基于三维激光雷达技术的输电线路廊道障碍物检测研究

传统的输电线路人工巡检方式存在效率低、代价高等问题,文中基于三维激光雷达技术,利用无人机设计并开发了一套具有较高自动化程度的输电线路廊道障碍物检测方案。该方案能够借助点云数据的预处理、分类提取和测量距离的阈值比较,检测与判断输电线路及周边障碍物的安全距离。测试和分析结果表明,该方案能够较为准确地测量和判断障碍物与输电线路的距离,并能够减少传统人工巡检的损耗,为输电线路廊道障碍物的检测提供帮助。

Research on Obstacle Detection of Transmission Line Corridor Based on 3D Laser Radar Technology

The traditional manual inspection method of transmission line has the problems of low efficiency and high expend. Hence, based on the 3D laser radar technology and combined with the unmanned aerial vehicle, this paper designs and develops a set of obstacle detection of transmission line corridor with high automation degree. The system can detect and judge the safety distance between the transmission line and the surrounding obstacles by means of the pre-processing and the classification extraction of the point cloud data, and the threshold comparison of the measured distance. The test and analysis results show that the system can accurately measure and judge the distance between the obstacle and the transmission line, reducing expend of the traditional manual inspection, and providing help for the detection of obstacles in the transmission line corridor.