Lightning Conductor Extraction Method Based on Laser Point Cloud

At present, the radar laser is used to collect the point cloud information of the transmission line for the UAV inspection track planning. How to extract useful information from redundant point clouds is a difficult problem. This paper mainly studies the extraction of lightning conductor coordinates from the huge laser point cloud data. The laser point cloud data of a 220kV transmission line in Zhangjiagang Power Grid is used as the research data. Firstly, data preprocessing is performed by downsampling and elevation filtering. Secondly, the wire position is preliminarily extracted by multiple piecewise linear fitting. Finally, the position of the fitted lightning conductor is extracted through coordinate transformation and algorithm flow based on spatial features. The position of the tower can be identified through the density function, and then the lightning protection line in the middle of the tower can be extracted. The position of other wires can be roughly determined according to the position of the lightning conductor and the line voltage level, and the UAV only needs to move down a certain distance during inspection. The method in this paper can quickly and completely extract all the lightning conductor of a transmission line for the UAV inspection track planning, which has the value of lightning protection.