DIAGNOSTIC APPARATUS FOR ENVIRONMENTAL INFRINGEMENT OF POWER LINE

摘要

The present invention discloses an apparatus for diagnosing environmental violations of a transmission line. The apparatus for diagnosing environmental violation of a transmission line of the present invention includes: a preprocessor for removing ground information from the LIDAR point cloud data and removing noise to estimate the position of the unmanned aerial vehicle; A 3D point cloud data conversion unit for converting the Lada point cloud data measured in relative coordinates with respect to the position of the unmanned aerial vehicle based on the data processed by the preprocessor into 3D point cloud data in an absolute coordinate axis; A down-sampling unit generating a 3D point cloud map by down-sampling the 3D point cloud data converted by the 3D point cloud data conversion unit; An ear degree estimating unit for detecting a transmission line using the 3D point cloud data down-sampled by the down sampling unit and estimating an ear degree of the detected transmission line; The three-dimensional environment point cloud data including the surrounding environment estimated by the ear canal estimation unit is converted to coordinates to remove the transmission tower and the transmission line, and the ear canal in the extreme environment estimated by using the ear map and thermal imaging camera information of the detected transmission line. An environmental violation diagnosis unit that performs an environmental evaluation by using; And an infringement alarm generator for generating an alarm according to an operation standard by recognizing the surrounding environment by using the environmental infringement result of the transmission line estimated by the environmental infringement diagnosis unit and optical camera information.