Research On Intelligent Ground Supervision And Control System Of Power Line Inspection With Unmanned Aerial Vehicles

With the gradual promotion of unmanned aerial vehicles(UAV) technology in the power industry, the power inspection tasks set higher requirements to the unmanned aircraft system(UAS). As the control center of UAS, the ground control station system faces the challenge of inspection tasks' diversity. The intelligent ground supervision and control system of power line inspection with UAV is mainly researched in this paper.Firstly, based on the analysis of the function requirement of the UAV inspection system, the overall scheme of the ground supervision and control system is put forward in this paper, including the hardware scheme and the software scheme of the system.The task planning algorithm of the supervision and control system is researched next. By building a geometric model of the complex power inspection environment, a UAV path planning algorithm which is applied to supervision and control system is studied. At the same time, to satisfy the distinct inspection tasks, some target tracking algorithms for the distinct inspection targets' tracking are proposed, which realize the autonomous inspection of UAV.Then, the design and realization of the supervision and control system are studied. The operational process of each module is designed specifically by using modular design method, and the data communication protocols are formulated, as well as the key technologies involved in the system are studied in-depth. Ultimately, applying the C++, JavaScript and other programming languages, this intelligent ground supervision and control system of power line inspection with UAV is realized in the Qt platform.In the end of this paper, a simulation system based on six-rotor dynamics and kinematics equations is constructed to implement simulation system testing, and practical flight testing is also implemented to test this system. Test results show that the ground supervision and control system in this paper is able to meet the technical requirements of electrical inspection, guarantee the safety of the mission, and achieve intelligent supervise and control of the patrol UAV.