基于固定翼无人机激光雷达点云数据的输电线路三维建模与树障分析
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摘要
[目的]针对当前输电线路树障巡检周期长、作业强度大、无法保证巡检结果客观性与完整性的问题,提出了一套基于固定翼无人机三维激光点云数据进行输电线路三维建模及树障隐患智能识别的方法。[方法]通过固定翼无人机搭载三维激光扫描仪获取输电线路点云数据,提取点云中电力线点并模拟出完整电力线,计算电力线与电力线保护区范围内植被的欧式距离,将计算的结果与电力线安全规范比较得到树障点或预警点等信息。[结果]试验结果表明:自动拟合的电力线误差较小,满足树障检测的要求。[结论]研究方法可自动、快速、完整地提取电力线,且提取精度满足树障检测的精度要求,可大幅提升现有输电线路树障隐患检测的质量与效率。
[Introduction]Aiming at the problems of long inspection period, high operation intensity and no guarantee of objectivity and integrity of inspection results of the current tree barrier inspection of transmission line, this paper presents a method for three-dimensional modeling of transmission lines and intelligent identification of dangers of tree barriers based on three-dimensional laser point cloud data of fixed-wing UAV. [Method]Point cloud data of transmission lines was collected by three-dimensional laser scanner equipped with fixed wing UAVs, then extracted the power line points in the point cloud and simulate the complete power lines, calculated the euclidean distance between vegetation and power line protection area, and we can get the information of tree barriaer points or early-warning points through comparing the calculated results with the power line safety specifications. [Result]The test results showed that the error of automatic fitting power line is small, which meeted the requirements of tree barrier detection. [Conclusion]This method can extract power lines automatically, quickly and completely, and the extraction accuracy meets the accuracy requirements of tree barrier detection, greatly improved the quality and efficiency of existing tree barrier danger detection method of transmission line.
[Introduction]Aiming at the problems of long inspection period, high operation intensity and no guarantee of objectivity and integrity of inspection results of the current tree barrier inspection of transmission line, this paper presents a method for three-dimensional modeling of transmission lines and intelligent identification of dangers of tree barriers based on three-dimensional laser point cloud data of fixed-wing UAV. [Method]Point cloud data of transmission lines was collected by three-dimensional laser scanner equipped with fixed wing UAVs, then extracted the power line points in the point cloud and simulate the complete power lines, calculated the euclidean distance between vegetation and power line protection area, and we can get the information of tree barriaer points or early-warning points through comparing the calculated results with the power line safety specifications. [Result]The test results showed that the error of automatic fitting power line is small, which meeted the requirements of tree barrier detection. [Conclusion]This method can extract power lines automatically, quickly and completely, and the extraction accuracy meets the accuracy requirements of tree barrier detection, greatly improved the quality and efficiency of existing tree barrier danger detection method of transmission line.
引文
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[11] 杨喆,邓超怡. 无人机在特高压输电线路巡检中的应用研究 [J]. 南方能源建设,2016,3(增刊1):135-138. YANG Z, DENG C Y. Application of UAV in UHV transmission line inspection [J]. Southern Energy Construction, 2016, 3(supp.1):135-138.
[2] 周汝琴,翟瑞聪,江万寿,等. 机载激光点云数据中分裂导线自动提取和重建 [J]. 测绘科学,2018,43(6):124-130. ZHOU R Q, ZHAI R C, JIANG W S, et al. Automatic extraction and reconstruction of bundle conductors from airborne LiDAR point clouds [J]. Science of Surveying & Mapping, 2018, 43(6): 124-130.
[3] 段敏燕. 机载激光雷达点云电力线三维重建方法研究 [D]. 武汉大学,2015. DUAN M Y. Research on power line 3D reconstruction method of airborne LIDAR point cloud [D]. Wuhan: Wuhan University, 2015.
[4] 林祥国,张继贤. 架空输电线路机载激光雷达点云电力线三维重建 [J]. 测绘学报,2016,45(3):347-353. LIN X G, ZHANG J X. 3D power line reconstruction from airborne LiDAR point cloud of overhead electric power transmission corridors [J]. Acta Geodaetica Et Cartographica Sinica, 2016, 45(3): 347-353.
[5] 叶岚,刘倩,胡庆武. 基于LIDAR点云数据的电力线提取和拟合方法研究 [J]. 测绘与空间地理信息,2010,33(5):30-34. YE L, LIU Q, HU Q W. Research of power Line fitting and extraction techniques based on LIDAR point cloud data [J]. Geomatics & Spatial Information Technology, 2010, 33(5): 30-34.
[6] 余洁,穆超,冯延明,等. 机载LiDAR点云数据中电力线的提取方法研究 [J]. 武汉大学学报(信息科学版),2011,36(11):1275-1279. YU J, MU C, FENG Y M, et al. Powerlines extraction techniques from airborne LiDAR data [J]. Geomatics & Information Science of Wuhan University, 2011, 36(11): 1275-1279.
[7] 赖旭东,戴大昌,郑敏,等. LiDAR点云数据的电力线3维重建 [J]. 遥感学报,2014,18(6):1223-1229. LAI X D, DAI D C, ZHENG M, et al. Powerline three-dimensional reconstruction for LiDAR point cloud data [J]. Journal of Remote Sensing, 2014, 18(6): 1223-1229.
[8] 尹辉增,孙轩,聂振钢. 基于机载激光点云数据的电力线自动提取算法 [J]. 地理与地理信息科学,2012,28(2):31-34+2. YIN H Z, SUN X, NIE Z G. Power line automatic extraction algorithm based on airborne laser point cloud data [J]. Geography and Geo-information Science, 2012, 28(2):31-34+2.
[9] 杜娥. 基于ADAMS的巡线机器人运动学、动力学仿真 [D]. 武汉:武汉大学,2005. DU E. Kinematics and dynamics simulation of inspection robot based on ADAMS [D]. Wuhan:Wuhan University,2005.
[10] 范亮,汤坚. 架空输电线路三维建模方法现状及展望 [J]. 南方能源建设,2017,4(2):120-125. FAN L, TANG J. Current situation and Prospect of 3D modeling method for overhead transmission lines [J]. Southern Energy Construction, 2017, 4(2):120-125.
[11] 杨喆,邓超怡. 无人机在特高压输电线路巡检中的应用研究 [J]. 南方能源建设,2016,3(增刊1):135-138. YANG Z, DENG C Y. Application of UAV in UHV transmission line inspection [J]. Southern Energy Construction, 2016, 3(supp.1):135-138.