| In view of the fact that the existing UAV image transmission system is difficult to meet the requirements of fully autonomous power inspection scheme in terms of function and performance,combined with the characteristics of UAV inspection such as long-distance flight and not too heavy load,this paper designs a UAV image transmission system for transmission line inspection,which has the required functions of autonomous inspection and meets the requirements of high definition,real-time,long transmission distance and lightweight.The system improves the efficiency of inspection,which is of great significance to the intelligent and automatic development of transmission line inspection.The main contents of this paper are as follows(1)In order to ensure that after the server sends the take-off command with one click,the graph transmission system can cooperate with the UAV to complete the full autonomous line inspection work,this paper formulates reasonable and strict inspection task execution logic according to the actual inspection task,analyzes the functional and non functional requirements of the graph transmission system,and then puts forward the overall design scheme of the UAV graph transmission system for transmission line inspection,According to the overall design scheme of the system,the corresponding software and hardware platform and communication link scheme are selected.(2)In the aspect of hardware design,considering the lightweight requirements of the system,Ethernet module,4G module,can module,storage module and power module are selected as the necessary peripheral circuits of the arm core board according to the functional requirements of the image transmission system.The key device parameters of these modules are analyzed and selected,and the optimization design of each module circuit is completed.Aiming at the interference problem of key module circuit,can isolation circuit and network isolation transformer circuit are designed to improve the reliability of data transmission.In order to reduce the volume and weight of the system and achieve the lightweight effect,the optimization design of PCB is carried out from three aspects of stack design,device layout and multilayer circuit board wiring.(3)In the aspect of system software design,in order to solve the problem of large amount of tasks and data processed by the system at the same time,the multithreading development technology is adopted in the application layer program design,and the ring buffer area is designed in the data structure,which realizes the concurrent execution of multiple tasks and improves the response speed of the system.Aiming at the problem of video streaming,a video streaming scheme based on RTSP is designed to improve the real-time performance of video streaming.Aiming at the problem of image blur caused by external interference when the system takes pictures at fixed points,a sliding mode controller based on reference model is designed to improve the clarity of pictures by controlling the stability of UAV flight.In addition,the Linux operating system is cut and transplanted,the Linux device driver is designed and the application software is developed.According to the patrol task execution logic,the patrol task and control command are issued,the flight data is transmitted,the camera is controlled,the fixed-point photo is taken and uploaded,and the real-time video transmission is realized.Finally,the feasibility and stability of the system are verified from the aspects of function and performance. |
