CN113205116A - 输电线路无人机巡检拍摄目标点自动提取及航迹规划方法 - Google Patents
输电线路无人机巡检拍摄目标点自动提取及航迹规划方法 Download PDFInfo
- Publication number
- CN113205116A CN113205116A CN202110403452.4A CN202110403452A CN113205116A CN 113205116 A CN113205116 A CN 113205116A CN 202110403452 A CN202110403452 A CN 202110403452A CN 113205116 A CN113205116 A CN 113205116A
- Authority
- CN
- China
- Prior art keywords
- inspected
- cloud data
- point cloud
- shooting target
- target point
- 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
- 238000007689 inspection Methods 0.000 title claims abstract description 48
- 238000000605 extraction Methods 0.000 title claims abstract description 33
- 238000000034 method Methods 0.000 title claims abstract description 25
- 230000005540 biological transmission Effects 0.000 title abstract description 11
- 238000001514 detection method Methods 0.000 claims abstract description 9
- 238000013135 deep learning Methods 0.000 claims abstract description 8
- 238000005516 engineering process Methods 0.000 claims abstract description 8
- 239000011159 matrix material Substances 0.000 claims description 30
- 238000000513 principal component analysis Methods 0.000 claims description 12
- 239000013598 vector Substances 0.000 claims description 6
- 238000013145 classification model Methods 0.000 claims description 3
- 238000012163 sequencing technique Methods 0.000 claims description 3
- 230000009466 transformation Effects 0.000 claims description 3
- 238000012847 principal component analysis method Methods 0.000 abstract 1
- 239000012212 insulator Substances 0.000 description 7
- 238000012423 maintenance Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000007405 data analysis Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 239000000178 monomer Substances 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 238000000638 solvent extraction Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/24—Classification techniques
- G06F18/241—Classification techniques relating to the classification model, e.g. parametric or non-parametric approaches
- G06F18/2413—Classification techniques relating to the classification model, e.g. parametric or non-parametric approaches based on distances to training or reference patterns
- G06F18/24133—Distances to prototypes
- G06F18/24137—Distances to cluster centroïds
- G06F18/2414—Smoothing the distance, e.g. radial basis function networks [RBFN]
-
- 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
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/21—Design or setup of recognition systems or techniques; Extraction of features in feature space; Blind source separation
- G06F18/213—Feature extraction, e.g. by transforming the feature space; Summarisation; Mappings, e.g. subspace methods
- G06F18/2135—Feature extraction, e.g. by transforming the feature space; Summarisation; Mappings, e.g. subspace methods based on approximation criteria, e.g. principal component analysis
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/23—Clustering techniques
- G06F18/232—Non-hierarchical techniques
- G06F18/2321—Non-hierarchical techniques using statistics or function optimisation, e.g. modelling of probability density functions
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/40—Extraction of image or video features
Landscapes
- Engineering & Computer Science (AREA)
- Data Mining & Analysis (AREA)
- Theoretical Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- General Engineering & Computer Science (AREA)
- Evolutionary Biology (AREA)
- Evolutionary Computation (AREA)
- Bioinformatics & Computational Biology (AREA)
- Bioinformatics & Cheminformatics (AREA)
- Artificial Intelligence (AREA)
- Life Sciences & Earth Sciences (AREA)
- Probability & Statistics with Applications (AREA)
- Multimedia (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Image Analysis (AREA)
Abstract
Description
Claims (10)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202110403452.4A CN113205116B (zh) | 2021-04-15 | 2021-04-15 | 输电线路无人机巡检拍摄目标点自动提取及航迹规划方法 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202110403452.4A CN113205116B (zh) | 2021-04-15 | 2021-04-15 | 输电线路无人机巡检拍摄目标点自动提取及航迹规划方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN113205116A true CN113205116A (zh) | 2021-08-03 |
CN113205116B CN113205116B (zh) | 2024-02-02 |
Family
ID=77026918
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202110403452.4A Active CN113205116B (zh) | 2021-04-15 | 2021-04-15 | 输电线路无人机巡检拍摄目标点自动提取及航迹规划方法 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN113205116B (zh) |
Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113494913A (zh) * | 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 | 无人机电力巡检规划方法、装置、计算机设备和存储介质 |
CN113641187A (zh) * | 2021-08-26 | 2021-11-12 | 江苏方天电力技术有限公司 | 一种输电线路无人机巡检航迹规划自动命名方法 |
CN113759974A (zh) * | 2021-09-15 | 2021-12-07 | 国网通用航空有限公司 | 一种面向输电杆塔精细化巡检的航线生成方法 |
CN113885558A (zh) * | 2021-09-27 | 2022-01-04 | 湖南德森九创科技有限公司 | 一种大坝表面图像无人机自动安全采集方法和*** |
CN114035614A (zh) * | 2022-01-10 | 2022-02-11 | 成都奥伦达科技有限公司 | 基于先验信息的无人机自主巡检方法、***及存储介质 |
CN114625166A (zh) * | 2022-03-03 | 2022-06-14 | 江苏方天电力技术有限公司 | 一种无人机拍摄位置的智能定位方法 |
CN114638985A (zh) * | 2022-03-03 | 2022-06-17 | 北京中关村智连安全科学研究院有限公司 | 一种基于核心点卷积的电力杆塔点云分类分割模型构建方法 |
CN113759974B (zh) * | 2021-09-15 | 2024-07-26 | 国网电力空间技术有限公司 | 一种面向输电杆塔精细化巡检的航线生成方法 |
Citations (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2008020614A (ja) * | 2006-07-12 | 2008-01-31 | Chugoku Electric Power Co Inc:The | 送電鉄塔の巡視支援方法及び携帯情報端末 |
CN106960178A (zh) * | 2017-02-23 | 2017-07-18 | 中国科学院自动化研究所 | 绝缘子识别模型的训练方法以及绝缘子的识别与定位方法 |
WO2018103242A1 (zh) * | 2016-12-09 | 2018-06-14 | 武汉科技大学 | 一种基于运动学习的四旋翼无人机电塔巡检方法 |
CN108413964A (zh) * | 2018-03-08 | 2018-08-17 | 云南电网有限责任公司电力科学研究院 | 一种无人机输电线路巡检航迹规划方法及*** |
CN109633674A (zh) * | 2018-12-17 | 2019-04-16 | 云南电网有限责任公司带电作业分公司 | 基于激光点云数据的输电巡视三维航迹自动规划方法 |
CN110727288A (zh) * | 2019-11-13 | 2020-01-24 | 昆明能讯科技有限责任公司 | 一种基于点云的电力巡检精准三维航线规划方法 |
CN110780681A (zh) * | 2019-11-26 | 2020-02-11 | 贵州电网有限责任公司 | 一种基于激光点云的无人机自主巡检绝缘子路径规划方法 |
CN111256703A (zh) * | 2020-05-07 | 2020-06-09 | 江苏方天电力技术有限公司 | 一种多旋翼无人机巡检路径规划方法 |
CN111443730A (zh) * | 2020-05-12 | 2020-07-24 | 江苏方天电力技术有限公司 | 一种用于输电线路巡检的无人机轨迹自动生成方法及装置 |
CN112034878A (zh) * | 2020-11-05 | 2020-12-04 | 北京云圣智能科技有限责任公司 | 基于无人机的电力巡检方法、装置和电子设备 |
US20210012089A1 (en) * | 2019-07-08 | 2021-01-14 | Waymo Llc | Object detection in point clouds |
CN112230680A (zh) * | 2020-10-29 | 2021-01-15 | 国网河南省电力公司济源供电公司 | 一种无人机电力线路巡检控制方法 |
CN112414409A (zh) * | 2020-11-16 | 2021-02-26 | 天津航天中为数据***科技有限公司 | 一种基于串结构的自主巡检路径规划方法及飞行器 |
-
2021
- 2021-04-15 CN CN202110403452.4A patent/CN113205116B/zh active Active
Patent Citations (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2008020614A (ja) * | 2006-07-12 | 2008-01-31 | Chugoku Electric Power Co Inc:The | 送電鉄塔の巡視支援方法及び携帯情報端末 |
WO2018103242A1 (zh) * | 2016-12-09 | 2018-06-14 | 武汉科技大学 | 一种基于运动学习的四旋翼无人机电塔巡检方法 |
CN106960178A (zh) * | 2017-02-23 | 2017-07-18 | 中国科学院自动化研究所 | 绝缘子识别模型的训练方法以及绝缘子的识别与定位方法 |
CN108413964A (zh) * | 2018-03-08 | 2018-08-17 | 云南电网有限责任公司电力科学研究院 | 一种无人机输电线路巡检航迹规划方法及*** |
CN109633674A (zh) * | 2018-12-17 | 2019-04-16 | 云南电网有限责任公司带电作业分公司 | 基于激光点云数据的输电巡视三维航迹自动规划方法 |
US20210012089A1 (en) * | 2019-07-08 | 2021-01-14 | Waymo Llc | Object detection in point clouds |
CN110727288A (zh) * | 2019-11-13 | 2020-01-24 | 昆明能讯科技有限责任公司 | 一种基于点云的电力巡检精准三维航线规划方法 |
CN110780681A (zh) * | 2019-11-26 | 2020-02-11 | 贵州电网有限责任公司 | 一种基于激光点云的无人机自主巡检绝缘子路径规划方法 |
CN111256703A (zh) * | 2020-05-07 | 2020-06-09 | 江苏方天电力技术有限公司 | 一种多旋翼无人机巡检路径规划方法 |
CN111443730A (zh) * | 2020-05-12 | 2020-07-24 | 江苏方天电力技术有限公司 | 一种用于输电线路巡检的无人机轨迹自动生成方法及装置 |
CN112230680A (zh) * | 2020-10-29 | 2021-01-15 | 国网河南省电力公司济源供电公司 | 一种无人机电力线路巡检控制方法 |
CN112034878A (zh) * | 2020-11-05 | 2020-12-04 | 北京云圣智能科技有限责任公司 | 基于无人机的电力巡检方法、装置和电子设备 |
CN112414409A (zh) * | 2020-11-16 | 2021-02-26 | 天津航天中为数据***科技有限公司 | 一种基于串结构的自主巡检路径规划方法及飞行器 |
Non-Patent Citations (2)
Title |
---|
刘畅等: "多重威胁下的无人机自主避障航迹规划", 《哈尔滨工业大学学报》, vol. 52, no. 4, pages 89 - 91 * |
浦石;吴新桥;燕正亮;杜娜娜;白阳;: "无人机激光雷达智能识别输电线路缺陷", 遥感信息, no. 04 * |
Cited By (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113641187A (zh) * | 2021-08-26 | 2021-11-12 | 江苏方天电力技术有限公司 | 一种输电线路无人机巡检航迹规划自动命名方法 |
CN113641187B (zh) * | 2021-08-26 | 2023-09-22 | 江苏方天电力技术有限公司 | 一种输电线路无人机巡检航迹规划自动命名方法 |
CN113494913A (zh) * | 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 | 无人机电力巡检规划方法、装置、计算机设备和存储介质 |
CN113759974A (zh) * | 2021-09-15 | 2021-12-07 | 国网通用航空有限公司 | 一种面向输电杆塔精细化巡检的航线生成方法 |
CN113759974B (zh) * | 2021-09-15 | 2024-07-26 | 国网电力空间技术有限公司 | 一种面向输电杆塔精细化巡检的航线生成方法 |
CN113885558A (zh) * | 2021-09-27 | 2022-01-04 | 湖南德森九创科技有限公司 | 一种大坝表面图像无人机自动安全采集方法和*** |
CN113885558B (zh) * | 2021-09-27 | 2023-07-04 | 湖南德森九创科技有限公司 | 一种大坝表面图像无人机自动安全采集方法和*** |
CN114035614A (zh) * | 2022-01-10 | 2022-02-11 | 成都奥伦达科技有限公司 | 基于先验信息的无人机自主巡检方法、***及存储介质 |
CN114625166A (zh) * | 2022-03-03 | 2022-06-14 | 江苏方天电力技术有限公司 | 一种无人机拍摄位置的智能定位方法 |
CN114638985A (zh) * | 2022-03-03 | 2022-06-17 | 北京中关村智连安全科学研究院有限公司 | 一种基于核心点卷积的电力杆塔点云分类分割模型构建方法 |
CN114625166B (zh) * | 2022-03-03 | 2024-04-30 | 江苏方天电力技术有限公司 | 一种无人机拍摄位置的智能定位方法 |
Also Published As
Publication number | Publication date |
---|---|
CN113205116B (zh) | 2024-02-02 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN113205116B (zh) | 输电线路无人机巡检拍摄目标点自动提取及航迹规划方法 | |
CN112884931B (zh) | 一种用于变电站的无人机巡检方法及*** | |
CN108734143A (zh) | 一种巡检机器人的基于双目视觉的输电线路在线检测方法 | |
CN108037770A (zh) | 基于人工智能的无人机输电线路巡检***和方法 | |
CN112465401A (zh) | 基于多维信息融合的电力作业安全管控***及其管控方法 | |
CN111914813A (zh) | 基于图像分类的输电线路巡检图像命名方法及*** | |
CN109829908B (zh) | 基于双目影像的电力线下方地物安全距离检测方法及设备 | |
CN114114314A (zh) | 基于激光点云的输电线路巡检检测***及检测方法 | |
CN112923928B (zh) | 一种基于图像识别的光伏板导航方法、装置、电子设备及存储介质 | |
CN109816780A (zh) | 一种双目序列影像的输电线路三维点云生成方法及装置 | |
CN112115770A (zh) | 一种用于架空线路无人机自主巡检缺陷识别的方法及*** | |
CN116385958A (zh) | 一种用于电网巡检和监控的边缘智能检测方法 | |
CN116258980A (zh) | 一种基于视觉的无人机分布式光伏电站巡检方法 | |
CN115435791A (zh) | 一种输电线路导地线点云矢量化分析的巡检航线规划方法 | |
Jiang et al. | Learned local features for structure from motion of uav images: A comparative evaluation | |
Steiger et al. | Automatic detection of transmission towers | |
CN112184903A (zh) | 高压线行树障风险点的检测方法、装置、设备及介质 | |
Liu et al. | SS-IPLE: Semantic Segmentation of Electric Power Corridor Scene and Individual Power Line Extraction From UAV-Based Lidar Point Cloud | |
CN115131688A (zh) | 一种巡检部件的无人机拍摄点提取方法 | |
CN114924260A (zh) | 一种多激光雷达点云配准方法 | |
Yang et al. | Locator slope calculation via deep representations based on monocular vision | |
Bian et al. | Fault identification of catenary dropper based on improved CapsNet | |
Zhang et al. | Transmission Tower category Identification from Airborne LiDAR Point Clouds based on Shape Curve | |
Li et al. | Research on 3D Reconstruction Technology of Power Line Based on Image Semantic Segmentation | |
CN113093798B (zh) | 基于电场分布的无人机巡检避险方法、装置及存储介质 |
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 | ||
TA01 | Transfer of patent application right |
Effective date of registration: 20211021 Address after: 211100 No. 19 Tianyuan Middle Road, Jiangning Science Park, Nanjing City, Jiangsu Province Applicant after: JIANGSU FANGTIAN POWER TECHNOLOGY Co.,Ltd. Applicant after: State Grid Jiangsu Electric Power Co.,Ltd. innovation and Innovation Center Applicant after: STATE GRID JIANGSU ELECTRIC POWER Co.,Ltd. Address before: 211100 No. 19 Tianyuan Middle Road, Jiangning Science Park, Nanjing City, Jiangsu Province Applicant before: JIANGSU FANGTIAN POWER TECHNOLOGY Co.,Ltd. Applicant before: STATE GRID JIANGSU ELECTRIC POWER Co.,Ltd. |
|
TA01 | Transfer of patent application right | ||
CB03 | Change of inventor or designer information |
Inventor after: Dai Feng Inventor after: Wang Yongqiang Inventor after: Wang Hongxing Inventor after: Gao Chao Inventor after: Li Hongze Inventor after: Bai Cang Inventor after: Huang Zheng Inventor after: Liu Bin Inventor before: Dai Feng Inventor before: Wang Yongqiang Inventor before: Wang Hongxing Inventor before: Gao Chao Inventor before: Li Hongze Inventor before: Bai Cang Inventor before: Huang Zheng Inventor before: Liu Bin |
|
CB03 | Change of inventor or designer information | ||
GR01 | Patent grant | ||
GR01 | Patent grant |