Unmanned aerial vehicle (UAV) autonomous inspection insulator path planning method based on laser point cloud

A technology of laser point cloud and path planning, applied in electromagnetic wave re-radiation, radio wave measurement system, vehicle position/route/height control, etc., can solve problems such as heavy workload, poor patrol path planning, etc., and reduce the operating threshold , Improve the ability to control the power grid, and improve the efficiency of machine patrol operations

Pending Publication Date: 2020-02-11
GUIZHOU POWER GRID CO LTD
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AI Technical Summary

Problems solved by technology

[0004] The technical problem to be solved by the present invention is to provide a laser point cloud-based UAV autonomous inspection path planning method for insulators, to s

Method used

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Examples

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Example Embodiment

[0024] A calculation method for dangerous points of transmission lines based on laser point cloud radar data, including:

[0025] Step 1. Collect laser point cloud data of power corridor, and perform data processing to obtain power line point cloud and tower point cloud data;

[0026] Obtain the three-dimensional point cloud data of the power corridor channel through the drone equipped with laser equipment, and divide the original corridor channel point cloud data through the least square method, RANSAC algorithm, triangle meshing algorithm, and surface clustering segmentation algorithm to obtain the power line and the tower Point cloud data.

[0027] Obtain the 3D point cloud data of the power corridor channel through the drone equipped with laser equipment, directly obtain the 3D information of the power corridor channel, and form an accurate digital model. Using mature technical means can quickly realize the classification of point cloud data of power corridor channels, and obtai...

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Abstract

The invention discloses a UAV autonomous inspection insulator path planning method based on laser point cloud. The method comprises the following steps: acquiring power corridor laser point cloud datato obtain power line point cloud and tower point cloud data; calculating an OBB direction bounding box of each base tower point cloud and taking the center of the bounding box as a tower coordinate;calculating a two-side vertical plane equation which passes the coordinate of each base tower and is vertical to a strike line; performing distance vertical plane proximity search on power line points, and reserving power line point cloud within a threshold range; performing clustering and curve fitting on the reserved power line points to obtain a curve fitting equation; calculating and obtainingtower hanging point coordinates through the curve fitting equation, and simplifying the hanging point coordinates as insulator coordinates; and setting a camera focal length and a safe flight distance according to the insulator coordinates to form a UAV flight path connected with each photographing point. The technical problems of poor patrol path planning, large workload and the like in autonomous inspection path planning of the insulator UAV are solved.

Description

Technical field [0001] The invention belongs to the UAV autonomous inspection insulator path planning technology, in particular to a UAV autonomous inspection insulator path planning method based on laser point cloud. Background technique [0002] As a special insulation control, insulators in transmission lines play a vital role in supporting conductors and preventing current from returning to ground in overhead transmission lines. Once the insulator fails, it will cause contact between the transmission lines or between the transmission line and the tower, which will cause a short circuit to cause power supply interruption. In severe cases, a large-scale power outage may occur, causing huge property losses. Therefore, it is very important to inspect and maintain the status of the insulators of the transmission line. However, it is still difficult to conduct autonomous inspections of the insulators under a complex background. [0003] In recent years, domestic and foreign scholars...

Claims

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Application Information

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IPC IPC(8): G05D1/10G01S17/06
CPCG05D1/101G01S17/06Y04S10/50
Inventor 毛先胤马晓红彭赤黄良黄欢张伟陈凤翔
Owner GUIZHOU POWER GRID CO LTD
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