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

Abstract

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

CLC Number:

TP231

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.

Figures/Tables 6

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Table 1

References 11

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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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Research on Obstacle Detection of Transmission Line Corridor Based on 3D Laser Radar Technology

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