, etc. Environmental factors: The top of the tower may be affected by stronger winds, posing challenges to the parking and charging of drones. Power supply and communication issues: The power supply and communication lines at the top of the tower may be more difficult to lay out and maintain. Emergency handling: In case of emergencies, such as drone failure or the need for rapid maintenance, the drone nest at the top of the tower is not easily accessible and handled quickly.

[0062] Tower body part: Moderate maintenance difficulty. Although climbing is required for the tower body part, it is usually easier to access than the top of the tower, with moderate maintenance difficulty. Space utilization: The tower body part may be more suitable for installation in buildings or structures, enabling better utilization of the existing space. Safety: Compared with the top of the tower, the safety risks of the tower body part are lower, but safety measures still need to be taken.

[0063] Tower bottom part: Easy to maintain. The drone nest is installed at the bottom of the tower, and maintenance personnel can operate directly on the ground without climbing, reducing the difficulty and risk of maintenance. Cost-effectiveness: Ground maintenance is usually less costly than high-altitude operations and does not require special equipment or training. Safety: Conducting maintenance on the ground is usually safer than high-altitude operations, reducing the risk of falls from heights and other accidents. Power supply and communication: It is easier to access power and networks at the bottom of the tower, facilitating the charging of drones and data transmission. Environmental factors: The bottom of the tower is usually less affected by wind, which is beneficial to the stable parking and charging of drones.

[0064] 2. Mechanical stress modeling and simulation of the iron tower after installing the drone nest

[0065] Referring to the Electric Power Engineering Design Manual of State Grid Corporation, a 220 kV AC single-circuit cup-shaped strain tower with horizontal conductor arrangement is selected, with a calling height of 45 m, a total height of 49.5 m, a span of 9086 mm, and a cross-arm width of 15700 mm. The three-dimensional model of the transmission tower is established using SolidWorks three-dimensional modeling software; then, the grid division of the three-dimensional model is optimized using the Hypermesh finite element professional grid tool; finally, the mechanical model of the transmission tower is established by importing it into the Ansys finite element software.

[0066] The tower structure of the simulation model uses carbon structural steel material, with a material density of 7850, a Young's modulus of 210000, and a Poisson's ratio of 0.3.

[0067] After installing the drone nest, the wind load of the original iron tower will change, so stress analysis of the iron tower is required. The wind speed is set to the rated wind speed: 11.5 m / s (level 6 wind), and the wind load of the iron tower at four different positions is simulated and calculated, such as Figure 1。The stress of the cross arm is greater than that at the cat-head position, which is 146.58 MPa. The maximum equivalent stress caused at the cup position of the tower is 7.7136 MPa. The maximum equivalent stress caused by the wind load at the upper part of the tower is 22.11 MPa, and the maximum equivalent stress at the lower part of the tower is 21.278 MPa.

[0068] Conclusion: The stress-bearing strength of general steel is approximately between 200 - 300 MPa. After adding the wind load and the nacelle, the stress at the tower head is relatively large, while the stress at the bottom is much smaller than the stress at the tower head and the maximum stress that the material can bear. Therefore, the bottom is safer than the top.

[0069] 3. Modeling and simulation of the electromagnetic field distribution of the iron tower after loading the nacelle

[0070] (1) Influence on the electric field distribution

[0071] Since the power frequency electromagnetic field generated by the transmission line satisfies the condition that the distance from the surrounding field points to the conductor is much smaller than the wavelength of the corresponding time-harmonic electric field in the air, it can be approximated as a quasi-static field.

[0072] The Maxwell equations satisfied by the electroquasistatic field are as follows:

[0073]

[0074] In the formula: E is the electric field strength; is the potential function; is the charge density; ε is the permittivity, is the gradient;

[0075] The Maxwell equations satisfied by the magnetoquasistatic field are as follows:

[0076]

[0077]

[0078] In the formula, B is the magnetic flux density; A is the vector magnetic potential; μ is the magnetic permeability of the medium; J is the total current density, is the Laplace operator.

[0079] Using the variational method for discretization, the boundary value problem of the Poisson equation is transformed into an equivalent conditional variational problem:

[0080]

[0081] In the formula: Ω1 is the electric field region; I() is the functional; is the boundary condition given on the boundary Г1; min is for minimization.

[0082] The boundary value problem of the double curl equation is transformed into an equivalent conditional variational problem:

[0083]

[0084] where: Ω2 is the magnetic field region; A0 is the boundary condition given on the boundary Г1.

[0085] The continuous spatial field domain is divided into a finite number of elements using the dissection difference method, and the problem in the continuous domain of the electromagnetic field is transformed into a problem of a discrete system for solution. Finally, the difference function is used to represent the solution of each element. After synthesizing all the elements, the boundary conditions are introduced for solution, and the solution of the discrete system is the approximate solution of the spatial electromagnetic field distribution.

[0086] To calculate the power frequency electromagnetic field distribution of a transmission line tower, a three-dimensional simulation model is drawn through COMSOL, including drawing the geometric model, material properties, simulation physical field module, meshing the model, and performing model dissection calculation to obtain the required electromagnetic field intensity distribution results. For specific steps, refer to Figure 3 to calculate the power frequency electromagnetic field distribution of the transmission tower.

[0087] Referring to the Electric Power Engineering Design Manual of the State Grid Corporation, a 220 kV AC single-circuit cup-shaped strain tower with horizontal conductors is selected. The suspension height is 45 m, the overall height is 49.5 m, the span is 9086 mm, and the cross-arm width is 15700 mm; the calculation model of the line cup-shaped strain tower is as Figure 4 shown. There are two lightning protection wires at the top of the tower. Three-phase 220 kV AC conductors are connected through insulators on the cross-arm. The conductors are arranged horizontally. The insulator strings use glass insulators. The whole tower body is made of API X70 steel, and the bottom is a grounding network. The entire domain of the model is bounded by the bottom of the transmission tower and is divided into two different domains. The upper part, where the transmission tower is located, is the air domain, and the lower part, where the grounding network is located, is the earth part.

[0088] Four different positions are selected, namely at the cross-arm of the tower top, at the cup mouth, at a height of 23.8 m and 16 m from the ground on the tower body. The electric field distributions of the tower before and after installing the drone nest at the four different positions are simulated and calculated as Figure 5 shown.

[0089] After installing the drone nest at the cross-arm, the position of the maximum electric field intensity changes, Figure 5 (a), the peak value rises from 20200 V / m to 22350 V / m, and the change degree is about 10.64%;

[0090] After installing the drone nest at the cup mouth, the peak value of its electric field intensity rises from 29100 V / m to 36000 V / m, and the change is about 23.71%;

[0091] After installing the drone nest at 23.8 m and 16 m from the ground, the change degree of the electric field distribution is significantly weaker than the previous two, and the peak value change degrees are about 1.15% and 0.86% respectively.

[0092] Conclusion: When a drone nest is installed on the iron tower, the lower the installation position of the nest on the tower, the smaller the impact on the electric field distribution of the iron tower. At the bottom of the tower, the impact can be ignored.

[0093] (2) Influence on magnetic field distribution

[0094] The magnetic field simulation model and steps are the same as those of the electric field simulation. The simulation results are as Figure 6 . After installing the drone nest, the change in the magnetic field is much weaker than that of the electric field, and the magnetic field distribution remains basically unchanged. When the drone nest is installed on the cross arm and the cup opening of the tower, the maximum change in the magnetic field at the same position after installing the drone nest is 0.5 A / m. When the drone nest is installed at a height of 23.8 m and 16 m from the ground, the change in the magnetic field at the same position does not exceed 0.02 A / m, and almost has no impact on the magnetic field distribution.

[0095] Conclusion: After installing the drone nest supply device on the tower, the lower the installation position of the nest on the tower, the smaller the impact on the magnetic field distribution of the iron tower. At the bottom of the tower, the impact can be ignored.

[0096] 4. Influence of power frequency electromagnetic field of the line on the safety of the drone nest

[0097] (1) Requirements for safety limit values of the drone nest

[0098] Electric field limit value: According to the national standard GB16203 - 1996, the control limit value of the power frequency electric field health standard in the workplace is 4 kV / m.

[0099] Magnetic field limit value: In accordance with the standard for electromagnetic compatibility in IEC61000 - 4 - 8 - 2009, the magnetic field limit value for the normal operation of the drone nest in a complex electromagnetic environment is 30 A / m.

[0100] Electrical safety distance: According to the requirements of the insulator string length, power frequency voltage clearance value and safety margin, the electrical safety distance of the drone nest ≥ insulator string length + power frequency voltage clearance value + safety margin, as Figure 7 .

[0101] Considering the installation, operation and maintenance of the drone nest, the safety margin is taken as 0.5 m; the insulator string length of the 220 kV cup - shaped tower is 2.04 m, the power frequency voltage clearance value is 0.55 m, and the personnel safety margin is 0.5 m. The electrical safety distance of the drone nest is obtained as 3.09 m.

[0102] The height of the wire suspension point is 45 m. Considering the electrical safety distance, the safety height of the installation position of the drone nest should be less than 41.91 m.

[0103] (2) Simulation of the power frequency electromagnetic field distribution of the iron tower

[0104] The drone nest belongs to the communication equipment in a complex environment. When installed on the iron tower, it not only needs to meet the requirements of electrical safety distance, but also needs to consider the electromagnetic compatibility problem of the nest, that is, the impact of power frequency electromagnetic field on the safety of the nest. A three-dimensional simulation model of the iron tower carrying the nest is constructed, and the electric field distribution from the tower corner upwards to the tower top is simulated and calculated as shown in Figure 8 , and the magnetic field distribution is as shown in Figure 9 .

[0105] The simulation results show that when the installation position height of the nest is lower than 27.6m, both the electric field and magnetic field intensities meet the limit requirements.

[0106] Conclusion: Installing the nest at the tower head does not meet the electrical and electromagnetic compatibility safety requirements; installing the nest on the tower body (5m - 27.6m) meets the electrical and electromagnetic compatibility safety requirements; installing the nest at the tower bottom meets the electrical and electromagnetic compatibility safety requirements.

[0107] 5. Analysis of the impact of lightning overvoltage and transient electromagnetic field on the nest

[0108] (1) Impact of lightning strike on the tower top on the nest

[0109] There is a goblet-shaped iron tower with a 220KV line carrying a nest. The nest is directly connected to the iron tower and is installed at the goblet mouth at heights of 16m, 23.8m, and 34.8m from the ground respectively. When lightning strikes the top of the iron tower, the potential U of the nest carried on the iron tower jc is calculated according to the following formula:

[0110] U jc =βI L (R ch +hL gt / 2.6)

[0111] In the formula, I L is the lightning current amplitude of 52kA, β is the lightning protection wire shunt coefficient, taken as 0.9; R ch is the impulse grounding resistance of the iron tower, taken as 5.7Ω, L gt is the equivalent inductance of the iron tower, taken as 0.5uH / m, and h is the position height (m).

[0112] According to the formula calculation, the potential of the nest at 16m is 410kV, the potential of the nest at 23.8m is 481kV, and the potential at the goblet mouth is 580kV.

[0113] The HIFREQ and FFTSES modules in the CDEGS software are used to simulate and calculate the electromagnetic fields when lightning strikes the top of the shared iron tower and the ground. The lightning current wavefront time is 2.6us, the half-peak time is 50us, and the peak value is 52kA. It is simulated by a double-exponential function: I = 54(e -t / A -e -t / B ), A = 6.76×10 -5, B = 1.87×10 -5 , where t is time and the impulse grounding resistance is 5.7 Ω. When lightning strikes the top of the tower, the simulation results are as follows: when the nacelle is placed at 16 m on the tower body, the potential of the nacelle reaches 389 kV during lightning strike; when lightning strikes at 23.8 m on the tower body, the potential is 492 kV; and at the goblet mouth, the potential can reach 627 kV. The lower the nacelle is from the ground, the lower the potential on the nacelle. When lightning strikes the top of the tower, the positions of each observation point are as Figure 10 shown, and the peak values of the potential at each position within 300 ms are as Figure 11 .

[0114] Conclusion: From the perspective of lightning protection, it is best for the nacelle to be located at the bottom of the iron tower; followed by the tower body; the goblet mouth and cross arm are the worst, which has a greater impact on the insulation inside the nacelle.

[0115] (2) Analysis of the influence of transient electromagnetic field on the nacelle

[0116] During the process of lightning current discharging downward, it will cause great interference to the operating magnetic field of the nacelle and the UAV. The drastic magnetic field change will damage the magnetic medium and circuit inside the nacelle, resulting in hardware damage or performance degradation. Especially for the line inspection system that relies on precise navigation and control, the magnetic field change will interfere with the remote guidance of the UAV and may even lead to the chaos of the control system.

[0117] For the convenience of calculation, the lightning current is regarded as a composite current distribution composed of multiple current-carrying dipoles, and the magnetic field change near the nacelle at the moment of lightning current discharging downward is calculated. Eight observation points as Figure 10 are set on the nacelle, namely measuring point 1, measuring point 2,... measuring point 8. According to the Biot-Savart law, the magnetic fields generated by all current-carrying dipoles at each observation point are calculated, and the actual magnetic field environment at this point can be obtained after vector superposition. The three-dimensional distribution map of the electromagnetic field in the nacelle space can be obtained by integrating the data of the eight observation points. The differential form of Maxwell's equations is:

[0118]

[0119]

[0120]

[0121] In the formula: μ0, ε0 are the magnetic permeability of vacuum and the permittivity of vacuum respectively; J is the current density; ρ is the charge density.

[0122] According to the Lorenz condition, the relational expression of the vector magnetic potential A can be obtained:

[0123]

[0124] The current in the path can be considered to be composed of multiple current microelements, each of which is considered to be a current-carrying electric dipole. Take a section of the leakage current as the z-axis, select a section of the current microelement dz', and calculate the vector magnetic potential dA generated by it at any point Z(r,θ,z) in space.

[0125]

[0126] In the formula: k0, θ0 are cylindrical coordinate unit vectors; c is the speed of light; r, z, θ are cylindrical coordinate vectors; z' is the z-axis coordinate of the current element; i is the current.

[0127] The composite diagram of the current-carrying dipole magnetic field is as follows Figure 12 The calculation formula of magnetic induction intensity at a certain point of the machine nest is in dB form after substituting the time coefficient.

[0128]

[0129] When lightning strikes the top of the tower, the peak distribution of the magnetic field at each measuring point of the drone nest within 300ms is as follows: Figure 13 .

[0130] Conclusion: The machine nest located at the top of the tower or the cross arm is most affected by the lightning transient magnetic field, followed by the tower body, and the least affected at the mouth of the wine glass.

[0131] (3) Analysis of the impact of tower mounted machine nest on contact voltage and step voltage

[0132] After the machine nest is installed on the tower, when lightning strikes the top of the tower, the contact voltage and step voltage of the tower ground are simulated and calculated as follows: Figure 14 Whether the tower is equipped with a machine nest, the location of the machine nest, the connection method between the machine nest and the tower, etc. have negligible effects on the tower contact voltage and safety voltage, and are rated as no impact.

[0133] in conclusion:

[0134] (1) Under the same insulation strength conditions inside the nest, the nest mounted on the tower head is subjected to the largest lightning overvoltage, which may exceed the insulation strength of the nest and strike back at the nest; the lightning at the tower body has the second largest impact on the nest, and the lightning at the tower bottom has the smallest impact on the nest.

[0135] (2) The transient magnetic field interference borne by the machine nest mounted on the cross arm of the tower head is the greatest; the tower body is second, and the wine glass mouth is the smallest.

[0136] (3) The influence of the tower-mounted machine nest on the tower’s contact voltage and step voltage can be ignored.

[0137] 1. Method for determining the location of tower drone nest based on analytic hierarchy process

[0138] 1. Evaluation Index System for the Mounting Position of the Drone Nest on the Tower

[0139] Based on the analysis of the influencing factors of the drone nest mounted on the tower on the tower and the operation of the drone nest, a hierarchical structure model is constructed to determine the mounting position of the drone nest on the tower. This model consists of an objective layer, a criterion layer, and an index layer, as shown in Figure 15 .

[0140] Objective layer: The objective of this hierarchical analysis model is one - to determine the installation position of the drone nest.

[0141] Criterion layer: The drone nest mounted on the tower should meet the following requirements: (1) The impact on the safety of the tower is within the allowable range, including mechanical stress, electromagnetic field distribution, lightning protection performance, electrical insulation, icing and other extreme conditions; (2) The impact on the safety of the drone nest is within the allowable range, including power frequency electromagnetic field of the line, lightning overvoltage, lightning transient electromagnetic field, electrical insulation requirements, and human interference factors; (3) The installation position should also meet the convenience requirements, that is, it is convenient for the drone to enter and exit for operation, and for the operation and maintenance and installation and debugging of the drone nest. Therefore, the criterion layer consists of three elements: the safety of the tower after mounting the drone nest, the safety of the drone nest, and the convenience of operation and maintenance.

[0142] Index layer: The index layer consists of various influencing factors such as mechanical stress, electromagnetic field distribution, and electrical insulation.

[0143] Alternative layer: The alternative decision-making schemes, and the final selection result is determined according to the weights of each scheme in the total objective. The positions of the drone nest to be determined are the bottom part of the tower (height from the ground 0 - 10 meters), the tower body part (height from the ground 10 - 30 meters), the tower head part or the goblet mouth (30 - 40 meters).

[0144] The influence degrees of various influencing factors on the tower and the drone nest can be divided into four levels: no influence, slight influence, moderate influence, and severe influence. Usually, exceeding the limit value of the regulation is used as the threshold for moderate influence, and exceeding the limit value by 50% is used as the threshold for severe influence. The influence degree is quantified on a scale of 0 - 1 into four levels: no influence: 0 - 0.2, slight influence: 0.2 - 0.5, moderate influence: 0.5 - 0.7, severe influence: 0.7 - 1.0.

[0145] Table 1 Classification of Influence Degree Levels

[0146]

[0147] 2. Weights of Each Element in the Criterion Layer

[0148] The weights of the three elements in the criterion layer are obtained according to the following steps.

[0149] Step 1: According to the importance of the safety of the iron tower, the safety of the nest, and convenience, three experts make pairwise comparisons using the scale method (Table 2) to construct decision matrices A1, A2, and A3.

[0150] Table 2. 7-point scale method

[0151]

[0152] Expert 1 believes that when the iron tower carries the nest, the impact on the safety of the iron tower should be considered first, then the safety of the nest, and finally convenience. That is, the safety of the iron tower is more important than the safety of the nest and is important compared to convenience. Construct decision matrix A1 in the order of the safety of the iron tower, the safety of the nest, and convenience.

[0153]

[0154] Expert 2 believes that for the iron tower carrying the nest, the safety of the iron tower and the safety of the nest are equally important, and their impacts on the nest are equally important. Compared with convenience, both are much more important. Construct decision matrix A2.

[0155]

[0156] Expert 3 believes that the safety of the iron tower is slightly more important than the safety of the nest and is also slightly more important than convenience.

[0157]

[0158] Step 2: Calculate the skew-symmetric matrices B1, B2, and B3 of A1, A2, and A3 according to B1 = lg(A1), and then calculate the average matrices of B1, B2, and B3:

[0159]

[0160]

[0161] Step 3: In group decision-making, the average matrix can be obtained by first averaging multiple judgment matrices, and then the optimal transfer matrix can be solved from the average matrix through weights. Calculate the optimal transfer matrix C according to the following formula:

[0162]

[0163] where the values of b ip , b jp in C correspond to the values of b ij in the above B.

[0164]

[0164] Step 4: Calculate the eigenvalues and eigenvectors of C according to the following formula. The eigenvector corresponding to the largest eigenvalue is (0.7781, 0.5896, 0.2166).

[0165] det(C - λI) = 0

[0166] (C - λI)v = 0

[0167] Where I is the identity matrix, det(·) is the determinant of a matrix, λ is the eigenvalue, and v is the eigenvector.

[0168] After normalization, the required weights are (0.4911, 0.3721, 0.1367).

[0169] The weights of the tower safety, nest safety, and convenience are obtained as W = [w1, w2, w3] = [0.4911, 0.3721, 0.1367]

[0170] 3. Weights of evaluation indicators

[0171] The tower safety can be divided into 6 evaluation indicators: mechanical stress, electric field distribution, magnetic field distribution, lightning protection performance, icing effect, and the impact of UAV entry and exit on the tower.

[0172] The nest safety is divided into 6 evaluation indicators: power frequency magnetic field, lightning overvoltage, transient electromagnetic field interference, icing effect, electrical insulation, and human interference.

[0173] The convenience is divided into 3 evaluation indicators: UAV entry and exit, installation and commissioning, and operation and maintenance.

[0174] Using the same calculation method for the weights at the criterion layer, the weights of the tower safety index group (mechanical stress, electric field distribution, magnetic field distribution, lightning protection performance, icing effect, UAV entry and exit) can be calculated as: W 21 = [0.3010, 0.2249, 0.1957, 0.0750, 0.0900, 0.1134]';

[0175] The weights of the nest safety index group (power frequency magnetic field, lightning overvoltage, transient electromagnetic field interference, icing effect, electrical insulation, human interference) are: W 22 = [0.1785, 0.2350, 0.1638, 0.0826, 0.2355, 0.1046]';

[0176] The weights of the convenience index group (UAV entry and exit, installation and commissioning, operation and maintenance) are: W23 = [0.4167, 0.2083, 0.3750]';

[0177] 4. Assignment of evaluation indicators and evaluation results of the preset scheme

[0178] According to the on-site situation, it is planned to install the UAV nest at four preset positions: the bottom of the tower, the tower body, the goblet mouth, and the cross arm of the tower.

[0179] 1) The nest is installed at the bottom of the tower (0 - 10 meters).

[0180] ① Assignment of each index

[0181] Impact on the safety of the iron tower

[0182] Mechanical stress: (0 - 0.2); Electric field distribution: (0 - 0.2); Magnetic field distribution: (0 - 0.2); Lightning protection performance: (0 - 0.2); Ice coating impact: (0 - 0.2); UAV access: (0.2 - 0.5).

[0183] Take the maximum value to form the index vector X1 = [0.2, 0.2, 0.2, 0.2, 0.2, 0.5];

[0184] Impact on the safety of the nest

[0185] Power frequency magnetic field: (0 - 0.2); Lightning overvoltage: (0 - 0.2); Transient electromagnetic field interference: (0.2 - 0.5); Ice coating impact: (1.0 - 0.7); Electrical insulation: (0 - 0.2); Human interference: (1.0 - 0.7).

[0186] Take the maximum value to form the index vector X2 = [0.2, 0.2, 0.5, 1.0, 0.2, 1.0];

[0187] Impact on the operation and maintenance of the nest

[0188] UAV access: (1.0 - 0.7); Installation and commissioning: (0 - 0.2); Operation and maintenance: (0 - 0.2).

[0189] Take the maximum value to form the index vector X3 = [1.0, 0.2, 0.2];

[0190] ② Evaluation result

[0191] According to the analytic hierarchy process evaluation model, first calculate the element values of the criterion layer, and then obtain the evaluation result of the scheme.

[0192] Safety of the iron tower: Y1 = X1W 21 = 0.2×0.3010 + 0.2×0.2249 + 0.2×0.1957 + 0.2×0.0750 + 0.2×0.09 + 0.5×0.1134 = 0.2340

[0193] Safety of the nest: Y2 = X2W 22 = 0.2×0.1785 + 0.2×0.2350 + 0.5×0.1638 + 1.0×0.0826 + 0.2×0.2355 + 1.0×0.1046 = 0.3989

[0194] Convenience of operation and maintenance: Y3 = X3W23 = 1.0×0.4167 + 0.2×0.2083 + 0.2×0.3750 = 0.5342

[0195] Scheme evaluation result: Y = w1Y1 + w2Y2 + w3Y3 = 0.4911×0.2340 + 0.3721×0.3989 + 0.1367×0.5342 = 0.3363

[0196] 2) The nacelle is installed on the tower body (10 - 30 meters)

[0197] ① Index assignment

[0198] Impact on the safety of the iron tower

[0199] The generated wind loads are all around 22 MPa, with little impact on the mechanical stress of the tower. The mechanical stress index assignment: (0 - 0.2);

[0200] Little impact on the electric field distribution of the iron tower. The electric field distribution index assignment: (0 - 0.2);

[0201] Little impact on the magnetic field distribution of the iron tower. The magnetic field distribution index assignment: (0 - 0.2);

[0202] Little impact on the lightning protection performance of the iron tower. The lightning protection performance index assignment: (0 - 0.2);

[0203] Loading the nacelle has almost no impact on the icing of the iron tower: The icing impact index assignment: (0 - 0.2);

[0204] There is spatial limitation, and the entry and exit of the UAV may scrape the iron tower, having a certain impact on the iron tower. The index assignment: (0.2 - 0.5).

[0205] Index vector X1 = [0.2, 0.2, 0.2, 0.2, 0.2, 0.5];

[0206] Impact on the safety of the nacelle

[0207] The power frequency magnetic field has little impact on the nacelle. The power frequency magnetic field index assignment: (0 - 0.2);

[0208] The lightning overvoltage is within the insulation tolerance range of the nacelle, having little impact on the nacelle. This index assignment: (0 - 0.2);

[0209] The transient electromagnetic field interference has a greater impact on the nacelle. This index assignment: (0.2 - 0.5);

[0210] The icing of the iron tower has a certain impact on the nacelle. This index assignment: (0.7 - 0.5);

[0211] The tower body positions all meet the requirements of electrical insulation distance. This index assignment: (0 - 0.2);

[0212] With almost no influence from human interference factors, the assignment of this indicator is: (0.2 - 0);

[0213] Take the maximum value to construct the index vector X2 = [0.2, 0.2, 0.5, 0.7, 0.2, 0.2];

[0214] Influence on the operation and maintenance of the nest

[0215] It is relatively convenient for UAVs to enter and exit, and the assignment of this indicator is: (0.5 - 0.2);

[0216] It is relatively convenient to install and debug the nest, and the assignment of this indicator is: (0.2 - 0.5);

[0217] It is relatively convenient for operation and maintenance, and the assignment of this indicator is: (0.2 - 0.5).

[0218] Take the maximum value to construct the index vector X2 = [0.5, 0.5, 0.5];

[0219] ② Scheme evaluation results

[0220] Tower safety: Y1 = X1W 21 = 0.2340

[0221] Nest safety: Y2 = X2W 22 = 0.2904

[0222] Operation and maintenance convenience: Y3 = X3W 23 = 0.5

[0223] Scheme evaluation result: Y = w1Y1 + w2Y2 + w3Y3 = 0.2913

[0224] 3) The nest is installed at the goblet mouth part (34.8 meters)

[0225] ① Index assignment

[0226] Influence on tower safety

[0227] The generated wind load is about 7.2 MPa, with little influence on the mechanical stress of the tower. The assignment of the mechanical stress index is: 0.2; it has a greater influence on the electric field distribution of the tower, and the assignment of the electric field distribution index is: 0.7;

[0228] It has a relatively small influence on the magnetic field distribution of the tower, and the assignment of the magnetic field distribution index is: 0.4;

[0229] It has little influence on the lightning protection performance of the tower, and the assignment of the lightning protection performance index is: 0.1;

[0230] Loading the nest has almost no influence on the icing of the tower: the assignment of the icing influence index is: 0.1.

[0231] The space is open, and the entry and exit of the UAV have little impact on the safety of the iron tower. The assignment of this index is: 0.3.

[0232] Index vector X1 = [0.2, 0.7, 0.4, 0.1, 0.1, 0.3].

[0233] Impact on the safety of the nest

[0234] The power frequency magnetic field has a certain impact on the nest. The assignment of the power frequency magnetic field index is: 0.4;

[0235] The lightning overvoltage is within the insulation range of the nest, but has a greater impact. The assignment of this index is: 0.6;

[0236] The impact of transient electromagnetic field interference on the nest is small. The assignment of this index is: 0.2;

[0237] The icing of the iron tower has a relatively small impact on the nest. The assignment of this index is: 0.2;

[0238] Close to the electrical insulation distance. The assignment of this index is: 0.7;

[0239] There is no influence of human interference factors. The assignment of this index is: 0;

[0240] Index vector X2 = [0.4, 0.6, 0.2, 0.2, 0.7, 0].

[0241] Impact on the operation and maintenance of the nest

[0242] The entry and exit of the UAV are convenient and the impact is minimal. The assignment of this index is: 0.2;

[0243] The installation and debugging of the nest are inconvenient and the impact is large. The assignment of this index is: 0.8;

[0244] The operation and maintenance are inconvenient. The assignment of this index is: 0.8.

[0245] Index vector X3 = [0.2, 0.8, 0.8].

[0246] ② Evaluation results of the plan

[0247] According to the analytic hierarchy process evaluation model, the evaluation results of the plan are obtained.

[0248] Safety of the iron tower: Y1 = X1W 21 = 0.4006

[0249] Safety of the nest: Y2 = X2W 22 = 0.4265

[0250] Convenience of operation and maintenance: Y3 = X3W 23 = 0.5499

[0251] Scheme evaluation result: Y = w1Y1 + w2Y2 + w3Y3 = 0.4306

[0252] 4) The nest is installed at the crossarm position (45 meters)

[0253] ① Index assignment

[0254] Impact on the safety of the iron tower

[0255] The generated wind load is about 146 MPa, which has a great impact on the mechanical stress of the tower. The mechanical stress index is assigned: 0.9; it has a relatively large impact on the electric field distribution of the iron tower. The electric field distribution index is assigned: 0.6;

[0256] It has a relatively large impact on the magnetic field distribution of the iron tower. The magnetic field distribution index is assigned: 0.6;

[0257] It has little impact on the lightning protection performance of the iron tower. The lightning protection performance index is assigned: 0.1;

[0258] Loading the nest has almost no impact on the icing of the iron tower. The icing impact index is assigned: 0.1.

[0259] The entry and exit of the UAV have little impact on the iron tower. This index is assigned: 0.1

[0260] Index vector X1 = [0.9, 0.6, 0.6, 0.1, 0.1, 0.3].

[0261] Impact on the safety of the nest

[0262] The power frequency magnetic field has a certain impact on the nest. The power frequency magnetic field index is assigned: 0.5;

[0263] The lightning overvoltage has a great impact on the insulation of the nest. This index is assigned: 0.8;

[0264] The transient electromagnetic field interference has a relatively large impact on the nest. This index is assigned: 0.6;

[0265] The icing of the iron tower has a relatively small impact on the nest. This index is assigned: 0.2;

[0266] It meets the requirements of electrical insulation distance but has a certain impact. This index is assigned: 0.6;

[0267] There is no impact of human interference factors. This index is assigned: 0;

[0268] Index vector X2 = [0.5, 0.8, 0.6, 0.2, 0.6, 0].

[0269] Impact on the operation and maintenance of the nest

[0270] The entry and exit of the UAV are convenient and have the least impact. This index is assigned: 0.1;

[0271] The installation and debugging of the drone nest are inconvenient and have a great impact. The assigned value for this indicator is 0.8;

[0272] The operation and maintenance are inconvenient and have a great impact. The assigned value for this indicator is 0.9.

[0273] The indicator vector X3 = [0.1, 0.8, 0.9].

[0274] ② Scheme evaluation results

[0275] According to the analytic hierarchy process evaluation model, obtain the scheme evaluation results.

[0276] Tower safety: Y1 = X1W 21 = 0.5737

[0277] Drone nest safety: Y2 = X2W 22 = 0.5333

[0278] Operation and maintenance convenience: Y3 = X3W 23 = 0.5458

[0279] Scheme evaluation result: Y = w1Y1 + w2Y2 + w3Y3 = 0.5547

[0280] 5. Comparative analysis of evaluation results

[0281] The evaluation results are shown in Table 3. By comparison, considering the impacts of installing the drone nest on the tower safety, drone nest safety, and operation and maintenance convenience, it is most appropriate to install the drone nest in the section of the tower body 10 - 20 meters above the ground. There are certain safety risks in installing the existing drone nest on the cross arm. Other positions (cup mouth, tower bottom, or lower section of the tower body) all meet the requirements of low safety risks, but there are certain defects.

[0282] Table 3. Evaluation results of drone nest installation positions

[0283]

[0284] The embodiment of the present application also provides a device for determining the installation position of a drone nest, and the device includes:

[0285] A construction unit, configured to construct a scheme layer, an index layer, a criterion layer, and a target layer corresponding to the analytic hierarchy process according to the index analysis results. The indexes include: tower safety impact index, drone nest safety impact index, and drone nest operation and maintenance convenience impact index. The criterion layer includes: tower safety, drone nest safety, and drone nest operation and maintenance convenience; and

[0286] An acquisition unit, configured to obtain the required scheme results by using the analytic hierarchy process.

[0287] An embodiment of the present application further provides an electronic device, including: a processor, and a memory coupled to the processor, where the memory is used to store a computer program; the processor is used to execute the computer program stored in the memory, so that the electronic device executes the method described in any one of the above embodiments.

[0288] The electronic device may be a computing device such as a desktop computer, a notebook, a palm computer, and a cloud server. The electronic device may include, but is not limited to, a processor and a memory.

[0289] The so-called processor may be a central processing unit (CPU), or may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor, or the processor may also be any conventional processor, etc. The processor is the control center of the electronic device, and uses various interfaces and lines to connect various parts of the entire device.

[0290] The memory may be used to store the computer program. The processor realizes various functions of the electronic device by running or executing the computer program stored in the memory and calling the data stored in the memory.

[0291] The memory may mainly include a program storage area and a data storage area. Among them, the program storage area may store an operating system, application programs required for at least one function, etc.; the data storage area may store data created according to the use of the mobile phone, etc. In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, at least one magnetic disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0292] The embodiments of the present application further provide a storage medium, which is a computer-readable storage medium, and the computer program is stored in the computer-readable storage medium. When the computer program is executed by a processor, the steps of the above-mentioned various method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in the form of source code, object code, executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electrical carrier signal, telecommunication signal, and software distribution medium, etc.

[0293] The embodiments of the present application further provide a computer program product, including: a computer program or instruction. When the computer program or instruction runs on a computer, the computer is enabled to execute the method of any one of the above possible implementation manners.

[0294] The above is the preferred implementation manner of the present application. It should be noted that for those of ordinary skill in the art of the present technology, without departing from the principle of the present application, several improvements and refinements can be made, and these improvements and refinements are also regarded as the protection scope of the present application.

Claims

1. A method for determining the installation position of a drone nest, characterized in that, The method includes: According to the index analysis results, construct the scheme layer, index layer, criterion layer, and target layer corresponding to the analytic hierarchy process. The indexes include: tower safety impact indexes, nacelle safety impact indexes, and nacelle operation and maintenance convenience impact indexes. The criterion layer includes: tower safety, nacelle safety, and nacelle operation and maintenance convenience; and Use the analytic hierarchy process to obtain the required scheme results.

2. The method according to claim 1, wherein The tower safety impact indexes include: mechanical stress, electric field distribution, magnetic field distribution, lightning protection performance, icing impact, and / or UAV access; the nacelle safety impact indexes include: icing impact, power frequency magnetic field, lightning overvoltage, transient electromagnetic field, electrical insulation, and / or human interference; the nacelle operation and maintenance convenience impact indexes include: UAV access, installation and commissioning, and / or operation and maintenance.

3. The method according to claim 1, characterized in that, The schemes involved in the scheme layer include: tower bottom part, tower body part, and tower head part.

4. The method according to claim 1, characterized in that, The influence of the index layer on the criterion layer is divided into: no influence, slight influence, medium influence, and severe influence. Those exceeding the specification limits are regarded as medium influence and severe influence, and those exceeding the specification limits by 50% or more are regarded as severe influence.

5. The method according to claim 1, characterized in that, Adopt the expert scoring method to obtain the weights of each factor in the index layer and the criterion layer.

6. The method according to claim 5, wherein Adopt the expert scoring method to obtain the weights of each factor in the index layer and the criterion layer, specifically including: According to the importance of each factor, use the expert scale method to make pairwise comparisons and construct a decision matrix; Calculate the anti-symmetric matrix corresponding to the decision matrix; Obtain the average matrix of the anti-symmetric matrices corresponding to each factor; Based on the average matrix, obtain the optimal transfer matrix; Find the eigenvalues and eigenvectors of the optimal transfer matrix; and Normalize the eigenvectors to obtain the weights of each factor.

7. A device for determining the installation position of a drone nest, characterized in that, The device includes: A construction unit for constructing the scheme layer, index layer, criterion layer, and target layer corresponding to the analytic hierarchy process according to the index analysis results. The indexes include: tower safety impact indexes, nacelle safety impact indexes, and nacelle operation and maintenance convenience impact indexes. The criterion layer includes: tower safety, nacelle safety, and nacelle operation and maintenance convenience; and An acquisition unit for using the analytic hierarchy process to obtain the required scheme results.

8. An electronic device, characterized in that, The electronic device includes: a processor, and a memory coupled to the processor, The memory is used to store a computer program; and The processor is used to execute the computer program stored in the memory so that the electronic device executes the method according to any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a computer program or instruction. When the computer program or instruction runs on a computer, the computer executes the method according to any one of claims 1-6.

10. A computer program product, characterized in that, The computer program product includes: a computer program or instruction. When the computer program or instruction runs on a computer, the computer executes the method according to any one of claims 1-6.

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