CN106873627B - Multi-rotor unmanned aerial vehicle and method for automatically inspecting power transmission line - Google Patents
Multi-rotor unmanned aerial vehicle and method for automatically inspecting power transmission line Download PDFInfo
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Abstract
The invention discloses a multi-rotor unmanned aerial vehicle and a method for automatically inspecting a power transmission line, wherein the unmanned aerial vehicle comprises a machine vision unit, a flight control unit, a line shooting unit and a battery power supply unit; the machine vision unit and the line shooting unit are both connected with the flight control unit; the machine vision unit captures image information of the power transmission lines in real time, calculates the position and the direction of each power transmission line in the image and the relative distance of each power transmission line in the image according to the captured image information, and then sends the data to the flight control module to stabilize the position, the direction and the height of the unmanned aerial vehicle relative to the power transmission lines, so that the unmanned aerial vehicle can fly in parallel along the line; and the line shooting unit is used for acquiring the image information of the power transmission line when the unmanned aerial vehicle flies along the line in parallel. The invention improves the accuracy and the safety of the unmanned aerial vehicle for inspecting the power transmission line, improves the stability of the shot picture and reduces the labor cost of the unmanned aerial vehicle for inspecting.
Description
Technical Field
The invention relates to the field of power transmission line inspection of unmanned aerial vehicles, in particular to a multi-rotor unmanned aerial vehicle and a method capable of automatically inspecting power transmission lines.
Background
In 2020, the total length of a Chinese power transmission line is more than 159 ten thousand kilometers, and the inspection work of the power transmission line is important and indispensable work for ensuring safe and reliable power supply. In recent years, with the development of remote control unmanned aerial vehicle technology, the adoption of unmanned aerial vehicles to patrol power lines has already provided technical feasibility.
At present, the mode that electric power inspection field adopted remote control unmanned aerial vehicle to patrol and examine compares in artifical mode of patrolling and examining before, and efficiency has had very big promotion, but when the circuit was patrolled and examined, remote control unmanned aerial vehicle's mode still faces and is difficult to stably follow transmission line, is difficult to guarantee the parallel line and shoots the angle, needs professional flight personnel operation scheduling problem.
Disclosure of Invention
The invention aims to solve the technical problem of the remote control unmanned aerial vehicle in the process of power transmission line inspection, and provides a multi-rotor unmanned aerial vehicle and a method for automatically inspecting a power transmission line.
In order to achieve the purpose, the invention adopts the following technical scheme:
a multi-rotor unmanned aerial vehicle for automatically inspecting a power transmission line comprises a machine vision unit, a flight control unit, a line shooting unit and a battery power supply unit; the machine vision unit and the line shooting unit are both connected with the flight control unit; the battery power supply unit provides voltage for the unmanned aerial vehicle system;
the machine vision unit is used for capturing image information of the power transmission lines in real time, calculating the position and the direction of each power transmission line in the image and the relative distance of each power transmission line in the image according to the captured image information, and then sending the data to the flight control module to stabilize the position, the direction and the height of the unmanned aerial vehicle relative to the power transmission lines so that the unmanned aerial vehicle can fly along the parallel following lines;
the line shooting unit is used for acquiring image information of the power transmission line when the parallel line flies;
the machine vision unit comprises an image processing module and a digital camera, wherein the image processing module adopts a Cortex-A53 architecture chip as an embedded processor, carries a L inux operating system, has higher operation speed, is provided with a power supply unit and can use a 5V power supply as an input power supply, and the image processing module is used for calculating the position and the direction of each power transmission line in an image and the relative distance of each power transmission line in the image in real time and sending the data to a flight control module to stabilize the position, the direction and the height of an unmanned aerial vehicle relative to the power transmission lines.
The flight control unit comprises a main control board, a Cortex-M4 architecture chip is used as an embedded processor, and the embedded processor is used for processing detection data of a machine vision unit in real time and controlling the unmanned aerial vehicle to automatically fly along with the power transmission line; processing data of each sensor of the unmanned aerial vehicle, and maintaining the stable flight of the unmanned aerial vehicle body; and processing the data of the battery voltage detection unit and controlling the unmanned aerial vehicle to safely return.
The circuit shooting unit comprises an electric holder and a high-definition camera. The electric holder can adjust the angle shot by the high-definition camera in real time according to the instruction of ground personnel.
The machine vision unit and the line shooting unit are both provided with cameras, but the types and the functions of the cameras are different. The machine vision unit uses a digital camera to process the image shot by the machine vision unit in real time, and the digital camera has the advantage of small data volume of a single image, so that the embedded processor needs less time to calculate the image information in real time, but the image shot by the embedded processor is not clear enough. And the circuit shooting unit carries on the high definition digtal camera of different models (can select the analog camera of high definition), and its advantage lies in that image resolution is high, can compensate above-mentioned digital camera in the aspect of shooting definition not enough, is used for shooing transmission line's detail specially, then saves or sends to ground terminal through wireless transmission, carries out ground monitoring. The invention fully utilizes the characteristics that the data volume of a single image is small although the image shot by the digital camera is not clear enough, and the data volume of a single image is large and is not suitable for real-time processing but the image resolution is high of the high-definition camera, and the digital camera is carried in the machine vision unit and the high-definition camera is carried in the line shooting unit, thereby not only meeting the time requirement of real-time processing, but also meeting the definition requirement of ground monitoring.
The multi-rotor unmanned aerial vehicle capable of automatically inspecting the power transmission line further comprises an automatic obstacle-bypassing unit connected with the flight control unit, and is used for automatically bypassing obstacles (towers and the like) to fly when the unmanned aerial vehicle flies in a long distance.
The automatic obstacle detouring unit comprises a 24GHZ radar sensor module and a Beidou satellite positioning module. The 24GHZ radar sensor is used for detecting whether obstacles appear in the front threshold distance; the Beidou satellite positioning module is used for positioning longitude and latitude coordinates of the unmanned aerial vehicle body in real time, positioning the longitude and latitude coordinates of the obstacle according to the distance of the detected obstacle, planning a route and guiding the unmanned aerial vehicle to fly around the obstacle automatically.
The multi-rotor unmanned aerial vehicle capable of automatically inspecting the power transmission line further comprises a flight state detection unit connected with the flight control unit and used for detecting the real-time flight state of the unmanned aerial vehicle.
The flight state detection unit comprises a barometer, a gyroscope, an accelerometer and an electronic compass. The barometer is used for detecting the current airspace air pressure so as to further calculate the current flying height; the gyroscope and the accelerometer are used for detecting the 6-degree-of-freedom states of the current unmanned aerial vehicle so as to further calculate and obtain a control basis quantity required by the stable unmanned aerial vehicle; the electronic compass is used for detecting the geomagnetic field so as to further calculate the direction of the head of the unmanned aerial vehicle.
The multi-rotor unmanned aerial vehicle capable of automatically inspecting the power transmission line further comprises an information transmission unit connected with the flight control unit, wherein the flight control unit is communicated with the ground terminal, and the unmanned aerial vehicle self state information and the image information are transmitted to the ground terminal.
The information transmission unit comprises a data transmission module and an image transmission module. The data transmission module is connected with the ground terminal through a data transmission communication link and is used for monitoring the flight direction and the state of the unmanned aerial vehicle (including the position coordinate, the altitude, the temperature, the battery power, the flight attitude, the flight time, the flight speed and the flight direction of the current unmanned aerial vehicle) in real time by ground personnel; the image transmission module is connected with the ground terminal through an image transmission communication link and is used for transmitting images (high-definition line information) shot by the high-definition camera to the ground terminal in real time.
The battery power supply unit comprises a 3S lithium battery and a 12V-5V voltage conversion module, wherein the 3S lithium battery is used for providing working voltage for the motor of the unmanned aerial vehicle, and the 12V-5V voltage conversion module is used for providing working voltage for each circuit unit of the unmanned aerial vehicle.
The multi-rotor unmanned aerial vehicle for automatically inspecting the power transmission line further comprises a voltage detection unit for detecting the voltage of the battery; the voltage detection unit comprises an AD sampling circuit for detecting the voltage of the battery so as to calculate whether the current voltage is equal to a threshold voltage, and the threshold voltage is set according to the basic voltage required by return flight.
The invention also provides a method for automatically inspecting the power transmission line, which adopts the multi-rotor unmanned aerial vehicle, firstly, the unmanned aerial vehicle is controlled to take off vertically, the machine vision unit captures the image information of the power transmission line in real time, and processes the captured image information, and calculates the position and the direction of each power transmission line in the image and the relative distance of each power transmission line in the image; the flight control unit executes a PID control algorithm according to the calculated information so as to stabilize the position and the direction of each power transmission line in the image and the relative distance of each power transmission line in the image, namely the position, the direction and the height of the unmanned aerial vehicle relative to the power transmission line, so that the unmanned aerial vehicle can fly in parallel along with the power transmission line, and the distance between the unmanned aerial vehicle and the power transmission line is ensured to be a safe distance; and meanwhile, the line shooting unit is controlled to shoot the power transmission line, so that the unmanned aerial vehicle can be used for inspecting the parallel power transmission line.
Further, the machine vision unit firstly obtains a contour image of the captured image by adopting a canny edge detection method, then detects the power transmission lines in the contour image by using a hough transformation method in OpenCV, and obtains a starting point and an ending point of each power transmission line in the contour image; and then calculating the position and the direction of each power transmission line in the contour image and the relative distance of each power transmission line in the contour image according to the obtained data.
Further, the automatic obstacle detouring unit detects whether an obstacle (a tower and the like) exists in front in real time by using the 24GHz radar sensor module, and once the obstacle exists in the threshold distance and is determined not to be misjudged through data received for three times, the following steps are executed:
the method comprises the following steps that (1) the automatic obstacle-detouring unit acquires the relative distance between a current obstacle and an unmanned aerial vehicle body from a 24GHz radar sensor module, a Beidou satellite positioning module is called to detect the longitude and latitude coordinates of the unmanned aerial vehicle body, and the longitude and latitude coordinates of the obstacle are calculated according to the two data and the head orientation of the unmanned aerial vehicle; taking the longitude and latitude coordinates of the barrier as the circle center, taking the relative distance between the current barrier and the unmanned aerial vehicle body as the radius to form a semi-circular arc, and taking the semi-circular arc as a planning route of the unmanned aerial vehicle;
controlling the unmanned aerial vehicle to fly according to the planned route, positioning longitude and latitude coordinates of an unmanned aerial vehicle body in real time, calculating a difference value between the longitude and latitude coordinates of the unmanned aerial vehicle body and the planned route, correcting a flight orientation error in real time by using a position type PID control algorithm, and ensuring that the unmanned aerial vehicle flies according to the planned route and bypasses a barrier; when flying over the obstacle, the unmanned aerial vehicle continues to patrol the next section of line. The machine vision module detects whether complete power transmission line characteristics appear again in the sky image in real time; and (4) stopping the flying-around action until the complete power transmission line characteristics are detected by the 2 continuous images, which indicates that the machine flies over the obstacle, and continuing to fly along the power transmission line in parallel.
Furthermore, the ground terminal enjoys priority control right while the flight control unit controls the unmanned aerial vehicle to fly along the parallel following line; ground personnel change the current flight speed, flight direction, direction relative to the power transmission line and the shooting angle of the line shooting unit by wirelessly sending an instruction through a ground terminal; the unmanned aerial vehicle body will adjust self parameter according to latest instruction in real time.
At the in-process that unmanned aerial vehicle followed the transmission line and patrolled and examined, electronic cloud platform will acquiesce to follow the first transmission line in left side and shoot, but ground control personnel enjoy the priority, can adjust cloud platform shooting angle at any time, focuses on other electric wires and can not influence the action that unmanned aerial vehicle followed the transmission line and flies.
Further, the voltage detection unit detects the voltage of the unmanned aerial vehicle battery in real time to ensure safe return flight;
after the unmanned aerial vehicle takes off, the flight control unit calls the Beidou satellite positioning module in real time to acquire longitude and latitude coordinates of a current unmanned aerial vehicle body, calculates the distance between the current position of the unmanned aerial vehicle body and the taking-off position, then calculates the return flight time by combining the preset return flight speed, and judges whether the current unmanned aerial vehicle needs to return flight or not by referring to the battery power information of the current unmanned aerial vehicle;
when a return flight task is executed, a shortest return flight path is planned according to the coordinates of a takeoff place and the coordinates of the unmanned aerial vehicle at the moment, and the unmanned aerial vehicle is controlled to return according to the planned path;
on the way of returning, calculate the difference of the longitude and latitude coordinate of current unmanned aerial vehicle body and planning route in real time, utilize position formula PID control algorithm to correct flight azimuth error in real time, guarantee that unmanned aerial vehicle returns according to the planning route.
The invention has the beneficial effects that:
according to the invention, the technical problems that the power transmission line is difficult to stably follow, the images of the power transmission line are not parallel and the like in the process of remotely controlling the power transmission line inspection of the unmanned aerial vehicle can be solved. Automatic unmanned aerial vehicle patrols and examines transmission line, has improved unmanned aerial vehicle and has patrolled and examined transmission line's accuracy and security, has improved the stability and the utilization ratio of shooting the picture, has reduced the human cost that unmanned aerial vehicle patrolled and examined.
Drawings
FIG. 1 flow chart of automatic following line flight and inspection of multi-rotor unmanned aerial vehicle
FIG. 2 flow chart of automatic long-distance flight and automatic obstacle detouring of multi-rotor unmanned aerial vehicle
Figure 3 automatic control system structure diagram of multi-rotor unmanned aerial vehicle
Detailed Description
The invention will be further explained with reference to the drawings and the embodiments
As shown in fig. 1, a control algorithm and a flow for unmanned aerial vehicle to fly and patrol along a line automatically are as follows:
1. vertical take-off of unmanned aerial vehicle, real-time processing of data in machine vision unit by flight control unit
2. The machine vision unit sends the images in the power transmission lines into an image processing module, the image processing module firstly adopts canny edge detection on the images to obtain contour images, then the hough transformation in OpenCV is used for detecting the power transmission lines in the contour images, the starting points and the end points of the power transmission lines in the images are obtained, and meanwhile the width of the power transmission lines in the images is obtained. And the machine vision unit calculates the position and the direction of each transmission line in the image and the relative distance of each transmission line in the image according to the obtained data. The machine vision unit sends the information after the processing is completed to the flight control unit.
3. When ground personnel lock the position of the unmanned aerial vehicle relative to the power transmission line, the flight control unit stores the data of the power transmission line sent by the image processing module. The flight control unit then repeats the following process continuously:
<1> the flight control unit compares the position information of the power transmission line provided by the current image processing module with the stored position, and adjusts the flight attitude and the flight height of the unmanned aerial vehicle by taking the variation of the position as the control quantity, so that the power transmission line in the image is always kept at the position when the relative position of the unmanned aerial vehicle is locked.
<2> the flight control unit compares the direction information of the power transmission line provided by the current image processing module with the stored direction to adjust the flight attitude and the flight height of the unmanned aerial vehicle by taking the direction variation as the control quantity, so that the power transmission line in the image always keeps the direction when the relative position of the unmanned aerial vehicle is locked.
<3> the flight control unit compares the interval information of the power transmission line provided by the current image processing module with the stored interval, and adjusts the flight attitude and the flight height of the unmanned aerial vehicle by taking the variation of the interval as the control quantity, so that the interval between the power transmission lines in the image is always kept at the interval when the relative position of the unmanned aerial vehicle is locked.
4. After the unmanned aerial vehicle completes the control, the position and the direction of each power transmission line in the image and the relative distance of each power transmission line in the image, namely the position, the direction and the height of the unmanned aerial vehicle relative to the power transmission lines can be stabilized in a smaller range. The camera on the unmanned aerial vehicle can shoot the image of relatively stable and clear transmission line under this kind of state to constantly send the image for the observation personnel on ground, unmanned aerial vehicle will fly along transmission line according to certain speed simultaneously.
The control algorithm and the flow of the automatic unmanned aerial vehicle for long-distance flight and automatic obstacle-detouring flight are shown in the figure 2:
1. the unmanned aerial vehicle is in the process of flying along the power transmission line in parallel.
2. The scheduling battery voltage detection unit responds:
<1> the AD sampling circuit detects the battery voltage.
And the voltage of <2>12.6V is the voltage of a takeoff battery, the flight control unit calculates the distance between the current position and the takeoff position in real time according to the coordinates, then calculates the return time by combining the preset return speed, and judges whether the unmanned aerial vehicle needs to return by referring to the battery power information of the current unmanned aerial vehicle.
And <3> judging whether the return voyage is performed in the step <2>, if so, entering the step 3, otherwise, skipping to the step 5.
3. The unmanned aerial vehicle flies in the horizontal direction towards the direction far away from the line until leaving the power transmission line area, and then quickly rises to a certain height to enter an unobstructed airspace.
4. Executing a return flight instruction, and scheduling the Beidou satellite positioning module to respond:
<1> positioning the longitude and latitude coordinates of the current unmanned aerial vehicle body.
And 2, planning the shortest return straight path of the unmanned aerial vehicle according to the longitude and latitude coordinates and the current coordinates of the unmanned aerial vehicle at the take-off moment. And calculating in real time to obtain a difference value between the coordinates of the unmanned aerial vehicle and the planned route on the way of return voyage, and correcting the flight azimuth error in real time by using a position type PID control algorithm to ensure that the unmanned aerial vehicle flies according to the planned route.
And (3) the unmanned aerial vehicle flies back to the takeoff position and lands at a constant speed, and the routing inspection process is finished.
The 5.24GHZ radar sensor detects whether an obstacle exists in the front threshold distance in real time.
6. And if the obstacle distance information is continuously received for 3 times after the obstacle is found, determining that the obstacle is the obstacle instead of misjudgment, entering the step 7, and otherwise, returning to the step 1.
7. And executing a barrier-avoiding instruction, and scheduling the Beidou satellite positioning module to respond:
<1> positioning the longitude and latitude coordinates of the current unmanned aerial vehicle body.
<2> according to barrier and unmanned aerial vehicle body relative distance and unmanned aerial vehicle aircraft nose orientation angle, calculate barrier longitude and latitude coordinate.
Taking longitude and latitude coordinates of the obstacle as a circle center, taking the distance between the unmanned aerial vehicle body and the obstacle as a radius to form a semi-circular arc, and taking the semi-circular arc as a planning route;
8. the unmanned aerial vehicle body flies according to the planned route and bypasses the barrier; and calculating in real time to obtain a difference value between the longitude and latitude coordinates of the unmanned aerial vehicle body and the planned route, and correcting the flight orientation error in real time by using a position type PID control algorithm to ensure that the unmanned aerial vehicle flies according to the planned route.
9. The machine vision module detects whether complete power transmission line characteristics appear again in the sky image in real time; and (5) if the complete power transmission line characteristics are detected by the 2 continuous images, entering the step 10, and otherwise returning to the step 8.
10. The unmanned aerial vehicle continues to fly in parallel with the power transmission line and stops flying around.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same.
Claims (10)
1. A multi-rotor unmanned aerial vehicle for automatically inspecting a power transmission line is characterized by comprising a machine vision unit, a flight control unit, a line shooting unit and a battery power supply unit; the machine vision unit and the line shooting unit are both connected with the flight control unit; the battery power supply unit provides voltage for the unmanned aerial vehicle system;
the machine vision unit is used for capturing image information of the power transmission lines in real time, calculating the position and the direction of each power transmission line in the image and the relative distance of each power transmission line in the image according to the captured image information, and then sending the data to the flight control unit;
the flight control unit executes a PID control algorithm according to data sent by the machine vision unit to stabilize the position, direction and height of the unmanned aerial vehicle relative to the power transmission line, and specifically continuously repeats the following processes:
the flight control unit compares the position information of the power transmission line provided by the current image processing module with a stored position, and adjusts the flight attitude and the flight height of the unmanned aerial vehicle by taking the variation of the position as a control quantity, so that the power transmission line in the image is always kept at the position when the relative position of the unmanned aerial vehicle is locked;
the flight control unit compares the direction information of the power transmission line provided by the current image processing module with the stored direction, and adjusts the flight attitude and the flight height of the unmanned aerial vehicle by taking the direction variable quantity as a control quantity, so that the power transmission line in the image is always kept in the direction when the relative position of the unmanned aerial vehicle is locked;
the flight control unit compares the distance information of the power transmission lines provided by the current image processing module with the stored distance, and adjusts the flight attitude and the flight height of the unmanned aerial vehicle by taking the variable quantity of the distance as a control quantity, so that the distance between the power transmission lines in the image is always kept at the distance when the relative position of the unmanned aerial vehicle is locked;
by the control, the unmanned aerial vehicle flies in parallel along the power transmission line, and the distance between the unmanned aerial vehicle and the power transmission line is ensured to be a safe distance; meanwhile, the line shooting unit is controlled to shoot the power transmission line, so that the unmanned aerial vehicle can inspect the power transmission line in parallel;
and the line shooting unit is used for acquiring the image information of the power transmission line when the unmanned aerial vehicle flies along the line in parallel.
2. The multi-rotor unmanned aerial vehicle for automatically inspecting the power transmission line according to claim 1, further comprising an automatic obstacle detouring unit connected to the flight control unit; the automatic obstacle detouring unit comprises a 24GHZ radar sensor module and a Beidou satellite positioning module; and the flight control unit plans a route according to the information detected by the automatic obstacle detouring unit and guides the unmanned aerial vehicle to fly around obstacles automatically.
3. The multi-rotor unmanned aerial vehicle for automatically inspecting the power transmission line according to claim 1, further comprising a flight state detection unit connected to the flight control unit;
the flight state detection unit comprises a barometer, a gyroscope, an accelerometer and an electronic compass; the barometer is used for detecting the current airspace air pressure so as to further calculate the current flying height; the gyroscope and the accelerometer are used for detecting the 6-degree-of-freedom states of the current unmanned aerial vehicle so as to further calculate and obtain a control basis quantity required by the stable unmanned aerial vehicle; the electronic compass is used for detecting the geomagnetic field so as to further calculate the direction of the head of the unmanned aerial vehicle.
4. The multi-rotor unmanned aerial vehicle for automatically inspecting the power transmission line according to claim 1, further comprising an information transmission unit for communicating the flight control unit with the ground terminal;
the information transmission unit comprises a data transmission module and an image transmission module; the data transmission module is connected with the ground terminal through a data transmission communication link and is used for ground personnel to monitor the state of the unmanned aerial vehicle in real time; the image transmission module is connected with the ground terminal through an image transmission communication link and is used for transmitting the images shot by the line shooting unit to the ground terminal in real time.
5. The multi-rotor unmanned aerial vehicle for automatically inspecting power transmission lines according to claim 1, further comprising a voltage detection unit for detecting an output voltage of the battery power supply unit in real time to calculate whether a current voltage is equal to a threshold voltage, the threshold voltage being set according to a basic voltage required for return flight.
6. A method for automatically inspecting power transmission lines is characterized in that a multi-rotor unmanned aerial vehicle according to any one of claims 1-5 is adopted to control the unmanned aerial vehicle to take off, image information of the power transmission lines is captured in real time through a machine vision unit, the captured image information is processed, and the positions and directions of the power transmission lines in images and the relative distances of the power transmission lines in the images are calculated; the flight control unit executes a PID control algorithm according to the calculated information so as to stabilize the position, direction and height of the unmanned aerial vehicle relative to the power transmission line, enable the unmanned aerial vehicle to fly in parallel along with the power transmission line and ensure that the distance between the unmanned aerial vehicle and the power transmission line is a safe distance; and meanwhile, the line shooting unit is controlled to shoot the power transmission line, so that the unmanned aerial vehicle can be used for inspecting the parallel power transmission line.
7. The method for automatically inspecting the power transmission lines according to claim 6, wherein the machine vision unit firstly obtains the outline image of the captured image by adopting a canny edge detection method, then detects the power transmission lines in the outline image by using a hough transformation method in OpenCV, and obtains the starting points and the end points of each power transmission line in the outline image; and then calculating the position and the direction of each power transmission line in the contour image and the relative distance of each power transmission line in the contour image according to the obtained data.
8. The method for automatically inspecting the power transmission line according to claim 6, wherein the automatic obstacle detouring unit detects whether an obstacle exists in front of the power transmission line in real time by using a 24GHz radar sensor module, and once the obstacle exists in a threshold distance and the obstacle is determined not to be misjudged according to data received for three times, the following steps are executed:
the method comprises the following steps that (1) the automatic obstacle-detouring unit acquires the relative distance between a current obstacle and an unmanned aerial vehicle body from a 24GHz radar sensor module, a Beidou satellite positioning module is called to detect the longitude and latitude coordinates of the unmanned aerial vehicle body, and the longitude and latitude coordinates of the obstacle are calculated according to the two data and the head orientation of the unmanned aerial vehicle; taking the longitude and latitude coordinates of the barrier as the circle center, taking the relative distance between the current barrier and the unmanned aerial vehicle body as the radius to form a semi-circular arc, and taking the semi-circular arc as a planning route of the unmanned aerial vehicle;
controlling the unmanned aerial vehicle to fly according to the planned route, positioning longitude and latitude coordinates of an unmanned aerial vehicle body in real time, calculating a difference value between the longitude and latitude coordinates of the unmanned aerial vehicle body and the planned route, correcting a flight orientation error in real time by using a position type PID control algorithm, and ensuring that the unmanned aerial vehicle flies according to the planned route and bypasses a barrier; when flying over the obstacle, the unmanned aerial vehicle continues to patrol the next section of line.
9. The method for automatically inspecting electric transmission lines according to claim 6, wherein the ground terminal enjoys priority control while the flight control unit controls the unmanned aerial vehicle to fly in parallel along the line; ground personnel change the current flight speed, flight direction, direction relative to the power transmission line and the shooting angle of the line shooting unit by wirelessly sending an instruction through a ground terminal; the unmanned aerial vehicle body will adjust self parameter according to latest instruction in real time.
10. The method for automatically inspecting the power transmission line according to claim 6, wherein the voltage detection unit detects the battery voltage of the unmanned aerial vehicle in real time;
after the unmanned aerial vehicle takes off, the flight control unit calls the Beidou satellite positioning module in real time to acquire longitude and latitude coordinates of a current unmanned aerial vehicle body, calculates the distance between the current position of the unmanned aerial vehicle body and the taking-off position, then calculates the return flight time by combining the preset return flight speed, and judges whether the current unmanned aerial vehicle needs to return flight or not by referring to the battery power information of the current unmanned aerial vehicle;
when a return flight task is executed, a shortest return flight path is planned according to the coordinates of a takeoff place and the coordinates of the unmanned aerial vehicle at the moment, and the unmanned aerial vehicle is controlled to return according to the planned path;
on the way of returning, calculate the difference of the longitude and latitude coordinate of current unmanned aerial vehicle body and planning route in real time, utilize position formula PID control algorithm to correct flight azimuth error in real time, guarantee that unmanned aerial vehicle returns according to the planning route.
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