基于无人机搭载激光雷达的输电线路智能巡检研究

Research on Transmission Line Intelligent Patrol Based on UAV-mounted Lidar

为了提升输电线路智能巡检效果,提出了基于无人机搭载激光雷达的输电线路智能巡检方法。无人机搭载激光雷达采集线路点云数据,通过构建金字塔分档管理点云数据,对数据进行预处理去掉粗差点,均匀化抽稀点云数据;通过分析抽稀后点云数据的多尺度特征,设计多尺度分类器,实现点云数据自动分类;根据点云数据分类结果,分析输电线路的当前工况、最大工况与导线风偏角,完成输电线路智能巡检。实验证明:该方法可精准分类点云数据;有效巡检当前工况的垂直、净空距离,判断出存在缺陷的线路区域,具备较优的智能巡检效果。

In order to improve the effect of intelligent inspection of transmission line,an intelligent inspection method of transmission line based on UAV equipped with lidar is proposed.The UAV is equipped with lidar to collect line point cloud data,and through the construction of pyramid file management of point cloud data,the data are preprocessed to remove the gross error,and homogenized.By analyzing the multi-scale features of point cloud data after thinning,a multi-scale classifier is designed to realize the automatic classification of point cloud data.According to the classification results of the point cloud data,the current working condition,the maximum working condition and the wind deflection angle of the transmission line are analyzed to complete the intelligent inspection of the transmission line.Experiments show that the method can accurately classify point cloud data.It can effectively inspect the vertical and clearance distance of the current working condition,judge the defective line area,and has better intelligent inspection effect.