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Sensors 2018, 18(2), 596; https://doi.org/10.3390/s18020596

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

1
Department of Power and Mechanical Engineering, Wuhan University, Wuhan 430072, China
2
Key Laboratory of Hydraulic Machinery Transients, Ministry of Education, Wuhan University, Wuhan 430072, China
*
Authors to whom correspondence should be addressed.
Received: 22 January 2018 / Revised: 8 February 2018 / Accepted: 13 February 2018 / Published: 15 February 2018
(This article belongs to the Section Remote Sensors)
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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. View Full-Text
Keywords: autonomous inspection; transmission lines; cable inspection robot; LiDAR; position and orientation system; identification; positioning autonomous inspection; transmission lines; cable inspection robot; LiDAR; position and orientation system; identification; positioning
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Qin, X.; Wu, G.; Lei, J.; Fan, F.; Ye, X.; Mei, Q. A Novel Method of Autonomous Inspection for Transmission Line based on Cable Inspection Robot LiDAR Data. Sensors 2018, 18, 596.

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