Unmanned aerial vehicle inspection path planning method and system

Abstract

The invention provides an unmanned aerial vehicle inspection path planning method and system. The method comprises the following steps: acquiring spatial position coordinates of an unmanned aerial vehicle, a power transmission line and a power transmission tower; according to the spatial position coordinates, performing finite element simulation on the power transmission cable to obtain a power transmission line electromagnetic field distribution diagram so as to determine a target safety distance of safe flight of the unmanned aerial vehicle; and determining an initial inspection path of the power transmission line and the power transmission tower according to the target safety distance, and performing path optimization on the initial inspection path by obtaining position coordinates of an obstacle on the power transmission tower so as to obtain an optimal inspection path. By adding the wave absorbing body on the unmanned aerial vehicle body, the anti-interference capability of the unmanned aerial vehicle can be greatly improved, the safety distance is effectively shortened, and the path planning efficiency is improved; meanwhile, constant power output can be realized when the pole plate of the coupling mechanism deviates, so that efficient energy transmission during wireless charging of the unmanned aerial vehicle is completed, and electric power line inspection of the unmanned aerial vehicle in a field environment can be effectively dealt with.

Description

Technical Field

[0001] This application belongs to the field of unmanned aerial vehicle (UAV) inspection technology, and in particular relates to a UAV inspection path planning method and system. Background Technology

[0002] Unmanned aerial vehicle (UAV) power line inspection technology, as an important means of smart grid operation and maintenance, has been widely used in power line fault detection, hidden danger investigation, and condition assessment. This technology utilizes high-definition cameras and various sensors mounted on UAVs to replace manual labor in close-range observation of high-altitude lines, insulators, hardware, and other components, offering significant advantages such as high efficiency, low risk, and a good viewing angle. The inspection efficiency of UAVs is closely related to their flight path and observation distance. Generally speaking, the closer the UAV is to the inspection target, the higher the quality of the images and data it collects, and the stronger its ability to detect subtle defects. Therefore, path planning is one of the core aspects of this technology, and its key constraint is ensuring a safe flight distance for the UAV to avoid interference from the strong electromagnetic fields around high-voltage power lines.

[0003] Currently, in planning the inspection route for power transmission lines using drones, the safety distance parameters used are usually quite conservative to ensure flight safety, resulting in a large distance between the drone and the power line. This is because existing technologies only analyze and provide safety distances for electric and magnetic fields, but do not consider the addition of electromagnetic shielding materials to the drone. To avoid interference or even loss of control caused by strong electromagnetic fields to the flight control system, communication links, and data transmission, a large safety margin must be set. This directly limits the drone's ability to observe the power line at close range, making it difficult to detect some subtle, early-stage line defects in a timely manner, thus affecting the efficiency and quality of the inspection work.

[0004] In addition, when drones are conducting line inspections, they need to be wirelessly charged efficiently. Existing drone wireless charging systems use inductive coupling for energy transfer, which usually requires the addition of an iron core to improve energy transfer efficiency. However, the use of an iron core greatly increases the weight and cost of the system, and inductive coupling energy transfer suffers from eddy current losses, which weakens the transmission efficiency. Moreover, the coupling mechanism structure in the existing system has not been specifically optimized for drones and cannot be adapted to the irregular structural features of drones. Summary of the Invention

[0005] In view of this, this application aims to propose a method and system for unmanned aerial vehicle (UAV) inspection path planning to solve at least one of the above-mentioned problems.

[0006] To achieve the above objectives, the technical solution of this application is implemented as follows: Firstly, this application provides a method for planning unmanned aerial vehicle (UAV) inspection paths, including: Obtain the spatial coordinates of drones, power transmission lines, and power transmission towers; Based on the spatial coordinates, the electromagnetic field distribution map of the power transmission line is obtained by performing finite element simulation on the power transmission cable to determine the target safe distance for the safe flight of the UAV. The target safe distance includes a critical safe distance and a warning distance. The critical safe distance is the safe distance after correction by the wave absorber, based on the initial safe distance determined by the electric and magnetic fields. The warning distance is the error distance affected by environmental factors and UAV factors. The initial inspection path for the transmission line and the transmission tower is determined based on the target safety distance. By obtaining the position coordinates of obstacles on the transmission tower, the initial inspection path is optimized to obtain the optimal inspection path.

[0007] Secondly, based on the same inventive concept, this application also provides a drone inspection path planning system, including a wireless charging system, a drone, and an inspection path planning platform; The wireless charging system is used to wirelessly charge a parked drone. It includes a high-frequency inverter unit, a CLL-CLL compensation circuit, an SS compensation circuit, a capacitive coupler, and a rectifier filter unit connected in parallel. The CLL-CLL compensation circuit and the SS compensation circuit are connected in parallel. The capacitive coupler includes a horizontal capacitive coupler and a vertical capacitive coupler. The inspection path planning platform is used to execute the UAV inspection path planning method as described in the first aspect.

[0008] Compared with existing technologies, the UAV inspection path planning method and system described in this application have the following advantages: (1) The method described in this application greatly improves the anti-interference capability of UAVs, effectively shortens the safe distance so that UAVs can get closer to the line and discover the line problem more quickly, thereby improving the efficiency of path planning and automatic inspection.

[0009] (2) The system described in this embodiment is composed of a high-frequency inverter unit, a CLL-CLL compensation circuit, an SS compensation circuit, a capacitor coupler and a rectifier filter unit. The capacitor coupler enhances the power decoupling in the wireless charging application of UAVs, and can achieve constant power output when the electrode plates of the coupling mechanism are offset. The system has stable power output and can achieve efficient energy transmission and wireless charging for UAVs. It can effectively cope with the power line inspection of UAVs in the field environment. Attached Figure Description

[0010] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments and descriptions of this application are used to explain this application and do not constitute an undue limitation of this application. In the drawings: Figure 1This is a flowchart of a drone inspection path planning method according to an embodiment of this application; Figure 2 This is a schematic diagram of the inspection area division described in the embodiments of this application; Figure 3 This is a schematic diagram of the drone pole inspection route described in the embodiments of this application; Figure 4 This is a schematic diagram of the circuit model of the wireless charging system described in the embodiments of this application; Figure 5 This is a schematic diagram of the structure of the UAV and capacitive coupler described in the embodiments of this application; Figure 6 This is a graph showing the output current as a function of load resistance and X-axis offset, as described in the embodiments of this application. Detailed Implementation

[0011] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with specific embodiments and the accompanying drawings.

[0012] It should be noted that, unless otherwise defined, the technical or scientific terms used in the embodiments of this application should have the ordinary meaning understood by one of ordinary skill in the art to which this application pertains. The terms "first," "second," and similar terms used in the embodiments of this application do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed after the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are only used to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0013] In the power grid system, transmission lines are responsible for transmitting electrical energy. Transmission lines are long and consist of multiple transmission towers and transmission cables. A typical section of a transmission line can be tens of kilometers long. Manual inspection is time-consuming and labor-intensive, so it is essential to use drones for inspection.

[0014] The embodiments of this application are described in detail below with reference to the accompanying drawings.

[0015] Please see Figure 1 As shown, this embodiment provides a method for planning inspection paths using unmanned aerial vehicles (UAVs), which specifically includes the following steps: Step S101: Obtain the spatial coordinates of the drone, power transmission line, and power transmission tower.

[0016] Specifically, in this embodiment, the drone takes off from the charging station, and a three-dimensional spatial coordinate system is established with the drone charging base as the origin to obtain the spatial position coordinates of the power transmission tower and the power transmission line. The height of the power transmission line is the drone's cruising altitude. The initial position coordinates of the drone, i.e., the drone charging base coordinates, can be recorded as (0, 0, 0). The coordinates of the drone during flight can be recorded as (X, Y, Z), where X represents the coordinate position of the drone on the X-axis during flight, Y represents the coordinate position of the drone on the Y-axis during flight, and Z represents the coordinate position of the drone on the Z-axis during flight.

[0017] Step S102: Based on the spatial coordinates, obtain the electromagnetic field distribution map of the power transmission line by performing finite element simulation on the power transmission cable, so as to determine the target safe distance for the UAV to fly safely.

[0018] Specifically, in this embodiment, based on the finite element simulation of the transmission line, an electromagnetic field distribution map of the transmission line is obtained, and an initial safe distance for the UAV to operate normally is determined. Based on this safe distance, the influence of the wave absorber is considered to optimize and shorten the safe distance. Simultaneously, the uncertain distance caused by hovering accuracy differences (i.e., hovering error distance), the buffer distance caused by control delay (i.e., delay error distance), the deviation caused by braking distance (i.e., braking error distance), and the deviation caused by gust effects (i.e., gust error distance) are considered, and the target safe distance is derived by comprehensively considering these various error distances. Based on the target safe distance and the critical safe distance, the space around the cable is divided into a no-fly zone, a danger zone, and a safe zone. This step specifically includes the following: First, a finite element simulation of the transmission line was performed. Maxwell's equations were used to solve for the electromagnetic field distribution around the cable, and an initial safe distance was determined, with a magnetic flux density of 220 μT and an electric field strength of 50 kV / m, determined by the electric and magnetic fields. .

[0019] At a distance of [distance from the power transmission cable] A drone with a radar absorber was added near the location, and finite element simulation was performed again. The drone was gradually moved closer to the power transmission cable to determine the distance required when the magnetic flux density of the drone's fuselage was 220 μT and the electric field strength was 50 kV / m. .

[0020] Based on critical safety distance By increasing the safety margin (i.e. Figure 3 Warning distance in Once a safe distance is obtained, the area around the power transmission cable is divided into a safe zone, a danger zone, and a no-fly zone based on the critical safe distance and the safe distance. Figure 3As shown. Many factors affect the distance between a drone and power transmission cables. The strength of the electric and magnetic fields and the performance of the absorber directly determine the critical safe distance. In addition, hovering accuracy, control delay, braking distance and gust effect also affect the warning distance.

[0021] Hovering error distance The DJI Mavic 3 offers two positioning modes: visual positioning and GNSS positioning. Visual positioning is significantly less accurate than GNSS positioning; therefore, the drone primarily uses visual positioning for inspections, supplemented by GNSS positioning. When the drone's visual positioning is operating normally, the horizontal hovering accuracy is 0.3m, and the vertical hovering accuracy is 0.1m. Since drone inspections primarily involve horizontal flight, this embodiment will... Set it to 0.3m.

[0022] Delay error distance The control latency of a drone will primarily consist of the transmission latency of the drone system and the pilot's reaction latency. When the pilot receives flight information from the image transmission screen, the transmission latency includes uplink and downlink latency. According to IEEE 802.11 (Wi-Fi), the uplink transmission latency is set to 20ms and the downlink transmission latency to 300ms. The drone pilot's reaction latency is set to 0.2s, for a total latency of 0.52s. Assuming the drone's approach speed to an obstacle is 1m / s, the buffer distance caused by the latency is... =0.52m.

[0023] Braking error distance According to drone braking distance tests, a drone flying at 1 m / s has a braking distance of less than 0.15 m. Therefore, in this embodiment... The recommended value is 0.15m.

[0024] Gust effect Taking the DJI Mavic 3 as an example, its maximum permissible wind speed is approximately 12 m / s. Based on tests with drones experiencing similar wind speeds, the distance affected by horizontal gusts is... It is 0.7m.

[0025] The distance errors caused by these influencing factors are collectively referred to as warning distance. ,but The final target safety distance is: .

[0026] It should be noted that in this embodiment, since the main component of the drone affected by the magnetic field of the power transmission cable is the compass, and considering the drone's structural characteristics and material properties (its main body is plastic with high resistivity, it will not be magnetized and has little impact on the surrounding magnetic field), the influence of the drone's own magnetic field can be disregarded. However, different parts of the drone have varying degrees of resistance to magnetic field interference. To ensure the drone's normal operation, the part of the drone with the weakest anti-interference capability (i.e., the part with the highest magnetic flux density) should be selected as the factor for determining the target's safe distance. Based on the above, the influence of a wave absorber should be considered. A wave absorber can absorb electromagnetic waves, reducing the impact of the power transmission cable's electromagnetic field on the drone and decreasing the magnetic flux density on the drone's body.

[0027] Electromagnetic absorbers effectively suppress electromagnetic interference by converting electromagnetic wave energy into heat energy or other forms of energy loss, reducing reflection and scattering. In this embodiment, an absorber is used in a drone. Adding an absorber to a drone can enhance its anti-interference capability, shorten the drone's inspection safety distance, and improve its inspection capabilities.

[0028] When an electromagnetic wave strikes the surface of an absorber, part of the wave is reflected, while the rest enters the absorber and continues to propagate. The ratio of the logarithm of the incident electric field to the logarithm of the transmitted electric field is defined as the shielding effectiveness. Therefore, the shielding effectiveness SE is: in, The incident electric field strength is... denoted as the transmitted electric field intensity.

[0029] Transmission coefficient The shielding effectiveness of an absorber can be determined through simulation or experimental measurement, and can also be determined based on the transmission coefficient. By combining the above two equations, the transmission electric field strength can be obtained as follows: It is generally believed that drones can fly normally when the electric field strength is below 50 K / m and the magnetic flux density is below 220 μT. Therefore, the transmitted electric field strength... Setting it to 50 K / m, we can obtain the electric field strength emitted outward by the transmission line itself, which is the incident electric field strength of the UAV. The electric field strength was obtained through simulation software. The distance from the magnetic flux density of 220 μT is... .

[0030] Step S103: Determine the initial inspection path of the transmission line and transmission tower based on the target safety distance. Optimize the initial inspection path by obtaining the position coordinates of obstacles on the transmission tower to obtain the optimal inspection path.

[0031] Specifically, in this embodiment, since there are basically no obstacles around the power transmission cable, the inspection path of the power transmission cable is basically a straight line parallel to the power transmission cable without considering obstacles. The distance of this path from the power transmission cable is greater than the safe distance. The initial inspection path of the power transmission tower is to inspect from top to bottom along the tower.

[0032] Obtain the detailed coordinates of the obstacles and optimize the initially determined inspection path to obtain the optimal inspection path. For example... Figure 3 As shown, a power transmission tower consists of a tower head, tower body, and tower legs. These components may contain structures that affect drone inspections (defined as obstacles), which the drone must avoid during inspection. Since the electromagnetic field generated by the insulators on the crossarms of the tower is much smaller than that generated by the power transmission cables, the influence of the insulators is ignored; only the physical shape of the insulators affects the inspection path. The crossarms are inserted horizontally in the middle of the power transmission tower. When planning the inspection path, the apex of the crossarm must be considered. The insulators typically protrude from the tower and hang from the apex of the crossarm; therefore, the length of the insulators must also be considered when the drone inspects the tower. After comprehensive consideration, when the drone encounters a crossarm, it should extend outwards from the insulator on the crossarm by a certain distance (note that the specific distance value is set according to the actual situation; no specific limit is set here) to meet the target safety distance, ultimately obtaining the inspection path.

[0033] This embodiment of the drone inspection path planning method uses a radar absorber on the drone. The addition of the radar absorber enhances the drone's anti-interference capability, effectively shortens the safety distance, allows the drone to get closer to the line, and discovers line problems more quickly, thereby improving path planning efficiency and automatic inspection efficiency.

[0034] It should be noted that the above description describes some embodiments of this application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in a different order than that shown in the above embodiments and still achieve the desired result. Furthermore, the processes depicted in the drawings do not necessarily require a specific or sequential order to achieve the desired result. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0035] Based on the same inventive concept, and corresponding to the methods of any of the above embodiments, the embodiments of this application also provide a UAV inspection path planning system.

[0036] The drone inspection path planning system includes: a wireless charging system, a drone, and an inspection path planning platform; like Figure 4 As shown, the wireless charging system is used to wirelessly charge a parked drone. It includes a high-frequency inverter unit, a CLL-CLL compensation circuit, an SS compensation circuit, a capacitive coupler, and a rectifier filter unit connected in parallel. The CLL-CLL compensation circuit and the SS compensation circuit are connected in parallel, and the capacitive coupler includes a horizontal capacitive coupler and a vertical capacitive coupler. The inspection path planning platform is used to execute the UAV inspection path planning method as described in the above embodiments.

[0037] Specifically, in this embodiment, the wireless charging system uses capacitive wireless charging as the main charging method. To enhance power decoupling in the wireless charging application of drones, a novel capacitive coupler is proposed, such as... Figure 5 As shown, this coupler combines a horizontal capacitive coupler (HCC) and a vertical capacitive coupler (VCC). The HCC, composed of plates P1, P2, P3, and P4, and the VCC, composed of plates P5, P6, P7, and P8, together achieve power decoupling along the x-axis. P1, P2, P5, and P6 are the transmitting plates, and P3, P4, P7, and P8 are the receiving plates.

[0038] Among them, receiving electrode plate P3 and receiving electrode plate P4 are horizontally spaced on one of the legs of the UAV, and transmitting electrode plate P1 and transmitting electrode plate P2 are respectively set to correspond to receiving electrode plate P3 and receiving electrode plate P4. The receiving electrode P8 is mounted on another leg of the drone, and the receiving electrode P7 is mounted below the receiving electrode P8 (the length of the receiving electrode P7 is shorter than the length of the receiving electrode P8), with an insulating layer between them. The emitting electrode P5 is positioned above the emitting electrode P6, and the area of ​​the emitting electrode P5 is smaller than the area of ​​the emitting electrode P6. The emitting electrode P5 corresponds to the receiving electrode P7, and the emitting electrode P6 corresponds to the receiving electrode P8.

[0039] The HCC structure maintains a relatively stable capacitor along the horizontal misalignment direction, enhancing tolerance to board misalignment. The VCC structure can increase the coupling capacitor on the same side. To enhance power coupling between the transmitter and receiver of the coupler, this embodiment inserts an insulating layer between the P7 and P8 boards and sets a water tank between the transmitter and receiver boards (the water tank in this embodiment is made of plastic, the purpose of which is to increase the dielectric constant of the dielectric between the transmitter and receiver plates, thereby enhancing transmission capability).

[0040] In some implementations, the CLL-CLL compensation circuit includes a primary-side CLL compensation circuit and a secondary-side CLL compensation circuit; The primary-side CLL compensation circuit includes capacitor C. f11 Capacitor C f12 Inductor L f1 Inductor L 11 Inductor L 12 Capacitor C f11 One end is connected to one output terminal of the high-frequency inverter unit, and capacitor C f12 One end of the inductor is connected to the other output terminal of the high-frequency inverter unit, and the inductor L 11 One end is connected to capacitor C f11 Connection, inductor L 11 The other end is connected to the emitter plate P5, and the inductor L 12 One end is connected to capacitor C f12 Connection, inductor L 12 The other end is connected to the emitter plate P6, and the inductor L f1 One end is set in capacitor C f11 With inductor L 11 Between, inductance L f1 The other end is set at capacitor C f12 With inductor L 12 Between emitter plates P5 and P6, a parallel capacitor C is connected. ex1 ; The secondary-side CLL compensation circuit includes capacitor C f21 Capacitor C f22 Inductor L f2 Inductor L 21 Inductor L 22 Capacitor C f21 One end is connected to one input terminal of the rectifier filter unit, and capacitor C f22 One end of the inductor L is connected to the other input terminal of the rectifier filter unit. 21 One end is connected to capacitor C f21 Connection, inductor L 21 The other end is connected to the receiving plate P7, and the inductor L 22 One end is connected to capacitor C f22 Connection, inductor L 22 The other end is connected to the receiving plate P8, and the inductor L f2 One end is set in capacitor C f21 With inductor L 21 Between, inductance L f2 The other end is set at capacitor C f22 With inductor L 22 A parallel capacitor C is connected between receiving plates P7 and P8. ex2 .

[0041] The SS compensation circuit includes a primary-side SS compensation circuit and a secondary-side SS compensation circuit; The primary-side S-compensation circuit includes an inductor L. 31 and inductor L 32 Inductor L 31 One end of the inductor L is connected to one output terminal of the high-frequency inverter unit. 31 The other end is connected to the emitter plate P1, and the inductor L 32 One end of the inductor is connected to the other output terminal of the high-frequency inverter unit, and the inductor L 32 The other end is connected to emitter plate P2, and a parallel capacitor C is connected between emitter plates P1 and P2. ex3 ; The secondary-side S-compensation circuit includes inductors L41 and L42. One end of inductor L41 is connected to one input terminal of the rectifier filter unit, and the other end of inductor L41 is connected to the receiving plate P3. One end of inductor L42 is connected to the other input terminal of the rectifier filter unit, and the other end of inductor L42 is connected to the receiving plate P4. A parallel capacitor C is connected between the receiving plates P3 and P4. ex4 .

[0042] Specifically, in this embodiment, the circuit model of the capacitive wireless charging system is as follows: Figure 4 As shown, it is composed of a CLL-CLL topology capacitor power transfer channel and an SS topology capacitor power transfer channel connected in parallel. The CLL-CLL topology includes C f11 C f12 L 11 L 21 L f1 L 21 L 22 L f2 C f21 C f22 SS topology contains L 31 L 32 L 41 and L 42 .

[0043] The resonance conditions of the SS and CLL-CLL compensation networks are analyzed as follows.

[0044] In the formula, Indicates the resonant angular frequency; , , , Let L1 represent the equivalent self-capacitance of P1 and P2, P3 and P4, P5 and P6, and P7 and P8 respectively, and let L1 = L 11 + L 12 L2 = L 21 + L 22L3 = L 31 + L 32 L4 = L 41 + L 42 .

[0045] According to Kirchhoff's Voltage Law (KVL), the mathematical model for a constant current output can be expressed as: in, , , , , , , , , , , , , , , , This represents the current flowing through each branch. and These represent the mutual capacitances between P1, P2, P3, P4 and P5, P6, P7, P8, respectively.

[0046] When the two electric field-coupled power transmission channels operate independently and are in a resonant state, the output gain of the CLL-CLL power transmission channel is... and the output gain of the SS power transmission channel This can be deduced as: Because the two power transmission channels are connected in parallel, the total current gain of the hybrid compensation topology combining CLL-CLL and SS is reduced. It can be represented as: .

[0047] When the plates are not aligned and They all exhibit similar trends. However, the magnitude of the current gain G remains essentially constant because it is related to... Proportional, but with The current is inversely proportional to the current, a characteristic that enables the system to maintain a constant current output.

[0048] like Figure 6The figure illustrates the variation of output current with lateral offset under different load resistances. As the load resistance varies from 40Ω to 70Ω, the output current remains constant even with a 37.5% x-axis deviation, demonstrating the system's ability to maintain load-independent CC output and high tolerance to offset. The corresponding output fluctuation remains within 15%, further validating the system's fault tolerance capability.

[0049] The capacitive coupling mechanism of the system described in this embodiment is composed of a high-frequency inverter unit, a CLL-CLL compensation circuit, an SS compensation circuit, a capacitive coupler, and a rectifier and filter unit. The capacitive coupler enhances power decoupling in the wireless charging application of UAVs, and can achieve constant power output when the electrode plates of the coupling mechanism are offset. The system has stable power output, can achieve efficient energy transfer and wireless charging of UAVs, and can effectively cope with the power line inspection of UAVs in the field environment.

[0050] Those skilled in the art should understand that the discussion of any of the above embodiments is merely exemplary and is not intended to imply that the scope of this application (including the claims) is limited to these examples; within the framework of this application, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of the embodiments of this application as described above, which are not provided in the details for the sake of brevity.

[0051] The embodiments of this application are intended to cover all such substitutions, modifications, and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the embodiments of this application should be included within the protection scope of this application.

Claims

1. A method for planning inspection paths using unmanned aerial vehicles (UAVs), characterized in that, include: Obtain the spatial coordinates of drones, power transmission lines, and power transmission towers; Based on the spatial coordinates, the electromagnetic field distribution map of the power transmission line is obtained by performing finite element simulation on the power transmission cable to determine the target safe distance for the safe flight of the UAV. The target safe distance includes a critical safe distance and a warning distance. The critical safe distance is the safe distance after correction by the wave absorber, based on the initial safe distance determined by the electric and magnetic fields. The warning distance is the error distance affected by environmental factors and UAV factors. The initial inspection path for the transmission line and the transmission tower is determined based on the target safety distance. By obtaining the position coordinates of obstacles on the transmission tower, the initial inspection path is optimized to obtain the optimal inspection path.

2. The method according to claim 1, characterized in that: Finite element simulation was performed on the transmission line to obtain the electromagnetic field distribution around the cable using Maxwell's equations, and the initial safe distance determined by the electric and magnetic fields was determined. By adding a drone with a radar absorber at a distance from the initial safe distance, performing finite element simulation again, and gradually moving closer to the power transmission line, the safe distance after radar absorber correction was determined.

3. The method according to claim 2, characterized in that: The warning distance includes the hovering error distance caused by the drone's hovering accuracy, the delay error distance caused by the drone's control delay, the braking error distance caused by the drone's braking distance, and the gust error distance caused by the drone under gust effects.

4. The method according to claim 1, characterized in that: Based on the critical safety distance and the target safety distance, the area around the power transmission cable is divided into a safe zone, a danger zone, and a no-fly zone.

5. The method according to claim 1, characterized in that: The initial inspection path for the transmission line is a straight line parallel to the transmission cable, and the distance between the initial inspection path and the transmission cable is greater than the target safety distance. The initial inspection path for the transmission tower is to inspect from top to bottom along the tower.

6. The method according to claim 1, characterized in that: Centered on the insulator on the crossarm of the transmission tower, a predetermined distance is extended outward to meet the target safety distance, and then the initial inspection path is optimized to obtain the optimal inspection path.

7. A drone inspection path planning system, characterized in that: This includes wireless charging systems, drones, and inspection route planning platforms; The wireless charging system is used to wirelessly charge a parked drone. It includes a high-frequency inverter unit, a CLL-CLL compensation circuit, an SS compensation circuit, a capacitive coupler, and a rectifier filter unit connected in parallel. The CLL-CLL compensation circuit and the SS compensation circuit are connected in parallel. The capacitive coupler includes a horizontal capacitive coupler and a vertical capacitive coupler. The inspection path planning platform is used to execute the UAV inspection path planning method as described in any one of claims 1-6.

8. The system according to claim 7, characterized in that: The horizontal capacitive coupler consists of an emitting plate P1, an emitting plate P2, a receiving plate P3, and a receiving plate P4. The vertical capacitive coupler consists of a transmitter plate P5, a transmitter plate P6, a receiver plate P7, and a receiver plate P8. The receiving electrode plate P3 and the receiving electrode plate P4 are horizontally spaced on one of the legs of the UAV, and the transmitting electrode plate P1 and the transmitting electrode plate P2 are respectively arranged corresponding to the receiving electrode plate P3 and the receiving electrode plate P4. The receiving electrode plate P8 is mounted on another leg of the UAV, and the receiving electrode plate P7 is mounted below the receiving electrode plate P8, with an insulating layer between them. The emitting electrode P5 is disposed above the emitting electrode P6, the emitting electrode P5 corresponds to the receiving electrode P7, and the emitting electrode P6 corresponds to the receiving electrode P8.

9. The system according to claim 8, characterized in that: The CLL-CLL compensation circuit includes a primary-side CLL compensation circuit and a secondary-side CLL compensation circuit; The primary-side CLL compensation circuit includes a capacitor C. f11 Capacitor C f12 Inductor L f1 Inductor L 11 Inductor L 12 The capacitor C f11 One end of the capacitor C is connected to one output terminal of the high-frequency inverter unit. f12 One end of the inductor L is connected to the other output terminal of the high-frequency inverter unit. 11 One end is connected to the capacitor C f11 Connection, the inductor L 11 The other end is connected to the emitter plate P5, and the inductor L 12 One end is connected to the capacitor C f12 Connection, the inductor L 12 The other end is connected to the emitter plate P6, and the inductor L f1 One end is set in the capacitor C f11 With the inductor L 11 Between, the inductor L f1 The other end is located at the capacitor C f12 With the inductor L 12 A parallel capacitor C is connected between the emitter plate P5 and the emitter plate P6. ex1 ; The secondary-side CLL compensation circuit includes capacitor C. f21 Capacitor C f22 Inductor L f2 Inductor L 21 Inductor L 22 The capacitor C f21 One end of the capacitor C is connected to one input terminal of the rectifier filter unit. f22 One end of the inductor L is connected to the other input terminal of the rectifier filter unit. 21 One end is connected to the capacitor C f21 Connection, the inductor L 21 The other end is connected to the receiving plate P7, and the inductor L 22 One end is connected to the capacitor C f22 Connection, the inductor L 22 The other end is connected to the receiving plate P8, and the inductor L f2 One end is set in the capacitor C f21 With the inductor L 21 Between, the inductor L f2 The other end is located at the capacitor C f22 With the inductor L 22 A parallel capacitor C is connected between the receiving electrode P7 and the receiving electrode P8. ex2 .

10. The system according to claim 8, characterized in that: The SS compensation circuit includes a primary-side S compensation circuit and a secondary-side S compensation circuit. The primary-side S-compensation circuit includes an inductor L. 31 and inductor L 32 The inductor L 31 One end of the inductor L is connected to one output terminal of the high-frequency inverter unit. 31 The other end is connected to the emitter plate P1, and the inductor L 32 One end of the inductor L is connected to the other output terminal of the high-frequency inverter unit. 32 The other end is connected to the emitter plate P2, and a parallel capacitor C is connected between the emitter plate P1 and the emitter plate P2. ex3 ; The secondary S-compensation circuit includes an inductor L. 41 and inductor L 42 The inductor L 41 One end of the inductor L is connected to one input terminal of the rectifier filter unit. 41 The other end is connected to the receiving plate P3, and the inductor L 42 One end of the inductor L is connected to the other input terminal of the rectifier filter unit. 42 The other end is connected to the receiving plate P4, and a parallel capacitor C is connected between the receiving plate P3 and the receiving plate P4. ex4 .

Images