CN115686073B - Unmanned aerial vehicle-based transmission line inspection control method and system - Google Patents
Unmanned aerial vehicle-based transmission line inspection control method and system Download PDFInfo
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Abstract
The invention discloses a transmission line inspection control method and system based on an unmanned aerial vehicle, which relate to the technical field of electric power inspection, and the method comprises the following steps: the unmanned aerial vehicle flies to the position above the transmission line to be inspected according to the received inspection control instruction, and flies according to the configured initial flying height and the configured initial flying speed; in the flight process, the unmanned aerial vehicle detects the distance from the power transmission line, and the unmanned aerial vehicle is controlled to keep a safe distance from the power transmission line according to the detected distance; in the flight process, an unmanned aerial vehicle collects an electric transmission line image, a power transmission line in the electric transmission line image is identified and processed based on a Hough straight line detection algorithm, and the flight direction of the unmanned aerial vehicle is controlled to be consistent with the length direction of the electric transmission line according to an identification result; detecting whether a tower appears in the power transmission line image, if so, controlling the unmanned aerial vehicle to hover, and continuing to fly forwards according to the preconfigured tower passing height and the tower passing flying speed.
Description
Technical Field
The invention relates to the technical field of power inspection, in particular to a power transmission line inspection control method and system based on an unmanned aerial vehicle.
Background
Unmanned aerial vehicle transmission line inspection generally becomes the main mode of inspecting in the electric power inspection, and unmanned aerial vehicle automation inspection will improve inspection efficiency greatly, lightens the work burden of inspecting personnel.
The unmanned aerial vehicle is required to carry out path planning in advance, so that the unmanned aerial vehicle is required to carry out path planning according to a preset path, in the process, the unmanned aerial vehicle is required to fly according to the direction of a power transmission line in real time, the unmanned aerial vehicle can fly at a fixed height when encountering a tower, the flying direction of the unmanned aerial vehicle is currently controlled through the GPS position information of the tower, but in the environment of the power transmission line, because the number of the towers is too many and the positions are mostly close to urban living areas, the GPS position information of the towers is difficult to collect, and the flying direction of the unmanned aerial vehicle cannot be adjusted and controlled through the GPS position information of the towers; in addition, the distance between the unmanned aerial vehicle and the power transmission wire is controlled in a visual ranging mode, so that automatic line-imitating inspection is realized, however, the power transmission line environment is complex, and the visual ranging scheme is difficult to reliably and practically use in an actual scene; the distance between the unmanned aerial vehicle and the transmission wire and the distance between the unmanned aerial vehicle and other obstacles are controlled in a three-dimensional laser radar ranging mode, and automatic line-simulating inspection is achieved. For example, patent document CN113778137a discloses an autonomous inspection method for an unmanned aerial vehicle of a power transmission line, wherein a laser radar and a positioning module are mounted on the unmanned aerial vehicle, and the laser radar and the positioning module collect data in real time when the unmanned aerial vehicle performs autonomous inspection; generating three-dimensional real-time point cloud data of a corridor area of the power transmission line based on the data acquired by the laser radar and the positioning module; and identifying a preset target object based on the three-dimensional real-time point cloud data, and generating an automatic power line following scheme to control the unmanned aerial vehicle to fly along a power line. The laser radar ranging mode has stronger robustness relatively, and the three-dimensional laser radar has high cost.
Disclosure of Invention
The invention provides a transmission line inspection control method and system based on an unmanned aerial vehicle, which can effectively reduce the cost of line-imitating flight inspection of the unmanned aerial vehicle and has high reliability.
A transmission line inspection control method based on unmanned aerial vehicle comprises the following steps:
the unmanned aerial vehicle flies to the position above the transmission line to be inspected according to the received inspection control instruction, and flies according to the configured initial flying height and the configured initial flying speed;
the unmanned aerial vehicle detects the distance from the power transmission line in the flight process, and controls the unmanned aerial vehicle to keep a safe distance from the power transmission line according to the detected distance;
acquiring an electric transmission line image by the unmanned aerial vehicle in the flight process, identifying and processing the electric transmission line in the electric transmission line image based on a Hough straight line detection algorithm, and controlling the flight direction of the unmanned aerial vehicle to be consistent with the length direction of the electric transmission line according to the identification result;
detecting whether a tower appears in the power transmission line image, if so, controlling the unmanned aerial vehicle to hover, and continuing to fly forwards according to the pre-configured tower passing height and the pre-configured tower passing flying speed.
Further, the unmanned aerial vehicle controls the unmanned aerial vehicle to keep a safe distance from the power transmission line based on a PID control algorithm.
Further, the unmanned aerial vehicle detects whether a tower appears in the power transmission line image based on a residual neural network model.
Further, the method further comprises:
and the unmanned aerial vehicle receives the return instruction, hovers according to the return instruction, and then adjusts the flight direction to fly to a specified return point.
Further, identifying and processing the power transmission line in the power transmission line image based on a Hough straight line detection algorithm comprises the following steps:
detecting line segments in the power transmission line image based on Hough straight line detection to obtain a preliminary line segment set;
screening and combining the line segments in the preliminary line segment set based on the space and the angle to obtain a combined line segment set;
and selecting the final longest line segment from the merging line segment set as a power transmission line.
Further, filtering and merging line segments in the preliminary line segment set based on space and angle to obtain a merged line segment set, including:
sequencing all the line segments in the preliminary line segment set according to the length to obtain a line segment sequence, wherein each line segment in the line segment sequence comprises endpoint coordinate information, length information and angle information;
determining an initial longest line segment in the line segment sequence;
calculating angle difference values between other line segments in the line segment sequence and the initial longest line segment, and selecting line segments with angle difference values not exceeding a preset angle to be added into a first similar line segment set;
traversing the first similar line segment set, calculating Euclidean distance between the end point of each line segment in the first similar line segment set and the end point corresponding to the initial longest line segment, and adding a line segment with the Euclidean distance not exceeding a preset distance into a second similar line segment set;
and carrying out line segment merging according to the distance calculation result of the end point of the initial longest line segment and the end point of the line segment in the second similar line segment set to obtain a merged line segment set.
Further, segment merging is performed according to a distance calculation result of the end point of the initial longest segment and the end point of the segment in the second similar segment set, including:
determining two endpoints of the initial longest line segment as a first endpoint and a second endpoint respectively, traversing the second similar line segment set, searching a third endpoint closest to the first endpoint, and defining the other endpoint of the line segment i where the third endpoint is located as a fourth endpoint;
calculating a first distance between the first end point and the third end point, a second distance between the first end point and the fourth end point, a third distance between the second end point and the third end point, and a fourth distance between the second end point and the fourth end point;
comparing the first distance, the second distance, the third distance and the fourth distance, selecting the maximum distance, merging the initial longest line segment and the line segment i, and taking the endpoint corresponding to the maximum distance as two endpoints of the merged line segment.
The unmanned aerial vehicle-based transmission line inspection control system comprises a ground control end and an unmanned aerial vehicle, wherein the ground control end is used for sending inspection control instructions, the unmanned aerial vehicle comprises a processor and a storage device, the storage device stores a plurality of instructions, and the processor is used for reading the instructions and executing the instructions:
flying to the position above the transmission line to be inspected according to the received inspection control instruction, and flying according to the configured initial flying height and the configured initial flying speed;
detecting the distance between the unmanned aerial vehicle and the power transmission line in the flight process, and controlling the unmanned aerial vehicle to keep a safe distance with the power transmission line according to the detected distance;
acquiring an electric transmission line image in the flight process, identifying and processing the electric transmission line in the electric transmission line image based on a Hough straight line detection algorithm, and controlling the flight direction of the unmanned aerial vehicle to be consistent with the length direction of the electric transmission line according to the identification result;
detecting whether a tower appears in the power transmission line image, if so, controlling the unmanned aerial vehicle to hover, and continuing to fly forwards according to the pre-configured tower passing height and the pre-configured tower passing flying speed.
Further, the unmanned aerial vehicle is further provided with an orthogonal radar module and an image acquisition device, the unmanned aerial vehicle detects the distance between the unmanned aerial vehicle and the power transmission line through the orthogonal radar module, and the image acquisition device acquires the image of the power transmission line.
Further, the orthogonal radar module comprises two single-line radars and a mounting hanging piece, the scanning surfaces of the two single-line radars are mutually orthogonal, and the mounting hanging piece is used for hanging the two single-line radars on the bottom of the unmanned aerial vehicle.
Further, the processor is further configured to perform: and controlling the unmanned aerial vehicle to keep a safe distance from the power transmission line based on a PID control algorithm.
Further, the processor is further configured to perform: and detecting whether a tower appears in the power transmission line image based on a residual neural network model.
Further, the processor is further configured to perform: and receiving a return instruction, hovering according to the return instruction, and then adjusting the flight direction to fly to a designated return point.
Further, the processor is further configured to perform:
detecting line segments in the power transmission line image based on Hough straight line detection to obtain a preliminary line segment set;
screening and combining the line segments in the preliminary line segment set based on the space and the angle to obtain a combined line segment set;
and selecting the final longest line segment from the merging line segment set as a power transmission line.
Further, the processor is further configured to perform:
sequencing all the line segments in the preliminary line segment set according to the length to obtain a line segment sequence, wherein each line segment in the line segment sequence comprises endpoint coordinate information, length information and angle information;
determining an initial longest line segment in the line segment sequence;
calculating angle difference values between other line segments in the line segment sequence and the initial longest line segment, and selecting line segments with angle difference values not exceeding a preset angle to be added into a first similar line segment set;
traversing the first similar line segment set, calculating Euclidean distance between the end point of each line segment in the first similar line segment set and the end point corresponding to the initial longest line segment, and adding a line segment with the Euclidean distance not exceeding a preset distance into a second similar line segment set;
and carrying out line segment merging according to the distance calculation result of the end point of the initial longest line segment and the end point of the line segment in the second similar line segment set to obtain a merged line segment set.
Further, the processor is further configured to perform:
traversing the second similar line segment set, determining a first endpoint and a second endpoint of the initial longest line segment, which are closest to the endpoint of the ith line segment in the second similar line segment set, and determining other third endpoints and fourth endpoints of the initial longest line segment and the ith line segment;
combining the initial longest line segment and the ith line segment, and calculating a first distance between a first endpoint and a third endpoint, a second distance between the first endpoint and a fourth endpoint, a third distance between the second endpoint and the third endpoint, and a fourth distance between the third endpoint and the fourth endpoint;
comparing the first distance, the second distance, the third distance and the fourth distance, selecting the maximum distance, and taking the endpoint corresponding to the maximum distance as two endpoints of the merging line segment.
The transmission line inspection control method and system based on the unmanned aerial vehicle provided by the invention at least comprise the following beneficial effects:
(1) The distance between the orthogonal radar module and the power transmission line, the identification of the linear direction of the power transmission line and the identification of the tower are detected, so that the unmanned aerial vehicle line-imitating flight is completed together, and the unmanned aerial vehicle inspection cost can be effectively reduced;
(2) Compared with a laser radar and a complex visual recognition technology, the method has the advantages that distance control is completed through a PID control algorithm, the unmanned aerial vehicle simulated line flight is realized through Hough straight line detection and line segment processing, the method is simpler, the algorithm flow of an unmanned aerial vehicle onboard computer is saved, and the reliability is higher;
(3) Basic line segments of the power transmission line are obtained through Hough straight line detection, and then screening and merging of space and angles are carried out based on the longest line segment, so that the accuracy of the identified power transmission line is higher, and basis is provided for the flight direction of the unmanned aerial vehicle.
Drawings
Fig. 1 is a flowchart of an embodiment of a power transmission line inspection control method based on an unmanned aerial vehicle.
Fig. 2 is a flowchart of an embodiment of identifying and processing a power transmission line in the unmanned aerial vehicle-based power transmission line inspection control method provided by the invention.
Fig. 3 is a flowchart of an embodiment of screening and merging line segments in the unmanned aerial vehicle-based transmission line inspection control method provided by the invention.
Fig. 4 is a schematic diagram of an embodiment of merging line segments in the unmanned aerial vehicle-based transmission line inspection control method provided by the invention.
Fig. 5 is a schematic structural diagram of an embodiment of an unmanned aerial vehicle-based power transmission line inspection control system provided by the invention.
Fig. 6 is a schematic structural diagram of an embodiment of an unmanned aerial vehicle in the unmanned aerial vehicle-based transmission line inspection control system provided by the invention.
Detailed Description
In order to better understand the above technical solutions, the following detailed description will be given with reference to the accompanying drawings and specific embodiments.
Referring to fig. 1, in some embodiments, a method for controlling inspection of a power transmission line based on an unmanned aerial vehicle is provided, including:
s1, the unmanned aerial vehicle flies to the position above the transmission line to be inspected according to the received inspection control instruction, and flies according to the configured initial flying height and the configured initial flying speed;
s2, detecting the distance between the unmanned aerial vehicle and the power transmission line in the flight process, and controlling the unmanned aerial vehicle to keep a safe distance from the power transmission line according to the detected distance;
s3, acquiring an electric transmission line image by the unmanned aerial vehicle in the flight process, identifying and processing the electric transmission line in the electric transmission line image based on a Hough straight line detection algorithm, and controlling the flight direction of the unmanned aerial vehicle to be consistent with the length direction of the electric transmission line according to the identification result;
s4, detecting whether a tower appears in the power transmission line image, if so, controlling the unmanned aerial vehicle to hover, and continuing to fly forwards according to the pre-configured tower passing height and tower passing flying speed.
Specifically, in step S1, an inspection control command is sent to the unmanned aerial vehicle through the ground control end, the unmanned aerial vehicle is provided with a wireless communication module, and as an optional implementation manner, the wireless communication module is a 2.4GHz wireless transmission module, and is in communication connection with the ground control end through the wireless communication module, the unmanned aerial vehicle sets an initial flight height, an initial flight speed, a tower passing height and a tower passing flight speed in advance, and the unmanned aerial vehicle flies above an electric line to be inspected after receiving the inspection control command, and flies according to the configured initial flight height and initial flight speed.
Further, in step S2, the unmanned aerial vehicle detects a distance from the power transmission line, and controls the unmanned aerial vehicle to keep a safe distance from the power transmission line according to the detected distance, wherein an orthogonal radar module is arranged on the unmanned aerial vehicle, and the distance from the power transmission line is detected through the orthogonal radar module.
As an optional implementation manner, the orthogonal radar module comprises two single-line radars and a mounting pendant, the scanning surfaces of the two single-line radars are mutually orthogonal, and the mounting pendant is used for mounting the two single-line radars on the bottom of the unmanned aerial vehicle.
The unmanned plane is provided with an embedded computer, and the logic calculation is performed by the embedded computer.
As an alternative embodiment, the unmanned aerial vehicle controls the unmanned aerial vehicle to keep a safe distance from the power transmission line based on a PID control algorithm.
PID control, which is to control the controlled object by forming control deviation by given value and actual output value, and forming control quantity by linear combination of proportional, integral and differential of deviation. The robustness is good, and the reliability is high.
The unmanned aerial vehicle collects the distance from the power transmission line through the orthogonal radar module, and dynamically controls the distance, so that the unmanned aerial vehicle keeps a safe distance from the power transmission line.
The distance collected by the orthogonal radar module controls the unmanned aerial vehicle to keep a safe distance with the power transmission line, and compared with the three-dimensional laser radar, the control method is simple, high in reliability and low in cost, and the unmanned aerial vehicle is required to be further controlled to fly according to the direction of the power transmission line.
Further, in step S3, referring to fig. 2, the identifying and processing of the power transmission line in the power transmission line image based on the hough straight line detection algorithm includes:
s31, detecting line segments in the power transmission line image based on Hough straight line detection to obtain a preliminary line segment set;
s32, screening and combining the line segments in the preliminary line segment set based on space and angles to obtain a combined line segment set;
s33, selecting the final longest line segment from the combined line segment set as a power transmission line.
Specifically, in step S31, line segments in the transmission line image are detected based on hough line detection, so as to obtain a preliminary line segment set D, and because the transmission line environment is complex, the result of hough line detection is not necessarily composed of transmission lines, and the same transmission line may be represented by a plurality of broken line segments. Thus, the detected line segments are subjected to a screening and merging process in terms of both space and angle.
Further, in step S32, referring to fig. 3, the filtering and merging the line segments in the preliminary line segment set based on the space and the angle to obtain a merged line segment set includes:
s321, sequencing all the line segments in the preliminary line segment set D according to the length to obtain a line segment sequence
N is the number of line segments, and each line segment in the line segment sequence L comprises endpoint coordinate information, length information and angle information;
s322, determining the initial longest line segment in the line segment sequence
Wherein, the method comprises the steps of, wherein,
、
、
、
the left endpoint coordinate, the right endpoint coordinate, the length and the angle of the longest line segment are respectively;
s323, when the sequence line segment L is not empty, calculating the angle difference between other line segments in the line segment sequence L and the initial longest line segment, selecting the line segment with the angle difference not exceeding the preset angle, and adding the line segment to the first similar line segment set Q 1 The method comprises the steps of carrying out a first treatment on the surface of the I.e. other line segments in the sequence of line segments
Angle (v) and angle (v)
Comparing the difference value not exceeding the preset angle
Line segment of (2)
Delete from the sequence of line segments, add to the first set of similar line segments Q 1 . Otherwise, the screening and combining process is completed,
s324, traversing the first similar line segment set Q 1 Calculating Euclidean distance between the end point of each line segment in the first similar line segment set and the end point corresponding to the initial longest line segment, and adding a line segment with the Euclidean distance not exceeding a preset distance into a second similar line segment set Q 2 ；
S325, segment merging is carried out according to the distance calculation result of the end point of the initial longest segment and the end point of the segment in the second similar segment set, and a merged segment set M is obtained.
Specifically, referring to fig. 4, the segment merging according to the distance calculation result between the end point of the initial longest segment and the end point of the segment in the second similar segment set includes:
determining two endpoints of the initial longest line segment as a first endpoint a and a second endpoint b respectively, traversing the second similar line segment set, searching a third endpoint c closest to the first endpoint a, and defining the other endpoint of the line segment i where the third endpoint c is positioned as a fourth endpoint d;
calculating a first distance between a first end point a and a third end point c, a second distance between the first end point a and a fourth end point d, a third distance between a second end point b and the third end point c, and a fourth distance between the second end point b and the fourth end point d;
comparing the first distance, the second distance, the third distance and the fourth distance, selecting the maximum distance, merging the initial longest line segment and the line segment i, and taking the endpoint corresponding to the maximum distance as two endpoints of the merged line segment.
Through the calculation, the longest identified line segment is used as a reference, screening and combining processing is carried out from two aspects of space and angle, and then the power transmission line is identified, so that a basis is provided for the flight direction of the unmanned aerial vehicle.
Further, in step S4, the unmanned aerial vehicle detects whether a tower appears in the transmission line image based on a residual neural network model.
Specifically, be provided with image acquisition device on the unmanned aerial vehicle, can be the visible light high definition digtal camera, can support horizontal and perpendicular two direction rotation for unmanned aerial vehicle imitative line flight in-process is to transmission line image acquisition.
Further, when the electric quantity of the unmanned aerial vehicle is insufficient or the unmanned aerial vehicle has completed the unmanned aerial vehicle to return to the air, the ground control end can be used for sending a return instruction to the unmanned aerial vehicle, the unmanned aerial vehicle receives the return instruction, hovers according to the return instruction, and then the flight direction is adjusted to fly to a designated return point.
Referring to fig. 5, in some embodiments, there is provided an unmanned aerial vehicle-based transmission line inspection control system applied to the above method, including a ground control terminal 1 and an unmanned aerial vehicle 2, the ground control terminal 1 is configured to send inspection control instructions, the unmanned aerial vehicle 2 includes a processor 21 and a storage device 22, the storage device 22 stores a plurality of instructions, and the processor 21 is configured to read the plurality of instructions and execute:
flying to the position above the transmission line to be inspected according to the received inspection control instruction, and flying according to the configured initial flying height and the configured initial flying speed;
detecting the distance between the unmanned aerial vehicle and the power transmission line in the flight process, and controlling the unmanned aerial vehicle to keep a safe distance with the power transmission line according to the detected distance;
acquiring an electric transmission line image in the flight process, identifying and processing the electric transmission line in the electric transmission line image based on a Hough straight line detection algorithm, and controlling the flight direction of the unmanned aerial vehicle to be consistent with the length direction of the electric transmission line according to the identification result;
detecting whether a tower appears in the power transmission line image, if so, controlling the unmanned aerial vehicle to hover, and continuing to fly forwards according to the pre-configured tower passing height and the pre-configured tower passing flying speed.
Referring to fig. 6, the unmanned aerial vehicle 2 is further provided with an orthogonal radar module 23 and an image acquisition device 24, the unmanned aerial vehicle 2 detects the distance from the power transmission line through the orthogonal radar module 23, and the image acquisition device 24 acquires the power transmission line image.
The orthogonal radar module 23 includes two single-line radars and a hanging piece, the scanning surfaces of the two single-line radars are mutually orthogonal, and the hanging piece is used for hanging the two single-line radars on the bottom of the unmanned aerial vehicle.
The unmanned aerial vehicle-based transmission line inspection control method and system provided by the embodiment at least comprise the following beneficial effects:
(1) The distance between the orthogonal radar module and the power transmission line, the identification of the linear direction of the power transmission line and the identification of the tower are detected, so that the unmanned aerial vehicle line-imitating flight is completed together, and the unmanned aerial vehicle inspection cost can be effectively reduced;
(2) Compared with a laser radar and a complex visual recognition technology, the method has the advantages that distance control is completed through a PID control algorithm, the unmanned aerial vehicle simulated line flight is realized through Hough straight line detection and line segment processing, the method is simpler, the algorithm flow of an unmanned aerial vehicle onboard computer is saved, and the reliability is higher;
(3) Basic line segments of the power transmission line are obtained through Hough straight line detection, and then screening and merging of space and angles are carried out based on the longest line segment, so that the accuracy of the identified power transmission line is higher, and basis is provided for the flight direction of the unmanned aerial vehicle.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the invention. It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (7)
1. The transmission line inspection control method based on the unmanned aerial vehicle is characterized by comprising the following steps of:
the unmanned aerial vehicle flies to the position above the transmission line to be inspected according to the received inspection control instruction, and flies according to the configured initial flying height and the configured initial flying speed;
the unmanned aerial vehicle detects the distance from the power transmission line in the flight process, and controls the unmanned aerial vehicle to keep a safe distance from the power transmission line according to the detected distance;
acquiring an electric transmission line image by the unmanned aerial vehicle in the flight process, identifying and processing the electric transmission line in the electric transmission line image based on a Hough straight line detection algorithm, and controlling the flight direction of the unmanned aerial vehicle to be consistent with the length direction of the electric transmission line according to the identification result;
detecting whether a tower appears in the power transmission line image, if so, controlling the unmanned aerial vehicle to hover, and continuing to fly forwards according to the pre-configured tower passing height and tower passing flying speed;
identifying and processing the power transmission line in the power transmission line image based on a Hough straight line detection algorithm comprises the following steps:
detecting line segments in the power transmission line image based on Hough straight line detection to obtain a preliminary line segment set;
screening and combining the line segments in the preliminary line segment set based on the space and the angle to obtain a combined line segment set;
selecting a final longest line segment from the merging line segment set as a power transmission line;
screening and merging the line segments in the preliminary line segment set based on space and angle to obtain a merged line segment set, wherein the method comprises the following steps:
sequencing all the line segments in the preliminary line segment set according to the length to obtain a line segment sequence, wherein each line segment in the line segment sequence comprises endpoint coordinate information, length information and angle information;
determining an initial longest line segment in the line segment sequence;
calculating angle difference values between other line segments in the line segment sequence and the initial longest line segment, and selecting line segments with angle difference values not exceeding a preset angle to be added into a first similar line segment set;
traversing the first similar line segment set, calculating Euclidean distance between the end point of each line segment in the first similar line segment set and the end point corresponding to the initial longest line segment, and adding a line segment with the Euclidean distance not exceeding a preset distance into a second similar line segment set;
carrying out line segment merging according to the distance calculation result of the end point of the initial longest line segment and the end point of the line segment in the second similar line segment set to obtain a merged line segment set;
and carrying out line segment merging according to the distance calculation result of the end point of the initial longest line segment and the end point of the line segment in the second similar line segment set, wherein the line segment merging comprises the following steps:
determining two endpoints of the initial longest line segment as a first endpoint and a second endpoint respectively, traversing the second similar line segment set, searching a third endpoint closest to the first endpoint, and defining the other endpoint of the line segment i where the third endpoint is located as a fourth endpoint;
calculating a first distance between the first end point and the third end point, a second distance between the first end point and the fourth end point, a third distance between the second end point and the third end point, and a fourth distance between the second end point and the fourth end point;
comparing the first distance, the second distance, the third distance and the fourth distance, selecting the maximum distance, merging the initial longest line segment and the line segment i, and taking the endpoint corresponding to the maximum distance as two endpoints of the merged line segment.
2. The method of claim 1, wherein the drone controls the drone to maintain a safe distance from the transmission line based on a PID control algorithm.
3. The method of claim 1, wherein the drone detects whether a tower is present in the transmission line image based on a residual neural network model.
4. The method according to claim 1, wherein the method further comprises:
and the unmanned aerial vehicle receives the return instruction, hovers according to the return instruction, and then adjusts the flight direction to fly to a specified return point.
5. An unmanned aerial vehicle-based transmission line inspection control system applied to the method according to any one of claims 1 to 4, comprising a ground control terminal and an unmanned aerial vehicle, wherein the ground control terminal is configured to send inspection control instructions, the unmanned aerial vehicle comprises a processor and a storage device, the storage device stores a plurality of instructions, and the processor is configured to read the plurality of instructions and execute:
flying to the position above the transmission line to be inspected according to the received inspection control instruction, and flying according to the configured initial flying height and the configured initial flying speed;
detecting the distance between the unmanned aerial vehicle and the power transmission line in the flight process, and controlling the unmanned aerial vehicle to keep a safe distance with the power transmission line according to the detected distance;
acquiring an electric transmission line image in the flight process, identifying and processing the electric transmission line in the electric transmission line image based on a Hough straight line detection algorithm, and controlling the flight direction of the unmanned aerial vehicle to be consistent with the length direction of the electric transmission line according to the identification result;
detecting whether a tower appears in the power transmission line image, if so, controlling the unmanned aerial vehicle to hover, and continuing to fly forwards according to the pre-configured tower passing height and the pre-configured tower passing flying speed.
6. The system of claim 5, wherein the unmanned aerial vehicle is further provided with an orthogonal radar module and an image acquisition device, the unmanned aerial vehicle detects the distance from the power transmission line through the orthogonal radar module, and the image acquisition device acquires the power transmission line image.
7. The system of claim 6, wherein the orthogonal radar module comprises two single-line radars and a mount pendant, the scanning surfaces of the two single-line radars being orthogonal to each other, the mount pendant being configured to mount the two single-line radars to the bottom of the drone.
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