摘要:城市电缆排管工井及变电站地下室等相关建筑空间狭小、光线差，验收过程存在不便和安全隐患。本文设计了一款搭载深度相机Azure Kinect的巡检机器人，可自动采集地下电缆工井内昏暗环境的深度图像数据和彩色图像数据。同时开发了一款数据处理软件，通过对原始数据的点云生成和拼接融合处理，构建出地下电缆排管工井的三维虚拟模型，并对该三维点云数据进行去噪、采样和平滑等处理，得到较为精确的数据模型，最后通过测量三维模型相关结构参数与工程数据对比，判定验收结果，检验工程项目质量问题，完成验收工作。

Abstract: Narrow space and poor light in urban cable drainage pipe shafts and substation basement, etc. lead to inconvenience and potential safety hazards in the acceptance process. In this paper, an inspection robot equipped with Azure Kinect depth camera is designed, which can automatically collect depth image data and color image data of dark environment in underground cable drainage pipe shafts. Meanwhile, a data processing software is developed. A 3D virtual model of underground cable drainage pipe shafts is constructed through point cloud generation, splicing and fusion processing of original data after which is de-noised, sampled and smoothed to obtain a more accurate data model. Through measuring the relevant structural parameters of the 3D model and comparing with the engineering data, it is managed to determine the acceptance of the results, which helps inspect the quality problems of engineering projects and complete the acceptance work.