基于地面站辅助的无人机自主架线系统

将无人机（unmanned aerial vehicle, UAV）技术用于实现电力线展放正逐步成为电力行业发展的主要趋势，研究无人机自主架线技术能够有效提高作业效率、降低施工成本和保障工人安全。但现阶段无人机架线技术面临的问题主要有：1）大多数无人机依赖人工操控或地面站发布航点控制，智能化水平低，长期作业会给电力工人带来较强负荷；2）无人机缺乏自主避障能力且感知能力不足，电线、电杆等障碍物会对其造成安全隐患。为解决上述问题，首先，构建了无人机自主架线系统的硬件框架和以ROS（robot operating system，机器人操作系统）为基础的模块化软件框架，并在此基础上实现了架线任务规划算法和架线弓检测算法等，使无人机具备稳定的自主架线能力。然后，利用碰撞检测方法构建了无人机碰撞模型，并提出了无人机路径规划算法，同时引入地面站辅助避障策略，以有效提高无人机的安全性。实验结果表明：所设计的无人机自主架线系统的软、硬件框架合理，架线任务规划算法能帮助无人机高效稳定地完成自主架线任务；地面站能够实时监控无人机状态，并在必要时及时辅助无人机避障，最大程度地保证了无人机的安全。所设计系统安全可靠，可满足实际电力架线作业的需求。

UAV autonomous stringing system based on ground station assistance

The utilization of unmanned aerial vehicle (UAV) technology to realize the power line laying is gradually becoming the main trend of power industry development. Studying the UAV autonomous stringing technology can effectively improve operational efficiency, reduce construction cost and ensure security of workers. However, the problems of UAV stringing technology at this stage are mainly as follows: 1) Most UAVs rely on manual control or ground station to release waypoint control, which has a low level of intelligence, and long-term operation will bring strong load to electric workers; 2) The UAV lacks autonomous obstacle avoidance ability and has insufficient perception ability, and the obstacles such as wires and poles will cause safety hazards to it. In order to solve the above problems, fitstly, the hardware framework and the modular software framework based on ROS (robot operating system) of UAV autonomous stringing system were constructed, and on this basis, the stringing task planning algorithm and the stringing bow detection algorithm were implemented, so that the UAV had a stable autonomous stringing capability. Then, the collision model of UAV was constructed by using collision detection method, and the path planning algorithm of UAV was proposed. At the same time, the ground station-based obstacle avoidance strategy was introduced to effectively improve the safety of UAV. The experimental results showed that the software and hardware framework of the designed UAV autonomous stringing system was reasonable, and the stringing task planning algorithm could help the UAV complete the autonomous stringing task efficiently and stably. The ground station could monitor the status of the UAV in real-time, and assisted the UAV to avoid obstacles when necessary, so as to ensure the safety of UAV to the greatest extent. The designed system is safe and reliable, and can meet the actual electric stringing operation requirements.