Unmanned aerial vehicle hovering obstacle avoidance method based on electromagnetic field intensity of transmission, transformation and distribution equipment

Abstract

The invention discloses an unmanned aerial vehicle hovering obstacle avoidance method based on the electromagnetic field intensity of transmission, transformation and distribution equipment, and relates to the technical field of unmanned aerial vehicles, and the method comprises the following steps: starting an unmanned aerial vehicle, and judging whether the unmanned aerial vehicle is manually controlled to fly or fly in an autonomous route; if the unmanned aerial vehicle is manually controlled to fly, a pilot manually controls the unmanned aerial vehicle to take off; the pilot manually controls the flight of the unmanned aerial vehicle; detecting external electromagnetic field information of the unmanned aerial vehicle; whether the electromagnetic field intensity of the current position of the unmanned aerial vehicle is smaller than a threshold value or not is judged, if yes, normal manual control flight is carried out, and if not, a control system on the unmanned aerial vehicle controls the unmanned aerial vehicle to hover and sends warning information that the unmanned aerial vehicle is too close to the wire to an unmanned aerial vehicle remote controller end; and manually controlling the unmanned aerial vehicle to fly away from the lead area. When the unmanned aerial vehicle is too close to the electrified body, the unmanned aerial vehicle hovers immediately and sends an early warning signal to a ground pilot, so that the unmanned aerial vehicle can adjust the flight attitude and position of the unmanned aerial vehicle in time.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to a hovering obstacle avoidance method for UAVs based on the electromagnetic field strength of power transmission and distribution equipment. Background Technology

[0002] In recent years, the use of drones within power grid protection zones has been steadily increasing. Due to the strong electromagnetic environment surrounding high-voltage lines and substation equipment, drone remote control signals are significantly interfered with, and there is a risk of close-range high-voltage discharge, making drone flight accidents highly likely and posing a threat to the safe operation of the power grid. With the increasingly widespread application of drones, whether flying within or beyond visual line of sight, any approach to power grid corridors or substation equipment can potentially threaten power grid operation. In recent years, accidents caused by drones colliding with power grids have become increasingly frequent. Furthermore, with the increasing prevalence of various civilian drones, low-altitude accidents can easily cause incalculable economic losses and serious social impacts on the power grid.

[0003] Meanwhile, when drones approach overhead power lines and substation equipment for inspection, obstacle avoidance is required to collect information on the operation and faults of the power equipment system. Currently, the obstacle avoidance method mainly involves using drones equipped with GPS, visible light sensors, lidar ranging, and ultrasonic ranging sensors to transmit real-time environmental conditions near high-voltage lines back to the ground, allowing operators to remotely control the drone based on the specific obstacle situation. However, GPS signals are easily affected by geographical location and interference, and in some areas, positioning information cannot be accurately received. The positioning accuracy cannot meet the positioning requirements of inspection drones, thus failing to accurately obtain the location and relative distance of lines and equipment. Furthermore, this method is greatly affected by line-of-sight and environmental factors, making accurate control difficult for operators. In addition, lidar ranging equipment is expensive and has a short lifespan; infrared ranging is easily affected by strong light and has high requirements for environmental conditions; and ultrasonic ranging is easily affected by complex terrain and the surrounding environment, making it difficult to extract information about conductors in complex environments. Bad weather conditions can cause significant problems for the operation and control of drones, and may even cause drones to go out of control and crash into obstacles such as power lines or towers, damaging drones, power lines and towers, and even causing power system failures, endangering the safety of the power grid system.

[0004] Even though existing drones are equipped with visual obstacle avoidance and radar ranging as standard features, these are only auxiliary tools for obstacle detection. Practice has shown that systems often struggle to detect obstacles such as power lines and guy wires, making it impossible to completely rely on cameras and radar warnings for automatic obstacle avoidance. Currently, it is necessary to use models with RTK high-precision positioning modules, plan flight routes in advance, and visually survey complex terrain areas to avoid them. Manual flight is required in these areas, and even during automatic flight, constant control is necessary to prevent deviations caused by drone malfunctions. Therefore, autonomous obstacle avoidance navigation, accurate positioning, and electromagnetic interference-resistant safe distances for drones performing power line inspections have become key research challenges.

[0005] Despite the increasing maturity of UAV technology and its industrial applications, UAVs still face numerous challenges in low-altitude operations. Firstly, due to the parallel existence of power grid lines with roads, plots of land, and buildings, there is significant overlap between power lines and flight areas, resulting in a complex electromagnetic environment around power lines. This is particularly pronounced in substations where equipment is concentrated, making electromagnetic effects more significant. UAV magnetometers are significantly affected by this complex electromagnetic environment, increasing the risk of errors in heading angle calculation and impacting the safety of the entire flight mission. Secondly, with increasing payload capacity, UAVs require large wheelbase fuselages, high-voltage motors, and large propellers, achieving maximum speeds of up to 20 m / s. Currently, most UAVs rely on ground-based operators for manual control or automatic flight along pre-set routes, posing certain risks during low-altitude operations. Therefore, developing UAV obstacle detection and autonomous early warning hovering technologies for complex power transmission and distribution environments has significant theoretical importance and broad engineering application prospects.

[0006] Based on this, this application proposes a hovering obstacle avoidance method for unmanned aerial vehicles (UAVs) based on the electromagnetic field strength of power transmission and distribution equipment. Summary of the Invention

[0007] This invention provides a method for hovering and obstacle avoidance of unmanned aerial vehicles (UAVs) based on the electromagnetic field strength of power transmission and distribution equipment. It can effectively detect high-voltage transmission lines, substation equipment, and distribution lines, and can control UAVs to hover and avoid obstacles in an emergency.

[0008] According to one aspect of this disclosure, a method for hovering and obstacle avoidance of a UAV based on the electromagnetic field strength of power transmission and distribution equipment is provided, the method comprising: The obstacle avoidance methods for corridor flight are as follows: Once the drone is started, it is determined whether the drone is manually controlled or flying autonomously along its own flight path. If the drone is manually controlled, the following steps are performed: The pilot manually controls the drone to take off; the pilot manually controls the drone to fly; the electromagnetic field information of the drone is detected by the electromagnetic induction hardware device installed on the drone; it is determined whether the electromagnetic field strength at the current position of the drone is less than the threshold. If it is, the drone is manually controlled to fly normally. If not, the control system on the drone controls the drone to hover and sends an alarm message to the drone remote controller indicating that the drone is too close to the guide wire. After receiving the alarm message, the pilot manually controls the drone to fly away from the guide wire area. If the drone is flying autonomously along a designated route, the following steps are performed: The drone automatically takes off according to the route; the drone autonomously controls its flight; the electromagnetic field strength outside the drone is detected in real time by electromagnetic induction hardware installed on the drone; it is determined whether the electromagnetic field strength at the waypoint is less than the threshold. If it is, the drone flies normally along the route; if not, the control system on the drone controls the drone to hover and sends an alarm message to the drone remote controller indicating that the drone is too close to the guide wire. After receiving the alarm message, the pilot switches to manual control flight through the drone remote controller, observes the surrounding environment through the images transmitted back by the drone to ensure safety, and manually controls the drone to fly away from the guide wire area.

[0009] In one possible implementation, the method further includes the following: a flight obstacle avoidance method for pole or substation areas: The electromagnetic induction hardware device installed on the drone detects the external electric field strength information of the drone. The distance between the drone and poles, power equipment, and obstacles is determined by the external electric field strength information. Controlling the drone's flight based on the distance includes: Areas where no poles, transformers, or obstacles are detected, or areas where a live conductor is detected at a distance greater than 30 meters, are considered normal areas, and the drone can perform its mission normally. The time interval between two detection responses from the sensing device is equal to the flight time of the drone from 30 meters to 20 meters; If a pole, power equipment, or obstacle is detected within 20 to 10 meters, the drone is controlled to brake and decelerate until it hovers, and the drone's automatic flight path mode is changed to manual operation mode. If a power pole, transformer, or obstacle is detected within 10 meters, the drone will immediately cease flight and the drone remote controller will control the drone to fly away from the electrified object.

[0010] In one possible implementation, the electromagnetic induction hardware device includes: a front-end amplifier circuit, a filter circuit, a level-up circuit, a main control chip, a clock circuit, a reset circuit, a communication interface, a power supply circuit, and a three-dimensional spherical probe; The 3D probe transmits the detected signal to the front-end amplifier circuit to amplify the input signal. The two input signals are directly coupled to the two differential input terminals of the arithmetic circuit, and then the difference is transmitted to the filter circuit. The filtered signal is transmitted to the level boosting circuit, which boosts the amplitude of the signal to 2V. The signal output by the level boosting circuit is transmitted to the main control chip, which is connected to the communication interface circuit, which is connected to the UAV. A three-dimensional probe is used to detect the electric field intensity components and magnetic field intensity components in three perpendicular directions at a point in space.

[0011] In one possible implementation, the power supply circuit is used to provide power to the front-end amplifier circuit, filter circuit, level-up circuit, main control chip, and communication interface circuit. The clock circuit and reset circuit are both connected to the main control chip.

[0012] In one possible implementation, determining the distance between the drone and the pole, power equipment, or obstacle using the external electric field information includes: The horizontal and vertical distances between the UAV and the measurement point are determined using the following algorithm model: ,in, This represents the induced voltage sensed when the drone is at a horizontal distance Z and a vertical distance h from the detection point.

[0013] Compared with the prior art, the beneficial effects of the present invention are: This disclosure discloses a drone hovering obstacle avoidance method based on the electromagnetic field strength of power transmission and distribution equipment. It maps the electromagnetic field values ​​sensed by the drone in the spatial electromagnetic field environment to its spatial position relative to power lines and equipment, thereby assessing the safety of drone flight operations. This obstacle avoidance scheme is safe and reliable, effectively detecting high-voltage transmission lines, substation equipment, and distribution lines. In emergencies, it can control the drone to hover and avoid obstacles instantly, and can transmit drone flight information to the ground for personnel to view, ensuring the safe operation of drone flight operations and power grid equipment. This method is of great significance for the application of drones in various industries.

[0014] To effectively prevent drones from accidentally touching live parts, ensure the safe and stable operation of power line equipment, and enable drones to carry out legal and compliant low-altitude flight operations more safely and reliably, a professional proximity warning device is installed on the drone based on detecting the electromagnetic field distributed around the power grid equipment. When the drone gets too close to a live part, it can immediately hover and wait and send a warning signal to the ground pilot, so that the pilot can adjust the drone's flight attitude and position in time. Attached Figure Description

[0015] Figure 1A flowchart illustrating a method for hovering and obstacle avoidance of a drone according to an embodiment of this disclosure is shown.

[0016] Figure 2 A schematic block diagram of an electromagnetic induction hardware device according to an embodiment of the present disclosure is shown.

[0017] Figure 3 The diagram shows a schematic representation of an embodiment of the present disclosure, in which the area between the drone and the pole, power equipment, and obstacles is divided into four regions.

[0018] Figure 4 The graph shows the electric field value as a function of horizontal distance according to an embodiment of the present disclosure.

[0019] Figure 5 A flowchart illustrating the electric field value correction logic of an embodiment of this disclosure is shown. Detailed Implementation

[0020] Various exemplary embodiments, features, and aspects of this disclosure will now be described in detail with reference to the accompanying drawings. The same reference numerals in the drawings denote elements that have the same or similar functions. Although various aspects of the embodiments are shown in the drawings, they are not necessarily drawn to scale unless specifically indicated otherwise.

[0021] The term “exemplary” as used herein means “serving as an example, embodiment, or illustration.” Any embodiment illustrated herein as “exemplary” is not necessarily to be construed as superior to or better than other embodiments.

[0022] Furthermore, to better illustrate this disclosure, numerous specific details are set forth in the following detailed description. Those skilled in the art will understand that this disclosure can be practiced without certain specific details. In some instances, methods, means, components, and circuits well known to those skilled in the art have not been described in detail in order to highlight the main points of this disclosure.

[0023] When drones fly through power transmission and distribution line corridors, the objects they affect are mostly power transmission and distribution lines, and the distance from the towers is relatively far, resulting in less interference from the towers. The distance between the drone and the power transmission lines can be controlled using electric field safety thresholds or a combination of electric field and altitude, thus achieving obstacle avoidance of the power transmission and distribution lines. By continuously detecting the electric field value at the drone's location, it is ensured to be in a safe position, avoiding collisions with the power transmission and distribution lines. The logic flow for line obstacle avoidance is as follows: Figure 1 As shown.

[0024] A hovering obstacle avoidance method for unmanned aerial vehicles (UAVs) based on the electromagnetic field strength of power transmission and distribution equipment, the method comprising: The obstacle avoidance methods for corridor flight are as follows: Once the drone is started, it is determined whether the drone is manually controlled or flying autonomously along its own flight path. If the drone is manually controlled, the following steps are performed: The pilot manually controls the drone to take off; the pilot manually controls the drone to fly; the electromagnetic field information of the drone is detected by the electromagnetic induction hardware device installed on the drone; it is determined whether the electromagnetic field strength at the current position of the drone is less than the threshold. If it is, the drone is manually controlled to fly normally. If not, the control system on the drone controls the drone to hover and sends an alarm message to the drone remote controller indicating that the drone is too close to the guide wire. After receiving the alarm message, the pilot manually controls the drone to fly away from the guide wire area. If the drone is flying autonomously along a designated route, the following steps are performed: The drone automatically takes off according to the route; the drone autonomously controls its flight; the electromagnetic field strength outside the drone is detected in real time by electromagnetic induction hardware installed on the drone; it is determined whether the electromagnetic field strength at the waypoint is less than the threshold. If it is, the drone flies normally along the route; if not, the control system on the drone controls the drone to hover and sends an alarm message to the drone remote controller indicating that the drone is too close to the guide wire. After receiving the alarm message, the pilot switches to manual control flight through the drone remote controller, observes the surrounding environment through the images transmitted back by the drone to ensure safety, and manually controls the drone to fly away from the guide wire area.

[0025] Hardware equipment should be used to detect the external electric field strength information of the drone; The distance between the drone and poles, power equipment, and obstacles is determined by the external electric field strength information. Controlling the drone's flight based on the distance includes: Areas where no poles, transformers, or obstacles are detected, or areas where a live conductor is detected at a distance greater than 30 meters, are considered normal areas, and the drone can perform its mission normally. The time interval between two detection responses from the sensing device is equal to the flight time of the drone from 30 meters to 20 meters; For example, each time an electromagnetic induction device detects an electromagnetic field, it needs a reaction time. For instance, it starts counting from the first detection result and then continues to detect. By the time the next result is detected, there is a time interval between the previous one, such as 1 second. In this 1 second, the drone has already flown forward 10 meters (assuming the drone flies at a speed of 10 m / s).

[0026] If a pole, power equipment, or obstacle is detected within 20 to 10 meters, the drone is controlled to brake and decelerate until it hovers, and the drone's automatic flight path mode is changed to manual operation mode. If a power pole, transformer, or obstacle is detected within 10 meters, the drone will immediately cease flight and the drone remote controller will control the drone to fly away from the electrified object.

[0027] Select a 110-220 kV transmission line corridor, set the electric field safety threshold for the UAV before testing, and verify the maximum electric field threshold protection function within the safe flight range. This meets the requirement for obstacle avoidance of energized bodies when the UAV flies through transmission lines.

[0028] By mapping the electromagnetic field values ​​sensed by the drone in the spatial electromagnetic environment to its spatial position relative to power lines and equipment, the safety of drone flight operations can be assessed. This obstacle avoidance solution is safe and reliable, capable of effectively detecting high-voltage transmission lines, substation equipment, and distribution lines. In emergencies, it can control the drone to hover and avoid obstacles instantly, and can transmit drone flight information to the ground for personnel to view. This ensures the safe operation of drone flight operations and power grid equipment, and is of great significance to the application of drones in various industries, with wide applicability in low-altitude sectors.

[0029] In one possible implementation, the electromagnetic induction hardware device includes: a front-end amplifier circuit, a filter circuit, a level-up circuit, a main control chip, a clock circuit, a reset circuit, a communication interface, a power supply circuit, and a three-dimensional probe; The 3D probe transmits the detected signal to the front-end amplifier circuit to amplify the input signal. The two input signals are directly coupled to the two differential input terminals of the arithmetic circuit, and then the difference is transmitted to the filter circuit. The filtered signal is transmitted to the level boosting circuit, which boosts the amplitude of the signal to 2V. The signal output by the level boosting circuit is transmitted to the main control chip, which is connected to the communication interface circuit, which is connected to the UAV. Front-end amplifier circuit: First, the input signal is amplified, and then the two input signals are directly coupled to the two differential input terminals of the operational circuit, and then the difference is transmitted to the output terminal.

[0030] Filtering Circuit: The electric field sensor requires a wide measurement bandwidth. To meet the measurement needs of various frequency signals, the sensor bandwidth is set to 10 Hz-20 kHz. A second-order active analog bandpass filter is formed at the input, and different resistors are selected according to instructions sent by the microcontroller to achieve frequency selection. This device primarily selects a 50 Hz power frequency electric field.

[0031] Level-up circuit: Its main function is to boost the amplitude of the input signal by 2V. By adjusting the amplification factor of the INA128 (low-power, high-precision general-purpose instrumentation amplifier) ​​in the circuit, the maximum input voltage of the measured signal is ±2V, and the maximum value after signal superposition is 4V, which is exactly within the analog input signal range of the A / D converter.

[0032] Main control chip: Utilizing ultra-low power technology, it features simplified instructions and multiple oscillator options.

[0033] Communication interface: A bidirectional level conversion chip is used to connect the communication pins of the system main control module and the communication pins of the communication module.

[0034] Power supply circuit: Three-terminal voltage regulator integrated circuit, which outputs ±5V DC voltage to power the system.

[0035] The probe consists of three pairs of capacitive plates. The sensor's maximum measurement range is no less than 100 kV / m, meeting the requirements for electric field measurement around high-voltage transmission lines. Frequency measurement can be set to a fixed frequency of 50 Hz, matching the power frequency of the transmission lines. The probe is a three-axis omnidirectional probe, capable of detecting electric field vectors around transmission lines. The electric field measurement error is less than 5%, meeting engineering application requirements. The three-dimensional probe is used to detect the electric and magnetic field intensity components in three perpendicular directions at a point in space.

[0036] Because the drone's fuselage is made of conductive carbon fiber material and its wings and other components contain conductive substances, the drone will cause distortion of the surrounding electric field. Due to the drone's shielding effect on the electric field, it is necessary to determine the installation location of the electric field sensor probe to reduce the drone's influence on the electric field measurement.

[0037] If the electric field sensor probe is too close to the drone, the measurement results will be greatly interfered with by the shielding effect of the drone body, and the high-speed rotating propeller will also increase the impact on the measurement; if the distance is too far, it will cause the drone's flight attitude to be unstable, and the electric field value at the probe's location cannot replace the electric field value at the drone's location. Therefore, it is necessary to determine the optimal distance between the probe and the drone body.

[0038] Electromagnetic radiation field strength sensors mainly involve the detection, amplification, analog-to-digital conversion, and data processing of electromagnetic signals. The specific working process is as follows: When the radiation probe detects an electromagnetic signal, it passes through a low-pass filter circuit to filter out high-frequency components, and then is sent to an amplification circuit for amplification. The amplified signal is converted into a digital signal by an analog-to-digital converter circuit and sent to a microcontroller control circuit for processing. The microcontroller algorithm program completes the processing and calculation of the digital signal to determine the magnitude of the electromagnetic radiation intensity and the distance to the radiation source. An alarm is triggered when the data exceeds a certain limit.

[0039] In one possible implementation, the power supply circuit is used to provide power to the front-end amplifier circuit, filter circuit, level-up circuit, main control chip, and communication interface circuit. The clock circuit and reset circuit are both connected to the main control chip.

[0040] One possible method for determining the distance between the drone and poles, power equipment, or obstacles using the external electric field information includes: The horizontal and vertical distances between the UAV and the measurement point are determined using the following algorithm model: ,in, This represents the induced voltage sensed when the drone is at a horizontal distance Z and a vertical distance h from the detection point.

[0041] Around a conductor carrying an alternating (low-frequency) current, there exists a varying magnetic field vector with the same frequency as the current. The magnitude and direction of the magnetic field change with distance from the conductor. In the complex wiring systems actually laid, the magnetic field at each point is the vector superposition of the magnetic fields generated by all the electromagnetic currents. The magnitude of this magnetic field can be detected using an inductor. The relationship between the amplitude of the inductor-induced AC voltage and the horizontal position offset z can be derived.

[0042] When an electric field sensor on a drone measures the effective value of an electric field, two types of errors exist: firstly, the measured electric field is distorted due to interference from surrounding conductive materials; secondly, there is a time lag between the electric field sensor's calculation of the electric field value and signal transmission, while the drone is in flight, resulting in the measured electric field value being the value of a previous position, leading to a positional offset error in the recorded value. Therefore, the electric field measurement values ​​of the drone need to be corrected for the distortion coefficient and the positional change.

[0043] For example, to facilitate measurement and correction, the drone's flight altitude is set to 60 meters, and its flight path gradually approaches the center of the power transmission line from a distance. This yields a set of test electric field values ​​at different horizontal positions at the same altitude, such as... Figure 4 The measured values ​​are shown. Simulation results show the electric field values ​​at different horizontal positions at a height of 60 meters, as follows: Figure 4 The simulation values ​​are shown.

[0044] The simulated electric field values ​​were fitted using MATLAB's built-in toolkit. Then, the gradient descent algorithm was used to continuously correct the distortion coefficient K and the horizontal displacement deviation X0. The energy loss function J was defined as the Euclidean norm of the measured electric field value and the fitted curve. The specific steps are as follows: First, the simulated and measured values ​​were fitted, denoted as y and x. Second, the measured values ​​were shifted to the right by X0, and then multiplied by an electric field distortion rate K, such as... Figure 4 The corrected values ​​are shown below; at the same horizontal distance, take the effective electric field values ​​y1 on curve y and x1 on curve x, change the horizontal distance to obtain y2 and x2, repeat the above steps to obtain a series of data points yi and xi (where i=1, 2, 3, 4, ...), and define the energy loss function J: Iterate continuously until a given number of iterations is reached or the energy loss function meets the accuracy requirements; exit the loop, and record the minimum energy loss function and the correction parameters K and X0, such as... Figure 5 As shown.

[0045] The various embodiments of this disclosure have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or technical improvements to the embodiments in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. A hovering obstacle avoidance method for unmanned aerial vehicles (UAVs) based on the electromagnetic field strength of power transmission and distribution equipment, characterized in that, The method includes: The obstacle avoidance methods for corridor flight are as follows: Once the drone is started, it is determined whether the drone is manually controlled or flying autonomously along its own flight path. If the drone is manually controlled, the following steps are performed: The pilot manually controls the drone to take off; the pilot manually controls the drone to fly; the electromagnetic field information of the drone is detected by the electromagnetic induction hardware device installed on the drone; it is determined whether the electromagnetic field strength at the current position of the drone is less than the threshold. If it is, the drone is manually controlled to fly normally. If not, the control system on the drone controls the drone to hover and sends an alarm message to the drone remote controller indicating that the drone is too close to the guide wire. After receiving the alarm message, the pilot manually controls the drone to fly away from the guide wire area. If the drone is flying autonomously along a designated route, the following steps are performed: The drone automatically takes off according to the route; the drone autonomously controls its flight; the electromagnetic field strength outside the drone is detected in real time by electromagnetic induction hardware installed on the drone; it is determined whether the electromagnetic field strength at the waypoint is less than the threshold. If it is, the drone flies normally along the route; if not, the control system on the drone controls the drone to hover and sends an alarm message to the drone remote controller indicating that the drone is too close to the guide wire. After receiving the alarm message, the pilot switches to manual control flight through the drone remote controller, observes the surrounding environment through the images transmitted back by the drone to ensure safety, and manually controls the drone to fly away from the guide wire area.

2. The UAV hovering obstacle avoidance method based on the electromagnetic field strength of power transmission and distribution equipment according to claim 1, characterized in that, The method also includes the following obstacle avoidance method for flying over pole towers or substation areas: The electromagnetic induction hardware device installed on the drone detects the external electric field strength information of the drone. The distance between the drone and poles, power equipment, and obstacles is determined by the external electric field strength information. Controlling the drone's flight based on the distance includes: Areas where no poles, transformers, or obstacles are detected, or areas where a live conductor is detected at a distance greater than 30 meters, are considered normal areas, and the drone can perform its mission normally. The time interval between two detection responses from the sensing device is equal to the flight time of the drone from 30 meters to 20 meters; If a pole, power equipment, or obstacle is detected within 20 to 10 meters, the drone is controlled to brake and decelerate until it hovers, and the drone's automatic flight path mode is changed to manual operation mode. If a power pole, transformer, or obstacle is detected within 10 meters, the drone will immediately cease flight and the drone remote controller will control the drone to fly away from the electrified object.

3. The UAV hovering obstacle avoidance method based on the electromagnetic field strength of power transmission and distribution equipment according to claim 1, characterized in that, The electromagnetic induction hardware device includes: a front-end amplifier circuit, a filter circuit, a level boosting circuit, a main control chip, a clock circuit, a reset circuit, a communication interface, a power supply circuit, and a three-dimensional spherical probe. The 3D probe transmits the detected signal to the front-end amplifier circuit to amplify the input signal. The two input signals are directly coupled to the two differential input terminals of the arithmetic circuit, and then the difference is transmitted to the filter circuit. The filtered signal is transmitted to the level boosting circuit, which boosts the amplitude of the signal to 2V. The signal output by the level boosting circuit is transmitted to the main control chip, which is connected to the communication interface circuit, which is connected to the UAV. A three-dimensional probe is used to detect the electric field intensity components and magnetic field intensity components in three perpendicular directions at a point in space.

4. The UAV hovering obstacle avoidance method based on the electromagnetic field strength of power transmission and distribution equipment according to claim 3, characterized in that, The power supply circuit is used to provide power to the front-end amplifier circuit, filter circuit, level boosting circuit, main control chip, and communication interface circuit. The clock circuit and reset circuit are both connected to the main control chip.

5. The UAV hovering obstacle avoidance method based on the electromagnetic field strength of power transmission and distribution equipment according to claim 3, characterized in that, Determining the distance between the drone and poles, power equipment, and obstacles using the external electric field information includes: The horizontal and vertical distances between the UAV and the measurement point are determined using the following algorithm model: ,in, This represents the induced voltage sensed when the drone is at a horizontal distance Z and a vertical distance h from the detection point.

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