基于激光点云的电力杆塔倾斜角度计算方法

doi:10.3969/j.issn.0255-8297.2024.06.008

摘要/Abstract

摘要： 本文旨在提出一种基于无人机激光点云数据的电力杆塔倾斜角度自动精准计算方法，用于解决电力杆塔人工巡检验收环节中倾斜度计算效率低下、过程繁琐、难度较高的问题。本方法利用无人机激光雷达获取复杂环境下的电力杆塔点云，采用分层密度统计与塔身结构提取方法，生成电力杆塔中轴方向线，并计算其与杆塔所处位置铅垂线的夹角，得到电力杆塔倾斜角度。为验证本方法的有效性，选取了不同地点4个待验收的杆塔进行实验，通过模拟仿真与影响因素分析，探索了电力杆塔倾斜角度计算的精度。结果表明，本方法对电力杆塔倾斜角度计算的平均绝对误差为0.017 4°，验证了其在电力杆塔人工巡检验收环节中倾斜度计算的有效性与可靠性。

关键词: 电力杆塔, 倾斜角度, 激光点云, 无人机, 结构分割

Abstract: This paper addresses the challenge of accurately measuring the tilt angle of power towers, which is limited by low computational efficiency, tedious process, and high difficulty in conventional manual inspections. We propose a novel method for calculating the tilt angle using point cloud data obtained from unmanned aircraft. Our method starts by acquiring the point cloud data of power tower by unmanned aircraft, followed by the extraction of their major structure, considering both statistical characteristics and structural components. The centerline of the power tower is then computed and used in conjunction with the plumb line of the ground to determine the tilt angle. To verify the effectiveness of our method, experiments are conducted by applying it to four power towers in different locations. The accuracy of the calculated tilt angles is analyzed through numerous simulations and influential factor analysis. The results suggest that our method achieves a high accuracy of 0.017 4° on average, demonstrating the effectiveness and reliability for use in conventional tower inspection.

Key words: power tower, tilt angle, laser point cloud, unmanned aircraft, structural segmentation

中图分类号:

P208

黄科文, 蒙彦锡, 于昊田, 贾涛. 基于激光点云的电力杆塔倾斜角度计算方法[J]. 应用科学学报, 2024, 42(6): 988-999.

HUANG Kewen, MENG Yanxi, YU Haotian, JIA Tao. A Calculation Method for Tilt Angle of Power Tower Based on Laser Point Cloud[J]. Journal of Applied Sciences, 2024, 42(6): 988-999.

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