多模态激光雷达在电力设施自主巡检中的应用

Multi-Modal LiDAR and Its Application in Autonomous Inspection of Power Line

为解决电力线路带状区域机载雷达点云快速采集问题,设计了一种多模态机载激光雷达系统,实现了非对称扫描功能以提高点云采集效率。多模态机载激光雷达系统采用双光楔折射扫描实现了激光脉冲的100%利用,结合伺服驱动技术以实现双光楔的速度和位置精准控制,进而实现了多种扫描轨迹分布的多模态扫描功能,尤其是实现了一种区域点云倍增的非对称扫描方式,提高带状区域点云采集效率。以所设计的多模态机载激光雷达开展了飞行数据采集测试和基于点云的电力线路全自主精细化巡检测试,通过复合翼飞行平台搭载采集了电力线路稠密点云数据,实现了基于点云的无人机全自主精细化巡检作业并对点位重复度进行了评估。试验结果表明,所设计的多模态激光雷达在25 m/s的飞行条件下,往复双航线点云倍增重叠区域点云密度可达到146 pts/m^(2),相比于传统机载激光雷达的数据采集效率提升了4倍以上,基于点云的全自主精细化巡检无人机影像拍摄点位重复度可达到0.15 m,满足无人机精细化作业要求。

In order to solve the problem of fast collection of point for power line inspection with banding area,a multi-modal Li-DAR is designed,where asymmetrical scanning model is realized to improve the efficiency of point cloud collection.The newly presented multi-modal LiDAR takes advantages of double optical wedges scanning unit whose utilization rate of laser pulse can reach as high as loo%.Double optical wedges are driven by servo DC motor whose rotating velocity and rotating position can be accurately controlled.It offers the advantages that the scanning trace can be controlled for different model,especially an asymmetrical scanning model of regional point cloud multiplication is realized to improve the collection efficiency of zonal point cloud.Data collection by flight and automatic inspection of power line by UAV are presented using the designed LiDAR.The vertical takeoff and landing(VTOL)UAV is applied to data collection test.The dense point cloud is collected by LiDAR,automatic inspection of power line is presented using DJI Phantom 4pro.The multiplicity of point location of DJI Phantom 4pro is evaluated.The results show that the density of point cloud collected by the designed multi-modal LiDAR which carried by the VTOL UAV with flight velocity of 25 m/s can reaching as high as 146 pts/m^(2).The efficiency of data is improved more than 4 times compared with the efficiency of LiDAR with traditional scanning ways.Multiplicity of point location of DJI Phantom 4pro for automatic inspection based on point cloud can reach 0.15 m,meeting the requirements of UAV precision operation.