作者：张英¹, 汪勇¹, 廖如超¹, 袁新星², 康泰钟²

作者单位：1. 广东电网有限责任公司机巡作业中心，广东 广州 510145;
2. 北京数字绿土科技有限公司，北京 100089

关键词：树障;三维激光雷达;无人机;实时测量;地面分离

摘要：

清除树障是维护输电线路正常运行的重要工作，其核心内容之一是对线路附近的树木进行线树之间的净空距离测量。而线路附近环境较为复杂、线路长度较长，现场巡检人员采用人工方式进行测量工作效率低下。该文提出一种基于三维激光雷达的无人机树障实时测量系统，通过无人机搭载三维激光雷达和板载计算机，使得无人机巡线过程中对线路附近树木进行测量。该系统包括将三维点云数据进行预处理，分离地面与非地面点云，在非地面点云中聚类检测出树木，实时测量树木离线净空距离。在工程应用上结合线路运行规程判断是否存在危险树障和结合GPS、无线通信技术对巡检过程进行规范记录，生成检测报告。现场实验表明：该系统可有效提高对导线和树木的测量精度和巡检测量的效率，有利于实现输电线路巡检的数字化和智能化，对线路运行维护有实际应用价值。

Research on real - time tree barriers measuring system of UAV based on 3D lidar
ZHANG Ying¹, WANG Yong¹, LIAO Ruchao¹, YUAN Xinxing², KANG Taizhong²
1. Patrol Operation Center of Guangdong Power Grid Co., Ltd., Guangzhou 510145, China;
2. Beijing GreenValley Technology Co., Ltd., Beijing 100089, China
Abstract: Tree barrier removal is an important work to maintain the normal operation of transmission lines. One of the core contents is to measure the clearance distance between trees near the lines. However, the environment around the line is relatively complex and the length of the line is long, so it is inefficient for on-site inspection personnel to use manual method for measurement. In this paper, a real-time measurement system of tree barriers for unmanned aerial vehicles (UAVs) based on three-dimensional lidar is proposed. The UAVs are equipped with three-dimensional lidar and on-board computer to measure the trees near the line during the course of UAVs’ patrol. The system includes pretreatment of 3D point cloud data, separation of ground and non-ground point clouds, clustering detection of trees in non-ground point clouds, and real-time measurement of off-line clearance distance of trees. In engineering application, the line operation rules are combined to determine whether there are dangerous tree barriers, and GPS and wireless communication technologies are combined to normatively record the inspection process and generate inspection reports. Field experiments show that the system can effectively improve the measurement accuracy of wires and trees and the efficiency of inspection and measurement, which is conducive to realizing the digitization and intelligence of transmission line inspection, and has practical application value for line operation and maintenance.
Keywords: tree barrier;three-dimensional laser radar;UAV;real-time measurement;ground separation
2021, 47(11):147-152  收稿日期: 2021-02-04;收到修改稿日期: 2021-03-29
基金项目: 广东电网有限责任公司科技项目(GDKJXM20184731)
作者简介: 张英（1978-），男，湖北黄梅县人，高级工程师，硕士，研究方向为电网智能巡检技术
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