基于激光雷达的输电线路导地线无人机巡检方法研究  

Research on Unmanned Aerial Vehicle Inspection Method for Transmission Line Grounding Wires Based on LiDAR

作　　者：武军 谢忠 王日照 WU Jun;XIE Zhong;WANG Rizhao(Xuzhou New Electric High-Tech Electric Co.,Ltd.,Xuzhou,Jiangsu 221113,China)

机构地区：[1]徐州新电高科电气有限公司,江苏徐州221113

出　　处：《东北电力技术》2024年第11期37-41,共5页Northeast Electric Power Technology

摘　　要：由于输电线路往往架设在山区、河流、森林等复杂地形环境中,无人机在这些区域飞行时可能会遇到气流不稳定、障碍物多、信号干扰等问题。为此,应用激光雷达技术设计一种输电线路导地线无人机巡检方法。首先,利用激光雷达采集研究区域多视角影像,提取输电线路导地线无人机巡检图像关键信息;然后,使用偏差度函数计算每个激光雷达数据的曲率,在三维地图的基础上生成无人机巡检路径,实现输电线路导地线无人机巡检。最后,进行仿真试验,结果表明所提研究方法规划的输电线路导地线无人机巡检路径最短,巡检效率较高,且稳定裕度始终高于9.0。该方法在提高巡检效率的同时,确保了巡检过程的稳定性和安全性,为电力系统的稳定运行提供了有力的技术支持。Due to the fact that transmission lines are often installed in complex terrain environments such as mountainous areas,rivers,and forests,drones may encounter problems such as unstable airflow,multiple obstacles,and signal interference when flying in these areas.Therefore,a method for unmanned aerial vehicle inspection of transmission line grounding wires is designed using LiDAR technology.Firstly,the LiDAR is used to collect multi view images of the research area,and then key information is extracted from the unmanned aerial vehicle inspection images of the transmission line grounding wire.Then,it calculates the curvature of each LiDAR data using a deviation function,and generates a drone inspection path based on a 3D map to achieve drone inspection of transmission line conductors.Finally,the experimental results show that the unmanned aerial vehicle inspection path for the transmission line grounding wire planned by the research method is the shortest,the inspection efficiency is high,and the stability margin is always higher than 9.0.This method not only improves the inspection efficiency,but also ensures the stability and security of the inspection process,and provides powerful technical support for the stable operation of the power system.

关 键 词：激光雷达 输电线路 导地线 无人机巡检 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]