配电房遥控移动三维扫描及点云自动拼接方法  

Research on remote control mobile 3Dscanning and the method of automatic splicing of 3Dpoint cloud in power distribution room

作　　者：金文佩 梁倩仪 于安斌 徐芳[2] 梅文胜[2] JIN Wenpei;LIANG Qianyi;YU Anbin;XU Fang;MEI Wensheng(Guangzhou Liwan Power Supply Bureau,Guangdong Power Grid Co.,Ltd.,Guangzhou 510000,China;School of Geodesy and Geomatics,Wuhan University,Wuhan 430079,China)

机构地区：[1]广东电网有限责任公司广州荔湾供电局,广州510000 [2]武汉大学测绘学院,武汉430079

出　　处：《测绘科学》2023年第2期140-147,共8页Science of Surveying and Mapping

基　　金：国家自然科学基金项目(41674005);南方电网有限责任公司科技项目(GZHKJXM20180145)。

摘　　要：为解决目前配电房配网规划改造设计中缺乏配电房结构及内部设备精确三维空间数据的快速获取装备与方法的问题,该文设计研发了配电房遥控移动三维激光扫描系统,提出了一种基于履带车编码器的配电房多站点云自动拼接方法,该系统将激光扫描仪安置于遥控履带式移动平台上,作业人员可在配电房外,遥控扫描系统移动到合适的测站位置,实现配电房内部的多站扫描,该方法能快速实现不同站点间的点云数据的粗拼接,再利用广义迭代最近点(GICP)算法迭代实现精配准,获得完整统一的精确配电房三维点云数据。该文研发的配电房移动扫描系统避免了操作人员进入带电的配电房作业,可在符合配电房安全管理规范的前提下,完成配电房扫描数据采集,提出的基于编码器的多站点云自动拼接方法可降低扫描仪的配置要求,降低系统成本。In order to solve the problem of the lack of equipment and methods for rapid acquisition of the power distribution room structure and internal equipment accurate three-dimensional spatial data in current distribution room network planning and renovation design,this paper designed and developed a remote control mobile 3Dlaser scanning system for distribution room,proposed a encoder-based automatic registration method for multiple point clouds in the distribution room.The system placing the laser scanner on the remote control crawler mobile platform,the operator could be outside the distribution room,and the remote control scanning system could move to the suitable measuring station position to realize the multi-station scanning inside the distribution room.The method could quickly realize the coarse registration of point cloud data between different stations,and then used the generalized iterative closest point(CICP)algorithm iteration to realize the fine alignment and obtained the complete and unified accurate 3Dpoint cloud data of the distribution room.The mobile scanning system for distribution rooms developed in this paper avoided operators from entering the electrified distribution rooms for operation,could complete distribution room scanning data collection under the premise of conforming to the safety management specifications of distribution rooms,and the proposed encoder-based multi-site cloud automatic registration method could reduce the configuration requirements of scanners and reduce system costs.

关 键 词：配电房 遥控移动三维激光扫描系统 多站点云数据 自动拼接 编码器 

分 类 号：P243[天文地球—测绘科学与技术]