摘要
介绍了一种利用激光探测和测距(LiDAR)进行实时电力线检测的算法,并且对微型激光雷达无人机进行电力线路巡检抽象建模。通过使用平面分析法对巡检现场进行距离的比较来分割点云,并提取一组电力线候选点,这些点被拟合到线段上,线段根据它们的共线性质进一步分组比较。该方法可利用图像的共线特性完成特征检验,并在光线条件差以及线路背景复杂的环境下仍可获得较为可靠的巡检结果。案例中电力线路垂直平均误差最大为0.49 m,其他所有直线的估计平均误差都小于0.07 m,水平拟合时,所有平均误差都在0.14 m以内。验证了所提出基于微型激光雷达的无人机技术进行电力线路智能化巡检方法的有效性与可行性。
A real-time power line detection algorithm based on light detection and ranging(LiDAR)is introduced.Point clouds are segmented by comparison of distances using planar analysis and a set of power line candidate points are extracted,which are fitted to line segments and further grouped for comparison based on their collinearity.The proposed method can make use of the collinearity of the image to complete the feature inspection,and can still obtain reliable inspection results under the environment of poor light conditions and complex line background.In this case,the maximum vertical mean error of power lines is 0.49 m,and the estimated mean error of all other lines is less than 0.07 m.In horizontal fitting,all mean errors are within 0.14 m.The validity and feasibility of the proposed intelligent inspection method of power lines based on the UAV technology of miniature LiDAR are verified.
作者
张欣
陈玉权
王海楠
孟悦
ZHANG Xin;CHEN Yuquan;WANG Hainan;MENG Yue(Jiangsu Fangtian Power Technology Co.,Ltd.,Nanjing Jiangsu 211102,China)
出处
《电子器件》
CAS
2024年第3期814-819,共6页
Chinese Journal of Electron Devices
基金
江苏方天电力技术有限公司科技项目(YF201910)。
关键词
激光雷达
无人机
电力巡检
智能检测
laser radar
unmanned aerial vehicle(UAV)
power inspection
intelligent detection
