基于三维激光雷达技术的电力巡线方法研究

萧振辉; 刘余敏

基于三维激光雷达技术的电力巡线方法研究

投稿时间：2019-11-08 修订日期：2019-11-12 点此下载全文

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作者	单位	邮编
萧振辉^*	广州供电局有限公司广东广州 510000	510000
刘余敏	广州供电局有限公司广东广州 510000

中文摘要:针对传统的电力巡线方法效率低的问题,设计一种基于三维激光雷达技术的电力巡线方法。此次设计方法首先对三维激光雷达到目标物的距离计算,得到位置信息,利用借助K-N树对电力线点云的连通成分分析,获取到电力线激光雷达点云数据。并对三维激光雷达进行精度校检,去除三维激光雷达的影响因素,在此基础上,对点云数据处理,生成转换后的激光点云数据,根据转换后的电力线坐标对电路分档,将每一个电力导线的点数据划分到相应的根中,获得准确的电力线路信息,以此完成了基于三维激光雷达技术的电力巡线。实验以采用时间耗费作为实验对象,对比传统方法与此次设计方法的巡线效率,实验对比结果表明,此次设计的基于三维激光雷达技术的电力巡线方法比传统巡线方法效率高,能够满足电力巡线需求,此外,本文方法的检测准确率较高。

中文关键词:三维激光雷达电力巡线点云数据三维坐标系

Research on Electric Power Patrol Method Based on Three-dimensional Lidar TechnologyXiao Zhenhui Liu Yumin

Abstract:Aiming at the inefficiency of traditional power line patrol method, a new method based on three-dimensional lidar technology is designed. Firstly, the distance between the three-dimensional lidar and the target is calculated, and the position information is obtained. Then, the point cloud data of the power line lidar is obtained by using the K-N tree to analyze the connected component of the point cloud of the power line. The accuracy of three-dimensional lidar is checked and the influencing factors of three-dimensional lidar are removed. On this basis, the point cloud data are processed to generate the converted laser point cloud data. According to the converted power line coordinates, the points of each power line are divided into the corresponding roots, and accurate power line information is obtained. Electric power line patrol with optical radar technology. The experiment takes time-consuming as the experimental object, and compares the efficiency of the traditional method with that of the design method. The experimental results show that the design method based on three-dimensional lidar technology is more efficient than that of the traditional method, and can meet the needs of power line patrol. In addition, the detection accuracy of this method is high.

keywords:three-dimensional lidar electric power patrol line point cloud data three-dimensional coordinate system

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