无人机机载激光雷达下输电线路状态判别方法研究  

Research on State Discrimination Method of Transmission Line under Unmanned Aerial Vehicle Airborne LiDAR

作　　者：胡圣祥 汪洋 孙波 HU Shengxiang;WANG Yang;SUN Bo(Economic Technology Research Institute,State Grid Shanghai Electric Power Company,Shanghai 200235,China;School of Economics and Management,Shanghai University of Electric Power,Shanghai 200090,China)

机构地区：[1]国网上海市电力公司经济技术研究院,上海200235 [2]上海电力大学经济与管理学院,上海200090

出　　处：《自动化仪表》2025年第3期7-12,共6页Process Automation Instrumentation

基　　金：上海市“科技创新行动计划”软科学研究领域重点基金资助项目(23692104200)。

摘　　要：由于传统输电线路巡检受地形、天气和日程等因素影响,导致巡检质量不佳。因此,提出基于无人机机载激光雷达的输电线路状态判别方法。选择无人机机载激光雷达系统最佳参数,获取输电线路激光雷达图像,并采用维纳滤波算法去除输电线路激光雷达图像噪声。以去噪处理后的图像为基础,利用Hough变换算法识别并提取输电线路的特征参量。同时,计算所提取特征参量与已知输电线路状态特征参量的相似系数,并结合状态判别阈值,实现对输电线路当前状态的精准判别。试验结果表明:所提方法的无人机巡检图像峰值信噪比均值为37.35 dB、特征参量提取准确率最大值为98.63%。该结果与实际一致。所提方法能够有效去除输电线路激光雷达图像噪声,对输电线路状态判别准确度高,具有实际应用价值。Traditional transmission line inspection is affected by factors such as terrain,weather and schedule and other,which leads to poor inspection quality.Therefore,a transmission line state discrimination method based on unmanned aerial vehicle airborne LiDAR is proposed.The optimal parameters of the unmanned aerial vehicle airborne LiDAR system are selected to obtain transmission line LiDAR images,and the Wiener filtering algorithm is used to remove transmission line LiDAR image noise.Based on the denoised image,the Hough transform algorithm is used to identify and extract the feature parameters of the transmission line.At the same time,the similarity coefficients between the extracted feature parameters and the known state feature parameters of the transmission line are calculated and combined with the state discrimination threshold,to realize the accurate discrimination of the current state of the transmission line.The experimental results show that the average value of peak signal-to-noise ratio of unmanned aerial vehicle inspection image of the proposed method is 37.35 dB,and the maximum value of feature parameter extraction accuracy is 98.63%.The results are consistent with the actual.The proposed method can effectively remove the transmission line LiDAR image noise,and has high accuracy for transmission line state discrimination,which has practical application value.

关 键 词：无人机 机载激光雷达 输电线路 状态判别 图像去噪 HOUGH变换算法 相似系数 

分 类 号：TH-17[机械工程]