CN110780681A - Unmanned aerial vehicle autonomous inspection insulator path planning method based on laser point cloud - Google Patents
Unmanned aerial vehicle autonomous inspection insulator path planning method based on laser point cloud Download PDFInfo
- Publication number
- CN110780681A CN110780681A CN201911176682.0A CN201911176682A CN110780681A CN 110780681 A CN110780681 A CN 110780681A CN 201911176682 A CN201911176682 A CN 201911176682A CN 110780681 A CN110780681 A CN 110780681A
- Authority
- CN
- China
- Prior art keywords
- point cloud
- tower
- power line
- coordinates
- aerial vehicle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 239000012212 insulator Substances 0.000 title claims abstract description 43
- 238000000034 method Methods 0.000 title claims abstract description 38
- 238000007689 inspection Methods 0.000 title claims abstract description 28
- 238000000605 extraction Methods 0.000 claims description 8
- 238000012847 principal component analysis method Methods 0.000 claims description 4
- 230000011218 segmentation Effects 0.000 claims description 4
- 238000000638 solvent extraction Methods 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 description 9
- 238000004364 calculation method Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000012163 sequencing technique Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
-
- 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
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
- Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
- Y04S10/00—Systems supporting electrical power generation, transmission or distribution
- Y04S10/50—Systems or methods supporting the power network operation or management, involving a certain degree of interaction with the load-side end user applications
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses an unmanned aerial vehicle autonomous inspection insulator path planning method based on laser point cloud, which comprises the following steps: acquiring laser point cloud data of an electric power corridor to obtain power line point cloud and tower point cloud data; calculating a bounding box of each base tower point cloud OBB direction and taking the center of the bounding box as a tower coordinate; calculating two side vertical plane equations passing through the coordinates of each base rod tower and perpendicular to the trend line; performing proximity search on a distance vertical plane on the power line points, and reserving power line point clouds in a threshold range; clustering and curve fitting are carried out on the reserved power line points to obtain a curve fitting equation; calculating and obtaining the coordinates of the hanging points of the tower through a curve fitting equation, and simplifying the coordinates of the hanging points to be regarded as coordinates of the insulators; setting a camera focal length and a safe flying distance according to the coordinates of the insulator to form an unmanned aerial vehicle flying track connecting each photographing point; the technical problems of poor routing planning, large workload and the like in the autonomous routing planning of the insulator unmanned aerial vehicle are solved.
Description
Technical Field
The invention belongs to an unmanned aerial vehicle autonomous inspection insulator path planning technology, and particularly relates to an unmanned aerial vehicle autonomous inspection insulator path planning method based on laser point cloud.
Background
The insulator in the power transmission line is used as a special insulating control and plays an important role in the aspects of supporting a lead, preventing current from flowing back to the ground and the like in the overhead power transmission line. Once the insulator breaks down, will lead to taking place the contact between the power transmission line or between power transmission line and the pylon, and then lead to the short circuit to cause the power supply to break off, can take place the power failure accident on a large scale even when serious, cause huge loss of property. Therefore, the unmanned aerial vehicle insulator inspection system is very important for inspecting and maintaining the state of the insulator of the power transmission line, and the unmanned aerial vehicle insulator inspection system is difficult to inspect the insulator of the power transmission line autonomously under a complex background.
In recent years, students at home and abroad use computer vision and digital image processing technology to carry out multi-aspect research on unmanned aerial vehicle autonomous inspection path planning of insulators, but generally start with the color, shape and texture characteristics of the insulators to carry out segmentation and identification, the methods have the problems of high requirement on aerial image quality, more noise in identification results, large calculation amount, large amount of manual assistance, need to establish an insulator standard library, poor unmanned aerial vehicle autonomous inspection effect on insulator strings of high-capacity ultrahigh-voltage power transmission lines and the like.
The invention content is as follows:
the technical problem to be solved by the invention is as follows: the method for planning the path of the insulator for autonomous inspection of the unmanned aerial vehicle based on the laser point cloud is provided, and the technical problems of poor planning of the inspection path, large workload and the like existing in the planning of the path for autonomous inspection of the insulator unmanned aerial vehicle in the prior art are solved.
The technical scheme of the invention is as follows:
an unmanned aerial vehicle autonomous inspection insulator path planning method based on laser point cloud comprises the following steps:
step 1, collecting power corridor laser point cloud data to obtain power line point cloud and tower point cloud data;
step 2, calculating an enclosing box of the point cloud OBB direction of each base tower, and taking the center of the enclosing box as a tower coordinate;
step 3, constructing a tower trend line between every two base tower towers, and calculating two side vertical plane equations passing through the coordinates of each base tower and being vertical to the trend line;
step 4, setting a distance threshold value to be 10 m-20 m, performing distance vertical plane proximity search on the power line points obtained in the step 1, and reserving power line point clouds in the threshold value range;
step 5, carrying out Euclidean distance clustering on the power line points reserved in the step 4 and carrying out curve fitting on each clustered power line point to obtain a curve fitting equation;
step 6, calculating and obtaining coordinates of a tower hanging point through a curve fitting equation, and simplifying the coordinates of the hanging point to be regarded as coordinates of the insulator;
step 7, circulating the steps 3-6 to obtain coordinates of all insulators of the electric power corridor and sequentially exporting the coordinates;
and 8, setting a camera focal length and a safe flying distance according to the derived insulator coordinates to form an unmanned aerial vehicle flying track connecting each photographing point.
A method for planning an insulator path for autonomous inspection of an unmanned aerial vehicle based on laser point cloud comprises the following steps of 1, obtaining power line point cloud and tower point cloud data: the method comprises the steps of obtaining three-dimensional point cloud data of an electric power corridor channel by carrying laser equipment by an unmanned aerial vehicle, and segmenting the point cloud data of an original corridor channel by a least square method, an RANSAC algorithm, a triangular mesh partitioning algorithm or a curved surface clustering segmentation algorithm to obtain the point cloud data of the electric power line and the tower.
Step 2, the method for calculating the bounding box of each base tower point cloud OBB direction and taking the center of the bounding box as the tower coordinate comprises the following steps: and acquiring point cloud data of each base tower by adopting an Euclidean clustering extraction algorithm, constructing an OBB direction bounding box of each base tower by utilizing a PCA principal component analysis method, and acquiring the central coordinate of the bounding box as a tower coordinate.
And 3, the method for constructing the tower trend line between every two base towers and calculating the equation of the two side vertical planes passing through the coordinates of each base tower and perpendicular to the trend line comprises the following steps:
utilizing the coordinates (x) of the two continuous base tower poles obtained in the step 2
1,y
1,z
1)(x
2,y
2,z
2) Constructing a horizontal direction connecting line, the slope of the direction connecting line is
Through (x)
1,y
1,z
1) And the plane equation perpendicular to the running line is
Through (x)
2,y
2,z
2) And the plane equation perpendicular to the running line is
Step 4, setting distance thresholds 10m to 20m, performing distance vertical plane proximity search on the power line points obtained in step 1, and retaining the power line points within the distance threshold range: and constructing an octree on the power line point cloud, setting a search radius by adopting octree proximity search, and reserving power line points in the search radius.
Step 5, the method for performing Euclidean distance clustering on the power line points reserved in the step 4 and performing curve fitting on each clustered power line point to obtain a curve fitting equation comprises the following steps: and (3) acquiring point cloud data of each power line by adopting an Euclidean clustering extraction algorithm, and performing curve equation fitting on the point cloud data of each power line by utilizing a least square method.
And 6, the method for calculating and acquiring the coordinates of the hanging points of the towers through the curvilinear equations formed on the left side and the right side of each base tower comprises the following steps: obtaining an angle bisection plane of a vertical plane of a trend connecting line at two sides of the tower; and calculating the intersection points of the curve fitting equations on the two sides and the angular bisector, regarding two points with the shortest distance in the intersection points on the two sides as points on the same power line, calculating the coordinate average value of the two intersection points, namely the coordinate of the hanging point of the power line and the tower, and calculating the coordinates of all the hanging points of all the power lines on the basic tower by analogy.
The invention has the beneficial effects that:
the unmanned aerial vehicle route automatic planning system realizes the automatic planning and automatic generation of the unmanned aerial vehicle route of the insulator based on the high-precision three-dimensional laser point cloud data, and the unmanned aerial vehicle control system realizes the full-automatic flight operation according to the route planning, reduces the operation threshold of the unmanned aerial vehicle, reduces the influence of the experience of personnel on the inspection work of the power transmission line, further improves the inspection operation efficiency of the elevator, and really realizes the unmanned inspection operation flight of the unmanned aerial vehicle in the whole process. The unmanned aerial vehicle inspection system is changed from an 'I' shape to an 'automatic shape', the capability of operators for driving the power grid is effectively improved, the potential risk of the power grid is reduced, the system safety is guaranteed, the power supply reliability is improved, the safe operation and driving and protection of national power grid lines are realized, and the technical problems of poor inspection path planning, large workload and the like in the autonomous inspection path planning of the insulator unmanned aerial vehicle in the prior art are solved. The method supports 'what you see is what you get' type flight preview, has flight route setting of multiple base towers of continuous lines, and provides safe position guidance for breakpoint cruising of the unmanned aerial vehicle; the device has the capabilities of space collision monitoring and automatic avoidance, and effectively guarantees flight safety.
The specific implementation mode is as follows:
a power transmission line dangerous point calculation method based on laser point cloud radar data comprises the following steps:
step 1, collecting power line corridor laser point cloud data, and performing data processing to obtain power line point cloud and tower point cloud data;
the method comprises the steps of obtaining three-dimensional point cloud data of an electric power corridor channel by using an unmanned aerial vehicle to carry laser equipment, and segmenting the point cloud data of an original corridor channel by using a least square method, an RANSAC algorithm, a triangular mesh partitioning algorithm, a curved surface clustering segmentation algorithm and the like to obtain the point cloud data of the electric power line and the tower.
The unmanned aerial vehicle carries laser equipment to obtain three-dimensional point cloud data of the electric power corridor channel, directly obtains three-dimensional information of the electric power corridor channel, and forms an accurate digital model. The classification of the point cloud data of the power corridor channel can be rapidly realized by adopting a mature technical means, the point cloud data of power lines, towers, vegetation and the like can be obtained, the effect is good, the precision is high, and the misclassification probability is low. And accurate data support is provided for subsequent extraction of insulator coordinates.
Step 2, calculating a bounding box in the OBB (ordered bounding box) direction of each base tower point cloud and taking the center of the bounding box as a tower coordinate;
and acquiring point cloud data of each base tower by adopting an Euclidean clustering extraction algorithm, constructing an OBB direction bounding box of each base tower by utilizing a PCA principal component analysis method, and acquiring the central coordinate of the bounding box as a tower coordinate.
Due to the distance and shape particularity among the towers in the electric power corridor, the point cloud data of each base tower can be extracted quickly by adopting Euclidean clustering, the OBB bounding box is constructed by adopting a PCA principal component analysis method for the point cloud data of each base tower, the constructed OBB direction bounding box can be tightly attached to the periphery of the tower according to the shape characteristics of the surrounded tower, the center coordinates of the bounding box are obtained to serve as the coordinates of the tower, and the result is more accurate and the real center coordinates of the tower are attached. And (4) providing accurate coordinates for calculating the trend line and a vertical plane equation vertical to the trend line in the step (3).
Step 3, constructing a tower trend line between every two base tower towers, and calculating a vertical plane equation passing through the coordinates of the two base tower towers and perpendicular to the trend line;
utilizing the coordinates (x) of the two continuous base tower poles obtained in the step 2
1,y
1,z
1)(x
2,y
2,z
2) Constructing a horizontal direction connecting line, the slope of the direction connecting line is
Through (x)
1,y
1,z
1) And the plane equation perpendicular to the running line is
Passing through (x) in the same way
2,y
2,z
2) And the plane equation perpendicular to the running line is
And (3) constructing a tower trend line by using the tower coordinates in the step (2), and calculating a vertical plane equation passing through the tower coordinates and perpendicular to the trend line, so that the method is simple to implement and convenient to calculate, and provides a calculation basis for reserving adjacent points in the step (4).
Step 4, setting a distance threshold value of 10-20 m, performing distance vertical plane proximity search on the power line points obtained in the step 1, and reserving the power line points within the range of the distance threshold value;
setting a distance threshold value of 10 m-20 m, performing distance vertical plane proximity search on the power line points obtained in the step 1, and reserving the power line points within the distance threshold value range as follows: and constructing an octree on the power line point cloud, setting a search radius by adopting octree proximity search, and reserving power line points in the search radius.
Setting a distance threshold value of 10-20 m, reserving the adjacent points within the distance threshold value, reducing the point cloud number of the power line, reducing the calculated amount, simultaneously reserving the linear characteristics of the power line, not influencing the fitting effect in the step 5, and simultaneously improving the processing efficiency; and (3) constructing octree point cloud, and adopting octree proximity search to reduce the calculated amount and accelerate the operation speed.
Step 5, carrying out Euclidean distance clustering on the power line points reserved in the step 4 and carrying out curve fitting on the clustered point set to obtain a curve fitting equation;
and (3) acquiring point cloud data of each power line by adopting an Euclidean clustering extraction algorithm, and performing curve equation fitting on the point cloud data of each power line by utilizing a least square method.
The power line points reserved on one side of the pole tower are clustered, one piece of power line point cloud data can be rapidly acquired, the data volume is reduced in the step 4, the points within the threshold range are reserved, the Euclidean clustering extraction speed is high, and the precision is high. After single power line point cloud data is obtained, a least square method is adopted to carry out curve equation fitting, and a power line curve equation can be obtained. And providing a calculation basis for extracting the coordinates of the hanging points in the step 6.
Step 6, calculating and obtaining coordinates of hanging points of the towers through a curve equation formed on the left side and the right side of each base tower, and simplifying the coordinates of the hanging points as coordinates of the insulators due to the position particularity of the hanging points and the insulators;
obtaining an angle bisection plane of a vertical plane of a trend connecting line at two sides of the tower; and calculating the intersection points of the curve fitting equations on the two sides and the angular bisector, regarding two points with the shortest distance in the intersection points on the two sides as points on the same power line, calculating the coordinate average value of the two intersection points, namely the coordinate of the hanging point of the power line and the tower, and calculating the coordinates of all the hanging points of all the power lines on the basic tower by analogy.
And (4) calculating an angle bisector of the perpendicular plane of the connecting line of the two sides of the tower, so that the included angles formed by the curve equations obtained in the step (6) on the two sides of the tower are the same as the included angles formed by the angle bisector, and the shortest distance between the intersection points of the different curve equations of the same power line on the two sides of the tower is ensured. And calculating the intersection point of the curve equation and the angular bisector, and regarding the two points with the shortest distance as the points on the same power line. And the average value of the coordinates of the two points is calculated, so that errors caused in the calculation process are reduced, and the calculation accuracy is ensured.
Step 7, circulating the steps 2-5 to obtain coordinates of all insulators of the electric power corridor and leading out the coordinates in sequence;
sequencing and grouping according to the obtained elevation information and the left and right position information of the hanging point coordinates; and obtaining the inspection sequence of the insulators from bottom to top and from left to right.
And 8, setting a camera focal length and a safe flying distance according to the insulator coordinates derived in the step 6, and forming an unmanned aerial vehicle flying track connected with each photographing point.
Claims (7)
1. An unmanned aerial vehicle autonomous inspection insulator path planning method based on laser point cloud comprises the following steps:
step 1, collecting power corridor laser point cloud data to obtain power line point cloud and tower point cloud data;
step 2, calculating an enclosing box of the point cloud OBB direction of each base tower, and taking the center of the enclosing box as a tower coordinate;
step 3, constructing a tower trend line between every two base tower towers, and calculating two side vertical plane equations passing through the coordinates of each base tower and being vertical to the trend line;
step 4, setting a distance threshold value to be 10 m-20 m, performing distance vertical plane proximity search on the power line points obtained in the step 1, and reserving power line point clouds in the threshold value range;
step 5, carrying out Euclidean distance clustering on the power line points reserved in the step 4 and carrying out curve fitting on each clustered power line point to obtain a curve fitting equation;
step 6, calculating and obtaining coordinates of a tower hanging point through a curve fitting equation, and simplifying the coordinates of the hanging point to be regarded as coordinates of the insulator;
step 7, circulating the steps 3-6 to obtain coordinates of all insulators of the electric power corridor and sequentially exporting the coordinates;
and 8, setting a camera focal length and a safe flying distance according to the derived insulator coordinates to form an unmanned aerial vehicle flying track connecting each photographing point.
2. An unmanned aerial vehicle autonomous inspection insulator path planning method based on laser point cloud is characterized in that: the method for obtaining the power line point cloud and the tower point cloud data in the step 1 comprises the following steps: the method comprises the steps of obtaining three-dimensional point cloud data of an electric power corridor channel by carrying laser equipment by an unmanned aerial vehicle, and segmenting the point cloud data of an original corridor channel by a least square method, an RANSAC algorithm, a triangular mesh partitioning algorithm or a curved surface clustering segmentation algorithm to obtain the point cloud data of the electric power line and the tower.
3. An unmanned aerial vehicle autonomous inspection insulator path planning method based on laser point cloud is characterized in that: step 2, the method for calculating the bounding box of each base tower point cloud OBB direction and taking the center of the bounding box as the tower coordinate comprises the following steps: and acquiring point cloud data of each base tower by adopting an Euclidean clustering extraction algorithm, constructing an OBB direction bounding box of each base tower by utilizing a PCA principal component analysis method, and acquiring the central coordinate of the bounding box as a tower coordinate.
4. An unmanned aerial vehicle autonomous inspection insulator path planning method based on laser point cloud is characterized in that: and 3, the method for constructing the tower trend line between every two base towers and calculating the equation of the two side vertical planes passing through the coordinates of each base tower and perpendicular to the trend line comprises the following steps:
utilizing the coordinates (x) of the two continuous base tower poles obtained in the step 2
1,y
1,z
1)(x
2,y
2,z
2) Constructing a horizontal direction connecting line, the slope of the direction connecting line is
Through (x)
1,y
1,z
1) And the plane equation perpendicular to the running line is
Through (x)
2,y
2,z
2) And the plane equation perpendicular to the running line is
5. An unmanned aerial vehicle autonomous inspection insulator path planning method based on laser point cloud is characterized in that: step 4, setting distance thresholds 10m to 20m, performing distance vertical plane proximity search on the power line points obtained in step 1, and retaining the power line points within the distance threshold range: and constructing an octree on the power line point cloud, setting a search radius by adopting octree proximity search, and reserving power line points in the search radius.
6. An unmanned aerial vehicle autonomous inspection insulator path planning method based on laser point cloud is characterized in that: step 5, the method for performing Euclidean distance clustering on the power line points reserved in the step 4 and performing curve fitting on each clustered power line point to obtain a curve fitting equation comprises the following steps: and (3) acquiring point cloud data of each power line by adopting an Euclidean clustering extraction algorithm, and performing curve equation fitting on the point cloud data of each power line by utilizing a least square method.
7. An unmanned aerial vehicle autonomous inspection insulator path planning method based on laser point cloud is characterized in that: and 6, the method for calculating and acquiring the coordinates of the hanging points of the towers through the curvilinear equations formed on the left side and the right side of each base tower comprises the following steps: obtaining an angle bisection plane of a vertical plane of a trend connecting line at two sides of the tower; and calculating the intersection points of the curve fitting equations on the two sides and the angular bisector, regarding two points with the shortest distance in the intersection points on the two sides as points on the same power line, calculating the coordinate average value of the two intersection points, namely the coordinate of the hanging point of the power line and the tower, and calculating the coordinates of all the hanging points of all the power lines on the basic tower by analogy.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911176682.0A CN110780681B (en) | 2019-11-26 | 2019-11-26 | Unmanned aerial vehicle autonomous routing inspection insulator path planning method based on laser point cloud |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911176682.0A CN110780681B (en) | 2019-11-26 | 2019-11-26 | Unmanned aerial vehicle autonomous routing inspection insulator path planning method based on laser point cloud |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110780681A true CN110780681A (en) | 2020-02-11 |
| CN110780681B CN110780681B (en) | 2023-05-12 |
Family
ID=69392781
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911176682.0A Active CN110780681B (en) | 2019-11-26 | 2019-11-26 | Unmanned aerial vehicle autonomous routing inspection insulator path planning method based on laser point cloud |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110780681B (en) |
Cited By (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111650599A (en) * | 2020-05-07 | 2020-09-11 | 国家电网有限公司 | Power transmission line information extraction and safety detection method based on airborne laser radar remote sensing technology |
| CN111982123A (en) * | 2020-08-26 | 2020-11-24 | 云南电网有限责任公司迪庆供电局 | Unmanned aerial vehicle inspection route planning method and device |
| CN112033393A (en) * | 2020-08-25 | 2020-12-04 | 国网天津市电力公司 | Three-dimensional route planning method and device based on laser radar point cloud data |
| CN112034878A (en) * | 2020-11-05 | 2020-12-04 | 北京云圣智能科技有限责任公司 | Unmanned aerial vehicle-based power inspection method and device and electronic equipment |
| CN112365570A (en) * | 2020-11-13 | 2021-02-12 | 广东电网有限责任公司 | Method, device and equipment for quickly displaying point cloud of power line channel |
| CN112414409A (en) * | 2020-11-16 | 2021-02-26 | 天津航天中为数据***科技有限公司 | Autonomous inspection path planning method based on string structure and aircraft |
| CN112729312A (en) * | 2020-12-25 | 2021-04-30 | 云南电网有限责任公司昆明供电局 | Unmanned aerial vehicle inspection method for high-voltage chamber of transformer substation |
| CN112991303A (en) * | 2021-03-22 | 2021-06-18 | 武汉大学 | Automatic extraction method of electric tower insulator string based on three-dimensional point cloud |
| CN112990235A (en) * | 2021-05-06 | 2021-06-18 | 北京云圣智能科技有限责任公司 | Point cloud data processing method and device and electronic equipment |
| CN113110577A (en) * | 2021-04-15 | 2021-07-13 | 中国南方电网有限责任公司超高压输电公司柳州局 | Unmanned aerial vehicle flight route planning management system is patrolled and examined to electric wire netting |
| CN113205116A (en) * | 2021-04-15 | 2021-08-03 | 江苏方天电力技术有限公司 | Automatic extraction and flight path planning method for unmanned aerial vehicle inspection shooting target point of power transmission line |
| CN113238578A (en) * | 2021-05-11 | 2021-08-10 | 上海电力大学 | Routing planning method and system for power tower unmanned aerial vehicle inspection route |
| CN113345094A (en) * | 2021-05-18 | 2021-09-03 | 武汉大学 | Electric power corridor safety distance analysis method and system based on three-dimensional point cloud |
| CN113485424A (en) * | 2021-07-19 | 2021-10-08 | 武汉中测晟图遥感技术有限公司 | Design method of pole tower inspection route |
| CN113494913A (en) * | 2021-09-07 | 2021-10-12 | 中国南方电网有限责任公司超高压输电公司检修试验中心 | Unmanned aerial vehicle power inspection planning method and device, computer equipment and storage medium |
| CN113534845A (en) * | 2021-08-18 | 2021-10-22 | 国网湖南省电力有限公司 | Unmanned aerial vehicle autonomous inspection method and system for overhead distribution line based on GNSS positioning |
| CN113534844A (en) * | 2021-08-18 | 2021-10-22 | 广东电网有限责任公司 | Method and device for inspecting transmission line of rotor aircraft in unknown environment |
| CN113808145A (en) * | 2021-09-30 | 2021-12-17 | 深圳市优必选科技股份有限公司 | Patrol road network obtaining method of patrol mobile device and patrol mobile device |
| CN113885558A (en) * | 2021-09-27 | 2022-01-04 | 湖南德森九创科技有限公司 | Dam surface image unmanned aerial vehicle automatic safety acquisition method and system |
| CN114167203A (en) * | 2021-11-16 | 2022-03-11 | 国网福建省电力有限公司泉州供电公司 | Power line rapid extraction method based on laser point cloud |
| CN114721419A (en) * | 2022-02-22 | 2022-07-08 | 广州中科云图智能科技有限公司 | Tower inspection method, device and equipment for power transmission line based on unmanned aerial vehicle |
| CN116627164A (en) * | 2023-04-13 | 2023-08-22 | 北京数字绿土科技股份有限公司 | Terrain-height-based unmanned aerial vehicle ground-simulated flight control method and system |
| CN117389293A (en) * | 2023-10-31 | 2024-01-12 | 广州天海翔航空科技有限公司 | Flight control management method and system for inspection unmanned aerial vehicle |
Citations (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101621191A (en) * | 2009-08-06 | 2010-01-06 | 重庆市电力公司超高压局 | Three-dimensional visual processing method and system for extra high voltage transmission line |
| WO2013096704A1 (en) * | 2011-12-20 | 2013-06-27 | Sadar 3D, Inc. | Systems, apparatus, and methods for acquisition and use of image data |
| CN103730864A (en) * | 2013-12-31 | 2014-04-16 | 广东电网公司电力科学研究院 | Cooperative control method for unmanned aerial vehicle power line routing inspection |
| US20150378187A1 (en) * | 2014-06-28 | 2015-12-31 | John Heck | Solid state lidar circuit |
| TWI571718B (en) * | 2015-09-08 | 2017-02-21 | Nat Chin-Yi Univ Of Tech | Automatic cruise spray cleaning method and system for unmanned aerial vehicles |
| CN106504362A (en) * | 2016-10-18 | 2017-03-15 | 国网湖北省电力公司检修公司 | Power transmission and transformation system method for inspecting based on unmanned plane |
| CN106774392A (en) * | 2016-12-13 | 2017-05-31 | 中国南方电网有限责任公司超高压输电公司检修试验中心 | The dynamic programming method of flight path during a kind of power circuit polling |
| CN107480373A (en) * | 2017-08-11 | 2017-12-15 | 国家电网公司 | Transmission line of electricity selection method and system |
| CN107675897A (en) * | 2017-10-25 | 2018-02-09 | 徐伟 | It is exclusively used in the apparatus for examination and repair of transmission tower |
| CN108181635A (en) * | 2017-12-11 | 2018-06-19 | 中国南方电网有限责任公司超高压输电公司广州局 | A kind of laser point cloud sorting technique for transmission line of electricity scissors crossing analysis |
| CN108230432A (en) * | 2017-12-12 | 2018-06-29 | 中国南方电网有限责任公司超高压输电公司广州局 | A kind of insulator laser point cloud three-dimensional rebuilding method based on CS-RBF |
| CN109062233A (en) * | 2018-08-15 | 2018-12-21 | 广东电网有限责任公司 | A kind of power transmission line unmanned machine automatic drive method for inspecting |
| CN109447371A (en) * | 2018-11-12 | 2019-03-08 | 北京中飞艾维航空科技有限公司 | Polling path planing method, device, electronic equipment and readable storage medium storing program for executing |
| CN109633674A (en) * | 2018-12-17 | 2019-04-16 | 云南电网有限责任公司带电作业分公司 | Three-dimensional Track automatic planning is maked an inspection tour in transmission of electricity based on laser point cloud data |
| CN109671174A (en) * | 2018-12-20 | 2019-04-23 | 北京中飞艾维航空科技有限公司 | A kind of pylon method for inspecting and device |
| US20190173527A1 (en) * | 2016-12-09 | 2019-06-06 | At&T Intellectual Property I, L.P. | Method and apparatus for surveying remote sites via guided wave communications |
| CN109978820A (en) * | 2019-01-31 | 2019-07-05 | 广州中科云图智能科技有限公司 | Unmanned plane course line acquisition methods, system and equipment based on laser point cloud |
-
2019
- 2019-11-26 CN CN201911176682.0A patent/CN110780681B/en active Active
Patent Citations (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101621191A (en) * | 2009-08-06 | 2010-01-06 | 重庆市电力公司超高压局 | Three-dimensional visual processing method and system for extra high voltage transmission line |
| WO2013096704A1 (en) * | 2011-12-20 | 2013-06-27 | Sadar 3D, Inc. | Systems, apparatus, and methods for acquisition and use of image data |
| CN103730864A (en) * | 2013-12-31 | 2014-04-16 | 广东电网公司电力科学研究院 | Cooperative control method for unmanned aerial vehicle power line routing inspection |
| US20150378187A1 (en) * | 2014-06-28 | 2015-12-31 | John Heck | Solid state lidar circuit |
| TWI571718B (en) * | 2015-09-08 | 2017-02-21 | Nat Chin-Yi Univ Of Tech | Automatic cruise spray cleaning method and system for unmanned aerial vehicles |
| CN106504362A (en) * | 2016-10-18 | 2017-03-15 | 国网湖北省电力公司检修公司 | Power transmission and transformation system method for inspecting based on unmanned plane |
| US20190173527A1 (en) * | 2016-12-09 | 2019-06-06 | At&T Intellectual Property I, L.P. | Method and apparatus for surveying remote sites via guided wave communications |
| CN106774392A (en) * | 2016-12-13 | 2017-05-31 | 中国南方电网有限责任公司超高压输电公司检修试验中心 | The dynamic programming method of flight path during a kind of power circuit polling |
| CN107480373A (en) * | 2017-08-11 | 2017-12-15 | 国家电网公司 | Transmission line of electricity selection method and system |
| CN107675897A (en) * | 2017-10-25 | 2018-02-09 | 徐伟 | It is exclusively used in the apparatus for examination and repair of transmission tower |
| CN108181635A (en) * | 2017-12-11 | 2018-06-19 | 中国南方电网有限责任公司超高压输电公司广州局 | A kind of laser point cloud sorting technique for transmission line of electricity scissors crossing analysis |
| CN108230432A (en) * | 2017-12-12 | 2018-06-29 | 中国南方电网有限责任公司超高压输电公司广州局 | A kind of insulator laser point cloud three-dimensional rebuilding method based on CS-RBF |
| CN109062233A (en) * | 2018-08-15 | 2018-12-21 | 广东电网有限责任公司 | A kind of power transmission line unmanned machine automatic drive method for inspecting |
| CN109447371A (en) * | 2018-11-12 | 2019-03-08 | 北京中飞艾维航空科技有限公司 | Polling path planing method, device, electronic equipment and readable storage medium storing program for executing |
| CN109633674A (en) * | 2018-12-17 | 2019-04-16 | 云南电网有限责任公司带电作业分公司 | Three-dimensional Track automatic planning is maked an inspection tour in transmission of electricity based on laser point cloud data |
| CN109671174A (en) * | 2018-12-20 | 2019-04-23 | 北京中飞艾维航空科技有限公司 | A kind of pylon method for inspecting and device |
| CN109978820A (en) * | 2019-01-31 | 2019-07-05 | 广州中科云图智能科技有限公司 | Unmanned plane course line acquisition methods, system and equipment based on laser point cloud |
Non-Patent Citations (7)
| Title |
|---|
| KENGO EMOTO ETAL.: "Work environments construction for an autonomous robot", 《2014 INTERNATIONAL SYMPOSIUM ON MICRO-NANOMECHATRONICS AND HUMAN SCIENCE (MHS)》 * |
| SEBASTIÁN ORTEGA ETAL.: "Characterization and modeling of power line corridor elements from LiDAR point clouds", 《ISPRS JOURNAL OF PHOTOGRAMMETRY AND REMOTE SENSING》 * |
| 严文涛等: "基于输电线路三维信息的无人机智能巡检技术研究", 《中国高新科技》 * |
| 张晟: "基于空间模型匹配的飞行机器人精细化电塔巡检方法研究", 《中国优秀博硕士学位论文全文数据库(硕士)信息科技辑》 * |
| 时磊等: "电力线激光点云的分割及安全检测研究", 《激光技术》 * |
| 杨渊等: "基于LiDAR点云特征和模型拟合的高压线提取", 《中国科学院大学学报》 * |
| 陈亮: "基于高密度机载激光点云的输电线路杆塔信息提取", 《中国优秀博硕士学位论文全文数据库(硕士)工程科技Ⅱ辑》 * |
Cited By (36)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111650599A (en) * | 2020-05-07 | 2020-09-11 | 国家电网有限公司 | Power transmission line information extraction and safety detection method based on airborne laser radar remote sensing technology |
| CN111650599B (en) * | 2020-05-07 | 2022-09-02 | 国家电网有限公司 | Power transmission line information extraction and safety detection method based on airborne laser radar remote sensing technology |
| CN112033393A (en) * | 2020-08-25 | 2020-12-04 | 国网天津市电力公司 | Three-dimensional route planning method and device based on laser radar point cloud data |
| CN111982123A (en) * | 2020-08-26 | 2020-11-24 | 云南电网有限责任公司迪庆供电局 | Unmanned aerial vehicle inspection route planning method and device |
| CN111982123B (en) * | 2020-08-26 | 2023-10-31 | 云南电网有限责任公司迪庆供电局 | Unmanned aerial vehicle routing planning method and device |
| CN112034878A (en) * | 2020-11-05 | 2020-12-04 | 北京云圣智能科技有限责任公司 | Unmanned aerial vehicle-based power inspection method and device and electronic equipment |
| CN112365570A (en) * | 2020-11-13 | 2021-02-12 | 广东电网有限责任公司 | Method, device and equipment for quickly displaying point cloud of power line channel |
| CN112414409A (en) * | 2020-11-16 | 2021-02-26 | 天津航天中为数据***科技有限公司 | Autonomous inspection path planning method based on string structure and aircraft |
| CN112414409B (en) * | 2020-11-16 | 2022-08-02 | 天津航天中为数据***科技有限公司 | Autonomous inspection path planning method based on string structure and aircraft |
| CN112729312A (en) * | 2020-12-25 | 2021-04-30 | 云南电网有限责任公司昆明供电局 | Unmanned aerial vehicle inspection method for high-voltage chamber of transformer substation |
| CN112991303B (en) * | 2021-03-22 | 2023-08-18 | 武汉大学 | Automatic extraction method of electric tower insulator string based on three-dimensional point cloud |
| CN112991303A (en) * | 2021-03-22 | 2021-06-18 | 武汉大学 | Automatic extraction method of electric tower insulator string based on three-dimensional point cloud |
| CN113110577A (en) * | 2021-04-15 | 2021-07-13 | 中国南方电网有限责任公司超高压输电公司柳州局 | Unmanned aerial vehicle flight route planning management system is patrolled and examined to electric wire netting |
| CN113205116A (en) * | 2021-04-15 | 2021-08-03 | 江苏方天电力技术有限公司 | Automatic extraction and flight path planning method for unmanned aerial vehicle inspection shooting target point of power transmission line |
| CN113205116B (en) * | 2021-04-15 | 2024-02-02 | 江苏方天电力技术有限公司 | Automatic extraction and track planning method for inspection shooting target point of unmanned aerial vehicle of power transmission line |
| CN112990235A (en) * | 2021-05-06 | 2021-06-18 | 北京云圣智能科技有限责任公司 | Point cloud data processing method and device and electronic equipment |
| CN113238578A (en) * | 2021-05-11 | 2021-08-10 | 上海电力大学 | Routing planning method and system for power tower unmanned aerial vehicle inspection route |
| CN113345094A (en) * | 2021-05-18 | 2021-09-03 | 武汉大学 | Electric power corridor safety distance analysis method and system based on three-dimensional point cloud |
| CN113485424A (en) * | 2021-07-19 | 2021-10-08 | 武汉中测晟图遥感技术有限公司 | Design method of pole tower inspection route |
| CN113485424B (en) * | 2021-07-19 | 2023-04-18 | 武汉中测晟图遥感技术有限公司 | Design method of pole tower inspection route |
| CN113534844B (en) * | 2021-08-18 | 2024-02-27 | 广东电网有限责任公司 | Method and device for inspecting transmission line of rotorcraft in unknown environment |
| CN113534844A (en) * | 2021-08-18 | 2021-10-22 | 广东电网有限责任公司 | Method and device for inspecting transmission line of rotor aircraft in unknown environment |
| CN113534845A (en) * | 2021-08-18 | 2021-10-22 | 国网湖南省电力有限公司 | Unmanned aerial vehicle autonomous inspection method and system for overhead distribution line based on GNSS positioning |
| CN113494913A (en) * | 2021-09-07 | 2021-10-12 | 中国南方电网有限责任公司超高压输电公司检修试验中心 | Unmanned aerial vehicle power inspection planning method and device, computer equipment and storage medium |
| CN113885558A (en) * | 2021-09-27 | 2022-01-04 | 湖南德森九创科技有限公司 | Dam surface image unmanned aerial vehicle automatic safety acquisition method and system |
| CN113885558B (en) * | 2021-09-27 | 2023-07-04 | 湖南德森九创科技有限公司 | Automatic safety acquisition method and system for dam surface image unmanned aerial vehicle |
| CN113808145B (en) * | 2021-09-30 | 2023-09-26 | 深圳市优必选科技股份有限公司 | Inspection road network acquisition method of inspection mobile device and inspection mobile device |
| CN113808145A (en) * | 2021-09-30 | 2021-12-17 | 深圳市优必选科技股份有限公司 | Patrol road network obtaining method of patrol mobile device and patrol mobile device |
| CN114167203B (en) * | 2021-11-16 | 2023-05-26 | 国网福建省电力有限公司泉州供电公司 | Rapid power line extraction method based on laser point cloud |
| CN114167203A (en) * | 2021-11-16 | 2022-03-11 | 国网福建省电力有限公司泉州供电公司 | Power line rapid extraction method based on laser point cloud |
| CN114721419B (en) * | 2022-02-22 | 2023-09-19 | 广州中科云图智能科技有限公司 | Tower inspection method, device and equipment based on unmanned aerial vehicle power transmission line |
| CN114721419A (en) * | 2022-02-22 | 2022-07-08 | 广州中科云图智能科技有限公司 | Tower inspection method, device and equipment for power transmission line based on unmanned aerial vehicle |
| CN116627164A (en) * | 2023-04-13 | 2023-08-22 | 北京数字绿土科技股份有限公司 | Terrain-height-based unmanned aerial vehicle ground-simulated flight control method and system |
| CN116627164B (en) * | 2023-04-13 | 2024-04-26 | 北京数字绿土科技股份有限公司 | Terrain-height-based unmanned aerial vehicle ground-simulated flight control method and system |
| CN117389293A (en) * | 2023-10-31 | 2024-01-12 | 广州天海翔航空科技有限公司 | Flight control management method and system for inspection unmanned aerial vehicle |
| CN117389293B (en) * | 2023-10-31 | 2024-05-24 | 广州天海翔航空科技有限公司 | Flight control management method and system for inspection unmanned aerial vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110780681B (en) | 2023-05-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110780681A (en) | Unmanned aerial vehicle autonomous inspection insulator path planning method based on laser point cloud | |
| CN109829199B (en) | Power line rapid layered extraction method based on LiDAR point cloud | |
| CN110031818B (en) | Point cloud data-based method for extracting contour line of transmission line to ground surface clearance distance | |
| CN113313005B (en) | Power transmission conductor on-line monitoring method and system based on target identification and reconstruction | |
| CA2839165C (en) | Method and system for processing image data | |
| CN113641187B (en) | Automatic naming method for power transmission line unmanned aerial vehicle routing inspection track planning | |
| CN112033414A (en) | Unmanned aerial vehicle inspection route generation method, device, equipment and medium | |
| CN109447371A (en) | Polling path planing method, device, electronic equipment and readable storage medium storing program for executing | |
| CN114114314A (en) | Power transmission line inspection detection system and detection method based on laser point cloud | |
| CN108733755A (en) | A kind of intelligent polling method and system based on transmission line of electricity three-dimensional information | |
| CN106774392A (en) | The dynamic programming method of flight path during a kind of power circuit polling | |
| CN112883878B (en) | Automatic point cloud classification method under transformer substation scene based on three-dimensional grid | |
| CN111443730B (en) | Unmanned aerial vehicle track automatic generation method and device for power transmission line inspection | |
| CN113963276A (en) | Unmanned aerial vehicle autonomous inspection method and system for power transmission line | |
| CN113205116A (en) | Automatic extraction and flight path planning method for unmanned aerial vehicle inspection shooting target point of power transmission line | |
| CN111490489A (en) | Unmanned aerial vehicle trajectory planning method and device for power transmission line inspection | |
| CN113534844B (en) | Method and device for inspecting transmission line of rotorcraft in unknown environment | |
| CN113050696A (en) | Method, device and equipment for determining routing inspection route of power transmission line and storage medium | |
| CN114187297A (en) | Power transmission line wind deflection checking method and checking system | |
| CN115435791A (en) | Patrol route planning method for vectorization analysis of point cloud of ground wire of power transmission line | |
| CN115629617A (en) | Automatic planning method for unmanned aerial vehicle tower pole inspection air route | |
| CN116739558A (en) | Tree obstacle hidden danger early warning method based on laser point cloud modeling | |
| CN113345094A (en) | Electric power corridor safety distance analysis method and system based on three-dimensional point cloud | |
| CN112150412A (en) | Insulator self-explosion defect detection method based on projection curve analysis | |
| CN114879731A (en) | Automatic unmanned aerial vehicle inspection route generation method for transmission tower |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |