无人机载智能塔基定位放样方法研究

Research on the UAV-borne Intelligent Tower Base Positioning and Lofting Method

电网工程架空线路塔杆放样多在复杂山区进行,传统基于经纬仪、全站仪和手持差分卫星定位等设备的放样方式劳动强度大、耗时长且数据易出错。提出了一种无人机载智能塔基定位的放样方法,该方法以无人机、激光投点器为硬件基础,研究开发智能放样软件。将电网工程架空线路上各塔杆中心桩坐标输入智能放样软件平台,可实时计算各塔杆20个放样点的平面坐标,并根据DEM模型、地表树木、交通线路及其他障碍物分布状况自动规划无人机放样航线、调整航高,在各放样点上方悬停后进行激光投点,高效引导地表人员快速确定放样点位。经过多轮测试,结果表明:采用无人机载智能塔基定位放样系统可快速、高精度完成输电线路塔杆放样,大幅降低了传统放样方式中放样点布设的次数与时长,为电网施工放样提供了有效支撑。

The lofting of overhead line towers in power grid engineering is mostly carried out in complex mountainous areas,and the traditional construction lofting method based on theodolite,total station and handheld differential satellite positioning equipment is labor-intensive,time-consuming and error-prone to data.In this paper,an intelligent tower base positioning and lofting method based on unmanned aerial vehicle(UAV)is proposed,which takes the UAV and laser projector as hardware,and research and develop the intelligent lofting software.Inputting the coordinates of the center pile of each tower pole in the overhead line into the intelligent lofting software platform,the system can calculate the planar coordinates of 20 lofting points for each tower pole in real time,and according to the distribution of the DEM model,surface trees,traffic lines and other obstacles,it can automatically plan the UAV lofting route,adjust the aerial height.With the UAV hovering above each lofting point,laser pointing is carried out to efficiently guide the surface personnel to quickly determine the location of the lofting point.Through multiple rounds of tests,it is shown that the UAV-borne intelligent tower base positioning and lofting system can be used to quickly and accurately complete the lofting of transmission line towers,significantly reducing the number and duration of lofting points in the traditional lofting mode,and provides effective support for the lofting of power grid construction.