基于激光雷达的大型电力变压器吊装定位方法  

A LiDAR-Based Method for Hoisting and Positioning Large Power Transformers

作　　者：张可可 余俊 ZHANG Keke;YU Jun(East China Transmission and Transformation Engineering Co.,Ltd.,Shanghai 201803,China)

机构地区：[1]华东送变电工程有限公司,上海201803

出　　处：《河南科技》2025年第1期4-10,共7页Henan Science and Technology

摘　　要：【目的】针对大型电力变压器因体积庞大而导致吊装过程中难以精确定位中心这一问题,提出一种基于激光雷达点云数据的定位方法。【方法】首先,利用多个激光雷达设备获取吊装作业环境的点云数据,经过RANSAC算法拟合去除地面反射信号、ICP配准及重构等处理后,得到完整的吊装环境点云数据。其次,对点云进行滤波和分割处理,以区分不同待定位的物体。为降低数据处理的复杂度,通过投影将三维点云转换为二维数据。最后,使用凸包算法与线性插值方法拟合出待定位物体的均匀轮廓,并通过拟合的轮廓计算出物体的中心坐标。【结果】经仿真测试,该方法在距坐标原点坐标差5 m范围内的定位误差小于2 cm,能满足精确吊装定位的要求。【结论】激光雷达能适应多种复杂环境,还具备较低的成本。将激光雷达应用于吊装定位任务中,能显著提升定位精度,且表现出良好的稳定性和可靠性,是精确定位大型设备的理想解决方案。[Purposes]To address the issue of accurately locating the center of large power transformers during the hoisting process due to their substantial size,this paper proposes a positioning method based on LiDAR point cloud data.[Methods]First,multiple LiDAR devices are used to capture point cloud data of the hoisting environment.After processing with RANSAC algorithm fitting to remove ground reflection signals,ICP registration,and reconstruction,a complete point cloud of the hoisting environment is obtained.Next,the point cloud is filtered and segmented to distinguish between different objects to be located.To reduce the complexity of data processing,the three-dimensional point cloud is projected into two-dimensional data.Finally,the convex hull algorithm and linear interpolation method are used to fit a uniform contour of the object to be located,and the center coordinates are calculated based on the fitted contour.[Findings]Simulation tests demonstrate that this method achieves a positioning error of less than 2 cm within a 5-meter coordinate difference from the origin,satisfying the requirements for precise hoisting and positioning.[Conclusions]LiDAR can adapt to a variety of complex environments and has a lower cost.The application of LiDAR in lifting and positioning tasks can significantly improve the positioning accuracy,and show good stability and reliability,which is an ideal solution for accurate positioning of large equipment.

关 键 词：激光雷达 点云 吊装 定位 

分 类 号：TP273.5[自动化与计算机技术—检测技术与自动化装置]