基于多角度无人机激光点云融合的输电线路路线规划

齐立忠; 张苏; 荣经国; 武宏波

齐立忠,张苏,荣经国,武宏波.基于多角度无人机激光点云融合的输电线路路线规划[J].电测与仪表,2026,63(7):109-123.
QI Lizhong,ZHANG Su,RONG Jingguo,WU Hongbo.Transmission line route planning based on multi-angle UAV laser point cloud fusion[J].Electrical Measurement & Instrumentation,2026,63(7):109-123.

基于多角度无人机激光点云融合的输电线路路线规划

Transmission line route planning based on multi-angle UAV laser point cloud fusion

DOI：10.19753/ j.issn1001-1390.2026.07.011

中文关键词: 多角度无人机激光点云融合输电线路路线规划双光楔旋转扫描

英文关键词:multiple perspectives, unmanned aerial vehicle, laser point cloud fusion, transmission line, route planning, dual-optical wedge rotation scanning

基金项目:国家电网公司科技项目（5200-202156486A-0-5-ZN）

作者中文名	作者英文名	单位
齐立忠	QI Lizhong	国网经济技术研究院有限公司, 北京 100096
张苏	ZHANG Su	国网经济技术研究院有限公司, 北京 100096
荣经国	RONG Jingguo	国网经济技术研究院有限公司, 北京 100096
武宏波	WU Hongbo	国网经济技术研究院有限公司, 北京 100096

摘要点击次数: 166

中文摘要:

针对传统单一角度分辨率模型在复杂地势区域难以准确表达地形特征、易产生地物边缘效应及路径冗余等问题, 研究开发了一种基于多角度无人机激光点云融合的输电线路规划方法,以提升路径规划精度并降低建设成本。采用双光楔旋转扫描技术获取多角度激光点云数据,通过自适应加权算法进行数据融合处理; 将其转换为高程值影像并构建栅格地图; 设计规划函数,并运用强化学习算法求解最优路径方案。研究结果表明,在所提方法的规划下,输电线路路线保持原有路线方向,同时实现了综合建设成本从10.33万元降低至8.56万元(降幅17.1%),路线长度从27.5 km 缩短至25.1 km(减少8.7%),输电线路走向的转角数量从5个减少至1个(降幅 80%), 规划精度在0.93以上,且该方法规划的路径更接近直线。所提方法有效解决了复杂地形下的路径规划难题,在降低成本、优化路径平直度和提高定位精度方面具有显著优势, 为输电线路工程提供了可靠的技术支持。

英文摘要:

Aiming at the problems that the traditional single-angle resolution model has difficulty accurately expressing terrain features in complex terrain areas, is prone to cause edge effects of ground objects and path redundancy, this paper aims to develop a transmission line planning method based on multi-angle unmanned aerial vehicle(UAV) laser point cloud fusion to improve the accuracy of path planning and reduce construction costs. The dual-optical wedge rotational scanning technology is adopted to obtain multi-angle laser point cloud data, and the data fusion processing is carried out through the adaptive weighting algorithm; convert it into an elevation value image and construct a raster map; the planning function is designed and the reinforcement learning algorithm is applied to solve the optimal path scheme. The research results demonstrate that under the planning of the proposed method, the transmission line route maintains its original direction. Meanwhile, the comprehensive construction cost has been reduced from 103 300 yuan to 85 600 yuan (a decrease of 17.1%), and the route length has been shortened from 27.5 km to 25.1 km (a reduction of 8.7%). The number of turns in the direction of the transmission line has been reduced from 5 to 1 (a decrease of 80%), the planning accuracy is above 0.93, and the path planned by this method is closer to a straight line. The proposed method effectively solves the problem of path planning in complex terrains. It has significant advantages in reducing costs, optimizing path straightness and improving positioning accuracy, providing reliable technical support for transmission line projects.

查看全文查看/发表评论下载PDF阅读器

关闭