Patrol trajectory planning optimization method for power transmission equipment

Abstract

The invention discloses a routing inspection trajectory planning optimization method for power transmission equipment, and relates to the technical field of power routing inspection, and the method comprises the steps: S1, obtaining the space coordinate information of a plurality of pieces of power transmission equipment, and constructing an original routing inspection path by taking each piece of space coordinate information as a path node; s2, for each power transmission device, carrying out visibility evaluation based on the physical size and the environmental condition of the power transmission device; setting a patrol distance for each power transmission device according to a visibility evaluation result, and generating a corresponding activity area around each path node by taking the patrol distance as a radius; and S3, carrying out fusion processing on the original inspection path and the activity area of each power transmission device, and generating an initial inspection path meeting a basic inspection distance requirement. According to the method, firstly, a visibility evaluation mechanism based on terrain, illumination and shielding factors is introduced, a patrol distance dynamic adjustment model is combined, and a corresponding activity area is generated for each piece of power transmission equipment;

Description

Technical Field

[0001] This invention relates to the field of power inspection technology, specifically to a method for optimizing inspection trajectory planning for power transmission equipment. Background Technology

[0002] In modern power systems, transmission equipment serves as a crucial carrier of power transmission, and its operational status directly impacts the stability and continuity of the entire power grid. As transmission lines extend into complex terrain areas, including mountainous regions, hilly areas, and densely populated urban areas, traditional manual inspection methods are increasingly unable to meet demands in terms of efficiency, safety, and cost control. Therefore, unmanned aerial vehicle (UAV)-based automated transmission line inspection technology is gaining increasing attention and application.

[0003] Current UAV inspection path planning methods typically construct paths based on the spatial coordinates of power transmission equipment, combined with fixed flight altitudes and path constraints. These methods offer the advantage of ease of implementation and can effectively support power transmission equipment inspection tasks in conventional scenarios. Meanwhile, some research has begun to incorporate environmental factors such as terrain undulations and the distribution of obstructions into the path feasibility, achieving preliminary path adaptation for some complex scenarios.

[0004] A search revealed a Chinese patent (publication number: CN118583170A) that discloses a method for planning inspection paths for unmanned aerial vehicles (UAVs). This patent includes the following steps: First, acquiring a dataset and processing the inspection data within the dataset to obtain a processed dataset; the inspection data includes historical flight path data of the UAV and geographical data of the inspection area; then, generating an aerial road network for the UAV based on the processed dataset; next, calculating the optimal path from the starting point to the destination based on the Astar algorithm and the UAV aerial road network; finally, optimizing the optimal path to ensure the flight safety and inspection efficiency of the UAV.

[0005] In existing technologies, when faced with dynamic uncertainties such as multi-source environmental influences, temporary task insertions, and power limitations, there are still problems such as insufficient flexibility in path adjustment, low efficiency in reusing activity areas, and unstable flight paths. Especially in actual inspections, the terrain conditions, obstruction structures, and lighting conditions around different power transmission equipment vary greatly, affecting the inspection distance, image acquisition quality, and flight safety. Therefore, this application proposes an optimization method for inspection trajectory planning of power transmission equipment. Summary of the Invention

[0006] The purpose of this invention is to provide a method for optimizing inspection trajectory planning for power transmission equipment, so as to solve the problems mentioned in the background art.

[0007] This invention can be achieved through the following technical solution: a method for optimizing inspection trajectory planning of power transmission equipment, the method comprising the following steps: S1. Obtain the spatial coordinate information of multiple power transmission devices, and construct the original inspection path using each spatial coordinate information as a path node; S2. For each power transmission device, conduct a visibility assessment based on its physical dimensions and environmental conditions (including terrain structure, lighting, and obstruction factors). Based on the visibility assessment results, a patrol distance is set for each power transmission equipment, and with this patrol distance as the radius, a corresponding active area is generated around each path node to constrain the executable patrol path segment. S3. The original inspection path is fused with the activity area of ​​each power transmission equipment to generate an initial inspection path that meets the basic inspection distance requirements. This initial inspection path covers all power transmission equipment while ensuring that the image acquisition has the required viewing angle and distance conditions, and serves as the basis for subsequent dynamic path optimization. S4. When a temporary inspection task for a power transmission device is received, the path adjustment area is constructed by expanding the spatial range centered on the device's location. S5. Within the path adjustment area, first reconfigure the path for the transmission equipment containing temporary tasks to prioritize the response to task urgency. Subsequently, among the remaining power transmission equipment in the adjustment area, the path is refined and supplemented based on its spatial correlation with the current reconfiguration path, so as to complete the local optimization of the path in the adjustment area and smoothly connect it with the original inspection path. S6. After the path generation and optimization are completed, obtain the remaining power of the current inspection equipment, and calculate the maximum supportable path length by combining the unit distance flight energy consumption model. If the generated path exceeds the device's battery life, priority will be given to retaining path segments containing temporary tasks and high-priority targets, while low-priority or remote path segments will be pruned to ensure that the inspection task can be fully executed under the current battery conditions.

[0008] A further technical improvement of the present invention is that, in step S2, the method for obtaining the active area includes: Z1. Based on the preset terrain scoring of each power transmission equipment. Light score and occlusion rating Generate a comprehensive score for the corresponding power transmission equipment. ; ; In the formula, , and These are the weight coefficients for the corresponding items; Z2. Set the maximum inspection distance for each power transmission device. and minimum patrol distance And based on the comprehensive score of each transmission device. Dynamically set the inspection distance for each power transmission device. : ; Z3, based on the patrol distance in step Z2 Generate an active region around each path node. and activity area The radius is And add constraints for these areas to the original inspection path.

[0009] A further technical improvement of the present invention is that: during each inspection, the inspection equipment enters the activity area corresponding to the power transmission equipment i. Then, through image acquisition, it is determined whether the preset task has been completed, including: The entire target device was successfully captured on camera; The image meets the preset conditions for sharpness, lighting, and occlusion rate; The system successfully completed target identification (such as power tower structure, insulator detection, etc.). If any condition fails, record "Active area unavailable" once; For the same power transmission equipment i, the activity area Record the number of times the area was successfully / failed during historical inspections; Statistical availability frequency: ; In the formula, For the activity area Historical validity score; This refers to the number of successful collections in history. This refers to the number of times the activity area was actually used; Will Compare with the preset judgment threshold δ, if If <δ, then the activity area is determined. It has no reuse value and is marked as "non-fixed activity area"; In subsequent path optimization, this area will no longer be used preferentially or trigger the logic of recalculating the active area (such as direction adjustment, angle reset, patrol distance update).

[0010] A further technical improvement of the present invention is that the method for generating the initial inspection path includes: A1. Check if there is a path segment in the original inspection path that enters the activity area. If the path segment crosses the area, keep the path segment for inspection; if the path does not cover the area, proceed to step A2. A2. For activity areas not covered by the original inspection path, take the nearest path node of the original inspection path as the starting point, plan the shortest path segment connecting to the edge of the activity area, and add it to the inspection path to obtain a fused path. A3. Verify the acquisition conditions of the fusion path: In the fusion path, points with good image recognition conditions are identified as effective acquisition points for the power transmission equipment, including the following conditions: No obstruction or obstruction rate is lower than the set obstruction threshold, where the obstruction rate is calculated based on the point cloud obstruction rate generated in the obstruction score, and the viewing angle is calculated based on the relative attitude angle between the inspection equipment and the power transmission equipment. The viewpoint between the power transmission equipment and the equipment is within a identifiable range; The distance meets the image clarity requirements; If any of the above conditions are not met, the path segment will not be included in the initial inspection path, and other feasible path segments will be tried or the area will be marked as uncoverable. A4. Connect the successfully merged paths from A3 according to the equipment number order or the principle of the shortest path distance to form an initial inspection path covering the activity area of ​​all power transmission equipment.

[0011] A further technical improvement of the present invention is that the construction of the path adjustment region includes: Centered on the power transmission equipment corresponding to the temporary task, identify the power transmission equipment falling within the preset spatial diffusion radius, and use the equipment farthest away in the original inspection path as the boundary node for path reconnection. The entry point of the path adjustment area is generated based on the flight path between the boundary node and the nearest node in the original path.

[0012] A further technical improvement of the present invention lies in: the planning of inspection routes for the remaining power transmission equipment in the path adjustment area, including: Y1. Extract planned path segments from the path adjustment area. , serving as a reference line to supplement the paths of other transmission equipment within the path adjustment area; Y2. Screen the remaining power transmission equipment within the route adjustment area: If its activity area and path segment If there is overlap, then the power transmission equipment is considered as a candidate equipment; Y3. For each candidate device: From path segment Start from the path node closest to its activity area; Generate a separate flight path segment with the center of its activity area as the target and insert it; Y4. After all supplementary path segments are completed, sort them according to their spatial location on the device and connect them to the original path in sequence.

[0013] A further technical improvement of the present invention is that, in S6, after the path generation and optimization are completed, the system obtains the remaining power of the current UAV equipment and calculates its maximum inspectable path length based on the energy consumption model per unit distance. If the total length of the generated path exceeds the maximum inspectable path length, the path segment will be pruned according to the preset pruning logic. After each trimming, the current path length is recalculated until the generated path is no longer than the maximum inspectable path length.

[0014] Compared with the prior art, the present invention has the following beneficial effects: This invention first introduces a visibility assessment mechanism based on terrain, lighting, and occlusion factors, combined with a dynamic adjustment model for inspection distance, to generate a corresponding activity area for each power transmission equipment and to perform fusion processing on the original path, thereby achieving environmental adaptive constraints in the path generation stage, ensuring that the inspection equipment performs its tasks in areas with good viewing angles and image acquisition quality, and improving the coverage quality and reliability of path planning. Furthermore, upon receiving a temporary task request, this invention proposes a path adjustment area construction and path reconstruction mechanism, which can spatially expand with the temporary task equipment as the center, determine the entry point and boundary point, and refine and supplement the path segments of other power transmission equipment within the path adjustment area. This not only ensures the timeliness of task response but also maintains the structural continuity with the original path, giving the system a strong path reconstruction and regional adaptability. On the other hand, this invention also introduces a power assessment and path pruning mechanism. By constructing a unit distance energy consumption model and a priority scoring function, the path segments are sorted and selected, realizing path execution optimization under limited endurance conditions. Through this mechanism, the system can selectively retain critical mission paths based on the remaining power, effectively improving the stability, safety and executability of flight missions, and is particularly suitable for inspection missions in long-distance and complex environments. Attached Figure Description

[0015] To facilitate understanding by those skilled in the art, the present invention will be further described below with reference to the accompanying drawings.

[0016] Figure 1 This is a logic diagram of the method of the present invention. Detailed Implementation

[0017] To further illustrate the technical means and effects of the present invention in achieving its intended purpose, the following detailed description of the specific implementation methods, structures, features, and effects of the present invention, in conjunction with the accompanying drawings and preferred embodiments, is provided.

[0018] Please see Figure 1 As shown, this invention provides a method for optimizing inspection trajectory planning for power transmission equipment, the method comprising the following steps: S1. Obtain the spatial coordinate information of multiple power transmission devices, and construct the original inspection path using each spatial coordinate information as a path node; S2. For each power transmission device, conduct a visibility assessment based on its physical dimensions and environmental conditions (including terrain structure, lighting, and obstruction factors). Based on the visibility assessment results, a patrol distance is set for each power transmission equipment, and with this patrol distance as the radius, a corresponding active area is generated around each path node to constrain the executable patrol path segment. Methods for obtaining the activity area include: Z1. Based on the preset terrain scoring of each power transmission equipment. Light score and occlusion rating Generate a comprehensive score for the corresponding power transmission equipment. This is used to adjust the inspection distance of each power transmission device; ; In the formula, , and These are the weight coefficients for the corresponding items; Specifically, terrain scoring Data source: High-precision digital elevation models are used, which are obtained from publicly available remote sensing data or map APIs (such as SRTM, ASTER, etc.). Handling method: With the coordinate point of the power transmission equipment as the center, set a fixed radius (e.g., 50 meters), collect elevation data within this range, and calculate the slope and undulation of the area. Impact judgment logic: The steeper the slope and the more dramatic the undulations, the more likely there will be obstructions or difficulties in flying, resulting in reduced visibility; If the equipment is located in a depression or on a ridge, it will be assigned different weighted scores. Specifically, the score is high when the power transmission equipment is located on flat terrain and low when the terrain is highly undulating. Lighting score Data source: The solar azimuth and zenith angles are calculated using the Solar Position Algorithm based on the date, time, and geographical location. Alternatively, use the light sensor mounted on the drone to collect illuminance values ​​in real time; Handling method: If the surface of the device is directly illuminated, the image recognition effect will be better; If the object is in a backlit or shadowed area, the recognition effect will be poor. Impact judgment logic: High illuminance + reasonable light angle → high visibility; Severe shadows → Reduced visibility; Occlusion rating Data source: Use LiDAR or cameras to acquire 3D point clouds or images of the surrounding area of ​​the device; Extract obstacle distribution (such as buildings, trees, and other routes) from existing map data; Handling method: Establish a line of sight for the common flight paths from the equipment to the drone; Analyze whether there are any obstructions in this line of sight; if so, count them as obstructions. Impact judgment logic: Unobstructed view → higher score; Partial obstruction (tree branches, power lines) → score is acceptable; Complete occlusion → low score; Z2. Set the maximum inspection distance for each power transmission device. and minimum patrol distance (i.e., minimum safe flight distance), and based on a comprehensive score for each transmission device. Dynamically set the inspection distance for each power transmission device. : ; Z3, based on the patrol distance in step Z2 Generate an active region around each path node. and activity area The radius is And add constraints for these areas to the original inspection path; Activity Area Define a circular region with the location of the power transmission equipment at its center. , radius is ; ; In the formula, This refers to a coordinate point within the original inspection path; Let i be the coordinates of the power transmission equipment. During each inspection, the inspection equipment enters the activity area corresponding to power transmission equipment i. Then, through image acquisition, it is determined whether the preset task has been completed, including: The entire target device was successfully captured on camera; The image meets the preset conditions for sharpness, lighting, and occlusion rate; The system successfully completed target identification (such as power tower structure, insulator detection, etc.). If any condition fails, record "Active area unavailable" once; For the same power transmission equipment i, the activity area Record the number of times the area was successfully / failed during historical inspections; Statistical availability frequency: ; In the formula, For the activity area Historical validity score; This refers to the number of successful collections in history. This refers to the number of times the activity area was actually used; Will Compare with the preset judgment threshold δ, if If <δ, then the activity area is determined. It has no reuse value and is marked as "non-fixed activity area"; In subsequent path optimization, this area will no longer be used first or trigger the logic of recalculating the active area (such as direction adjustment, angle reset, patrol distance update). S3. The original inspection path is fused with the activity area of ​​each power transmission equipment to generate an initial inspection path that meets the basic inspection distance requirements. This initial inspection path covers all power transmission equipment while ensuring that the image acquisition has the required viewing angle and distance conditions, and serves as the basis for subsequent dynamic path optimization. The method for generating the initial inspection path includes: A1. Check if there is a path segment in the original inspection path that enters the activity area. If the path segment crosses the area, keep the path segment for inspection; if the path does not cover the area, proceed to step A2. A2. For activity areas not covered by the original inspection path, a shortest path segment connecting to the edge of the activity area is planned, starting from the nearest path node of the original inspection path, and added to the inspection path to obtain a fused path. In this embodiment, the shortest path segment is planned based on a preset flight safety map or 3D terrain data, prioritizing obstacle avoidance trajectory algorithms or flyable paths calculated based on the minimum path weight graph structure, and the shortest path segment should satisfy the following: After entering the activity area, the spatial distance from the flight point to the power transmission equipment is less than the set inspection distance; High-quality image acquisition tasks can be performed on this path segment; If multiple feasible paths exist, the path segment that matches the flight angle and image acquisition direction should be selected first. A3. Verify the acquisition conditions of the fusion path: In the fusion path, points with good image recognition conditions are identified as effective acquisition points for the power transmission equipment, including the following conditions: No obstruction or obstruction rate is lower than the set obstruction threshold, where the obstruction rate is calculated based on the point cloud obstruction rate generated in the obstruction score, and the viewing angle is calculated based on the relative attitude angle between the inspection equipment and the power transmission equipment. The viewing angle between the power transmission equipment and the equipment is within a identifiable range (e.g., the downward angle is between 30° and 60°). The distance meets the image clarity requirements; If any of the above conditions are not met, the path segment will not be included in the initial inspection path, and other feasible path segments will be tried or the area will be marked as uncoverable. A4. Connect the successfully merged paths from A3 according to the equipment number order or the principle of shortest path distance to form an initial inspection path covering the activity area of ​​all power transmission equipment. In this embodiment, "the path connection order is optimally arranged by the heuristic TSP algorithm or the greedy algorithm based on the node graph structure to ensure that the total path length is the shortest or that the paths are traversed in a preset priority order, while simultaneously satisfying the following requirements: Covers the activity area corresponding to all power transmission equipment; All inspection flight points have the distance and viewing angle conditions for image acquisition; It can serve as the basis for path reconstruction during subsequent temporary task responses or power adjustments; S4. When a temporary inspection task for a power transmission device is received, the path adjustment area is constructed by expanding the spatial range centered on the device's location. The construction of the path adjustment region includes: Centered on the power transmission equipment corresponding to the temporary task, identify the power transmission equipment falling within the preset spatial diffusion radius, and use the equipment farthest away in the original inspection path as the boundary node for path reconnection. The entry point of the path adjustment area is generated based on the flight path between the boundary node and the nearest node in the original path, specifically including: Q1. Spatial expansion centered on temporary mission equipment: q11. Determination of diffusion center: Set the spatial location of the power transmission device i that triggered the temporary task. It is spreading; q12. Definition of diffusion radius: Set a maximum spatial diffusion radius The maximum spatial diffusion radius is dynamically set based on the mission level, environmental density, or equipment layout density. q13. Diffusion process: Traverse the spatial coordinates of all power transmission equipment and filter out the spatial coordinates of power transmission equipment i in the temporary task. Euclidean distance between This constitutes the path adjustment candidate set. ; In the formula, The coordinates of the i-th power transmission device are represented by a three-dimensional coordinate vector. ; The coordinates of the candidate device; ; Q2. Edge node identification and docking point setting: q21. Definition of marginal equipment: From the candidate set The process involves filtering out the transmission equipment path nodes already included in the initial inspection path to form a set of dockable nodes. ; q22. Logic for determining the furthest docking point: In the set of connectable nodes In the middle, select distance The furthest transmission equipment b, and its location As the boundary node of the path adjustment area, and set as the docking point for the inspection equipment to rejoin the initial inspection path after leaving the path adjustment area; q23. Boundary node requirements, including: ∈ ; , ≥ In the formula, Distance The location coordinates of the farthest boundary transmission equipment were selected as the "marginal node" of the path adjustment area; Belongs to The coordinates of any power transmission equipment in the system; Q3. Path entry point generation: q31. Entry point generation logic: Find the spatial coordinates of the temporary task power transmission equipment within the distance path adjustment area from the initial inspection path. The nearest path node is denoted as And using this point as the starting point, plan the path segment to enter the path adjustment area; q32. Entry path segment design: Plan a route from [location] on a 3D map using a trajectory generation algorithm (A* or RRT). arrive The flight path, and the flight path meets the flight safety constraints and image acquisition visibility requirements, including: The flight altitude shall not be lower than the safe flight altitude limit; The generated path must avoid obstacle areas marked on the 3D map; Path node to The spatial distance should be less than its inspection distance. And it has the conditions for a visible angle; If there are obstructed areas on the path, they will be automatically removed and alternative paths will be replanned. Among multiple feasible paths, the path with the shorter path length and better image acquisition conditions is selected as the final path. If the flight path successfully covers the activity area after entering the path adjustment area. A flight node on the boundary is then designated as the entry point. ; If entry fails, a new insertion point will be selected at the boundary of the active area, and the path segment will be regenerated. S5. Within the path adjustment area, first reconfigure the path for the transmission equipment containing temporary tasks to prioritize the response to task urgency. Subsequently, among the remaining power transmission equipment in the adjustment area, the path is refined and supplemented based on its spatial correlation with the current reconfiguration path, so as to complete the local optimization of the path in the adjustment area and smoothly connect it with the original inspection path. For the inspection route planning of the remaining power transmission equipment in the route adjustment area, the following are included: Y1. Extract planned path segments from the path adjustment area. (i.e., from the entry point) to The path), serving as a reference line to supplement the paths of other transmission equipment within the path adjustment area; Y2. Screen the remaining power transmission equipment (excluding temporary task equipment) within the route adjustment area: If its activity area and path segment If there is overlap (e.g., the intersection exceeds a set area threshold), then the power transmission equipment is selected as a candidate equipment. Y3. For each candidate device: From path segment Start from the path node closest to its activity area; A separate flight path segment is generated with the center of its activity area as the target; Insert the path segment and ensure that the flight segment meets the following constraints: y31. Capable of acquiring valid images (no severe occlusion, legal angle); y32. The patrol distance is within the allowable range; y33. The total length is controlled within the travel range of the inspection equipment; that is, when using drones, the total length is controlled within the power tolerance. Specifically, the method for inserting this path segment is as follows: Existing path segment: such as from the entry point Path segment to temporary task power transmission equipment i ; New planned route segment: From Starting from a certain node (near the target power transmission equipment j), extending to... Flight path segments within the activity area; Insertion operation: From this arrive Add the path segment to the overall path; For example, the current path is → ; When planning to inspect another power transmission device j, a route was planned to approach it. point arrive Path segment: → ; The inserted path segment is then: this path is inserted into the current path structure, making the path become: like = ,but → → ; like ≠ ,but →...→ → ; Y4. After all supplementary path segments are completed, sort them according to their spatial location (e.g., along the main axis or in the order of shortest path traversal) and connect them to the original path in sequence to ensure the overall path is coherent. S6. After the path generation and optimization are completed, obtain the remaining power of the current inspection equipment, and calculate the maximum supportable path length by combining the unit distance flight energy consumption model. If the generated path exceeds the device's battery life, priority will be given to retaining the path segments containing temporary tasks and high-priority targets, while low-priority or remote path segments will be pruned to ensure that the inspection task can be fully executed under the current battery conditions. Specifically, after the path generation and optimization are completed, the system obtains the remaining power of the current drone equipment and calculates its maximum inspectable path length based on the energy consumption model per unit distance. If the total length of the generated paths exceeds the maximum inspectable path length, the path segments are pruned. The pruning process follows the path pruning logic: Priority scoring is assigned to the power transmission equipment corresponding to each inspection route segment in the route. The following model is used in this embodiment: In the formula, The importance level of power transmission equipment (e.g., main line, branch line, etc.); This is the time since the last inspection; The alarm trigger level or current status; , and These are the weight coefficients for the corresponding items; Scoring based on priority Sort by path segment distance and construct a pruning queue; Retain path segments that contain temporary task objectives and high priority scores; Prioritize pruning path segments corresponding to devices with low priority and long distances; After each trimming, the current path length is recalculated until the generated path is no greater than the maximum inspectable path length. After path pruning is completed, the final retained path will be used as the current inspection task execution path, and the power transmission equipment number corresponding to the pruned path will be recorded as a list to be inspected for subsequent tasks to supplement the scheduling.

[0019] The above formulas are all dimensionless calculations. The formulas are derived from software simulations based on a large amount of collected data to obtain the most recent real-world results. The preset parameters and thresholds in the formulas are set by those skilled in the art according to the actual situation.

[0020] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. A method for optimizing inspection trajectory planning for power transmission equipment, characterized in that: Includes the following steps: S1. Obtain the spatial coordinate information of multiple power transmission devices, and construct the original inspection path using each spatial coordinate information as a path node; S2. Based on the physical dimensions of each power transmission equipment and its environmental conditions, conduct visibility assessment, set the inspection distance, and generate an activity area around each path node using this distance as the radius. S3. Integrate the original path with the activity area of ​​each power transmission equipment to generate an initial inspection path that meets the inspection distance requirements; S4. When a temporary task is received from a power transmission device, spatial expansion is carried out with that device as the center to construct a path adjustment area; S5. Within the path adjustment area, prioritize the reconstruction of path segments containing temporary tasks, and then plan the inspection paths of the remaining power transmission equipment within the path adjustment area based on spatial correlation. S6. After the path generation and optimization are completed, obtain the remaining power of the inspection equipment and calculate its maximum path length. If the maximum path length exceeds the battery life range, the path segments that cover temporary tasks and have priority values ​​higher than the preset priority threshold will be retained, and the remaining path segments will be deleted in order of priority and distance until the path meets the battery life requirements.

2. The method for optimizing inspection trajectory planning of power transmission equipment according to claim 1, characterized in that, In step S2, the methods for obtaining the active region include: Z1. Based on the preset terrain scoring of each power transmission equipment. Light score And occlusion rating Generate a comprehensive score for the corresponding power transmission equipment. ; ； In the formula, , and These are the weight coefficients for the corresponding items; Z2. Set the maximum inspection distance for each power transmission device. and minimum patrol distance And based on the comprehensive score of each transmission device. Dynamically set the inspection distance for each power transmission device. : ； Z3, based on the patrol distance in step Z2 Generate an active region around each path node. and activity area The radius is And add constraints for these areas to the original inspection path.

3. The method for optimizing inspection trajectory planning of power transmission equipment according to claim 2, characterized in that, During each inspection, the inspection equipment enters the activity area corresponding to power transmission equipment i. Then, by acquiring images, it is determined whether the preset task has been completed; If the conditions are not met, record "Active area unavailable" once; For the same power transmission equipment i, the activity area Record the number of times the area was successfully / failed during historical inspections; Statistical availability frequency: ; In the formula, For the activity area Historical validity score; This refers to the number of successful collections in history. This refers to the number of times the activity area was actually used; Will Compare with the preset judgment threshold δ, if If <δ, then the activity area is determined. It has no reuse value and is marked as "non-fixed activity area".

4. The method for optimizing inspection trajectory planning of power transmission equipment according to claim 1, characterized in that, The method for generating the initial inspection path includes: A1. Check if there are any path segments that enter the activity area in the original inspection path; If a path segment crosses this area, the path segment is retained for inspection. If the path does not cover the area, proceed to step A2; A2. For activity areas not covered by the original inspection path, take the nearest path node of the original inspection path as the starting point, plan the shortest path segment connecting to the edge of the activity area, and add it to the inspection path to obtain a fused path. A3. Verify that the acquisition conditions of the fusion path match the preset conditions: If any condition is not met, the path segment will not be included in the initial inspection path, and other feasible path segments will be tried or the area will be marked as uncoverable. A4. Connect the successfully merged paths from A3 according to the equipment number order or the principle of the shortest path distance to form an initial inspection path covering the activity area of ​​all power transmission equipment.

5. The method for optimizing inspection trajectory planning of power transmission equipment according to claim 1, characterized in that, The construction of the path adjustment region includes: Centered on the power transmission equipment corresponding to the temporary task, identify the power transmission equipment falling within the preset spatial diffusion radius, and use the equipment farthest away in the original inspection path as the boundary node for path reconnection. The entry point of the path adjustment area is generated based on the flight path between the boundary node and the nearest node in the original path.

6. The method for optimizing inspection trajectory planning of power transmission equipment according to claim 1, characterized in that, For the inspection route planning of the remaining power transmission equipment in the route adjustment area, the following are included: Y1. Extract planned path segments from the path adjustment area. , serving as a reference line to supplement the paths of other transmission equipment within the path adjustment area; Y2. Screen the remaining power transmission equipment within the route adjustment area: If its activity area and path segment If there is overlap, then the power transmission equipment is considered as a candidate equipment; Y3. For each candidate device: From path segment Start from the path node closest to its activity area; Generate a separate flight path segment with the center of its activity area as the target and insert it; Y4. After all supplementary path segments are completed, sort them according to their spatial location on the device and connect them to the original path in sequence.

7. The method for optimizing inspection trajectory planning of power transmission equipment according to claim 1, characterized in that, In S6, after path generation and optimization are completed, the system obtains the remaining power of the current drone equipment and calculates its maximum inspectable path length based on the energy consumption model per unit distance. If the total length of the generated path exceeds the maximum inspectable path length, the path segment will be pruned according to the preset pruning logic. After each trimming, the current path length is recalculated until the generated path is no longer than the maximum inspectable path length.

8. The method for optimizing inspection trajectory planning of power transmission equipment according to claim 7, characterized in that, After the path is pruned, the final retained path will be used as the current inspection task execution path, and the power transmission equipment number corresponding to the pruned path will be recorded.

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