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Online point and non-online point classifying, power line extracting and track planning method

An extraction method and power line technology, applied in non-electric variable control, overhead line/cable equipment, three-dimensional position/waterway control, etc., can solve the problem of excessive useless information in laser point cloud data, insufficient elimination of invalid point cloud, and power line extraction Unsatisfactory accuracy and other problems, to achieve the effect of strong application value, improved timeliness, and improved accuracy

Inactive Publication Date: 2019-01-22
绵阳紫蝶科技有限公司
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Problems solved by technology

[0004] Aiming at the above-mentioned defects in the prior art, the present invention proposes a method for classification of online points and offline points, extraction of power lines, and trajectory planning, which solves the problem of laser point cloud data containing too much useless information, insufficient elimination of invalid point clouds, and large amount of data. Excessively large and unsatisfactory power line extraction accuracy, etc., provide accurate adjustment information for flight path planning, and meet the requirements of short-distance inspections

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  • Online point and non-online point classifying, power line extracting and track planning method
  • Online point and non-online point classifying, power line extracting and track planning method
  • Online point and non-online point classifying, power line extracting and track planning method

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[0068] In order to make the purpose, technical solution and specific implementation method of the application clearer, the application will be further described in detail in conjunction with the accompanying drawings.

[0069] In the actual process of flying on a line, the most important thing is to refer to the laser point cloud to obtain the relative positional relationship, so as to feed back to the aircraft for attitude adjustment and form a track plan to ensure that the flight can achieve a close-range accurate line riding effect.

[0070] In the power inspection flight based on the guidance of the laser radar / laser scanner, the laser radar / laser scanner obtains the scanning data, for example, a 16-channel laser scanner is used, and the attitude data and position data fed back by the aircraft's flight control system are also needed. , which can be specifically the feedback from the inertial navigation unit and the satellite navigation unit, and then the processor completes...

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Abstract

The invention provides an online point and non-online point classifying, power line extracting and track planning method. A support vector machine method is adopted, effective classification of onlinepoints and non-online points / ground points is achieved through methods of projection, normalizing of the numerical range, plane construction, hyperplane introducing, function construction and the like, and a large amount of invalid point cloud is effectively removed through power line description fitted by the three steps of ground point removing, point cloud classification and linear extraction,so that the calculation amount is decreased, more precise electric line data are achieved, the problems that laser point cloud data include excessive gibberish, and the power line extracting precision is not ideal are solved, precise adjusting information is provided for planning a flight track, and the requirement of close-distance inspection is met.

Description

technical field [0001] The invention belongs to the technical field of inspection of power line corridors, and in particular relates to a method for classifying online points and offline points, a method for extracting power lines and a method for planning flight paths. Background technique [0002] The guidance of power inspection through laser radar is gradually being promoted and improved. The power system is scanned by the laser radar, and then calculated through the scanned data. The calculated and processed data can provide effective help for the path planning of the inspection flight, plan the trajectory for the inspection flight in real time, and ensure the accuracy of the flight on the line performance, thereby improving the accuracy of inspection and troubleshooting. [0003] In the existing power line corridor inspection technology, there are defects such as too much invalid information contained in the point cloud after acquisition, many invalid point clouds can...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/04G05D1/08G05D1/10H02G1/02
CPCG05D1/042G05D1/0808G05D1/101H02G1/02
Inventor 尹晓燕李成凤唐浩任彪张博文廖成龙
Owner 绵阳紫蝶科技有限公司
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