CN109085604A - A kind of system and method for power-line patrolling - Google Patents
A kind of system and method for power-line patrolling Download PDFInfo
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- CN109085604A CN109085604A CN201810961856.3A CN201810961856A CN109085604A CN 109085604 A CN109085604 A CN 109085604A CN 201810961856 A CN201810961856 A CN 201810961856A CN 109085604 A CN109085604 A CN 109085604A
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Classifications
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- 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
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
The present invention provides a kind of system and methods for power-line patrolling, including UAV flight's laser radar system, true point cloud data is obtained by UAV flight's laser radar system, provides data basis for transmission line of electricity care provider, and handle point cloud data；Three-dimensional measuring analysis module, the three-dimensional measuring analysis module is for realizing to route arbitrary point distance measuring, measuring area, the coordinate of transmission line of electricity each point can directly be accurately measured, elevation, space length between any two points, any point height, it being capable of precise measurement power line phase spacing, exact scale is provided for the production and installation of conductor spacer, the present invention has the advantages that quick obtaining high-precision laser point cloud and high-resolution digital image, no matter the route selection of new route is designed, or the dangerous point line walking inspection to built route, route asset management and various specialty analysis gesture.
Description
Technical field
The present invention relates to power-line patrolling fields, and in particular to a kind of system and method for power-line patrolling.
Background technique
In recent years, with the high speed development that China's economic is built, power demand rapid growth, the demand to power grid construction is also
It is increasingly strong.At the same time, in face of built very long electric power networks, how effectively it to be managed, to guarantee power grid
Normal operation, it is ensured that the safe transport of electric power also seems more important.Power grid operation is not only given in the generation of power outage
The economic benefit of enterprise brings loss, and will all cause serious influence to power consumer and entire society；
Since domestic power grid constantly expands, such as special (super) the high-tension line rapid development of long distance transmission line, and also it is very much
Transmission line of electricity be distributed among high and steep mountains, in order to daily power line maintenance, update electric power account data, prevent electric power thing
Therefore the work such as generation, need to carry out power line daily inspection work.Currently, power-line patrolling work is mainly by power worker
It crosses over mountain after mountain, is checked using artificial observation or unmanned plane image and patrolled existing power line, there are operation intensities greatly, makees
The disadvantages of industry period is long, and data are not intuitive, precision is low, recycling degree is not high and regions with complex terrain is difficult to work.
Summary of the invention
In order to solve above-mentioned insufficient defect, the present invention provides a kind of system and method for power-line patrolling, this hairs
Bright have the advantages that quick obtaining high-precision laser point cloud and high-resolution digital image, no matter to the route selection of new route
Design, or to dangerous point line walking inspection, route asset management and the various specialty analysis of built route, all bring tradition
Work pattern not available for mapping means and technical advantage.
The present invention provides a kind of systems for power-line patrolling, including UAV flight's laser radar system, pass through institute
It states UAV flight's laser radar system and obtains true point cloud data, provide data basis for transmission line of electricity care provider, and right
Point cloud data is handled；Three-dimensional measuring analysis module, the three-dimensional measuring analysis module for realizing to route arbitrary point away from
From measure, measuring area, can directly accurately measure space length between the coordinate, elevation, any two points of transmission line of electricity each point,
Any point height, can precise measurement power line phase spacing, provide exact scale for the production and installation of conductor spacer；Filtering with
Terrain classification module, the filtering and filtering processing and point cloud classifications of the terrain classification module for realizing laser point cloud, by point
Cloud data be divided into Ground Point cloud, transmission of electricity ontology point cloud and corridor in culture point cloud；Three-dimensional modeling module, the three-dimensional modeling mould
Block generates high-precision digital complex demodulation by laser point cloud filter result, realizes the reduction of line corridor dimensional topography.
Above-mentioned system, wherein further include power line extraction module, the power line extraction module utilizes sorted line
The laser point cloud of road corridor atural object, tracks adjacent point cloud data, and the point cloud data of the same line road is identified, and exports
The power line achievement of vector quantization.
Above-mentioned system, wherein it further include electric power safety operating analysis module, the electric power safety operating analysis module base
It is required in whether the distance of laser point cloud data accurate measurement line corridor atural object to conducting wire meets safe operation, the unmanned plane
Carrying laser radar system includes Inertial Measurement Unit, differential GPS, laser scanning and ranging system and imaging device.
Above-mentioned system, wherein it includes point cloud feature extraction, described cloud feature extraction that the point cloud data, which carries out processing,
Include: the space coordinate of a cloud, strength information, echo information, the feature based on feature space, the feature based on echo, be based on
The feature of density.
The present invention also provides a kind of methods for power-line patrolling, comprising the following steps:
Step (1): obtaining true point cloud data by UAV flight's laser radar system, is transmission line of electricity care provider
Data basis is provided, and point cloud data is handled；
Step (2):, can be directly smart based on three-dimensional measuring analysis module to route arbitrary point distance measuring, measuring area
Space length, any point height between the true coordinate, elevation, any two points for measuring transmission line of electricity each point, being capable of precise measurement electricity
Line of force phase spacing provides exact scale for the production and installation of conductor spacer；
Step (3): based on filtering and filtering processing and point cloud classifications of the terrain classification module to laser point cloud, cloud number will be put
According to be divided into Ground Point cloud, transmission of electricity ontology point cloud and corridor in culture point cloud
Above-mentioned method, wherein further include step (4): raw based on three-dimensional modeling module according to laser point cloud filter result
At high-precision digital complex demodulation, the reduction of line corridor dimensional topography is realized.
Above-mentioned method, wherein further include step (5): sorted line corridor is utilized based on power line extraction module
The laser point cloud of atural object tracks adjacent point cloud data, the point cloud data of the same line road is identified, and output vector
Power line achievement.
Above-mentioned method, wherein further include step (6): it is based on electric power safety operating analysis module analysis laser point cloud number
It is required according to whether the distance of accurate measurement line corridor atural object to conducting wire meets safe operation.
Above-mentioned method, wherein UAV flight's laser radar system includes Inertial Measurement Unit, differential GPS, swashs
Optical scanning range-measurement system and imaging device.
Above-mentioned method, wherein it includes point cloud feature extraction, described cloud feature extraction that the point cloud data, which carries out processing,
Include: the space coordinate of a cloud, strength information, echo information, the feature based on feature space, the feature based on echo, be based on
The feature of density is included: to be taken photo by plane power-line patrolling in the step (1) using airborne laser radar, obtains the laser of power-line patrolling
The laser point cloud data gridding of acquisition is generated the height value image of power-line patrolling, the power-line patrolling packet by point cloud data
Include power tower, power line and potential danger atural object.
The present invention provides the methods for carrying out power-line patrolling based on airborne laser radar to have the advantages that 1, this hair
Bright have the advantages that quick obtaining high-precision laser point cloud and high-resolution digital image, no matter to the route selection of new route
Design, or to dangerous point line walking inspection, route asset management and the various specialty analysis of built route, all bring tradition
Work pattern not available for mapping means and technical advantage；2, airborne laser radar scanning measurement system is integrated with laser sensing
Device, positioning and orientation system, high-resolution digital camera, computer control unit, unmanned plane during flying platform etc. have integrated level
Height, light weight, data precision are high, operating cost is low, using limitation less, Operation and Maintenance is simple, fast assembling-disassembling, the spies such as is convenient for carrying
Point.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, the present invention and its feature, outer
Shape and advantage will become more apparent upon.Identical label indicates identical part in all the attached drawings.Not deliberately proportionally
Draw attached drawing, it is preferred that emphasis is show the gist of the present invention.
Fig. 1 is a kind of flow diagram of the method for power-line patrolling provided by the invention.
Specific embodiment
In the following description, a large amount of concrete details are given so as to provide a more thorough understanding of the present invention.So
And it is obvious to the skilled person that the present invention may not need one or more of these details and be able to
Implement.In other examples, in order to avoid confusion with the present invention, for some technical characteristics well known in the art not into
Row description.
In order to thoroughly understand the present invention, detailed step and detailed structure will be proposed in following description, so as to
Illustrate technical solution of the present invention.Presently preferred embodiments of the present invention is described in detail as follows, however other than these detailed descriptions, this
Invention can also have other embodiments.
A kind of system for power-line patrolling provided by the invention, including UAV flight's laser radar system, pass through institute
It states UAV flight's laser radar system and obtains true point cloud data, provide data basis for transmission line of electricity care provider, and right
Point cloud data is handled；Three-dimensional measuring analysis module, the three-dimensional measuring analysis module for realizing to route arbitrary point away from
From measure, measuring area, can directly accurately measure space length between the coordinate, elevation, any two points of transmission line of electricity each point,
Any point height, can precise measurement power line phase spacing, provide exact scale for the production and installation of conductor spacer；Filtering with
Terrain classification module, the filtering and filtering processing and point cloud classifications of the terrain classification module for realizing laser point cloud, by point
Cloud data be divided into Ground Point cloud, transmission of electricity ontology point cloud and corridor in culture point cloud；Three-dimensional modeling module, the three-dimensional modeling mould
Block generates high-precision digital complex demodulation by laser point cloud filter result, realizes the reduction of line corridor dimensional topography.
The present invention one further includes power line extraction module preferably rather than in the embodiment of limitation, the electric power line drawing mould
Block utilizes the laser point cloud of sorted line corridor atural object, adjacent point cloud data is tracked, by the point cloud number of the same line road
According to identifying, and the power line achievement of output vector.
The present invention one further includes electric power safety operating analysis module, the power ampere preferably rather than in the embodiment of limitation
Whether row analysis module for the national games meets safe fortune based on the distance of laser point cloud data accurate measurement line corridor atural object to conducting wire
Row require, UAV flight's laser radar system include Inertial Measurement Unit, differential GPS, laser scanning and ranging system and
Imaging device.It includes point cloud feature extraction that the point cloud data, which carries out processing, and described cloud feature extraction includes: the space of a cloud
Coordinate, strength information, echo information, the feature based on feature space, the feature based on echo, the feature based on density.
The present invention also provides a kind of method for power-line patrolling, comprising the following steps:
Step (1): obtaining true point cloud data by UAV flight's laser radar system, is transmission line of electricity care provider
Data basis is provided, and point cloud data is handled；
Step (2):, can be directly smart based on three-dimensional measuring analysis module to route arbitrary point distance measuring, measuring area
Space length, any point height between the true coordinate, elevation, any two points for measuring transmission line of electricity each point, being capable of precise measurement electricity
Line of force phase spacing provides exact scale for the production and installation of conductor spacer；
Step (3): based on filtering and filtering processing and point cloud classifications of the terrain classification module to laser point cloud, cloud number will be put
According to be divided into Ground Point cloud, transmission of electricity ontology point cloud and corridor in culture point cloud.
In the present invention, the examination of new route and the foundation of raw file.Specifically include that line channel (trees room
Room), scissors crossing (transmission line of electricity, high speed, railway etc.), shaft tower ontology (each piece safety distance, inclination etc.), sag of conductor and ground wire
And wire spacing etc..To running transmission line of electricity, the safe distance of measure traverse line and tree bamboo, newly constructed house etc., to tree bamboo
Situations such as growth tendency judges etc., the big load high temperature detection of sag of conductor and ground wire and the measurement of scissors crossing dotted line spacing.
With the safe distance measurement checked before point operation between each component of shaft tower.Safe distance such as between tower window construction size, conducting wire.
In the present invention, airborne laser radar scanning measurement system is integrated with laser sensor, positioning and orientation system, high score
Resolution digital camera, computer control unit, unmanned plane during flying platform etc., have integrated level height, light weight, data precision height,
Operating cost is low, using limitation less, Operation and Maintenance is simple, fast assembling-disassembling, the features such as being convenient for carrying.Pass through UAV flight's laser
Radar system obtains true point cloud data, and for transmission line of electricity, care provider provides data basis, passes through professional electric power three-dimensional laser
Point cloud software processing, using in electric power corridor key object-power line and power tower as core, find transmission line of electricity facility set
Threat of the object to route is spanned in standby exception and hidden danger and line corridor.Identify tall and big vegetation, skyscraper, ruler
Atural object is paid close attention on road etc., analyzes mutual topological relation and interaction, and output chart prompts dangerous investigation area, and detection is built
It builds object, vegetation, scissors crossing etc. and whether operations specification is met to the distance of route.
The present invention one further includes filtering and terrain classification module, the filtering and ground preferably rather than in the embodiment of limitation
Point cloud data is divided into Ground Point cloud, transmission of electricity by filtering processing and point cloud classifications of the object categorization module for realizing laser point cloud
Culture point cloud in ontology point cloud and corridor.A cloud is imported into professional electric power point cloud analysis software and is handled.Using airborne
The high-precision dot cloud that laser radar obtains, is quickly obtained high-precision three-dimensional line corridor topography and geomorphology, line facility equipment, and
The accurate three-dimensional spatial information of corridor atural object (including pylon, tower bar, hanging wire point position, electric wire arc sag, trees, building etc.) and
Threedimensional model.According to the requirement of transmission line safety distance, can analysis circuit corridor inside conductor and vegetation, building, intersect across
More equal clearances, and then determine whether route operating status is safe, and report is formed to the dangerous point for being more than predetermined safe distance
Table is simultaneously identified prompt, plays the ability to transmit electricity of system to greatest extent.
The present invention one further includes step (4) preferably rather than in the embodiment of limitation: based on three-dimensional modeling module according to laser
Point cloud filter result, generates high-precision digital complex demodulation, realizes the reduction of line corridor dimensional topography.
Of the invention one preferably rather than in the embodiment of limitation, further includes step (5): being utilized and is divided based on power line extraction module
The laser point cloud of line corridor atural object after class, tracks adjacent point cloud data, and the point cloud data of the same line road is identified
Come, and the power line achievement of output vector.
The present invention one further includes step (6) preferably rather than in the embodiment of limitation: being based on electric power safety operating analysis module
Whether the distance of analysis laser point cloud data accurate measurement line corridor atural object to conducting wire, which meets safe operation, requires.Specifically:
Be directly based upon laser point cloud data accurate measurement line corridor atural object (especially trees, house, scissors crossing) to conducting wire away from
From whether meet safe operation require.The safe distance requirement of these culture points to electric wire is set according to relevant criterion, and then certainly
Dynamic to carry out safe distance detection calculating, once the distance of category atural object to electric wire does not meet related request, then automatic alarm, converges
Total output dangerous point statistical graph, in order to the maintenance of operation maintenance personnel's field condition.
For the present invention one preferably rather than in the embodiment of limitation, UAV flight's laser radar system includes inertia measurement list
Member, differential GPS, laser scanning and ranging system and imaging device.
For the present invention one preferably rather than in the embodiment of limitation, it includes point cloud feature extraction that point cloud data, which carries out processing, described
Point cloud feature extraction includes: the space coordinate of a cloud, strength information, echo information, the feature based on feature space, is based on echo
Feature, the feature based on density.
Presently preferred embodiments of the present invention is described above.It is to be appreciated that the invention is not limited to above-mentioned
Particular implementation, devices and structures not described in detail herein should be understood as gives reality with the common mode in this field
It applies；Anyone skilled in the art, without departing from the scope of the technical proposal of the invention, all using the disclosure above
Methods and technical content many possible changes and modifications are made to technical solution of the present invention, or be revised as equivalent variations etc.
Embodiment is imitated, this is not affected the essence of the present invention.Therefore, anything that does not depart from the technical scheme of the invention, foundation
Technical spirit of the invention any simple modifications, equivalents, and modifications made to the above embodiment, still fall within the present invention
In the range of technical solution protection.
Claims (10)
1. a kind of system for power-line patrolling, which is characterized in that including UAV flight's laser radar system, pass through the nothing
Man-machine carrying laser radar system obtains true point cloud data, provides data basis for transmission line of electricity care provider, and to a cloud
Data are handled；Three-dimensional measuring analysis module, the three-dimensional measuring analysis module is for realizing to route arbitrary point distance measurements
It surveys, measuring area, can directly accurately measure space length between the coordinate, elevation, any two points of transmission line of electricity each point, any
Point height, can precise measurement power line phase spacing, provide exact scale for the production and installation of conductor spacer；Filtering and atural object
Categorization module, the filtering and filtering processing and point cloud classifications of the terrain classification module for realizing laser point cloud will put cloud number
According to be divided into Ground Point cloud, transmission of electricity ontology point cloud and corridor in culture point cloud；Three-dimensional modeling module, the three-dimensional modeling module are logical
Laser point cloud filter result is crossed, high-precision digital complex demodulation is generated, realizes the reduction of line corridor dimensional topography.
2. a kind of system for power-line patrolling as described in claim 1, which is characterized in that further include electric power line drawing mould
Block, the power line extraction module utilize the laser point cloud of sorted line corridor atural object, track adjacent point cloud data, will be same
Point cloud data on one route identifies, and the power line achievement of output vector.
3. a kind of system for power-line patrolling as claimed in claim 2, which is characterized in that further include electric power safety operation point
Analyse module, the electric power safety operating analysis module based on laser point cloud data accurate measurement line corridor atural object to conducting wire away from
From whether safe operation requirement is met, UAV flight's laser radar system includes Inertial Measurement Unit, differential GPS, swashs
Optical scanning range-measurement system and imaging device.
4. a kind of system for power-line patrolling as claimed in claim 3, which is characterized in that the point cloud data is handled
Including a cloud feature extraction, described cloud feature extraction includes: the space coordinate of a cloud, strength information, echo information, is based on spy
Levy feature, the feature based on echo, the feature based on density in space.
5. a kind of method for power-line patrolling, which comprises the following steps:
Step (1): true point cloud data is obtained by UAV flight's laser radar system, care provider provides for transmission line of electricity
Data basis, and point cloud data is handled；
Step (2): it based on three-dimensional measuring analysis module to route arbitrary point distance measuring, measuring area, directly can accurately survey
Space length, any point height between the coordinate, elevation, any two points of transmission line of electricity each point are measured, it being capable of precise measurement power line
Phase spacing provides exact scale for the production and installation of conductor spacer；
Step (3): based on filtering and filtering processing and point cloud classifications of the terrain classification module to laser point cloud, point cloud data is drawn
It is divided into Ground Point cloud, culture point cloud in transmit electricity ontology point cloud and corridor.
6. a kind of method for power-line patrolling as claimed in claim 5, which is characterized in that further include step (4): being based on three
Modeling module is tieed up according to laser point cloud filter result, high-precision digital complex demodulation is generated, realizes line corridor dimensionally
Shape reduction.
7. a kind of method for power-line patrolling as claimed in claim 6, which is characterized in that further include step (5): based on electricity
Line of force extraction module utilizes the laser point cloud of sorted line corridor atural object, adjacent point cloud data is tracked, by same route
On point cloud data identify, and the power line achievement of output vector.
8. a kind of method for power-line patrolling as claimed in claim 7, which is characterized in that further include step (6): based on electricity
Whether the distance of power Safety Operation Analysis module analysis laser point cloud data accurate measurement line corridor atural object to conducting wire meets peace
Full service requirement.
9. a kind of method for power-line patrolling as claimed in claim 8, which is characterized in that UAV flight's laser thunder
It include Inertial Measurement Unit, differential GPS, laser scanning and ranging system and imaging device up to system.
10. a kind of method for power-line patrolling as claimed in claim 9, which is characterized in that at the point cloud data
Reason includes point cloud feature extraction, and described cloud feature extraction includes: the space coordinate of a cloud, strength information, echo information, is based on
The feature of feature space, the feature based on echo, the feature based on density include: using airborne laser thunder in the step (1)
Up to power-line patrolling of taking photo by plane, the laser point cloud data of power-line patrolling is obtained, by the laser point cloud data gridding of acquisition, generates electric power
The height value image of line walking, the power-line patrolling include power tower, power line and potential danger atural object.
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109737924A (en) * | 2019-02-28 | 2019-05-10 | 华南机械制造有限公司 | Three-dimensional mapping system based on unmanned plane |
| CN110414577A (en) * | 2019-07-16 | 2019-11-05 | 电子科技大学 | A kind of laser radar point cloud multiple target Objects recognition method based on deep learning |
| CN110658844A (en) * | 2019-08-23 | 2020-01-07 | 中国南方电网有限责任公司超高压输电公司昆明局 | Ultra-high voltage direct current line channel unmanned aerial vehicle monitoring method and system |
| CN110673158A (en) * | 2019-08-28 | 2020-01-10 | 国网福建省电力有限公司 | Laser scanning point cloud-based three-dimensional space anomaly detection method for power production scene |
| CN111080770A (en) * | 2019-11-18 | 2020-04-28 | 广州供电局有限公司 | Power line patrol tower modeling system and method |
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| CN112630792A (en) * | 2020-11-30 | 2021-04-09 | 深圳供电局有限公司 | Power grid transmission line working condition simulation and dangerous point detection method and detection system |
| CN113109831A (en) * | 2021-03-26 | 2021-07-13 | 国家电网有限公司 | Data processing method for polling transmission line by using laser radar |
| WO2022061945A1 (en) * | 2020-09-27 | 2022-03-31 | 广东电网有限责任公司 | Power line safe distance measurement method |
| CN116309788A (en) * | 2023-03-23 | 2023-06-23 | 中铁武汉电气化局集团有限公司 | 3D point cloud railway contact line cross-sectional area detection method |
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