CN107238845A - A kind of power transmission line unmanned machine flight path detection method based on 3 D laser scanning - Google Patents

A kind of power transmission line unmanned machine flight path detection method based on 3 D laser scanning Download PDF

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Publication number
CN107238845A
CN107238845A CN201710356963.9A CN201710356963A CN107238845A CN 107238845 A CN107238845 A CN 107238845A CN 201710356963 A CN201710356963 A CN 201710356963A CN 107238845 A CN107238845 A CN 107238845A
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CN
China
Prior art keywords
point cloud
transmission line
laser
laser point
power transmission
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201710356963.9A
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Chinese (zh)
Inventor
黄绪勇
于辉
高振宇
王艳涛
滕启韬
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Electric Power Research Institute of Yunnan Power System Ltd
Original Assignee
Electric Power Research Institute of Yunnan Power System Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Electric Power Research Institute of Yunnan Power System Ltd filed Critical Electric Power Research Institute of Yunnan Power System Ltd
Priority to CN201710356963.9A priority Critical patent/CN107238845A/en
Publication of CN107238845A publication Critical patent/CN107238845A/en
Pending legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/933—Lidar systems specially adapted for specific applications for anti-collision purposes of aircraft or spacecraft
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section

Abstract

The present invention relates to a kind of power transmission line unmanned machine flight path detection method based on 3 D laser scanning, a, using laser radar apparatus laser point cloud data collection is carried out to transmission line of electricity and periphery atural object；B, laser point cloud is classified, object dissolves various entities；C, unmanned plane during flying path and laser point cloud be overlapped comparative analysis, judge whether the potential safety hazards such as barrier, hazardous environment；If d, monitoring potential safety hazard, automatic fine tuning flight line avoids potential safety hazard point.

Description

A kind of power transmission line unmanned machine flight path detection method based on 3 D laser scanning
Technical field
The present invention relates to unmanned plane field, remote sensing detection field, more particularly, to a kind of based on the defeated of 3 D laser scanning Electric line unmanned plane during flying path detection method.
Background technology
With continuing to develop for unmanned air vehicle technique, the speed of unmanned plane during flying and continuation of the journey have obtained effective raising, more next More work is carried out using unmanned plane.When planning flight path, unmanned plane operator lacks context-aware, not to itself The worry of safety, it is impossible to pass through the safety such as body-feeling to the barrier, transmission line of electricity run into as having man-machine pilot Hidden danger, and make assessment to its order of severity, these may all cause operator by unmanned plane during flying highway route design to improper Place.And use laser point cloud data to carry out unmanned plane during flying route detection, it can accurately judge unmanned plane during flying route The security risk of barrier, the danger of surrounding, and adjust automatically flight line, effectively reduction unmanned plane.
The content of the invention
The purpose of the present invention is, in order to detect that unmanned plane is manually set the security of flight path safety, it is proposed that a kind of Laser point cloud number near power transmission line unmanned machine flight path detection method based on 3 D laser scanning, collection flight path According to, Accurate Analysis currently sets flight path and whether there is the potential safety hazard that is interfered to unmanned plane on this basis, if any Then provide the flight path for avoiding potential safety hazard.
The technical scheme that the present invention meets above-mentioned requirements is：
A kind of power transmission line unmanned machine flight path detection method based on 3 D laser scanning, including following step are provided Suddenly：
A, using laser radar apparatus laser point cloud data collection is carried out to transmission line of electricity and periphery atural object；
B, laser point cloud data is handled, rejecting abnormalities value and noise；
C, laser point cloud is classified, object dissolves various entities；
D, unmanned plane during flying route and laser point cloud be overlapped contrast；
Whether e, judgement unmanned plane during flying route have barrier and close to hazardous environments such as ultra-high-tension power transmission lines；
F, if any potential safety hazard then automatic fine tuning flight line, avoid potential safety hazard point.
The beneficial effects of the invention are as follows in order to detect that unmanned plane is manually set the security of flight path safety, it is proposed that A kind of unmanned plane during flying path detection method based on laser point cloud, relative to check satellite map, personnel on site prospecting side Formula, this method can accurately judge the security risk of the unmanned plane during flying route distance in kind with surrounding, effectively reduction unmanned plane.
Brief description of the drawings
Fig. 1 is detection method flow chart.
Embodiment
See Fig. 1, a kind of power transmission line unmanned machine flight path detection method based on 3 D laser scanning, including following step Suddenly：
A, using laser radar apparatus laser point cloud data collection is carried out to transmission line of electricity and periphery atural object；
B, laser point cloud data is handled, rejecting abnormalities value and noise；
C, laser point cloud is classified, object dissolves various entities；
D, unmanned plane during flying route and laser point cloud be overlapped contrast；
Whether e, judgement unmanned plane during flying route have barrier and close to hazardous environments such as ultra-high-tension power transmission lines；
F, if any potential safety hazard then automatic fine tuning flight line, avoid potential safety hazard point.
The inventive method is mainly used in unmanned plane during flying path security detection and analysis, utilizes laser radar apparatus Collecting operation After the laser point cloud data on place periphery, analyzing and processing, the unmanned plane during flying route distance in kind with surrounding is calculated, it is accurate to judge Unmanned plane during flying path whether there is the security risk of potential safety hazard, effectively reduction unmanned plane.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto, Any one skilled in the art the invention discloses technical scope in, the change or replacement that can be readily occurred in, It should all be included within the scope of the present invention.Therefore, protection scope of the present invention should be with scope of the claims It is defined.

Claims (1)

1. a kind of power transmission line unmanned machine flight path detection method based on 3 D laser scanning, it is characterised in that including with Lower step：
A, using laser radar apparatus laser point cloud data collection is carried out to transmission line of electricity and periphery atural object；
B, laser point cloud data is handled, rejecting abnormalities value and noise；
C, laser point cloud is classified, object dissolves various entities；
D, unmanned plane during flying route and laser point cloud be overlapped contrast；
Whether e, judgement unmanned plane during flying route have barrier and close to hazardous environments such as ultra-high-tension power transmission lines；
F, if any potential safety hazard then automatic fine tuning flight line, avoid potential safety hazard point.
CN201710356963.9A 2017-05-19 2017-05-19 A kind of power transmission line unmanned machine flight path detection method based on 3 D laser scanning Pending CN107238845A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201710356963.9A CN107238845A (en) 2017-05-19 2017-05-19 A kind of power transmission line unmanned machine flight path detection method based on 3 D laser scanning

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710356963.9A CN107238845A (en) 2017-05-19 2017-05-19 A kind of power transmission line unmanned machine flight path detection method based on 3 D laser scanning

Publications (1)

Publication Number Publication Date
CN107238845A true CN107238845A (en) 2017-10-10

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CN (1) CN107238845A (en)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108152831A (en) * 2017-12-06 2018-06-12 中国农业大学 A kind of laser radar obstacle recognition method and system
CN109144097A (en) * 2018-08-15 2019-01-04 广州极飞科技有限公司 Barrier or ground identification and flight control method, device, equipment and medium
CN109141434A (en) * 2018-09-21 2019-01-04 国网电力科学研究院武汉南瑞有限责任公司 A kind of unmanned plane patrolled and examined track acquisition methods based on laser point cloud data
CN109256723A (en) * 2018-11-07 2019-01-22 天津航天中为数据系统科技有限公司 A kind of integrated power transmission line intelligent machine of transmitting electricity in vacant lot patrols operating system and method
CN109444915A (en) * 2018-09-11 2019-03-08 成都优艾维智能科技有限责任公司 A kind of danger zone pre-judging method based on laser radar data
CN113031008A (en) * 2021-03-12 2021-06-25 中国电子科技集团公司第二十研究所 Foresight prediction alarm method capable of actively detecting sea surface threat

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104050715A (en) * 2014-06-23 2014-09-17 华北电力大学 High-precision three-dimensional reconstruction method for power transmission line and corridor
CN105159297A (en) * 2015-09-11 2015-12-16 南方电网科学研究院有限责任公司 Power transmission line unmanned plane inspection obstacle avoidance system and method
CN105425809A (en) * 2015-12-02 2016-03-23 深圳市易飞行科技有限公司 Obstacle avoiding method and system for unmanned plane
CN106371456A (en) * 2016-08-31 2017-02-01 中测新图(北京)遥感技术有限责任公司 Unmanned plane patrol method and system
CN106503060A (en) * 2016-09-28 2017-03-15 山东东电电气工程技术有限公司 A kind of transmission line of electricity three dimensional point cloud is processed and hands over across thing acquisition methods

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104050715A (en) * 2014-06-23 2014-09-17 华北电力大学 High-precision three-dimensional reconstruction method for power transmission line and corridor
CN105159297A (en) * 2015-09-11 2015-12-16 南方电网科学研究院有限责任公司 Power transmission line unmanned plane inspection obstacle avoidance system and method
CN105425809A (en) * 2015-12-02 2016-03-23 深圳市易飞行科技有限公司 Obstacle avoiding method and system for unmanned plane
CN106371456A (en) * 2016-08-31 2017-02-01 中测新图(北京)遥感技术有限责任公司 Unmanned plane patrol method and system
CN106503060A (en) * 2016-09-28 2017-03-15 山东东电电气工程技术有限公司 A kind of transmission line of electricity three dimensional point cloud is processed and hands over across thing acquisition methods

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108152831A (en) * 2017-12-06 2018-06-12 中国农业大学 A kind of laser radar obstacle recognition method and system
CN108152831B (en) * 2017-12-06 2020-02-07 中国农业大学 Laser radar obstacle identification method and system
CN109144097A (en) * 2018-08-15 2019-01-04 广州极飞科技有限公司 Barrier or ground identification and flight control method, device, equipment and medium
CN109444915A (en) * 2018-09-11 2019-03-08 成都优艾维智能科技有限责任公司 A kind of danger zone pre-judging method based on laser radar data
CN109444915B (en) * 2018-09-11 2020-11-03 成都优艾维智能科技有限责任公司 Dangerous area pre-judging method based on laser radar data
CN109141434A (en) * 2018-09-21 2019-01-04 国网电力科学研究院武汉南瑞有限责任公司 A kind of unmanned plane patrolled and examined track acquisition methods based on laser point cloud data
CN109256723A (en) * 2018-11-07 2019-01-22 天津航天中为数据系统科技有限公司 A kind of integrated power transmission line intelligent machine of transmitting electricity in vacant lot patrols operating system and method
CN113031008A (en) * 2021-03-12 2021-06-25 中国电子科技集团公司第二十研究所 Foresight prediction alarm method capable of actively detecting sea surface threat

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Application publication date: 20171010