Electric power tower inspection track generation method based on point cloud matching

Abstract

The invention discloses an electric power tower inspection track generation method based on point cloud matching. The method comprises the following steps: S1, carrying out three-dimensional modelingon a determined type of electric power tower, obtaining three-dimensional point cloud data cloud_t of the electric power tower as point cloud template data, and planning an autonomous inspection tracktrace_t of the electric power tower as track template data corresponding to the point cloud template data; S2, performing three-dimensional modeling on target towers of the same type to obtain three-dimensional point cloud data cloud_obj of the target towers; S3, registering the point cloud template data with the three-dimensional point cloud data of the target tower to obtain a translation vector t and a rotation matrix R between the point cloud template data and the three-dimensional point cloud data of the target tower; and S4, performing translation and rotation transformation on the track template data trace_t by using the translation vector t and the rotation matrix R to obtain an inspection track trace_obj of the target electric power tower. According to the method, the generationefficiency of the inspection track of the electric power tower is improved, and the inspection data of the same type of towers can be ensured to keep relatively high consistency.

Description

technical field [0001] The invention relates to the inspection of power poles and towers, in particular to a method for generating inspection tracks of power poles and towers based on point cloud matching. Background technique [0002] At present, the use of drones to inspect power towers has become a very efficient operation mode, but most of the prefectural and municipal bureaus are still in the mode of manually controlling drones to inspect high-voltage power towers. Manual inspection has problems such as low operating efficiency and poor consistency of collected data. There are several ways to do this: [0003] First, manually control the UAV to inspect the power line, and then use the software to record the entire flight trajectory and the attitude of the camera at the camera point during the flight, and then generate an autonomous trajectory that can be repeatedly inspected. [0004] Second, use the lidar or oblique photography camera to carry out three-dimensional m...

AI Technical Summary

Problems solved by technology

However, this method also has some problems: the tower needs to be manually marked, and the number of marked points is large, and the workload of marking is relatively large; if the collected point cloud data is not dense enough, it may not be possible to mark the key points, which will lead to the final generation of The error of the track is large, and even the generation fails

Images