Laser radar-based transmission line refinement inspection flight platform and inspection method

Abstract

The invention discloses a laser radar-based transmission line refinement inspection flight platform comprising an aircraft, a three-dimensional laser ranging module, a ground control terminal and a cloud server. During the inspection, a camera module obtains the position of the plane where the transmission line is located, the three-dimensional laser ranging module aligns the transmission line toemit a laser signal and receives the signal reflected back by the line at the same time; the camera module shoots the periphery of the aircraft, constructs a three-dimensional real-time image on the ground control terminal according to the captured image, and establishes a three-dimensional point cloud map at the ground control terminal according to the signal reflected back by the laser; and theground control terminal determines whether there is an obstacle and whether the distance between the obstacle and the line exceeds a preset safety distance based on the three-dimensional real-time image and the three-dimensional point cloud map, and adjusts the flight attitude of the aircraft to enable the aircraft to maintain a fixed distance and fly autonomously along the transmission line. Thelaser radar-based transmission line refinement inspection flight platform has the advantages of low cost, intelligent operation, high efficiency and safety for operation and maintenance personnel of the power grid.

Description

technical field [0001] The invention relates to the field of power line inspection and maintenance, in particular to a laser radar-based refined inspection flight platform and inspection method for power transmission lines. Background technique [0002] With the continuous acceleration of the pace of construction, the area covered by high-voltage lines has gradually increased, and the inspection tasks for high-voltage lines have become increasingly heavy. At present, the investigation and monitoring of transmission lines are carried out manually by inspection workers along the line. Due to the long high-voltage transmission lines and the large distance between lines, it is necessary to manually drop and recover drones at multiple points when operating multiple lines in parallel, which affects line inspection. cost. This inspection method is labor-intensive and inefficient, and some lines are restricted by terrain factors, making line inspection extremely difficult and dange...

AI Technical Summary

Problems solved by technology

[0003] With the rapid development of drone technology, drones have been used in various industries. In the power industry, drones have also begun to be used on a large scale. At present, manual control of rotor drones is often used to go online. However, There is too much randomness in this method. On the one hand, the UAV is too high from the ground, and the naked eye cannot accurately judge the distance between the rotor UAV and the wire. On the other hand, there is a certain error in human control, so this method It is easy to waste time, and more seriously, it will cause the rotor drone to be too close to the wire, which will cause inductive discharge between the wire and the fuselage or equipment, which will cause equipment damage and electromagnetic wave interference to affect the communication system.

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