基于机载激光点云的输电线路树障隐患快速检测方法

Fast Detection Method for Tree Barrier of Transmission Line Using Airborne Laser Point Cloud

针对当前输电线路无人机巡检中树障隐患检测计算量大、效率较低的问题,设计了基于激光点云数据的电力线重建和树障隐患快速检测分析的方法。该方法首先根据高程分布特征、点云密度特征和倾斜角度特征提取电力线点云,分离各条电力线并将其矢量化,然后提取植被点云生成三维凸包,最后通过计算植被凸包点与电力线矢量的距离提高了树障检测效率,快速检测出该线路内的树障隐患信息。结果表明:电力线提取结果完整准确,电力线三维重建精度和树障隐患检测效率较高。该方法对输电线路地形、线路走向和点云密度等因素鲁棒性较好,大幅提高了输电线路树障隐患检测的质量和效率,为大规模复杂环境下的输电线路树障隐患检测应用提供了参考。

Aiming at the problems of large calculation amount and low efficiency in the detection of hidden obstacles in the current UAV patrol inspection of transmission lines, a method for power line reconstruction and rapid detection and analysis of hidden obstacles based on laser point cloud data is designed. Firstly, the method extracts the power line point cloud according to the characteristics of elevation distribution, point cloud density and tilt angle, separates each power line and vectorizes it. Secondly, the method extracts the vegetation point cloud to generate a three-dimensional convex hull. Finally, by calculating the distance between the convex hull point of the vegetation and the power line vector, the efficiency of the tree barrier detection is improved, and the hidden danger information of the tree barrier in the line is quickly detected. Results show that the power line extraction results are complete and accurate, and the power line 3 D reconstruction accuracy and the detection efficiency of hidden obstacles are high. This method is robust to transmission line topography, line direction, point cloud density and other factors, which greatly improves the quality and efficiency of transmission line tree barrier hidden trouble detection and provides applications for transmission line tree barrier hidden trouble detection in large-scale complex environments for reference.