Power transmission line inspection control method and system based on unmanned aerial vehicle

Abstract

The invention discloses a power transmission line inspection control method based on an unmanned aerial vehicle, and relates to the technical field of inspection control, and the method comprises the following steps: obtaining optical flow data of the unmanned aerial vehicle; calculating point cloud data of the unmanned aerial vehicle according to the optical flow data; calculating the real-time flight height of the unmanned aerial vehicle according to the point cloud data; calculating the real-time flight speed of the unmanned aerial vehicle according to the optical flow data and the real-time flight height; acquiring the distance between the unmanned aerial vehicle and the tower by using a laser radar, and recording the distance as a spacing distance; according to the real-time flight height, the inspection height of the unmanned aerial vehicle is controlled; and controlling the inspection direction of the unmanned aerial vehicle according to the real-time flight speed and the spacing distance. The optical flow data of the unmanned aerial vehicle is acquired, the real-time flight height and the implementation flight speed of the unmanned aerial vehicle are calculated according to the optical flow data, and the inspection height and the inspection direction of the unmanned aerial vehicle are controlled in combination with the distance between the unmanned aerial vehicle and the tower, so that the inspection efficiency of the power transmission line is improved.

Description

Technical Field

[0001] The present invention relates to the field of inspection control technology, and in particular to a transmission line inspection control method and system based on an unmanned aerial vehicle. Background Art

[0002] Transmission lines are an important part of the power system and play an important role in the transmission of electric energy. In order to ensure the normal operation of the power system, regular inspections of transmission lines are necessary. With the development of transmission line inspection technology, drones have become the main means of transmission line inspection due to their high efficiency and stability.

[0003] The existing UAV inspection process usually uses GPS technology to control the inspection route of the UAV. There is a position error during the inspection control, and the accuracy of the inspection control is not high. At the same time, the inspection control based on GPS technology cannot achieve the ideal control effect, resulting in low inspection efficiency of the transmission line. Summary of the invention

[0004] The purpose of the present invention is to provide a transmission line inspection control method and system based on unmanned aerial vehicle (UAV). The present invention obtains optical flow data of the UAV, calculates the real-time flight altitude and the implementation flight speed of the UAV according to the optical flow data, and controls the inspection height and the inspection direction of the UAV in combination with the distance between the UAV and the tower, thereby improving the efficiency of transmission line inspection.

[0005] The purpose of the present invention is achieved by the following technical means: In a first aspect, the present invention provides a transmission line inspection control method based on a drone, comprising the following steps: Get the optical flow data of the drone; Calculating point cloud data of the drone based on the optical flow data; Calculate the real-time flight altitude of the UAV based on the point cloud data; Calculating the real-time flight speed of the UAV according to the optical flow data and the real-time flight altitude; The distance between the drone and the tower is obtained using laser radar and recorded as the separation distance; Controlling the inspection height of the UAV according to the real-time flight height; The inspection direction of the UAV is controlled according to the real-time flight speed and the interval distance.

[0006] Preferably, calculating the point cloud data of the drone according to the optical flow data comprises the following steps: Get the imaging focal length of the drone; The optical flow data is three-dimensionally converted according to the imaging focal length to obtain the point cloud data.

[0007] Preferably, the calculating the real-time flight speed of the drone according to the optical flow data and the real-time flight altitude comprises the following steps: According to the optical flow data, obtaining a roll angle change and a pitch angle change; Calculating an optical flow rotation amount according to the roll angle change amount and the pitch angle change amount; Calculating the displacement of the UAV according to the optical flow rotation amount and the real-time flight altitude; Calculating the real-time flight speed according to the displacement of the UAV; The displacement calculation formula of the UAV is as follows: , in, is the horizontal axis displacement of the UAV, is the component of the optical flow data on the horizontal axis, is the optical flow rotation of the horizontal axis, is the scaling factor, For real-time flight altitude, is the imaging focal length, is the longitudinal displacement of the UAV, is the component of the optical flow data on the vertical axis, is the optical flow rotation about the vertical axis.

[0008] Preferably, the calculating the real-time flight speed of the drone according to the optical flow data and the real-time flight altitude further comprises the following steps: The optical flow data is filtered.

[0009] Preferably, controlling the inspection direction of the drone according to the real-time flight speed and the interval distance comprises the following steps: Obtain inspection images from drones; Identify the inspection image to obtain the roll angle data and pitch angle data of the drone; Calculating an attitude error according to the roll angle data, the pitch angle data and the interval distance; The roll angle and the pitch angle are controlled according to the attitude error.

[0010] Preferably, the controlling the inspection direction of the UAV according to the real-time flight speed and the interval distance further includes the following steps: Obtaining the safety distance of the tower corresponding to the spacing distance; The adjustment speed of the roll angle and the adjustment speed of the pitch angle are controlled according to the real-time flight speed and the safety distance.

[0011] Preferably, the method further comprises the following steps: Use laser scanners to collect topographic information of transmission lines and coordinate information of towers; Constructing a virtual inspection model according to the topographic information of the transmission line and the coordinate information of the tower; Get the safe distance of the tower; The inspection route of the drone is planned according to the inspection virtual model and the safety distance.

[0012] In a second aspect, the present invention provides a transmission line inspection control system based on a drone, applying the above-mentioned transmission line inspection control method based on a drone, including: an optical flow data acquisition module, a point cloud data calculation module, a flight height calculation module, a flight speed calculation module, an interval distance acquisition module, an inspection height control module and an inspection direction control module; The optical flow data acquisition module is used to acquire the optical flow data of the drone; The point cloud data calculation module is used to calculate the point cloud data of the drone based on the optical flow data; The flight altitude calculation module is used to calculate the real-time flight altitude of the UAV based on the point cloud data; The flight speed calculation module is used to calculate the real-time flight speed of the UAV according to the optical flow data and the real-time flight altitude; The interval distance acquisition module is used to use a laser radar to obtain the distance between the drone and the tower, which is recorded as the interval distance; The inspection height control module is used to control the inspection height of the UAV according to the real-time flight height; The inspection direction control module is used to control the inspection direction of the UAV according to the real-time flight speed and the interval distance.

[0013] In a third aspect, the present invention provides an electronic device comprising a processor and a memory, wherein the memory is used to store computer program code, and the computer program code comprises computer instructions. When the processor executes the computer instructions, the electronic device executes the above-mentioned UAV-based transmission line inspection control method.

[0014] In a fourth aspect, the present invention provides a computer-readable storage medium, in which a computer program is stored. The computer program includes program instructions, and when the program instructions are executed by a processor of an electronic device, the processor executes the above-mentioned UAV-based transmission line inspection control method.

[0015] Compared with the prior art, the present invention has the following beneficial effects: The present invention obtains the optical flow data of the UAV, calculates the real-time flight altitude and the flight speed of the UAV according to the optical flow data, and controls the inspection altitude and the inspection direction of the UAV in combination with the distance between the UAV and the tower, thereby improving the efficiency of the transmission line inspection. The present invention obtains the roll angle change and the pitch angle change, calculates the optical flow rotation and displacement of the UAV, and then calculates the real-time flight speed, thereby improving the accuracy of the real-time flight speed calculation and providing a data basis for subsequent inspection control; The present invention obtains the roll angle and the pitch angle, calculates the attitude error with the ideal roll angle and the ideal pitch angle according to the interval distance, and controls the roll angle and the pitch angle; at the same time, according to the difference between the interval distance and the safety distance, the adjustment speed is controlled in combination with the real-time flight speed, thereby improving the efficiency of transmission line inspection. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0018] Figure 1 A schematic diagram of a flow chart of a transmission line inspection control method based on a drone provided in this embodiment; Figure 2 A schematic diagram of the process of calculating the point cloud data of the drone according to the optical flow data in step S2 provided in this embodiment; Figure 3 A schematic diagram of a flow chart of step S4 provided in this embodiment, which is to calculate the real-time flight speed of the UAV according to the optical flow data and the real-time flight altitude; Figure 4 Step S7 provided in this embodiment is a flow chart of the inspection direction of the Kangzhi UAV according to the flight speed and the interval distance; Figure 5 A schematic diagram of the structure of a transmission line inspection control system based on a drone provided in this embodiment; Figure 6 A schematic diagram of the structure of an electronic device provided in this embodiment. DETAILED DESCRIPTION

[0019] 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.

[0020] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0021] In addition, the descriptions of "first", "second", etc. in the present invention are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0022] This embodiment provides a transmission line inspection control method based on a drone, such as Figure 1 As shown, the following steps are included: S1, obtain the optical flow data of the drone; S2, calculates the point cloud data of the drone based on the optical flow data; S3, calculates the real-time flight altitude of the UAV based on the point cloud data; S4, calculates the real-time flight speed of the UAV based on the optical flow data and the real-time flight altitude; S5, using laser radar to obtain the distance between the drone and the tower, recorded as the separation distance; S6, controls the inspection height of the drone according to the real-time flight altitude; S7 controls the inspection direction of the drone based on the real-time flight speed and interval distance.

[0023] It should be noted that optical flow data is the pixel motion data of the drone obtained by capturing continuous images through high-definition imaging equipment such as high-definition cameras installed on the drone, and processing two consecutive image frames. Point cloud data describes the position of the drone in space through three-dimensional coordinate data. The point cloud data contains the height data of the drone's inspection process. By processing the optical flow data, the real-time flight altitude of the drone is obtained. The inspection altitude of the drone is controlled by real-time monitoring of the drone's flight altitude. In addition, the flight speed of the drone is calculated by combining the drone's optical flow data and flight altitude, and the interval distance, that is, the distance between the surrounding towers and the drone, is obtained by setting a laser radar on the drone. The inspection direction of the drone is controlled according to the flight speed and interval distance. Specifically, the calculation formula for the interval distance is as follows: , in, is the interval distance, is the speed of light, is the laser emission time, is the laser receiving time.

[0024] In this embodiment, by acquiring the optical flow data of the UAV, the real-time flight altitude and the actual flight speed of the UAV are calculated according to the optical flow data, and the inspection height and the inspection direction of the UAV are controlled in combination with the distance between the UAV and the tower, thereby improving the efficiency of the transmission line inspection.

[0025] In some embodiments, step S2 calculates the point cloud data of the drone based on the optical flow data, such as Figure 2 As shown, the following steps are included: S21, obtain the imaging focal length of the drone; S22, performing three-dimensional conversion on the optical flow data according to the imaging focal length to obtain point cloud data.

[0026] It should be noted that the projection of the two-dimensional plane motion information of the optical flow data into the three-dimensional space requires obtaining the imaging focal length and determining the projection point by the imaging focal length. Specifically, the formula for three-dimensional conversion is expressed as follows: , in, is the horizontal coordinate after three-dimensional transformation, is the horizontal coordinate of the optical flow data, is the imaging focal length, is the distance from the data point to the projection plane, is the vertical coordinate after three-dimensional transformation, is the vertical coordinate of the optical flow data.

[0027] In this embodiment, the optical flow data is converted into point cloud data through imaging focal length, which improves the efficiency of point cloud data acquisition and provides a data basis for subsequent inspection control.

[0028] In some embodiments, step S4 calculates the real-time flight speed of the drone based on the optical flow data and the real-time flight altitude, such as Figure 3 As shown, the following steps are included: S41, obtaining a roll angle change and a pitch angle change according to the optical flow data; S42, calculating the optical flow rotation amount according to the roll angle change amount and the pitch angle change amount; S43, calculating the displacement of the UAV according to the optical flow rotation amount and the real-time flight altitude; S44, calculates the real-time flight speed according to the displacement of the UAV; Among them, the displacement calculation formula of the drone is as follows: , in, is the horizontal axis displacement of the UAV, is the component of the optical flow data on the horizontal axis, is the optical flow rotation of the horizontal axis, is the scaling factor, For real-time flight altitude, is the imaging focal length, is the longitudinal displacement of the UAV, is the component of the optical flow data on the vertical axis, is the optical flow rotation about the vertical axis.

[0029] It should be noted that the real-time flight speed of the drone is obtained by obtaining the displacement of the drone in two image frames and dividing it by the sampling time of the two image frames. Specifically, by analyzing two consecutive image frames of optical flow data, the roll angle change and pitch angle change of the drone are obtained, and then the optical flow rotation is calculated. According to the optical flow rotation and the above-calculated real-time flight altitude, the displacement of the drone is calculated. In some embodiments, the calculation formula of the optical flow rotation is as follows: , in, is the optical flow rotation of the horizontal axis, is the roll angle change, is the pixel in the horizontal direction of the image, is the length of the image, is the optical flow rotation of the vertical axis, is the pitch angle change, is the pixel in the vertical direction of the image, The height of the image.

[0030] In this embodiment, by obtaining the roll angle change and pitch angle change, the optical flow rotation and displacement of the UAV are calculated, and then the real-time flight speed is calculated, which improves the accuracy of the real-time flight speed calculation and provides a data basis for subsequent inspection control.

[0031] In some embodiments, step S4, calculating the real-time flight speed of the drone based on the optical flow data and the real-time flight altitude, further includes the following steps: Filter the optical flow data.

[0032] It should be noted that the acquired optical flow data is easily affected by noise, so it is necessary to filter and denoise the optical flow data. Specifically, the optical flow data can be processed by constructing a filtering low-pass filter to achieve the purpose of removing noise. The formula for filtering is expressed as follows: , in, is the optical flow data after filtering. is the optical flow data before filtering, is the filter coefficient.

[0033] In this embodiment, the accuracy of flight speed calculation is improved by filtering the optical flow data.

[0034] In some embodiments, step S7 controls the inspection direction of the drone according to the real-time flight speed and the interval distance, such as Figure 4 As shown, the following steps are included: S71, obtaining the inspection image of the UAV; S72, identifying the inspection image to obtain the roll angle data and the pitch angle data of the UAV; S73, calculating an attitude error according to the roll angle data, the pitch angle data and the interval distance; S74, controlling the roll angle and the pitch angle according to the attitude error; S75, obtaining a safe distance between the towers and the spacing distance; S76, controlling the adjustment speed of the roll angle and the adjustment speed of the pitch angle according to the real-time flight speed and the safety distance.

[0035] It should be noted that the inspection direction of the drone is controlled by controlling the roll angle and pitch angle of the drone. Specifically, the inspection image of the drone is identified through image recognition technology to obtain the specific roll angle and pitch angle of the drone; according to the interval distance, the ideal roll angle data and pitch angle data at this interval distance are obtained, and the error with the roll angle data and pitch angle data of the drone is calculated to obtain the attitude error. The roll angle and pitch angle of the drone are controlled according to the attitude error.

[0036] Controlling the inspection direction of the drone also requires considering the real-time flight speed of the drone. When the drone deviates slightly from the inspection route, the inspection route of the drone can be gradually adjusted without affecting the flight and inspection results of the drone. When the drone is too close to the pole tower, it will be affected by the magnetic field of the pole tower, thus affecting the inspection control. Therefore, the safe distance of the pole tower is obtained, the difference with the interval distance is calculated, and the speed of the drone's motor is controlled by combining the flight speed output speed control, thereby controlling the adjustment speed of the roll angle and pitch angle.

[0037] In this embodiment, the roll angle and pitch angle are obtained, and the attitude error between the roll angle and the ideal pitch angle is calculated according to the interval distance, so as to control the roll angle and the pitch angle. At the same time, the adjustment speed is controlled according to the difference between the interval distance and the safety distance combined with the real-time flight speed, thereby improving the efficiency of transmission line inspection.

[0038] In some embodiments, the following steps are also included: Use laser scanners to collect topographic information of transmission lines and coordinate information of towers; Construct a virtual inspection model based on the topographic information of the transmission line and the coordinate information of the tower; Get the safe distance of the tower; Plan the drone’s inspection route based on the inspection virtual model and safety distance.

[0039] It should be noted that by building a virtual inspection model, the inspection of the drone can be guided and controlled in real time. Specifically, the terrain information of the transmission line and the coordinate information of the pole tower are obtained, and the obstacle point set and the pole tower point set are constructed; the coordinate information of the obstacle closest to the drone and the coordinates of the two nearest pole towers are obtained; the distance from the drone to the obstacle and the distance between the two pole towers on the route are calculated, and the inspection route of the drone is planned according to the distance.

[0040] In this embodiment, the terrain information of the transmission line and the coordinate information of the tower are collected through laser scanning technology, a virtual inspection model is constructed, and the inspection route of the drone is planned by obtaining the safe distance of the tower, thereby improving the efficiency of the transmission line inspection.

[0041] Embodiment 2 This embodiment provides a transmission line inspection control system based on a drone, and applies the above-mentioned transmission line inspection control method based on a drone, such as Figure 5 As shown, it includes: an optical flow data acquisition module, a point cloud data calculation module, a flight height calculation module, a flight speed calculation module, an interval distance acquisition module, an inspection height control module and an inspection direction control module; Optical flow data acquisition module, used to obtain optical flow data of drones; Point cloud data calculation module, used to calculate the point cloud data of the drone based on the optical flow data; The flight altitude calculation module is used to calculate the real-time flight altitude of the UAV based on the point cloud data; The flight speed calculation module is used to calculate the real-time flight speed of the drone based on the optical flow data and the real-time flight altitude; The interval distance acquisition module is used to obtain the distance between the drone and the tower using a laser radar, which is recorded as the interval distance; Inspection height control module, used to control the inspection height of the drone according to the real-time flight height; The inspection direction control module is used to control the inspection direction of the drone according to the real-time flight speed and interval distance.

[0042] In this embodiment, by acquiring the optical flow data of the UAV, the real-time flight altitude and the actual flight speed of the UAV are calculated according to the optical flow data, and the inspection height and the inspection direction of the UAV are controlled in combination with the distance between the UAV and the tower, thereby improving the efficiency of the transmission line inspection.

[0043] It should be understood that the disclosed system can be implemented in other ways. For example, the system embodiments described above are merely schematic. For example, the division of the above modules is only a logical function division. There may be other division methods in actual implementation. For example, multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, each functional module can be integrated into a processing module, or each module can exist physically separately, or two or more modules can be integrated into one module. The above integrated modules can be implemented in the form of hardware or in the form of software functional modules.

[0044] Embodiment 3 This embodiment provides an electronic device 2, such as Figure 6 As shown, a processor 21 and a memory 22, the memory 22 is used to store computer program codes, the computer program codes include computer instructions, when the processor 21 executes the computer instructions, the electronic device executes the above-mentioned transmission line inspection control method based on drone.

[0045] The electronic device 2 includes a processor 21, a memory 22, an output device 23, and an input device 24. The processor 21, the memory 22, the output device 23, and the input device 24 are coupled via a connector, and the connector includes various interfaces, transmission lines, or buses, etc., which are not limited in the embodiments of the present invention. It should be understood that in various embodiments of the present invention, coupling refers to mutual connection in a specific manner, including direct connection or indirect connection through other devices, for example, through various interfaces, transmission lines, buses, etc.

[0046] The processor 21 may be one or more graphics processing units (GPUs). When the processor 21 is a GPU, the GPU may be a single-core GPU or a multi-core GPU. Optionally, the processor 21 may be a processor group consisting of multiple GPUs, and the multiple processors are coupled to each other via one or more buses. Optionally, the processor 21 may also be other types of processors, etc., which are not limited in the embodiments of the present invention.

[0047] The memory 22 can be used to store computer program instructions and various computer program codes including program codes for executing the scheme of the present invention. Optionally, the memory 22 includes but is not limited to random access memory (RAM), read-only memory (ROM), erasable programmable read only memory (EPROM), or portable read only memory (CD-ROM), and the memory 22 is used for related instructions and data.

[0048] The input device 24 is used to input data and / or signals, and the output device 23 is used to output data and / or signals. The output device 23 and the input device 24 can be independent devices or an integrated device.

[0049] This embodiment provides a computer-readable storage medium, in which a computer program is stored. The computer program includes program instructions. When the program instructions are executed by a processor of an electronic device, the processor executes the above-mentioned UAV-based transmission line inspection control method.

[0050] The above are only specific embodiments of the present invention, which enable those skilled in the art to understand or implement the present invention. Various modifications to these embodiments will be apparent to those 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 will conform to the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A transmission line inspection control method based on drone, characterized in that: The following steps are involved: Get the optical flow data of the drone; Calculating point cloud data of the drone based on the optical flow data; Calculate the real-time flight altitude of the UAV based on the point cloud data; Calculating the real-time flight speed of the UAV according to the optical flow data and the real-time flight altitude; The distance between the drone and the tower is obtained using laser radar and recorded as the separation distance; Controlling the inspection height of the UAV according to the real-time flight height; The inspection direction of the UAV is controlled according to the real-time flight speed and the interval distance.

2. A transmission line inspection control method based on drone according to claim 1, characterized in that: The step of calculating the point cloud data of the drone according to the optical flow data comprises the following steps: Get the imaging focal length of the drone; The optical flow data is three-dimensionally converted according to the imaging focal length to obtain the point cloud data.

3. The power transmission line inspection control method based on drone according to claim 1 is characterized in that: Calculating the real-time flight speed of the drone according to the optical flow data and the real-time flight altitude comprises the following steps: According to the optical flow data, obtaining a roll angle change and a pitch angle change; Calculating an optical flow rotation amount according to the roll angle change amount and the pitch angle change amount; Calculating the displacement of the UAV according to the optical flow rotation amount and the real-time flight altitude; Calculating the real-time flight speed according to the displacement of the UAV; The displacement calculation formula of the UAV is as follows: ， in, is the horizontal axis displacement of the UAV, is the component of the optical flow data on the horizontal axis, is the optical flow rotation of the horizontal axis, is the scaling factor, For real-time flight altitude, is the imaging focal length, is the longitudinal displacement of the UAV, is the component of the optical flow data on the vertical axis, is the optical flow rotation about the vertical axis.

4. The power transmission line inspection control method based on drone according to claim 1 is characterized in that: The method of calculating the real-time flight speed of the drone according to the optical flow data and the real-time flight altitude further includes the following steps: The optical flow data is filtered.

5. The power transmission line inspection control method based on drone according to claim 1 is characterized in that: The controlling the inspection direction of the UAV according to the real-time flight speed and the interval distance comprises the following steps: Obtain inspection images from drones; Identify the inspection image to obtain the roll angle data and pitch angle data of the drone; Calculating an attitude error according to the roll angle data, the pitch angle data and the interval distance; The roll angle and the pitch angle are controlled according to the attitude error.

6. The power transmission line inspection control method based on drone according to claim 1 is characterized in that: The method of controlling the inspection direction of the drone according to the real-time flight speed and the interval distance further includes the following steps: Obtaining the safety distance of the tower corresponding to the spacing distance; The adjustment speed of the roll angle and the adjustment speed of the pitch angle are controlled according to the real-time flight speed and the safety distance.

7. A transmission line inspection control method based on a drone according to any one of claims 1 to 6, characterized in that: The following steps are also included: Use laser scanners to collect topographic information of transmission lines and coordinate information of towers; Constructing a virtual inspection model according to the topographic information of the transmission line and the coordinate information of the tower; Get the safe distance of the tower; The inspection route of the drone is planned according to the inspection virtual model and the safety distance.

8. A transmission line inspection control system based on a drone, using a transmission line inspection control method based on a drone as claimed in any one of claims 1 to 7, characterized in that: include: Optical flow data acquisition module, point cloud data calculation module, flight height calculation module, flight speed calculation module, interval distance acquisition module, inspection height control module and inspection direction control module; The optical flow data acquisition module is used to acquire the optical flow data of the drone; The point cloud data calculation module is used to calculate the point cloud data of the drone based on the optical flow data; The flight altitude calculation module is used to calculate the real-time flight altitude of the UAV based on the point cloud data; The flight speed calculation module is used to calculate the real-time flight speed of the UAV according to the optical flow data and the real-time flight altitude; The interval distance acquisition module is used to use a laser radar to obtain the distance between the drone and the tower, which is recorded as the interval distance; The inspection height control module is used to control the inspection height of the UAV according to the real-time flight height; The inspection direction control module is used to control the inspection direction of the UAV according to the real-time flight speed and the interval distance.

9. An electronic device, characterized in that: It includes a processor and a memory, the memory is used to store computer program code, the computer program code includes computer instructions, and when the processor executes the computer instructions, the electronic device executes a transmission line inspection control method based on a drone as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, which includes program instructions. When the program instructions are executed by a processor of an electronic device, the processor executes a transmission line inspection control method based on a drone as described in any one of claims 1 to 7.

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