CN109147044A - A kind of system that power transmission tower and wireline inspection are carried out based on point cloud data - Google Patents
A kind of system that power transmission tower and wireline inspection are carried out based on point cloud data Download PDFInfo
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- CN109147044A CN109147044A CN201710844818.5A CN201710844818A CN109147044A CN 109147044 A CN109147044 A CN 109147044A CN 201710844818 A CN201710844818 A CN 201710844818A CN 109147044 A CN109147044 A CN 109147044A
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Abstract
The present invention provides a kind of systems for carrying out power transmission tower and wireline inspection based on point cloud data, it include: unmanned plane acquisition system, the unmanned plane acquisition system is the unmanned plane for carrying AS-100 laser Lidar system, based on unmanned plane in flight course capture point cloud track, and according to multiple cloud track building power transmission towers and the point cloud map along the line of route, while unmanned plane acquires video data in flight course；Point cloud pretreatment device pre-processes the point cloud data of acquisition, respectively obtains ground laser point cloud, vegetation laser point cloud and transmission line of electricity laser point cloud data；Statistical analysis module carries out power transmission tower bit optimization based on section, for statistical analysis to routing indicator according to power transmission tower position coordinate data, power transmission tower foundation profile data；Three-dimensional modeling module generates quasi- DOM, DEM, the point cloud after combining classification, for realizing power transmission tower and the three-dimensional modeling of route by handling the point cloud data of UAV flight's system acquisition and video data.
Description
Technical field
The present invention relates to survey field more particularly to a kind of it is based on what point cloud data carried out power transmission tower and wireline inspection
System.
Background technique
In recent years, with the high speed development that China's economic is built, power demand sharp increase, the demand to power grid construction is also
It is increasingly strong.At the same time, in face of built huge 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.One time power outage not only gives enterprises of managing electric wire netting
Economic benefit brings huge loss, and will all cause to seriously affect to even entire society of electricity consumption enterprise.
Traditional line management, optimization and power-line patrolling mostly uses artificial mapping mode or aerophotogrammetry side
Formula has following three big drawbacks:
1, data are not intuitive, precision is low, recycle degree not high；
2, operation intensity is big, duty cycle is long；
3, regions with complex terrain is difficult to carry out the work.
In addition, existing unmanned plane inspection technology only uses single rack UAV flight's mission payload to execute task, simultaneously
Also remote shooting is carried out simply by unmanned plane, technical staff is to observe in power circuit according to the video recording that unmanned plane returns
It is no to have exception.
Summary of the invention
The present invention provides a kind of systems for carrying out power transmission tower and wireline inspection based on point cloud data, comprising:
Unmanned plane acquisition system, the unmanned plane acquisition system are the unmanned plane for carrying AS-100 laser Lidar system, base
In unmanned plane in flight course capture point cloud track, and according to putting cloud along multiple cloud tracks building power transmission towers and route
Map, while unmanned plane acquires video data in flight course；
Point cloud pretreatment device pre-processes the point cloud data of acquisition, respectively obtains ground laser point cloud, vegetation swashs
Luminous point cloud and transmission line of electricity laser point cloud data；
Statistical analysis module carries out power transmission tower bit optimization based on section, disconnected according to power transmission tower position coordinate data, power transmission tower foundation
Face data is for statistical analysis to routing indicator；
Three-dimensional modeling module, it is raw by handling the point cloud data of UAV flight's system acquisition and video data
DOM, DEM of Cheng Zhun, the point cloud after combining classification, for realizing power transmission tower and the three-dimensional modeling of route.
The above-mentioned system that power transmission tower and wireline inspection are carried out based on point cloud data, wherein unmanned plane acquisition system building
Point cloud map the step of include:
Two point cloud tracks are chosen, the similitude between two point cloud tracks is measured；
Two point cloud tracks are merged according to the similitude；
Continue to choose other cloud tracks and successively merge, a building point cloud map.
The above-mentioned system that power transmission tower and wireline inspection are carried out based on point cloud data, wherein two point cloud rails of the measurement
Similitude between mark includes:
Turning point is positioned on described cloud track；
Every described cloud track is divided into a plurality of cloud track line segment according to the turning point；
Whether detect in two point clouds track includes public track line segment；
The similitude between two point cloud tracks is measured according to the public track line segment.
The above-mentioned system that power transmission tower and wireline inspection are carried out based on point cloud data, wherein the system also includes subsequent
Management module is used for
After the three-dimensional modeling for completing power transmission tower and route, it is aided with line facility device parameter typing, realizes route Assets Reorganization Taking
Reason.
The above-mentioned system that power transmission tower and wireline inspection are carried out based on point cloud data, wherein point cloud pretreatment device carries out
Pretreated step further include: the point cloud data of acquisition is denoised, is smoothly pre-processed；Then the boundary of point cloud data is extracted
It puts and carries out Cloud Points Reduction.
The present invention has the advantages that
1, building, vegetation, friendship be can detecte using the high-precision dot cloud that AS-100 unmanned plane laser Lidar system obtains
Whether fork leap etc. meets operations specification to the distance of route；Whether line spacing meets the requirement of safe operation；The high definition of acquisition
The image of clear degree can allow patrol officer to carry out the differentiation of line facility equipment and channel abnormal indoors.
2, by line walking acquire high-precision laser point cloud and high-resolution digital image data, be processed into standard DOM,
Power circuit three-dimensional modeling may be implemented in DEM, the point cloud after combining classification, restores line corridor topography and geomorphology, earth's surface attachment
(trees, building etc.), overhead line structures three-dimensional position and model etc. are aided with the typing of line facility device parameter, it can be achieved that route provides
Produce management.
3, the point cloud of the classification such as power line, vegetation and ground obtained according to classification can be calculated close to power line
Vegetation is simultaneously marked, and can play the effect of early warning, according to the point cloud data and power line data for being marked as dangerous objects,
Calculate minimum distance of the dangerous objects from power line, the potential degree of danger of quantitative analysis；
4, laggard digitized is designed whether based on laser radar data and transfer the three-dimensional digital power grid built up, still
The three-dimensional digital power grid established by line walking means, due to data precision height, no matter landform, tree height, Tower Model, electric wire arc
Vertical and scissors crossing etc. is all that as much as possible the digitlization to real power grid in computer reproduces.Pacify in conjunction with from shaft tower
The data that the monitoring devices such as temperature, humidity, the wind speed of dress are passed back can carry out various electric power on the basis of three-dimensional digital power grid
Specialty analysis simulates trees growing state etc. such as arc sag situation of change under prognosis modelling different temperatures, wind speed, icing, is route
Administrative decision provides strong support.
5, AS-100 unmanned plane laser Lidar system quickly can carry out data acquisition to disaster region, realize disaster region
Quickly positioning, and three-dimensional reduction disaster scene.Monitoring personnel is according to three-dimensional point cloud and image data to disaster field damageability
Precisely assessment proposes safely and effectively to respond method in time.
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 present invention provides a kind of systems for carrying out power transmission tower and wireline inspection based on point cloud data, comprising:
Unmanned plane acquisition system, the unmanned plane acquisition system are the unmanned plane for carrying AS-100 laser Lidar system, base
In unmanned plane in flight course capture point cloud track, and according to putting cloud along multiple cloud tracks building power transmission towers and route
Map, while unmanned plane acquires video data in flight course；
Point cloud pretreatment device pre-processes the point cloud data of acquisition, respectively obtains ground laser point cloud, vegetation swashs
Luminous point cloud and transmission line of electricity laser point cloud data；
Statistical analysis module carries out power transmission tower bit optimization based on section, disconnected according to power transmission tower position coordinate data, power transmission tower foundation
Face data is for statistical analysis to routing indicator；
Three-dimensional modeling module, it is raw by handling the point cloud data of UAV flight's system acquisition and video data
DOM, DEM of Cheng Zhun, the point cloud after combining classification, for realizing power transmission tower and the three-dimensional modeling of route.
In an optional embodiment of the invention, unmanned plane acquisition system constructs the step of putting cloud map and includes:
Two point cloud tracks are chosen, the similitude between two point cloud tracks is measured；
Two point cloud tracks are merged according to the similitude；
Continue to choose other cloud tracks and successively merge, a building point cloud map.
In an optional embodiment of the invention, the similitude between two point cloud tracks of the measurement includes:
Turning point is positioned on described cloud track；
Every described cloud track is divided into a plurality of cloud track line segment according to the turning point；
Whether detect in two point clouds track includes public track line segment；
The similitude between two point cloud tracks is measured according to the public track line segment.
In an optional embodiment of the invention, the system also includes follow-up management modules, are used for
After the three-dimensional modeling for completing power transmission tower and route, it is aided with line facility device parameter typing, realizes route Assets Reorganization Taking
Reason.
In an optional embodiment of the invention, point cloud pretreatment device carries out pretreated step further include: will acquire
Point cloud data denoised, smoothly pre-processed；Then it extracts the boundary point of point cloud data and carries out Cloud Points Reduction.
The present invention has the advantages that
1, building, vegetation, friendship be can detecte using the high-precision dot cloud that AS-100 unmanned plane laser Lidar system obtains
Whether fork leap etc. meets operations specification to the distance of route；Whether line spacing meets the requirement of safe operation；The high definition of acquisition
The image of clear degree can allow patrol officer to carry out the differentiation of line facility equipment and channel abnormal indoors.
2, by line walking acquire high-precision laser point cloud and high-resolution digital image data, be processed into standard DOM,
Power circuit three-dimensional modeling may be implemented in DEM, the point cloud after combining classification, restores line corridor topography and geomorphology, earth's surface attachment
(trees, building etc.), overhead line structures three-dimensional position and model etc. are aided with the typing of line facility device parameter, it can be achieved that route provides
Produce management.
3, the point cloud of the classification such as power line, vegetation and ground obtained according to classification can be calculated close to power line
Vegetation is simultaneously marked, and can play the effect of early warning, according to the point cloud data and power line data for being marked as dangerous objects,
Calculate minimum distance of the dangerous objects from power line, the potential degree of danger of quantitative analysis；
4, laggard digitized is designed whether based on laser radar data and transfer the three-dimensional digital power grid built up, still
The three-dimensional digital power grid established by line walking means, due to data precision height, no matter landform, tree height, Tower Model, electric wire arc
Vertical and scissors crossing etc. is all that as much as possible the digitlization to real power grid in computer reproduces.Pacify in conjunction with from shaft tower
The data that the monitoring devices such as temperature, humidity, the wind speed of dress are passed back can carry out various electric power on the basis of three-dimensional digital power grid
Specialty analysis simulates trees growing state etc. such as arc sag situation of change under prognosis modelling different temperatures, wind speed, icing, is route
Administrative decision provides strong support.
5, AS-100 unmanned plane laser Lidar system quickly can carry out data acquisition to disaster region, realize disaster region
Quickly positioning, and three-dimensional reduction disaster scene.Monitoring personnel is according to three-dimensional point cloud and image data to disaster field damageability
Precisely assessment proposes safely and effectively to respond method in time.
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 (5)
1. a kind of system for carrying out power transmission tower and wireline inspection based on point cloud data characterized by comprising
Unmanned plane acquisition system, the unmanned plane acquisition system are the unmanned plane for carrying AS-100 laser Lidar system, are based on nothing
The man-machine capture point cloud track in flight course, and according to the cloud of point along the line of multiple cloud track building power transmission towers and route
Figure, while unmanned plane acquires video data in flight course；
Point cloud pretreatment device pre-processes the point cloud data of acquisition, respectively obtains ground laser point cloud, vegetation laser point
Cloud and transmission line of electricity laser point cloud data；
Statistical analysis module carries out power transmission tower bit optimization based on section, according to power transmission tower position coordinate data, power transmission tower foundation section number
According to for statistical analysis to routing indicator；
Three-dimensional modeling module is generated quasi- by handling the point cloud data of UAV flight's system acquisition and video data
DOM, DEM, the point cloud after combining classification, for realizing power transmission tower and the three-dimensional modeling of route.
2. the system for carrying out power transmission tower and wireline inspection based on point cloud data as described in claim 1, which is characterized in that nobody
Machine acquisition system building point cloud map the step of include:
Two point cloud tracks are chosen, the similitude between two point cloud tracks is measured；
Two point cloud tracks are merged according to the similitude；
Continue to choose other cloud tracks and successively merge, a building point cloud map.
3. the system for carrying out power transmission tower and wireline inspection based on point cloud data as claimed in claim 2, which is characterized in that described
The similitude measured between two point cloud tracks includes:
Turning point is positioned on described cloud track；
Every described cloud track is divided into a plurality of cloud track line segment according to the turning point；
Whether detect in two point clouds track includes public track line segment；
The similitude between two point cloud tracks is measured according to the public track line segment.
4. the system for carrying out power transmission tower and wireline inspection based on point cloud data as described in claim 1, which is characterized in that described
System further includes follow-up management module, is used for
After the three-dimensional modeling for completing power transmission tower and route, it is aided with line facility device parameter typing, realizes route asset management.
5. the system for carrying out power transmission tower and wireline inspection based on point cloud data as described in claim 1, which is characterized in that point cloud
Pretreatment unit carries out pretreated step further include: denoises the point cloud data of acquisition, smoothly pre-processes；Then it extracts
The boundary point of point cloud data simultaneously carries out Cloud Points Reduction.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710844818.5A CN109147044A (en) | 2017-09-19 | 2017-09-19 | A kind of system that power transmission tower and wireline inspection are carried out based on point cloud data |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710844818.5A CN109147044A (en) | 2017-09-19 | 2017-09-19 | A kind of system that power transmission tower and wireline inspection are carried out based on point cloud data |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110555909A (en) * | 2019-08-29 | 2019-12-10 | 中国南方电网有限责任公司 | Power transmission tower model construction method and device, computer equipment and storage medium |
| CN111258331A (en) * | 2020-01-20 | 2020-06-09 | 北京拓维思科技有限公司 | Unmanned aerial vehicle power line operation and maintenance system and method |
| CN111443730A (en) * | 2020-05-12 | 2020-07-24 | 江苏方天电力技术有限公司 | Unmanned aerial vehicle track automatic generation method and device for power transmission line inspection |
| CN111915721A (en) * | 2020-07-28 | 2020-11-10 | 广州中科智巡科技有限公司 | Laser point cloud-based method and system for rapidly extracting flat section of power transmission line corridor building |
| 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 |
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| CN107015240A (en) * | 2017-05-22 | 2017-08-04 | 上海华测导航技术股份有限公司 | A kind of electric power networks management system and method based on unmanned plane laser radar |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110555909A (en) * | 2019-08-29 | 2019-12-10 | 中国南方电网有限责任公司 | Power transmission tower model construction method and device, computer equipment and storage medium |
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| CN111258331A (en) * | 2020-01-20 | 2020-06-09 | 北京拓维思科技有限公司 | Unmanned aerial vehicle power line operation and maintenance system and method |
| CN111443730A (en) * | 2020-05-12 | 2020-07-24 | 江苏方天电力技术有限公司 | Unmanned aerial vehicle track automatic generation method and device for power transmission line inspection |
| CN111443730B (en) * | 2020-05-12 | 2021-02-12 | 江苏方天电力技术有限公司 | Unmanned aerial vehicle track automatic generation method and device for power transmission line inspection |
| CN111915721A (en) * | 2020-07-28 | 2020-11-10 | 广州中科智巡科技有限公司 | Laser point cloud-based method and system for rapidly extracting flat section of power transmission line corridor building |
| CN111915721B (en) * | 2020-07-28 | 2024-01-26 | 广州中科智巡科技有限公司 | Method and system for extracting horizontal section of power transmission line corridor building based on laser point cloud |
| 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 |
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Application publication date: 20190104 |