Keywords: transmission tower, safety assessment, inspection robot, path planning, A-star algorithm, genetic algorithm, point cloud, three-dimensional model..

Comprehensive, safe and efficient acquisition of structural information is of great significance in the field of intelligent inspection and evaluation of steel structures. In this paper, the structural information of the steel transmission tower was obtained through 3D laser scanning and other new surveying technologies. On this basis, the three-dimensional reverse reconstruction was carried out, and the related detection and evaluation work such as the overall slope measurement of the structure was carried out. The three-dimensional model of transmission tower was also established according to the obtained data such as node coordinates, node connection and rod length. This paper presents A path planning method for detection robot under the background of transmission tower, including two-point path planning based on A-star algorithm, designated multipoint path planning based on genetic algorithm and full coverage path planning based on spiral coverage method. It provides ideas and references for the future implementation of structure inspection with multi-source information and the production of relevant inspection robots in practical projects.

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