【摘要】：高壓輸電線路具有較大的地理跨度,往往會穿越具有復(fù)雜地勢地貌、具有惡劣自然環(huán)境的區(qū)域,因此需要定期對輸電線路進行維護。目前業(yè)界大多采用人工定期巡檢的方式對電力線進行維護。這種方法成本高且效率低下,不適用于位于偏遠、復(fù)雜地形區(qū)域內(nèi)的輸電線路。因此近年來出現(xiàn)了以無人機為核心的電力線巡檢技術(shù)。但是傳統(tǒng)無人機受限于遙控器控制范圍,無法進行超遠距離巡檢,同時需要控制人員手動控制飛行,無法進行自動軌跡設(shè)置及自主巡檢。因此,本文提出了一種遠程的電力巡線四旋翼飛行器路徑規(guī)劃系統(tǒng)設(shè)計方案,并以地面站控制系統(tǒng)的方式對其進行實現(xiàn)。本文首先對電力巡線四旋翼飛行器路徑規(guī)劃系統(tǒng)的組成和整體方案進行闡述。該系統(tǒng)主要由地面控制站、GPRS遠程通信系統(tǒng)、巡線飛行器組成,分別對地面控制站、巡線飛行器的軟硬件架構(gòu)進行了簡單介紹。其次闡述路徑規(guī)劃系統(tǒng)的設(shè)計。路徑規(guī)劃系統(tǒng)是無人機進行自動路徑規(guī)劃的關(guān)鍵。對于給定的障礙點或途徑點集合,本文采用Voronoi圖法對障礙點集合進行模型化,經(jīng)過特定的篩選算法運算后,使用Dijkstra算法對路徑集合進行搜索,直至找到最優(yōu)的飛行路徑。接著介紹了基于TCP/IP協(xié)議和GPRS技術(shù)的遠程無線通信系統(tǒng)的軟硬件設(shè)計及實現(xiàn)。本課題中地面站控制系統(tǒng)基于TCP/IP協(xié)議和移動通信網(wǎng)絡(luò)與飛行器搭載的GPRS模塊進行遠程無線通信,通過設(shè)計特定協(xié)議與通信流程實現(xiàn)了數(shù)據(jù)的可靠交互。隨后闡述了地面站控制系統(tǒng)的整體設(shè)計方案及具體實現(xiàn)方式。地面站控制系統(tǒng)綜合了上述所有系統(tǒng),包括了日志記錄、無線通信、飛行器控制及軌跡設(shè)置、歷史軌跡查詢、故障信息存儲等子系統(tǒng)模塊�？刂葡到y(tǒng)軟件采用Python進行實現(xiàn),基于Qt提供了可視化界面供控制人員進行操作,基于百度地圖提供的電子地圖對飛行器實時信息進行展示和信息標注。最后對本課題所做研究做出總結(jié),并提出了現(xiàn)有系統(tǒng)存在的問題以及今后改進的方向。
[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.
【學(xué)位授予單位】：浙江大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TM755

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