fully Autonomous UAV inspection System for Over‍head Lines Based on Laser SLAM Technology

doi:10.3969/j.issn.1008-0198.2026.02.019

Abstract

Abstract: To address the issues of complex procedures, such as time-consuming data processing, low automation levels, and significant environmental interference,a fully autonomous UAV inspection system for overhead linesbased on laser SLAM technology is proposed. The system fully integrates LiDAR, visible-light cameras, an iMU, and an edge computing module. Utilizing SLAM technology, it achieves real-time mapping of transmission corridors via laser point clouds, real-time pylon extraction, real-time pylon type matching based on an established pylon template library, and real-time waypoint matching for corresponding pylon types using a pre-built waypoint database, thereby completing detailed inspection route planning. The system can accomplish high-precision, high-efficiency channel and detailed inspection tasks in a single flight, significantly reducing inspection procedures and effectively enhancing the automation level of UAV inspection operations.

Key words: laser SLAM, UAV inspection, multi-sensor integration, flight route planning

CLC Number:

TM755

YANG Jiani, ZHU Liting, RONG Wanpeng, LUO Minyi. fully Autonomous UAV inspection System for Over‍head Lines Based on Laser SLAM Technology[J]. Hunan Electric Power, 2026, 46(2): 149-154.

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