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Unmanned aerial vehicle autonomous inspection method and system for power transmission line

A transmission line and unmanned aerial vehicle technology, applied in computer parts, inspection time patrol, image data processing, etc., can solve the problems of low inspection accuracy, high operation ability requirements, low reliability of positioning system, etc., to achieve The effect of refined inspection, improved accuracy and improved efficiency

Pending Publication Date: 2022-01-21
YUNNAN POWER GRID CO LTD ELECTRIC POWER RES INST
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Problems solved by technology

[0005] This application provides a method and system for the autonomous inspection of power transmission lines by drones. By establishing a point cloud tower data model, it can solve the problem of low reliability, low inspection accuracy, and poor operational capabilities of the positioning system in the prior art to a certain extent. demanding questions

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  • Unmanned aerial vehicle autonomous inspection method and system for power transmission line
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  • Unmanned aerial vehicle autonomous inspection method and system for power transmission line

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Embodiment Construction

[0036]Certain exemplary embodiments will now be described to provide a general understanding of the principles of structure, function, manufacture, and use of the devices and methods disclosed herein. One or more examples of these embodiments are illustrated in the accompanying drawings. Those of ordinary skill in the art will understand that the apparatus and methods specifically described herein and illustrated in the accompanying drawings are non-limiting exemplary embodiments and that the scope of the various embodiments of the present application is limited only by the claims Book limited. Features shown or described in connection with one exemplary embodiment may be combined with features of other embodiments. Such modifications and variations are intended to be included within the scope of this application.

[0037] Reference throughout this specification to "embodiments," "some embodiments," "one embodiment," or "an embodiment," etc., means that a particular feature,...

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Abstract

The invention relates to the technical field of power unmanned aerial vehicle inspection, in particular to an unmanned aerial vehicle autonomous inspection method and system for a power transmission line. The method comprises the steps of collecting and preprocessing laser point cloud data, and obtaining preprocessed laser point cloud data; establishing a three-dimensional model of a power line corridor by using the preprocessed laser point cloud data; classifying the preprocessed laser point cloud data through Hough transformation and a Kmeans clustering algorithm to obtain tower point cloud and conductor point cloud data; performing curve fitting on the conductor point cloud data to obtain a curve fitting equation and performing calculation to obtain conductor point coordinates; according to the tower point cloud data, determining a photographing point of each base tower, and forming an unmanned aerial vehicle autonomous inspection track connecting the photographing point of each base tower. An unmanned aerial vehicle completes autonomous flight based on the Beidou precise positioning service, fine inspection of a power transmission line is achieved, and the problems that in the prior art, a positioning system is low in reliability, low in inspection accuracy and high in operation capability requirement are solved.

Description

technical field [0001] The present application relates to the technical field of unmanned aerial vehicle inspection of electric power, and in particular, to a method and system for autonomous inspection of power transmission line by unmanned aerial vehicle. Background technique [0002] For a long time, the inspection of the huge transmission line network in my country's power grid has mainly relied on manual inspection. The timeliness, safety and accuracy of inspection results are the problems that have long plagued the power grid operation and maintenance department in the era of human inspection. In recent years, drones have been rapidly promoted and applied in the power grid industry as a high-tech inspection tool. By operating the drone to fly along the line, and taking photos or laser scanning synchronously, combined with intelligent AI data processing software, the flight controller can quickly and accurately discover hidden defects in the line. By using drones to i...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06V20/17G06V20/64G06V10/44G06V10/762G06K9/62G06T17/00G06Q50/06G07C1/20
CPCG06T17/00G06Q50/06G07C1/20G06F18/23213
Inventor 张辉马御棠周仿荣罗艺黄双得李国彬孙董军
Owner YUNNAN POWER GRID CO LTD ELECTRIC POWER RES INST
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