基于三维点云处理的交联聚乙烯电缆接头反应力锥参数测量算法  

Measurement Algorithm for Anti-Stress Cone Parameters of Cross-Linked Polyethylene Cable Joint Based on Three-Dimensional Point Cloud Processing

作　　者：邓磊 刘桂华[1,2] 邓豪 黄军杰[1,2] 周炳宏 Deng Lei;Liu Guihua;Deng Hao;Huang Junjie;Zhou Binghong(School of Information Engineering,Southwest University of Science and Technology,Mianyang 621010,Sichuan,China;Key Laboratory of Special Environment Robotics of Sichuan Province,Mianyang 621010,Sichuan,China)

机构地区：[1]西南科技大学信息工程学院,四川绵阳621010 [2]特殊环境机器人技术四川省重点实验室,四川绵阳621010

出　　处：《中国激光》2023年第6期66-80,共15页Chinese Journal of Lasers

基　　金：广东电网公司广州供电局委托项目(080044KK52190002);四川省科技厅重点研发项目(2021YFG0380)。

摘　　要：针对交联聚乙烯(XLPE)电缆接头反应力锥参数测量问题,本文结合XLPE电缆接头结构特征与三维点云处理提出了一种XLPE电缆接头反应力锥参数测量算法。该算法先对点云进行去噪及坐标摆正预处理;之后根据XLPE电缆接头的结构特征,得到反应力锥及其相邻区域的目标点云;然后使用依据目标点云中各点与坐标轴的夹角信息及高度信息提出的点云空间划分方法,实现对目标点云的条状划分及块元划分;接着根据条状点云上块元法向量的轴线夹角及改进的凹凸性准则求得各条状点云不同区域的局部点云;在此基础上,使用随机采样一致性(RANSAC)算法及拉格朗日乘数法求取相邻区域拟合平面的相交线,再根据条状点云上各点到相交线的距离,得到初步测量结果;最后,基于残差估计对初步测量结果进行误差校正,得到最终的测量结果。使用尺寸标准及表面具有缺陷的两类电缆接头点云进行测量实验,测量结果的绝对误差分别小于0.2 mm与1.0 mm,相对误差分别小于0.5%与1.5%,说明所提算法具有较高的鲁棒性与测量精度。Objective Cross-linked polyethylene(XLPE)cable is an important part of the Chinese power system,and it plays a vital role in the transmission of power resources,therefore ensuring the normal operation of its lines is critical.According to some relevant cable fault statistics,the main cause of XLPE cable failure is a poor quality anti-stress cone in the cable joint,which is because all parameters of the anti-stress cone of cable joints are currently measured manually using contact measuring tools,such as tape measure.This measurement method has large errors and is prone to causing secondary damage to the measured object.The other cause is some nonstandard joints whose anti-stress cone size does not meet the design requirements are often connected to the power system.Under long-term high-voltage action,nonstandard joints can cause partial discharge due to insufficient resistance to axial stress,resulting in the insulation breakdown.Existing noncontact parameter measurement methods are difficult to apply to the parameter measurement of anti-stress cones.Therefore,we combined the structural characteristics of the cable joint with three-dimensional(3D)point cloud processing to propose a parameter measurement algorithm for the anti-stress cone of the XLPE cable joint,which can realize the effective measurement of all parameters of the cable joint anti-stress cone,which is critical to ensure safe and reliable operation of the power system.Methods First,this algorithm performs denoising and coordinate adjustment on a cable joint point cloud.Second,the target point cloud of the anti-stress cone and its adjacent area is obtained according to the XLPE cable joint characteristics.Then,the target point cloud is divided into strips and pieces using the point cloud space division method based on the angle and height information between each point and the coordinate axis in the target point cloud.Following that,the local point clouds of different regions on each strip point cloud are obtained using the included axis angle of the

关 键 词：测量 三维点云处理 交联聚乙烯电缆接头 反应力锥 参数测量 机器视觉 

分 类 号：TP237[自动化与计算机技术—检测技术与自动化装置]