A method and system for autonomous inspection and ledger verification of power distribution lines by drones

Abstract

The invention relates to the technical field of inspection and ledger verification of distribution lines, and discloses a method and system for autonomous inspection and ledger verification of distribution lines by unmanned aerial vehicles. The steps are as follows: a unmanned aerial vehicle equipped with a radar module and an edge computing module identifies the direction of a conductor, and autonomously flies along the identified direction of the conductor to avoid obstacles; identifies a pole tower and collects relevant parameters of the pole tower; after the collection is completed, integrates relevant parameters to construct a distribution line ledger and performs verification and update; identifies a pole tower head instance and a conductor instance through the radar module and edge computing module carried by the unmanned aerial vehicle, the unmanned aerial vehicle moves along the direction of the identified conductor instance, and collects a pole tower head image and information on the location of the pole tower, so as to complete intelligent coordinate collection of the distribution line, verify the line ledger information, and realize synchronous updating of internal and external network data of the distribution network, with fast speed and high accuracy, further ensuring the safe operation of the distribution line, providing data basis for distribution network line loss management, and providing data support for realizing intelligent operation and maintenance of the distribution network.

Description

Technical Field

[0001] The present invention relates to the technical field of power distribution line inspection and ledger verification, and in particular to a method and system for autonomous inspection and ledger verification of power distribution lines by unmanned aerial vehicles. Background Art

[0002] In recent years, with the rapid development of the national economy, my country's power distribution lines are widely distributed, the environmental conditions are complex, and the number of lines is increasing. Monitoring the line operation status, timely detection of faults, and prevention of production safety accidents are important tasks for the operation and maintenance management department.

[0003] At present, there are errors or incomplete information in the line ledger of the distribution network, and the accuracy of the line ledger directly affects the judgment of the line fault location. Therefore, the maintenance and verification of the tower line ledger is very important. At present, the distribution line inspection mode of State Grid Corporation is mainly based on manual inspection, relying on the pilot to manually control the drone to collect tower photos and account coordinates. The work efficiency is low, and it is highly dependent on the pilot's control ability, and the pilot's control skills are required to be high. Summary of the invention

[0004] In view of the shortcomings of the prior art, the purpose of the present invention is to provide a method for autonomous inspection and ledger verification of power distribution lines by unmanned aerial vehicles.

[0005] In order to achieve the above object, the present invention provides the following technical solutions:

[0006] A method for autonomous inspection and ledger verification of power distribution lines by drones, the steps are as follows:

[0007] Here are the steps:

[0008] The drone equipped with radar module and edge computing module identifies the direction of the wire and autonomously avoids obstacles along the identified wire direction;

[0009] At the same time, identify the tower and collect relevant parameters of the tower;

[0010] After the collection is completed, the relevant parameters are integrated to construct the distribution line ledger and verify and update it.

[0011] In the present invention, preferably, the following steps are also included:

[0012] When the drone takes off, the pilot controls the drone to move to the initial position with the nose facing the inspection direction;

[0013] Determine the inspection direction as the large side or the small side;

[0014] Send a start command to the drone to enable the drone to identify poles and wires;

[0015] The drone began to fly.

[0016] In the present invention, preferably, the steps of the drone identifying the direction of the wire are as follows:

[0017] S01: The drone camera collects real-time images, and the edge computing module equipped with the tower head and conductor autonomous identification operation model identifies the conductor instance;

[0018] S02: calculating and identifying the direction vectors of each conductor, and averaging the direction vectors to obtain the direction vectors of a single conductor or multiple conductors;

[0019] S03: Based on the position of the last tower identified by the drone, the wire direction vector is calculated and deleted, and the wire direction vector for the drone to continue flying is determined.

[0020] In the present invention, preferably, identifying the tower and collecting relevant parameters of the tower includes the following steps:

[0021] S11: The drone camera collects real-time images, and the edge computing module identifies the tower head instance;

[0022] S12: After identifying the tower, the drone adjusts its position to 3 meters above the tower head to collect coordinate data;

[0023] S13: Taking the collected coordinate position as the initial position, inspect the tower head and collect image data related to the distribution network tower.

[0024] In the present invention, preferably, in step S13, the following steps are further included:

[0025] S130: Identify the direction of the tower cross arm, the drone automatically plans a detailed inspection route for the tower, and starts inspection according to the planned inspection route;

[0026] S131: The drone hovers directly above the tower, with the camera pointed vertically downward, taking a photo of the tower top with 1 meter below the tower head as the shooting target point;

[0027] S132: With the drone's nose direction at the initial position as the reference direction, the drone turns left 45 degrees and moves to a position 8 meters away from the shooting target point in a straight line. The camera tilts downward at a 45-degree angle to take a photo of the tower head.

[0028] S133: The drone turns left 120 degrees based on the reference square, descends to the same height as the shooting target point, with a horizontal distance of 5 meters and a lens pitch angle of 0 degrees. A horizontal photo of the tower head including the left insulator is taken;

[0029] S134: The drone turns right 60 degrees based on the reference square, at the same height as the shooting target point, at a horizontal distance of 5 meters, with the lens pitch angle of 0 degrees, and takes a horizontal photo of the tower head including the insulator on the right side;

[0030] S135: The drone remains in the same position. With the direction of the small side channel as the reference, adjust the direction of the nose and lens to make a 30-degree horizontal angle with the direction of the small side channel, and take photos of the side of the small side channel horizontally;

[0031] S136: The drone remains in the same position, and the direction of the large side channel is taken as the standard. The nose and lens are adjusted to form a 30-degree horizontal angle with the large side channel, and photos of the large side channel are taken horizontally.

[0032] S137: The drone returns to its initial position and completes a detailed inspection of the tower.

[0033] In the present invention, preferably, the UAV performs line-engaging flight along the identified direction of the wire, and the line-engaging flight height is 5 meters between the UAV and the wire below.

[0034] In the present invention, preferably, the drone performs the following steps when flying along the wire to avoid obstacles:

[0035] S21: The radar module on board detects in real time whether there are obstacles in front of the drone and the distance between the obstacles, and defines a cycle distance as the distance generated by the drone flying at a specified speed for a specified time;

[0036] S22: When the radar module detects that there is no obstacle in front of the drone or the distance to the obstacle is greater than one cycle distance, the drone keeps flying on the line;

[0037] S23: When the radar module detects that the distance to the obstacle is less than one cycle distance plus the obstacle avoidance safety distance, the drone will ascend vertically;

[0038] S24: During the ascending flight of the UAV, when the distance between the UAV and the obstacle in front is greater than one cycle distance plus the obstacle avoidance safety distance, the UAV ascends another two meters, and at the same time determines the distance between the UAV and the obstacle in front after the ascent;

[0039] S25: After ascending, when the distance between the drone and the obstacle in front is greater than one cycle plus the obstacle avoidance safety distance, the drone flies forward, otherwise repeat steps S23-S24;

[0040] S26: When the drone is flying forward, the time required for the drone to reach the starting point of the obstacle is calculated, and the drone stops flying while biting the line during this time period;

[0041] S27: The drone flies above the obstacle, turns on the distance detection below, and the drone maintains a flight height of 5 meters from the obstacle below;

[0042] S28: When the drone flies over an obstacle, it continues to fly on the line.

[0043] In the present invention, preferably, the drone performs the following steps to avoid obstacles when collecting relevant parameters of the tower:

[0044] S31: The drone detects the distance of the obstacle ahead in real time. When the distance of the obstacle ahead plus the drone is less than the distance between the drone and the target and the obstacle avoidance safety distance, the drone ascends.

[0045] S32: After the drone ascends, if the distance to the obstacle ahead is greater than the distance to the target location plus the obstacle avoidance safety distance, the drone will fly forward to the target location, then descend and return to the target location;

[0046] S33: When descending, if there is an obstacle below that prevents the drone from descending to the target location, release the control of the drone and remotely control the drone.

[0047] In the present invention, preferably, integrating the relevant parameters to construct a distribution line ledger comprises the following steps:

[0048] S41: Process the photos collected by the drone and extract the material, tower type, and loop-related parameter data of the tower;

[0049] S42: Save the relevant parameter data to the network key business analysis system;

[0050] S43: Submit to the intranet system and update the intranet system ledger data.

[0051] In the present invention, preferably, a drone is included, on which a radar module, an edge computing module, a storage module and a processing module are arranged, and the storage module and the processing module are both communicatively connected with the radar module and the edge computing module to perform data interaction to complete a drone distribution line inventory autonomous verification method as described in any one of claims 1-9.

[0052] Compared with the prior art, the present invention has the following beneficial effects:

[0053] The present invention identifies the tower head instance and the conductor instance through the edge computing module carried inside the drone. The drone can move along the direction of the identified conductor instance and collect inspection images of the towers along the way and the location information of the towers to complete the intelligent coordinate collection of the distribution line, verify the line ledger information, and realize the synchronous update of the internal and external network data of the distribution network with high speed and high accuracy, which further ensures the safe operation of the distribution line, provides a data basis for the distribution network line loss management, and provides data support for the realization of intelligent operation and maintenance of the distribution network; at the same time, the drone performs obstacle avoidance flight during the inspection process to ensure the safety of the drone's flight route. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 The present invention provides a flowchart of a method for autonomous inspection and ledger verification of power distribution lines by using a drone.

[0055] Figure 2 It is a real-time image collected by the UAV of the present invention.

[0056] Figure 3 This is the image of the tower head collected by the drone of the present invention.

[0057] Figure 4 This is a schematic diagram of the principle of calculating the center direction of a conductor in the present invention. DETAILED DESCRIPTION

[0058] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0059] It should be noted that when a component is referred to as being "fixed to" another component, it may be directly on the other component or there may also be a component centered. When a component is considered to be "connected to" another component, it may be directly connected to the other component or there may also be a component centered. When a component is considered to be "set on" another component, it may be directly set on the other component or there may also be a component centered. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0060] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0061] Please also see Figures 1 to 3 A preferred embodiment of the present invention provides a method for autonomous inspection and ledger verification of distribution lines by drones. By carrying a radar module and an edge computing module on the drone, the drone's intelligent coordinate collection and refined inspection of the distribution network line are realized, and the autonomous verification of the line ledger information is completed, and the synchronous update of the internal and external network data of the distribution network is realized. The steps are as follows: when the drone takes off, the pilot controls the drone to move to the initial position with the nose facing the inspection direction; the inspection direction is determined to be the large side direction or the small side direction; a start command is sent to the drone to start the drone's pole tower and wire identification; the drone starts flying, and the drone equipped with a radar module and an edge computing module identifies the wire direction, and autonomously avoids obstacles in the identified wire direction; at the same time, the pole tower is identified and the relevant parameters of the pole tower are collected; after the collection is completed, the relevant parameters are integrated to construct the distribution line ledger and verify and update it.

[0062] In this embodiment, the edge computing module is equipped with an autonomous identification operation model for tower heads and wires. The autonomous identification operation model is trained through labeled wire and tower head instance images. The autonomous identification operation model adopts the existing autonomous identification model and is trained through labeled tower heads and wire sample data. During the flight of the drone, the images captured by the camera lens are used to identify the tower heads and wires through the autonomous identification operation model; the radar module adopts a millimeter-wave radar, which is respectively set at the nose position and the bottom of the fuselage of the drone.

[0063] In this embodiment, the drone flies along the identified wire direction to ensure the effectiveness of the drone flight path and avoid missing the collected distribution lines. The steps of the drone identifying the wire direction are as follows:

[0064] S01: The drone camera collects real-time images, and the edge computing module equipped with the tower head and conductor autonomous identification operation model identifies the conductor instance;

[0065] S02: calculating and identifying the direction vector of each conductor, and averaging the direction vectors to obtain the direction vector of a single conductor or multiple conductors;

[0066] S03: Based on the position of the last tower identified by the drone, the wire direction vector is calculated and deleted, and the wire direction vector for the drone to continue flying is determined.

[0067] like Figure 4 As shown, specifically, when the drone is flying autonomously, the lens is pointed vertically downward to collect images, and the edge computing module identifies the wire instance. After the wire instance is identified, the direction vector of each wire monomer is calculated, and the obtained wire vectors are clustered and integrated and the mean is calculated to obtain the direction vector of a single or multiple wires. Then, based on the previous tower position data saved in the drone, the wire direction vector when the drone comes is calculated, and it is deleted from the obtained direction vectors of the multiple wires, and finally the guiding direction vector along which the drone continues to fly is obtained. Based on this direction vector, the direction of the drone camera lens and the direction of the nose are adjusted to allow the drone to continue to fly in the direction of the wire, and it is determined whether there is an instance image of the tower head within the camera imaging range.

[0068] In this embodiment, identifying the tower and collecting relevant parameters of the tower includes the following steps:

[0069] S11: The drone camera collects real-time images, and the edge computing module identifies the tower head instance;

[0070] S12: After identifying the tower, the drone adjusts its position to 3 meters above the tower head to collect coordinate data;

[0071] S13: Taking the collected coordinate position as the initial position, inspect the tower head and collect image data related to the distribution network tower.

[0072] Specifically, when the drone is in flight and the edge computing module identifies the tower head through the collected images, the drone position is adjusted until the tower head is in the middle of the drone lens, and then the radar module is used to detect the distance between the drone and the tower head. The drone is lowered to hover 3 meters from the top of the tower, the tower coordinates are collected, and then the tower head inspection begins.

[0073] In this embodiment, in step S13, the inspection of the tower head specifically includes the following steps:

[0074] S130: Identify the direction of the cross arm of the pole tower, and the drone automatically plans a refined inspection route for the pole tower. The inspection route includes the shooting points of the drone at the corresponding pole tower, and the moving track of the drone arriving at the shooting points in sequence, and starts the inspection according to the planned inspection route;

[0075] S131: The drone hovers directly above the tower, with the camera pointed vertically downward, taking a photo of the tower top with 1 meter below the tower head as the shooting target point;

[0076] S132: With the drone's nose direction at the initial position as the reference direction, the drone turns left 45 degrees and moves to a position 8 meters away from the shooting target point in a straight line. The camera tilts downward at a 45-degree angle to take a photo of the tower head.

[0077] S133: The drone turns left 120 degrees based on the reference square, descends to the same height as the shooting target point, with a horizontal distance of 5 meters and a lens pitch angle of 0 degrees. A horizontal photo of the tower head including the left insulator is taken;

[0078] S134: The drone turns right 60 degrees based on the reference square, at the same height as the shooting target point, at a horizontal distance of 5 meters, with the lens pitch angle of 0 degrees, and takes a horizontal photo of the tower head including the insulator on the right side;

[0079] S135: The drone remains in the same position. With the direction of the small side channel as the reference, adjust the direction of the nose and lens to make a 30-degree horizontal angle with the direction of the small side channel, and take photos of the side of the small side channel horizontally;

[0080] S136: The drone remains in the same position, and the direction of the large side channel is taken as the standard. The nose and lens are adjusted to form a 30-degree horizontal angle with the large side channel, and photos of the large side channel are taken horizontally.

[0081] S137: The drone returns to its initial position and completes a detailed inspection of the tower.

[0082] The drone adjusts the pitch angle of the lens, continues to identify the position of the wire ahead, and adjusts the lens and direction of the drone head according to the direction of the wire. It continues to fly in the direction of the wire and collects the coordinates of the next tower to build a complete distribution line ledger.

[0083] In this embodiment, the relevant parameters are integrated to construct a distribution line ledger, including the following steps:

[0084] S41: Processing the photos collected by the drone, that is, manually extracting the material, tower type, and loop-related parameter data of the tower based on the tower and conductor features in the photos, and integrating them with the coordinate data of the tower to construct a distribution line ledger;

[0085] S42: Save the integrated distribution line account to the distribution network key business analysis system;

[0086] S43: Submit to the intranet system and update the intranet system ledger data.

[0087] Specifically, the update principles of the intranet system ledger data are:

[0088] If there are data in both the ledger constructed by autonomous flight and the ledger of the intranet system but the data are inconsistent, update the data of the ledger constructed by autonomous flight to the ledger of the intranet system;

[0089] There is no data in the ledger constructed by autonomous flight, but there is data in the intranet system ledger. The data in the intranet system ledger remains unchanged.

[0090] There is data in the ledger constructed by autonomous flight, but there is no data in the intranet system ledger. The ledger data constructed by autonomous flight will be updated to the intranet system ledger.

[0091] In this embodiment, the drone performs line-engaging flight along the identified wire direction, and the line-engaging flight altitude is 5 meters from the drone to the wire below.

[0092] In this embodiment, the drone may encounter obstacles during flight, such as trees, other wires, etc. In order to ensure the flight safety of the drone, the drone performs the following steps to avoid obstacles along the wires:

[0093] S21: The radar module on board detects in real time whether there are obstacles in front of the drone and the distance between the obstacles, and defines a cycle distance as the distance generated by the drone flying at a specified speed for a specified time;

[0094] S22: When the radar module detects that there is no obstacle in front of the drone or the distance to the obstacle is greater than one cycle distance, the drone keeps flying on the line;

[0095] S23: When the radar module detects that the distance to the obstacle is less than one cycle distance plus the obstacle avoidance safety distance, the drone will ascend vertically;

[0096] S24: When the distance between the drone and the obstacle in front is greater than one cycle distance plus the obstacle avoidance safety distance, the drone will rise another two meters to ensure that the bottom of the drone does not touch the obstacle, and at the same time determine the distance between the drone and the obstacle in front after the drone rises;

[0097] S25: After ascending, when the distance between the drone and the obstacle in front is greater than one cycle plus the obstacle avoidance safety distance, the drone flies forward, otherwise repeat steps S23-S24;

[0098] S26: When the drone is flying forward, the time required for the drone to reach the starting point of the obstacle is calculated, and the drone stops flying while biting the line during this time period;

[0099] S27: The drone flies above the obstacle, turns on the distance detection below, and the drone maintains a flight height of 5 meters from the obstacle below;

[0100] S28: When the drone flies over an obstacle, it continues to fly on the line.

[0101] When the drone flies along a wire or an obstacle, the drone is 5 meters above the wire or obstacle. This height is measured by the radar module to ensure that the drone does not come into contact with the obstacle or wire below.

[0102] In this embodiment, the drone performs the following steps to avoid obstacles when collecting relevant parameters of the tower:

[0103] S31: The drone detects the distance of the obstacle ahead in real time. When the distance between the obstacle and the drone is less than the distance between the drone and the target and the obstacle avoidance safety distance, the drone ascends.

[0104] S32: After the drone ascends, if the distance to the obstacle ahead is greater than the distance to the target location plus the obstacle avoidance safety distance, the drone will fly forward to the target location, then descend and return to the target location;

[0105] S33: When descending, if there is an obstacle below that prevents the drone from descending to the target location, release the control of the drone and remotely control the drone.

[0106] Another preferred embodiment of the present invention provides a drone distribution line autonomous inspection and ledger verification system, including a drone, on which a radar module, an edge computing module, a storage module and a processing module are arranged. The storage module and the processing module are both communicated with the radar module and the edge computing module to exchange data to complete the steps of the drone distribution line ledger autonomous verification method.

[0107] The above description is a detailed description of the preferred feasible embodiments of the present invention, but the embodiments are not intended to limit the scope of the patent application of the present invention. All equivalent changes or modified changes completed under the technical spirit suggested by the present invention should fall within the patent scope covered by the present invention.

[0108] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0109] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for autonomous inspection and ledger verification of power distribution lines by drones, characterized in that: Here are the steps: The drone equipped with radar module and edge computing module identifies the direction of the wire and autonomously avoids obstacles along the identified wire direction; At the same time, identify the tower and collect relevant parameters of the tower; After the collection is completed, the relevant parameters are integrated to construct the distribution line ledger and verify and update it; The drone performs the following steps to avoid obstacles along the wire: S21: The radar module on board detects in real time whether there are obstacles in front of the drone and the distance between the obstacles, and defines a cycle distance as the distance generated by the drone flying at a specified speed for a specified time; S22: When the radar module detects that there is no obstacle in front of the drone or the distance to the obstacle is greater than one cycle distance, the drone keeps flying on the line; S23: When the radar module detects that the distance to the obstacle is less than one cycle distance plus the obstacle avoidance safety distance, the drone will ascend vertically; S24: During the ascending flight of the UAV, when the distance between the UAV and the obstacle in front is greater than one cycle distance plus the obstacle avoidance safety distance, the UAV ascends another two meters, and at the same time determines the distance between the UAV and the obstacle in front after the ascent; S25: After ascending, when the distance between the drone and the obstacle in front is greater than one cycle plus the obstacle avoidance safety distance, the drone flies forward, otherwise repeat steps S23-S24; S26: When the drone is flying forward, the time required for the drone to reach the starting point of the obstacle is calculated, and the drone stops flying while biting the line during this time period; S27: The drone flies above the obstacle, turns on the distance detection below, and the drone maintains a flight height of 5 meters from the obstacle below; S28: When the drone flies over an obstacle, it continues to fly on the line.

2. According to claim 1, a method for autonomous inspection and ledger verification of UAV power distribution lines is characterized in that: The following steps are also included: When the drone takes off, the pilot controls the drone to move to the initial position with the nose facing the inspection direction; Determine the inspection direction as the large side or the small side; Send a start command to the drone to enable the drone to identify poles and wires; The drone began to fly.

3. The method for autonomous inspection and ledger verification of power distribution lines by unmanned aerial vehicles according to claim 1 is characterized in that: The steps for the drone to identify the direction of the wire are as follows: S01: The drone camera collects real-time images, and the edge computing module equipped with the tower head and conductor autonomous identification operation model identifies the conductor instance; S02: calculating and identifying the direction vectors of each conductor, and averaging the direction vectors to obtain the direction vectors of a single conductor or multiple conductors; S03: Based on the position of the last tower identified by the drone, the wire direction vector is calculated and deleted, and the wire direction vector for the drone to continue flying is determined.

4. The method for autonomous inspection and ledger verification of power distribution lines by unmanned aerial vehicles according to claim 1 is characterized in that: Identifying towers and collecting relevant parameters of towers includes the following steps: S11: The drone camera collects real-time images, and the edge computing module identifies the tower head instance; S12: After identifying the tower, the drone adjusts its position to 3 meters above the tower head to collect coordinate data; S13: Taking the collected coordinate position as the initial position, inspect the tower head and collect distribution network tower image data.

5. The method for autonomous inspection and ledger verification of power distribution lines by unmanned aerial vehicles according to claim 4 is characterized in that: In step S13, the following steps are specifically included: S130: Identify the cross arm direction of the tower, the drone automatically plans a detailed inspection route for the tower, and starts inspection according to the planned inspection route; S131: The drone hovers directly above the tower, with the camera pointed vertically downward, taking a photo of the tower top with 1 meter below the tower head as the shooting target point; S132: With the drone's nose direction at the initial position as the reference direction, the drone turns left 45 degrees and moves to a position 8 meters away from the shooting target point in a straight line. The camera tilts downward at a 45-degree angle to take a photo of the tower head. S133: The drone turns left 120 degrees based on the reference square, descends to the same height as the shooting target point, with a horizontal distance of 5 meters and a lens pitch angle of 0 degrees. A horizontal photo of the tower head including the left insulator is taken; S134: The drone turns right 60 degrees based on the reference square, at the same height as the shooting target point, at a horizontal distance of 5 meters, with the lens pitch angle of 0 degrees, and takes a horizontal photo of the tower head including the insulator on the right side; S135: The drone remains in the same position. With the direction of the small side channel as the reference, adjust the direction of the nose and lens to make a 30-degree horizontal angle with the direction of the small side channel, and take photos of the side of the small side channel horizontally; S136: The drone remains in the same position, and the direction of the large side channel is taken as the standard. The nose and lens are adjusted to form a 30-degree horizontal angle with the large side channel, and photos of the large side channel are taken horizontally. S137: The drone returns to its initial position and completes a detailed inspection of the tower.

6. The method for autonomous inspection and record verification of power distribution lines by unmanned aerial vehicles according to claim 5 is characterized in that: The UAV flies along the identified wire direction, and the flying height is 5 meters from the UAV to the wire below.

7. The method for autonomous inspection and ledger verification of power distribution lines by unmanned aerial vehicles according to claim 1 is characterized in that: When the drone collects relevant parameters of the tower, the obstacle avoidance is performed as follows: S31: The drone detects the distance of the obstacle ahead in real time. When the distance between the obstacle and the drone is less than the distance between the drone and the target plus the obstacle avoidance safety distance, the drone ascends. S32: After the drone ascends, if the distance to the obstacle ahead is greater than the distance to the target location plus the obstacle avoidance safety distance, the drone will fly forward to the target location, then descend and return to the target location; S33: When descending, if there is an obstacle below that prevents the drone from descending to the target location, release the control of the drone and remotely control the drone.

8. The method for autonomous inspection and record verification of power distribution lines by unmanned aerial vehicles according to claim 1 is characterized in that: Integrating the relevant parameters to build a distribution line ledger includes the following steps: S41: Process the photos collected by the drone and extract the material, tower type, and loop-related parameter data of the tower; S42: Save the relevant parameter data to the network key business analysis system; S43: Submit to the intranet system and update the intranet system ledger data.

9. An autonomous inspection and ledger verification system for UAV power distribution lines, characterized in that: It includes a drone, on which a radar module, an edge computing module, a storage module and a processing module are arranged, and the storage module and the processing module are both communicatively connected with the radar module and the edge computing module to perform data interaction to complete a drone distribution line ledger autonomous verification method as described in any one of claims 1 to 8.

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