Three-dimensional laser scanning apparatus for cable tunnel and mobile positioning method thereof

Abstract

The present invention provides a three-dimensional laser scanning apparatus for a cable tunnel and a mobile positioning method thereof. The three-dimensional laser scanning apparatus for a cable tunnel comprises a laser scanning positioning apparatus, a cable tunnel intelligent robot, a hand-held terminal, and several ultra wide band positioning base stations. The laser scanning positioning apparatus is installed on the cable tunnel intelligent robot, and moves as the cable tunnel intelligent robot moves. The laser scanning positioning apparatus is used for performing three-dimensional scanning on the cable tunnel, performing scanning processing to obtain mobile collection point cloud data of scanned data, and performing positioning on the laser scanning positioning apparatus. The hand-held terminal is connected to the laser scanning positioning apparatus through a network, and is used for processing real-time point cloud data in a movement process of the laser scanning positioning apparatus, receiving coordinate data sent by a server, and displaying positioning data. The ultra wide band positioning base station is fixedly installed inside the cable tunnel, and the ultra wide bandpositioning base station is used for receiving a signal of the laser scanning positioning apparatus, and transmitting the received signal to the server.

Description

technical field [0001] The invention relates to the field of cable tunnel contour engineering, in particular to a cable tunnel contour positioning and scanning device, an external positioning device and a cable tunnel contour positioning and scanning method. Background technique [0002] The large and medium-sized cities in the area where Guangdong Power Grid is located have a developed economy, a large population density, and high construction intensity. They have basically achieved full coverage of cables in newly built urban areas and central urban areas. The level of cable construction is at the forefront of the world, even surpassing some key cities in developed countries. s level. With the increase in the mileage of the channel, new problems need to be solved in the practice of operation and maintenance. Among them, in the aspect of high-precision measurement and positioning of the space data of the high-voltage cable channel, due to the lack of relevant technical stan...

AI Technical Summary

Problems solved by technology

This technology scans the feature points of the environment through the laser point cloud, and uses the feature points to back-calculate the position of the scanning machine. In an environment without GPS signals and complex inertial navigation systems, it only relies on a simple inertial measurement device configured by the device itself. The SLAM algorithm is used to achieve the purpose of synchronous positioning and mapping, but since this type of method does not refer to external information, the accumulation of errors will be relatively large after long-term roaming

[0005] Traditional indoor positioning technologies such as infrared, Bluetooth, Wi-Fi, RFID, and Zigbee also have their own applicable scenarios, but they cannot achieve real-time high-precision positioning in cable tunnels

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