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Abstract
Transmission tower inclination directly affects the reliability of transmission line operation. In order to accurately judge the inclination angle and ensure the safe operation of transmission line, an online monitoring method of transmission tower inclination based on patrol UAV is proposed. The inspection UAV is used to inspect the transmission tower with camera. The transmission tower point cloud data is collected by the inspection UAV combined with the camera. The pyramid grading management is constructed to collect the tower image point cloud data. The grading data is preprocessed to remove the gross error, and the point cloud data is homogenized to get the multi-scale characteristics of the point cloud data. On this basis, a multi-scale classifier is constructed to complete the automatic classification of point cloud data. According to the classification results, the current inclination degree of transmission tower is determined, and the online monitoring of transmission tower inclination is completed. The test results show that this method can effectively monitor the inclination angle of transmission tower under different wind conditions, and the maximum difference between the inclination angle and the actual inclination angle is about 0.3° with better online monitoring effect.
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