基于无人机激光雷达技术的输电线路走廊清理方法

Corridor cleaning method for power transmission line based on UAV Li DAR technique

根据输电线路运维要求,提出了一种基于无人机激光雷达技术的输电线路走廊清理方法。采用自适应滤波法对无人机激光雷达点云数据中的地面进行分离,根据点云邻域内点集组成的协方差矩阵奇异值构成的维度特征和方向特征对导地线、杆塔和典型地物进行分类。再通过悬链线方程建立输电线路三维模型,并基于网格剖分方法计算输电走廊中地物与输电线路导线的距离,根据规程对不满足安全距离要求的树木和建筑自动计算得出清理区域。将自动计算结果与人工计算分析结果进行了比对,验证了提出方法的准确性和有效性。结果表明,提出的走廊清理方法具有误差小和效率高的特点,且利于输电线路运维工作。

According to the operation and maintenance requirement of power transmission line,a corridor cleaning method for power transmission line based on UAV Li DAR technique is proposed in this paper.Firstly,the adaptive filtering method is used to separate UAV Li DAR point cloud data of the ground.Then,the transmission and grounding lines,tower,and typical ground objects are classified based on the dimensional features and directional features of the singular value of the covariance matrix composed of the point sets in the neighborhood of the point cloud.After that,transmission line 3 D model is constructed through catenary equations,and the distance between ground objects and transmission line conductors in transmission corridors are calculated based on the mesh generation method.Finally,according to the regulations,the clearing area can be calculated automatically for trees and buildings that cannot meet the requirements of safe distance.The accuracy and effectiveness of the proposed method are verified by comparing the results of automatic calculation and manual calculation analysis.The results show that the proposed corridor cleaning method has the characteristics of lower error and high efficiency,which is beneficial to the operation and maintenance of transmission lines.