CN110780681B - Unmanned aerial vehicle autonomous routing inspection insulator path planning method based on laser point cloud - Google Patents
Unmanned aerial vehicle autonomous routing inspection insulator path planning method based on laser point cloud Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
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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
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
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- 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
Abstract
The invention discloses a laser point cloud-based unmanned aerial vehicle autonomous routing inspection insulator path planning method, which comprises the following steps: collecting laser point cloud data of a power corridor to obtain power line point cloud and pole tower point cloud data; calculating an OBB (on-board diagnostics) direction bounding box of each base tower point cloud 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 tower and perpendicular to the trend line; carrying out proximity search on the power line points from the vertical plane, and reserving power line point clouds within 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 tower hanging point coordinates through a curve fitting equation, and simplifying the hanging point coordinates to be regarded as insulator coordinates; setting a camera focal length and a safe flight distance according to the coordinates of the insulator, and forming an unmanned aerial vehicle flight track connected with each photographing point; 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 are solved.
Description
Technical Field
The invention belongs to an unmanned aerial vehicle autonomous patrol insulator path planning technology, and particularly relates to an unmanned aerial vehicle autonomous patrol insulator path planning method based on laser point cloud.
Background
An insulator in the power transmission line is used as a special insulation control, and plays an important role in supporting a wire and preventing current from flowing back to the ground in the overhead power transmission line. Once the insulator breaks down, the contact between the transmission lines or between the transmission lines and the tower is caused, and then the power supply is interrupted due to short circuit, and even a large-range power failure accident can occur in serious cases, so that huge property loss is caused. Therefore, it is very important to patrol the insulator of the transmission line to perform state detection and maintenance, but autonomous patrol of the insulator unmanned aerial vehicle under a complex background is still difficult.
In recent years, students at home and abroad utilize computer vision and digital image processing technology to conduct various researches on unmanned aerial vehicle autonomous tour path planning of insulators, but the unmanned aerial vehicle autonomous tour path planning method generally starts from color, shape and texture characteristics of insulators, has the problems that the requirements on aerial image quality are high, the recognition result contains more noise, the calculation amount is large, a large amount of manual assistance is needed, an insulator standard chart library is needed to be established, the unmanned aerial vehicle autonomous tour effect on insulator strings of high-capacity ultra-high voltage transmission lines is poor, and the like.
The invention comprises the following steps:
the invention aims to solve the technical problems that: the unmanned aerial vehicle autonomous patrol insulator path planning method based on the laser point cloud is provided to solve the technical problems of poor patrol path planning, large workload and the like existing in the unmanned aerial vehicle autonomous patrol insulator path planning in the prior art.
The technical scheme of the invention is as follows:
a unmanned aerial vehicle autonomous routing inspection insulator path planning method based on laser point cloud comprises the following steps:
step 1, acquiring laser point cloud data of a power corridor to obtain power line point cloud and tower point cloud data;
step 2, calculating an OBB direction bounding box of each base tower point cloud, and taking the center of the bounding box as a tower coordinate;
step 3, constructing a tower trend line between every two foundation towers, and calculating two-side vertical plane equations passing through the coordinates of each foundation tower and perpendicular to the trend line;
step 4, setting a distance threshold to be 10-20 m, carrying out proximity search on the power line points obtained in the step 1 from a vertical plane, and reserving power line point clouds within the threshold range;
step 5, 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;
step 6, calculating and obtaining the coordinates of the hanging points of the pole tower through a curve fitting equation, and simplifying the coordinates of the hanging points to be regarded as the coordinates of the insulator;
step 7, circularly step 3-step 6, obtaining coordinates of all insulators of the electric power corridor and guiding out the coordinates in a side-by-side manner;
and 8, setting a camera focal length and a safe flight distance according to the derived insulator coordinates, and forming an unmanned aerial vehicle flight track connected with each photographing point.
The method for obtaining the power line point cloud and the pole tower point cloud data in the step 1 is as follows: the three-dimensional point cloud data of the electric power corridor channel are obtained through carrying laser equipment on an unmanned aerial vehicle, and the original corridor channel point cloud data are segmented through a least square method, a RANSAC algorithm, a triangular mesh division algorithm or a curved surface clustering segmentation algorithm, so that the electric power line and pole tower point cloud data are obtained.
And step 2, calculating an OBB direction bounding box of each base tower point cloud, and taking the center of the bounding box as a tower coordinate, wherein the method 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 using a PCA principal component analysis method, and acquiring a central coordinate of the bounding box as a tower coordinate.
And 3, constructing a tower trend line between every two base towers, and calculating two-side vertical plane equations passing through the coordinates of each base tower and perpendicular to the trend line, wherein the method comprises the following steps of:
using the coordinates (x) of the continuous two-base towers obtained in step 2 1 ,y 1 ,z 1 )(x 2 ,y 2 ,z 2 ) Constructing a horizontal trend line, wherein the slope of the trend line is as follows
Pass (x) 1 ,y 1 ,z 1 ) And the plane equation perpendicular to the trend line is
Pass (x) 2 ,y 2 ,z 2 ) And the plane equation perpendicular to the trend line is
And 4, setting a distance threshold value of 10m to 20m, and carrying out proximity search on the power line points from the vertical plane obtained in the step 1, wherein the method for reserving the power line points within the distance threshold value range comprises the following steps: and constructing an octree on the power line point cloud, adopting octree adjacent search, setting a search radius, and reserving power line points in the search radius.
And 5, 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, wherein the method comprises the following steps of: and acquiring each piece of power line point cloud data by using an Euclidean clustering extraction algorithm, and performing curve equation fitting on each piece of power line point cloud data by using a least square method.
In step 6, the method for calculating and obtaining the coordinates of the hanging points of the towers through the curve equation formed at the left side and the right side of each base tower comprises the following steps: obtaining the angle plane of the vertical plane of the trend connecting line at two sides of the pole tower; and calculating the intersection point of the curve fitting equation on two sides and the bisector of the angle, wherein two points closest to the intersection point on two sides are regarded as points on the same power line, calculating the coordinate average value of the two intersection points to obtain the coordinates of the hanging points of the power line and the tower, and the like to obtain the coordinates of all the hanging points of all the power lines on the foundation tower.
The invention has the beneficial effects that:
the invention realizes unmanned aerial vehicle route autonomous planning, autonomous generation and unmanned aerial vehicle control system of the insulator based on high-precision three-dimensional laser point cloud data and realizes full autonomous flight operation according to route planning, the unmanned aerial vehicle operation threshold is reduced, the influence of personnel experience on the power transmission line inspection work is reduced, the inspection work efficiency of the elevator is further improved, and unmanned aerial vehicle full-process unmanned inspection work flying is truly realized. The automatic power grid inspection system is changed from 'manual type' to 'automatic type', the capability of operating personnel in handling the power grid is effectively improved, the potential risk of the power grid is reduced, the safety of the system is ensured, the power supply reliability is improved, the safety operation and the protection of the national power grid line are ensured, and the technical problems that the inspection path planning is poor, the workload is large and the like in the automatic 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 the flight route setting of a continuous line multi-base tower, and provides safe position guidance for unmanned aerial vehicle broken point continuous voyage; the device has the capabilities of space collision monitoring and automatic avoidance, and effectively ensures the flight safety.
The specific embodiment 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 laser point cloud data of a power corridor, and performing data processing to obtain power line point cloud and pole tower point cloud data;
the three-dimensional point cloud data of the electric power corridor channel are obtained through carrying laser equipment on an unmanned aerial vehicle, and the original corridor channel point cloud data are segmented through a least square method, a RANSAC algorithm, a triangular mesh division algorithm, a curved surface clustering segmentation algorithm and the like, so that the electric power line and pole tower point cloud data are obtained.
And acquiring three-dimensional point cloud data of the electric power corridor channel through carrying laser equipment on the unmanned aerial vehicle, and directly acquiring three-dimensional information of the electric power corridor channel to form an accurate digital model. The method has the advantages that the mature technical means is adopted, the classification of the point cloud data of the electric power corridor channels can be realized rapidly, the point cloud data of the electric power lines, towers, vegetation and the like are obtained, the effect is good, the precision is high, and the misclassification probability is low. And providing accurate data support for subsequent insulator coordinate extraction.
Step 2, calculating bounding boxes in the OBB (Oriented bounding box) direction of the point cloud of each base tower and taking the centers of the bounding boxes as tower coordinates;
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 using a PCA principal component analysis method, and acquiring a central coordinate of the bounding box as a tower coordinate.
Because of the distance and shape specificity between towers in the electric power corridor, euclidean clustering is adopted to rapidly extract point cloud data of each base tower, PCA principal component analysis is adopted to construct an OBB bounding box for the point cloud data of each base tower, the constructed OBB direction bounding box can be tightly attached to the periphery of the towers according to the shape characteristics of the enclosed towers, the central coordinates of the bounding box are obtained to serve as tower coordinates, and the result is more accurate and more attached to the real central coordinates of the towers. And providing accurate coordinates for calculating the trend line and a vertical plane equation perpendicular to the trend line in the step 3.
Step 3, constructing a tower trend line between every two foundation towers, and calculating a vertical plane equation passing through the coordinates of the two foundation towers and perpendicular to the trend line;
using the coordinates (x) of the continuous two-base towers obtained in step 2 1 ,y 1 ,z 1 )(x 2 ,y 2 ,z 2 ) Constructing a horizontal trend line, wherein the slope of the trend line is as follows
Pass (x) 1 ,y 1 ,z 1 ) And the plane equation perpendicular to the trend line is
Pass through in the same way (x) 2 ,y 2 ,z 2 ) And the plane equation perpendicular to the trend line is
And (3) constructing a tower trend line by utilizing the tower coordinates in the step (2), calculating a vertical plane equation which passes through the tower coordinates and is perpendicular to the trend line, and providing a calculation basis for the adjacent points reserved in the step (4).
Step 4, setting a distance threshold value of 10-20 m, carrying out proximity search on the power line points obtained in the step 1 from a vertical plane, and reserving the power line points within the distance threshold value range;
setting a distance threshold value of 10 m-20 m, and carrying out proximity search on the power line points from the vertical plane, wherein the method for reserving the power line points within the distance threshold value range comprises the following steps: and constructing an octree on the power line point cloud, adopting octree adjacent search, setting a search radius, and reserving power line points in the search radius.
Setting a distance threshold value of 10-20 m, reserving adjacent points in the distance threshold value, reducing the number of the power line point clouds, reducing the calculated amount, reserving the linear characteristics of the power line, not affecting the fitting effect in the step 5, and improving the processing efficiency; and constructing an octree point cloud, adopting octree adjacent search, reducing the calculated amount and accelerating the operation speed.
Step 5, performing Euclidean distance clustering on the power line points reserved in the step 4, and performing curve fitting on the clustered point sets to obtain a curve fitting equation;
and acquiring each piece of power line point cloud data by using an Euclidean clustering extraction algorithm, and performing curve equation fitting on each piece of power line point cloud data by using a least square method.
And clustering the power line points reserved on one side of the pole tower, so that one piece of power line point cloud data can be quickly acquired, the data quantity is reduced in the step 4, the points within the threshold range are reserved, and the Euclidean clustering extraction speed is high, so that the precision is high. After the single power line point cloud data is obtained, a least square method is adopted to perform curve equation fitting, and a power line curve equation can be obtained. Providing a calculation basis for extracting the hanging point coordinates in the step 6.
Step 6, calculating and obtaining tower hanging point coordinates through curve equations formed on the left side and the right side of each base tower, wherein the hanging point coordinates can be simplified to be regarded as insulator coordinates due to the position specificity of the hanging points and insulators;
obtaining the angle plane of the vertical plane of the trend connecting line at two sides of the pole tower; and calculating the intersection point of the curve fitting equation on two sides and the bisector of the angle, wherein two points closest to the intersection point on two sides are regarded as points on the same power line, calculating the coordinate average value of the two intersection points, namely obtaining the coordinates of the hanging points of the power line and the tower, and the like, and obtaining the coordinates of all the hanging points of all the power lines on the foundation tower.
And (3) calculating the angle bisection plane of the vertical plane of the connecting line of the trend at two sides of the tower, wherein the angle between the curve equation obtained by the step (6) at two sides of the tower and the angle bisection plane is the same, so that the intersection point of different curve equations of the same power line at two sides of the tower is ensured to be nearest. And calculating the intersection point of the curve equation and the angular bisector, wherein two points closest to the intersection point are regarded as points on the same power line. And calculating the average value of the coordinates of two points, reducing errors in the calculation process, and ensuring the calculation accuracy.
Step 7, circularly step 2-step 5, obtaining coordinates of all insulators of the electric power corridor, and guiding out the coordinates in a side-by-side manner;
sorting and grouping according to the acquired elevation information and left and right side position information of the hanging point coordinates; the inspection sequence of the insulator from bottom to top and from left to right is obtained.
And 8, setting a camera focal length and a safe flight distance according to the insulator coordinates derived in the step 6, and forming an unmanned aerial vehicle flight track connected with each photographing point.
Claims (4)
1. A unmanned aerial vehicle autonomous routing inspection insulator path planning method based on laser point cloud comprises the following steps:
step 1, acquiring laser point cloud data of a power corridor to obtain power line point cloud and tower point cloud data;
the method for obtaining the power line point cloud and the pole tower point cloud data in the step 1 is as follows: acquiring three-dimensional point cloud data of an electric power corridor channel through carrying laser equipment on an unmanned aerial vehicle, and dividing the point cloud data of the original corridor channel through a least square method, a RANSAC algorithm, a triangular mesh division algorithm or a curved surface clustering division algorithm to acquire power line and tower point cloud data;
step 2, calculating an OBB direction bounding box of each base tower point cloud, and taking the center of the bounding box as a tower coordinate;
and step 2, calculating an OBB direction bounding box of each base tower point cloud, and taking the center of the bounding box as a tower coordinate, wherein the method comprises the following steps: acquiring point cloud data of each base tower by using an Euclidean clustering extraction algorithm, constructing an OBB direction bounding box of each base tower by using a PCA principal component analysis method, and acquiring a central coordinate of the bounding box as a tower coordinate;
step 3, constructing a tower trend line between every two foundation towers, and calculating two-side vertical plane equations passing through the coordinates of each foundation tower and perpendicular to the trend line;
step 4, setting a distance threshold to be 10-20 m, carrying out proximity search on the power line points obtained in the step 1 from a vertical plane, and reserving power line point clouds within the threshold range;
step 5, 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;
step 6, calculating and obtaining the coordinates of the hanging points of the pole tower through a curve fitting equation, and simplifying the coordinates of the hanging points to be regarded as the coordinates of the insulator;
in step 6, the method for calculating and obtaining the coordinates of the hanging points of the towers through the curve equation formed at the left side and the right side of each base tower comprises the following steps: obtaining the angle plane of the vertical plane of the trend connecting line at two sides of the pole tower; calculating intersection points of curve fitting equations on two sides and the angle bisecting plane, wherein two points closest to the intersection points on two sides are regarded as points on the same power line, calculating the coordinate average value of the two intersection points to obtain the hanging point coordinates of the power line and the tower, and the like to obtain all the hanging point coordinates of all the power lines on the foundation tower;
step 7, circularly step 3-step 6, obtaining coordinates of all insulators of the electric power corridor and guiding out the coordinates in a side-by-side manner;
and 8, setting a camera focal length and a safe flight distance according to the derived insulator coordinates, and forming an unmanned aerial vehicle flight track connected with each photographing point.
2. The unmanned aerial vehicle autonomous routing inspection insulator path planning method based on the laser point cloud according to claim 1, wherein the method is characterized by comprising the following steps of: and 3, constructing a tower trend line between every two base towers, and calculating two-side vertical plane equations passing through the coordinates of each base tower and perpendicular to the trend line, wherein the method comprises the following steps of:
using the coordinates (x) of the continuous two-base towers obtained in step 2 1 ,y 1 ,z 1 )(x 2 ,y 2 ,z 2 ) Constructing a horizontal trend line, wherein the slope of the trend line is as follows
Pass (x) 1 ,y 1 ,z 1 ) And the plane equation perpendicular to the trend line is
Pass (x) 2 ,y 2 ,z 2 ) And the plane equation perpendicular to the trend line is
3. The unmanned aerial vehicle autonomous routing inspection insulator path planning method based on the laser point cloud according to claim 1, wherein the method is characterized by comprising the following steps of: and 4, setting a distance threshold value of 10m to 20m, and carrying out proximity search on the power line points from the vertical plane obtained in the step 1, wherein the method for reserving the power line points within the distance threshold value range comprises the following steps: and constructing an octree on the power line point cloud, adopting octree adjacent search, setting a search radius, and reserving power line points in the search radius.
4. The unmanned aerial vehicle autonomous routing inspection insulator path planning method based on the laser point cloud according to claim 1, wherein the method is characterized by comprising the following steps of: and 5, 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, wherein the method comprises the following steps of: and acquiring each piece of power line point cloud data by using an Euclidean clustering extraction algorithm, and performing curve equation fitting on each piece of power line point cloud data by using a least square method.
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