Back to Search
Start Over
A Novel Method of Autonomous Inspection for Transmission Line based on Cable Inspection Robot LiDAR Data
- Source :
- Sensors, Vol 18, Iss 2, p 596 (2018), Sensors; Volume 18; Issue 2; Pages: 596, Sensors (Basel, Switzerland)
- Publication Year :
- 2018
- Publisher :
- MDPI AG, 2018.
-
Abstract
- With the growth of the national economy, there is increasing demand for electricity, which forces transmission line corridors to become structurally complicated and extend to complex environments (e.g., mountains, forests). It is a great challenge to inspect transmission line in these regions. To address these difficulties, a novel method of autonomous inspection for transmission line is proposed based on cable inspection robot (CIR) LiDAR data, which mainly includes two steps: preliminary inspection and autonomous inspection. In preliminary inspection, the position and orientation system (POS) data is used for original point cloud dividing, ground point filtering, and structured partition. A hierarchical classification strategy is established to identify the classes and positions of the abnormal points. In autonomous inspection, CIR can autonomously reach the specified points through inspection planning. These inspection targets are imaged with PTZ (pan, tilt, zoom) cameras by coordinate transformation. The feasibility and effectiveness of the proposed method are verified by test site experiments and actual line experiments, respectively. The proposed method greatly reduces manpower and improves inspection accuracy, providing a theoretical basis for intelligent inspection of transmission lines in the future.
- Subjects :
- 0209 industrial biotechnology
LiDAR
Computer science
autonomous inspection
transmission lines
cable inspection robot
position and orientation system
identification
positioning
Real-time computing
Point cloud
02 engineering and technology
lcsh:Chemical technology
Biochemistry
Article
Analytical Chemistry
020901 industrial engineering & automation
Transmission line
0202 electrical engineering, electronic engineering, information engineering
Point (geometry)
lcsh:TP1-1185
Electrical and Electronic Engineering
Zoom
Instrumentation
Orientation (computer vision)
Atomic and Molecular Physics, and Optics
Line (geometry)
Robot
020201 artificial intelligence & image processing
Subjects
Details
- Language :
- English
- ISSN :
- 14248220
- Volume :
- 18
- Issue :
- 2
- Database :
- OpenAIRE
- Journal :
- Sensors
- Accession number :
- edsair.doi.dedup.....8cbfda0bdb54d046fbd965c30e739955