巡线式激光雷达点云的电力线重构  

Power line reconstruction based on cable-patrolled LiDAR point clouds

作　　者：秦新燕 吴功平[1] 彭向阳 麦晓明 雷金[1] QIN Xinyan;WU Gongping;PENG Xiangyang;MAI Xiaoming;LEI Jin(School of Power and Mechanical Engineering,Wuhan University,Wuhan 430072,China;Electric Power Research Institute of Guangdong Power Grid Corporation,Guangzhou 510080,China)

机构地区：[1]武汉大学动力与机械学院,武汉430072 [2]广东电力科学研究院,广州510080

出　　处：《测绘科学》2019年第5期171-176,190,共7页Science of Surveying and Mapping

基　　金：国家科技重大专项资助项目(2014ZX04015021);广东省智能机器人重大专项资助项目(2015B090922007);佛山市创新科研团队资助项目(2015IT100143);南方智谷引进团队项目(2015CXTD01)

摘　　要：针对高压输电线构造日趋复杂且向崎岖地形延伸,给电网的检测和重构带来的诸多挑战,该文基于巡线式激光雷达点云提出了一种电力线重构方法。该方法无须复杂的滤波算法就可以快速去除地面点;按照POS数据建立提取模型将电力线点划分到不同区域,分区内电力线点数量少、线性特征明显、线数确定,因此非常有利于子导线的提取。实际线路实验验证了该文方法的可行性和有效性;实验场实验验证了该文方法在提取分裂导线方面的优越性。通过构建新的激光雷达点云采集模式,提出一种新的电力线重构方法,实现了电力线的快速提取和建模,满足了未来高压电网对精细巡检的需求。In view of many challenges to the detection and reconstruction of the power grid brought by the increasing complexity of the high voltage transmission line and the extension of the rugged terrain, a new cable-patrolled LiDAR system was designed and a novel reconstruction method of power line was proposed.This method could quickly remove ground points without complicated filtering algorithm.The power point clouds could be divided into different partitions using the extraction model established by the position orientation system(POS)data.The number of power line points in the area was less,the linear feature was obvious and the number of lines was determined,which was easy to extract the split conductors.The feasibility and validity of the proposed method were verified by the actual circuit experiment.Experimental results showed the advantages for extracting the split conductors.Based on a new kind of LiDAR data sampling mode,a novel method was put forward to reconstruct power line,especially in fast extraction and modeling,which meet the requirements of fine inspection for high-voltage power grid in the future.

关 键 词：巡线机器人 激光雷达系统 电力线 提取 重构 

分 类 号：TM75[电气工程—电力系统及自动化] TN95[电子电信—信号与信息处理]