电力巡线四旋翼飞行器路径规划系统的设计与实现

发布时间：2019-01-06 17:15

【摘要】：高压输电线路具有较大的地理跨度,往往会穿越具有复杂地势地貌、具有恶劣自然环境的区域,因此需要定期对输电线路进行维护。目前业界大多采用人工定期巡检的方式对电力线进行维护。这种方法成本高且效率低下,不适用于位于偏远、复杂地形区域内的输电线路。因此近年来出现了以无人机为核心的电力线巡检技术。但是传统无人机受限于遥控器控制范围,无法进行超远距离巡检,同时需要控制人员手动控制飞行,无法进行自动轨迹设置及自主巡检。因此,本文提出了一种远程的电力巡线四旋翼飞行器路径规划系统设计方案,并以地面站控制系统的方式对其进行实现。本文首先对电力巡线四旋翼飞行器路径规划系统的组成和整体方案进行阐述。该系统主要由地面控制站、GPRS远程通信系统、巡线飞行器组成,分别对地面控制站、巡线飞行器的软硬件架构进行了简单介绍。其次阐述路径规划系统的设计。路径规划系统是无人机进行自动路径规划的关键。对于给定的障碍点或途径点集合,本文采用Voronoi图法对障碍点集合进行模型化,经过特定的筛选算法运算后,使用Dijkstra算法对路径集合进行搜索,直至找到最优的飞行路径。接着介绍了基于TCP/IP协议和GPRS技术的远程无线通信系统的软硬件设计及实现。本课题中地面站控制系统基于TCP/IP协议和移动通信网络与飞行器搭载的GPRS模块进行远程无线通信,通过设计特定协议与通信流程实现了数据的可靠交互。随后阐述了地面站控制系统的整体设计方案及具体实现方式。地面站控制系统综合了上述所有系统,包括了日志记录、无线通信、飞行器控制及轨迹设置、历史轨迹查询、故障信息存储等子系统模块。控制系统软件采用Python进行实现,基于Qt提供了可视化界面供控制人员进行操作,基于百度地图提供的电子地图对飞行器实时信息进行展示和信息标注。最后对本课题所做研究做出总结,并提出了现有系统存在的问题以及今后改进的方向。
[Abstract]:HV transmission lines have a large geographical span, and often pass through areas with complex topography and harsh natural environment, so it is necessary to maintain the transmission lines on a regular basis. At present, most of the industry uses manual periodic inspection to maintain the power line. This method is not suitable for transmission lines located in remote and complex terrain because of its high cost and low efficiency. Therefore, in recent years, the power line inspection technology based on UAV has emerged. But the traditional UAV is limited by the control range of remote control, and can not carry on the ultra long distance inspection, at the same time, it needs the control personnel to control the flight manually, can not carry on the automatic track setting and the independent patrol inspection. Therefore, this paper presents a remote route planning system for four-rotors, and implements it by means of ground station control system. In this paper, the composition and the overall scheme of the path planning system for the four-rotor aircraft are described. The system is mainly composed of ground control station, GPRS remote communication system and patrol aircraft. The hardware and software architecture of ground control station and patrol vehicle are introduced briefly. Secondly, the design of path planning system is expounded. Path planning system is the key of UAV automatic path planning. For a given set of obstacle points or path points, this paper uses Voronoi graph to model the set of obstacle points. After a specific filter algorithm, Dijkstra algorithm is used to search the set of paths until the optimal flight path is found. Then the hardware and software design and implementation of remote wireless communication system based on TCP/IP protocol and GPRS technology are introduced. In this paper, the ground station control system is based on TCP/IP protocol and mobile communication network to carry on the remote wireless communication with the GPRS module of the aircraft, and realizes the reliable data interaction by designing the specific protocol and the communication flow. Then, the overall design and implementation of the ground station control system are described. The ground station control system integrates all the above systems, including log recording, wireless communication, aircraft control and trajectory setting, historical trajectory query, fault information storage and other subsystem modules. The software of the control system is implemented by Python. Based on Qt, the visual interface is provided for the operator to operate. The real-time information of the aircraft is displayed and annotated based on the electronic map provided by Baidu map. Finally, the paper summarizes the research, and puts forward the existing problems of the system and the direction of improvement in the future.
【学位授予单位】：浙江大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TM755

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