Research on Wire Extraction from Laser Point Cloud and UAV Path Planning
Laser point cloud is helpful for the three-dimensional modeling of power transmission channels.How to correctly and efficiently extract the coordinates of the conductors from the redundant laser point cloud data for the UAV inspection path planning has become a research hotspot.The laser point cloud data of 220 kV transmission line in a certain city is used as the research data.Based on the spatial structure characteristics of the conductor point cloud,the coordinates of the lightning conductor are extracted through down-sampling,elevation filtering,multi-segment linear fitting,plane projection density to determine the tower,spatial coordinate conversion and other processes to determine the position of the conductor.Then,the laser point cloud coordinates in the CGCS2000 coordinate system are converted into longitude and latitude coordinates,and finally the three-dimensional path planning of the UAV of the continuous tower base is carried out.The conclusions are as follows:① Voxel downsampling and elevation filtering are suitable for preprocessing before conductor extraction,with low time cost and greatly reducing the number of points.② The conductor extraction process in this paper has good applicability and can quickly extract the coordinates of the lightning conductor and determine the position of the conductor.③ The accuracy of the laser point cloud is within 10 cm.The trajectory planning in this article is based on the precise wire coordinates,offset 2 meters to the outside,and combined with RTK technology,it can effectively ensure the flight safety of the UAV.The wire extraction method in this paper can quickly and completely determine the wire position from hundreds of millions of redundant point cloud data,and accurately perform three-dimensional path planning for drones.
万方数据
维普
