CN111952883A - A transmission line fault identification system and method based on three-dimensional lidar - Google Patents

Abstract

The invention discloses a three-dimensional laser radar-based transmission line fault identification system and method. The system includes: an aircraft, on which a dual-light camera, a switch and a microcomputer are arranged; the dual-light camera includes a visible light camera and an infrared light camera; the microcomputer, based on the convolutional neural network algorithm, fuses the scene picture of the transmission line with the infrared thermal image to generate an inspection image, and based on a deep learning training algorithm, matches the features in the inspection image to thereby Identify the wires of the transmission line, and generate line defect data, and at the same time, the microcomputer is used to generate and store an inspection report, and the inspection report includes the line defect data. The present invention enables automatic identification of features in inspection images and automatic diagnosis of defects, thereby greatly improving work efficiency.

Description

A transmission line fault identification system and method based on three-dimensional lidar

technical field

The invention relates to the technical field of power line maintenance, and in particular, to a system and method for identifying faults in power transmission lines.

Background technique

When the power transmission line is affected by natural disasters and external forces, it will cause different degrees of failure. If the line failure is not dealt with in time, it will cause short circuit, fire, power interruption, communication interruption and other accidents. Line inspection can effectively reduce the line failure rate, and can detect and solve the defects of the transmission line in time. The use of aircraft to conduct autonomous inspection of transmission lines has gradually become a research hotspot. The aircraft equipped with cameras can capture line pictures or videos for later fault identification and processing. However, after each autonomous inspection, there will be a large number of normal inspections. Or pictures with defects need to be manually screened for pictures with defects, which increases the workload of the staff. At the same time, the work efficiency is low and errors caused by human negligence are prone to occur.

At the same time, since in the prior art, the transmission line is photographed by a camera and a photo is generated, because there are many target objects in the photo in the natural environment, it is difficult to distinguish the wires of the transmission line and identify the defects of the wires. This results in larger errors and lower work efficiency.

In addition, in the prior art, the transmission of images is a line transmission method, which results in a relatively low transmission speed of the images, and the time of reaching the ground and the aircraft processing module is not synchronized, so that the real-time observation and inspection images and defect identification cannot be synchronized, resulting in work The efficiency is low, which brings losses to the inspection and maintenance of the transmission line.

SUMMARY OF THE INVENTION

The invention provides a transmission line fault identification system and method based on three-dimensional laser radar, which integrates the photographed transmission line picture and the corresponding thermal image through algorithm technology, identifies the wires in the line, judges the wire defects, and is used to solve the problem of work Technical problems with heavy workload, low work efficiency and high error rate.

Therefore, a three-dimensional laser radar-based transmission line fault identification system provided by the present invention includes: an aircraft, and the aircraft is provided with a dual-light camera, a switch and a microcomputer;

The dual-light camera includes a visible light camera and an infrared light camera, the visible light camera is used to capture the scene picture of the power transmission line, and the infrared light camera is used to obtain the power transmission line by sensing the infrared radiation energy of the power transmission line. Infrared thermal image of the line;

The microcomputer, based on the convolutional neural network algorithm, fuses the scene picture of the transmission line with the infrared thermal image to generate an inspection image, and based on a deep learning training algorithm, matches the features in the inspection image to identify the inspection image. The wire of the transmission line, judge whether the temperature corresponding to the wire exceeds the preset temperature threshold, and when the temperature corresponding to the wire exceeds the preset temperature threshold, generate line defect data, and at the same time, the microcomputer is used to generate and store. an inspection report, the inspection report includes the line defect data;

The switch is used to connect the dual-light camera with the microcomputer and the aircraft respectively to realize synchronous data exchange.

Preferably, the aircraft is provided with an RTK navigation and positioning system for acquiring coordinate points of the aircraft and a data management module for storing aircraft patrol data;

The machine patrol data includes coordinate points of the tower in the transmission line;

The microcomputer is used to obtain, based on the RTK navigation and positioning system and the aircraft patrol data, the nearest coordinates corresponding to the current coordinate point of the aircraft and the wire when the temperature corresponding to the wire exceeds the preset temperature threshold. The coordinate points of the towers at both ends are calculated to calculate the coordinate points of the wire.

Preferably, the aircraft is also provided with a three-dimensional laser radar, a radar driver board, an RS232 communication module, and a power supply module;

The radar driving board is connected to the three-dimensional laser radar, and is used to drive the three-dimensional laser radar to work;

The three-dimensional lidar is used for detecting and acquiring point cloud data of the transmission line;

The microcomputer is communicated and connected with the radar driver board through the RS232 communication module;

The microcomputer calculates the coordinate points of the transmission line based on the acquired point cloud data of the transmission line, and at the same time, based on the PID control algorithm, calculates the coordinate points of the transmission line by comparing the coordinate points of the transmission line with the coordinate points of the aircraft. the relative distance between the aircraft and the power transmission line, and controlling the relative distance between the aircraft and the power transmission line to keep within a preset distance range;

The power module is used to supply power to the three-dimensional laser radar and the microcomputer.

Preferably, a ground monitoring device is also included, the ground monitoring device is connected with the aircraft in wireless communication, and is used for controlling the aircraft and acquiring the data of the aircraft.

Preferably, a transmission antenna is provided on the aircraft;

The transmission antenna is wirelessly connected to the ground monitoring device, and the wireless communication link includes a 2.4G wireless communication link for image transmission and a 5.8G wireless communication link for command transmission.

Preferably, the aircraft is provided with a three-axis anti-shake gimbal for controlling the three-dimensional rotation of the dual-light camera.

Preferably, the ground monitoring device includes a remote control and a display device;

The dual-light camera is provided with an image stream push processor, which is used for superimposing and rendering the scene picture of the transmission line and the infrared thermal image to generate a rendered image to realize single-line image transmission;

The remote controller is used to control the working state of the aircraft and the dual-light camera;

The display device is configured to receive and display the rendered image.

Preferably, the microcomputer includes a defect management module, a report set module and a data storage module;

Wherein, the defect management module is configured to screen and classify the line defect data after the microcomputer generates the line defect data, and add the line defect data to a report set;

The report set module is used to receive the report set and generate an inspection report;

The data storage module is used for storing the line defect data, the inspection report and the machine inspection data.

On the other hand, the present invention also provides a transmission line fault identification method based on three-dimensional laser radar, which is applied to the above-mentioned three-dimensional laser radar-based transmission line fault identification system, including:

Step S101: control the aircraft to fly to the transmission line operation site to be inspected through the ground monitoring device;

Step S102: photographing the power transmission line with a dual-light camera to obtain a scene image and an infrared thermal image including the power transmission line;

Step S103: transmitting the scene picture and the infrared thermal image of the power transmission line to the microcomputer and the aircraft through the local area network;

Step S104: generating an inspection image by fusing the scene picture of the transmission line with the infrared thermal image based on the convolutional neural network algorithm by the microcomputer;

Step S105: Through the microcomputer based on a deep learning training algorithm, the features in the inspection image are matched to identify the wires of the transmission line, and it is judged whether the temperature corresponding to the wires exceeds a preset temperature threshold. When the corresponding temperature exceeds the preset temperature threshold, line defect data is generated;

Step S106: Generate and store an inspection report by the microcomputer, where the inspection report includes the line defect data.

Preferably, after the step S101, and before the step S102, the step S201 is further included:

The point cloud data of the transmission line is detected by 3D lidar, the point cloud data of the transmission line is transmitted to the microcomputer, the coordinate points of the transmission line are calculated by the microcomputer, and based on the PID control algorithm, control The relative distance between the aircraft and the power transmission line is kept within a preset distance range.

As can be seen from the above technical solutions, the present invention has the following advantages:

An embodiment of the present invention provides a three-dimensional laser radar-based transmission line fault identification system, including: an aircraft, on which a dual-light camera, a switch and a microcomputer are provided; the dual-light camera includes a visible light camera and an infrared light camera , the visible light camera is used for shooting the scene picture of the power transmission line, and the infrared light camera is used for acquiring the infrared thermal image of the power transmission line by sensing the infrared radiation energy of the power transmission line; the microcomputer, Based on the convolutional neural network algorithm, the scene picture of the transmission line and the infrared thermal image are fused to generate the inspection image, and based on the deep learning training algorithm, the features in the inspection image are matched to identify the wires of the transmission line , judging whether the temperature corresponding to the wire exceeds the preset temperature threshold, and when the temperature corresponding to the wire exceeds the preset temperature threshold, generate line defect data, and at the same time, the microcomputer is used to generate and store the inspection report. The inspection report includes the line defect data; the switch is used to connect the dual-light camera with the microcomputer and the aircraft respectively to realize synchronous data exchange.

In the embodiment of the present invention, based on the convolutional neural network algorithm, the scene image of the transmission line acquired by the dual-light camera and the thermal image are fused to generate an inspection image, which can match the features in the inspection image to identify the conductors of the transmission line, so that there is no need to separately analyze the transmission line. The scene picture and the thermal image are identified and matched to improve the work efficiency, and by judging whether the temperature obtained by the thermal image corresponding to the wire exceeds the preset temperature threshold (ie the preset normal temperature threshold), it can be used in flight. During the inspection process, the wire defects are identified in real time without subsequent screening and identification, which improves the work efficiency and reduces the workload and error rate of the staff. Improve work efficiency and achieve the purpose of saving manpower and time costs.

At the same time, in the embodiment of the present invention, the dual-optical camera is respectively connected to the aircraft and the microcomputer through the local area network, and the aircraft is wirelessly connected to the ground monitoring device, so that the inspection images captured by the dual-optical camera are transmitted to the aircraft and the microcomputer in a broadcast manner, improving the The transmission speed is improved, and the inspection process can be monitored in real time and line defects can be identified synchronously and conveniently.

The three-dimensional laser radar-based transmission line fault identification method provided by the present invention is consistent with the beneficial effects of the above-mentioned system, and will not be repeated here.

Description of drawings

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without any creative effort.

1 is a schematic structural diagram of Embodiment 1 of a three-dimensional laser radar-based transmission line fault identification system and method according to the present invention;

FIG. 2 is a flowchart of Embodiment 3 of a three-dimensional laser radar-based transmission line fault identification system and method of the present invention.

Detailed ways

In order to make the purpose, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the following The described embodiments are only some, but not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

Example 1

Embodiment 1 of the present invention provides a three-dimensional laser radar-based transmission line fault identification system. Referring to FIG. 1 , the system includes an aircraft 1 and a ground monitoring device;

Further, the aircraft 1 is provided with a dual-light camera 2 and an electric control box, wherein the electric control box includes a microcomputer 7, the aircraft 1 adopts a quadrotor aircraft 1, the bottom of the aircraft 1 is provided with a first mounting frame 4, and the top of the aircraft 1 is provided with There is a second mounting frame 5;

The dual-light camera 2 is fixed on the first mounting frame 4, and the dual-light camera 2 includes a visible light camera and an infrared light camera. When the dual-light camera 2 is working, the visible light camera and the infrared light camera work at the same time, so that subsequent Directly display the transmission line screen after visible light and infrared light are superimposed and rendered;

Among them, the infrared light camera is used to obtain the infrared thermal image of the transmission line by inducing the infrared radiation energy of the transmission line, and the visible light camera is used to shoot the scene picture of the transmission line;

It should be noted that the temperature measurement process of the infrared light camera is as follows: first, the radiated power signal of the wire in the transmission line is converted into an electrical signal by the infrared camera, and when the electrical signal is output, the infrared temperature image is output to the imaging device. In this embodiment The image projected by the dual-light camera 2 on the imaging device is to simulate the surface temperature and spatial position of the conductor of the transmission line, and an infrared thermal image of the surface of the transmission line can be obtained.

Further, the aircraft 1 is also provided with a switch for providing a local area network, and the dual-light camera 2 establishes a local area network connection with the microcomputer 7 and the aircraft 1 respectively through the switch to realize synchronous data interaction, so that the dual-light camera 2 can transmit image data in a broadcast manner. , the aircraft 1 and the microcomputer 7 can receive image data at the same time, so as to improve the data transmission speed, and can synchronously monitor the inspection process in real time and process images.

Further, based on the convolutional neural network algorithm, the microcomputer 7 fuses the acquired scene picture of the transmission line with the infrared thermal image to generate an inspection image;

It should be noted that the convolutional neural network algorithm is the prior art, and will not be repeated here;

It can be understood that the fusion of the scene picture of the transmission line and the infrared thermal image to generate the inspection image is conducive to matching the wire and the corresponding temperature. At the same time, only one inspection image is used to identify defects, which greatly improves the work efficiency.

Further, the microcomputer 7, based on the deep learning training algorithm, matches the features in the inspection image to identify the wires of the transmission line, and judges whether the temperature corresponding to the wires exceeds the preset temperature threshold, when the temperature corresponding to the wires exceeds the preset temperature. When the threshold is reached, line defect data is generated;

It is understandable that because there are too many targets in the inspection images, the wires of the transmission line can be better identified by establishing a deep learning training model, and the corresponding wires of the wires can be judged through the temperature obtained in the infrared thermal image. Whether the temperature exceeds the preset normal temperature threshold, if it exceeds, it means that the wire is defective;

Further, the microcomputer 7 has a built-in NVIDIA processing chip, and the NVIDIA processing chip is used to package the deep learning training algorithm.

It can be understood that, in the prior art, an algorithm system is used to perform deep learning training algorithms, and this algorithm system needs to be completed on the ground. In this embodiment, the NVIDIA processing chip is built in the microcomputer 7, which can be used in the aircraft 1. The inspection image line defects are identified in real time directly through the deep learning training algorithm, which improves the image processing efficiency.

Further, the aircraft 1 is provided with an RTK navigation and positioning system for obtaining the coordinate points of the aircraft 1 and a data management module for storing aircraft patrol data;

Among them, the machine patrol data includes the coordinate points of the towers in the transmission line, and the towers are used to connect the wires;

Further, the microcomputer 7 is used to obtain, respectively, the current coordinate point of the corresponding aircraft 1 and the coordinate points of the nearest two ends of the tower corresponding to the wire based on the RTK navigation and positioning system and the aircraft patrol data after the temperature corresponding to the wire exceeds the preset temperature threshold, Through the current coordinate point of aircraft 1 and the coordinate points of the nearest towers at both ends of the wire, the coordinate points of the corresponding wire whose temperature exceeds the preset temperature threshold can be calculated in real time, and the fast and accurate positioning can be carried out, which is convenient for subsequent maintenance.

Further, the ground monitoring device is wirelessly connected to the aircraft 1 for controlling the aircraft 1 and acquiring aircraft data;

Further, the aircraft 1 is also provided with a transmission antenna, which is connected with the ground monitoring device for wireless communication, and is used to realize data interaction between the ground monitoring device and the aircraft 1; at the same time, the link of the wireless communication connection includes a 2.4G wireless communication link for image transmission. with 5.8G wireless communication link for command transmission.

Further, the ground monitoring device includes a remote controller 10 and a display device;

The dual-light camera 2 is provided with an image stream push processor. The image stream push processor is used to superimpose and render the scene picture of the transmission line and the infrared thermal image to generate a rendered image to realize single-line image transmission, so as to facilitate fast transmission and improve work efficiency;

The remote controller 10 is used to control the working state of the aircraft 1 and the dual-light camera 2, so as to ensure that the aircraft 1 flies safely and can capture a clear picture of the transmission line. At the same time, the remote controller 10 also controls the dual-light camera 2 to perform the shooting work;

A display device that receives and displays rendered images.

Further, the aircraft 1 is provided with a three-axis anti-shake gimbal for controlling the three-dimensional rotation of the dual-light camera 2. At the same time, it can also prevent the dual-light camera 2 from shaking during the rotation process. The three-axis anti-shake gimbal includes the X-axis, Y axis and Z axis;

Among them, the X axis is used to control the horizontal angle rotation of the dual-light camera 2, the Y axis is used to control the longitudinal angle rotation of the dual-light camera 2, and the Z axis is used to control the deflection angle rotation of the dual-light camera 2;

Among them, the three-axis anti-shake gimbal includes gimbal motors respectively arranged on the X axis, the Y axis and the Z axis, which are used to provide power for the corresponding angle rotation;

It can be understood that, when the aircraft 1 is flying, the three-axis anti-shake gimbal can be adjusted so that the dual-light camera 2 can take pictures of the transmission line.

Further, the electric control box is arranged on the second mounting frame 5 , and the electric control box includes a radar drive board 6 , a three-dimensional laser radar 3 , an RS232 communication module 8 and a power supply module 9 ;

Among them, the radar driving board 6 is connected with the three-dimensional laser radar 3, and is used to drive the three-dimensional laser radar 3 to work;

The three-dimensional lidar 3 is used to detect and obtain the point cloud data of the transmission line, and transmit the point cloud data of the transmission line to the microcomputer 7;

The microcomputer 7 calculates the coordinate points of the transmission line based on the acquired point cloud data of the transmission line, and at the same time, based on the PID control algorithm, calculates the distance between the aircraft 1 and the transmission line by comparing the coordinate points of the transmission line and the coordinate point of the aircraft 1 and control the relative distance between the aircraft 1 and the power transmission line to keep within the preset distance range, so as to keep the aircraft 1 at a safe distance during the cruise and to allow the dual-light camera 2 to capture better quality inspections image.

It should be noted that, in this embodiment, the preset distance range is 4-5 meters.

Further, the three-dimensional lidar 3 is provided with several laser emission ports. In this embodiment, there are 16 laser emission ports, and 16 laser beams can be emitted at the same time, so as to measure the distance between the aircraft 1 and the transmission line more accurately. .

Among them, the three-dimensional laser radar 3 is provided with a central axis for 360-degree laser scanning, and the laser emission port rotates relative to the central axis.

The power supply module 9 is electrically connected to the radar driving board 6 and the microcomputer 7 respectively, and is used for supplying power to the three-dimensional laser radar 3 and the microcomputer 7 .

Embodiment 2

In the second embodiment, on the basis of the first embodiment, the microcomputer 7 further includes a defect management module, a report set module and a data storage module;

Wherein, the defect management module is used to screen and classify the line defect data after the microcomputer generates the line defect data, and add the line defect data to the report set;

Specifically, the defect management module stores and records the location information of the line defect data identified in the inspection image, and at the same time, can classify and filter according to defects such as broken strands, scattered strands, and ablation;

Further, the report set module is used to receive the report set, view the defects in the report set, and generate an inspection report.

Further, the data management module is used to calculate the sag value of the transmission line in the inspection image, the relative distance between the transmission line and the obstacles below it, and the working environment within the scanning range of the 3D lidar 3 has been modeled;

Specifically, the RTK positioning system is used to determine the wire coordinates and altitude data of the transmission line, and then combined with the dual-optical camera 2 to collect the sagging curvature image of the transmission wire between the towers in the transmission line, the coordinates of the wire, the altitude data and the The curvature image is passed to the data management module for fitting and calculation of the sag value to determine whether there is a defect;

In this embodiment, the three-dimensional lidar 3 can also scan the surrounding obstacles, so as to obtain the clearance distance between the transmission line and the obstacle, while the obstacles (such as trees) under the transmission line are more likely to threaten the transmission line The headroom distance measurement can be realized through the 3D lidar 3, and transmitted to the data management module to judge whether the headroom distance is within a reasonable range;

In addition, the 3D LiDAR 3 transmits the point cloud data, IMU inertial navigation data and RTK data obtained by scanning the surrounding obstacles to the data management module, which can be solved and modeled to determine whether the surrounding environment poses a threat to the transmission line.

Further, the data storage module is used for storing machine inspection data, line defect data, normal sample information, defect sample information and inspection report.

This embodiment can realize rapid classification, intelligent identification and automatic report generation of transmission line defects. Compared with traditional manual data processing, the work efficiency of line operators is greatly improved, the grid operation cost is greatly reduced, and a large amount of redundant data is overcome. Difficulty handling and managing a high workload.

Embodiment 3

The third embodiment provides a transmission line fault identification method based on the three-dimensional laser radar 3 on the basis of the first embodiment or the second embodiment. Referring to FIG. 2 , the method includes:

Step S101: control the aircraft to fly to the transmission line operation site to be inspected through the ground monitoring device;

Step S102: photographing the transmission line with a dual-light camera to obtain a scene image and an infrared thermal image including the transmission line;

Step S103: transmitting the scene picture and infrared thermal image of the transmission line to the microcomputer and the aircraft through the local area network;

Step S104: generating an inspection image by fusing the scene picture of the transmission line with the infrared thermal image based on the convolutional neural network algorithm by the microcomputer;

Step S105: Use a microcomputer based on a deep learning training algorithm to match the features in the inspection image to identify the wires of the transmission line, and determine whether the temperature corresponding to the wires exceeds the preset temperature threshold. When the temperature corresponding to the wires exceeds the preset temperature threshold, Generate line defect data;

Step S106: Generate and store an inspection report by the microcomputer, and the inspection report includes line defect data.

Further, after step S101 and before step S102, it also includes step S201:

The point cloud data of the transmission line is detected by 3D lidar, and the point cloud data of the transmission line is transmitted to the microcomputer, and the coordinate points of the transmission line are calculated by the microcomputer, and the relative distance between the aircraft and the transmission line is controlled based on the PID control algorithm. within a preset distance.

It can be understood that those skilled in the art can clearly understand that, for the convenience and brevity of the description, for the specific working process of the above-described systems and modules, reference may be made to the corresponding processes in the foregoing method embodiments, which will not be repeated here. .

In the several embodiments provided in this application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the apparatus embodiments described above are only illustrative. For example, the division of the modules is only a logical function division. In actual implementation, there may be other division methods. For example, multiple modules or components may be combined or Can be integrated into another system, or some features can be ignored, or not implemented. On the other hand, the shown or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, indirect coupling or communication connection of devices or modules, and may be in electrical, mechanical or other forms.

As mentioned above, the above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand: The technical solutions described in the embodiments are modified, or some technical features thereof are equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions in the embodiments of the present invention.

Claims (10)

1. The utility model provides a transmission line fault identification system based on three-dimensional laser radar which characterized in that includes: the aircraft is provided with a double-optical camera, a switch and a microcomputer;

the double-optical camera comprises a visible light camera and an infrared camera, the visible light camera is used for shooting a scene picture of the power transmission line, and the infrared camera is used for acquiring an infrared thermal image of the power transmission line by sensing infrared radiation energy of the power transmission line;

the microcomputer is used for fusing a scene picture of the power transmission line with an infrared thermography to generate a routing inspection image based on a convolutional neural network algorithm, matching features in the routing inspection image based on a deep learning training algorithm to identify a lead of the power transmission line, judging whether the temperature corresponding to the lead exceeds a preset temperature threshold value, generating line defect data when the temperature corresponding to the lead exceeds the preset temperature threshold value, and meanwhile, the microcomputer is used for generating and storing a routing inspection report which comprises the line defect data;

the switch is used for establishing connection between the dual-optical camera and the microcomputer and the aircraft respectively so as to realize synchronous data interaction.

2. The three-dimensional lidar-based power transmission line fault identification system according to claim 1, wherein an RTK navigation positioning system for acquiring a coordinate point of the aircraft and a data management module for storing machine patrol data are provided on the aircraft;

the machine patrol data comprises coordinate points of towers in the power transmission line;

and the microcomputer is used for respectively acquiring coordinate points corresponding to the current coordinate point of the aircraft and the nearest two-end tower corresponding to the lead based on the RTK navigation positioning system and the machine patrol data after the temperature corresponding to the lead exceeds a preset temperature threshold value, so as to calculate the coordinate point of the lead.

3. The power transmission line fault identification system based on the three-dimensional laser radar as claimed in claim 2, wherein the aircraft is further provided with the three-dimensional laser radar, a radar driving plate, an RS232 communication module and a power supply module;

the radar driving board is connected with the three-dimensional laser radar and used for driving the three-dimensional laser radar to work;

the three-dimensional laser radar is used for detecting and acquiring point cloud data of the power transmission line;

the microcomputer is in communication connection with the radar driving board through the RS232 communication module;

the microcomputer calculates a coordinate point of the power transmission line based on the acquired point cloud data of the power transmission line, and simultaneously calculates a relative distance between the aircraft and the power transmission line by comparing the coordinate point of the power transmission line and the coordinate point of the aircraft based on a PID control algorithm, and controls the relative distance between the aircraft and the power transmission line to be kept within a preset distance range;

and the power supply module is used for supplying power to the three-dimensional laser radar and the microcomputer.

4. The three-dimensional lidar based power transmission line fault identification system of claim 1, further comprising a ground monitoring device in wireless communication with the aircraft for controlling the aircraft and obtaining the aircraft data.

5. The three-dimensional lidar based power transmission line fault identification system of claim 4, wherein a transmission antenna is provided on the aircraft;

the transmission antenna is in wireless communication connection with the ground monitoring device, and links in wireless communication connection comprise a 2.4G wireless communication link for image transmission and a 5.8G wireless communication link for command transmission.

6. The three-dimensional lidar based power transmission line fault identification system of claim 1, wherein the aerial vehicle is provided with a three-axis anti-shake pan-tilt for controlling the three-dimensional rotation of the dual-optical camera.

7. The three-dimensional lidar based power transmission line fault identification system of claim 5, wherein the ground monitoring apparatus comprises a remote controller and a display device;

the double-optical camera is provided with an image stream push flow processor, and the image stream push flow processor is used for superposing and rendering the scene picture of the power transmission line and the infrared thermography to generate a rendered image so as to realize single-line transmission of the image;

the remote controller is used for controlling the working states of the aircraft and the dual-light camera;

the display device is used for receiving and displaying the rendering image.

8. The system for identifying the fault of the power transmission line based on the three-dimensional laser radar as claimed in claim 2, wherein the microcomputer comprises a defect management module, a report set module and a data storage module;

the defect management module is used for screening and classifying the line defect data after the microcomputer generates the line defect data, and adding the line defect data into a report set;

the report set module is used for receiving the report set and generating a patrol report;

the data storage module is used for storing the line defect data, the routing inspection report and the machine routing inspection data.

9. A power transmission line fault identification method based on a three-dimensional laser radar is applied to the power transmission line fault identification system based on the three-dimensional laser radar in any one of claims 1 to 8, and is characterized by comprising the following steps:

step S101: controlling the aircraft to fly to a power transmission line operation site to be inspected through a ground monitoring device;

step S102: shooting the power transmission line through a double-optical camera to obtain a scene picture and an infrared thermal image containing the power transmission line;

step S103: transmitting the scene picture and the infrared thermal image of the power transmission line to a microcomputer and the aircraft through a local area network;

step S104: fusing the scene picture of the power transmission line and the infrared thermography to generate a patrol image based on a convolutional neural network algorithm through the microcomputer;

step S105: matching features in the inspection image based on a deep learning training algorithm through the microcomputer so as to identify a lead of the power transmission line, judging whether the temperature corresponding to the lead exceeds a preset temperature threshold value, and generating line defect data when the temperature corresponding to the lead exceeds the preset temperature threshold value;

step S106: generating and storing a patrol report by the microcomputer, the patrol report including the line defect data.

10. The method for identifying the transmission line fault based on the three-dimensional laser radar as claimed in claim 9, wherein after the step S101, before the step S102, the method further comprises the step S201:

the method comprises the steps of detecting point cloud data of the power transmission line through a three-dimensional laser radar, transmitting the point cloud data of the power transmission line to a microcomputer, calculating a coordinate point of the power transmission line through the microcomputer, and controlling the relative distance between the aircraft and the power transmission line to be kept within a preset distance range based on a PID control algorithm.

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