，火力发电过程中，烟囱内壁不断遭受着所排放烟气带来各种腐蚀，随着烟 囱使用时间的不断延长，其内壁被腐蚀的情况甚至会危害到火力发电的安全生产。 因此，在火力发电生产过程中需要对火电厂烟囱内衬的内壁受腐蚀的程度定期监 测。目前在烟囱内壁腐蚀情况监测领域内，应用最广泛也是最有效的方法是利用 吊绳或者升降机从烟囱顶端将监测工人送入烟囱内部，对烟囱内壁遭受腐蚀的情 况进行监测。这种方式不仅耗时耗力，还对烟囱内衬造成二次伤害以及对进入烟 囱内部的工人的人身安全有巨大危害。 针对上述问题，本文提出了一种基于四旋翼无人机的烟囱内壁腐蚀监测方法， 本文的主要内容如下， (1) 介绍了当前火力发电、四旋翼无人机以及烟囱内壁腐蚀情况监测方法的 发展现状，并详细介绍了烟囱内壁腐蚀的成因，以及目前现有的烟囱内壁腐蚀情 况监测方法。 (2) 分析本文航拍的实际需求以及航拍环境，有针对性的设计相应的航拍方 案，本文采用两架四旋翼无人机、无线中继节点、上位机以及遥控器实施航拍， 其中携带中继节点的中继四旋翼无人机于烟囱顶端口上方悬停，侦察四旋翼无人 机进入烟囱内部进行航拍，上位机位于烟囱外部地面，侦察四旋翼无人机与上位 机之间的通信需通过中继节点实现。 (3) 针对航拍方案中两架四旋翼无人机的具体应用情况以及航拍场景的具 体情形，选取合适的机架材料、机载设备以及航拍设备。航拍过程中中继四旋翼 无人机的悬停控制采用模糊自整定 PID 控制器实现；无线中继节点是本文实现 通信的重要环节，以 STM32 单片机为核心，nRF24L01+PA 与 2dbi 增益 5.8GHz 全向天线作为无线通信模块；依据本文的航拍要求设计了相应的上位机。 (4) 展开图像拼接实验，此过程中，利用 SIFT 算法对图像进行配准，并通 过加权平均融合方法对配准完成的图像实施融合，最终完成对所采集图像的拼接 实验。 关键词，四旋翼无人机；烟囱内壁；腐蚀；无线中继节点；图像拼接 分类号，TP207 UDC: 621.3II Practicability research about Monitoring corrosion situation of The inner of the chimney based on four-rotor UAV Abstract: During thermal power generation，the inner wall of chimney is continuously invaded by corrosion brought by discharged gas. As chimney using time prolonged, this kind of corrosion may get worse and worse， even damage production safety of thermal power generation. So it is necessary to monitor the condition of inner walls regularly. At present, the most common and effective way of monitoring is using rope or elevators to send workers into the chimney from the top of it and then evaluate corrosion degree personally. However, this approach is not only time-wasting, but also has potential harm on worker’s safety. Based on above problems, this essay proposes a new method of inner walls’ corrosion monitoring through a four rotor unmanned aerial vehicle (UVA). The main contents of this essay are summarized as follows: Firstly, general introduction of thermal power generation, four rotor UVA and current development of inner wall corrosion monitoring methods, a detailed introduction of the causes of all corrosions and existing method of inner walls’ corrosion monitoring. Secondly, analysis about actual demand of aerial photography and its environment with corresponding design: two four-rotor unmanned gyroplanes, wireless relay node, upper machine and implement aerial remote control are used in this research. They will work like this. Four unmanned gyroplane with relay nodes will hover beyond chimney mouth. Monitoring unmanned gyroplane will then begin aerial photography inside the chimneys. During the process, upper machine will be located on ground outside the chimneys and the connection between the unmanned gyroplane and the upper machine will be realized by relay nodes. Thirdly, appropriate frame material, airborne and aerial photography equipment will be specially selected according to detail application situation of four unmanned planes and aerial scenes. Hovering of unmanned planes will be controlled by fuzzy self-tuning PID controller. And there is a fundamental part inIII this research to realize the communication , the relay nodes, which is centered by STM32 single chip microcomputer. nRF24L01+PA and 2dbi gain 5.8GHz omnidirectional antenna functions as wireless communication module. Corresponding upper machine is also well prepared for the research. Fourthly, when carrying on image matching experiment, SIFT algorithm is applied into image matching and images matched each other are merged through weighted average merging method. This can finally lead to the accomplishment of mosaic experiment of images caught. Key words: four-rotor UVA; inner wall of chimney; corrosion; wireless relay node; image mosaic Classification: TP207 UDC: 621.3IV 目 次 摘要................................................................................................................................ I 目 次............................................................................................................................IV 图清单..........................................................................................................................VI 表清单..........................................................................................................................IX 1 绪论..........................................................................................................................1 1.1 课题的来源和意义...........................................................................................1 1.2 发展现状...........................................................................................................4 1.2.1 火力发电的发展现状................................................................................4 1.2.2 四旋翼无人机的发展现状........................................................................6 1.2.3 火电厂烟囱内壁防腐蚀技术的发展现状..............................................10 1.3 火电厂烟囱内壁腐蚀情况监测技术的发展现状.........................................13 1.3.1 烟囱内壁腐蚀的成因、分类..................................................................13 1.3.2 现有的烟囱内壁腐蚀情况监测方法......................................................14 1.4 本文主要研究内容.........................................................................................17 1.5 本章小结.........................................................................................................19 2 中继四旋翼无人机................................................................................................20 2.1 无人机设计.....................................................................................................20 2.1.1 结构选型..................................................................................................20 2.1.2 无人机的搭建..........................................................................................23 2.2 基于模糊自整定 PID 控制器的悬停控制....................................................25 2.2.1 经典 PID 控制.........................................................................................25 2.2.2 模糊自整定 PID 控制器.........................................................................26 2.3 无线中继节点.................................................................................................30 2.3.1 硬件设计....................................................................................................30 2.3.2 软件设计..................................................................................................32 2.4 本章小结.........................................................................................................33 3 侦察四旋翼无人机................................................................................................34 3.1 航拍方案设计.................................................................................................34 3.2 无人机设计.....................................................................................................35 3.2.1 无人机的搭建..........................................................................................35 3.2.2 模糊控制..................................................................................................38 3.3 图像采集装置.................................................................................................40 3.3.1 硬件设计..................................................................................................41V 3.3.2 软件设计..................................................................................................42 3.4 本章小结.........................................................................................................44 4 上位机....................................................................................................................45 4.1 串口通信设计.................................................................................................45 4.2 通信协议.........................................................................................................46 4.3 飞控数据显示.................................................................................................47 4.4 图像采集系统场景模拟.................................................................................48 4.5 本章小结.........................................................................................................50 5 图像拼接实验........................................................................................................51 5.1 图像配准.........................................................................................................52 5.1.1 图像拼接算法选取..................................................................................52 5.1.2 SIFT 算法的配准过程............................................................................52 5.2 图像融合.........................................................................................................58 5.3 基于 SIFT 算法的图像拼接实验效果..........................................................58 5.4 本章小结.........................................................................................................60 6 总结与展望............................................................................................................61 6.1 总结.................................................................................................................61 6.2 展望.................................................................................................................62