面向电力输电场景概略点云的无人机巡航线自动生成  

Automatic generation of UAV cruise lines based on rough point cloud of power transmission scenario

作　　者：徐景中[1,2] 莫玉晓 付建红 孙红星[3] XU Jingzhong;MO Yuxiao;FU Jianhong;SUN Hongxing(School of Remote Sensing Information Engineering,Wuhan University,Wuhan Hubei 430079,China;Hubei Luojia Laboratory,Wuhan Hubei 430079,China;Wuhan Geosun Navigation Technology Company Limited,Wuhan Hubei 430079,China)

机构地区：[1]武汉大学遥感信息工程学院,武汉430079 [2]湖北珞珈实验室,武汉430079 [3]武汉际上导航科技有限公司,武汉430079

出　　处：《计算机应用》2024年第S01期347-350,共4页journal of Computer Applications

基　　金：国家自然科学基金资助项目(41671450);珞珈实验室研究团队基金资助项目(230700010)。

摘　　要：针对电力输电场景无人机自动巡检技术需求,提出一种基于概略点云的无人机巡航线自动生成方法。首先,采用基于边长约束的不规则三角网(TIN)区域生长方法,将电力输电场景概略点云区分割成不同区域,并在此基础上基于区域面积约束提取电力线走廊点云;其次,利用最小外接矩形方法实现电力线走廊点云分段处理,并根据每段点集的最小外接矩形信息生成初始巡航线位置;最后,采用点集中心进行初始巡航线的位置优化,实现巡航线的快速生成。实验结果表明,所提方法能快速实现电力输电场景点云的巡航线自动生成,对无人机巡航线实时提取及自主巡航具有一定的应用价值。To meet the technical requirements of Unmanned Aerial Vehicle(UAV)automatic inspection in power transmission scenarios,a method for automatically generating UAV cruise line based on rough point clouds was proposed.Firstly,rough point clouds of power transmission scenarios were segmented into different regions based on a Triangulated Irregular Network(TIN)region growth method with edge length constraints.Then,region constraints were used to extract transmission line corridor points.Secondly,power corridor points were divided into different parts based on the minimum bounding rectangle method,and coarse cruise line could be generated by analyzing the minimum bounding rectangle of each part.Finally,coarse cruise line was updated by center positions in different parts.Connecting each line segment can achieve the final generation of UAV cruise line.Experimental results show that the proposed method can automatically generate UAV cruise line from rough point clouds in power transmission scenarios quickly,which has certain application value for UAV cruise line automatic extraction and autonomous cruise control.

关 键 词：电力线走廊 不规则三角网 最小外接矩形 区域生长 无人机巡航线 

分 类 号：TP751[自动化与计算机技术—检测技术与自动化装置]