2023年第3期（总第303期）doi:10.3969/j.issn.1009-3230.2023.03.004应用能源技术15基于激光雷达三维建模模式的无人机输电线路自主精细化巡检技术研究廖华,刘琦（中国南方电网有限责任公司超高压输电公司柳州局，广西柳州545006）摘要：为解决目前输电线路铁塔自主精细化巡检技术实用性不足的问题，文中提出了一种基于激光雷达三维建模模式的无人机输电线路铁塔自主巡检技术。首先，利用机载激光雷达对输电线路通道进行扫描，根据采集数据进行点云解算形成具备精准地理位置信息的点云模型，以自动识别算法和人机交互相结合的方式对塔身、电力线及关键拍摄部件等点云进行分类提取。然后，在计算机软件中用自动规划算法初步确定出关键巡检点位的无人机及任务设备动作参数，再通过人工调整和完善，实现最终精准巡检航线的规划。在此后作业中，无人机可调用规划航线在RTK定位下实现铁塔的自主精细化巡检。该技术飞巡精度可达实际应用需求，航线规划效率高、柔性高，可有效减少人工劳动，提高了输电铁塔精细化巡检的自动化水平。关键词：无人机；激光雷达；自主巡检；输电线路中图分类号：TM75ResearchonAutonomousandFineInspectionTechnologyofTransmissionLineTowerBasedonLaserRadarThree-dimensionalModelingMode(LiuzhouBureauofUHVTransmissionCompany,ChinaSouthernPowerGridCo.Ltd.,Liuzhou545006,China)Abstract:Inordertosolvetheproblemofinsufficientpracticabilityofautonomousandfineinspectiontechnologyoftransmissionlinetower,thispaperproposesanautonomousinspectiontechnologyoftransmissionlinetowerbasedonlaserradarthree-dimensionalmodelingmode.Firstly,thetransmissionlinecorridorisscannedbyairbornelaserradar,andthepointcloudmodelwithaccurategeographiclocationinformationisformedbypointcloudcalculationaccordingtothecollecteddata.Thepointcloudsoftowerbody,powerlineandkeyshootingcomponentsareclassifiedandextractedbycombiningautomaticrecognitionalgorithmandhuman-computerinteraction.Then,inthecomputersoftware,theautomaticplanningalgorithmisusedtopreliminarilydeterminetheactionparametersofthedroneandtaskequipmentatthekeyinspectionpoints,andthenadjustandimprovethemmanuallytorealizethefinalaccurateinspectionrouteplanning.Inthesubsequentoperation,thedronecancalltheplannedro...
