A Novel Method of Autonomous Inspection for Transmission Line based on Cable Inspection Robot LiDAR Data

Sensors
Xinyan QinQuanjie Mei

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 ...Continue Reading

References

Nov 16, 2005·IEEE Transactions on Pattern Analysis and Machine Intelligence·Anarta Ghosh, Nicolai Petkov
Nov 15, 2007·IEEE Transactions on Pattern Analysis and Machine Intelligence·V FerrariC Schmid
Feb 26, 2016·Sensors·Bat-Erdene ByambasurenJargalbaatar Yura

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PCA

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CIR

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