Design And Implementation Of Drone Control System For Power Inspectio

At present,UAV inspection still requires manual control and cannot centrally manage inspection personnel and equipment.In this paper,through the research and development of UAV control system for power inspection,the parametric modeling method is used to create UAV autonomous inspection trajectory,realize UAV autonomous inspection operation,improve the inspection efficiency of power towers and transmission lines,and ensure the safety of inspection personnel.The main work of this paper is as follows:Firstly,the operation requirements of power inspection are analyzed,and different inspection components are analyzed.Secondly,the actual needs of users using the control system in the inspection operation are analyzed.According to the actual needs,the functions of the control system are designed,and then the overall architecture of the control system is formulated.The background management subsystem mainly includes user management microservice and device management microservice.User management microservices can create accounts for users and uniformly manage users ’ roles and permissions.Device management microservices mainly manage and allocate inspection drones and fixed nests.The operation control subsystem has the functions of remote control,tower template creation and inspection task formulation.It mainly includes communication gateway microservices for real-time communication with inspection equipment and inspection operation microservices for task generation,condition monitoring and equipment control.In order to complete the autonomous inspection task stably and accurately,this paper studies the RRT algorithm,RRT ~* algorithm and Informed-RRT ~* algorithm in the fast extended random tree algorithm.By analyzing the tower template,the machine point data and the camera point data are calculated,and the corresponding inspection scheme is generated by using the Informed-RRT ~* algorithm combined with the task form.Finally,the inspection test is carried out with the inspection UAV and the fixed nest independently developed by the team to verify the stability and feasibility of the functions of each subsystem.Through the autonomous inspection flight experiment of channel inspection scheme and fine inspection scheme,the functions of the designed control system are verified,and the expected results are achieved.