CN109100742A - The method for carrying out power-line patrolling based on airborne laser radar - Google Patents
The method for carrying out power-line patrolling based on airborne laser radar Download PDFInfo
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- CN109100742A CN109100742A CN201810962688.XA CN201810962688A CN109100742A CN 109100742 A CN109100742 A CN 109100742A CN 201810962688 A CN201810962688 A CN 201810962688A CN 109100742 A CN109100742 A CN 109100742A
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- 230000005540 biological transmission Effects 0.000 claims abstract description 18
- 238000001914 filtration Methods 0.000 claims abstract description 11
- 238000012545 processing Methods 0.000 claims abstract description 8
- 238000005259 measurement Methods 0.000 claims description 15
- VMXUWOKSQNHOCA-UKTHLTGXSA-N ranitidine Chemical compound [O-][N+](=O)\C=C(/NC)NCCSCC1=CC=C(CN(C)C)O1 VMXUWOKSQNHOCA-UKTHLTGXSA-N 0.000 claims description 12
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- 238000003384 imaging method Methods 0.000 claims description 3
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- 238000004519 manufacturing process Methods 0.000 claims description 3
- 125000006850 spacer group Chemical group 0.000 claims description 3
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- 238000007689 inspection Methods 0.000 abstract description 4
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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
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- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
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Abstract
The present invention provides the methods for carrying out power-line patrolling based on airborne laser radar, the following steps are included: step (1): obtaining true point cloud data by UAV flight's laser radar system, data basis is provided for transmission line of electricity care provider, and point cloud data is handled；Step (2): based on three-dimensional measuring analysis module to route arbitrary point distance measuring, measuring area, space length, any point height between the coordinate, elevation, any two points of transmission line of electricity each point can directly be accurately measured；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 divided into Ground Point cloud, culture point cloud in transmit electricity ontology point cloud and corridor, 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 dangerous point line walking inspection, route asset management and various specialty analysis gesture to built route.
Description
Technical field
The present invention relates to power-line patrolling fields, and in particular to the method for carrying out power-line patrolling based on airborne laser radar.
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 the sides that power-line patrolling is carried out based on airborne laser radar
Method, the present invention has the advantages that quick obtaining high-precision laser point cloud and high-resolution digital image, no matter to new route
Route selection design, or to dangerous point line walking inspection, route asset management and the various specialty analysis of built route, all band
Work pattern and technical advantage not available for traditional mapping means are carried out.
The present invention provides the methods for carrying out power-line patrolling based on airborne laser radar, 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.
Above-mentioned method, wherein include: to be taken photo by plane power-line patrolling in the step (1) using airborne laser radar, obtain electricity
The laser point cloud data gridding of acquisition is generated the height value image of power-line patrolling by the laser point cloud data of power line walking, described
Power-line patrolling 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 the flow diagram of the method provided by the invention that power-line patrolling is carried out based on airborne laser radar.
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.
The method provided by the invention for carrying out power-line patrolling based on airborne laser radar carries out electricity based on airborne laser radar
The method of power line walking, which comprises 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 (7)
1. the method for carrying out power-line patrolling based on airborne laser radar, 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.
2. the method for carrying out power-line patrolling based on airborne laser radar as described in claim 1, which is characterized in that further include step
Suddenly (4): based on three-dimensional modeling module according to laser point cloud filter result, generating high-precision digital complex demodulation, realize line
The reduction of road corridor dimensional topography.
3. the method for carrying out power-line patrolling based on airborne laser radar as claimed in claim 2, which is characterized in that further include step
Suddenly (5): the laser point cloud of sorted line corridor atural object is utilized based on power line extraction module, tracks adjacent point cloud data,
The point cloud data of the same line road is identified, and the power line achievement of output vector.
4. the method for carrying out power-line patrolling based on airborne laser radar as claimed in claim 3, which is characterized in that further include step
Suddenly (6): based on electric power safety operating analysis module analysis laser point cloud data accurate measurement line corridor atural object to conducting wire away from
From whether meet safe operation require.
5. as claimed in claim 4 based on airborne laser radar carry out power-line patrolling method, which is characterized in that it is described nobody
It includes Inertial Measurement Unit, differential GPS, laser scanning and ranging system and imaging device that machine, which carries laser radar system,.
6. the method for carrying out power-line patrolling based on airborne laser radar as claimed in claim 5, which is characterized in that described cloud
It includes point cloud feature extraction that data, which carry out processing, and described cloud feature extraction includes: the space coordinate of a cloud, strength information, returns
Wave information, the feature based on feature space, the feature based on echo, the feature based on density.
7. the method for carrying out power-line patrolling based on airborne laser radar as claimed in claim 5, which is characterized in that the step
(1) include: to be taken photo by plane power-line patrolling in using airborne laser radar, obtain the laser point cloud data of power-line patrolling, by swashing for acquisition
Light meshing point cloud data, generates the height value image of power-line patrolling, the power-line patrolling include power tower, power line and
Potential danger atural object.
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109887123A (en) * | 2019-01-03 | 2019-06-14 | 北京百度网讯科技有限公司 | Data processing method and device, black box subsystem and vehicle |
| CN109901618A (en) * | 2019-03-29 | 2019-06-18 | 国网山东省电力公司梁山县供电公司 | Power-line patrolling system and method |
| CN110675441A (en) * | 2019-10-15 | 2020-01-10 | 国网河南省电力公司濮阳供电公司 | Laser point cloud-based power transmission line ground wire modeling extraction method |
| CN110802608A (en) * | 2019-10-29 | 2020-02-18 | 许昌许继软件技术有限公司 | Live working robot and positioning method of high-voltage cable |
| CN111353726A (en) * | 2020-04-07 | 2020-06-30 | 国网福建省电力有限公司漳州供电公司 | Power transmission and distribution line passageway defect hidden danger analysis and processing system |
| CN111507423A (en) * | 2020-04-24 | 2020-08-07 | 国网湖南省电力有限公司 | Engineering quantity calculation method for cleaning transmission line channel |
| CN111650599A (en) * | 2020-05-07 | 2020-09-11 | 国家电网有限公司 | Power transmission line information extraction and safety detection method based on airborne laser radar remote sensing technology |
| CN112033414A (en) * | 2020-09-11 | 2020-12-04 | 浙江华云清洁能源有限公司 | Unmanned aerial vehicle inspection route generation method, device, equipment and medium |
| CN112033393A (en) * | 2020-08-25 | 2020-12-04 | 国网天津市电力公司 | Three-dimensional route planning method and device based on laser radar point cloud data |
| CN112163056A (en) * | 2020-09-09 | 2021-01-01 | 四川长园工程勘察设计有限公司 | Ground object insertion method based on path diagram |
| CN112288591A (en) * | 2020-09-28 | 2021-01-29 | 国网辽宁省电力有限公司检修分公司 | Three-dimensional management and control platform system based on laser point cloud map |
| CN112785455A (en) * | 2021-01-28 | 2021-05-11 | 云南电网有限责任公司玉溪供电局 | Electrified wire monitoring and early warning system and method based on multiple laser radars |
| CN113189615A (en) * | 2021-03-26 | 2021-07-30 | 国家电网有限公司 | Method for inspecting power transmission line by using vertical take-off and landing fixed wing unmanned aerial vehicle |
| CN113205147A (en) * | 2021-05-20 | 2021-08-03 | 中国电建集团福建省电力勘测设计院有限公司 | Laser point cloud classification method for overhead transmission line engineering |
| CN113296121A (en) * | 2021-05-26 | 2021-08-24 | 广东电网有限责任公司 | Airborne lidar-based assisted navigation systems, methods, media, and devices |
| CN114563796A (en) * | 2022-03-03 | 2022-05-31 | 北京华宜信科技有限公司 | Power line identification method and device based on unmanned aerial vehicle laser radar detection data |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109887123A (en) * | 2019-01-03 | 2019-06-14 | 北京百度网讯科技有限公司 | Data processing method and device, black box subsystem and vehicle |
| CN109901618A (en) * | 2019-03-29 | 2019-06-18 | 国网山东省电力公司梁山县供电公司 | Power-line patrolling system and method |
| CN110675441A (en) * | 2019-10-15 | 2020-01-10 | 国网河南省电力公司濮阳供电公司 | Laser point cloud-based power transmission line ground wire modeling extraction method |
| CN110675441B (en) * | 2019-10-15 | 2022-09-02 | 国网河南省电力公司濮阳供电公司 | Laser point cloud-based power transmission line ground wire modeling extraction method |
| CN110802608A (en) * | 2019-10-29 | 2020-02-18 | 许昌许继软件技术有限公司 | Live working robot and positioning method of high-voltage cable |
| CN111353726A (en) * | 2020-04-07 | 2020-06-30 | 国网福建省电力有限公司漳州供电公司 | Power transmission and distribution line passageway defect hidden danger analysis and processing system |
| CN111507423A (en) * | 2020-04-24 | 2020-08-07 | 国网湖南省电力有限公司 | Engineering quantity calculation method for cleaning transmission line channel |
| CN111507423B (en) * | 2020-04-24 | 2023-06-09 | 国网湖南省电力有限公司 | Engineering quantity measuring method for cleaning transmission line channel |
| CN111650599A (en) * | 2020-05-07 | 2020-09-11 | 国家电网有限公司 | Power transmission line information extraction and safety detection method based on airborne laser radar remote sensing technology |
| CN111650599B (en) * | 2020-05-07 | 2022-09-02 | 国家电网有限公司 | Power transmission line information extraction and safety detection method based on airborne laser radar remote sensing technology |
| CN112033393A (en) * | 2020-08-25 | 2020-12-04 | 国网天津市电力公司 | Three-dimensional route planning method and device based on laser radar point cloud data |
| CN112163056A (en) * | 2020-09-09 | 2021-01-01 | 四川长园工程勘察设计有限公司 | Ground object insertion method based on path diagram |
| CN112033414A (en) * | 2020-09-11 | 2020-12-04 | 浙江华云清洁能源有限公司 | Unmanned aerial vehicle inspection route generation method, device, equipment and medium |
| CN112288591A (en) * | 2020-09-28 | 2021-01-29 | 国网辽宁省电力有限公司检修分公司 | Three-dimensional management and control platform system based on laser point cloud map |
| CN112785455A (en) * | 2021-01-28 | 2021-05-11 | 云南电网有限责任公司玉溪供电局 | Electrified wire monitoring and early warning system and method based on multiple laser radars |
| CN113189615A (en) * | 2021-03-26 | 2021-07-30 | 国家电网有限公司 | Method for inspecting power transmission line by using vertical take-off and landing fixed wing unmanned aerial vehicle |
| CN113189615B (en) * | 2021-03-26 | 2023-06-30 | 国家电网有限公司 | Method for inspecting power transmission line by using vertical take-off and landing fixed wing unmanned aerial vehicle |
| CN113205147A (en) * | 2021-05-20 | 2021-08-03 | 中国电建集团福建省电力勘测设计院有限公司 | Laser point cloud classification method for overhead transmission line engineering |
| CN113205147B (en) * | 2021-05-20 | 2022-12-09 | 中国电建集团福建省电力勘测设计院有限公司 | Laser point cloud classification method for overhead transmission line engineering |
| CN113296121A (en) * | 2021-05-26 | 2021-08-24 | 广东电网有限责任公司 | Airborne lidar-based assisted navigation systems, methods, media, and devices |
| CN114563796A (en) * | 2022-03-03 | 2022-05-31 | 北京华宜信科技有限公司 | Power line identification method and device based on unmanned aerial vehicle laser radar detection data |
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Application publication date: 20181228 |