摘要本论文研究的是如何准确的追踪到清理管道时管道堵塞的地理位置，从而更快的疏通管道。

管道在正常流通工作前一般先用水或气体推动清管器将管道内的杂物顶出来，但是难免会出现堵塞的情况。于是需要定位堵塞的具体位置。但是由于管道过长（30-50km），管道经过的不同样的地理环境，所以单靠人为检测耗时巨大。需要寻找出一种方法去有效的快速的最少成本的定位到管道堵塞的准确位置。78435

本设计采用的是无人机定位方法，在清理管道前将电磁脉冲信号发射器放入清管器里，然后进行清管工作。当堵塞的时候，由无人机装载着信号接收器，从始端开始进行追踪，无人机可以依据地形进行自主遥控和人为遥控两种模式。当无人机检测到脉冲信号的时候，将当前的地理位置由卫星GPS传回检测员，从而达到定位堵塞位置的任务。

本设计工作的主要内容有:无人机的主体设计、无人机的通讯系统、无人机控制系统 电磁追踪仪的主电路以及设备选择、电磁追踪仪与无人机定位系统的信号转换、任务流程确定、任务路线比较 

设计成果主要包括: 设计说明书、流程模拟原文件、信号收发器电路图、机体、

cad三视图机体零件图 

毕业论文关键词 清管器  电磁追踪仪  无人机  控制系统  图传与数传系统

毕业设计说明书外文摘要

This paper is a study of how to accurately track and clear the pipe plug to dredge pipelines faster。

  Before the normal flow of work,we use water or gas to drive pig stuff out of the pipeline, but the whole system will be blocked,and plug location is needed to be located。But if the pipeline is too long (10-30km), or the geography condition of the pipeline is variant,with simply manual operation the process gonna take enormous time。

  Now,advanced technology bring us a new method to handle it with much more efficiency and even lower cost。Generally,we use drones to locate the plugs。the pipeline is equipped with an “alarm system”which is composed with a lot of sensors。when electromagnetic pulse transmitter in the pig in, and then to carry out the work。 When blocked, when plugging happens,the system gonna send signal to drones。the drones will scan the pipe from the beginning to an end,when receiving the signal,it could locate the sensor that is on the blocked part,and send GPS coordinate to UAV operator to locate the plug。according to the terrain condition,the UAV could be switched from mobile or manual mode。 

  The design are pided into following main elements: preparation of the main design characteristics of UAV drones;GPS systems for unmanned drones’transceiver circuit;design of drone’s configuration;design of automatic control; system of electromagnetic pulse and electromagnetic pulse receiver with GPS positioning system for unmanned signals; determine the task flow the task process。

  Paper contents:design specification, source files of process simulation,signal transceiver circuit,configuration and body parts CAD drawing。 

Keywords  go-devil  Electromagnetic tracking device  UAV  control system 

Graph and data transmission system

目  次

1  绪论 1

1。1  背景介绍 1

1。2  清管定位跟踪工具简介 1

1。3  清管追踪定位技术的现状与发展 2

1。4  本课题设计内容 4

2  电磁信号追踪仪