Power transmission line unmanned aerial vehicle autonomous inspection path planning method and system

Abstract

The invention relates to the technical field of power transmission line inspection, and discloses a power transmission line unmanned aerial vehicle autonomous inspection path planning method and system, and the method comprises the steps: scanning a power transmission line corridor through a laser radar to obtain three-dimensional point cloud data, and constructing a three-dimensional entity model of the power transmission line corridor; taking a lead between adjacent towers as a line section, and calculating a risk thermal value of each line section; generating a tower inspection sequence list according to the risk thermodynamic value; according to the three-dimensional entity model and the inspection sequence list, generating a surrounding waypoint set for each tower, and generating a single inspection path of the tower; according to the tower inspection sequence list, transition paths between adjacent sequence towers are generated, and global inspection paths of the towers are obtained; and obtaining a final inspection path according to the single inspection path and the global inspection path. According to the scheme, the unmanned aerial vehicle can preferentially inspect the high-risk area, the flight path better fits the actual line form, and the whole-line inspection efficiency and safety are improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of power transmission line inspection, and in particular relates to a method and system for autonomous inspection path planning of a UAV for power transmission lines. Background Art

[0002] As a vital component of the power system, the safe and stable operation of transmission lines is crucial. Traditional inspection methods rely primarily on manual labor or fixed-route drone operations, which suffer from low efficiency, high costs, and incomplete coverage. In recent years, drone technology has been gradually applied to transmission line inspections. By carrying sensors, drones enable close-up observation of key components such as towers, conductors, and insulators. This has improved the automation level and data collection accuracy of inspections, providing strong support for smart grid operations and maintenance.

[0003] Currently, drone inspection path planning often relies on preset fixed routes or simple circling strategies. These methods lack the ability to dynamically respond to the real-time operating status of the lines, making it difficult to adjust inspection priorities based on equipment health. Furthermore, the path generation process fails to fully integrate three-dimensional spatial environmental information, resulting in insufficient safety margins between the flight path and actual obstacles, posing a high risk of collision. Furthermore, transition paths between towers are often planned as straight lines, failing to consider the influence of conductor direction and terrain. This results in unnatural flight trajectories and high energy consumption. The overall path lacks flexibility and intelligence, making efficient, safe, and adaptive autonomous inspections impossible, hindering further improvements in drone inspection performance.

[0004] Therefore, there is an urgent need to develop a transmission line drone autonomous inspection path planning method and system, which can give priority to drone inspections of high-risk areas and ensure that the flight trajectory is more in line with the actual line shape, thereby improving the inspection efficiency and safety of the entire line. Summary of the Invention

[0005] In order to solve the above technical problems, the present invention provides a method and system for autonomous inspection path planning of transmission line drones, which can give priority to inspecting high-risk areas of drones and make the flight trajectory more in line with the actual line shape, thereby improving the inspection efficiency and safety of the entire line.

[0006] The present invention provides a method for autonomous inspection path planning of a transmission line by a UAV, the method comprising the following steps:

[0007] S1. Scan the transmission line corridor using a laser radar to obtain three-dimensional point cloud data, and construct a three-dimensional solid model of the transmission line corridor based on the three-dimensional point cloud data; the three-dimensional solid model of the transmission line corridor includes towers, conductors, insulators, and obstacles;

[0008] S2. Taking the conductors between adjacent towers as a line segment, calculate the risk thermal value of each line segment based on the real-time current monitoring value;

[0009] S3. Generate a tower inspection sequence list based on the risk thermal value of each line section;

[0010] S4. Based on the three-dimensional solid model of the transmission line corridor and in the order of the tower inspection sequence list, a set of surrounding waypoints is generated for each tower, and a single tower inspection path is generated based on the set of surrounding waypoints;

[0011] S5. Generate transition paths between adjacent towers according to the tower inspection sequence list to obtain a global inspection path for all towers;

[0012] S6. Obtain a final inspection path based on the individual inspection path and the global inspection path.

[0013] Furthermore, in S2, the conductors between adjacent towers are regarded as a line segment, and the risk thermal value of each line segment is calculated based on the real-time current monitoring value. The calculation formula is as follows:

[0014]

[0015] Among them, H j represents the risk thermal value of the j-th line segment, j represents the j-th line segment, α represents the fault weight, β represents the aging weight, and I j represents the real-time current monitoring value of the jth line segment, I jmax represents the maximum carrying current of the jth line segment, F j represents the aging attenuation factor of the j-th line segment, and t represents the operating life of the j-th line segment.

[0016] Furthermore, in S3, a tower inspection sequence list is generated based on the risk thermal value of each line section. The calculation formula is as follows:

[0017]

[0018] Among them, Path global Represents the tower inspection sequence list, m represents the total number of line sections, D j represents the length of the jth line segment, and V represents the flight speed of the UAV.

[0019] Furthermore, in S4, based on the three-dimensional solid model of the transmission line corridor and in the order of the tower inspection sequence list, a set of surrounding waypoints is generated for each tower. The calculation formula is as follows:

[0020]

[0021] Among them, Path ring,a represents the set of waypoints around the a-th tower, k represents the k-th insulator of the tower, K represents the total number of insulators on the tower, Ck represents the coordinates of the kth insulator, θ represents the preset waypoint angle, and r represents the shooting radius of the drone.

[0022] Furthermore, in S5, according to the tower inspection order list, transition paths between adjacent towers are generated to obtain a global inspection path for all towers, including:

[0023] S51, obtaining the end point of the inspection path of the current tower and the starting point of the inspection path of the tower in the next inspection sequence;

[0024] S52, obtaining a set of tower coordinates based on the three-dimensional solid model of the transmission line corridor, and defining a conductor centerline interpolation function between two towers based on the coordinates of the current tower and the coordinates of the tower in the next inspection sequence;

[0025] S53, generating a transition waypoint between the two towers according to the conductor centerline interpolation function;

[0026] S54, taking the end point of the inspection path of the current tower as the starting transition waypoint, taking the starting point of the inspection path of the tower in the next inspection sequence as the ending transition waypoint, and constructing a transition waypoint set based on the transition waypoint, the starting transition waypoint, and the ending transition waypoint;

[0027] S55, performing B-spline curve smoothing on the transition waypoint set to obtain a global inspection path between the two towers;

[0028] S56. Repeat S51-S55 according to the tower inspection sequence list to obtain a global inspection path for all towers.

[0029] Furthermore, in S52, the expression of the wire centerline interpolation function is as follows:

[0030]

[0031] Among them, L ab (T) represents the centerline interpolation function of the conductor between towers a and b, T represents the interpolation parameter, P a represents the coordinates of tower a, P b represents the coordinates of tower b, a and b represent tower a and tower b respectively, δ ab Indicates the sag of the conductor between towers a and b. Represents the vertical unit vector.

[0032] Furthermore, in S53, a transition waypoint between the two towers is generated according to the conductor centerline interpolation function. The calculation formula is as follows:

[0033]

[0034] Among them, Qd represents the coordinates of the d-th transition waypoint, d represents the d-th transition waypoint, M represents the total number of waypoints, ΔH represents the safe flight altitude difference of the UAV, Represents the horizontal normal vector of the wire.

[0035] Furthermore, before S6, obstacle avoidance corrections are also performed on individual inspection paths and the global inspection path, specifically including:

[0036] Sa, obtaining the coordinate set of the tower and the active radius of the conductor and insulator according to the three-dimensional solid model of the transmission line corridor;

[0037] Sb, generating a safety corridor boundary function based on the tower coordinate set and the active radius of the conductor and insulator;

[0038] Sc, if currently in a single inspection path, then enter Sd, if currently in a single inspection path, then enter Se;

[0039] Sd, taking the sum of the active radius of the conductor and insulator and the preset margin as the first safety margin, and detecting the distance between the drone and the conductor and insulator in real time. If the distance between the drone and the conductor and insulator is less than the first safety margin, the current waypoint of the drone is corrected for obstacle avoidance;

[0040] Se, take the safety corridor boundary function as the second safety boundary, detect the distance between the UAV and the obstacle in real time, if the distance between the UAV and the obstacle is less than the second safety boundary, then make obstacle avoidance corrections to the current waypoint of the UAV.

[0041] Furthermore, the obstacle avoidance correction is performed on the current waypoint of the drone. The calculation formula is as follows:

[0042]

[0043] Among them, Q' represents the corrected current waypoint coordinates, Q represents the current waypoint coordinates, k o Denotes the obstacle avoidance sensitivity coefficient, D o It represents the distance between the UAV and the conductor and insulator or the distance between the UAV and the obstacle, and B represents the first safety boundary or the second safety boundary.

[0044] The present invention also provides a transmission line UAV autonomous inspection path planning system, which is used to implement the above-mentioned transmission line UAV autonomous inspection path planning method. The system includes the following modules:

[0045] A data acquisition module is used to obtain three-dimensional point cloud data by scanning the transmission line corridor using a laser radar, and to construct a three-dimensional solid model of the transmission line corridor based on the three-dimensional point cloud data; the three-dimensional solid model of the transmission line corridor includes towers, conductors, insulators, and obstacles;

[0046] The risk thermal value calculation module is used to calculate the risk thermal value of each line section based on the real-time current monitoring value, taking the conductors between adjacent towers as a line section;

[0047] Inspection sequence generation module, used to generate tower inspection sequence list based on the risk thermal value of each line section;

[0048] A single inspection path generation module is used to generate a set of surrounding waypoints for each tower based on the three-dimensional solid model of the transmission line corridor and the order of the tower inspection sequence list, and to generate a single inspection path for the tower based on the set of surrounding waypoints;

[0049] The global inspection path generation module is used to generate transition paths between adjacent towers according to the tower inspection sequence list to obtain the global inspection path for all towers;

[0050] The final inspection path generation module is used to obtain the final inspection path according to the single inspection path and the global inspection path.

[0051] The embodiments of the present invention have the following technical effects:

[0052] The present invention dynamically calculates the risk value of the line section based on real-time current and aging factor, generates a tower inspection priority sequence, integrates the electrical load status into the path decision, enables the drone to preferentially cover high-risk areas, improves the targeted operation and maintenance, and improves the defect detection rate from the source; combines the three-dimensional solid model to construct a conductor activity radius model, generates a safety boundary function, and in a single inspection path, corrects the waypoint in real time according to the floating range of the insulator; in the transition path, dynamically adjusts the flight trajectory according to the obstacle distance, and achieves smooth obstacle avoidance through an exponential decay correction function to solve the environmental adaptability problem of fixed paths. By constructing a safe corridor boundary function and introducing a real-time obstacle avoidance correction mechanism, it effectively avoids conductors, insulators and external obstacles to ensure flight safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0054] Figure 1 This is a flow chart of a method for autonomous inspection path planning of a transmission line UAV provided by an embodiment of the present invention;

[0055] Figure 2This is a structural diagram of a transmission line UAV autonomous inspection path planning system provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0056] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention are described clearly and completely below. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without inventive effort are also within the scope of protection of the present invention.

[0057] The embodiment of the present invention provides a method for autonomous inspection path planning of a transmission line by a UAV. Figure 1 This is a flow chart of a method for autonomous inspection path planning of a transmission line UAV provided by an embodiment of the present invention. Figure 1 , the method comprises the following steps:

[0058] S1. Scan the transmission line corridor through LiDAR to obtain three-dimensional point cloud data, and construct a three-dimensional solid model of the transmission line corridor based on the three-dimensional point cloud data.

[0059] The 3D solid model of the transmission line corridor includes towers (tower body, crossarms), conductors, insulators, and obstacles (trees, buildings, etc.). Using point cloud processing algorithms for filtering, segmentation, and feature extraction, a 3D solid model of the transmission line corridor is constructed. This model not only restores the spatial geometry of the towers but also accurately depicts the suspension curves of the conductors, the spatial positions of the insulators, and the relative positions of various potential obstacles, providing a high-fidelity environmental foundation for subsequent path planning.

[0060] S2. Take the conductors between adjacent towers as a line segment and calculate the risk thermal value of each line segment based on the real-time current monitoring value.

[0061] In some embodiments, the risk heat value is calculated as follows:

[0062]

[0063] Among them, H j represents the risk thermal value of the j-th line segment, j represents the j-th line segment, α represents the fault weight, β represents the aging weight, and I j represents the real-time current monitoring value of the jth line segment, I jmax represents the maximum carrying current of the jth line segment, F j represents the aging attenuation factor of the j-th line segment, and t represents the operating life of the j-th line segment.

[0064] S3. Generate a tower inspection sequence list based on the risk thermal value of each line section.

[0065] In some embodiments, the calculation formula for the tower inspection order list is as follows:

[0066]

[0067] Among them, Path global Represents the tower inspection sequence list, m represents the total number of line sections, D j represents the length of the jth line segment, and V represents the flight speed of the UAV.

[0068] Based on the risk thermal value of each line segment, a tower inspection sequence is generated. This sequence takes into account not only the level of risk but also the overall efficiency of the inspection mission. To determine the sequence, the system comprehensively evaluates the risk level of each line segment, its physical length, and the drone's flight speed. Longer line segments may require longer inspection times. By combining risk thermal values ​​with factors such as line length and flight speed, an inspection sequence is planned that prioritizes high-risk areas while maintaining overall mission efficiency.

[0069] S4. Based on the three-dimensional solid model of the transmission line corridor and in the order of the tower inspection sequence list, a set of surrounding waypoints is generated for each tower, and a single tower inspection path is generated based on the set of surrounding waypoints.

[0070] In some embodiments, the calculation formula for the surrounding waypoint set is as follows:

[0071]

[0072] Among them, Path ring,a represents the set of waypoints around the a-th tower, k represents the k-th insulator of the tower, K represents the total number of insulators on the tower, C k represents the coordinates of the kth insulator, θ represents the preset waypoint angle, θ is an angle that divides the angle into equal parts 0° and 360°, and a waypoint is set for each preset angle, for example, a waypoint is set every 30°, and r represents the shooting radius of the drone.

[0073] Furthermore, the surrounding waypoint set can be smoothed by B-spline curves to generate a single inspection path for the tower.

[0074] The generation of the orbiting waypoint set fully considers the complexity of the tower structure, avoiding spatial conflicts between waypoints and the tower or conductors. The resulting single inspection path enables the drone to conduct a systematic and comprehensive inspection around the tower, significantly improving the completeness and reliability of component inspections. This path not only covers conventional viewing angles but also allows for the addition of waypoints at specialized angles to inspect hidden or vulnerable areas. The customized design of the single inspection path ensures comprehensiveness and standardization of each tower inspection, providing high-quality data support for defect identification.

[0075] S5. According to the tower inspection sequence list, a transition path between adjacent towers is generated to obtain a global inspection path for all towers.

[0076] In some embodiments, S5 includes the following sub-steps:

[0077] S51: Acquire the end point of the inspection path of the current tower and the starting point of the inspection path of the tower in the next inspection sequence.

[0078] S52. Obtain a tower coordinate set based on the three-dimensional solid model of the transmission line corridor, and define a conductor centerline interpolation function between two towers based on the coordinates of the current tower and the coordinates of the tower in the next inspection sequence.

[0079] Specifically, the expression of the wire centerline interpolation function is as follows:

[0080]

[0081] Among them, L ab (T) represents the centerline interpolation function of the conductor between towers a and b, T represents the interpolation parameter, and its value range is [0,1]. a represents the coordinates of tower a, P b represents the coordinates of tower b, a and b represent tower a and tower b respectively, δ ab It indicates the sag of the conductor between towers a and b, that is, the elevation difference between the lowest point of the conductor and the suspension point. Represents the vertical unit vector, that is, the direction vector perpendicular to the horizontal plane (0,0,1).

[0082] S53. Generate a transition waypoint between the two towers according to the conductor centerline interpolation function.

[0083] Specifically, the calculation formula for the transition waypoint is as follows:

[0084]

[0085] Among them, Q dIndicates the coordinates of the d-th transition waypoint, d represents the d-th transition waypoint, M represents the total number of waypoints, which is obtained by dividing the distance between the two towers by the preset point-taking step size, and ΔH represents the safe flight altitude difference of the drone. The default value can be set to 3m to avoid high-voltage arc breakdown. Represents the horizontal normal vector of the conductor, that is, the horizontal direction vector perpendicular to the tangent direction of the conductor centerline.

[0086] S54: The end point of the inspection path of the current tower is used as the starting transition waypoint, the starting point of the inspection path of the tower in the next inspection sequence is used as the ending transition waypoint, and a transition waypoint set is constructed based on the transition waypoint, the starting transition waypoint and the ending transition waypoint.

[0087] S55. Perform B-spline curve smoothing on the transition waypoint set to obtain a global inspection path between the two towers.

[0088] S56. Repeat S51-S55 according to the tower inspection sequence list to obtain a global inspection path for all towers.

[0089] To ensure the transition path naturally aligns with the line's trajectory, the system uses the tower coordinates from the 3D solid model and the physical properties of the conductor to construct an interpolation function for the conductor's centerline between the two towers. This function simulates the natural draping of the conductor under gravity, generating a smooth spatial curve. Based on this curve, a series of transition waypoints are generated. These waypoints are located at a safe height above the conductor's centerline, forming the baseline trajectory for the drone's flight. The transition waypoint set consists of a starting transition waypoint, intermediate transition waypoints, and an ending transition waypoint to ensure path continuity. Subsequently, the transition waypoint set is smoothed using a B-spline curve to eliminate sharp transitions between waypoints, generating a global inspection path with continuous curvature that facilitates stable drone flight. B-spline smoothing effectively reduces sudden acceleration changes during flight, improving flight stability and safety. This transition path planning method ensures that the drone's trajectory closely aligns with the conductor's trajectory as it flies between towers, enabling inspection of the conductor while avoiding the risk of crossing obstacles associated with straight-line flight.

[0090] Furthermore, it also includes obstacle avoidance correction for individual inspection paths and global inspection paths, including:

[0091] Sa, obtain the tower coordinate set and the active radius R of the conductor and insulator based on the three-dimensional solid model of the transmission line corridor f .

[0092] Sb, generates the safety corridor boundary function based on the tower coordinate set and the active radius of the conductor and insulator.

[0093] Specifically, the calculation formula is as follows:

[0094] B s =P±(R f +ΔR);

[0095] Among them, B s represents the safety corridor boundary function, P represents the tower coordinate set, R f represents the active radius of the conductor and insulator, and ΔR represents the preset margin, which can be set to 3m for example.

[0096] Sc. If you are currently on a single inspection path, go to Sd. If you are currently on a single inspection path, go to Se.

[0097] Sd, take the sum of the active radius of the conductor and insulator and the preset margin as the first safety boundary, and detect the distance between the drone and the conductor and insulator in real time. If the distance between the drone and the conductor and insulator is less than the first safety boundary, the current waypoint of the drone is corrected for obstacle avoidance.

[0098] Se, take the safety corridor boundary function as the second safety boundary, detect the distance between the UAV and the obstacle in real time, if the distance between the UAV and the obstacle is less than the second safety boundary, then make obstacle avoidance corrections to the current waypoint of the UAV.

[0099] In some embodiments, obstacle avoidance correction is performed on the current waypoint of the drone, and the calculation formula is as follows:

[0100]

[0101] Among them, Q' represents the corrected current waypoint coordinates, Q represents the current waypoint coordinates, k o It represents the obstacle avoidance sensitivity coefficient, which can be calibrated through flight tests. For fixed obstacles, k o = 0.8, for movement disorders (such as flying birds), k o =2.0, D o It represents the distance between the UAV and the conductor and insulator or the distance between the UAV and the obstacle, and B represents the first safety boundary or the second safety boundary.

[0102] Based on the 3D solid model, the system extracts the tower coordinates and determines the active radius of the conductors and insulators based on their actual dimensions. A dynamic safety corridor boundary function is constructed, defining the safe space within which the drone must operate. When the drone performs a single inspection mission, the system activates the first safety boundary, which is composed of the active radius of the conductors and insulators plus a preset safety margin. The system monitors the distance between the drone's current position and nearby conductors and insulators in real time. Once the distance falls below the first safety boundary, the obstacle avoidance correction mechanism is triggered. During the global transition flight phase, the system uses the safety corridor boundary function to set a second safety boundary to prevent external obstacles such as trees and buildings. When the distance between the drone and an obstacle approaches the second safety boundary, the correction process is also initiated. Obstacle avoidance correction is achieved by adjusting the current waypoint coordinates. The correction amount is proportional to the difference between the current distance and the safety boundary and is adjusted by the obstacle avoidance sensitivity coefficient to ensure timely and smooth corrections, avoiding excessive jitter.

[0103] S6. Obtain a final inspection path based on the individual inspection path and the global inspection path.

[0104] Integrate the individual inspection paths that have been corrected for obstacle avoidance with the global inspection path to form a safe, efficient, and intelligent final inspection path, guiding the drone to complete autonomous inspection tasks.

[0105] The present invention dynamically calculates the risk value of the line section based on real-time current and aging factor, generates a tower inspection priority sequence, integrates the electrical load status into the path decision, enables the drone to preferentially cover high-risk areas, improves the targeted operation and maintenance, and improves the defect detection rate from the source; combines the three-dimensional solid model to construct a conductor activity radius model, generates a safety boundary function, and in a single inspection path, corrects the waypoint in real time according to the floating range of the insulator; in the transition path, dynamically adjusts the flight trajectory according to the obstacle distance, and achieves smooth obstacle avoidance through an exponential decay correction function to solve the environmental adaptability problem of fixed paths. By constructing a safe corridor boundary function and introducing a real-time obstacle avoidance correction mechanism, it effectively avoids conductors, insulators and external obstacles to ensure flight safety.

[0106] The embodiment of the present invention also provides a transmission line UAV autonomous inspection path planning system, which is used to execute the above-mentioned transmission line UAV autonomous inspection path planning method. Figure 2 This is a schematic diagram of a transmission line UAV autonomous inspection path planning system provided by an embodiment of the present invention. Figure 2 , the system includes the following modules:

[0107] A data acquisition module is used to obtain three-dimensional point cloud data by scanning the transmission line corridor using a laser radar, and to construct a three-dimensional solid model of the transmission line corridor based on the three-dimensional point cloud data; the three-dimensional solid model of the transmission line corridor includes towers, conductors, insulators, and obstacles;

[0108] The risk thermal value calculation module is used to calculate the risk thermal value of each line section based on the real-time current monitoring value, taking the conductors between adjacent towers as a line section;

[0109] Inspection sequence generation module, used to generate tower inspection sequence list based on the risk thermal value of each line section;

[0110] A single inspection path generation module is used to generate a set of surrounding waypoints for each tower based on the three-dimensional solid model of the transmission line corridor and the order of the tower inspection sequence list, and to generate a single inspection path for the tower based on the set of surrounding waypoints;

[0111] The global inspection path generation module is used to generate transition paths between adjacent towers according to the tower inspection sequence list to obtain the global inspection path for all towers;

[0112] The final inspection path generation module is used to obtain the final inspection path according to the single inspection path and the global inspection path.

[0113] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the technical solutions of the embodiments of the present invention.

Claims

1. A transmission line UAV autonomous inspection path planning method, characterized in that: The method comprises the following steps: S1. Scanning a transmission line corridor using a laser radar to obtain three-dimensional point cloud data, and constructing a three-dimensional solid model of the transmission line corridor based on the three-dimensional point cloud data; the three-dimensional solid model of the transmission line corridor includes towers, conductors, insulators, and obstacles; S2. Taking the conductors between adjacent towers as a line segment, calculate the risk thermal value of each line segment based on the real-time current monitoring value; S3. Generate a tower inspection sequence list based on the risk thermal value of each line section; S4. Generate a set of surrounding waypoints for each tower according to the three-dimensional solid model of the transmission line corridor and the order of the tower inspection sequence list, and generate a single inspection path for the tower according to the set of surrounding waypoints; S5. Generate transition paths between adjacent towers according to the tower inspection sequence list to obtain a global inspection path for all towers; S6. Obtain a final inspection path according to the individual inspection path and the global inspection path.

2. A transmission line UAV autonomous inspection path planning method according to claim 1, characterized in that: In S2, the conductors between adjacent towers are considered as a line segment, and the risk thermal value of each line segment is calculated based on the real-time current monitoring value. The calculation formula is as follows: Among them, H j represents the risk thermal value of the j-th line segment, j represents the j-th line segment, α represents the fault weight, β represents the aging weight, and I j represents the real-time current monitoring value of the jth line segment, I jmax represents the maximum carrying current of the jth line segment, F j represents the aging attenuation factor of the j-th line segment, and t represents the operating life of the j-th line segment.

3. The method for autonomous inspection path planning of a transmission line UAV according to claim 2 is characterized in that: In S3, a tower inspection sequence list is generated according to the risk thermal value of each line section, and the calculation formula is as follows: Among them, Path global Represents the tower inspection sequence list, m represents the total number of line sections, D j represents the length of the jth line segment, and V represents the flight speed of the UAV.

4. A transmission line UAV autonomous inspection path planning method according to claim 3, characterized in that: In S4, based on the three-dimensional solid model of the transmission line corridor and in the order of the tower inspection sequence list, a set of surrounding waypoints is generated for each tower, and the calculation formula is as follows: Among them, Path ring,a represents the set of surrounding waypoints of the a-th tower, k represents the k-th insulator of the tower, K represents the total number of insulators of the tower, C k represents the coordinates of the kth insulator, θ represents the preset waypoint angle, and r represents the shooting radius of the drone.

5. The method for autonomous inspection path planning of a transmission line UAV according to claim 1 is characterized in that: In S5, according to the tower inspection order list, a transition path between adjacent towers is generated to obtain a global inspection path for all towers, including: S51, obtaining the end point of the inspection path of the current tower and the starting point of the inspection path of the tower in the next inspection sequence; S52, obtaining a set of tower coordinates based on the three-dimensional solid model of the transmission line corridor, and defining a conductor centerline interpolation function between two towers based on the coordinates of the current tower and the coordinates of the towers in the next inspection sequence; S53, generating a transition point between the two towers according to the conductor centerline interpolation function; S54, taking the end point of the inspection path of the current tower as the starting transition waypoint, taking the starting point of the inspection path of the tower in the next inspection sequence as the ending transition waypoint, and constructing a transition waypoint set based on the transition waypoint, the starting transition waypoint, and the ending transition waypoint; S55, performing B-spline curve smoothing processing on the transition waypoint set to obtain a global inspection path between the two towers; S56. Repeat S51-S55 according to the tower inspection sequence list to obtain a global inspection path for all towers.

6. A transmission line UAV autonomous inspection path planning method according to claim 5, characterized in that: In the S52, the expression of the conductor centerline interpolation function is as follows: Among them, L ab (T) represents the centerline interpolation function of the conductor between towers a and b, T represents the interpolation parameter, P a represents the coordinates of tower a, P b represents the coordinates of tower b, a and b represent tower a and tower b respectively, δ ab Indicates the sag of the conductor between towers a and b. Represents the vertical unit vector.

7. The method for autonomous inspection path planning of a transmission line by a UAV according to claim 6, characterized in that: In the step S53, a transition point between two towers is generated according to the conductor centerline interpolation function, and the calculation formula is as follows: Among them, Q d represents the coordinates of the d-th transition waypoint, d represents the d-th transition waypoint, M represents the total number of waypoints, ΔH represents the safe flight altitude difference of the UAV, Represents the horizontal normal vector of the wire.

8. The method for autonomous inspection path planning of a transmission line UAV according to claim 1, characterized in that: Before S6, the process further includes performing obstacle avoidance correction on the individual inspection path and the global inspection path, specifically including: Sa, obtaining a set of tower coordinates and active radii of conductors and insulators according to the three-dimensional solid model of the transmission line corridor; Sb, generating a safety corridor boundary function according to the tower coordinate set and the active radius of the conductor and insulator; Sc, if currently in a single inspection path, then enter Sd, if currently in a single inspection path, then enter Se; Sd, taking the sum of the active radius of the conductor and insulator and the preset margin as the first safety margin, and detecting the distance between the drone and the conductor and insulator in real time. If the distance between the drone and the conductor and insulator is less than the first safety margin, the current waypoint of the drone is corrected for obstacle avoidance; Se, take the safety corridor boundary function as the second safety boundary, detect the distance between the UAV and the obstacle in real time, if the distance between the UAV and the obstacle is less than the second safety boundary, then make obstacle avoidance corrections to the current waypoint of the UAV.

9. The method for autonomous inspection path planning of a transmission line UAV according to claim 8, characterized in that: The calculation formula for obstacle avoidance correction of the current waypoint of the drone is as follows: Among them, Q' represents the corrected current waypoint coordinates, Q represents the current waypoint coordinates, k o Denotes the obstacle avoidance sensitivity coefficient, D o It represents the distance between the UAV and the conductor and insulator or the distance between the UAV and the obstacle, and B represents the first safety boundary or the second safety boundary.

10. A transmission line UAV autonomous inspection path planning system, used to execute the transmission line UAV autonomous inspection path planning method according to any one of claims 1 to 9, characterized in that: The system includes the following modules: a data acquisition module configured to acquire three-dimensional point cloud data by scanning the transmission line corridor using a laser radar, and construct a three-dimensional solid model of the transmission line corridor based on the three-dimensional point cloud data; the three-dimensional solid model of the transmission line corridor includes towers, conductors, insulators, and obstacles; The risk thermal value calculation module is used to calculate the risk thermal value of each line section based on the real-time current monitoring value, taking the conductors between adjacent towers as a line section; An inspection sequence generation module is used to generate a tower inspection sequence list according to the risk thermal value of each line section; a single inspection path generation module, configured to generate a set of surrounding waypoints for each tower according to the three-dimensional solid model of the transmission line corridor and the order of the tower inspection sequence list, and generate a single inspection path for the tower according to the set of surrounding waypoints; A global inspection path generation module is used to generate transition paths between adjacent towers according to the tower inspection sequence list to obtain a global inspection path for all towers; The final inspection path generation module is used to obtain the final inspection path according to the individual inspection path and the global inspection path.

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