Research On Image Acquisition Technology Of Chimney Internal Based On UAV Suspension Platform

Thermal power generation is one of the most traditional power generation methods,and the total power generation accounts for more than 80% of China’s total power generation.Along with it is the corrosion problem of the inner wall of the power plant chimney.The traditional chimney internal image acquisition and corrosion image detection method is to manually reach the top of the chimney and then use the sling or elevator to enter the chimney for image acquisition.This method not only takes time and effort,but also brings safety hazards to the workers.This paper mainly studies and designs a chimney internal image acquisition system based on UAV suspension platform for image acquisition in chimney internal inspection,which reduces the risk of traditional manual entry into the chimney and improves the efficiency of image collection on the inner wall of chimney..The main work of the thesis is as follows:(1)The internal image acquisition method of the chimney based on the UAV suspension platform is proposed,and the selection and design of the rotor drone related equipment are carried out.The mathematical model of the motion of the quadrotor is established and simplified.The chimney is detected in real time by the improved Hough circle transform,and the deviation between the UAV and the center of the chimney is obtained.The deviation is input into the flight control to realize the hovering control of the UAV at the top of the chimney..(2)According to the weight of the collection platform and the carrying capacity and space of the drone,a set of lifting device was independently developed,the mechanical structure design of the lifting device was carried out,and the finite element analysis was carried out on the key parts to ensure the reliability of the design.Sex and rationality.(3)According to the collected targets and acquisition tasks,an image acquisition platform suitable for the interior of the chimney is designed and built,and the acquisition platform is solved.A device for data forwarding is designed for the special environment of the chimney.(4)According to the acquisition method of this paper,the acquisition system is tested in the simulation environment,and the image is obtained and then the splicing experiment is performed to obtain the panoramic image.Chimney real-time detection and drone hover experiments were carried out under real chimneys to verify the feasibility of vision-based hover top drone hover control.