基于多传感器融合的钻孔立杆机非结构化道路障碍物检测

doi:10.3969/j.issn.1008-0198.2026.02.016

湖南电力 ›› 2026, Vol. 46 ›› Issue (2): 123-130.doi: 10.3969/j.issn.1008-0198.2026.02.016

基于多传感器融合的钻孔立杆机非结构化道路障碍物检测

陈伟¹, 杨淼², 贺天泽³, 陈明¹, 贺继林⁴

1.湖南省湘电试验研究院有限公司,湖南长沙 410208;
2.国网湖南省电力有限公司电力科学研究院,湖南长沙 410208;
3.长沙理工大学物理与电子科学学院,湖南长沙 410114;
4.中南大学机电工程学院,湖南长沙 410075

收稿日期:2025-11-11 修回日期:2025-12-05 出版日期:2026-04-25 发布日期:2026-05-09
作者简介:贺继林（1975）,男,湖南娄底人,主要研究方向为智能装备、复杂系统机电液控制。
基金资助:
国网湖南省电力有限公司科技项目（5216A5220024)

Research on Obstacle Detection for Unstructured Roads of Drilling and Pole-Erecting Machines Based on Multi-Sensor fu‍sion

CHEN Wei¹, YANG Miao², HE Tianze³, CHEN Ming¹, HE Jilin⁴

1. Hunan Xiangdian Test and Research institute Co., Ltd., Changsha 410208, China;
2. State Grid Hunan Electric Power Company Limited Research institute, Changsha 410208, China;
3. School of Physics and Electronic Science, Changsha University of Science and Technology, Changsha 410114, China;
4. School of Mechanical and Electrical Engineering, Central South University, Changsha 410075, China

Received:2025-11-11 Revised:2025-12-05 Online:2026-04-25 Published:2026-05-09

摘要/Abstract

摘要： 在电力配电网施工中,钻孔立杆机作为关键设备,其智能化作业的准确率和安全性受非结构化复杂道路环境影响显著。针对钻孔立杆机在非结构化道路作业时的障碍物检测难题,提出一种基于多传感器融合的检测方法。通过融合相机与激光雷达数据,结合决策级融合策略,有效提升障碍物检测的准确性和鲁棒性。实验结果表明,该方法显著降低了误检率和漏检率,为钻孔立杆机的准确、安全作业提供了有力保障。

关键词: 钻孔立杆机, 多传感器融合, 非结构化道路, 障碍物检测, 决策级融合

Abstract: in power distribution network construction,drilling and pole-erecting machine as critical equipment, their intelligent operation accuracy and safety are significantly affected by unstructured and complex road environments. To address the obstacle detection problem of drilling and pole-erecting machine during unstructured road operations, this article proposes a detection method based on multi-sensor fusion. By integrating camera and LiDAR data with a decision-level fusion strategy, the method effectively enhances the accuracy and robustness of obstacle detection. Experimental results demonstrate that the proposed approach significantly reduces both the false detection rate and missed detection rate, providing strong support for the accurate and safe operation of drilling and pole-erecting machine.

Key words: drilling and pole-erecting machine, multi-sensor fusion, unstructured road, obstacle detection, decision-level fusion

中图分类号:

TM754

陈伟, 杨淼, 贺天泽, 陈明, 贺继林. 基于多传感器融合的钻孔立杆机非结构化道路障碍物检测[J]. 湖南电力, 2026, 46(2): 123-130.

CHEN Wei, YANG Miao, HE Tianze, CHEN Ming, HE Jilin. Research on Obstacle Detection for Unstructured Roads of Drilling and Pole-Erecting Machines Based on Multi-Sensor fu‍sion[J]. Hunan Electric Power, 2026, 46(2): 123-130.

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基于多传感器融合的钻孔立杆机非结构化道路障碍物检测

Research on Obstacle Detection for Unstructured Roads of Drilling and Pole-Erecting Machines Based on Multi-Sensor fu‍sion

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