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In order to improve the inspection efficiency and safety of UAV inspections for wind turbines，a reasonable planning of the UAV inspection path was proposed. A method for UAV inspection path planning based on real-time emergency landing safety constraints was introduced. First，a safety calculation model for emergency landing areas was established. It based on the dynamic endurance capacity of UAV affected by wind speed and direction，as well as constraints such as flight path emergency landing，to assess the safety of the inspection path and establish safety constraints. Then，regarding the objective function of the length of UAV inspection path，an optimal inspection path planning method based on the characteristics of RSA was proposed. This method effectively solved TSP for UAV inspections in wind farms under safety constraints，utilizing the discrete and multi-agent characteristics of RSA algorithm to plan the inspection path for wind farms. Finally，comparative experiments and simulations of wind farms were conducted for different algorithms. results indicated that the real-time emergency landing safety constraint model can comprehensively calculate safe routes by integrating various risk factors，enhancing the safety of the inspection path. RSA algorithm can quickly solve TSP problem for wind farm inspections under safety constraints，improving the level of inspection path planning.
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| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
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