CN110727288A - Point cloud-based accurate three-dimensional route planning method for power inspection - Google Patents
Point cloud-based accurate three-dimensional route planning method for power inspection Download PDFInfo
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Abstract
A power inspection accurate three-dimensional route planning method based on point cloud comprises the following steps: (1) processing original point cloud data, and intercepting an electric power pole tower region in the point cloud data; (2) according to the intercepted tower, each base is processed independently, the contents in the point cloud are subjected to image recognition through a convolutional neural network deep learning algorithm, and the position of the power component is marked automatically; (3) designing a tower-winding inspection route of each base tower according to the marked power components; (4) and after the planning of the tower route of the whole line is finished, assembling the routes according to task requirements, superposing the complete line route and the point cloud of the whole line after the assembling is finished, and previewing the three-dimensional global route based on the topographic map. The invention uses the point cloud to plan the three-dimensional flight path, and utilizes the characteristic of high space precision of the point cloud to plan the high-precision tower-winding routing inspection route, thereby controlling the unmanned aerial vehicle to carry out automatic driving routing inspection work without manual intervention and reducing the technical requirement of manual operation.
Description
Technical Field
The invention belongs to the technical field of production, operation and maintenance of power systems, and particularly relates to a point cloud-based accurate three-dimensional route planning method for power inspection.
Background
When the power production operation and maintenance, the main network and the distribution network of the power line tower need to be refined and patrolled regularly, and key positions and meters which cannot be seen on the ground of the transformer substation are checked. Utilize unmanned aerial vehicle to fly around electric power tower, shoot the clear photo of electric power parts such as ground wire hanging point, insulator, jumper wire cluster around the shaft tower, shuttle between the electric power framework of transformer substation, shoot the clear photo of top and table meter, through defect or the hidden danger to the inspection discovery electric power parts of photo to maintain and disappear and lack, provide the safety guarantee for electric power line's operation safety.
At present, patrol and examine the mode that is in manual operation basically to power line's unmanned aerial vehicle, need have the driver of certain unmanned aerial vehicle driving experience, start unmanned aerial vehicle remote control and fly to the electric power tower position, through the advance of manual remote control unmanned aerial vehicle, retreat, from top to bottom, it is rotatory, reach and shoot target the place ahead after, adjusting lens angle, make the target be in the suitable position of frame of finding a view, then press the button of shooing and accomplish the operation of shooing, it returns the flying site to patrol and examine operation completion back operation aircraft, descend, end the task.
However, the manual inspection method has many problems, the manual inspection unmanned aerial vehicle has high technical requirements on personnel, even needs certain qualification, and is difficult to popularize in the existing power line operation and maintenance personnel, in addition, the inspection personnel can not control the aircraft to reach the tower at the shortest distance and the optimal economic cruising speed, and also needs to adjust the attitude of the aircraft repeatedly when shooting the target to align the target, which causes waste of batteries, and the effect of the shot photos is not good, therefore, the existing manual inspection mode has great dependence on labor in actual use, low efficiency, causes difficulty in popularization of the unmanned aerial vehicle inspection in the power line operation and maintenance, and is not beneficial to improving the capacity of power intelligent operation.
Disclosure of Invention
Based on the defects of the prior art, the invention provides the accurate three-dimensional route planning method for the power inspection based on the point cloud, the manual intervention is not needed in the operation process, the inspection work is automatically driven, and the technical requirement of manual operation is reduced.
The invention is realized by the following technical scheme.
A power inspection accurate three-dimensional route planning method based on point cloud comprises the following steps:
(1) point cloud processing
Processing original point cloud data, and intercepting an electric power pole tower region in the point cloud data;
(2) power component marking
According to the intercepted tower, each base is processed independently, the contents in the point cloud are subjected to image recognition through a convolutional neural network deep learning algorithm, the position of the power component is marked automatically, the marking result is checked and modified manually, the defects and the omissions are found, and the marked power component data are stored;
(3) route planning
The tower-winding routing inspection route of each base tower is designed according to the marked power components, and the method specifically comprises the following steps:
1) firstly, reversely calculating the position where the airplane of a target object is required to be clearly shot and the pitch angle which is required to be set by the camera by combining the resolution and the focal length of the camera through a photographic principle to obtain a qualified shooting point set, wherein the shooting point set of each target presents spatial spherical distribution taking the target as the center of a circle;
2) then, constructing an electronic fence according to the tower point cloud and the surrounding environment, filtering the photographing points, removing the photographing points which conflict with the tower point cloud or are too close to each other and easily cause the collision of the photographing points with the tower point cloud, removing the photographing points which have poor photo effect and are caused by too small or too large camera pitch angle, removing the photographing points which can cause the collision of surrounding obstacles, and leaving a reasonable photographing point set;
3) after the photographing points of all the targets are calculated, combining all the photographing point sets, and taking the shortest path as a principle, selecting one photographing point from each target to form an optimal air route which consumes the shortest time, after the air route planning is finished, performing three-dimensional simulated flight preview on the air route in the tower, and visually checking the effect of the airplane using the air route operation; if unreasonable places are found, the positions of the photographing points can be manually modified, or special positions needing photographing are added;
(4) three-dimensional course preview
After planning of a tower route of the whole line is completed, assembling the route according to task requirements, overlapping the complete line route and a point cloud of the whole line after assembling is completed, and previewing a three-dimensional global route based on a topographic map; if the situation that the cross-over conflict or the obstacle conflict exists in the whole flight path of the air route is found, the air route is adjusted, and the safety of flight operation is ensured; the unmanned aerial vehicle can be exported after the air route is checked and verified to be correct, and the unmanned aerial vehicle is controlled to carry out automatic driving inspection operation.
Preferably, the position parameters at which the target object plane should stop according to the present invention include: longitude, latitude, elevation, and heading angle.
The method adopts a convolutional neural network deep learning algorithm, performs three-dimensional point cloud image identification on the point cloud through machine learning, matches with a corresponding power component, and realizes automatic marking of the power component.
Has the advantages that: the invention uses the point cloud to plan the three-dimensional flight path, and utilizes the characteristic of high space precision of the point cloud to plan a high-precision tower-winding routing inspection route, and the route can be used for controlling the unmanned aerial vehicle to carry out automatic driving routing inspection work without manual intervention, thereby reducing the technical requirement of manual operation and indirectly reducing the labor cost; the flight according to the planned shortest path can greatly save time; the speed of the unmanned aerial vehicle is controlled by the system, so that the power can be kept stable and continuously output, the unmanned aerial vehicle flies at a constant speed, the highest energy efficiency ratio is achieved, and the operation efficiency is improved; the air route designed by using the point cloud is not influenced by human factors, so that a dangerous area can be avoided in the design stage, the flying condition can be previewed in a three-dimensional visual manner, and the maximum safety guarantee is provided for the operation of the unmanned aerial vehicle; the shooting points designed by the point cloud can ensure that the same target picture shot by each frame is consistent, and the history comparison and machine learning operation are facilitated.
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FIG. 1 is a flow chart of the present invention;
FIG. 2 is a flow chart illustrating the detailed steps of the present invention.
Detailed Description
Embodiments of the present invention will now be described with reference to the accompanying drawings. The invention provides a point cloud-based accurate three-dimensional route planning method for power inspection, which is mainly suitable for fine inspection of power line towers in power production operation and maintenance, but cannot be limited by the method, and can also be used in other identical or similar inspection technologies. The invention is described in further detail below with reference to the drawings.
With reference to fig. 1 and 2, a method for planning a power inspection accurate three-dimensional route based on point cloud includes the following steps:
(1) processing original point cloud data, and intercepting an electric power pole tower region in the point cloud data;
(2) according to the intercepted tower, each base is processed independently, the contents in the point cloud are subjected to image recognition through a convolutional neural network deep learning algorithm, the position of the power component is marked automatically, the marking result is checked and modified manually, the defects and the omissions are found, and the marked power component data are stored;
(3) the tower-winding routing inspection route of each base tower is designed according to the marked power components, and the method specifically comprises the following steps:
1) firstly, reversely calculating the position where the airplane of a target object is required to be clearly shot and the pitch angle which is required to be set by the camera by combining the resolution and the focal length of the camera through a photographic principle to obtain a qualified shooting point set, wherein the shooting point set of each target presents spatial spherical distribution taking the target as the center of a circle;
2) then, constructing an electronic fence according to the tower point cloud and the surrounding environment, filtering the photographing points, removing the photographing points which conflict with the tower point cloud or are too close to each other and easily cause the collision of the photographing points with the tower point cloud, removing the photographing points which have poor photo effect and are caused by too small or too large camera pitch angle, removing the photographing points which can cause the collision of surrounding obstacles, and leaving a reasonable photographing point set; according to the invention, by constructing the point cloud electronic fence, the non-flight area, the suitable flight area and the risk area of the airplane are divided, the optimal route is calculated, and the safety of the route can be ensured.
3) After the photographing points of all the targets are calculated, combining all the photographing point sets, and taking the shortest path as a principle, selecting one photographing point from each target to form an optimal air route which consumes the shortest time, after the air route planning is finished, performing three-dimensional simulated flight preview on the air route in the tower, and visually checking the effect of the airplane using the air route operation; if unreasonable places are found, the positions of the photographing points can be manually modified, or special positions needing photographing are added;
(4) after planning of a tower route of the whole line is completed, assembling the route according to task requirements, overlapping the complete line route and a point cloud of the whole line after assembling is completed, and previewing a three-dimensional global route based on a topographic map; if the situation that the cross-over conflict or the obstacle conflict exists in the whole flight path of the air route is found, the air route is adjusted, and the safety of flight operation is ensured; the unmanned aerial vehicle can be exported after the air route is checked and verified to be correct, and the unmanned aerial vehicle is controlled to carry out automatic driving inspection operation.
According to the scheme, the spatial accuracy of the laser point cloud is utilized, the spatial position (longitude, latitude, elevation, course angle and the like) of the electric power component is marked, the spatial position of a photographing point corresponding to a target photographing object is reversely deduced through a photographing principle, the aircraft course angle, the camera angle and other parameters are generated, a photographing point is generated, a scheme with the highest efficiency of photographing the electric power component around a tower is obtained through calculating an optimal path, a three-dimensional refined inspection route for automatic driving is generated, the unmanned aerial vehicle automatic driving flight operation is controlled through the refined inspection route, and manual intervention is not needed in the whole operation process.
The above disclosure is not intended to limit the scope of the invention, which is defined by the claims, but is intended to cover all modifications within the scope and spirit of the invention.
Claims (3)
1. A power inspection accurate three-dimensional route planning method based on point cloud is characterized by comprising the following steps:
(1) point cloud processing
Processing original point cloud data, and intercepting an electric power pole tower region in the point cloud data;
(2) power component marking
According to the intercepted tower, each base is processed independently, the contents in the point cloud are subjected to image recognition through a convolutional neural network deep learning algorithm, the position of the power component is marked automatically, the marking result is checked and modified manually, the defects and the omissions are found, and the marked power component data are stored;
(3) route planning
The tower-winding routing inspection route of each base tower is designed according to the marked power components, and the method specifically comprises the following steps:
1) firstly, reversely calculating the position where the airplane of a target object is required to be clearly shot and the pitch angle which is required to be set by the camera by combining the resolution and the focal length of the camera through a photographic principle to obtain a qualified shooting point set, wherein the shooting point set of each target presents spatial spherical distribution taking the target as the center of a circle;
2) then, constructing an electronic fence according to the tower point cloud and the surrounding environment, filtering the photographing points, removing the photographing points which conflict with the tower point cloud or are too close to each other and easily cause the collision of the photographing points with the tower point cloud, removing the photographing points which have poor photo effect and are caused by too small or too large camera pitch angle, removing the photographing points which can cause the collision of surrounding obstacles, and leaving a reasonable photographing point set;
3) after the photographing points of all the targets are calculated, combining all the photographing point sets, and taking the shortest path as a principle, selecting one photographing point from each target to form an optimal air route which consumes the shortest time, after the air route planning is finished, performing three-dimensional simulated flight preview on the air route in the tower, and visually checking the effect of the airplane using the air route operation;
(4) three-dimensional course preview
After planning of a tower route of the whole line is completed, assembling the route according to task requirements, overlapping the complete line route and a point cloud of the whole line after assembling is completed, and previewing a three-dimensional global route based on a topographic map; if the situation that the cross-over conflict or the obstacle conflict exists in the whole flight path of the air route is found, the air route is adjusted, and the safety of flight operation is ensured; the unmanned aerial vehicle can be exported after the air route is checked and verified to be correct, and the unmanned aerial vehicle is controlled to carry out automatic driving inspection operation.
2. The method for accurate three-dimensional route planning for power inspection according to claim 1, wherein the position parameters of the target object where the aircraft should stay include: longitude, latitude, elevation, and heading angle.
3. The method for accurately planning three-dimensional route for power inspection according to claim 1, wherein in the step (3), if an unreasonable place is found, the position of the photographed point can be manually modified, or a special place needing photographing can be added.
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Cited By (19)
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| CN111006671A (en) * | 2019-12-27 | 2020-04-14 | 北京数字绿土科技有限公司 | Intelligent route planning method for refined routing inspection of power transmission line |
| CN111930133A (en) * | 2020-07-20 | 2020-11-13 | 贵州电网有限责任公司 | Transformer substation secondary screen cabinet inspection method based on rotor unmanned aerial vehicle |
| CN111982123A (en) * | 2020-08-26 | 2020-11-24 | 云南电网有限责任公司迪庆供电局 | Unmanned aerial vehicle inspection route planning method and device |
| 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 |
| CN112197774A (en) * | 2020-10-16 | 2021-01-08 | 成都智巡科技有限责任公司 | Multi-tower continuous and autonomous inspection method for unmanned aerial vehicle |
| CN112229845A (en) * | 2020-10-12 | 2021-01-15 | 国网河南省电力公司濮阳供电公司 | Unmanned aerial vehicle high-precision winding tower intelligent inspection method based on visual navigation technology |
| CN112767391A (en) * | 2021-02-25 | 2021-05-07 | 国网福建省电力有限公司 | Power grid line part defect positioning method fusing three-dimensional point cloud and two-dimensional image |
| CN112960132A (en) * | 2021-03-26 | 2021-06-15 | 中国能源建设集团江苏省电力设计院有限公司 | Distributed shared nest and unmanned aerial vehicle inspection method for power line of distributed shared nest |
| CN113033508A (en) * | 2021-05-20 | 2021-06-25 | 成都奥伦达科技有限公司 | Point cloud-based fine routing inspection waypoint rapid generation method |
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| CN113177918A (en) * | 2021-04-28 | 2021-07-27 | 上海大学 | Intelligent and accurate inspection method and system for electric power tower by unmanned aerial vehicle |
| CN113205116A (en) * | 2021-04-15 | 2021-08-03 | 江苏方天电力技术有限公司 | Automatic extraction and flight path planning method for unmanned aerial vehicle inspection shooting target point of power transmission line |
| CN113485424A (en) * | 2021-07-19 | 2021-10-08 | 武汉中测晟图遥感技术有限公司 | Design method of pole tower inspection route |
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| CN111006671A (en) * | 2019-12-27 | 2020-04-14 | 北京数字绿土科技有限公司 | Intelligent route planning method for refined routing inspection of power transmission line |
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| CN113741413A (en) * | 2020-05-29 | 2021-12-03 | 广州极飞科技股份有限公司 | Operation method of unmanned equipment, unmanned equipment and storage medium |
| CN111930133A (en) * | 2020-07-20 | 2020-11-13 | 贵州电网有限责任公司 | Transformer substation secondary screen cabinet inspection method based on rotor unmanned aerial vehicle |
| CN111982123A (en) * | 2020-08-26 | 2020-11-24 | 云南电网有限责任公司迪庆供电局 | Unmanned aerial vehicle inspection route planning method and device |
| CN111982123B (en) * | 2020-08-26 | 2023-10-31 | 云南电网有限责任公司迪庆供电局 | Unmanned aerial vehicle routing planning method and device |
| 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 |
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| CN112960132A (en) * | 2021-03-26 | 2021-06-15 | 中国能源建设集团江苏省电力设计院有限公司 | Distributed shared nest and unmanned aerial vehicle inspection method for power line of distributed shared nest |
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| CN113177918B (en) * | 2021-04-28 | 2022-04-19 | 上海大学 | Intelligent and accurate inspection method and system for electric power tower by unmanned aerial vehicle |
| CN113177918A (en) * | 2021-04-28 | 2021-07-27 | 上海大学 | Intelligent and accurate inspection method and system for electric power tower by unmanned aerial vehicle |
| CN113156998A (en) * | 2021-04-30 | 2021-07-23 | 中国人民解放军陆军装甲兵学院 | Unmanned aerial vehicle flight control system and control method |
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| CN113485424A (en) * | 2021-07-19 | 2021-10-08 | 武汉中测晟图遥感技术有限公司 | Design method of pole tower inspection route |
| CN113494913A (en) * | 2021-09-07 | 2021-10-12 | 中国南方电网有限责任公司超高压输电公司检修试验中心 | Unmanned aerial vehicle power inspection planning method and device, computer equipment and storage medium |
| CN113554355B (en) * | 2021-09-17 | 2021-12-03 | 江苏正金建筑装饰工程有限公司 | Road engineering construction management method and system based on artificial intelligence |
| CN113554355A (en) * | 2021-09-17 | 2021-10-26 | 江苏正金建筑装饰工程有限公司 | Road engineering construction management method and system based on artificial intelligence |
| CN113945217B (en) * | 2021-12-15 | 2022-04-12 | 天津云圣智能科技有限责任公司 | Air route planning method, device, server and computer readable storage medium |
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| CN114035614A (en) * | 2022-01-10 | 2022-02-11 | 成都奥伦达科技有限公司 | Unmanned aerial vehicle autonomous inspection method and system based on prior information and storage medium |
| CN117308969A (en) * | 2023-09-27 | 2023-12-29 | 广东电网有限责任公司汕尾供电局 | Heuristic three-dimensional route planning method for electric power pole tower for quickly exploring random tree |
| CN117308969B (en) * | 2023-09-27 | 2024-05-14 | 广东电网有限责任公司汕尾供电局 | Heuristic three-dimensional route planning method for electric power pole tower for quickly exploring random tree |
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