| 三维激光点云数据映射下的变电站可视化自动巡检技术 |
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| 引用本文：邱凯义，刘洁，马洪波，李净雅，方梦然.三维激光点云数据映射下的变电站可视化自动巡检技术[J].计算技术与自动化,2025,(1):75-79 |
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| 中文摘要:考虑到变电站运行环境具有一定的复杂性，可视化巡检可以避免变电站在运行中出现故障，为了提高变电站巡检效率，提出了一种三维激光点云数据映射下的变电站可视化自动巡检技术。根据变电站三维激光扫描仪的数据采集原理，计算变电站到激光发射点的距离，利用三维激光的发射光束，采集变电站各个区域的点云数据，得到变电站整个场景的激光点云数据。将三维激光点云映射的平方根作为映射函数，映射变电站的三维激光点云数据。基于巡检机器人的位姿变化向量，构建巡检机器人的运动模型，根据机器人的位姿信息，得到巡检机器人的位置，通过位置更新，构建巡检地图计算函数，实现变电站的可视化巡检。实验结果表明，本文技术适用于点云缺失较低的场景，并将变电站设备的巡检范围提高到45m以上，提高了巡检效率。 |
| 中文关键词:三维激光 自动巡检 可视化 变电站 点云数据映射 数据采集 |
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| Visualization Automatic Inspection Technology of Substation Based on 3D Laser Point Cloud Data Mapping |
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| Abstract:Considering the complexity of substation operation environment, visual inspection can avoid faults in substation operation. In order to improve the efficiency of substation inspection, a visual automatic inspection technology of substation based on 3D laser point cloud data mapping is proposed. According to the data acquisition principle of the three-dimensional laser scanner in the substation, the distance from the substation to the laser emission point is calculated, and the point cloud data of each area of the substation are collected by using the emitted beam of the three-dimensional laser, so as to obtain the laser point cloud data of the whole scene of the substation. Taking the square root of 3D laser point cloud mapping as the mapping function, the 3D laser point cloud data of substation is mapped. Based on the posture change vector of the inspection robot, the motion model of the inspection robot is constructed, and the position of the inspection robot is obtained according to the posture information of the robot. By updating the position, the calculation function of the inspection map is constructed to realize the visual inspection of the substation. The experimental results show that the technology in this paper is suitable for scenes with low point cloud loss, and the inspection range of substation equipment is increased to more than 45m, which improves the inspection efficiency. |
| keywords:three-dimensional laser automatic inspection visualization substation point cloud data mapping data acquisition |
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