本文選題：輸電線路 + 無人機巡檢　； 參考：《電網(wǎng)技術(shù)》2017年11期

【摘要】：基于激光點云的輸電線路桿塔自動定位是電網(wǎng)無人機、直升機智能巡檢技術(shù)應(yīng)用的基礎(chǔ),但目前從激光點云中定位桿塔主要依賴于人工處理,工作效率低。針對如何從激光點云中自動定位桿塔這一問題,根據(jù)輸電桿塔在激光點云中具有高密度、大坡度、大高差特征,提出了一種基于二維格網(wǎng)多維特征分析的輸電桿塔自動定位方法。首先對無人機獲取的激光點云進行濾波去噪處理,再對激光點云進行規(guī)則化,在此基礎(chǔ)上計算點云的特征圖像;然后結(jié)合架空線路走廊區(qū)域分析,根據(jù)密度、高差和坡度特征迭代定位出輸電桿塔,最終實現(xiàn)了從無人機激光點云中自動定位輸電桿塔位置。采用廣東電網(wǎng)公司大型無人直升機實際巡檢獲取的輸電線路激光點云數(shù)據(jù)對自動定位算法進行了驗證,實驗結(jié)果表明提出的算法具有較高的自動化程度和處理效率,對提高無人機、直升機機巡作業(yè)智能化水平具有促進作用。
[Abstract]:The automatic location of transmission line tower based on laser point cloud is the basis of the application of power system UAV and helicopter intelligent inspection technology, but at present, the location of pole tower from laser point cloud mainly depends on manual processing, and the working efficiency is low. In order to solve the problem of how to automatically locate the tower from the laser point cloud, according to the characteristics of high density, large slope and great height difference in the laser point cloud, the transmission tower has the characteristics of high density, large slope and great height difference. This paper presents an automatic location method for transmission tower based on multidimensional feature analysis of two dimensional grid. Firstly, the laser point cloud acquired by UAV is filtered and de-noised, then the laser point cloud is regularized, and the characteristic image of point cloud is calculated on this basis, and then combined with the analysis of overhead line corridor area, according to the density, The height difference and slope characteristic are used to locate the transmission tower iteratively, and the position of the transmission tower can be automatically located from the laser point cloud of UAV. The automatic location algorithm is verified by using the laser point cloud data of transmission line obtained from the actual inspection of large unmanned helicopter in Guangdong Power Grid Company. The experimental results show that the proposed algorithm has a high degree of automation and processing efficiency. It can improve the intelligence level of UAV and helicopter patrol operation.
【作者單位】： 廣東電網(wǎng)公司電力科學研究院;測繪遙感信息工程國家重點實驗室(武漢大學);
【基金】：國家自然科學基金重點項目(41531177) 中國博士后科學基金(2016M600614)~~
【分類號】：TM75

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1 張蕾;高壓輸電線路行波法故障測距及無人機清障裝置研究[D];鄭州大學;2017年

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本文編號：1896682