基于三维激光雷达技术的输电线路廊道障碍物检测研究

doi:10.16180/j.cnki.issn1007-7820.2019.04.018

摘要/Abstract

摘要：

传统的输电线路人工巡检方式存在效率低、代价高等问题,文中基于三维激光雷达技术,利用无人机设计并开发了一套具有较高自动化程度的输电线路廊道障碍物检测方案。该方案能够借助点云数据的预处理、分类提取和测量距离的阈值比较,检测与判断输电线路及周边障碍物的安全距离。测试和分析结果表明,该方案能够较为准确地测量和判断障碍物与输电线路的距离,并能够减少传统人工巡检的损耗,为输电线路廊道障碍物的检测提供帮助。

关键词: 三维激光雷达, 无人机, 点云, 输电线路, 障碍物检测

Abstract:

The traditional manual inspection method of transmission line has the problems of low efficiency and high expend. Hence, based on the 3D laser radar technology and combined with the unmanned aerial vehicle, this paper designs and develops a set of obstacle detection of transmission line corridor with high automation degree. The system can detect and judge the safety distance between the transmission line and the surrounding obstacles by means of the pre-processing and the classification extraction of the point cloud data, and the threshold comparison of the measured distance. The test and analysis results show that the system can accurately measure and judge the distance between the obstacle and the transmission line, reducing expend of the traditional manual inspection, and providing help for the detection of obstacles in the transmission line corridor.

Key words: 3D laser radar, unmanned aerial vehicle, point cloud, transmission line, obstacle detection

中图分类号:

TP231

王松波,李马骁,李海瑞,孟庆祎,姜明席. 基于三维激光雷达技术的输电线路廊道障碍物检测研究[J]. 电子科技, 2019, 32(4): 81-84.

WANG Songbo,LI Maxiao,LI Hairui,MENG Qingyi,JIANG Mingxi. Research on Obstacle Detection of Transmission Line Corridor Based on 3D Laser Radar Technology[J]. Electronic Science and Technology, 2019, 32(4): 81-84.

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编号	地物类型	经纬度	高度/m	档距/m	小号塔距离/m	水平距离/m	垂直距离/m	净空实测距离/m	安全距离
1	植被	128.354 26,26.481 35	29.88	468.53	131.22	0.64	1.87	1.92	4.50
2	植被	128.355 37,26.482 23	30.11	468.53	244.36	0.37	2.72	2.68
3	植被	128.355 41,26.481 60	32.76	468.53	275.69	0.99	4.00	4.10
4	植被	128.355 53,26.483 11	40.29	468.53	388.87	1.74	3.17	3.22

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