Accurate three-dimensional route planning method for electric power inspection based on point cloud

Abstract

An accurate three-dimensional route planning method for electric power inspection based on point cloud comprises the following steps: (1) processing original point cloud data, and intercepting an electric power tower area in the point cloud data; (2) carrying out independent processing on each base according to an intercepted tower, carrying out image recognition on the content in the point cloudthrough a convolution neural network depth learning algorithm, and automatically marking the position of an electric power component; (3) designing a tower winding inspection route of each base toweraccording to the marked electric power component; and (4) after the tower route planning of a whole line is finished, carrying out route assembly according to task requirements, superposing a completeline route and a whole line point cloud after the assembly is finished, and carrying out three-dimensional global route preview based on a topographic map. According to the method, the point cloud isused for carrying out three-dimensional route planning, the high-precision tower winding inspection route is planned by utilizing the characteristic that the space precision of the point cloud is high, an unmanned aerial vehicle can be controlled for carrying out automatic driving inspection without manual intervention, and the technical requirement of manual operation is reduced.

Description

technical field [0001] The invention belongs to the technical field of power system production operation and maintenance, and in particular relates to a precise three-dimensional route planning method for electric power inspection based on point clouds. Background technique [0002] During the operation and maintenance of electric power production, it is necessary to carry out detailed inspections of the main network and distribution network of the power line towers on a regular basis, and check the key positions and meters of the substation that cannot be seen on the ground. Use the drone to fly around the power tower, take clear photos of the ground wire hanging points, insulators, jumper strings and other power components around the tower, shuttle between the power structures of the substation, and take clear photos of the top and meters. By comparing the photos The inspection finds defects or hidden dangers of power components, so as to carry out maintenance and eliminat...

AI Technical Summary

Problems solved by technology

[0004] However, there are many problems in the method of manual inspection. The manual operation of UAV inspection has high technical requirements for personnel, and even requires certain qualifications. It is difficult to fully promote it among the existing power line operation and maintenance personnel. In addition, inspection The inspectors control the aircraft to be unable to reach the tower at the shortest distance and the best economic endurance speed. When shooting the target, it is necessary to repeatedly adjust the attitude of the aircraft to aim at the target, which causes a waste of battery and the photos taken are not good. , the existing manual inspection method relies heavily on manual labor in actual use and is inefficient, which makes it difficult to popularize UAV inspection in power line operation and maintenance, which is not conducive to improving the ability of intelligent power operation

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