| The development of the intelligent technology go fast nowdays,applie.d research about UAV came to deepen.Multi-rotor drones have received widespread attention from the public and scholars since the advent of the last century.Technology explora-tion around rotorcraft drones has never stopped,from flight control technology re-search to rotor flight dynamics research,to drone SLAM(immediate positioning and map building)technology,drone infrared detection technology,etc.Many technolo-gies are application-oriented,but it is still rare for them to be promoted in practical in-dustrial engineering applications.The development of UAV applications will undoubt-edly bring more convenience to people’s lives,and they can visit and inspect the envi-ronmental areas where people cannot reach.At present,drone applications are still mainly based on entertainment consumer applications.The potential of drones as fly-ing robots has not been fully explored.Therefore,it is of great significance to vigor-ously promote the development of UAV application technology.Among them,the ap-plication of patrol lines as a key application for drones is also worthy of attention.This project mainly focuses on the analysis,design and implementation of UAV patrol line system.This article mainly introduces the four key processes based on the patrol line operation of the UAV:differential GPS navigation route generation,data transfer transmission,precision guided landing,and battery life management.The GPS patrol route loading process loads the specified route planning point to the onboard microcontroller and interacts with the flight control and navigation module to complete GPS protocol decoding,geographic coordinate conversion,and execution of the target GPS point cruise.Collecting image data information and output it to Mani-fold module through pan/tilt video,export H.264 video encoding and implement video remote transmission through 4G image module.Guided landing operation based on the ground image is improved on the previous method of background difference al-gorithm and the HOUGH transformation scheme,now using GPS coarse positioning and image feature matching and ultrasonic heightening method to further increase the stable landing level.In the battery management process,the design motor actuator completes the battery replacement of the UAV which landed on ground station.The solution improves the S7-200 SMART output pulse control stepper motor technology.It is designed to use an embedded industrial controller and a multi-axis motion control board with a servo motor to complete fast and stable action execution and improve the system’s reliable operation capability.At the same time,the on-board microcontroller development board of the UAV system is used as a data integration control module to connect the onboard modules of the communications and interact with the N1 open source flight control of the flight control navigation control module.Flight control in-structions are issued and flight attitude and status data are fed back.A relay communi-cation network using wireless carrier frequency data transmission and mobile 4G communication is introduced.Study related algorithms for UAV patrol inspection,improve basic two-dimen-sional ant colony algorithm.Considering aircraft performance characteristics and ap-plication requirements to set heuristic function and evaluation function,and verify it through 3D modeling and simulation.Introducing network monitoring technology in the system,designing Browser monitoring system based on B/S architecture,use WAMP platform for development,use AJAX technology to refresh interface data in real time,call API function to complete interface map loading annotation. |
