An up-and-down dual-source cooperative laser energy supply method and system for a power transmission line inspection unmanned aerial vehicle

Abstract

The application provides a kind of upper and lower dual-source coordinated laser energy supply method and system for power transmission line inspection unmanned aerial vehicle, belongs to the technical field of unmanned aerial vehicle energy management.The method collects the state of unmanned aerial vehicle and dual-source energy supply system, establishes upper and lower dual-source three-dimensional geometric model, unmanned aerial vehicle power demand model, laser link optical-electric conversion model and battery-dual-receiver electric heating model;Calculate the safe transmission power boundary and safe available electric power of the two links;Switch four operation modes through hysteresis threshold and minimum residence time;Optimize dual-source power using nonlinear model predictive control, and use control barrier function safety filter for real-time correction and emergency shutdown;Execute the final instruction and close-loop update.The application realizes dynamic coordination and real-time safety constraint of dual-source under complex conditions such as mountainous area shielding, and guarantees continuous and safe energy supply of unmanned aerial vehicle.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) energy management technology, specifically to a method and system for dual-source coordinated laser power supply for UAVs used in power transmission line inspection. Background Technology

[0002] Rotary-wing drones can perform close-range image acquisition, defect identification, and condition monitoring in mountainous areas, canyons, and power transmission corridors with poor transportation, reducing the risks of manual inspections and improving inspection efficiency. However, the rotor propulsion, sensors, image processing, communication, and onboard computing equipment continuously consume electrical energy, and the drone's endurance is limited by the onboard battery capacity. Returning to base for charging or battery replacement interrupts inspection missions, which is particularly inconvenient in areas far from roads and maintenance stations.

[0003] Laser wireless power transmission enables long-distance, non-contact power replenishment for drones without them stopping or landing. However, the actual electrical power output of the laser link depends on the complete optical-electrical energy conversion link. Propagation distance, atmospheric attenuation, Gaussian beam spread, pointing error, receiver attitude, incident angle, receiver spot offset, and photovoltaic receiver temperature all affect the received electrical power per unit of transmitted power. For drones moving along power transmission lines, these factors change continuously over time, making the transmitted power feasible at one moment inefficient or unsafe at the next.

[0004] A single ground-based laser source is easily obstructed by mountains, towers, and vegetation; a single aerial laser source is limited by platform drift, payload capacity, beam stability, and sustained dwell time. Employing a dual-source complementary architecture—a ground-based low-altitude laser power supply platform and an aerial high-altitude laser power supply platform—allows the other link to provide auxiliary or primary power when one link degrades. However, existing fixed source allocation or fixed dual-source ratio methods cannot utilize the difference in instantaneous safe power supply capabilities between the two links, and are ill-suited to sudden link interruptions and target loss.

[0005] Furthermore, while increasing laser emission power can increase instantaneous received electrical power, it may cause temperature rise in the photovoltaic receiver and exceed peak irradiance limits. Relying solely on predictive control may be affected by model errors, measurement errors, and unforeseen events, making it impossible to guarantee the safety of the latest state at every sampling time.

[0006] Therefore, a closed-loop laser power supply method is needed that integrates energy link quality sensing, dual-source mode selection, predictive power allocation, real-time safety correction, low-charge state backoff, and emergency shutdown. Summary of the Invention

[0007] The purpose of this invention is to provide a method and system for dual-source coordinated laser power supply for UAVs used in power transmission line inspection, in order to solve at least one technical problem existing in the prior art.

[0008] On one hand, this invention provides a method for dual-source coordinated laser power supply for UAVs used in power transmission line inspection. This method is applied to an air-ground coordinated power supply system comprising a ground-based low-altitude laser power supply platform, an air-based high-altitude laser power supply platform, and an inspection UAV equipped with ground-side and air-side photovoltaic receivers. The method includes: Step S1, real-time acquisition of UAV motion status, onboard power parameters, dual photovoltaic receiver temperatures, optical path transmission parameters, and environmental status parameters; Step S2, based on the full-dimensional parameters acquired in Step S1, synchronously constructing a dual-source three-dimensional geometric model, a UAV power demand model, an optical-electrical conversion model of the laser link, and a battery-dual-receiver electrothermal model; Step S3, combining the link availability status, transmitter rated power, peak irradiance limit, and receiver temperature limit, relying on the optical-electrical conversion model of the laser link and the battery-dual-receiver electrothermal model to calculate the safe transmission power boundary and safe available power of the ground link and air link; Step S4, based on the UAV's requested power, the safe available power of the two links, and the energy link quality coefficient, from the ground source... The system selects a candidate operating mode from the guided mode, air-source dominant mode, dual-source collaborative mode, and safety mode, and determines the actual operating mode and the corresponding upper bound of the transmission power of the two links through the safety recovery set and minimum dwell time switching logic; Step S5: Using the battery state of charge and the temperature of the dual photovoltaic receivers as the system state, and the transmission power of the ground and air lasers as the control input, a prediction objective function is constructed; Under the upper bound constraint of the transmission power, battery charging and discharging constraint, and photovoltaic temperature and peak irradiance safety constraint corresponding to the actual operating mode, a nonlinear model predictive control is used to jointly optimize and solve the nominal laser transmission power of the ground source and the air source in the prediction time domain; Step S6: Based on the real-time acquired battery state of charge, dual receiver temperature, peak irradiance, and link availability status, the nominal laser transmission power is checked and adaptively corrected for the full domain safety constraint, and differentiated power supply regulation is performed in layers for different risk conditions, outputting the final dual-source transmission power command and issuing it for execution; The battery state of charge and the temperature of the dual photovoltaic receivers are updated at the next sampling time according to the final dual-source transmission power command, and the next sampling cycle is entered to repeat all steps.

[0009] Furthermore, the UAV motion state in step S1 includes: UAV position, UAV horizontal speed, and UAV vertical speed; the airborne electrical parameters include: airborne mission load power and battery state of charge; the dual photovoltaic receiver temperatures include: ground-side photovoltaic receiver temperature and air-side photovoltaic receiver temperature; the optical path transmission parameters include: atmospheric extinction coefficient of the air link, atmospheric extinction coefficient of the ground link, atmospheric turbulence efficiency, photovoltaic receiver outward normal unit vector, pointing error, and link availability; the environmental state parameters include: ambient temperature.

[0010] Furthermore, the construction method of the dual-source three-dimensional geometric model in step S2 includes: establishing the spatial vector relationship between the ground platform, the high-altitude platform, and the UAV, with the ground low-altitude laser power supply platform as the coordinate origin; the construction method of the UAV power demand model in step S2 includes: calculating the horizontal and vertical velocities of the inspection UAV based on adjacent sampling points, and calculating the flight and mission power requirements using a rotorcraft UAV propulsion power model; the construction method of the optical-electrical conversion model of the laser link in step S2 includes: based on the transmitter optical efficiency, atmospheric transmission efficiency, atmospheric turbulence efficiency, aperture coupling efficiency, incident angle correction factor, and link... A single-link optical-electrical conversion model is established based on the available state of the path. The battery-dual receiver electrothermal model construction method in step S2 includes: constructing the battery state of charge expression for the next sampling time based on the battery state of charge, battery net power, battery charging efficiency, discharge efficiency, and battery rated energy at the current sampling time; and constructing the expressions for the ground-side photovoltaic receiver temperature and the air-side photovoltaic receiver temperature for the next sampling time based on the photovoltaic receiver absorption coefficient, temperature-dependent photovoltaic conversion efficiency, received optical power, receiver equivalent heat capacity, receiver equivalent thermal resistance, ground-side photovoltaic receiver temperature, air-side photovoltaic receiver temperature, and ambient temperature at the current sampling time.

[0011] Furthermore, the mathematical expression for the UAV power demand model includes: ; In the formula, To meet the power requirements of drone flight and missions, The horizontal flight speed of the drone is The rotor propulsion power at time m is the mass of the UAV, and g is the acceleration due to gravity. The vertical flight speed of the drone, Power for avionics, sensing, communication and airborne processing equipment; The mathematical expression for the single-link optical-to-electrical conversion model includes: ; ; ; ; ; ; In the formula, For optical link coefficients, Where H represents an air link and G represents a ground link. This represents the link availability status of the k-th link. Let be the optical efficiency of the transmitter of the k-th link. Let K be the atmospheric transmission efficiency of the k-th link. Let the atmospheric turbulence efficiency of the k-th link be . Let be the aperture coupling efficiency of the k-th link. This is the incident angle correction factor for the k-th link. The temperature-dependent photovoltaic conversion efficiency of the k-th link. Let be the photovoltaic conversion efficiency at the reference temperature of the k-th link. Let be the temperature coefficient of photovoltaic efficiency for the k-th link. For reference temperature, The temperature of the ground-side photovoltaic receiver. Temperature of the air-side photovoltaic receiver. The energy link quality factor. Let be the laser emission power of the k-th link. Net battery power, This represents the total received electrical power of the two links. This is the offset of the light spot center relative to the receiver center. Let be the equivalent radius of the circular photovoltaic receiver corresponding to the k-th link. For aperture coupling efficiency, The radius of the Gaussian beam at the receiving surface; The battery state-of-charge expression at the next sampling time includes: ; In the formula, and These are the battery state of charge at the next sampling time and the current sampling time, respectively. For the battery's rated energy, The sampling time interval, and These are the battery charging efficiency and discharging efficiency, respectively. The expressions for the ground-side photovoltaic receiver temperature and the air-side photovoltaic receiver temperature at the next sampling time include: ; In the formula, and These are the photovoltaic receiver temperatures at the next sampling time and the current sampling time, respectively. and These are the receiver's equivalent thermal capacity and equivalent thermal resistance, respectively. For receiver thermal power, The ambient temperature.

[0012] Furthermore, step S3, combining the link availability status, transmitter rated power, peak irradiance limit, and receiver temperature limit, calculates the safe transmission power boundaries and safe available electrical power for the ground link and air link based on the optical-electrical conversion model and battery-dual receiver electrothermal model of the laser link, including: The safe transmit power boundary is simultaneously limited by the transmitter's rated power, peak irradiance, and receiver temperature. The peak irradiance, safe transmit power boundary, and safe available electrical power are expressed as follows: ; ; ; in, Peak irradiance of the receiving surface, This is the upper limit of the transmitter's rated power; The upper limit of the transmit power is calculated by back-calculating from the upper limit of peak irradiance; The upper limit of transmit power is calculated by inversely from the receiver's thermal dynamics and the upper temperature limit; To ensure safe transmission power boundaries; For safe use of electrical power.

[0013] Furthermore, in step S4, based on the UAV's requested power, the secure available electrical power of the two links, and the energy link quality coefficient, a candidate operating mode is selected from the ground-source-dominated mode, the air-source-dominated mode, the dual-source cooperative mode, and the safe mode. The actual operating mode and the corresponding upper bound of the transmit power of the two links are determined through the safe recovery set and minimum dwell time switching logic, including: Step S401: Define the requested power of the drone as follows: ; In the formula, To request power, Maximum charging power for the battery. Battery recovery coefficient; For the target battery state of charge, This indicates the current state of battery charge. Step S402: Based on the safe available power, requested power, and energy link quality coefficient of the two links, define the ground source dominance condition, air source dominance condition, dual-source coordination condition, and security condition; Step S403: Determine the candidate operating mode as ground source dominant mode, air source dominant mode, dual-source cooperative mode or safety mode based on the ground source dominant condition, air source dominant condition, dual-source cooperative mode or safety mode. Step S404, constructing a safe recovery set and minimum dwell time switching logic, and determining the actual operating mode based on the safe recovery set and minimum dwell time switching logic, includes: ; ; ; In the formula, A set of links to ensure safe recovery margin; For G or H; and These are the temperature recovery margin and the irradiance recovery margin, respectively. For safe recovery conditions; This is the actual operating mode; This refers to the actual operating mode at the previous sampling time. The duration for which the conditions for safe recovery are met continuously; This is the time since the last switch to normal mode; Minimum stay time; Step S405: Construct mode-dependent upper bounds for the emission power of the two lasers for different operating modes.

[0014] Furthermore, in step S5, using the battery state of charge and the temperature of the dual photovoltaic receivers as the system state, and the emission power of the ground and air lasers as the control input, a prediction objective function is constructed. Under the constraints of the upper bound of emission power, battery charging and discharging constraints, and photovoltaic temperature and peak irradiance safety constraints corresponding to the actual operating mode, a nonlinear model predictive control is used to jointly optimize and solve for the nominal laser emission power of the ground and air sources in the prediction time domain, including: Step S501: Using the battery state of charge and the temperature of the dual photovoltaic receivers as the system state, and the emission power of the ground and air lasers as the control inputs, construct the prediction objective function, including: ; In the formula, For uncompensated power demand, To predict the objective function, Let j be the prediction time domain length and j be the prediction step index. To predict the battery state of charge, , , and Non-negative weights This is the link transmit power consumption coefficient. To control the increment, Let k be the transmit power of the k-th link; Step S502, constructing constraints includes: ; ; ; ; ; ; In the formula, , and These are the predicted state, the predicted control input, and the predicted external quantity, respectively. Actual operating mode The upper bound of the power of the k-th link in the next prediction step; and These are the lower and upper limits of battery state of charge, respectively; and These are the battery's maximum discharge power and maximum charging power, respectively. A tightened upper temperature limit is adopted for nonlinear model predictive control; To provide a safety margin for predicted temperatures; , and These are the predicted net battery power, receiver temperature, and peak irradiance, respectively. Step S503: Based on the predicted objective function, under constraints, a nonlinear model predictive control is used to jointly optimize and solve for the nominal laser emission power of the ground source and the air source in the prediction time domain. After obtaining the optimal control sequence, only the first element is executed. .

[0015] Furthermore, in step S6, based on the real-time acquired battery state of charge, dual receiver temperatures, peak irradiance, and link availability, a full-domain safety constraint verification and adaptive correction are performed on the nominal laser emission power. Differentiated power supply control is implemented in layers for different risk conditions, and a final dual-source emission power command is output and executed. The battery state of charge and dual photovoltaic receiver temperatures are updated at the next sampling time according to the final dual-source emission power command, and the entire process is repeated in the next sampling cycle. Step S601: Based on the real-time acquired battery state of charge, dual receiver temperature, peak irradiance, and link availability, a safety filter with a control barrier function is used to perform a global safety constraint check and adaptive correction on the nominal laser emission power to obtain a safety-filtered dual-source power command. ; Step S602: When the safety filtering problem is not feasible only due to the battery state-of-charge limit, and at least one link still meets the tightened temperature and peak irradiance conditions, solve for the maximum safe power supply backoff command within the current mode-related safety boundary. ; Step S603, the final dual-source transmit power command is expressed as follows: ; in, This is the final dual-source transmit power command; This indicates that the nominal instruction is safe after verification by the original nonlinear single-step model; This indicates that the secure filtering solution passes through a nonlinear complex kernel; This indicates that the maximum safe power supply backoff under low charge state has been triggered; This indicates the existence of an insecure link and triggers an emergency shutdown. This is an emergency shutdown command; To simultaneously satisfy , and A set of secure links; It is an empty set.

[0016] Furthermore, the dual-source power command The solution method is as follows: ; The constraints in the solution process include: ; ; ; ; ; In the formula, Dual-source power command after safety filtering; It is a positive definite corrected weight matrix; For the first A margin for each safety constraint; This represents the maximum allowable control correction radius within the effective range of local linearization. The maximum safe power supply backoff command The solution method is as follows: ; The constraints in the solution process include: ; ; ; .

[0017] Secondly, embodiments of the present invention provide a dual-source coordinated laser power supply system for power transmission line inspection drones. The system employs the aforementioned dual-source coordinated laser power supply method for power transmission line inspection drones. The system includes: a status and data acquisition module, suitable for real-time acquisition of drone motion status, onboard power parameters, dual photovoltaic receiver temperatures, optical path transmission parameters, and environmental status parameters; a model building module, suitable for simultaneously constructing a dual-source three-dimensional geometric model, a drone power demand model, an optical-electrical conversion model of the laser link, and a battery-dual receiver electrothermal model based on the full-dimensional parameters acquired by the status and data acquisition module; a safe available power calculation module, suitable for calculating the safe transmission power boundaries and safe available power of the ground link and air link based on the optical-electrical conversion model and battery-dual receiver electrothermal model of the laser link, combined with the link availability status, transmitter rated power, peak irradiance limit, and receiver temperature limit; and an actual operation mode selection module, suitable for selecting between ground-source-dominated mode and air-source-dominated mode based on the drone's requested power, the safe available power of the two links, and the energy link quality coefficient. The system selects a candidate operating mode from three modes: normal operation, dual-source collaborative operation, and safety operation. It then determines the actual operating mode and the corresponding upper bounds of the emission power for the two links using a safety recovery set and minimum dwell time switching logic. A nominal laser emission power calculation module is suitable for constructing a predictive objective function with battery state of charge and dual photovoltaic receiver temperatures as system states, and ground and air laser emission power as control inputs. Under the constraints of the upper bound of emission power, battery charging / discharging constraints, and photovoltaic temperature and peak irradiance safety constraints corresponding to the actual operating mode, a nonlinear model predictive control is used to jointly optimize and solve for the nominal laser emission power of the ground and air sources in the prediction time domain. An instruction execution and state update module is suitable for performing full-domain safety constraint verification and adaptive correction on the nominal laser emission power based on real-time acquired battery state of charge, dual receiver temperatures, peak irradiance, and link availability. It performs differentiated power supply control in layers for different risk conditions, outputs the final dual-source emission power instruction, and issues it for execution. Based on the final dual-source emission power instruction, it updates the battery state of charge and dual photovoltaic receiver temperatures at the next sampling time, and then enters the next sampling cycle to execute all steps in a loop.

[0018] Thirdly, embodiments of the present invention also provide an electronic device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the above-described method for dual-source coordinated laser power supply for power transmission line inspection drones.

[0019] Fourthly, embodiments of the present invention also provide a readable storage medium, which, when the instructions in the storage medium are executed by the processor of an electronic device, enables the electronic device to execute the above-described method for dual-source coordinated laser power supply for power transmission line inspection drones.

[0020] Compared with the prior art, the present invention has at least the following effects: 1. Evaluate two links based on safe available power rather than rated transmit power, and map propagation, pointing, incident, photovoltaic conversion, temperature and irradiance into a unified link capability that can be directly used for control; 2. By dynamically coordinating ground and air sources through four operating modes, it can utilize the complementarity of vertical propagation paths and avoid fixed sources or fixed proportions of power supply. 3. By using hysteresis thresholds and minimum dwell time, frequent switching near the threshold is reduced without delaying the entry into emergency safety mode; 4. By using nonlinear model predictive control to jointly optimize dual-source power, a comprehensive trade-off is achieved between power supply gap, battery recovery, transmission energy consumption, and control smoothness; 5. Utilize the safety filter with the control barrier function to make the minimum necessary corrections based on the latest measurement status, and execute maximum safe power supply backoff or shutdown in the event of an emergency; 6. It can simultaneously constrain battery state of charge, receiver temperature, peak irradiance, link availability, and battery charging and discharging power. Attached Figure Description

[0021] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0022] Figure 1 This is a schematic diagram of a method for dual-source coordinated laser power supply for power transmission line inspection drones provided in Embodiment 1 of the present invention.

[0023] Figure 2 This is a schematic diagram of a dual-source coordinated laser power supply inspection scenario provided in Embodiment 1 of the present invention.

[0024] Figure 3 This is a three-dimensional geometric model of dual-source collaborative laser power supply provided in Embodiment 1 of the present invention.

[0025] Figure 4 This is a schematic diagram of a dual-source coordinated laser power supply system for power transmission line inspection drones provided in Embodiment 2 of the present invention.

[0026] Figure 5 This is a partial block diagram of the electronic device provided in Embodiment 3 of the present invention. Detailed Implementation

[0027] Before discussing the exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although the flowcharts describe the operations as sequential processes, many of these operations can be performed in parallel, concurrently, or simultaneously. Furthermore, the order of the operations can be rearranged. The process can be terminated when its operation is completed, but may also have additional steps not included in the figures. The process can correspond to a method, function, procedure, subroutine, subroutine, etc.

[0028] It should be understood that although the terms "first," "second," etc., may be used herein to describe various units, these units should not be limited by these terms. These terms are used merely to distinguish one unit from another. For example, without departing from the scope of the exemplary embodiments, a first unit may be referred to as a second unit, and similarly, a second unit may be referred to as a first unit. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0029] The present invention will now be described in detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating only the basic structure of the invention, and therefore only show the components relevant to the invention.

[0030] For ease of understanding, the following technical terms are explained here: HAP: High Altitude Platform, aerial high-altitude laser power supply platform; UAV: Unmanned Aerial Vehicle; LAP: Low Altitude Platform, a ground-based low-altitude laser power supply platform.

[0031] Example 1 The specific implementation method is as follows: like Figure 1 The diagram shown is a flowchart of a dual-source coordinated laser power supply method for power transmission line inspection drones provided by the present invention.

[0032] As an example, the method is applied to an air-ground coordinated power supply system including a ground-based low-altitude laser power supply platform, an air-based high-altitude laser power supply platform, and an inspection drone equipped with ground-side photovoltaic receivers and air-side photovoltaic receivers. The method includes: Step S1, real-time acquisition of drone motion status, onboard power parameters, dual photovoltaic receiver temperatures, optical path transmission parameters, and environmental status parameters; Step S2, based on the full-dimensional parameters acquired in Step S1, synchronously constructing a dual-source three-dimensional geometric model, a drone power demand model, an optical-electrical conversion model of the laser link, and a battery-dual-receiver electrothermal model; Step S3, combining the link availability status, transmitter rated power, peak irradiance limit, and receiver temperature limit, and relying on the optical-electrical conversion model and battery-dual-receiver electrothermal model of the laser link, calculating the safe transmission power boundary and safe available power of the ground link and the air link; Step S4, based on the drone's requested power, the safe available power of the two links, and the energy link quality coefficient, calculating the power from the ground source-dominated mode, the air source-dominated mode, and the dual-source coordinated mode. In step S5, a candidate operating mode is selected from the safety mode, and the actual operating mode and the upper bound of the transmission power of the corresponding two links are determined through the safety recovery set and minimum dwell time switching logic. Using the battery state of charge and the temperature of the dual photovoltaic receivers as the system state, and the transmission power of the ground and air lasers as the control input, a prediction objective function is constructed. Under the constraints of the upper bound of the transmission power, battery charging and discharging constraints, and photovoltaic temperature and peak irradiance safety constraints corresponding to the actual operating mode, a nonlinear model predictive control is used to jointly optimize and solve the nominal laser transmission power of the ground and air sources in the prediction time domain. In step S6, based on the real-time acquired battery state of charge, dual receiver temperature, peak irradiance, and link availability, the nominal laser transmission power is checked and adaptively corrected across the entire domain. Differentiated power supply regulation is performed in layers for different risk conditions, and the final dual-source transmission power command is output and executed. The battery state of charge and the temperature of the dual photovoltaic receivers are updated at the next sampling time according to the final dual-source transmission power command, and the next sampling cycle is entered to repeat all steps.

[0033] In some feasible implementations, the UAV motion state in step S1 includes: UAV position, UAV horizontal speed, and UAV vertical speed; the airborne electrical parameters include: airborne mission load power and battery state of charge; the dual photovoltaic receiver temperatures include: ground-side photovoltaic receiver temperature and airborne photovoltaic receiver temperature; the optical path transmission parameters include: atmospheric extinction coefficient of the airborne link, atmospheric extinction coefficient of the ground link, atmospheric turbulence efficiency, photovoltaic receiver outward normal unit vector, pointing error, and link availability; the environmental state parameters include: ambient temperature.

[0034] Preferred, combined Figure 2As shown, the system includes a ground-based low-altitude laser power supply platform (LAP), an aerial high-altitude laser power supply platform (HAP) located above the inspection area, and an inspection drone equipped with two photovoltaic receivers. The LAP emits an upward laser beam towards the downward-facing photovoltaic receiver on the drone, while the HAP emits a downward laser beam towards the upward-facing photovoltaic receiver on the drone. At the i-th sampling time, the drone's position is acquired. Horizontal speed Vertical velocity Airborne mission load power Battery state of charge Ground-side receiver temperature Airside receiver temperature Ambient temperature Atmospheric extinction coefficients of the two links Turbulence efficiency Pointing error Receiver normal vector and link availability status The laser link index set is as follows: Where G represents the ground link and H represents the air link.

[0035] In some feasible implementations, the construction method of the dual-source three-dimensional geometric model in step S2 includes: establishing the spatial vector relationship between the ground platform, the high-altitude platform, and the UAV, with the ground low-altitude laser power supply platform as the coordinate origin; the construction method of the UAV power demand model in step S2 includes: calculating the horizontal and vertical velocities of the inspection UAV based on adjacent sampling points, and calculating the flight and mission power requirements using a rotorcraft UAV propulsion power model; the construction method of the optical-electrical conversion model of the laser link in step S2 includes: based on the transmitter optical efficiency, atmospheric transmission efficiency, atmospheric turbulence efficiency, aperture coupling efficiency, and incident angle correction. A single-link optical-electrical conversion model is established based on factors and link availability. The battery-dual receiver electrothermal model construction method in step S2 includes: constructing the battery state of charge expression for the next sampling time based on the battery state of charge, battery net power, battery charging efficiency, discharge efficiency, and battery rated energy at the current sampling time; and constructing the expressions for the ground-side photovoltaic receiver temperature and the air-side photovoltaic receiver temperature for the next sampling time based on the photovoltaic receiver absorption coefficient, temperature-dependent photovoltaic conversion efficiency, received optical power, receiver equivalent heat capacity, receiver equivalent thermal resistance, ground-side photovoltaic receiver temperature, air-side photovoltaic receiver temperature, and ambient temperature at the current sampling time.

[0036] Preferably, establishing the three-dimensional geometric model and the UAV power requirement model includes: Combination Figure 3As shown, with the ground-based low-altitude laser power supply platform as the global coordinate origin, the geometric relationship between the airborne high-altitude laser power supply platform, the inspection drone, and the two laser links is represented as follows:

[0037] in, , and These are the position vectors for the ground-based low-altitude laser power supply platform, the airborne high-altitude laser power supply platform, and the inspection drone, respectively. , ; , and These represent the link vector, propagation distance, and unit propagation direction of the k-th link, respectively. This is the outward normal unit vector of the corresponding photovoltaic receiver; This is the incident angle correction factor; The function is positive. Propagation distance. Used to calculate atmospheric attenuation, beam spread, and pointing offset, as well as the propagation direction. With receiver normal vector Used to calculate the effective receiving direction.

[0038] The horizontal and vertical velocities of the inspection drone are calculated based on adjacent sampling points, and the flight and mission power requirements are calculated using a rotorcraft drone propulsion power model.

[0039] in, and These are the current sampling time and the previous sampling time, respectively; The sampling interval; and These are the horizontal velocity and the vertical velocity, respectively. , , and , , These are the three-dimensional coordinates of two adjacent sampling times; The rotor propulsion power is given when the horizontal flight speed is v. and These are the blade profile power and induced power in hovering state, respectively; The tip velocity; The average induction velocity; This refers to the fuselage drag ratio; ρ is air density; s is rotor solidity; A is rotor disk area; The power requirements for drone flight and missions are: m is the mass of the drone; g is the acceleration due to gravity. Power for avionics, sensing, communication and airborne processing equipment.

[0040] Preferably, the optical-to-electrical conversion models for ground and air links include: The two links are calculated separately because their propagation distances, atmospheric conditions, pointing errors, incident angles, and receiver temperatures differ. For any link... The laser emission power meets .in, Let be the transmit power of the k-th link at the i-th sampling time; This is the upper limit of the transmitter's rated power; This indicates the link is available. When the link is blocked, interrupted, the target is lost, or deemed unsafe, this indicates... .

[0041] Based on the Beer-Lambert atmospheric attenuation and Gaussian beam propagation relationship, calculate the atmospheric transmission efficiency, Rayleigh distance, and beam radius at the receiving surface: ; in, For atmospheric transport efficiency; It is the equivalent atmospheric extinction coefficient; For the distance of propagation; Rayleigh distance; The initial beam waist radius of the transmitter; Let be the laser wavelength of the k-th link; The radius of the receiving beam is denoted by ...

[0042] When the pointing angle error is small, the spot center offset is calculated based on the propagation distance, and the aperture coupling efficiency is calculated in combination with the effective radius of the circular photovoltaic receiver: ; in, This refers to the pointing angle error; This is the offset of the light spot center relative to the receiver center; Let be the equivalent radius of the circular photovoltaic receiver corresponding to the k-th link; This refers to the aperture coupling efficiency.

[0043] By considering the transmitter's optical efficiency, atmospheric transmission, turbulence loss, aperture coupling, link availability, and incident angle correction, a complete optical-to-electrical conversion relationship is established: ; in, For optical link coefficients; For the optical efficiency of the transmitting end; P_{r,k,i} represents the turbulence efficiency; P_{r,k,i} represents the received optical power. Temperature-dependent photovoltaic conversion efficiency; Photovoltaic conversion efficiency at reference temperature; Temperature coefficient of photovoltaic efficiency; For reference temperature; The energy link quality factor; For single-link output power; This represents the total received electrical power of the two links; This refers to the battery's net power.

[0044] Preferably, establishing a battery-dual receiver electrothermal model includes: Considering the battery charge / discharge efficiency, photovoltaic conversion loss, and the thermal inertia of the two photovoltaic receivers, a battery-dual receiver electrothermal coupling model is established: ; ; ; ; in, and These represent the battery state of charge at the next sampling time and the current sampling time, respectively. This refers to the battery's rated energy. and These are the battery charging efficiency and discharging efficiency, respectively. The absorption coefficient of the photovoltaic receiver; The proportion of absorbed light power converted into heat power; For receiver thermal power; and These are the receiver's equivalent thermal capacity and equivalent thermal resistance, respectively. The ambient temperature.

[0045] In some feasible implementations, step S3 includes: the safe transmit power boundary is simultaneously limited by the transmitter's rated power, peak irradiance, and receiver temperature, wherein the peak irradiance, safe transmit power boundary, and safe available electrical power are expressed as: ; ; ; in, Peak irradiance of the receiving surface. This is the upper limit of the transmitter's rated power; The upper limit of the transmit power is calculated by back-calculating from the upper limit of peak irradiance; The upper limit of transmit power is calculated by inversely from the receiver's thermal dynamics and the upper temperature limit; To ensure safe transmission power boundaries; For safe use of electrical power.

[0046] Preferably, for any laser link, the permissible transmit power is calculated from the peak irradiance constraint and the receiver's single-step thermal dynamics, and the safe transmit power boundary and safe available electrical power are determined accordingly: ; make ; in, Peak irradiance of the receiving surface; This represents the physical upper limit of peak irradiance. Power is limited by irradiance; Power is limited by temperature; This represents the physical upper limit of the receiver's temperature. To ensure safe transmission power boundaries; For safe use of electrical power. When , Or when a link is determined to be insecure, the corresponding link's Take 0.

[0047] In some feasible implementations, step S4 includes: Step S401: Define the requested power of the drone as follows: ; In the formula, To request power, Maximum charging power for the battery. Battery recovery coefficient; For the target battery state of charge, This indicates the current state of battery charge. Step S402: Based on the safe available power, requested power, and energy link quality coefficient of the two links, define the ground source dominance condition, air source dominance condition, dual-source coordination condition, and security condition; Step S403: Determine the candidate operating mode as ground source dominant mode, air source dominant mode, dual-source cooperative mode or safety mode based on the ground source dominant condition, air source dominant condition, dual-source cooperative mode or safety mode. Step S404, constructing a safe recovery set and minimum dwell time switching logic, and determining the actual operating mode based on the safe recovery set and minimum dwell time switching logic, includes: ; ; ; In the formula, A set of links to ensure safe recovery margin; For G or H; and These are the temperature recovery margin and the irradiance recovery margin, respectively. For safe recovery conditions; This is the actual operating mode; This refers to the actual operating mode at the previous sampling time. The duration for which the conditions for safe recovery are met continuously; This is the time since the last switch to normal mode; Minimum stay time; Step S405: Construct mode-dependent upper bounds for the emission power of the two lasers for different operating modes.

[0048] Preferably, step S401 includes: In order to simultaneously meet the power requirements of the UAV flight and mission and restore the battery state of charge within a safe range, the requested power is defined as:

[0049] in, To request power; For current flight and mission power requirements; This represents the battery's maximum charging power. Battery recovery coefficient; The target battery state of charge; This indicates the current state of battery charge.

[0050] Preferably, step S402 includes: defining ground source dominance conditions, air source dominance conditions, dual-source coordination conditions, and security conditions based on the secure available electrical power, requested power, and energy link quality coefficient of the two links. ; in, , , and These are respectively ground-based source-dominant conditions, airborne source-dominant conditions, dual-source synergy conditions, and safety conditions; and These are the safe available electrical power for ground links and air links, respectively. and These are the energy link quality coefficients for the two links, respectively. This is the link quality hysteresis threshold; This is an emergency event indication value. It is set to 1 when the receiver overheats, the peak irradiance exceeds the limit, the target is lost, or the optical path is unsafe; otherwise, it is set to 0. , and These represent logical AND, logical OR, and logical NOT, respectively.

[0051] Preferably, step S403 includes: determining candidate operating modes based on ground-source dominance conditions, air-source dominance conditions, dual-source coordination conditions, and safety conditions.

[0052] in, Candidate operating modes; , , and These are ground-based source-dominated mode, airborne source-dominated mode, dual-source collaborative mode, and safety mode. (Select) This only indicates that both links have entered the feasible power supply set; it does not require that both laser sources output positive power at every moment.

[0053] Preferably, step S404 includes: to avoid frequent switching near the threshold, while ensuring that emergency events immediately enter the safe mode, constructing a safe recovery set and a minimum dwell time switching logic:

[0054] in, A set of links to ensure safe recovery margin; and These are the temperature recovery margin and the irradiance recovery margin, respectively. For safe recovery conditions; This is the actual operating mode; This refers to the actual operating mode at the previous sampling time. The duration for which the conditions for safe recovery are met continuously; This is the time since the last switch to normal mode; Minimum stay time. Enter. No minimum stay requirement.

[0055] Preferably, step S405 includes: constructing mode-dependent upper bounds for the emission power of the two lasers for different operating modes: ; in, Actual operating mode The upper bound of the transmit power of the k-th link; and These are the power ratios of the air-assisted source and the ground-assisted source, respectively. This represents the collaboration ratio of the k-th link in the dual-source collaborative mode; This is the security derating factor for the k-th link in secure mode; it is 0 for insecure links.

[0056] In some feasible implementations, step S5 includes: Step S501: Using the battery state of charge and the temperature of the dual photovoltaic receivers as the system state, and the emission power of the ground and air lasers as the control inputs, construct the prediction objective function, including: ; In the formula, For uncompensated power demand, To predict the objective function, Let j be the prediction time domain length and j be the prediction step index. To predict the battery state of charge, , , and Non-negative weights This is the link transmit power consumption coefficient. To control the increment, Let k be the transmit power of the k-th link; Step S502, constructing constraints includes: ; ; ; ; ; ; In the formula, , and These are the predicted state, the predicted control input, and the predicted external quantity, respectively. Actual operating mode The upper bound of the power of the k-th link in the next prediction step; and These are the lower and upper limits of battery state of charge, respectively; and These are the battery's maximum discharge power and maximum charging power, respectively. A tightened upper temperature limit is adopted for nonlinear model predictive control; To provide a safety margin for predicted temperatures; , and These are the predicted net battery power, receiver temperature, and peak irradiance, respectively. Step S503: Based on the predicted objective function, under constraints, a nonlinear model predictive control is used to jointly optimize and solve for the nominal laser emission power of the ground source and the air source in the prediction time domain. After obtaining the optimal control sequence, only the first element is executed. .

[0057] Preferably, step S501 includes: composing the battery state of charge and the temperatures of the two receivers into a system state; composing the transmit power of the ground source and the air source into a control input; and defining external quantities and uncompensated power requirements. ; ; ; ; ; in, This is the system state vector; This is the dual-source transmit power control vector; It is an external vector; and These are the ground-side receiver temperature and the air-side receiver temperature, respectively. and These are the transmission powers of the ground source and the air source, respectively. and , respectively, are the optical link coefficients for the ground link and the air link; f is the discrete-time nonlinear state update function for the battery-dual receiver; This represents the uncompensated power demand.

[0058] Keeping the current actual operating mode unchanged within the prediction time domain, and using the predicted link quality, ambient temperature, UAV power requirements, and mode-dependent safety power boundary, the nonlinear model predictive control problem is solved:

[0059] in, The total received electrical power predicted at the (i+j)th sampling time is the value at the i-th sampling time. and These are the link quality coefficient and the transmit power of the k-th link, respectively, for the corresponding prediction step; For uncompensated power demand; For the prediction objective function; The prediction time domain length is given by j; j is the prediction step index. To predict the battery state of charge; , , and Non-negative weights; This is the link transmit power consumption coefficient; To control the increment.

[0060] In some feasible implementations, step S6 includes: Step S601: Based on the real-time acquired battery state of charge, dual receiver temperature, peak irradiance, and link availability, a safety filter with a control barrier function is used to perform a global safety constraint check and adaptive correction on the nominal laser emission power to obtain a safety-filtered dual-source power command. ; Step S602: When the safety filtering problem is not feasible only due to the battery state-of-charge limit, and at least one link still meets the tightened temperature and peak irradiance conditions, solve for the maximum safe power supply backoff command within the current mode-related safety boundary. ; Step S603, the final dual-source transmit power command is expressed as follows: ; in, This is the final dual-source transmit power command; This indicates that the nominal instruction is safe after verification by the original nonlinear single-step model; This indicates that the secure filtering solution passes through a nonlinear complex kernel; This indicates that the maximum safe power supply backoff under low charge state has been triggered; This indicates the existence of an insecure link and triggers an emergency shutdown. This is an emergency shutdown command; To simultaneously satisfy , and A set of secure links; It is an empty set.

[0061] Preferably, the dual-source power command The solution method is as follows: ; The constraints in the solution process include: ; ; ; ; ; In the formula, Dual-source power command after safety filtering; It is a positive definite corrected weight matrix; For the first A margin for each safety constraint; This represents the maximum allowable control correction radius within the effective range of local linearization. The maximum safe power supply backoff command The solution method is as follows: ; The constraints in the solution process include: ; ; ; .

[0062] Preferably, since prediction errors, measurement errors, and sudden link or electrothermal disturbances may render the nominal command unsafe in the latest measurement state, the control barrier function safety filter first sets tightened temperature and peak irradiance limits:

[0063] in, and These are the upper limit of tightening temperature and the upper limit of tightening peak irradiance used by the safety filter for the control barrier function, respectively. To control the temperature safety margin of the barrier function; This is a relative irradiance safety margin; and This represents the upper limit of physical security for the receiver.

[0064] Define safety functions for the upper and lower limits of battery state of charge and the upper limits of the two receiver temperatures:

[0065] in, and These are the safety functions corresponding to the lower and upper limits of the battery's state of charge, respectively. Let be the security function corresponding to the upper temperature limit of the receiver on the k-th link; Let this be the set of security function indices. A state is considered within the security set if all security functions are not less than 0. For each security function, construct a discrete-time control barrier function residual and perform first-order local linearization near the nominal instruction.

[0066] in, For the first Nonlinear discrete-time control barrier function residuals of a safety function; To control the attenuation coefficient of the barrier function; In order to be in The linearized residuals obtained nearby; This represents the gradient of the nonlinear residual with respect to the dual-source power control vector.

[0067] Preferably, when a receiver overheating, peak irradiance exceeding the limit, target loss, link interruption, or optical path insecurity event occurs, immediate action is taken on each insecure link. , Other secure links are limited to Inside.

[0068] Preferably, the battery state of charge and the temperatures of the two photovoltaic receivers are updated based on the actual received power corresponding to the final command, and then the process proceeds to the next sampling time, thereby forming a closed-loop online control of "link sensing - mode selection - predictive allocation - real-time security correction - state update".

[0069] In summary, this invention maps time-varying factors such as atmospheric attenuation, pointing error, incident angle, and receiver temperature into a unified link quality coefficient. It evaluates link power supply capability using available electrical power under physical safety boundaries rather than rated transmit power, providing accurate quantitative basis for mode decision-making and power allocation. It dynamically coordinates the dual-source roles through four operating modes, utilizing the complementarity of upstream and downstream links to avoid single-source failure. It achieves a comprehensive trade-off between power supply, energy saving, and smoothness through MPC forward-looking optimization. It addresses the potential for pure predictive control to be affected by model errors through a three-layer emergency mechanism: real-time CBF safety verification, maximum backoff at low SOC, and emergency shutdown. Dual physical hard constraints of peak irradiance and receiver temperature are applied throughout safety boundary calculations, MPC predictive constraints, and real-time CBF correction. Combined with hysteresis anti-jitter and minimum dwell time to suppress frequent mode oscillations, it balances control stability and timely emergency response. Compared with existing technologies, this invention significantly improves the continuity, safety, and energy utilization of multi-source laser power supply in complex environments.

[0070] Example 2 Please see Figure 4 This embodiment provides a schematic diagram of a dual-source coordinated laser power supply system for power transmission line inspection drones.

[0071] As an example, the system employs the dual-source coordinated laser power supply method for power transmission line inspection drones described in Embodiment 1. The system includes: Status and data acquisition module 1 is suitable for real-time acquisition of UAV motion status, airborne power parameters, dual photovoltaic receiver temperature, optical path transmission parameters and environmental status parameters; Model building module 2 is suitable for simultaneously building a dual-source three-dimensional geometric model, a UAV power demand model, an optical-electrical conversion model of the laser link, and a battery-dual receiver electrothermal model based on the full-dimensional parameters collected by the state and data acquisition module. The safe available power calculation module 3 is suitable for calculating the safe transmission power boundary and safe available power of the ground link and the air link by combining the link availability status, transmitter rated power, peak irradiance limit, and receiver temperature limit, based on the optical-electrical conversion model and battery-dual receiver electrothermal model of the laser link. The actual operation mode selection module 4 is suitable for selecting candidate operation modes from ground source dominant mode, air source dominant mode, dual source cooperative mode and safe mode based on the UAV's requested power, the safe available power of the two links and the energy link quality coefficient, and determining the actual operation mode and the corresponding upper limit of the transmission power of the two links through the safe recovery set and minimum dwell time switching logic. The nominal laser emission power calculation module 5 is suitable for constructing a prediction objective function with the battery state of charge and the temperature of the dual photovoltaic receivers as the system state and the emission power of the ground and air lasers as the control input. Under the upper bound constraint of emission power, battery charging and discharging constraint, and photovoltaic temperature and peak irradiance safety constraint corresponding to the actual operation mode, the nominal laser emission power of the ground source and the air source is jointly optimized and solved in the prediction time domain using nonlinear model predictive control. The instruction execution and status update module 6 is suitable for performing full-domain safety constraint verification and adaptive correction on the nominal laser emission power based on real-time acquired battery state of charge, dual receiver temperature, peak irradiance, and link availability. It performs differentiated power supply control in layers for different risk conditions, outputs the final dual-source emission power instruction and issues it for execution; updates the battery state of charge and dual photovoltaic receiver temperature at the next sampling time according to the final dual-source emission power instruction, and enters the next sampling cycle to cyclically execute all steps.

[0072] It is not difficult to see that this embodiment is a system implementation corresponding to the first embodiment, and this embodiment can be implemented in conjunction with the first embodiment. The relevant technical details mentioned in the first embodiment are still valid in this embodiment, and will not be repeated here to reduce repetition. Accordingly, the relevant technical details mentioned in this embodiment can also be applied to the first embodiment.

[0073] It is worth mentioning that all modules involved in this embodiment are logical units. In practical applications, a logical unit can be a physical unit, a part of a physical unit, or a combination of multiple physical units. Furthermore, to highlight the innovative aspects of this invention, this embodiment does not introduce units that are not closely related to solving the technical problem proposed by this invention; however, this does not mean that other units are absent from this embodiment.

[0074] Example 3 Please see Figure 5 The present invention also provides an electronic device, including: a memory and a processor; the memory stores at least one program instruction; the processor loads and executes the at least one program instruction to implement the dual-source coordinated laser power supply method for power transmission line inspection drones provided in Embodiment 1.

[0075] The memory 702 and processor 701 are connected via a bus, which may include any number of interconnecting buses and bridges, connecting various circuits of one or more processors 701 and memory 702 together. The bus may also connect various other circuits, such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further herein. A bus interface provides an interface between the bus and the transceiver. The transceiver may be a single element or multiple elements, such as multiple receivers and transmitters, providing a unit for communicating with various other devices over a transmission medium. Data processed by processor 701 is transmitted over a wireless medium via an antenna, which further receives data and transmits it to processor 701.

[0076] Processor 701 is responsible for managing the bus and general processing, and can also provide various functions, including timing, peripheral interfaces, voltage regulation, power management, and other control functions. Memory 702 can be used to store data used by processor 701 during operation.

[0077] Example 4 This invention also proposes a storage medium storing a method for dual-source coordinated laser power supply for power transmission line inspection drones. When executed by a processor, the dual-source coordinated laser power supply program for power transmission line inspection drones implements the steps of the method described above. Since this storage medium employs all the technical solutions of the above embodiments, it possesses at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be elaborated upon further here.

[0078] The above descriptions are merely embodiments of the present invention. Commonly known structures and characteristics of the solutions are not described in detail here. Those skilled in the art are aware of all common technical knowledge in the field prior to the application date or priority date, are aware of all existing technologies in that field, and have the ability to apply conventional experimental methods prior to that date. Those skilled in the art can, under the guidance of this application, improve and implement this solution in combination with their own capabilities. Some typical known structures or methods should not be obstacles for those skilled in the art to implement this application. It should be noted that those skilled in the art can make several modifications and improvements without departing from the structure of the present invention. These should also be considered within the scope of protection of the present invention, and will not affect the effectiveness of the implementation of the present invention or the practicality of the patent. The scope of protection claimed in this application should be determined by the content of its claims, and the specific embodiments described in the specification can be used to interpret the content of the claims.

Claims

1. A method for dual-source coordinated laser power supply for unmanned aerial vehicles (UAVs) used for power transmission line inspection, characterized in that, The method is applied to an air-ground coordinated power supply system including a ground-based low-altitude laser power supply platform, an air-based high-altitude laser power supply platform, and an inspection drone equipped with ground-side photovoltaic receivers and air-side photovoltaic receivers. The method includes: Step S1: Real-time acquisition of UAV motion status, onboard power parameters, dual photovoltaic receiver temperature, optical path transmission parameters, and environmental status parameters; Step S2: Based on the full-dimensional parameters collected in step S1, simultaneously construct the upper and lower dual-source three-dimensional geometric model, the UAV power demand model, the optical-electrical conversion model of the laser link, and the battery-dual receiver electrothermal model. Step S3: Based on the optical-electrical conversion model and battery-dual receiver electrothermal model of the laser link, and combined with the link availability status, transmitter rated power, peak irradiance limit, and receiver temperature limit, the safe transmission power boundary and safe available electrical power of the ground link and the air link are calculated. Step S4: Based on the UAV's requested power, the safe available power of the two links, and the energy link quality coefficient, select a candidate operating mode from the ground source-dominated mode, air source-dominated mode, dual-source cooperative mode, and safe mode, and determine the actual operating mode and the corresponding upper limit of the transmission power of the two links through the safe recovery set and minimum dwell time switching logic. Step S5: Using the battery state of charge and the temperature of the dual photovoltaic receivers as the system state, and the emission power of the ground and air lasers as the control input, construct a prediction objective function; under the upper bound constraint of emission power, battery charging and discharging constraint, and photovoltaic temperature and peak irradiance safety constraint corresponding to the actual operation mode, use nonlinear model predictive control to jointly optimize and solve the nominal laser emission power of the ground source and the air source in the prediction time domain; Step S6: Based on the real-time acquired battery state of charge, dual receiver temperature, peak irradiance, and link availability, perform full-domain safety constraint verification and adaptive correction on the nominal laser emission power, implement differentiated power supply control in layers for different risk conditions, output the final dual-source emission power command and issue it for execution; update the battery state of charge and dual photovoltaic receiver temperature at the next sampling time according to the final dual-source emission power command, and enter the next sampling cycle to cyclically execute all steps.

2. The method for dual-source coordinated laser power supply for UAVs used in power transmission line inspection according to claim 1, characterized in that, The drone motion state in step S1 includes: drone position, drone horizontal speed and drone vertical speed; The airborne electrical parameters include: airborne mission load power and battery state of charge; The temperature of the dual photovoltaic receivers includes: the temperature of the ground-side photovoltaic receiver and the temperature of the air-side photovoltaic receiver; The optical path transmission parameters include: atmospheric extinction coefficient of the air link, atmospheric extinction coefficient of the ground link, atmospheric turbulence efficiency, external normal unit vector of the photovoltaic receiver, pointing error, and link availability status. The environmental status parameters include: ambient temperature.

3. The method for dual-source coordinated laser power supply for UAVs used in power transmission line inspection according to claim 2, characterized in that, The method for constructing the dual-source three-dimensional geometric model in step S2 includes: establishing the spatial vector relationship between the ground platform, the high-altitude platform, and the UAV, with the ground low-altitude laser power supply platform as the coordinate origin; The method for constructing the UAV power demand model in step S2 includes: calculating the horizontal and vertical speeds of the inspection UAV based on adjacent sampling points, and using a rotorcraft UAV propulsion power model to calculate the flight and mission power requirements. The optical-electrical conversion model of the laser link in step S2 is constructed by establishing a single-link optical-electrical conversion model based on the transmitter optical efficiency, atmospheric transmission efficiency, atmospheric turbulence efficiency, aperture coupling efficiency, incident angle correction factor, and link availability. The battery-dual receiver electrothermal model construction method in step S2 includes: constructing the battery state of charge expression for the next sampling time based on the battery state of charge, battery net power, battery charging efficiency, discharge efficiency, and battery rated energy at the current sampling time; and constructing the expressions for the ground-side photovoltaic receiver temperature and the air-side photovoltaic receiver temperature for the next sampling time based on the photovoltaic receiver absorption coefficient, temperature-dependent photovoltaic conversion efficiency, received light power, receiver equivalent heat capacity, receiver equivalent thermal resistance, ground-side photovoltaic receiver temperature, air-side photovoltaic receiver temperature, and ambient temperature at the current sampling time.

4. The method for dual-source coordinated laser power supply for UAVs used in power transmission line inspection according to claim 3, characterized in that, The mathematical expression for the UAV power demand model includes: ； In the formula, To meet the power requirements of drone flight and missions, The horizontal flight speed of the drone is The rotor propulsion power at time m is the mass of the UAV, and g is the acceleration due to gravity. The vertical flight speed of the drone, Power for avionics, sensing, communication and airborne processing equipment; The mathematical expression for the single-link optical-to-electrical conversion model includes: ； ； ； ； ； ； In the formula, For optical link coefficients, Where H represents an air link and G represents a ground link. This represents the link availability status of the k-th link. Let be the optical efficiency of the transmitter of the k-th link. Let K be the atmospheric transmission efficiency of the k-th link. Let the atmospheric turbulence efficiency of the k-th link be . Let be the aperture coupling efficiency of the k-th link. This is the incident angle correction factor for the k-th link. The temperature-dependent photovoltaic conversion efficiency of the k-th link. Let be the photovoltaic conversion efficiency at the reference temperature of the k-th link. Let be the temperature coefficient of photovoltaic efficiency for the k-th link. For reference temperature, The temperature of the ground-side photovoltaic receiver. Temperature of the air-side photovoltaic receiver. The energy link quality factor. Let be the laser emission power of the k-th link. Net battery power, This represents the total received electrical power of the two links. This is the offset of the light spot center relative to the receiver center. Let be the equivalent radius of the circular photovoltaic receiver corresponding to the k-th link. For aperture coupling efficiency, The radius of the Gaussian beam at the receiving surface; The battery state-of-charge expression at the next sampling time includes: ； In the formula, and These are the battery state of charge at the next sampling time and the current sampling time, respectively. For the battery's rated energy, The sampling time interval, and These are the battery charging efficiency and discharging efficiency, respectively. The expressions for the ground-side photovoltaic receiver temperature and the air-side photovoltaic receiver temperature at the next sampling time include: ； In the formula, and These are the photovoltaic receiver temperatures at the next sampling time and the current sampling time, respectively. and These are the receiver's equivalent thermal capacity and equivalent thermal resistance, respectively. For receiver thermal power, The ambient temperature.

5. The method for dual-source coordinated laser power supply for UAVs used in power transmission line inspection according to claim 4, characterized in that, Step S3, combining the link availability status, transmitter rated power, peak irradiance limit, and receiver temperature limit, calculates the safe transmission power boundaries and safe available electrical power for the ground link and air link based on the optical-electrical conversion model and battery-dual receiver electrothermal model of the laser link, including: The safe transmit power boundary is simultaneously limited by the transmitter's rated power, peak irradiance, and receiver temperature. The peak irradiance, safe transmit power boundary, and safe available electrical power are expressed as follows: ； ； ； in, Peak irradiance of the receiving surface. This is the upper limit of the transmitter's rated power; The upper limit of the transmit power is calculated by back-calculating from the upper limit of peak irradiance; The upper limit of transmit power is calculated by inversely from the receiver's thermal dynamics and the upper temperature limit; To ensure safe transmission power boundaries; For safe use of electrical power.

6. The method for dual-source coordinated laser power supply for UAVs used in power transmission line inspection according to claim 5, characterized in that, Step S4 involves selecting a candidate operating mode from ground-source-dominated mode, air-source-dominated mode, dual-source cooperative mode, and safe mode based on the UAV's requested power, the safe available power of the two links, and the energy link quality coefficient. The actual operating mode and the corresponding upper bound of the transmit power of the two links are then determined through a safe recovery set and minimum dwell time switching logic. Step S401: Define the requested power of the drone as follows: ； In the formula, To request power, Maximum charging power for the battery. Battery recovery coefficient; For the target battery state of charge, This indicates the current state of battery charge. Step S402: Based on the safe available power, requested power, and energy link quality coefficient of the two links, define the ground source dominance condition, air source dominance condition, dual-source coordination condition, and security condition; Step S403: Determine the candidate operating mode as ground source dominant mode, air source dominant mode, dual-source cooperative mode or safety mode based on the ground source dominant condition, air source dominant condition, dual-source cooperative mode or safety mode. Step S404, constructing a safe recovery set and minimum dwell time switching logic, and determining the actual operating mode based on the safe recovery set and minimum dwell time switching logic, includes: ； ； ； In the formula, A set of links to ensure safe recovery margin; For G or H; and These are the temperature recovery margin and the irradiance recovery margin, respectively. For safe recovery conditions; This is the actual operating mode; This refers to the actual operating mode at the previous sampling time. The duration for which the conditions for safe recovery are met continuously; This is the time since the last switch to normal mode; Minimum stay time; Step S405: Construct mode-dependent upper bounds for the emission power of the two lasers for different operating modes.

7. The method for dual-source coordinated laser power supply for UAVs used in power transmission line inspection according to claim 6, characterized in that, Step S5 involves constructing a predictive objective function using the battery state of charge and the temperature of the dual photovoltaic receivers as the system state, and the emission power of the ground and air-based lasers as the control inputs. Under the constraints of the upper bound of emission power, battery charging and discharging constraints, and photovoltaic temperature and peak irradiance safety constraints corresponding to the actual operating mode, a nonlinear model predictive control is used to jointly optimize and solve for the nominal laser emission power of the ground and air-based sources in the prediction time domain, including: Step S501: Using the battery state of charge and the temperature of the dual photovoltaic receivers as the system state, and the emission power of the ground and air lasers as the control inputs, construct the prediction objective function, including: ； In the formula, For uncompensated power demand, To predict the objective function, Let j be the prediction time domain length and j be the prediction step index. To predict the battery state of charge, , , and Non-negative weights This is the link transmit power consumption coefficient. To control the increment, Let k be the transmit power of the k-th link; Step S502, constructing constraints includes: ； ； ； ； ； ； In the formula, , and These are the predicted state, the predicted control input, and the predicted external quantity, respectively. Actual operating mode The upper bound of the power of the k-th link in the next prediction step; and These are the lower and upper limits of battery state of charge, respectively; and These are the battery's maximum discharge power and maximum charging power, respectively. A tightened upper temperature limit is adopted for nonlinear model predictive control; To provide a safety margin for predicted temperatures; , and These are the predicted net battery power, receiver temperature, and peak irradiance, respectively. Step S503: Based on the predicted objective function, under constraints, a nonlinear model predictive control is used to jointly optimize and solve for the nominal laser emission power of the ground source and the air source in the prediction time domain. After obtaining the optimal control sequence, only the first element is executed. .

8. The method for dual-source coordinated laser power supply for UAVs used in power transmission line inspection according to claim 7, characterized in that, In step S6, based on the real-time acquired battery state of charge, dual receiver temperature, peak irradiance, and link availability, the nominal laser emission power is subjected to full-domain safety constraint verification and adaptive correction. Differentiated power supply regulation is performed in layers for different risk conditions, and the final dual-source emission power command is output and executed. Based on the final dual-source transmit power command, update the battery state of charge and the temperature of the dual photovoltaic receivers at the next sampling time, and enter the next sampling cycle to cyclically execute all steps, including: Step S601: Based on the real-time acquired battery state of charge, dual receiver temperature, peak irradiance, and link availability, a safety filter using a control barrier function is applied to the nominal laser emission power to perform global safety constraint verification and adaptive correction, resulting in a safety-filtered dual-source power command. ; Step S602: When the safety filtering problem is not feasible only due to the battery state-of-charge limit, and at least one link still meets the tightened temperature and peak irradiance conditions, solve for the maximum safe power supply backoff command within the current mode-related safety boundary. ; Step S603, the final dual-source transmit power command is expressed as follows: ； in, This is the final dual-source transmit power command; This indicates that the nominal instruction is safe after verification by the original nonlinear single-step model; This indicates that the secure filtering solution passes through a nonlinear complex kernel; This indicates that the maximum safe power supply backoff under low charge state has been triggered; This indicates the existence of an insecure link and triggers an emergency shutdown. This is an emergency shutdown command; To simultaneously satisfy , and A set of secure links; It is an empty set.

9. The method for dual-source coordinated laser power supply for UAVs used in power transmission line inspection according to claim 8, characterized in that, The dual-source power command The solution method is as follows: ； The constraints in the solution process include: ； ； ； ； ； In the formula, Dual-source power command after safety filtering; It is a positive definite corrected weight matrix; For the first A margin for each safety constraint; This represents the maximum allowable control correction radius within the effective range of local linearization. The maximum safe power supply backoff command The solution method is as follows: ； The constraints in the solution process include: ； ； ； 。 10. A dual-source coordinated laser power supply system for power transmission line inspection drones, the system employing the dual-source coordinated laser power supply method for power transmission line inspection drones as described in any one of claims 1-9, characterized in that... The system includes: The status and data acquisition module is suitable for real-time acquisition of UAV motion status, airborne power parameters, dual photovoltaic receiver temperature, optical path transmission parameters, and environmental status parameters. The model building module is suitable for simultaneously building a dual-source three-dimensional geometric model, a UAV power demand model, an optical-electrical conversion model of the laser link, and a battery-dual receiver electrothermal model based on the full-dimensional parameters collected by the state and data acquisition modules. The safe available electrical power calculation module is suitable for calculating the safe transmission power boundary and safe available electrical power of the ground link and the air link by combining the link availability status, transmitter rated power, peak irradiance limit, and receiver temperature limit, based on the optical-electrical conversion model and battery-dual receiver electrothermal model of the laser link. The actual operation mode selection module is suitable for selecting candidate operation modes from ground source dominant mode, air source dominant mode, dual source cooperative mode and safe mode based on the UAV's requested power, the safe available power of the two links and the energy link quality coefficient, and determining the actual operation mode and the corresponding upper limit of the transmission power of the two links through the safe recovery set and minimum dwell time switching logic. The nominal laser emission power solution module is suitable for constructing a predictive objective function with battery state of charge and dual photovoltaic receiver temperature as system states, and ground and air laser emission power as control inputs. Under the constraints of upper bound of emission power, battery charging and discharging constraints, and photovoltaic temperature and peak irradiance safety constraints corresponding to the actual operation mode, the module uses nonlinear model predictive control to jointly optimize and solve the nominal laser emission power of ground and air sources in the prediction time domain. The instruction execution and status update module is suitable for performing full-domain safety constraint verification and adaptive correction on the nominal laser emission power based on real-time acquired battery state of charge, dual receiver temperature, peak irradiance, and link availability. It performs differentiated power supply control in layers for different risk conditions, outputs the final dual-source emission power instruction, and issues it for execution. Based on the final dual-source emission power instruction, it updates the battery state of charge and dual photovoltaic receiver temperature at the next sampling time, and enters the next sampling cycle to cyclically execute all steps.

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