Reasearch On Autonomous Control Of UAV Based On Wheeled Robot Platform

Transmission line is an important part of the power system.Because of the vast territory of our country,transmission lines need to travel through various areas with complex terrain and different climate,which makes the operation and maintenance of transmission lines in our country need to face a variety of challenges.With the advancement of intelligent operation and maintenance,the demand for unmanned aerial vehicle(UAV)patrol inspection of transmission lines is increasing.This advanced patrol mode detects and locates the mechanical appearance,abnormal heating position and abnormal external environment of transmission lines by means of visible cameras,infrared cameras,lidars and satellite navigation system receivers carried by UAVs,which greatly improves the patrol efficiency of transmission lines and reduces the risk of patrol inspection.At the same time,it also makes the data obtained by the detection more accurate and the abnormal situation more timely.At present,some power companies in our country have make the automatic flight inspection of transmission lines by UAV come true.They can not only find the foreign bodies on transmission lines,the stains and damages of insulators,the slippage of shock hammer and the deviation of clamps,but also find abnormalities such as rusting and corrosion of fittings,loosening of bolts and nuts and missing of opening costs.However,the image taken by UAV has not been fully automatic recognition;for some areas where autonomous flight of UAV is difficult,such as the surrounding environment of power transmission lines,buildings or trees,it is also necessary to rely on manual to the scene for precise remote control of multi-rotor UAV patrol.Therefore,how to improve the operation scope and effect of autonomous control of UAV in transmission line patrol inspection is still a subject that needs in-depth study and has important theoretical significance and practical application value.Based on the above background,this paper intends to study the problem of UAV automatic patrol inspection of transmission lines with complex obstacles in surrounding airspace,and the method of automatic remote control of UAV remote controller,in order to deal with the problem of automatic remote control of UAV when the control protocol is not available.Aiming at the requirement of precise inspection of transmission lines with complex obstacles in surrounding airspace,the system structure and variable structure method of wheeled robots carrying UAVs as well as the automatic control method of UAVs remote controller are mainly studied.The main contents include:(1)The wheeled robot platform for UAV is designed in this paper.The design of the platform includes two parts.The first part is the wheel with independent steering,which can solve the problems of emergency obstacle avoidance,emergency braking and ramp parking encountered by the wheeled robot platform in complex terrain driving in the field.The second part is the lateral telescopic structure which can stretch flexibly to more than twice the width of the vehicle body to meet the requirements of the UAV's carrying,taking off and landing functions.(2)The automatic control system of remote controller for multi-rotor UAV is designed in this paper.When the UAV manufacturer's control protocol is not available,a new method of automatic control of multi-rotor UAV patrol operation is provided for the developer.This paper presents the control principle,circuit design,mechanical design and control signal timing logic of the remote control automatic control system of the multi-rotor UAV.(3)In this paper,the simulation test of UAV remote control automatic control system is carried out.In this paper,the software design of autonomous control of UAV remote controller is given.The simulation parameter adjustment software DJI Assistant 2 is used to simulate the automatic control process of UAV in virtual environment,such as takeoff control,flight attitude control and landing control,and the flight route and flight data of the simulation test process.At the end of this paper,the author summarizes the whole paper,illustrates the shortcomings of the paper,and looks forward to the problems that need to be further studied in the future.