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.
Highlights
Power infrastructure is an important foundation for the national economy and people’s livelihood.Once power infrastructure goes wrong, it will cause large economic losses
Through analysis of inspection methods and new demands of autonomous inspection, we propose a novel autonomous-positioning inspection method of transmission lines based on cable inspection robot (CIR)
We propose a novel method of autonomous inspection for transmission lines using
Summary
Power infrastructure is an important foundation for the national economy and people’s livelihood.Once power infrastructure goes wrong, it will cause large economic losses. Power infrastructure is an important foundation for the national economy and people’s livelihood. The state spends a great deal of manpower and material resources on inspection work every year [1]. Pylons and transmission lines are increasing rapidly. Transmission lines have to expand to harsh environments, which are usually remote and complex, such as rugged mountains, resulting in difficult inspection work [2]. The power sector needs to use many compact towers with multi-loop to expand transmission capacity, which makes power line distribution and mutual inductance very complex, greatly increasing the difficulty of fault detection and ranging [3]. The study of autonomous inspection methods is of great practical significance [4,5]
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