输电线路运维检修中的无人机自主路径规划与避障技术研究  

Research on Autonomous Path Planning and Obstacle Avoidance Technology of Drone in Transmission Line Operation and Maintenance

作　　者：汪勇军 WANG Yongjun(State Grid Hubei Electric Power Co.,Ltd.,Huangshi Power Supply Company,Huangshi 435000,China)

机构地区：[1]国网湖北省电力有限公司黄石供电公司,湖北黄石435000

出　　处：《通信电源技术》2024年第20期219-221,共3页Telecom Power Technology

摘　　要：输电线路的安全稳定运行对现代社会的电力供应至关重要。传统的输电线路运维检修工作面临诸多挑战,包括人力资源需求大、作业环境复杂以及安全风险高等。近年来,无人机技术为输电线路运维检修提供了一种有效的解决方案。文章通过构建输电线路节点模拟图,采用深度优先搜索(Depth First Search,DFS)算法进行路径规划,并结合环境感知技术和避障算法,实现无人机在输电线路运维检修中的自主化作业。通过实验验证,所提方法能够有效规划无人机的巡航路径,避开设定的障碍物,完成对输电线路的全面巡检任务,达到提高运维效率、降低成本以及减少安全风险的目的。The safe and stable operation of transmission lines is very important to the power supply in modern society.The traditional operation and maintenance of transmission lines faces many challenges,including large demand for human resources,complex working environment and high security risks.In recent years,drones technology has provided an effective solution for the operation and maintenance of transmission lines.In this paper,through the construction of transmission line node simulation diagram,Depth First Search(DFS)algorithm is used for path planning,and combined with environmental awareness technology and obstacle avoidance algorithm,the autonomous operation of drones in transmission line operation and maintenance is realized.The experimental results show that the proposed method can effectively plan the cruise path of drones,avoid the set obstacles,and complete the comprehensive inspection of transmission lines,thus improving operation and maintenance efficiency,reducing costs and reducing security risks.

关 键 词：路径规划 深度优先搜索(DFS) 环境感知 避障技术 

分 类 号：TM75[电气工程—电力系统及自动化]