CN107238845A - A kind of power transmission line unmanned machine flight path detection method based on 3 D laser scanning - Google Patents
A kind of power transmission line unmanned machine flight path detection method based on 3 D laser scanning Download PDFInfo
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- CN107238845A CN107238845A CN201710356963.9A CN201710356963A CN107238845A CN 107238845 A CN107238845 A CN 107238845A CN 201710356963 A CN201710356963 A CN 201710356963A CN 107238845 A CN107238845 A CN 107238845A
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- point cloud
- transmission line
- laser
- laser point
- power transmission
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/933—Lidar systems specially adapted for specific applications for anti-collision purposes of aircraft or spacecraft
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The present invention relates to a kind of power transmission line unmanned machine flight path detection method based on 3 D laser scanning, a, using laser radar apparatus laser point cloud data collection is carried out to transmission line of electricity and periphery atural object;B, laser point cloud is classified, object dissolves various entities;C, unmanned plane during flying path and laser point cloud be overlapped comparative analysis, judge whether the potential safety hazards such as barrier, hazardous environment;If d, monitoring potential safety hazard, automatic fine tuning flight line avoids potential safety hazard point.
Description
Technical field
The present invention relates to unmanned plane field, remote sensing detection field, more particularly, to a kind of based on the defeated of 3 D laser scanning
Electric line unmanned plane during flying path detection method.
Background technology
With continuing to develop for unmanned air vehicle technique, the speed of unmanned plane during flying and continuation of the journey have obtained effective raising, more next
More work is carried out using unmanned plane.When planning flight path, unmanned plane operator lacks context-aware, not to itself
The worry of safety, it is impossible to pass through the safety such as body-feeling to the barrier, transmission line of electricity run into as having man-machine pilot
Hidden danger, and make assessment to its order of severity, these may all cause operator by unmanned plane during flying highway route design to improper
Place.And use laser point cloud data to carry out unmanned plane during flying route detection, it can accurately judge unmanned plane during flying route
The security risk of barrier, the danger of surrounding, and adjust automatically flight line, effectively reduction unmanned plane.
The content of the invention
The purpose of the present invention is, in order to detect that unmanned plane is manually set the security of flight path safety, it is proposed that a kind of
Laser point cloud number near power transmission line unmanned machine flight path detection method based on 3 D laser scanning, collection flight path
According to, Accurate Analysis currently sets flight path and whether there is the potential safety hazard that is interfered to unmanned plane on this basis, if any
Then provide the flight path for avoiding potential safety hazard.
The technical scheme that the present invention meets above-mentioned requirements is:
A kind of power transmission line unmanned machine flight path detection method based on 3 D laser scanning, including following step are provided
Suddenly:
A, using laser radar apparatus laser point cloud data collection is carried out to transmission line of electricity and periphery atural object;
B, laser point cloud data is handled, rejecting abnormalities value and noise;
C, laser point cloud is classified, object dissolves various entities;
D, unmanned plane during flying route and laser point cloud be overlapped contrast;
Whether e, judgement unmanned plane during flying route have barrier and close to hazardous environments such as ultra-high-tension power transmission lines;
F, if any potential safety hazard then automatic fine tuning flight line, avoid potential safety hazard point.
The beneficial effects of the invention are as follows in order to detect that unmanned plane is manually set the security of flight path safety, it is proposed that
A kind of unmanned plane during flying path detection method based on laser point cloud, relative to check satellite map, personnel on site prospecting side
Formula, this method can accurately judge the security risk of the unmanned plane during flying route distance in kind with surrounding, effectively reduction unmanned plane.
Brief description of the drawings
Fig. 1 is detection method flow chart.
Embodiment
See Fig. 1, a kind of power transmission line unmanned machine flight path detection method based on 3 D laser scanning, including following step
Suddenly:
A, using laser radar apparatus laser point cloud data collection is carried out to transmission line of electricity and periphery atural object;
B, laser point cloud data is handled, rejecting abnormalities value and noise;
C, laser point cloud is classified, object dissolves various entities;
D, unmanned plane during flying route and laser point cloud be overlapped contrast;
Whether e, judgement unmanned plane during flying route have barrier and close to hazardous environments such as ultra-high-tension power transmission lines;
F, if any potential safety hazard then automatic fine tuning flight line, avoid potential safety hazard point.
The inventive method is mainly used in unmanned plane during flying path security detection and analysis, utilizes laser radar apparatus Collecting operation
After the laser point cloud data on place periphery, analyzing and processing, the unmanned plane during flying route distance in kind with surrounding is calculated, it is accurate to judge
Unmanned plane during flying path whether there is the security risk of potential safety hazard, effectively reduction unmanned plane.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto,
Any one skilled in the art the invention discloses technical scope in, the change or replacement that can be readily occurred in,
It should all be included within the scope of the present invention.Therefore, protection scope of the present invention should be with scope of the claims
It is defined.
Claims (1)
1. a kind of power transmission line unmanned machine flight path detection method based on 3 D laser scanning, it is characterised in that including with
Lower step:
A, using laser radar apparatus laser point cloud data collection is carried out to transmission line of electricity and periphery atural object;
B, laser point cloud data is handled, rejecting abnormalities value and noise;
C, laser point cloud is classified, object dissolves various entities;
D, unmanned plane during flying route and laser point cloud be overlapped contrast;
Whether e, judgement unmanned plane during flying route have barrier and close to hazardous environments such as ultra-high-tension power transmission lines;
F, if any potential safety hazard then automatic fine tuning flight line, avoid potential safety hazard point.
Priority Applications (1)
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CN201710356963.9A CN107238845A (en) | 2017-05-19 | 2017-05-19 | A kind of power transmission line unmanned machine flight path detection method based on 3 D laser scanning |
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CN201710356963.9A CN107238845A (en) | 2017-05-19 | 2017-05-19 | A kind of power transmission line unmanned machine flight path detection method based on 3 D laser scanning |
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CN107238845A true CN107238845A (en) | 2017-10-10 |
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CN201710356963.9A Pending CN107238845A (en) | 2017-05-19 | 2017-05-19 | A kind of power transmission line unmanned machine flight path detection method based on 3 D laser scanning |
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Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108152831A (en) * | 2017-12-06 | 2018-06-12 | 中国农业大学 | A kind of laser radar obstacle recognition method and system |
CN109141434A (en) * | 2018-09-21 | 2019-01-04 | 国网电力科学研究院武汉南瑞有限责任公司 | A kind of unmanned plane patrolled and examined track acquisition methods based on laser point cloud data |
CN109144097A (en) * | 2018-08-15 | 2019-01-04 | 广州极飞科技有限公司 | Barrier or ground identification and flight control method, device, equipment and medium |
CN109256723A (en) * | 2018-11-07 | 2019-01-22 | 天津航天中为数据***科技有限公司 | A kind of integrated power transmission line intelligent machine of transmitting electricity in vacant lot patrols operating system and method |
CN109444915A (en) * | 2018-09-11 | 2019-03-08 | 成都优艾维智能科技有限责任公司 | A kind of danger zone pre-judging method based on laser radar data |
CN113031008A (en) * | 2021-03-12 | 2021-06-25 | 中国电子科技集团公司第二十研究所 | Foresight prediction alarm method capable of actively detecting sea surface threat |
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CN104050715A (en) * | 2014-06-23 | 2014-09-17 | 华北电力大学 | High-precision three-dimensional reconstruction method for power transmission line and corridor |
CN105159297A (en) * | 2015-09-11 | 2015-12-16 | 南方电网科学研究院有限责任公司 | Unmanned aerial vehicle inspection obstacle avoidance system and method for power transmission line |
CN105425809A (en) * | 2015-12-02 | 2016-03-23 | 深圳市易飞行科技有限公司 | Obstacle avoiding method and system for unmanned plane |
CN106371456A (en) * | 2016-08-31 | 2017-02-01 | 中测新图(北京)遥感技术有限责任公司 | Unmanned plane patrol method and system |
CN106503060A (en) * | 2016-09-28 | 2017-03-15 | 山东东电电气工程技术有限公司 | A kind of transmission line of electricity three dimensional point cloud is processed and hands over across thing acquisition methods |
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2017
- 2017-05-19 CN CN201710356963.9A patent/CN107238845A/en active Pending
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
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CN104050715A (en) * | 2014-06-23 | 2014-09-17 | 华北电力大学 | High-precision three-dimensional reconstruction method for power transmission line and corridor |
CN105159297A (en) * | 2015-09-11 | 2015-12-16 | 南方电网科学研究院有限责任公司 | Unmanned aerial vehicle inspection obstacle avoidance system and method for power transmission line |
CN105425809A (en) * | 2015-12-02 | 2016-03-23 | 深圳市易飞行科技有限公司 | Obstacle avoiding method and system for unmanned plane |
CN106371456A (en) * | 2016-08-31 | 2017-02-01 | 中测新图(北京)遥感技术有限责任公司 | Unmanned plane patrol method and system |
CN106503060A (en) * | 2016-09-28 | 2017-03-15 | 山东东电电气工程技术有限公司 | A kind of transmission line of electricity three dimensional point cloud is processed and hands over across thing acquisition methods |
Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108152831A (en) * | 2017-12-06 | 2018-06-12 | 中国农业大学 | A kind of laser radar obstacle recognition method and system |
CN108152831B (en) * | 2017-12-06 | 2020-02-07 | 中国农业大学 | Laser radar obstacle identification method and system |
CN109144097A (en) * | 2018-08-15 | 2019-01-04 | 广州极飞科技有限公司 | Barrier or ground identification and flight control method, device, equipment and medium |
CN109444915A (en) * | 2018-09-11 | 2019-03-08 | 成都优艾维智能科技有限责任公司 | A kind of danger zone pre-judging method based on laser radar data |
CN109444915B (en) * | 2018-09-11 | 2020-11-03 | 成都优艾维智能科技有限责任公司 | Dangerous area pre-judging method based on laser radar data |
CN109141434A (en) * | 2018-09-21 | 2019-01-04 | 国网电力科学研究院武汉南瑞有限责任公司 | A kind of unmanned plane patrolled and examined track acquisition methods based on laser point cloud data |
CN109256723A (en) * | 2018-11-07 | 2019-01-22 | 天津航天中为数据***科技有限公司 | A kind of integrated power transmission line intelligent machine of transmitting electricity in vacant lot patrols operating system and method |
CN113031008A (en) * | 2021-03-12 | 2021-06-25 | 中国电子科技集团公司第二十研究所 | Foresight prediction alarm method capable of actively detecting sea surface threat |
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Application publication date: 20171010 |