Power transmission line laser radar point cloud acquisition and external damage prevention real-time monitoring method

Abstract

The invention discloses a power transmission line laser radar point cloud acquisition and external damage prevention real-time monitoring method. The method comprises the following steps: remotely aligning a to-be-monitored power transmission line channel; the laser radar scans for multiple times to obtain point cloud data of a power transmission line channel, and high-density point cloud data is obtained; power transmission line point cloud data and non-power transmission line point cloud data are separated and stored; the laser radar scans the power transmission line channel and acquires point cloud data of the power transmission line channel in real time; and according to the point cloud data of the power transmission line, taking the point cloud data of a single power transmission line, searching whether other point cloud data exist in a safe range at an interval distance set by a user along the erecting direction of the power transmission line, and judging whether the power transmission line has an external damage risk. According to the invention, the remote power transmission line point cloud data can be collected, the problem that the remote power transmission line is difficult to generate the point cloud data in real time and monitor in the laser radar is solved, the point cloud data in a specified range is searched through traversal along the power transmission line, and real-time and rapid external damage prevention monitoring is realized.

Description

technical field [0001] The invention belongs to the technical field of power transmission line monitoring, and relates to a power transmission line laser radar point cloud collection and real-time monitoring method for preventing external breakage. Background technique [0002] The power grid carries the important facilities of the national economy, and the safety of power equipment plays an important role in the reliability of power user supply, social stability and economic development. Most of the transmission lines are exposed in the wild, the location and environment are very complicated, and there are many places where towers are installed, the distance is long, and the area is wide. It is not uncommon for failures and losses caused by external force damage. External force damage such as buildings, trees and bamboo barriers is the main reason for the tripping of power transmission Xia Nu. Among them, the external force damage caused by the illegal construction of engin...

AI Technical Summary

Problems solved by technology

Manual inspection has the disadvantages of weak real-time performance and heavy workload

Due to the limitation of power supply, video visualization online monitoring can only be taken at intervals, and the monitoring is not timely; because the images captured by video do not have spatial location information, intelligent recognition is prone to false positives or false negatives, and the workload of manual recognition is too large; at night due to construction Due to the interference of light in the place, it is often difficult to see the situation of the construction site through visual monitoring; therefore, it is difficult for visual monitoring to undertake the heavy responsibility of prevention in the work of preventing external damage

[0005] With the development of laser technology and lidar technology, relevant research on using lidar to solve the problem of power line anti-breakage has been carried out. However, due to the thinner transmission line, the laser beam of lidar may not Scanning on the power line body to obtain the laser reflection will not be able to collect the laser signal reflected by the power line body. Although there is a certain probability that the laser scanning can scan the power line body and form data points, it is easy to be removed as noise. Therefore Point cloud data acquisition of long-distance transmission lines is difficult

In addition, due to the large amount of laser point cloud data and calculation, the requirements for computing power and power supply are relatively high, which is also one of the reasons that limit the application of laser radar.

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