基于激光雷达技术的轻便型电力巡检系统研究  

Research on Portable Power Inspection System Based on Lidar Technology

作　　者：王斌 杨瑞景 龙福刚 甘茂达 WANG Bin;YANG Rui-jing;LONG Fu-gang;GAN Mao-da(Xingyi Power Supply Bureau of Guizhou Power Gird Co.,Ltd.,Xingyi 562400 China)

机构地区：[1]贵州电网有限责任公司兴义供电局,贵州兴义562400

出　　处：《自动化技术与应用》2023年第1期55-59,共5页Techniques of Automation and Applications

摘　　要：针对当前系统无法获得理想的电力巡检结果等问题,设计了基于激光雷达技术的轻便型电力巡检系统。采用激光雷达扫描仪测量激光发射点与目标间距离,参考激光器高度与扫描角度确定地面光斑三维坐标,得到电力系统区域地形地貌与塔杆与线路等信息;利用差分GPS/捷联式惯导获取自身坐标、偏航角与速度等相关信息,通过预瞄PID与人工势场实现系统导航功能,在单片机控制下,采用自适应多叉树防碰撞算法防止巡检单元与周边物体碰撞,测试结果表明,该系统能够直观观察巡检目标,在不同场地环境下均可精确控制自身航向角。Aiming at the problem that the current system can not obtain ideal power inspection results, a portable power inspection system based on lidar technology is designed. The laser radar scanner is used to measure the distance between the laser emission point and the target, and the three-dimensional coordinates of the ground spot are determined with reference to the laser height and scanning angle, so as to obtain the regional landform, tower and line of the power system;The differential GPS/strapdown inertial navigation system is used to obtain the relevant information such as its own coordinates, yaw angle and speed. The system navigation function is realized through the preview PID and artificial potential field. Under the control of single chip microcomputer, the adaptive multi tree anti-collision algorithm is used to prevent the inspection unit from colliding with surrounding objects. The test results show that the system can visually observe the inspection targets, It can accurately control its own heading angle in different site environments.

关 键 词：激光雷达技术 轻便型电力巡检 定位导航 无线收发器 防碰撞 

分 类 号：TP274.5[自动化与计算机技术—检测技术与自动化装置] TM755[自动化与计算机技术—控制科学与工程]