An adaptive flight control system for power line inspection UAV

Abstract

The present invention relates to the field of unmanned aerial vehicles, and in particular to an adaptive flight control system for unmanned aerial vehicles for power line inspection, comprising a data acquisition module arranged on power equipment, and a communication module, a sensor module, an unmanned aerial vehicle attitude adjustment module and a central data processing module arranged on the unmanned aerial vehicle; the data acquisition module is used to collect environmental parameters near the power equipment; the communication module is used to realize signal exchange between the unmanned aerial vehicle and the data acquisition module; the sensor module is used to collect environmental parameters near the unmanned aerial vehicle, and the central data processing module is used to generate adjustment parameters and control various modules of the unmanned aerial vehicle according to the adjustment parameters. This solution obtains the current attitude of the unmanned aerial vehicle through a shooting unit and adjusts the posture of the unmanned aerial vehicle in combination with the roll angle and pitch angle obtained by the unmanned aerial vehicle itself, which is conducive to improving the accuracy of the adjustment value of the unmanned aerial vehicle attitude.

Description

Technical Field

[0001] The invention relates to the field of unmanned aerial vehicles, and in particular to an adaptive flight control system for a power line inspection unmanned aerial vehicle. Background Art

[0002] In the past few years, drone technology has made great progress and is widely used in various fields, including aerial photography, agriculture, security monitoring, etc. In the power industry, the application of drones has also become increasingly important, especially in power line inspection.

[0003] For example, the prior art of CN104965520A discloses a flight control system for a power line inspection drone based on RFID. It includes a rotor drone system and a ground monitoring system; the rotor drone system includes an upper propeller, a lower propeller, a pitch attitude control mechanism, a yaw attitude control mechanism, a gyro sensor, a front engine, a rear engine, an ARM processor, an active RFID reader and a battery; the engines drive the propellers to rotate in opposite directions respectively, and control the stability of the aircraft fuselage by controlling the speed ratio of the two engines; the ARM processor uses an embedded system for flight control and attitude adjustment; the active RFID reader reads the data information of the RFID tag on the device to be detected; the ground monitoring system is in communication connection with the rotor drone system; and the battery provides energy for the rotor drone system.

[0004] Another typical example is a multi-rotor drone system for power inspection disclosed in the prior art of CN115158049A, which includes a multi-rotor drone and a wireless charging mechanism for the drone installed on a transmission tower. The multi-rotor drone is a fixed-wing drone, with a propeller installed on the arm, a battery installed at the lower end of the body to power the multi-rotor drone, and a wireless charging receiving coil installed at the lower end of the body, a wireless charging transmitting coil fixedly installed at the center of the support plate to charge the wireless charging receiving coil, and the multi-rotor drone lands by cooperating with the drone positioning mechanism on the support plate through the internal positioning magnetic sheet, and after landing, the wireless charging receiving coil is located directly above the wireless charging transmitting coil, and the battery of the multi-rotor drone can be charged at this time.

[0005] Let's look at the prior art disclosed in CN116107325A, which includes a UAV flight control system, a camera, and a flight system wireless control terminal. The UAV flight control system includes an image receiving unit and a UAV flight controller connected to its output end; the camera is connected to the UAV flight controller and can transmit aerial photography information to the image receiving unit; the flight system wireless control terminal includes a remote control system and a mobile phone, the UAV flight controller is respectively connected to the remote control system and the mobile phone for communication, and the mobile phone is provided with a monitoring platform for feedback or early warning of aerial photography information.

[0006] The UAV in the prior art has poor adaptability when encountering sudden events such as storms during the inspection process. In order to solve the common problems in the field, the present invention is made. Summary of the invention

[0007] The purpose of the present invention is to propose an adaptive flight control system for a power line inspection UAV in view of the current shortcomings.

[0008] In order to overcome the shortcomings of the prior art, the present invention adopts the following technical solutions:

[0009] An adaptive flight control system for a power line inspection UAV comprises a data acquisition module arranged on the power equipment, and a communication module, a sensor module, a UAV attitude adjustment module and a central data processing module arranged on the UAV; the data acquisition module is used to collect environmental parameters near the power equipment; the communication module is used to realize signal exchange between the UAV and the data acquisition module; the sensor module is used to collect environmental parameters near the UAV, and the central data processing module is used to generate adjustment parameters according to the data acquired by the data acquisition module and control various modules of the UAV according to the adjustment parameters.

[0010] Furthermore, the data acquisition module includes a shooting unit, a wind speed detection unit, a data sorting unit and a sending unit. The shooting unit is used to shoot images of the drone, the wind speed detection unit is used to detect the wind speed of the power equipment where the data acquisition module is located, the data sorting unit is used to sort the data of the shooting unit and the wind speed detection unit, and the sending unit is used to send the sorted data to the drone.

[0011] The data acquired by the sensor module includes the wind speed faced by the drone.

[0012] Furthermore, the UAV attitude adjustment module includes a pitch attitude control unit, a roll attitude control unit and a power unit, the pitch attitude control unit is used to control the pitch angle of the UAV, the roll attitude control unit is used to control the roll angle of the UAV, and the power unit includes multiple engines, which are used to provide power for the UAV, the pitch attitude control unit or the roll attitude control unit.

[0013] Furthermore, the central data processing module includes a navigation unit, a data receiving unit, a computing unit and a storage unit. The navigation unit is used to navigate the UAV according to the inspection route, the data receiving unit is used to receive data from the sensor module and the data acquisition module, the computing unit is used to calculate the adjustment parameters of various parts of the UAV based on the data received by the data receiving unit, and the storage unit is used to save the calculation results of the computing unit.

[0014] Furthermore, the computing unit includes a preprocessing unit, a judgment unit, an algorithm storage unit and an algorithm scheduling unit. The preprocessing unit is used to preprocess the data received by the data receiving unit. The judgment unit is used to judge whether it is necessary to adjust various parameters of the drone according to the processing results of the preprocessing unit. The algorithm storage unit is used to store algorithms. The algorithm scheduling unit is used to schedule the algorithms stored in the algorithm storage unit and calculate various adjustment parameters.

[0015] Furthermore, it also includes an adaptive flight control method for a power line inspection UAV based on the flight control system, the method comprising the following steps:

[0016] S1, the data acquisition module collects environmental parameters near the power equipment, and the sensor module collects environmental parameters near the drone;

[0017] S2, the central data processing module receives the data collected by the data acquisition module and the sensor module;

[0018] S3, the central data processing module calculates and saves the adjustment parameters of each part according to the received data;

[0019] S4, the drone posture adjustment module adjusts the drone posture according to the calculation result of the central data processing module;

[0020] S5, the UAV posture adjustment module adjusts the flight altitude of the UAV according to the adjustment result of the UAV posture.

[0021] Furthermore, the central data processing module calculates and saves the adjustment parameters of each part, including the following steps:

[0022] S31, calculating the current adjustment parameters of the drone according to the captured drone image and the wind force currently exerted on the drone;

[0023] S32, setting adjustment parameters of the drone at various moments in the future according to the detection result of the wind speed detection unit and the current state of the drone;

[0024] S33, the storage module saves the adjustment parameters at each future moment;

[0025] S34, the storage module sends the corresponding adjustment parameters to the drone posture adjustment module at the corresponding moment according to the moment values ​​corresponding to the adjustment parameters at each future moment.

[0026] Furthermore, calculating the adjustment parameters of the drone at each future moment includes the following steps:

[0027] S321, obtaining the wind speed in each direction at the current position of the drone and the wind speed in each direction at the position where the power equipment is located, and calculating the wind speed difference in each direction;

[0028] S322, obtaining the position of the UAV at each future moment;

[0029] S323, estimating the wind speed in each direction at the location of the UAV at each moment;

[0030] S324, calculating the adjustment parameters of the drone at each future moment according to the wind speed in each direction at the location of the drone at each moment.

[0031] Furthermore, the drone posture adjustment module adjusts the flight altitude of the drone according to the adjustment result of the drone posture, including the following steps:

[0032] S51, obtaining the roll angle and pitch angle of the drone after the adjustment according to the roll angle adjustment parameter and the pitch angle adjustment parameter;

[0033] S52, obtaining an actual roll angle adjustment value and an actual pitch angle adjustment value according to the adjustment error parameter;

[0034] S53, calculating the roll angle adjustment efficiency and the pitch angle adjustment efficiency;

[0035] S54, adjusting the height of the UAV according to the adjustment efficiency.

[0036] The beneficial effects achieved by the present invention are: 1. The current posture of the drone is obtained by a shooting unit and the drone posture is adjusted in combination with the roll angle and pitch angle obtained by the drone itself, which is beneficial to improving the accuracy of the adjustment value of the drone posture. Even if an error occurs in one part, the impact on the adjustment value of the drone posture is relatively small.

[0037] 2. By calculating the adjustment parameters of the drone at each moment in the future and making corresponding posture adjustments at the corresponding moment according to the calculation results, it is beneficial to change the drone posture in advance according to the change of wind speed, which is beneficial to keep the drone posture in a relatively stable state. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The present invention can be further understood from the following description in conjunction with the accompanying drawings. The components in the figures are not necessarily drawn to scale, but the emphasis is placed on illustrating the principles of the embodiments. In different views, the same reference numerals designate the same parts.

[0039] Figure 1 It is a schematic diagram of the structure of the present invention.

[0040] Figure 2 It is the work flow chart of the present invention.

[0041] Figure 3 Flowchart for calculating the adjustment parameters of each part by the central data processing module of the present invention.

[0042] Figure 4 The present invention is a flow chart for calculating the adjustment parameters of the UAV at each future moment. DETAILED DESCRIPTION

[0043] The following is an explanation of the embodiments of the present invention through specific embodiments. Those skilled in the art can understand the advantages and effects of the present invention from the contents disclosed in this specification. The present invention can be implemented or applied through other different specific embodiments, and the details in this specification can also be modified and changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. In addition, the drawings of the present invention are only simple schematic illustrations and are not depicted according to actual sizes. It is stated in advance. The following embodiments will further explain the relevant technical contents of the present invention in detail, but the disclosed contents are not intended to limit the scope of protection of the present invention.

[0044] Embodiment 1: According to Figure 1 , Figure 2 , Figure 3 and Figure 4 The present embodiment provides an adaptive flight control system for a power line inspection UAV, comprising a data acquisition module arranged on the power equipment, and a communication module, a sensor module, a UAV attitude adjustment module and a central data processing module arranged on the UAV; the data acquisition module is used to collect environmental parameters near the power equipment; the communication module is used to realize signal exchange between the UAV and the data acquisition module; the sensor module is used to collect environmental parameters near the UAV, and the central data processing module is used to generate adjustment parameters according to the data acquired by the data acquisition module and control various modules of the UAV according to the adjustment parameters.

[0045] Furthermore, the data acquisition module includes a shooting unit, a wind speed detection unit, a data sorting unit and a sending unit. The shooting unit is used to shoot images of the drone, the wind speed detection unit is used to detect the wind speed of the power equipment where the data acquisition module is located, the data sorting unit is used to sort the data of the shooting unit and the wind speed detection unit, and the sending unit is used to send the sorted data to the drone.

[0046] Specifically, the data organization includes but is not limited to noise reduction, classification, integration and format conversion.

[0047] Furthermore, the UAV attitude adjustment module includes a pitch attitude control unit, a roll attitude control unit and a power unit, the pitch attitude control unit is used to control the pitch angle of the UAV, the roll attitude control unit is used to control the roll angle of the UAV, and the power unit includes multiple engines, which are used to provide power for the UAV, the pitch attitude control unit or the roll attitude control unit.

[0048] Furthermore, the central data processing module includes a navigation unit, a data receiving unit, a computing unit and a storage unit. The navigation unit is used to navigate the UAV according to the inspection route, the data receiving unit is used to receive data from the sensor module and the data acquisition module, the computing unit is used to calculate the adjustment parameters of various parts of the UAV based on the data received by the data receiving unit, and the storage unit is used to save the calculation results of the computing unit.

[0049] Furthermore, the computing unit includes a preprocessing unit, a judgment unit, an algorithm storage unit and an algorithm scheduling unit. The preprocessing unit is used to preprocess the data received by the data receiving unit. The judgment unit is used to judge whether it is necessary to adjust various parameters of the drone according to the processing results of the preprocessing unit. The algorithm storage unit is used to store algorithms. The algorithm scheduling unit is used to schedule the algorithms stored in the algorithm storage unit and calculate various adjustment parameters.

[0050] Furthermore, it also includes an adaptive flight control method for a power line inspection UAV based on the flight control system, the method comprising the following steps:

[0051] S1, the data acquisition module collects environmental parameters near the power equipment, and the sensor module collects environmental parameters near the drone;

[0052] Specifically, the power equipment is the current inspection destination of the drone, and the power equipment described below refers to the power equipment;

[0053] S2, the central data processing module receives the data collected by the data acquisition module and the sensor module;

[0054] S3, the central data processing module calculates and saves the adjustment parameters of each part according to the received data;

[0055] S4, the drone posture adjustment module adjusts the drone posture according to the calculation result of the central data processing module;

[0056] S5, the UAV posture adjustment module adjusts the flight altitude of the UAV according to the adjustment result of the UAV posture.

[0057] Furthermore, the central data processing module calculates and saves the adjustment parameters of each part, including the following steps:

[0058] S31, calculating the current adjustment parameters of the drone according to the captured drone image and the wind force currently exerted on the drone;

[0059] Obtain the roll angle adjustment parameters of the drone according to the following formula:

[0060] ;

[0061] in, is the roll angle adjustment parameter, that is, the value of the roll angle after adjustment. is a first distance threshold, which is set by those skilled in the art according to the farthest distance at which the shooting unit can clearly image, and dis is the distance between the current position of the drone and the shooting unit, which can be obtained according to the signal transmission speed and signal transmission time between the shooting unit and the drone; The current roll angle of the drone captured by the camera unit. The roll angle currently detected by the drone itself;

[0062] Obtain the pitch angle adjustment parameters of the drone according to the following formula:

[0063] ;

[0064] in, is the pitch angle adjustment parameter, that is, the value after the pitch angle is adjusted. is a first distance threshold, which is set by those skilled in the art according to the farthest distance at which the shooting unit can clearly image, and dis is the distance between the current position of the drone and the shooting unit, which can be obtained according to the signal transmission speed and signal transmission time between the shooting unit and the drone; The actual pitch angle of the drone captured by the shooting unit. The pitch angle currently set for the drone;

[0065] S32, setting adjustment parameters of the drone at various moments in the future according to the detection result of the wind speed detection unit and the current state of the drone;

[0066] S33, the storage module saves the adjustment parameters at each future moment;

[0067] S34, the storage module sends the corresponding adjustment parameters to the drone posture adjustment module at the corresponding moment according to the moment values ​​corresponding to the adjustment parameters at each future moment.

[0068] Furthermore, calculating the adjustment parameters of the drone at each future moment includes the following steps:

[0069] S321, obtaining the wind speed in each direction at the current position of the drone and the wind speed in each direction at the position where the power equipment is located, and calculating the wind speed difference in each direction;

[0070] ;

[0071] ;

[0072] in, is the current lateral wind speed to which the UAV is subjected, is the longitudinal wind speed that the UAV is currently experiencing, is the wind speed difference in the lateral direction based on the current posture of the UAV, which is referred to as the lateral direction below. The wind speed detected by the wind speed detection unit in the horizontal direction. If the wind direction is from left to right, the wind speed value is positive, otherwise, the wind speed value is negative; is the wind speed difference in the longitudinal direction based on the current posture of the UAV, which is referred to as the longitudinal direction below. is the wind speed detected by the wind speed detection unit in the longitudinal direction. If the wind direction is from front to back, the wind speed value is positive, otherwise, the wind speed value is negative;

[0073] Specifically, after the drone is adjusted according to the roll angle adjustment parameters and the pitch angle adjustment parameters, the theoretical values ​​of the roll angle and the pitch angle should be 0. However, as the drone continues to fly, the roll angle and the pitch angle of the drone will change due to the influence of wind. Therefore, it is necessary to continuously obtain the adjustment parameters at each moment in the future to ensure the stable flight of the drone.

[0074] S322, obtaining the position of the UAV at each future moment;

[0075] Specifically, the position of the UAV at each future moment can be predicted by the navigation unit according to the predetermined trajectory;

[0076] S323, estimating the wind speed in each direction at the location of the UAV at each moment;

[0077] ;

[0078] ;

[0079] in, is the lateral wind speed at the position of the UAV at time t, is the longitudinal wind speed of the UAV at time t, is the estimated distance between the UAV and the power equipment at time t, which can be obtained through the navigation unit;

[0080] S324, calculating the adjustment parameters of the drone at each future moment according to the wind speed in each direction at the location of the drone at each moment.

[0081] ;

[0082] ;

[0083] in, is the roll angle adjustment parameter at time t, is the pitch angle adjustment parameter at time t.

[0084] Furthermore, the drone posture adjustment module adjusts the flight altitude of the drone according to the adjustment result of the drone posture, including the following steps:

[0085] S51, obtaining the roll angle and pitch angle of the drone after the adjustment according to the roll angle adjustment parameter and the pitch angle adjustment parameter;

[0086] Specifically, when the UAV is adjusted according to the roll angle adjustment parameters and the pitch angle adjustment parameters, the theoretical values ​​of the roll angle and the pitch angle should be 0, but in fact, due to environmental fluctuations, the roll angle and the pitch angle are difficult to reach the theoretical values; through S51, the roll angle of the UAV after adjustment at time t is , Photographed by the shooting unit, the pitch angle of the drone after adjustment at time t is , Filmed by the filming unit;

[0087] S52, obtaining an actual roll angle adjustment value and an actual pitch angle adjustment value according to the adjustment error parameter;

[0088] The actual roll angle adjustment value and the actual pitch angle adjustment value can be obtained according to the following formula:

[0089] ;

[0090] ;

[0091] in, is the actual roll angle adjustment value, is the actual pitch angle adjustment value;

[0092] S53, calculating the roll angle adjustment efficiency and the pitch angle adjustment efficiency;

[0093] The roll angle adjustment efficiency and pitch angle adjustment efficiency are calculated according to the following formula:

[0094] ;

[0095] ;

[0096] in, For roll angle adjustment efficiency, The time taken for the roll angle adjustment (obtained through the drone posture adjustment module). Adjust the efficiency for the pitch angle, The time taken for pitch angle adjustment;

[0097] S54, adjusting the height of the UAV according to the adjustment efficiency.

[0098] Specifically, the adjustment value of the drone's altitude satisfies the following formula:

[0099] ;

[0100] ;

[0101] ;

[0102] ;

[0103] ;

[0104] Specifically, is the efficiency error parameter at time t, which is used to characterize the difference between the actual adjustment efficiency and the ideal adjustment efficiency. H is the adjustment value of the UAV height. When it is greater than 0, the UAV height decreases to the corresponding value, otherwise it increases. The ideal adjustment efficiency is determined by the performance of the drone. This value is set by the maximum angle that the drone can adjust per unit time during the performance test of the drone by the staff. is the adjustment weight parameter at time t, is the adjustment weight parameter at time i, It is the adjustment value of the drone’s altitude at time i-1. is the efficiency error parameter at time i; specifically, when the UAV adjusts its height for the first time, it is adjusted according to the initial value of the height adjustment, which may be 5 to 10 cm; when the height of the UAV reaches the minimum height, the height of the UAV no longer decreases, and the minimum height is the height of the power equipment that the UAV is going to inspect plus 0.5 m.

[0105] Specifically, the higher the altitude of the drone, the lower the air density around it. When the air density decreases, the lift and thrust generated by the propeller decrease, and the adjustment efficiency of the roll angle and pitch angle will also become lower. Therefore, the altitude of the drone needs to be lowered. However, lowering the altitude of the drone will result in a reduction in the field of view of the drone's images, affecting the drone's inspection data collection. By adjusting the altitude of the drone, it is beneficial to make the adjustment efficiency of the roll angle and pitch angle as close to the ideal state as possible while ensuring the field of view of the drone's images, thereby ensuring the stability of the drone.

[0106] The beneficial effects of this solution are: 1. The current attitude of the drone is obtained by the shooting unit and the drone posture is adjusted in combination with the roll angle and pitch angle obtained by the drone itself, which is conducive to improving the accuracy of the adjustment value of the drone attitude. Even if an error occurs in one part, the impact on the adjustment value of the drone attitude is small.

[0107] 2. By calculating the adjustment parameters of the drone at each moment in the future and making corresponding posture adjustments at the corresponding moment according to the calculation results, it is beneficial to change the drone posture in advance according to the change of wind speed, which is beneficial to keep the drone posture in a relatively stable state.

[0108] Embodiment 2: This embodiment should be understood to include all the features of any of the above embodiments, and further improve on the above embodiments, and also include a preferred method for calculating the adjustment parameters of the UAV at each future moment, which is used to calculate the adjustment parameters when the UAV flight speed is not uniform and a large degree of deflection occurs during the flight, including the following steps:

[0109] STEP 1: Obtain the wind speed in each direction at the current position of the drone and the wind speed in each direction at the location of the power equipment, and calculate the wind speed difference in each direction;

[0110] STEP2, obtain the possible position of the drone at each moment in the future;

[0111] STEP3: Estimate the wind speed in each direction at the location of the drone at each moment;

[0112] Specifically, STEP1 to STEP3 may be performed with reference to the method in Embodiment 1;

[0113] STEP4, obtain the roll angle and pitch angle of the drone at each moment in the past;

[0114] STEP5, obtain the wind speed in each direction at the position of the drone at each time in the past, as well as the roll angle adjustment parameters and pitch angle adjustment parameters of the drone at each time in the past, and obtain the relationship between the lateral wind speed and the roll angle adjustment parameter and the relationship between the longitudinal wind speed and the pitch angle adjustment parameter;

[0115] Specifically, the wind speeds in all directions at the location of the drone at various moments in the past, as well as the roll angle adjustment parameters and pitch angle adjustment parameters of the drone at various moments in the past can be obtained through the data recorded by the drone;

[0116] The relationship between the lateral wind speed and the roll angle adjustment parameter and the relationship between the longitudinal wind speed and the pitch angle adjustment parameter can be obtained by linear regression and least squares method. The linear regression and least squares method belong to the prior art and will not be described in detail here. as well as ; is the longitudinal wind speed at time t, is the functional relationship between the pitch angle adjustment parameter and the longitudinal wind speed; is the lateral wind speed at time t, is the functional relationship between the roll angle adjustment parameter and the lateral wind speed;

[0117] STEP6, calculate the adjustment parameters of the drone at each moment in the future based on the wind speed in each direction at the drone’s location at each moment.

[0118] ;

[0119] ;

[0120] in, is the roll angle adjustment parameter at time t after optimization, is the pitch angle adjustment parameter at time t after optimization, is a proportional constant, which is determined by those skilled in the art based on the correlation of past adjustment parameters, and its optional value is 0.2 or 0.4. When the past adjustment parameters differ little, 0.4 is selected as the value of the proportional constant, otherwise 0.2 is selected; The maximum value of the roll angle adjustment parameter in the past. Adjust the maximum value of the parameter for past pitch angles.

[0121] Beneficial effects of this embodiment: The calculation method adopted in Embodiment 1 is a calculation method under relatively ideal conditions, but in the actual flight process, due to the influence of weather, the flight speed of the UAV is not necessarily constant and the degree of deflection of the UAV during the flight may be large; this embodiment obtains data from past flights and sets adjustment parameters based on the past data, taking into account the change in flight speed, which is beneficial to improving the benefit of the calculation results for UAV flight and allowing the UAV to fly more stably in future flights.

[0122] The above disclosed contents are only preferred feasible embodiments of the present invention, and do not limit the protection scope of the present invention. Therefore, all equivalent technical changes made by using the contents of the present invention specification and drawings are included in the protection scope of the present invention. In addition, the elements therein can be updated with the development of technology. The above units are only examples. Those skilled in the art can use corresponding units according to different designs according to actual needs when implementing this solution.

Claims

1. An adaptive flight control system for a power line inspection drone, characterized in that: It includes a data acquisition module arranged on the power equipment, and a communication module, a sensor module, a UAV attitude adjustment module and a central data processing module arranged on the UAV; the data acquisition module is used to collect environmental parameters near the power equipment; the communication module is used to realize signal communication between the UAV and the data acquisition module; the sensor module is used to collect environmental parameters near the UAV, and the central data processing module is used to generate adjustment parameters according to the data acquired by the data acquisition module and the sensor module and control various modules of the UAV according to the adjustment parameters; The data acquisition module includes a shooting unit, a wind speed detection unit, a data sorting unit and a sending unit. The shooting unit is used to shoot images of the drone, the wind speed detection unit is used to detect the wind speed of the power equipment where the data acquisition module is located, the data sorting unit is used to sort the data of the shooting unit and the wind speed detection unit, and the sending unit is used to send the sorted data to the drone; The data acquired by the sensor module includes the wind speed faced by the drone; The process of generating adjustment parameters includes: The central data processing module obtains the roll angle adjustment parameters of the drone according to the following formula: ； in, is the roll angle adjustment parameter, that is, the value of the roll angle after adjustment. is a first distance threshold, which is set by a person skilled in the art according to the farthest distance at which a shooting unit can clearly image, and dis is the distance between the current position of the drone and the shooting unit; The current roll angle of the drone captured by the camera unit. The roll angle currently detected by the drone itself; Obtain the pitch angle adjustment parameters of the drone according to the following formula: ； in, is the pitch angle adjustment parameter, that is, the value after the pitch angle is adjusted. is a first distance threshold, which is set by a person skilled in the art according to the farthest distance at which a shooting unit can clearly image, and dis is the distance between the current position of the drone and the shooting unit; The actual pitch angle of the drone captured by the shooting unit. The current pitch angle of the drone.

2. The adaptive flight control system for a power line inspection UAV according to claim 1 is characterized in that: The UAV attitude adjustment module includes a pitch attitude control unit, a roll attitude control unit and a power unit. The pitch attitude control unit is used to control the pitch angle of the UAV, the roll attitude control unit is used to control the roll angle of the UAV, and the power unit includes multiple engines, which are used to provide power for the UAV, the pitch attitude control unit or the roll attitude control unit.

3. The adaptive flight control system for a power line inspection UAV according to claim 2 is characterized in that: The central data processing module includes a navigation unit, a data receiving unit, a computing unit and a storage unit. The navigation unit is used to navigate the UAV according to the inspection route. The data receiving unit is used to receive data from the sensor module and the data acquisition module. The computing unit is used to calculate the adjustment parameters of various parts of the UAV according to the data received by the data receiving unit. The storage unit is used to save the calculation results of the computing unit.

4. The adaptive flight control system for a power line inspection UAV according to claim 3 is characterized in that: The calculation unit includes a preprocessing unit, a judgment unit, an algorithm storage unit and an algorithm scheduling unit. The preprocessing unit is used to preprocess the data received by the data receiving unit. The judgment unit is used to judge whether it is necessary to adjust various parameters of the drone according to the processing result of the preprocessing unit. The algorithm storage unit is used to store the algorithm. The algorithm scheduling unit is used to schedule the algorithm stored in the algorithm storage unit and calculate various adjustment parameters.

5. An adaptive flight control method for a power line inspection UAV, implemented based on the adaptive flight control system for a power line inspection UAV according to claim 4, characterized in that: The following steps are involved: S1, the data acquisition module collects environmental parameters near the power equipment, and the sensor module collects environmental parameters near the drone; S2, the central data processing module receives the data collected by the data acquisition module and the sensor module; S3, the central data processing module calculates and saves the adjustment parameters of each part according to the received data; S4, the drone posture adjustment module adjusts the drone posture according to the calculation result of the central data processing module; S5, the UAV posture adjustment module adjusts the flight altitude of the UAV according to the adjustment result of the UAV posture.

6. The adaptive flight control method for a power line inspection UAV according to claim 5 is characterized in that: The central data processing module calculates the adjustment parameters of each part and saves them, including the following steps: S31, calculating the current adjustment parameters of the drone according to the captured drone image and the wind force currently exerted on the drone; S32, setting adjustment parameters of the drone at various moments in the future according to the detection result of the wind speed detection unit and the current state of the drone; S33, the storage module saves the adjustment parameters at each future moment; S34, the storage module sends the corresponding adjustment parameters to the drone posture adjustment module at the corresponding moment according to the moment values ​​corresponding to the adjustment parameters at each future moment.

7. The adaptive flight control method for a power line inspection UAV according to claim 6 is characterized in that: Calculating the adjustment parameters of the drone at each future moment includes the following steps: S321, obtaining the wind speed in each direction at the current position of the UAV and the wind speed in each direction at the position where the power equipment is located, and calculating the wind speed difference in each direction; S322, obtaining the position of the UAV at each future moment; S323, estimating the wind speed in each direction at the location of the UAV at each moment; S324, calculating the adjustment parameters of the drone at each future moment according to the wind speed in each direction at the location of the drone at each moment.

8. The adaptive flight control method for a power line inspection UAV according to claim 7 is characterized in that: The UAV posture adjustment module adjusts the flight altitude of the UAV according to the adjustment result of the UAV posture, including the following steps: S51, obtaining the roll angle and pitch angle of the drone after the adjustment according to the roll angle adjustment parameter and the pitch angle adjustment parameter; S52, obtaining an actual roll angle adjustment value and an actual pitch angle adjustment value according to the adjustment error parameter; S53, calculating the roll angle adjustment efficiency and the pitch angle adjustment efficiency; S54, adjusting the height of the UAV according to the adjustment efficiency.

Images