Method and system for tracking and processing locked power line by using laser radar

Abstract

The invention discloses a method and system for tracking a locked power line by using a laser radar, and the method comprises the steps: collecting a laser point cloud in real time through the laser radar, and obtaining point cloud data; segmenting the laser point cloud by using a deep learning model to obtain a power line point and a tower point; the tower points are clustered, and center point coordinates of the tower points are calculated and generated; extracting all straight lines of the current line channel by using an RANSAC (Random Sample Consensus) multi-line extraction algorithm with constraint conditions to obtain a straight line equation of all straight lines; selecting a target tracking straight line; judging whether the deviation angle and distance of the target tracking straight line are smaller than or equal to a preset standard deviation threshold value; and if yes, predicting the flight prediction position of the aircraft by using the target tracking straight line. According to the technical scheme, the problems that in the prior art, lock line tracking is not stable, traditional hough conversion is low in efficiency, occupied memory is large, and the requirement for computing power and computing resources of a computing unit is high can be solved.

Description

technical field [0001] The invention relates to the field of computer technology, and in particular, to a method and system for tracking and processing power line locking lines using laser radar. Background technique [0002] Related technologies of space ranging often need to measure and extract straight lines in three-dimensional space. Examples include mapping, drone reconnaissance, and transmission line surveying technology. In the existing transmission line measurement, for the measurement and extraction of straight lines, UAVs are usually inspected to obtain the relevant images of the general transmission towers, and then the related UAV simulation algorithm is used to extract the straight line data in the three-dimensional space. . [0003] Most of the related technologies involved in the current UAV line imitation algorithm use a camera to capture images, specifically by taking pictures of the line, and then using the hough transform algorithm to extract the line e...

AI Technical Summary

Problems solved by technology

[0004] The present invention provides a method of using laser radar to track and process power line locks, and uses the RANSAC multi-line extraction algorithm with constraints to extract the straight line equations of all straight lines on the current line channel, aiming to solve the problem of lock line tracking in the prior art Instability and low efficiency of traditional hough transform and least squares algorithm, large memory usage, and high requirements for computing power and computing resources of computing units

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