A Novel Method to Reconstruct Overhead High-Voltage Power Lines Using Cable Inspection Robot LiDAR Data

作者：Qin, Xinyan; Wu, Gongping; Ye, Xuhui; Huang, Le; Lei, Jin^*

来源：Remote Sensing, 2017, 9(7): 753.

DOI：10.3390/rs9070753

• cable inspection robot
• LiDAR
• position and orientation system
• power line
• reconstruction

Overhead high-voltage power lines are key components of power transmission and their monitoring has a very significant influence on security and reliability of power system. Advanced laser scanning techniques have been widely used to capture three-dimensional (3D) point clouds of power system scenes. Nevertheless, power line corridors are found in increasingly complex environments (e.g., mountains and forests), and the multi-loop structure on the same power line tower raises great challenges to process light detection and ranging (LiDAR) data. This paper addresses these challenges by constructing a new collection mode of LiDAR data for power lines using cable inspection robot (CIR). A novel method is proposed to extract and reconstruct power line using CIR LiDAR data, which has two advantages: (1) rapidly extracts power line point by position and orientation system (POS) extraction model; and (2) better solves pseudo-line during reconstruction of power line by structured partition. The proposed method mainly includes four steps: CIR LiDAR data generation, POS-based crude extraction, voxel-based accurate extraction and power line reconstruction. The feasibility and validity of the proposed method are verified by test site experiment and actual line experiment, demonstrating a fast and reliable solution to accurately reconstruct power line.

• 出版日期2017-7
• 单位武汉大学