基于三维激光点云的输电线路带电作业全过程组合间隙测算  

Measurement of Combined Gap in Whole Process of Transmission Lines’Live Working Based on 3D Laser Point Cloud

作　　者：张海涛 王英 吕强 马周贵 ZHANG Haitao;WANG Ying;LU Qiang;MA Zhougui(School of Automation&Electrical Engineering,Lanzhou Jiaotong University,Lanzhou 730070;Key Laboratory of Opto-Electronic Technology and Intelligent Control Ministry of Education,Lanzhou Jiaotong University,Lanzhou 730070;The UHV Company of State Grid Gansu Electric Power Company,Lanzhou 730070)

机构地区：[1]兰州交通大学自动化与电气工程学院,兰州730070 [2]兰州交通大学光电技术与智能控制教育部重点实验室,兰州730070 [3]国网甘肃省电力公司超高压公司,兰州730070

出　　处：《电气工程学报》2024年第3期343-352,共10页Journal of Electrical Engineering

基　　金：国家自然科学基金地区(52067013);甘肃省科技厅自然科学重点基金(21JR7RA280);甘肃省自然科学基金(20JR5RA395);甘肃电网成本(B127452200D1)资助项目。

摘　　要：输电线路带电作业是保障输电线路可靠运行的有效手段之一。针对传统带电作业实施过程中存在的不安全问题,提出利用地面激光雷达采集点云数据,基于金字塔数据结构的瓦片结构完成点云数据的存储、调用。采用改进的双向滤波算法快速区分地物信息,获取现场三维模型。结合带电作业特征及数据读取、查询速度方面考虑,使用基于八叉树的最近点搜索算法,实时测算规划路径中各点的安全距离,并与规程规定值进行比较分析得出作业方式的安全性,实现作业方案辅助决策。以“吊篮摆入法”为例,开展了实际工况模拟,试验结果表明,建立的三维模型能够满足现场作业全过程管控,取得了实际效果。Transmission lines’live working is one of the effective means to ensure the reliable operation of the lines.In order to solve the unsafe problems existing in the implementation of traditional live working.Grounded LIDAR is used to collect point cloud data,and a tile based on the pyramid data structure is employed to complete the storage and calling of the data.The improved bidirectional filtering algorithm is used to quickly distinguish surface features and obtain a 3D model of the site.Considering the characteristics of live working,data reading and query speed,the nearest point search algorithm based on octree is used to calculate the safety distance of each point in the planned path in real time,and the safety of the operation mode is obtained by comparing with the value specified in the regulation,and assist decision-making of the implementation plan.The actual working condition simulation is carried out by taking“the hanging basket swing method”as an example.The experimental results show that the established 3D model can meet the whole process control of the operation,and has achieved practical effect.

关 键 词：输电线路 带电作业 激光点云 三维模型 组合间隙 

分 类 号：TM561[电气工程—电器]