Transformer substation unmanned aerial vehicle safety inspection method based on point cloud automatic splicing method

• Main Authors: LIU XIN, ZHANG ZHIPENG, HE KUAN, WANG ERSHEN, ZHANG YONGXING
• Format: Patent
• Language: Chinese; English
• Published: 23.02.2024
• Subjects: CALCULATING; COMPUTING; CONTROLLING; COUNTING; ELECTRIC DIGITAL DATA PROCESSING; IMAGE DATA PROCESSING OR GENERATION, IN GENERAL; PHYSICS; REGULATING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

The invention discloses a transformer substation unmanned aerial vehicle safety inspection method based on a point cloud automatic splicing method, and the method comprises the following steps: 1, scanning transformer substation primary equipment by an unmanned aerial vehicle measurement station, obtaining point cloud data, and carrying out the coordinate transformation according to GPS latitude and longitude parameters; step 2, calculating energy of observation station point cloud distribution; step 3, searching a conversion parameter of the maximum distribution energy; according to the method, the unmanned aerial vehicle is used for collecting the point cloud data of the transformer substation, then the unmanned aerial vehicle sensor is used for carrying out coarse registration on the position and orientation of the laser radar scanner, and finally, according to the principle of maximum distribution energy, the point clouds of the adjacent observation stations are spliced to obtain the complete high-precisi