基于激光雷达与倾斜摄影融合技术的电力巡检系统设计

针对传统的电力巡检系统仅应用激光雷达或倾斜摄影技术，导致电力巡检的可视化效果差，无人机巡检时间长的问题，将激光雷达与倾斜摄影技术融合起来，对电力巡检系统进行优化。对激光雷达和倾斜摄影相机进行了详细设计，给出倾斜摄影相机的摄影模式示意图；采用无人机三维激光雷达技术对输电线路通道环境进行扫描，获取架空输电线路走廊大范围的三维激光点云数据；设计点云数据与图片的采集和处理流程，对点云数据进行精度校验，布设倾斜摄影技术的像控点点位，校正影像并协同外业测量成果和POS数据得到匹配点云，将2种技术得到的数据进行融合建模，完成系统设计。为验证设计系统的有效性，选择某段路线进行建模测试。实验结果表明，所设计系统的可视化效果好，有效缩短了无人机巡检时长，有效提升了巡检效率。

Design of Power Inspection System Based on Lidar and Oblique Photography Fusion Technology

The traditional power inspection system which only applied either lidar or oblique photography technology, made poor vision of power inspection and long inspection time of UAV. Therefore, the lidar and oblique photography technology, designed in detail, were integrated to optimize the power inspection system, and the photo mode of oblique camera was given. The UAV 3D lidar technology was applied to scan the transmission line environment to obtain the large-scale 3D laser point cloud data of the overhead transmission line corridor. The collection and process of point cloud data and pictures were designed to check the accuracy of point cloud data. The image control points of oblique photography technology were set up to correct the images and cooperate with field survey results and POS data to obtain matching point cloud. The data from the two technologies were integrated to model and complete the system design. A route was selected for modeling test to verify the effectiveness of the design system. The experimental results show that the visual effect of the designed system is satisfied and can shorten the inspection time of UAV and improve the inspection efficiency.