In the construction process of power industry, there are many high-altitude operations, and the high-altitude fall prevention technology and device is an important guarantee for the personal safety of electric power operators. The UAV-mounted fall prevention device in the power grid aerial work greatly avoids the risk of high-altitude personal fall accidents. The device is based on visual SLAM algorithm to realize target localization, and based on PID algorithm to complete attitude control. Simulation test results show that the ORB-SLAM2 algorithm with multi-sensors improves the system localization accuracy by about 21.4% compared with the ORB-SLAM algorithm that only supports monocular camera. The UAV can achieve attitude stabilization under the PID-based attitude controller when carrying different loads, but some oscillations will occur when the weight of the carried load reaches 15 kg or the load is seriously asymmetric. Based on UAV technology, the high-altitude operation method of power grid can effectively eliminate the potential hidden dangers brought by the inconvenient use of the current temporary fall protection measures and thus affect the coherence of the tower boarding action, and at the same time, it can realize the fall protection in the whole process of tower boarding, which can effectively alleviate the psychological pressure of the boarding personnel and reduce the risk of falling.
