基于多激光雷达的电力线安全距离监测预警系统
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Power Line Safety Distance Monitoring and Early Warning System Based on Multiple LiDARs
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    摘要:

    针对电力线巡检需求, 本文设计并实现了一套基于低成本多激光雷达组合的电力线安全距离监测预警系统. 将单线激光雷达(思岚RPLIDAR S1)安置在RoboMaster GM6020云台电机上构成一套设备可以进行三维环境感知, 在电力作业斗臂车四周安装4套同样的设备进行环境感知, 通过布设标靶纸, 同时采集点云数据并测量标靶纸全局坐标系坐标, 根据最小二乘原理进行4个激光雷达之间的空间位置关系标定并统一到同一个坐标系下. 通过网络通信将4套设备采集的点云实时数据传输至数据处理平台进行可视化显示、安全距离监测和报警, 可以有效避免安全隐患, 提高带电作业的安全水平.

    Abstract:

    In response to power line inspection, a power line safety distance monitoring and early warning system based on multiple low-cost LiDARs is designed and implemented. The single-line LiDAR (RPLIDAR S1) and RoboMaster GM6020 gimbal motor are combined into three-dimensional equipment for environmental perception. Four sets of the same equipment are installed around an electric bucket for environmental perception. After a target paper is arranged, the point cloud data is collected, and the coordinates of the target paper’s global coordinate system are measured simultaneously. Then the spatial position relationship among the four LiDARs is calibrated according to the least squares principle and unified in the same coordinate system. The real-time point cloud data collected by the four sets of equipment is transmitted to the data processing platform through network communication for visual display, safety distance monitoring, and early warning, which can avoid safety hazards and improve the safety level of live line work.

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刘培贤,丁超,龚楷.基于多激光雷达的电力线安全距离监测预警系统.计算机系统应用,2021,30(12):103-108

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历史
  • 收稿日期:2021-02-19
  • 最后修改日期:2021-03-18
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  • 在线发布日期: 2021-12-10
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