用于不间断无人机作业的自主架空电力线充电
Autonomous Overhead Powerline Recharging for Uninterrupted Drone Operations
AI总结：
本文提出一种全自主电力线自充电无人机系统，通过机载感知导航、被动夹持机构和分裂铁芯电流互感器取电，在室外三相电力线环境中实现多轮连续起降充电与数小时不间断作业。
摘要：
我们提出了一种能够在电力线附近长时间持续作业的全自主自充电无人机系统。该无人机配备鲁棒的机载感知与导航系统，使其能够定位电力线并接近以进行降落。被动驱动的夹持机构在降落过程中抓住电力线线缆，随后控制电路调节分裂铁芯电流互感器内部的磁场，以提供足够的夹持力并为电池充电。该系统在带电的室外三相电力线环境中进行了评估。我们展示了由多次飞行、降落、充电和起飞循环组成的连续数小时全自主不间断无人机作业，验证了延长的、本质上无限的作业续航能力。
英文摘要：
We present a fully autonomous self-recharging drone system capable of long-duration sustained operations near powerlines. The drone is equipped with a robust onboard perception and navigation system that enables it to locate powerlines and approach them for landing. A passively actuated gripping mechanism grasps the powerline cable during landing after which a control circuit regulates the magnetic field inside a split-core current transformer to provide sufficient holding force as well as battery recharging. The system is evaluated in an active outdoor three-phase powerline environment. We demonstrate multiple contiguous hours of fully autonomous uninterrupted drone operations composed of several cycles of flying, landing, recharging, and takeoff, validating the capability of extended, essentially unlimited, operational endurance.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
