Research on 3D Point Cloud Modeling Method for Pillar-Type Insulators Based on Multi-View 2D LiDAR

In the context of three-dimensional (3D) point cloud modeling for pillar-type insulators during the “post-production–pre-use” phase, current methodologies encounter challenges in achieving a balance between cost-effectiveness, comprehensive coverage, and high precision. This study introduces a novel 3D point cloud modeling approach that utilizes multi-view two-dimensional (2D) LiDAR technology. This method employs three 2D LiDAR sensors positioned at 120° intervals to conduct layer-by-layer scanning, thereby capturing the surface point cloud data of insulators from various heights and perspectives. This approach effectively mitigates the impact of occlusion and facilitates comprehensive 360° data acquisition. Based on this foundation, the skirt structure characteristics of pillar-type insulators were extracted, and a point cloud registration and stitching algorithm, grounded in structural constraints, was developed to facilitate a high-precision 3D reconstruction. The experimental findings indicate that the proposed approach in this study demonstrates substantial improvements in modeling accuracy compared with the baseline methods. In repeated experiments, the proposed method in this study showed an average distance error with a mean (μMDE) ± standard deviation (σ) of 1.15 ± 0.07, while the root mean square error had a mean (μRMS) ± standard deviation (σ) of 1.26 ± 0.11. This method offers several advantages, including a straightforward structure, low system cost, and excellent point cloud continuity (1 mm). The maximum measurement error for the disc diameter was 2.986 mm, which satisfies the engineering application requirement of ±5 mm, thereby confirming the feasibility and practical utility of the method in the 3D modeling of pillar-type insulators.