Power line corridor rapid inspection system and method based on laser scanning guidance

Abstract

A rapid inspection system for a power line corridor based on laser scanning guidance comprises a flight platform and a ground monitoring system. The flight platform comprises a fuselage structure, a power system and a flight control system. The fuselage structure further carries a laser scanner and a wireless data transmission module. The flight control system comprises a processing control unit and further comprises an inertial navigation unit and a satellite navigation unit which are connected with the processing control unit. A rapid inspection system for the power line corridor based on laser scanning guidance comprises the steps that three-dimensional point cloud resolving is conducted according to laser scanning data, position data and attitude data, three-dimensional point cloud ofthe power line corridor is obtained, and the relative position relation is obtained through extracting of the power line point cloud; adjusting information of the next flight path is planned, the adjusting information is compared with a set clearance threshold value, and clearance hidden danger points are judged; hidden danger point data are sent back to the ground monitoring system in real time;the hidden danger point data are sent to a hidden danger guiding terminal; and the hidden danger guiding terminal displays the hidden danger point data, and a navigation track for advancing for hiddendanger trouble shooting is formed.

Description

technical field [0001] The invention belongs to the technical field of inspection of power line corridors, and in particular relates to a system and method for rapid inspection of power line corridors based on laser scanning guidance. Background technique [0002] The total length of domestic high-grade 220kV and above power transmission lines exceeds one million kilometers. Hidden dangers such as tree vegetation, illegal buildings, and groundbreaking in the corridors of transmission lines pose a great threat to the normal operation of transmission lines. Daily inspection and maintenance of transmission line corridors It is of great significance to ensure the safety of transmission lines and ensure the production and life of the people. [0003] The traditional manual inspection method relies on inspectors to conduct on-the-spot surveys of power line corridors, with a heavy workload and great personal safety risks; visible light aerial inspections cannot accurately detect hi...

AI Technical Summary

Problems solved by technology

[0005] 1. Due to the limitations of laser radar technology, the existing laser radar power line corridor inspection technology cannot achieve fast and high-density point cloud acquisition under high drop conditions;

[0006] 2. The low efficiency of the aircraft also leads to the long time and high cost of field data collection;

[0007] 3. The post-processing operation mode of the laser radar inspection data cannot meet the real-time requirements of applications such as power emergency and quick elimination of hidden dangers;

[0008] 4. The inspection and hidden danger elimination teams work independently in sequence, increasing the workload

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