Unmanned aerial vehicle flight control and monitoring integrated system for transmission tower inspection

Abstract

The invention relates to the technical field of unmanned aerial vehicle flight control, in particular to an unmanned aerial vehicle flight control and monitoring integrated system for power transmission tower inspection, and the system comprises a flight monitoring module which is used for obtaining the wind speed in the environment where an unmanned aerial vehicle is located, the rotating speed of each rotor wing of the unmanned aerial vehicle, and the inclination angle of the unmanned aerial vehicle body; the flight control module is used for acquiring the disturbance value of each rotary wing in each preset time period and the inclination fluctuation degree of the unmanned aerial vehicle body; disturbance factors of the positions of all the rotary wings at the current moment are obtained, and the power of brushless motors in all the rotary wings at the current moment is adjusted; the flight obstacle avoidance module is used for planning a flight path for avoiding obstacles; the tower monitoring module is used for monitoring damage information of the transmission tower; and the wireless communication module is used for transmitting the damage information to a ground station. By correcting the flight attitude of the unmanned aerial vehicle, the stability of the fuselage during flight of the unmanned aerial vehicle is improved, and then the inspection efficiency and quality of the transmission tower are improved.

Description

Technical Field

[0001] This application relates to the technical field of UAV flight control, and particularly to an integrated UAV flight control and monitoring system for transmission tower inspection. Background Art

[0002] At present, the fittings on transmission towers are prone to wear and heat generation failures. At present, multi-rotor UAVs are usually used for intelligent inspection of transmission towers. Through the images of transmission towers taken by multi-rotor UAVs, fault monitoring of transmission towers is carried out. Since the quality of transmission tower images directly affects the accuracy of fault monitoring, the flight stability of multi-rotor UAVs is very important.

[0003] In the prior art, four-rotor UAVs are mostly used for intelligent inspection of transmission towers. However, due to the influence of wind force in the environment, the disturbance degrees of different rotors during flight are different, which may cause the UAV fuselage to tilt excessively, resulting in poor stability of the UAV fuselage in harsh environments and affecting the clarity of taking pictures of transmission towers. Summary of the Invention

[0004] In view of the above, it is necessary to provide an integrated UAV flight control and monitoring system for transmission tower inspection. Compared with the traditional integrated UAV flight control and monitoring system, by correcting the flight attitude of the UAV, the stability of the UAV fuselage during flight is improved, and thus the inspection efficiency and quality of transmission towers are improved.

[0005] The following technical solutions are adopted for an integrated UAV flight control and monitoring system for transmission tower inspection in this application:

[0006] An embodiment of this application provides an integrated UAV flight control and monitoring system for transmission tower inspection, and the system includes:

[0007] A flight monitoring module, configured to obtain the wind speed in the environment where the UAV is located, the rotation speeds of the respective rotors of the UAV, and the tilt angle of the UAV fuselage in real time;

[0008] A flight control module, configured to obtain the disturbance values of the respective rotors in the respective preset time periods by analyzing the correlation between the wind speed and the rotation speeds of the respective rotors in the respective preset time periods, and the dispersion degree of the rotation speeds of the respective rotors;

[0009] By analyzing the change situation of the tilt angle in the respective preset time periods, obtain the tilt fluctuation degree of the UAV fuselage in the respective preset time periods;

[0010] By analyzing the correlation between the disturbance values and the tilt fluctuation degree, and combining the growth of the disturbance values within all the preset time periods, the disturbance factors at the positions of each rotor wing at the current moment are obtained;

[0011] Based on the distribution of the disturbance factors and the preset maximum motor power of the brushless motors within each rotor wing, the power of the brushless motors within each rotor wing at the current moment is adjusted;

[0012] The flight obstacle avoidance module is used to plan a flight path to avoid obstacles;

[0013] The transmission tower monitoring module is used to monitor the damage information of the transmission tower;

[0014] The wireless communication module is used to transmit the damage information to the ground station.

[0015] In one embodiment, the process of obtaining the disturbance value is as follows:

[0016] The wind speeds within each preset time period are arranged in chronological order respectively to form each wind speed sequence;

[0017] The rotation speeds of each rotor wing within each preset time period are arranged in chronological order respectively to form the rotation speed sequences of each rotor wing within each preset time period;

[0018] Calculate the grey correlation coefficients between the wind speed sequences and the rotation speed sequences of each preset time period;

[0019] The disturbance value is obtained through the grey correlation coefficient and the dispersion degree.

[0020] In one embodiment, the disturbance value is the product of the grey correlation coefficient and the dispersion degree.

[0021] In one embodiment, the process of obtaining the tilt fluctuation degree is as follows:

[0022] The tilt angles within each preset time period are arranged in chronological order respectively to form each tilt angle sequence;

[0023] The tilt fluctuation degree is the mean value of the absolute values of all elements within the first-order difference sequence of the corresponding tilt angle sequence.

[0024] In one embodiment, the process of obtaining the disturbance factor is as follows:

[0025] The disturbance values of each rotor wing within all the preset time periods are arranged in chronological order respectively to form the disturbance sequences of each rotor wing;

[0026] The tilt fluctuation degrees of the UAV fuselage within all the preset time periods are arranged in chronological order to form the tilt fluctuation sequence of the UAV fuselage;

[0027] Calculate the correlation degree between each perturbation sequence and the tilt fluctuation sequence respectively;

[0028] Calculate the sum of all positive numbers in the first-order difference sequence of each perturbation sequence;

[0029] Combining the correlation degree and the sum value, obtain the perturbation factor of each rotor wing position at the current moment.

[0030] In one embodiment, the perturbation factor is the product of the correlation degree and the sum value.

[0031] In one embodiment, the adjusting the power of the brushless motors in each rotor wing at the current moment includes:

[0032] Calculate the average value of the normalized values of the perturbation factors of all rotor wing positions at the current moment;

[0033] By comparing the normalized value of the perturbation factor of each rotor wing position at the current moment with the average value, and the difference between the maximum motor power and the power of the brushless motors in each rotor wing at the current moment, obtain the motor adjustment power of the brushless motors in each rotor wing at the current moment;

[0034] Adjust the power of the brushless motors in each rotor wing at the current moment through the motor adjustment power.

[0035] In one embodiment, the process of obtaining the motor adjustment power is:

[0036] Denote the difference between the normalized value of the perturbation factor of each rotor wing position at the current moment and the average value as the first difference;

[0037] Denote the difference between the maximum motor power and the power of the brushless motors in each rotor wing at the current moment as the second difference;

[0038] Through the power of the brushless motors in each rotor wing at the current moment, combine the first difference and the second difference to obtain the motor adjustment power of the brushless motors in each rotor wing at the current moment.

[0039] In one embodiment, the calculation process of the motor adjustment power is:

[0040] Calculate the product of the first difference and the second difference, and the motor adjustment power is the sum of the power of the brushless motors in each rotor wing at the current moment and the product.

[0041] In one embodiment, the adjusting the power of the brushless motors in each rotor wing at the current moment includes:

[0042] The power of the brushless motors in each rotor wing at the current moment and the motor adjustment power are input into the flight controller in the flight control module. The flight controller outputs a control signal and transmits it to each electronic regulator, and each electronic regulator adjusts the power of each brushless motor through current transmission.

[0043] The present application has at least the following beneficial effects:

[0044] By collecting the tilt angle, wind speed, and rotational speed, the present application measures the wind disturbance characteristics and tilt fluctuation characteristics of each rotor wing during the flight of the quadcopter drone, and comprehensively analyzes and measures the lift suppression effect on the positions of each rotor wing during the flight of the drone while considering both the wind disturbance characteristics and the tilt fluctuation characteristics. Furthermore, by utilizing the differences in the lift suppression effects between the positions of each rotor wing, the brushless motors are accurately controlled and adjusted, improving the accuracy of correcting the flight attitude of the drone.

[0045] By accurately controlling and adjusting the power of the brushless motors in each rotor wing, the present application compensates for the influence caused by the wind speed, ensures the stability of the fuselage when the quadcopter drone is flying in a harsh environment, improves the clarity of the photos taken of the transmission tower, and thus improves the quality and efficiency of the inspection of the transmission tower.

[0046] The flight obstacle avoidance module of the present application identifies the obstacles around the quadcopter drone and the distance from the obstacles, plans a safe flight path in advance, avoids collisions with the obstacles, and improves the safety during the flight of the quadcopter drone. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the technical solutions and advantages in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0048] Figure 1 It is a block diagram of an integrated drone flight control and monitoring system for transmission tower inspection provided by the present application;

[0049] Figure 2 It is a schematic diagram of the acquisition process of the motor adjustment power;

[0050] Figure 3 It is a power adjustment flowchart. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0051] In the description of the embodiments of the present application, words such as "exemplary", "or", "for example", etc. are used to represent examples, illustrations or explanations. Any embodiment or design solution described as "exemplary" or "for example" in the embodiments of the present application should not be construed as being more preferred or more advantageous than other embodiments or design solutions. Rather, the use of words such as "exemplary", "or", "for example" is intended to present relevant concepts in a specific manner.

[0052] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which this application belongs. The terms used in this application are only for the purpose of describing specific embodiments and are not intended to limit this application. It should be understood that unless otherwise specified in this application, " / " means "or".

[0053] In addition, it should be noted that the terms "first" and "second" in this application are used to distinguish similar objects and are not used to describe a specific order or sequence.

[0054] The following specifically describes the specific solution of an integrated unmanned aerial vehicle flight control and monitoring system for transmission tower inspection provided by this application in conjunction with the accompanying drawings.

[0055] Please refer to Figure 1 , which shows a block diagram of an integrated unmanned aerial vehicle flight control and monitoring system for transmission tower inspection provided by an embodiment of this application. The system includes: a flight monitoring module 101, a flight control module 102, a flight obstacle avoidance module 103, a tower monitoring module 104, and a wireless communication module 105.

[0056] The flight monitoring module 101 is used to obtain the wind speed in the environment where the unmanned aerial vehicle is located, the rotation speed of each rotating wing of the unmanned aerial vehicle, and the tilt angle of the unmanned aerial vehicle body in real time.

[0057] The flight detection module collects the tilt angle of the unmanned aerial vehicle body relative to the horizontal plane in real time through an inclination sensor in the quadrotor unmanned aerial vehicle, collects the wind speed in the environment where the unmanned aerial vehicle is located in real time through a wind speed sensor in the quadrotor unmanned aerial vehicle, and collects the rotation speed of the four rotating wings during the inspection of the unmanned aerial vehicle in real time through a rotation speed sensor in the quadrotor unmanned aerial vehicle.

[0058] In this embodiment, the collection frequencies of the tilt angle, wind speed, and rotation speed are all 100 Hz. The values of the collection frequencies are preset manually and can be set by the implementer himself. This application does not make special restrictions.

[0059] The flight control module 102 is used to obtain the perturbation values of each rotary wing within each preset time period; by analyzing the variation of the tilt angle within each preset time period, obtain the tilt fluctuation degree of the UAV fuselage within each preset time period; by analyzing the correlation between the perturbation value and the tilt fluctuation degree, and combining the growth situation of the perturbation values within all the preset time periods, obtain the perturbation factors of the positions of each rotary wing at the current moment; and adjust the power of the brushless motors within each rotary wing at the current moment according to the distribution of the perturbation factors and the preset maximum motor power of the brushless motors within each rotary wing.

[0060] During the process of using a quadrotor UAV to inspect transmission towers, due to the influence of wind force in the environment, the degrees of perturbation of different rotary wings during flight are different. Especially in a harsh environment, there are significant differences in the degrees of wind perturbation of different rotary wings, resulting in poor stability of the quadrotor UAV fuselage and affecting the clarity of the images taken of the transmission line towers. Therefore, in order to ensure the stability of the quadrotor UAV fuselage during the inspection of transmission towers and thus improve the quality of the images taken by the quadrotor UAV, it is necessary to control the attitude of the quadrotor UAV during the inspection of transmission towers.

[0061] Under the influence of strong wind interference at high altitude, the degrees of wind perturbation of the four rotary wings of the UAV are different. In order to analyze the wind perturbation characteristics of each rotary wing of the UAV, the wind speed and tilt angle within each second in the previous minute before the current moment are arranged in chronological order respectively to form the wind speed sequence and tilt angle sequence per second, and the rotational speeds of each rotary wing within each second in the previous minute before the current moment are arranged in chronological order respectively to form the rotational speed sequences of each rotary wing per second.

[0062] It should be noted that: the one minute is adjacent to the current moment, and one minute and each second are only an embodiment of the present application, and the implementer can set their specific values by themselves.

[0063] Use the Grey Relation Analysis (GRA) algorithm to obtain the grey correlation coefficients between the rotational speed sequences and the wind speed sequences. Take the wind speed sequence per second in the previous minute before the current moment as the mother sequence, take the rotational speed sequences of each rotary wing per second in the previous minute before the current moment as each sub-sequence, input the mother sequence and each sub-sequence into the grey correlation analysis algorithm, and output the grey correlation coefficients between the wind speed sequence per second in the previous minute before the current moment and each rotational speed sequence. Among them, the grey correlation analysis algorithm is a well-known technology and will not be elaborated in the present application.

[0064] The greater the grey correlation coefficient between the wind speed sequence and the rotational speed sequence, the stronger the correlation between the rotational speed of the rotary wing of the UAV and the wind speed in the environment. At this time, the rotational speed of the rotary wing is more affected by the environmental wind speed. If the discreteness of the rotational speed of the rotary wing of the UAV is higher at this time, it can more prominently reflect the influence of the environmental wind force on the UAV at this time, greatly disturbing the stability of the rotational speed of the rotary wing, affecting the flight stability of the quadrotor UAV, and reducing the efficiency and quality of the inspection of transmission towers.

[0065] Based on the above analysis, obtain the discreteness of the rotational speed of each rotary wing per second within one minute before the current moment, and take the product of the discreteness and the corresponding grey correlation coefficient as the disturbance value of each rotary wing per second within one minute before the current moment.

[0066] In this embodiment, the discreteness is the coefficient of variation, and the coefficient of variation is a well-known technology, which will not be elaborated in this application. As other implementation manners, on the basis of being able to measure the uneven degree of the distribution of the rotational speed of the rotary wing, implementers can use other existing technologies for measurement, such as variance, standard deviation, etc., and this application does not make special restrictions.

[0067] It should be noted that: the disturbance value reflects the wind disturbance characteristics of each rotary wing when the quadrotor UAV inspects the transmission tower at high altitude. If the wind disturbance degree of the rotary wing within one minute before the current moment is greater, to a certain extent, it indicates that the inhibitory effect of the wind force on the rotation of the rotary wing is stronger, and it is more difficult to ensure the stability of the UAV body during the inspection of the transmission tower.

[0068] Furthermore, obtain the first-order difference sequence of the tilt angle sequence per second within one minute before the current moment, and take the absolute value mean of all elements in the first-order difference sequence as the tilt fluctuation degree of the UAV body per second within one minute before the current moment. The tilt fluctuation degree reflects the tilt fluctuation characteristics of the UAV body when the quadrotor UAV inspects the transmission tower at high altitude. The greater the tilt fluctuation characteristics of the body, the worse the stability of the UAV body during the inspection of the transmission tower, and it is necessary to timely control the attitude of the UAV to improve the efficiency and quality of the inspection of the transmission tower.

[0069] Generally, when using a quadrotor UAV to inspect a transmission tower, if the correlation between the wind disturbance characteristics of any rotary wing of the UAV and the tilt fluctuation characteristics of the UAV body is higher, and the wind disturbance degree on the any rotary wing is continuously increasing, it can more prominently indicate that the wind force inhibitory effect on the lift force at the position of the any rotary wing is stronger, causing unstable tilt fluctuation changes in the UAV body.

[0070] In order to analyze the lift suppression effect at the positions of each rotor wing at the current moment, the perturbation values of each rotor wing within one minute before the current moment are respectively arranged in chronological order to form the perturbation sequence of each rotor wing, and the tilt fluctuation degree of the UAV fuselage within one minute before the current moment is arranged in chronological order to form the tilt fluctuation sequence of the UAV fuselage.

[0071] Through the above analysis, the correlation degree between the perturbation sequence of each rotor wing and the tilt fluctuation sequence is obtained.

[0072] In this embodiment, the covariance is used to measure the correlation degree between the perturbation sequence and the tilt fluctuation sequence. The calculation of the covariance is a well-known technology and will not be elaborated in this application. As other implementation manners, on the basis of being able to measure the correlation degree between the perturbation sequence and the tilt fluctuation sequence, implementers can adopt other existing technologies, such as the Pearson correlation coefficient, etc. This application does not make special restrictions.

[0073] Furthermore, obtain the sum value of all positive numbers in the first-order difference sequence of the perturbation sequence of each rotor wing, and take the product of the correlation degree and the sum value as the perturbation factor at the positions of each rotor wing at the current moment. The perturbation factor reflects the lift suppression effect at the positions of each rotor wing at the current moment. If the increment feature of the wind perturbation on any rotor wing is larger, and the correlation degree between the perturbation sequence and the tilt fluctuation sequence is larger, it can better illustrate the influence of the wind perturbation feature of any rotor wing on the tilt fluctuation of the UAV fuselage, which to a certain extent reflects that the lift received by any rotor wing at this time is more strongly suppressed, causing the lift of the quadrotor UAV to be unstable. At this time, it is necessary to control the attitude of the UAV in a timely manner.

[0074] During the process of inspecting the transmission tower by the quadrotor UAV, if there are large differences in the lift suppression effects of the four rotor wing positions by the wind in the high-altitude environment, it will cause high unstable changes in the UAV fuselage, affecting the efficiency and quality of inspecting the transmission tower. In order to improve the efficiency and quality of inspecting the transmission tower, it is necessary to control and adjust the power of the brushless motors in each rotor wing during the flight of the quadrotor UAV, so as to realize the control of the flight attitude of the quadrotor UAV.

[0075] Furthermore, through the distribution of the perturbation factor and the preset maximum motor power of the brushless motor in each rotor wing, obtain the motor adjustment power of the brushless motor in each rotor wing at the current moment. The expression is:

[0076] In the formula, P ′ j is the motor adjustment power of the brushless motor in the j-th rotor wing at the current moment; P is the power of the brushless motor in the j-th rotor wing at the current moment; G jis the normalized result of the disturbance factor of the j-th rotor position at the current moment; is the mean of the normalized results of the disturbance factors of all rotor positions at the current moment; P max is the preset maximum motor power of the brushless motor, which is 450W in this embodiment. Take is denoted as the first difference, and P max -P is denoted as the second difference.

[0077] In this embodiment, the Softmax function is used to normalize the disturbance factor.

[0078] It should be noted that: if the disturbance factor of any rotor position during the flight of the quadrotor UAV is higher than the average level of the disturbance factors of all rotor positions, the lift on the said any rotor position is likely to be insufficient. At this time, appropriately increase the power of the brushless motor in the said any rotor to ensure the stability of the lift at the four rotor positions; on the contrary, if the disturbance factor of the said any rotor position during the flight of the quadrotor UAV is lower than the average level of the disturbance factors of all rotor positions, the lift on the said any rotor position is likely to be relatively too high. At this time, appropriately reduce the power of the brushless motor in the said any rotor, so as to quickly restore the UAV body to a stable state. The schematic diagram of the acquisition process of the motor adjustment power is as Figure 2 shown.

[0079] Furthermore, the power of the brushless motors in each rotor is adjusted. The specific process is as follows: Transmit the power of the brushless motors in each rotor at the current moment and the motor adjustment power to the flight controller in the flight control module. The flight controller adjusts the power of the brushless motor by calculating the error between the motor adjustment power and the power. The flight controller outputs a control signal and transmits it to each electronic speed controller. Each electronic speed controller adjusts the power of each brushless motor through current transmission, adjusts the power of each brushless motor to the motor adjustment power, and the brushless motor acts on the propellers of the quadrotor UAV to keep the quadrotor UAV stable during the inspection of the transmission tower, improving the quality and efficiency of the inspection of the transmission tower. The power adjustment flow chart is as Figure 3 shown.

[0080] The flight obstacle avoidance module 103 is used to plan a flight path to avoid obstacles.

[0081] During the flight of the quadrotor UAV, the flight obstacle avoidance module uses a laser range finder sensor and a GPS sensor to identify the obstacles around the quadrotor UAV and the distance from the obstacles. The quadrotor UAV plans a safe flight path based on the surrounding obstacles and the distance from the obstacles to avoid collisions with the obstacles and ensure the safe flight of the UAV.

[0082] The tower monitoring module 104 is used to monitor the damage information of transmission towers.

[0083] The tower detection module monitors the images of transmission towers through a high-definition camera, and monitors the damage information of the fittings on the transmission towers through the images of the transmission towers.

[0084] The wireless communication module 105 is used to transmit the damage information to the ground station.

[0085] The wireless communication module is used for data communication with the ground station, transmits the damage information of the fittings on the transmission tower to the ground station, and notifies the maintenance personnel to repair the faulty transmission tower.

[0086] In summary, the present application measures the wind disturbance characteristics and tilt fluctuation characteristics of each rotating wing during the flight of the quadrotor UAV by collecting the tilt angle, wind speed and rotation speed, and comprehensively analyzes and measures the lift suppression effect on the positions of each rotating wing during the flight of the UAV by considering both the wind disturbance characteristics and the tilt fluctuation characteristics. Furthermore, the brushless motor is accurately controlled and adjusted by using the difference in the lift suppression effect between the positions of each rotating wing, so as to improve the accuracy of correcting the flight attitude of the UAV;

[0087] The present application accurately controls and adjusts the power of the brushless motor in each rotating wing to compensate for the influence caused by the wind speed, ensures the stability of the fuselage of the quadrotor UAV during flight in a harsh environment, improves the clarity of the images taken of the transmission tower, and thus improves the quality and efficiency of the inspection of the transmission tower;

[0088] The present application uses the flight obstacle avoidance module to identify the obstacles around the quadrotor UAV and the distance from the obstacles, plans a safe flight path in advance, avoids collisions with the obstacles, and improves the safety of the quadrotor UAV during flight.

[0089] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to embodiments of the present disclosure. In this regard, each block in the flowchart or block diagram may represent a module, a segment of a program, or a portion of code, which contains one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions noted in the blocks may occur out of the order noted in the drawings. For example, two consecutive blocks may in fact be executed substantially in parallel, or they may sometimes be executed in the reverse order, depending on the functions involved. In the description corresponding to the flowcharts and block diagrams in the accompanying drawings, the operations or steps corresponding to different blocks may also occur out of the order disclosed in the description. Sometimes, there is no specific order between different operations or steps. For example, two consecutive operations or steps may in fact be executed substantially in parallel, or they may sometimes be executed in the reverse order, depending on the functions involved. Each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented by a dedicated hardware-based system that performs the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions.

[0090] For those skilled in the art, it is obvious that the present application is not limited to the details of the above-described exemplary embodiments, and without departing from the basic characteristics of the present application, the present application can be implemented in other specific forms. Therefore, from any point of view, the above embodiments of the present application should be regarded as exemplary and non-limiting.

Claims

1. An integrated UAV flight control and monitoring system for power transmission tower inspection, characterized in that: The system comprises: The flight monitoring module is used to obtain the wind speed in the environment where the drone is located, the rotation speed of each rotor of the drone, and the tilt angle of the drone fuselage in real time; The flight control module is used to obtain the disturbance value of each rotor wing in each preset time period by analyzing the correlation between the wind speed and the rotation speed of each rotor wing in each preset time period and the discreteness of the rotation speed of each rotor wing; By analyzing the change of the tilt angle in each preset time period, the tilt fluctuation degree of the UAV fuselage in each preset time period is obtained; By analyzing the correlation between the disturbance value and the tilt fluctuation, and combining the growth of the disturbance value in all the preset time periods, the disturbance factor of each rotor position at the current moment is obtained; According to the distribution of the disturbance factor and the preset maximum motor power of the brushless motor in each rotor wing, the power of the brushless motor in each rotor wing at the current moment is adjusted; Flight obstacle avoidance module, used to plan a flight path to avoid obstacles; Tower monitoring module, used to monitor the damage information of transmission towers; The wireless communication module is used to transmit the damage information to a ground station.

2. The UAV flight control and monitoring integrated system for transmission tower inspection according to claim 1, characterized in that: The process of obtaining the disturbance value is as follows: Arrange the wind speeds in each preset time period in time sequence to form wind speed sequences; Arranging the rotation speeds of the respective rotors in the respective preset time periods in time sequence to form rotation speed sequences in the respective preset time periods; Calculating the grey correlation coefficient between the wind speed sequence and each rotation speed sequence in each preset time period; The disturbance value is obtained through the grey relational coefficient and the discreteness.

3. The UAV flight control and monitoring integrated system for transmission tower inspection according to claim 2, characterized in that: The disturbance value is the product of the grey relational coefficient and the discreteness.

4. The UAV flight control and monitoring integrated system for transmission tower inspection according to claim 1, characterized in that: The process of obtaining the tilt fluctuation is as follows: Arranging the tilt angles in each preset time period in time sequence to form tilt angle sequences; The tilt fluctuation is the absolute value mean of all elements in the first-order difference sequence corresponding to the tilt angle sequence.

5. The UAV flight control and monitoring integrated system for transmission tower inspection according to claim 1, characterized in that: The process of obtaining the disturbance factor is as follows: Arranging the disturbance values ​​of each rotor within all the preset time periods in time sequence to form a disturbance sequence of each rotor; Arranging the tilt fluctuations of the drone fuselage within all the preset time periods in time sequence to form a tilt fluctuation sequence of the drone fuselage; Calculate the correlation between each disturbance sequence and the tilt fluctuation sequence respectively; Calculate the sum of all positive numbers in the first-order difference sequence of each disturbance sequence; The disturbance factor of each rotor position at the current moment is obtained by combining the correlation degree with the sum value.

6. The UAV flight control and monitoring integrated system for transmission tower inspection according to claim 5, characterized in that: The disturbance factor is the product of the correlation degree and the sum value.

7. The UAV flight control and monitoring integrated system for transmission tower inspection according to claim 1, characterized in that: The step of adjusting the power of the brushless motor in each rotor at the current moment includes: Calculate the average value of the normalized value of the disturbance factor of all rotor positions at the current moment; By comparing the normalized value of the disturbance factor of each rotor wing position at the current moment with the average value, and the difference between the maximum motor power and the power of the brushless motor in each rotor wing at the current moment, the motor adjustment power of the brushless motor in each rotor wing at the current moment is obtained; By adjusting the power of the motor, the power of the brushless motor in each rotor wing at the current moment is adjusted.

8. The UAV flight control and monitoring integrated system for transmission tower inspection according to claim 7, characterized in that: The process of obtaining the motor regulating power is as follows: The difference between the normalized value of the disturbance factor of each rotor position at the current moment and the average value is recorded as a first difference; The difference between the maximum motor power and the power of the brushless motor in each rotor at the current moment is recorded as a second difference; The motor adjustment power of the brushless motor in each rotary wing at the current moment is obtained by combining the power of the brushless motor in each rotary wing at the current moment with the first difference and the second difference.

9. The UAV flight control and monitoring integrated system for transmission tower inspection according to claim 8, characterized in that: The calculation process of the motor regulating power is: The product of the first difference and the second difference is calculated, and the motor adjustment power is the sum of the power of the brushless motor in each rotor at the current moment and the product.

10. The integrated UAV flight control and monitoring system for transmission tower inspection according to claim 7, characterized in that: The step of adjusting the power of the brushless motor in each rotor at the current moment includes: The power of the brushless motor in each rotor wing and the motor adjustment power at the current moment are input into the flight controller in the flight control module. The flight controller outputs a control signal and transmits it to each electronic regulator. Each electronic regulator adjusts the power of each brushless motor through current transmission.

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