激光技术, 2020, 44 (3): 364, 网络出版: 2020-06-08   

基于激光点云的电力线悬挂点定位方法

Power line suspension point location method based on laser point cloud
作者单位
1 贵州电网有限责任公司 输电运行检修分公司, 贵阳 550000
2 中国电建集团 贵州电力设计研究院有限公司, 贵阳 550000
摘要
为了解决目前电力线悬挂点定位方法鲁棒性低、定位不精确的问题, 采用基于激光点云的结合局部3维重建与迭代搜索的方法对电力线悬挂点定位进行了研究。首先, 对电力线点云空间特征进行分析进而推导电力线空间约束条件, 以此作为生长准则进行基于空间约束的区域生长, 实现跨越多档的单根电力线分割; 然后, 对杆塔点云聚类提取杆塔中心点, 以杆塔中心点连线的角平分线为基准划定每档电力线的空间分割平面; 之后, 对各分割平面附近电力线点云进行空间多项式局部3维重建; 最后, 结合分割平面迭代搜索计算重建电力线的交点, 实现电力线悬挂点空间位置定位。结果表明, 对于3种电压等级线路点云及2种数据质量点云, 电力线悬挂点定位平均偏差均在0.09m以内, 最小偏差为0.03m。该方法鲁棒性高, 可以精确地实现各电压等级及各质量点云数据中的电力线悬挂点定位, 为后续基于悬挂点的电力线模拟工况安全分析提供了基础。
Abstract
In order to solve the problems of low robustness and inaccurate location of power line suspension point location methods, a power line suspension point location method based on laser point cloud combined with local 3-D reconstruction and iterative search was used to study the location of power line suspension point. The spatial characteristics of power line point clouds were analyzed and the spatial constraints of power lines were deduced, which is used as a growth criterion for region growth based on spatial constraints to realize single power line segmentation across multiple stages. Then, the center point of the tower was extracted by clustering the point cloud of the tower, and the spatial segmentation plane of each power line was delineated on the basis of the angular bisector of the connection line of the center point of the tower. After that, the spatial polynomial local 3-D reconstruction of the power line point cloud near each segmentation plane was carried out; Finally, combined with the iterative search of the segmentation plane, the intersection point of the power line was reconstructed, and the spatial location of the power line suspension point was realized. The results show that for three kinds of voltage grade line point clouds and two kinds of data quality point clouds, the average location deviation is less than 0.09m, and the minimum deviation is 0.03m. This method has high robustness and can accurately locate the power line suspension point in each voltage level and mass point cloud data with high robustness and accuracy, which provides a basis for the subsequent safety analysis of power line simulation based on the suspension point.

史洪云, 虢韬, 王迪, 王时春, 赵健, 刘欣, 龙新. 基于激光点云的电力线悬挂点定位方法[J]. 激光技术, 2020, 44(3): 364. SHI Hongyun, GUO Tao, WANG Di, WANG Shichun, ZHAO Jian, LIU Xin, LONG Xin. Power line suspension point location method based on laser point cloud[J]. Laser Technology, 2020, 44(3): 364.

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