CN114442658B - Automatic inspection system for power transmission and distribution line unmanned aerial vehicle and operation method thereof - Google Patents
Automatic inspection system for power transmission and distribution line unmanned aerial vehicle and operation method thereof Download PDFInfo
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Abstract
The invention discloses an automatic inspection system of an unmanned aerial vehicle of a power transmission and distribution line and an operation method thereof, wherein the automatic inspection system comprises a flight path fitting module, an image recognition module and a 5G uploading module, the flight path fitting module is electrically connected with the image recognition module, the image recognition module is electrically connected with the 5G uploading module, the flight path fitting module is used for fitting out the flight path of the unmanned aerial vehicle according to the surrounding environment of a power transmission line, the image recognition module is used for recognizing an electric wire, the 5G uploading module is used for uploading an image of the unmanned aerial vehicle to a cloud, the image recognition module comprises a high-definition shooting unit, a openMV image processing unit and a defect analysis unit, the high-definition shooting unit is used for shooting high-definition images of the electric wire, the openMV image processing unit is used for further analyzing the image information, and the defect analysis unit is used for analyzing the integrity of the electric wire.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle inspection, in particular to an automatic inspection system for an unmanned aerial vehicle of a power transmission and distribution line.
Background
The electricity is seen everywhere in life, no electricity people are going to be difficult, the electricity is mainly conveyed through an electric wire, the electricity is also called a power transmission and distribution line, after the power station produces electricity, the voltage is increased through a transformer, and then the electricity is conveyed to the power transmission and distribution line for power transmission.
The transmission line can be influenced by a plurality of factors, such as bad weather and bird nesting, and the safety of the transmission and distribution line can be influenced, so that the transmission and distribution line inspection is required, the traditional transmission line inspection is mostly dependent on the naked eyes of operation maintenance personnel or a handheld instrument to inspect faults in a circuit, potential hidden dangers are judged according to experience, however, the inspection by manpower is a huge hidden danger, the inspection personnel can hardly remove all hidden dangers without falling, and in the operation of a power grid, any tiny safety problem can cause accidents, large-area paralysis is caused, and huge economic loss is caused; sometimes, people feel bad in rainy days, snowy days and other bad weather, the human inspection is more difficult, in recent years, unmanned aerial vehicle technology is mature day by day, the power industry has started to use unmanned aerial vehicles to patrol power lines in a large area, and the unmanned aerial vehicles become optimal tools for patrol personnel to efficiently and safely complete patrol operation. However, in the practical inspection application of the unmanned aerial vehicle of the power transmission line, a large number of people are required to operate the unmanned aerial vehicle to arrive at an operation site to manually operate the unmanned aerial vehicle to execute an inspection task, the operation level of the staff directly determines whether the inspection quality meets the standard, and meanwhile, the urban areas with few people smoke at a large number of positions of the power transmission line are far away from the city center, so that people willing to do inspection work are reduced under the conditions of high inspection difficulty, high quality requirement and the like; the unmanned aerial vehicle inspection is mostly free of matching machine nests, is not movable, only can inspect part of line defects, and manual image defect analysis still needs to be carried out after the unmanned aerial vehicle inspection is completed, according to statistics, more than billions of inspection pictures are generated in the unmanned aerial vehicle transmission line inspection of China every year, the consumption of manpower resources is still huge, and therefore, the automatic inspection system of the power transmission and distribution line unmanned aerial vehicle with high design efficiency and manpower saving is very necessary.
Disclosure of Invention
The invention aims to provide an automatic inspection system for a power transmission and distribution line unmanned aerial vehicle, which aims to solve the problems in the background technology.
In order to solve the technical problems, the invention provides the following technical scheme: the utility model provides an automatic inspection system of transmission and distribution line unmanned aerial vehicle, includes flight path fitting module, image recognition module, 5G uploading module, flight path fitting module is connected with the image recognition module electricity, the image recognition module is connected with 5G uploading module electricity, flight path fitting module is used for fitting out unmanned aerial vehicle's flight path according to power transmission line surrounding environment, the image recognition module is used for discerning the electric wire, 5G uploading module is used for uploading unmanned aerial vehicle's shooting picture to the high-clouds, the image recognition module includes high definition shooting unit, openMV image processing unit, defect analysis unit, high definition shooting unit, openMV image processing unit and defect analysis unit electricity are connected, the high definition shooting unit is used for carrying out high definition picture shooting to the electric wire, openMV image processing unit is used for obtaining electric wire image position, defect analysis unit is used for analyzing the integrality of electric wire.
According to the technical scheme, the flight path fitting module comprises a weather acquisition module, a laser radar module and an obstacle avoidance module, wherein the weather acquisition module, the laser radar module and the obstacle avoidance module are electrically connected, the weather acquisition module is used for acquiring real-time wind power, the laser radar module is used for carrying out equidistant high-frequency splitting on electric wires, and the obstacle avoidance module is used for sensing obstacles in a path.
According to the technical scheme, the 5G uploading module comprises a timing module, a logic judging module and a data uploading module, wherein the timing module is electrically connected with the logic judging module, the logic judging module is electrically connected with the data uploading module, the timing module is used for recording the time spent in the flight process of the inspection unmanned aerial vehicle, the logic judging module is used for judging whether a circuit is safe or not, and the data uploading module is used for uploading photographed images of abnormal areas.
According to the technical scheme, the operation method of the automatic inspection system of the power transmission and distribution line unmanned aerial vehicle comprises the following steps of:
Step S1: the unmanned aerial vehicle nest is arranged near the power transmission tower, and meanwhile, a plurality of unmanned aerial vehicles can be provided for stopping and charging;
Step S2: only one section of line is responsible for one unmanned plane in the same time period and at a fixed speed Flying, when the line defect is found, staying/>Shooting in seconds;
Step S3: when the unmanned aerial vehicle starts to patrol, a openMV image processing unit arranged below the unmanned aerial vehicle keeps the electric wire to be always kept at a fixed distance from the unmanned aerial vehicle according to the position of the identified electric wire;
Step S4: during the inspection flight of the unmanned aerial vehicle, the obstacle avoidance module detects the front obstacle in real time through the photoelectric sensor and makes avoidance measures, and the weather acquisition module detects the real-time wind speed Included angle between wind and direction of unmanned plane/>According to the wind speed and the included angle, the flight energy consumption condition/>, influenced by wind power, in the unmanned plane inspection process is calculated；
Step S5: when the unmanned aerial vehicle is patrolled and examined, the laser radar module carries out high-frequency analysis on the electric wire in the current range, and sends the analyzed data to the defect analysis unit, and the defect analysis unit analyzes whether the electric wire has defects or not;
step S6: after the defect analysis unit analyzes that the wire has defects, the high-definition shooting unit shoots the defective parts and uploads shooting pictures to the cloud;
step S7: the timing module is started when the unmanned aerial vehicle is patrolled and examined, the timing module stops timing after the inspection is finished, and the time within the period of time is generated Combine defect-free spending time period/>The number of defects of the wire is calculated.
According to the above technical solution, the step S4 further includes the following steps:
step S41: speed that keeps setting when unmanned aerial vehicle patrols and examines Flight, weather acquisition module detects real-time wind speed/>Included angle between wind and direction of unmanned plane/>；
Step S42: current speed of unmanned aerial vehicleAnd set speed/>The wind speed is related to the component of the flying direction of the unmanned aerial vehicle, and the action conversion rate of the wind speed to the unmanned aerial vehicle is/>；
Step S43: unmanned aerial vehicle is by flight power consumption of wind-force influenceRegarding the current speed, when the current speed exceeds the set speed, the rotating speed of the propeller needs to be slowed down, the energy consumption of the unmanned aerial vehicle is reduced, when the current speed is lower than the set speed, the rotating speed of the propeller needs to be increased, the energy consumption of the unmanned aerial vehicle needs to be increased, and the energy consumption per unit speed is/>Units are joule meters per second;
step S44: when the unmanned aerial vehicle finds out the defect of the electric wire, the photographing behavior also causes the energy consumption to be increased, and the single photographing consumes energy Taking the total power consumption and the current defect number/>, of the electric wire as a fixed valueIn the related art, the total energy consumption of photographing is/>；
According to the above technical scheme, in step S42, the current speed of the unmanned aerial vehicleThe calculation formula of (2) is as follows:
Wherein, Setting speed for unmanned aerial vehicle,/>For real-time wind speed,/>Is the included angle between the wind direction and the flight direction of the unmanned plane,/>The conversion rate is acted on the speed of the unmanned aerial vehicle for the wind speed.
According to the above technical solution, in step S43, the unmanned aerial vehicle is subjected to flight energy consumption by wind powerThe calculation formula of (2) is as follows:
Wherein when When the current speed of the unmanned aerial vehicle is smaller than the set speed, the rotating speed of the propeller needs to be increased, the energy consumption influenced by wind power is increased, and when/>, the current speed of the unmanned aerial vehicle is smaller than the set speedWhen the number is negative, the current speed of the unmanned aerial vehicle is larger than the set speed, the rotating speed of the propeller needs to be reduced, and the energy consumption influenced by wind power is reduced.
According to the above technical solution, the step S5 further includes the following steps:
step S51: the laser radar module takes the straight line where the electric wire is located as the x axis, establishes a plane rectangular coordinate system, and divides the electric wire into high frequencies Calculating distance set/>, between each two points；
Step S52: the defect analysis module analyzes the smoothness between each point and calculates the varianceIt is analyzed for defects.
According to the above technical solution, in step S52, the calculation formula of the variance between each point is:
wherein, after calculating the variance between two points, the obtained variance is compared with the interval length Comparison, when/>And when the section is defective, photographing is performed.
According to the above technical solution, in step S44, the defect numberThe calculation formula of (2) is as follows:
wherein T is the time for the unmanned aerial vehicle to finish inspection under the same wind power without defects, Time is actually spent for unmanned aerial vehicle inspection,/>The time taken for finding defects and taking a photograph.
Compared with the prior art, the invention has the following beneficial effects: in the present invention, the number of the components,
(1) The weather acquisition module is arranged to acquire the wind speed and the wind direction of the unmanned aerial vehicle in real time when the unmanned aerial vehicle works, and calculate the extra energy consumption caused by the influence of wind power;
(2) The laser radar module is arranged, so that the distance between the unmanned aerial vehicle and the electric wire is automatically recognized, and the distance is kept consistent, so that the sizes of pictures shot by the unmanned aerial vehicle are consistent;
(3) The high-definition shooting unit is arranged to shoot clear images of the defects of the electric wires, so that the manual checking is more convenient;
(4) By arranging the defect analysis unit, analyzing the defect information of the electric wire and judging whether the electric wire is complete;
(5) And by arranging the timing module, the working time of the unmanned aerial vehicle is recorded, and the number of the defects of the electric wire in the current area is calculated according to the working time.
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The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention. In the drawings:
FIG. 1 is a schematic diagram of the system module composition of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, the present invention provides the following technical solutions: the utility model provides an automatic inspection system of transmission and distribution line unmanned aerial vehicle, including flight path fitting module, image recognition module, 5G uploading module, flight path fitting module is connected with image recognition module electricity, image recognition module is connected with 5G uploading module electricity, flight path fitting module is used for fitting out unmanned aerial vehicle's flight path according to power transmission line surrounding environment, image recognition module is used for discernment electric wire, 5G uploading module is used for uploading unmanned aerial vehicle's shooting picture to the high in the cloud, image recognition module includes high definition shooting unit, openMV image processing unit, defect analysis unit, high definition shooting unit, openMV image processing unit is connected with defect analysis unit electricity, high definition shooting unit is used for carrying out high definition picture shooting to the electric wire, openMV image processing unit is used for obtaining electric wire image position, defect analysis unit is used for analyzing the integrality of electric wire, unmanned aerial vehicle automatic inspection has improved inspection efficiency when reducing manual operation.
The flight path fitting module comprises a weather acquisition module, a laser radar module and an obstacle avoidance module, wherein the weather acquisition module, the laser radar module and the obstacle avoidance module are electrically connected, the weather acquisition module is used for acquiring real-time wind power, the laser radar module is used for carrying out equidistant high-frequency splitting on electric wires, the obstacle avoidance module is used for inducing obstacles in a path, planning the route of the unmanned aerial vehicle, and throwing the unmanned aerial vehicle technology into electric power inspection more efficiently and conveniently.
The 5G uploading module comprises a timing module, a logic judging module and a data uploading module, wherein the timing module is electrically connected with the logic judging module, the logic judging module is electrically connected with the data uploading module, the timing module is used for recording the time spent in the flight process of the inspection unmanned aerial vehicle, the logic judging module is used for judging whether a line is safe or not, the data uploading module is used for uploading photographed pictures of abnormal areas, uploading the pictures of the abnormal areas instead of uploading all the pictures, and time of workers is saved.
The operation method of the automatic inspection system of the unmanned aerial vehicle of the power transmission and distribution line comprises the following steps:
Step S1: the unmanned aerial vehicle nest is arranged near the power transmission tower, and meanwhile, a plurality of unmanned aerial vehicles can be provided for stopping and charging;
Step S2: only one section of line is responsible for one unmanned plane in the same time period and at a fixed speed Flying, when the line defect is found, staying/>Shooting in seconds, and calculating the defect number of the section according to time, wherein the counting is more accurate and convenient;
Step S3: when the unmanned aerial vehicle starts to patrol, a openMV image processing unit arranged below the unmanned aerial vehicle keeps the electric wire to be always kept at a fixed distance from the unmanned aerial vehicle according to the position of the identified electric wire;
Step S4: during the inspection flight of the unmanned aerial vehicle, the obstacle avoidance module detects the front obstacle in real time through the photoelectric sensor and makes avoidance measures, and the weather acquisition module detects the real-time wind speed Included angle between wind and direction of unmanned plane/>According to the wind speed and the included angle, the flight energy consumption condition/>, influenced by wind power, in the unmanned plane inspection process is calculated；
Step S5: when the unmanned aerial vehicle is patrolled and examined, the laser radar module carries out high-frequency analysis on the electric wire in the current range, and sends the analyzed data to the defect analysis unit, and the defect analysis unit analyzes whether the electric wire has defects or not;
step S6: after the defect analysis unit analyzes that the wire has defects, the high-definition shooting unit shoots the defective parts and uploads shooting pictures to the cloud;
step S7: the timing module is started when the unmanned aerial vehicle is patrolled and examined, the timing module stops timing after the inspection is finished, and the time within the period of time is generated Combine defect-free spending time period/>The number of defects of the wire is calculated.
Step S4 further comprises the steps of:
step S41: speed that keeps setting when unmanned aerial vehicle patrols and examines Flight, weather acquisition module detects real-time wind speed/>Included angle between wind and direction of unmanned plane/>；
Step S42: current speed of unmanned aerial vehicleAnd set speed/>The wind speed is related to the component of the flying direction of the unmanned aerial vehicle, and the action conversion rate of the wind speed to the unmanned aerial vehicle is/>；
Step S43: unmanned aerial vehicle is by flight power consumption of wind-force influenceRegarding the current speed, when the current speed exceeds the set speed, the rotating speed of the propeller needs to be slowed down, the energy consumption of the unmanned aerial vehicle is reduced, when the current speed is lower than the set speed, the rotating speed of the propeller needs to be increased, the energy consumption of the unmanned aerial vehicle needs to be increased, and the energy consumption per unit speed is/>Units are joule meters per second;
step S44: when the unmanned aerial vehicle finds out the defect of the electric wire, the photographing behavior also causes the energy consumption to be increased, and the single photographing consumes energy Taking the total power consumption and the current defect number/>, of the electric wire as a fixed valueIn the related art, the total energy consumption of photographing is/>；
In step S42, the current speed of the unmanned aerial vehicleThe calculation formula of (2) is as follows:
Wherein, Setting speed for unmanned aerial vehicle,/>For real-time wind speed,/>Is the included angle between the wind direction and the flight direction of the unmanned plane,/>The conversion rate is acted on the speed of the unmanned aerial vehicle for the wind speed.
In step S43, the unmanned aerial vehicle is flown with energy consumption affected by wind powerThe calculation formula of (2) is as follows:
Wherein when When the current speed of the unmanned aerial vehicle is smaller than the set speed, the rotating speed of the propeller needs to be increased, the energy consumption influenced by wind power is increased, and when/>, the current speed of the unmanned aerial vehicle is smaller than the set speedWhen the number is negative, the current speed of the unmanned aerial vehicle is larger than the set speed, the rotating speed of the propeller needs to be reduced, and the energy consumption influenced by wind power is reduced.
Step S5 further comprises the steps of:
step S51: the laser radar module takes the straight line where the electric wire is located as the x axis, establishes a plane rectangular coordinate system, and divides the electric wire into high frequencies Calculating distance set/>, between each two points；
Step S52: the defect analysis module analyzes the smoothness between each point and calculates the varianceIt is analyzed for defects.
In step S52, the calculation formula of the variance between the respective points is:
wherein, after calculating the variance between two points, the obtained variance is compared with the interval length Comparison, when/>And when the section is defective, photographing is performed.
In step S44, defect numberThe calculation formula of (2) is as follows:
wherein T is the time for the unmanned aerial vehicle to finish inspection under the same wind power without defects, Time is actually spent for unmanned aerial vehicle inspection,/>The time taken for finding defects and taking a photograph.
Embodiment one: the unmanned plane is at a fixed speed when executing the inspection taskIs detected as a real-time wind speed/>The included angle between wind and the direction of the unmanned plane is 30 degrees, and the conversion rate/>According to the formulaAvailable,/>The energy consumption per unit speed is/>According to the formulaThe method can obtain: /(I)At the moment, the unmanned aerial vehicle is affected by wind power, the energy consumption of the unmanned aerial vehicle is reduced, and the variance/>, of each point is calculated by the defect analysis moduleWhen the defect occurs in the segment, the residence/>Photographing, namely the time spent by unmanned aerial vehicle inspection is/>Unmanned aerial vehicle spends time/>, when not defectiveAccording to the formula/>Available,/>The defect number of the wire is/>。
Embodiment two: the unmanned aerial vehicle II executes the inspection task at a fixed speedIs detected as a real-time wind speed/>The included angle between wind and the direction of the unmanned plane is 120 degrees, and the conversion rate/>According to the formulaAvailable,/>The energy consumption per unit speed is/>According to the formulaThe method can obtain: /(I)At the moment, the unmanned aerial vehicle is affected by wind power, the energy consumption of the unmanned aerial vehicle is increased, and the variance/>, of each point is calculated by the defect analysis moduleWhen the defect occurs in the segment, the residence/>Photographing, namely the time spent by unmanned aerial vehicle inspection is/>Unmanned aerial vehicle spends time/>, when not defectiveAccording to the formula/>It is possible to obtain a solution,The defect number of the wire is/>。
Embodiment III: the unmanned plane three is at a fixed speed when executing the inspection taskIs detected as a real-time wind speed/>The included angle between wind and the direction of the unmanned plane is 150 degrees, and the conversion rate/>According to the formulaAvailable,/>The energy consumption per unit speed is/>According to the formulaThe method can obtain: /(I)At the moment, the unmanned aerial vehicle is affected by wind power, the energy consumption of the unmanned aerial vehicle is reduced, and the variance/>, of each point is calculated by the defect analysis moduleWhen the defect occurs in the segment, the residence/>Photographing, namely the time spent by unmanned aerial vehicle inspection is/>Unmanned aerial vehicle spends time/>, when not defectiveAccording to the formula/>Available,/>The defect number of the wire is/>。
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Finally, it should be noted that: the foregoing description is only a preferred embodiment of the present invention, and the present invention is not limited thereto, but it is to be understood that modifications and equivalents of some of the technical features described in the foregoing embodiments may be made by those skilled in the art, although the present invention has been described in detail with reference to the foregoing embodiments. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (1)
1. The automatic inspection system of the unmanned aerial vehicle of the power transmission and distribution line comprises a flight path fitting module, an image recognition module and a 5G uploading module, wherein the flight path fitting module is electrically connected with the image recognition module, the image recognition module is electrically connected with the 5G uploading module, the flight path fitting module is used for fitting out the flight path of the unmanned aerial vehicle according to the surrounding environment of a power transmission line, the image recognition module is used for recognizing a wire, the 5G uploading module is used for uploading a shooting picture of the unmanned aerial vehicle to a cloud, the image recognition module comprises a high-definition shooting unit, a openMV image processing unit and a defect analysis unit, the high-definition shooting unit, the openMV image processing unit and the defect analysis unit are electrically connected, the high-definition shooting unit is used for shooting high-definition pictures of the wire, the openMV image processing unit is used for acquiring the image position of the wire, and the defect analysis unit is used for analyzing the integrity degree of the wire;
The flight path fitting module comprises a weather acquisition module, a laser radar module and an obstacle avoidance module, wherein the weather acquisition module, the laser radar module and the obstacle avoidance module are electrically connected, the weather acquisition module is used for acquiring real-time wind power, the laser radar module is used for carrying out equidistant high-frequency splitting on electric wires, and the obstacle avoidance module is used for sensing obstacles in a path;
the 5G uploading module comprises a timing module, a logic judging module and a data uploading module, wherein the timing module is electrically connected with the logic judging module, the logic judging module is electrically connected with the data uploading module, the timing module is used for recording the time spent in the flight process of the inspection unmanned aerial vehicle, the logic judging module is used for judging whether a line is safe or not, and the data uploading module is used for uploading a shot picture of an abnormal area;
The operation method of the automatic inspection system of the unmanned aerial vehicle for the power transmission and distribution line comprises the following steps:
Step S1: the unmanned aerial vehicle nest is arranged near the power transmission tower, and meanwhile, a plurality of unmanned aerial vehicles can be provided for stopping and charging;
Step S2: only one section of line is responsible for one unmanned plane in the same time period, the unmanned plane flies at a fixed speed v 0, and when the line defect is found, the unmanned plane stays for t i seconds to take a picture;
Step S3: when the unmanned aerial vehicle starts to patrol, a openMV image processing unit arranged below the unmanned aerial vehicle keeps the electric wire to be always kept at a fixed distance from the unmanned aerial vehicle according to the position of the identified electric wire;
Step S4: during the inspection flight of the unmanned aerial vehicle, the obstacle avoidance module detects the front obstacle in real time through the photoelectric sensor and makes avoidance measures, the weather acquisition module detects the real-time wind speed v i and the included angle theta between the wind and the direction of the unmanned aerial vehicle, and the flight energy consumption condition Q influenced by wind power during the inspection process of the unmanned aerial vehicle is calculated according to the wind speed and the included angle;
step S5: when the unmanned aerial vehicle is patrolled and examined, the laser radar module carries out high-frequency analysis on the electric wire in the current range, and sends the analyzed data to the defect analysis unit, and the defect analysis unit analyzes whether the electric wire has defects or not;
step S6: after the defect analysis unit analyzes that the wire has defects, the high-definition shooting unit shoots the defective parts and uploads shooting pictures to the cloud;
step S7: the timing module is started when the unmanned aerial vehicle inspection starts, the timing module stops timing after the inspection is finished, the time T i in the period of time is generated, and the defect number of the section of electric wire is calculated by combining the defect-free spending time length T;
the step S4 further includes the steps of:
Step S41: the unmanned aerial vehicle keeps the flight of the speed v 0 set during the inspection, and the weather acquisition module detects the real-time wind speed v i and the included angle theta between the wind and the direction in which the unmanned aerial vehicle is positioned;
Step S42: the current speed V i of the unmanned aerial vehicle is related to the component of the set speed V 0 and the wind speed in the flight direction of the unmanned aerial vehicle, and the conversion rate of the speed action of the wind speed on the unmanned aerial vehicle is k;
step S43: the flight energy consumption Q of the unmanned aerial vehicle influenced by wind power is related to the current speed, when the current speed exceeds the set speed, the rotating speed of the propeller needs to be reduced, when the current speed is lower than the set speed, the rotating speed of the propeller needs to be increased, the energy consumption of the unmanned aerial vehicle needs to be increased, and the unit speed energy consumption is Qi and the unit is joule meters per second;
Step S44: when the unmanned aerial vehicle finds out the defect of the electric wire, the shooting behavior also causes the energy consumption to increase, the single shooting energy consumption q is a fixed value, the total shooting energy consumption is related to the current number n of the defect of the electric wire, and the total shooting energy consumption is nq;
in step S42, the calculation formula of the current speed V i of the unmanned aerial vehicle is:
Vi＝v0+k*vi*cosθ
V 0 is the set speed of the unmanned aerial vehicle, v i is the real-time wind speed, θ is the included angle between the wind direction and the flight direction of the unmanned aerial vehicle, and k is the conversion rate of the wind speed to the speed of the unmanned aerial vehicle;
in step S43, a calculation formula of flight energy consumption Q of the unmanned aerial vehicle affected by wind force is:
Q＝Qi*(v0-Vi)
When Q is a positive number, the current speed of the unmanned aerial vehicle is smaller than the set speed, the rotating speed of the propeller needs to be increased, the energy consumption influenced by wind power is increased, and when Q is a negative number, the current speed of the unmanned aerial vehicle is larger than the set speed, the rotating speed of the propeller needs to be reduced, and the energy consumption influenced by wind power is reduced;
The step S5 further includes the steps of:
Step S51: the laser radar module takes a straight line where an electric wire is located as an x-axis, establishes a plane rectangular coordinate system, divides the electric wire into m points at high frequency, and calculates a distance set { L 1,L2,...Lm } between each two points;
Step S52: the defect analysis module analyzes the smoothness between each point, calculates the variance S 2 of the smoothness, and analyzes whether the smoothness is defective or not;
in the step S52, the calculation formula of the variance between the points is:
After calculating the variance between two points, comparing the obtained variance with the interval length l, and when S 2 is not equal to l, indicating that the section has defects, and photographing at the moment;
In the step S44, the calculation formula of the defect number n is:
Wherein T is the time for the unmanned aerial vehicle to finish inspection under the same wind power without defects, T i is the actual time spent on inspection of the unmanned aerial vehicle, and T i is the time for finding defects and taking photos.
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