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

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...