基于多视投影的电力杆塔点云绝缘子串快速提取  

A fast extraction of insulator strings of point cloud of power tower based on multi⁃view projection

作　　者：杨东晨 黄玉春[1] 欧阳凝晖 YANG Dongchen;HUANG Yuchun;OUYANG Ninghui(School of Remote Sensing and Information Engineering,Wuhan University,Wuhan 430079,China)

机构地区：[1]武汉大学遥感信息工程学院,湖北武汉430079

出　　处：《电工电能新技术》2024年第4期94-103,共10页Advanced Technology of Electrical Engineering and Energy

基　　金：国家自然科学基金项目(41671419)。

摘　　要：在无人机自动巡检中,需要根据电力走廊带点云中绝缘子串的位置进行航线规划。由于电力走廊带长度跨越较大,杆塔数量众多,人工进行绝缘子串位置标注的工作量巨大。同时点云数据散乱无序,在三维空间中直接定位绝缘子串耗时长。为此,本文提出多视二维投影,快速提取三维杆塔点云中的绝缘子串。该方法首先利用鲁棒主成分分析,在俯视图中分析杆塔顶端横担水平方向,统一杆塔点云的朝向。接着,在侧视图中通过霍夫直线检测,对电力线高度进行快速定位,并根据电力线与横担的空间关系,将相应的绝缘子串分为顶层悬挂、竖直绝缘子串与水平绝缘子串三类。最后,在多视投影中进行角点检测,对绝缘子串与电力线、杆塔的连接端点进行定位,实现快速的绝缘子串提取。本文提出的方法在50 km的电力走廊带中的97座不同类型杆塔的867个绝缘子串上进行了提取实验,证明了该方法能对不同类型绝缘子串进行快速提取。In the automatic inspection of UAV,route planning should be carried out according to the position of in⁃sulator strings in the dot cloud of power corridor.Due to the large length span of the power corridor and the large number of poles and towers,it is a huge workload to manually mark the position of insulator string.At the same time,the point cloud data is scattered and disordered,and it takes a long time to locate insulator string directly in three⁃dimensional space.Therefore,this paper proposes a multi⁃view two⁃dimensional projection to rapidly extract insulator strings from three⁃dimensional pole and tower point clouds.Firstly,the robust principal component analy⁃sis was used to analyze the horizontal direction of the cross arm at the top of the tower in the top view,and the ori⁃entation of the point cloud of the tower was unified.Then,in the side view,the height of the power line is quickly located by Hoff line detection.According to the spatial relationship between the power line and the cross arm,the corresponding insulator strings are divided into three categories:Top suspension,vertical insulator string and hori⁃zontal insulator string.Finally,the corner detection is carried out in the multi⁃view projection,and the connection endpoint of the insulator string with the power line and the tower is located to realize the rapid extraction of the in⁃sulator string.The method proposed in this paper was used to extract 867 insulator strings from 97 different types of pylons in a 50 km power corridor.It is proved that the method can extract different types of insulator strings quick⁃ly.

关 键 词：点云分类 鲁棒主成分分析 多视投影 角点检测 绝缘子串提取 

分 类 号：TM75[电气工程—电力系统及自动化] TP391.4[自动化与计算机技术—计算机应用技术]