基于三维激光雷达技术的输电线路廊道障碍物检测研究
|
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。
The traditional manual inspection method of transmission line has the problems of low efficiency and high expend. Hence, based on the 3 D 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.
The traditional manual inspection method of transmission line has the problems of low efficiency and high expend. Hence, based on the 3 D 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.
引文
[1] 邹贵彬,高厚磊.输电线路行波保护原理与研究现状[J].电力系统保护与控制,2007,35(20):1-6. Zou Guibin,Gao Houlei.Principle and research status of traveling wave protection for transmission lines[J].Protection and Control of Power Systems, 2007,35(20): 1-6.
[2] 韩冰,尚方.面向无人机输电线路巡检的电力杆塔检测框架模型[J].浙江电力,2016,35(4):6-11. Han Bing,Shang Fang.Framework model of power tower inspection for UAV transmission line patrol[J].Zhejiang Electric Power,2016,35(4):6-11.
[3] Himdi M, Daniel J P. Analysis of printed linear slot antenna using lossy transmission line model[J]. Electronics Letters, 2018, 28(6):598-601.
[4] 王旭.四旋翼飞行器在输电线路检测中关键技术的研究[D].北京:华北电力大学,2011. Wang Xu.Research on key technologies of quadrotor aircraft in transmission line detection[D].Beijing:North China Electric Power University,2011.
[5] 陆馨.基于物联网的输电线路检测方案[J].电力电子技术,2012,46(4):24-25. Lu Xin.Transmission line detection scheme based on Internet of things[J].Power Electronics Technology, 2012,46 (4):24-25.
[6] Zhang Y,Hong L U,Peng J,et al.A design and application of sensing system used for safe start and stop of the automatic transmission line[J].Machine Tool & Hydraulics,2012(3):126-133.
[7] 张晓东,窦延娟,刘平,等.机载激光雷达技术在电力选线工程中的应用[J].长江科学院院报,2010,27(1):26-28. Zhang Xiaodong,Dou Yanjuan,Liu Ping,et al.Application of airborne lidar technology in power line selection [J].Proceedings of the Yangtze Academy of Sciences,2010, 27(1):26-28.
[8] 毛强.基于机载激光雷达智能测距输电线路树障的方法研究[J].湖北电力,2017,41(2):20-23. Mao Qiang.Research on the method of tree barrier of transmission line based on airborne lidar intelligent ranging[J].Hubei Electric Power,2017,41(2):20-23.
[9] 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 Jie,Mu Chao,Feng Yanming,et al.Study on the extraction of power lines from airborne LiDAR point cloud data[J].Journal of Wuhan University:Information Science,2011,36(11):1275-1279.
[10] Kim G T,Kim H S,Choi H Y.Wavelet transform based power transmission line fault location using GPS for accurate time synchronization[C].Stanford:IEEE Conference of the Industrial Electronics Society,IECON '01,IEEE,2001.
[11] 孟祥萍,寇磊,苑全德,等.GPS/INS组合导航在输电线路巡检中的应用[J].自动化仪表,2016,37(12):54-57. Meng Xiangping,Kou Lei,Yuan Quande,et al.Application of GPS/INS integrated navigation in transmission line inspection[J].Automatic Instrument,2016,37(12):54-57.
[2] 韩冰,尚方.面向无人机输电线路巡检的电力杆塔检测框架模型[J].浙江电力,2016,35(4):6-11. Han Bing,Shang Fang.Framework model of power tower inspection for UAV transmission line patrol[J].Zhejiang Electric Power,2016,35(4):6-11.
[3] Himdi M, Daniel J P. Analysis of printed linear slot antenna using lossy transmission line model[J]. Electronics Letters, 2018, 28(6):598-601.
[4] 王旭.四旋翼飞行器在输电线路检测中关键技术的研究[D].北京:华北电力大学,2011. Wang Xu.Research on key technologies of quadrotor aircraft in transmission line detection[D].Beijing:North China Electric Power University,2011.
[5] 陆馨.基于物联网的输电线路检测方案[J].电力电子技术,2012,46(4):24-25. Lu Xin.Transmission line detection scheme based on Internet of things[J].Power Electronics Technology, 2012,46 (4):24-25.
[6] Zhang Y,Hong L U,Peng J,et al.A design and application of sensing system used for safe start and stop of the automatic transmission line[J].Machine Tool & Hydraulics,2012(3):126-133.
[7] 张晓东,窦延娟,刘平,等.机载激光雷达技术在电力选线工程中的应用[J].长江科学院院报,2010,27(1):26-28. Zhang Xiaodong,Dou Yanjuan,Liu Ping,et al.Application of airborne lidar technology in power line selection [J].Proceedings of the Yangtze Academy of Sciences,2010, 27(1):26-28.
[8] 毛强.基于机载激光雷达智能测距输电线路树障的方法研究[J].湖北电力,2017,41(2):20-23. Mao Qiang.Research on the method of tree barrier of transmission line based on airborne lidar intelligent ranging[J].Hubei Electric Power,2017,41(2):20-23.
[9] 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 Jie,Mu Chao,Feng Yanming,et al.Study on the extraction of power lines from airborne LiDAR point cloud data[J].Journal of Wuhan University:Information Science,2011,36(11):1275-1279.
[10] Kim G T,Kim H S,Choi H Y.Wavelet transform based power transmission line fault location using GPS for accurate time synchronization[C].Stanford:IEEE Conference of the Industrial Electronics Society,IECON '01,IEEE,2001.
[11] 孟祥萍,寇磊,苑全德,等.GPS/INS组合导航在输电线路巡检中的应用[J].自动化仪表,2016,37(12):54-57. Meng Xiangping,Kou Lei,Yuan Quande,et al.Application of GPS/INS integrated navigation in transmission line inspection[J].Automatic Instrument,2016,37(12):54-57.