A method for UAV inspection path planning based on safety distance in substation

Unmanned aerial vehicles (UAVs) are increasingly deployed for high-voltage substation equipment inspection due to their superior flight flexibility, enhanced inspection efficiency, and capability for close-range observation. However, the electronic components of UAVs are susceptible to strong electromagnetic fields present in substations, necessitating careful consideration of safety distances during inspection route planning. This study establishes critical electromagnetic field thresholds for UAV operations, determining safety criteria of 320 kV/m for electric field intensity and 290 µT for magnetic flux density. A comprehensive safety distance calculation methodology is proposed, incorporating factors such as wind gust effects and UAV hovering accuracy. An inspection path planning algorithm is developed based on established safety thresholds and inspection requirements, with validation performed through simulation of a 220 kV substation bay. Simulation results demonstrate that the planned inspection paths maintain maximum electric field intensity and magnetic flux density values of 156 kV/m and 136 µT respectively, both below established safety thresholds. These findings contribute significantly to advancing the implementation of safe UAV-based inspection practices in high-voltage substation environments.