无人机激光雷达点云电力杆塔倾斜状态测量

针对传统杆塔倾斜度测量方法难度大、强度大、效率低的问题，提出了一种基于无人机激光雷达点云的电力杆塔倾斜率精准测量方法。该方法利用无人机LiDAR电力巡线获取的散乱杆塔三维激光点云，通过拟合塔身结构来计算杆塔中心线，进而计算杆塔倾斜率。为验证方法的有效性，挑选了6种类型共18个电力杆塔，分析点云密度对倾斜检测算法的影响，并计算倾斜检测算法的精度。结果显示电力杆塔倾斜角测量的平均相对误差小于0.7°，证明了该方法的有效性和正确性。

Tilt Rate Measurement of Power Tower Based on UAV LiDAR Point Cloud

Power towers are the most basic equipment of the transmission line. Various weather or terrain conditions can cause damage to transmission lines such as wear, corrosion, strand breakage, resulting in deformation or tilting of the tower, which may cause serious accidents such as regional power outages if not repaired and inspected in time. Considering the difficulty, low efficiency and low accuracy of traditional measurement methods, an accurate measurement method of power tower tilt rate based on UAV LiDAR point cloud is proposed. This method uses the scattered 3D laser point cloud of power tower to calculate the tower centerline by fitting the tower body structure, so as to calculate the tilt rate. The measurement error sources and application conditions of this method are discussed. The application in transmission line detection proves the effectiveness and correctness of this method. To verify the effectiveness of the method, the paper selects 6 types of towers, 3 of each, 18 in total, to analyze the influence of point cloud density to the tilt rate measurement method, and calculate the accuracy of the method. The relative error of the calculation of the tilt rate is better than 0.7°, proves the validity and correctness of this method.