CN101950433A - Building method of transformer substation three-dimensional model by using laser three-dimensional scanning technique - Google Patents
Building method of transformer substation three-dimensional model by using laser three-dimensional scanning technique Download PDFInfo
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Abstract
The invention discloses a building method of a transformer substation three-dimensional model by using a laser three-dimensional scanning technique, comprising the following steps: 1) building a transformer substation three-dimensional measuring and controlling network; 2) collecting the point cloud data of a laser three-dimensional scanner; 3) carrying out indoor-processing on the point cloud data; 4) generating partition computer aided design (CAD) three-dimensional models; and 5) merging the partition models. The method of the invention can effectively realize the quality control of the laser three-dimensional scanning point cloud data, and enhancing the splicing efficiency of the point cloud data. The method of partitioning and modeling at first proposed in the invention greatly enhances the modeling efficiency of the transformer substation three-dimensional model, and the working process proposed in the invention ensures high accuracy and high efficiency aiming at the transformer substation. The building of the transformer substation three-dimensional model can be used in the scientific management and analysis of the transformer substation, as well as in the solving and decision-making of training, showing, operating, rebuilding, expanding and general engineering problems. The method meets the developing demands of standardization, intensification and high technicalization of the transformer substation, and has significant potential economic benefit.
Description
Technical field
The present invention be a kind of laser 3 d scanner that utilizes to transformer station's in-site measurement, adopt related software to set up the method for the true three-dimensional model of transformer station, belong to " Geographic Information System " technical field in " mapping " subject.
Background technology
Scenery in the real world is three-dimensional, and therefore in computing machine objective scenery being carried out three-dimensional reconstruction has realistic meaning.
In the mapping subject, traditional three-dimensional modeling method is mainly realized by photogrammetric measurement.For example, abroad, 1997, Grau extracted the surface that minimal information in the three-dimensional scenic has been rebuild buildings by utilizing aviation image, and 2000, Pollefeys etc. also studied the method for utilizing aviation image reconstruction of three-dimensional scene.At home, 2005, Liu Yawen etc. inquired into and have utilized map and single image to carry out the new way of buildings three-dimensional reconstruction.But it is very big to set up the geometric model workload in this way, and precision is not high yet, can not obtain three-dimensional space data fast, accurately set up model, also is not suitable for the data acquisition of the little transformer station of region area.
For the simple buildings in zonule, can adopt the method for total powerstation observation to carry out three-dimensional modeling, the measuring accuracy height of this method, but for the very complicated transformer station of structure, total powerstation observation labour intensity is big, and the modeling time is long, realizes that difficulty is big, therefore, the three-dimensional modeling method of total powerstation observation is not suitable for transformer station.
China Electric Design department, adopt carried out three-dimensional modeling according to design drawing more, and the advantage of this method is, convenient, speed is fast, modelling effect is good etc., but shortcoming is that this three-dimensional model is not a field survey, the objective reality situation that can not reflect transformer station, physical location is inaccurate.Therefore, its model only is the usefulness of demonstration and propaganda.
3 D laser scanning is a kind of new spatial data obtaining means and the instrument that develops rapidly in recent years, receives more and more widely concern in three-dimensional artificial Modeling Research and application facet.(annotate: three-dimensional laser scanner measurement, the data of obtaining are set of the point that is made of complete discrete vector distance point, are referred to as " some cloud ".) at present, 3 D laser scanning has been used for the three-dimensional modeling of various objects, as: bridge, road, city (buildings), ancient building (the Forbidden City), stone forest, city wall etc.In recent years, the construction of transformer station just develops towards standardization, intensification, hi-tech direction, transformation has also taken place in the planning of transformer station and way to manage, traditional manual planning and management mode can not satisfy the needs of transformer substation construction and development far away, thus transformer station make rational planning for and effective management more and more causes the attention of society and relevant department.Three-dimensional laser scanning technique is used traditional measurement and the existing problem of ladder of management of just in time solving effectively with combining of three-dimensional geographic information system.
In sum, the whole bag of tricks of three-dimensional modeling all has its relative merits.Summary is got up, and for the three-dimensional modeling of transformer station, these methods have the following disadvantages:
1) traditional photogrammetric measurement method is applicable to large-scale three-dimensional modeling, and the activity duration is long, and precision is low, and its modeling accuracy can not satisfy the modeling accuracy requirement of transformer station;
2) utilize the method for total powerstation observation to carry out three-dimensional modeling, though the measuring accuracy height, for the very complicated transformer station of structure, its labour intensity is big, and the modeling time is long, realizes that difficulty is big, inefficiency.
3) carry out three-dimensional modeling according to design drawing, though convenient, modeling speed is fast, modelling effect good, model is not a field survey, and therefore, its model only for the usefulness of demonstration and propaganda, can not satisfy the management expectancy of transformer station.
At the above deficiency that these methods exist, the present invention mainly is the three-dimensional modeling problem at transformer station, by research laser three-dimensional scanning technology, realizes in-site measurement " some cloud " data quality control, has proposed to improve the workflow of transformer station's modeling efficiency.Thereby realized the foundation of high precision, high efficiency transformer station three-dimensional model.
The three-dimensional model that utilizes the inventive method to set up is transformer station's " outdoor scene is duplicated ", can realize the upgrading of international communication pattern, upgrade to the propaganda electronic bits of data of three-dimensional range video, high resolution, multi-faceted, multi-angle by forms such as single placard, photos.And, on the basis of three-dimensional model, utilize the three-dimension GIS system again, realization is to mobilism, the scientific management of transformer station, cooperate security monitoring equipment, for defendance, fire-fighting, cleaning, scheduling etc. provide technical guarantee, the while also can be transformer station's reorganization and expansion, common engineering issue handling decision-making is offered help, and potential economic benefit is obvious.
Summary of the invention
Technical matters: the present invention utilizes the laser three-dimensional scanning technology to carry out the method for transformer station's three-dimensional modeling, and major technique comprises: in-site measurement " some cloud " Data Quality Control Techniques; According to " some cloud " data, utilize related software, according to certain workflow, realize the modeling technique of the true three-dimensional model of transformer station's high precision.Mobilism, scientific management that the high precision transformer station three-dimensional model achievement that high-level efficiency is set up can be transformer station provide service.
Technical scheme: the method that the present invention utilizes the laser three-dimensional scanning technology to set up the true three-dimensional model of transformer station may further comprise the steps:
A. set up transformer station's three-dimensional measurement control net,
A1. reconnaissance trip is understood field condition, works out the detailed measurements scheme,
A2. lay Surveying Control Point, set up transformer station's partial 3 d coordinate system (x, y, H); At first utilize total powerstation, adopt the tracerse survey mode to carry out horizontal control survey; Require testing according to the first-order traverse measuring accuracy, by measurement adjustment calculate the reference mark planimetric coordinates (x, y); Utilize spirit-leveling instrument again, adopt the measurement of the level mode to carry out vertical control survey; According to fourth-order leveling accuracy requirement testing, calculate the elevation coordinate (H) at reference mark by measurement adjustment;
A3. encrypt the reference mark; If reference mark density is not enough, increase interim reference mark, utilize total powerstation, data such as horizontal angle between Surveying Control Point and the encryption reference mark and vertical angle, total powerstation will calculate the three-dimensional coordinate of interim point automatically; After the encryption, the quantity at reference mark is more, guarantees that all parts of transformer station can both be collected cloud data by the laser 3 d scanner measurement;
B. laser 3 d scanner data acquisition
B1. survey station preliminary work after setting up laser 3 d scanner on the reference mark, is provided with survey station point and orientation point information, and " some cloud " data that each station is gathered belong to same coordinate system,
B2. cloud data collection starts laser 3 d scanner, and laser 3 d scanner carries out scanning survey automatically, and cloud data is preserved automatically, in order to improve the three-dimensional model precision, uses 6 targets when each survey station is measured, and is later stage adjacent survey station cloud data splicing service,
C. industry is handled in the cloud data
C1. take out the crack: consider that " some cloud " data are huge, take into account the precision of model simultaneously, the importing of raw data is extracted by 1/4 or 1/9 amount,
C2. subregion splicing: in order to increase work efficiency, whole transformer station is divided into the 4-6 piece, carry out the splicing of raw data again according to the subregion situation, the software that splicing work utilizes laser 3 d scanner to carry realizes that adjacent survey station " some cloud " data guarantee to have at least 3 targets of the same name, during concatenation, as long as selected same place, software can carry out a cloud automatically and merge
C3. registration: the data registration during splicing, select the target point of the same name of adjacent survey station scanning, utilize the correlated condition constraint to splice drift correction, stitching error is controlled in the claimed range,
C4. filtering: reject shelters such as the preceding people who exists of sweep object, vehicle;
D. generate subregion CAD 3D model
D1. monomer modelling: " some cloud " data that obtain after will handling through interior industry are handled, and the software that utilizes laser 3 d scanner to carry generates the monomer model,
D2. after the monomer model generates, import AutoCAD, generate subregion CAD 3D model by software;
E. the merging of partition model
At last, the CAD 3D model of subregion is merged into a block mold, after the whole CAD 3D modelling of transformer station, as required, it is transformed into 3DMAX, Skyline software environment, stick texture again, just realized the true three-dimensional model of transformer station.
Beneficial effect: the implementation method of transformer station of the present invention three-dimensional model has the following advantages:
(1), realized the quality control of 3 D laser scanning " some cloud " data effectively by the three-dimensional control survey of total powerstation with measure such as target is set; And bring very big facility for the splicing of different survey stations " some cloud " data in the industry data processing in the later stage;
(2) the first subregion modeling of the inventive method proposition, the method for model merging has operability again, and practicality is stronger; This method has greatly improved the modeling efficiency of transformer station's three-dimensional model;
(3) at transformer station, the workflow that the inventive method proposes is the assurance of high precision, high-level efficiency modeling.
Description of drawings
The workflow diagram of Fig. 1 transformer station three-dimensional modeling.
Embodiment
The workflow of utilizing the laser three-dimensional scanning technology to carry out transformer station's three-dimensional modeling is seen Fig. 1.The method that the present invention utilizes the laser three-dimensional scanning technology to carry out transformer station's three-dimensional modeling is:
A. set up transformer station's three-dimensional measurement control net
(a1) according to conventional Geodetic surveying method and step, carry out reconnaissance trip earlier, understand field condition, work out the detailed measurements scheme; Taking pictures in the scene, prepares data for the later stage three-dimensional model pastes texture;
(a2) lay Surveying Control Point, and, suppose that wherein two points are known point, set up transformer station's partial 3 d coordinate system all reference mark numberings; Utilize total station survey reference mark planimetric coordinates, utilize spirit-leveling instrument to measure its elevation,, obtain the three-dimensional coordinate at all reference mark by conventional Geodetic surveying method;
(a3) according to the actual complex situation of transformer station, should encrypt the reference mark, guarantee that transformer station's various piece can both be collected data by the laser 3 d scanner measurement.Measure the three-dimensional coordinate that all encrypt the reference mark.
B. laser 3 d scanner data acquisition
(b1) survey station preliminary work.Earlier on the reference mark, set up laser 3 d scanner, import this survey station point known coordinate value; With other reference mark orientations, import this orientation point known coordinate value; " some cloud " data that so can guarantee each station collection belong to same coordinate system, bring great convenience for " the some cloud " in later stage splices.
(b2) measurement data acquisition.According to the instrumentation rules, laser 3 d scanner is measured, and automatic data collection is preserved data automatically.In order to improve the three-dimensional model precision, using 6 targets, purpose when each survey station is measured is the precision that improves " some cloud " splicing between the adjacent survey station.
C. industry is handled in the cloud data
(c1) take out the crack: " some cloud " data are very huge, consider the huge difficulty that causes post-processed of data, take into account the precision of model simultaneously, and the importing of raw data is extracted by 1/4 or 1/9 amount.
(c2) subregion splicing: data are carried out a cloud after taking out the crack, its objective is that the cloud data with single station merges, and form the whole point cloud chart of transformer station.Because data volume is huge, in order to increase work efficiency, whole transformer station is divided into the 4-6 piece, carries out the splicing of raw data again according to the subregion situation.
(c3) registration: the neighbor point ICP algorithm of iteration is adopted in the calculating of the data registration during splicing, selects the target point of the same name of adjacent survey station scanning, utilizes the correlated condition constraint to splice drift correction, stitching error is controlled in the claimed range, as ± 20mm.
(c4) filtering: " some cloud " data are carried out filtering, reject shelters such as the preceding people who exists of sweep object, vehicle.
More than take out work such as crack, splicing, registration, filtering, the software that can utilize instrument producer to provide is realized.
D. generate subregion CAD 3D model
(d1) monomer modelling: the software that utilizes instrument producer to provide, the cloud data of measuring gained is handled, generate the monomer model.For transformer station, the monomer whose model has low anti-, the transformer of main transformer capacitor, main transformer, high-tension insulator, high-voltage strut porcelain insulator, pipeline and coil etc.For improving modeling efficiency, can set up transformer station's monomer model bank, then, can duplicate according to its position.
(d2) import AutoCAD behind the generation model, generate subregion CAD 3D model.
E. the merging of partition model
At last, the CAD 3D model of subregion is merged into a block mold.Because the data volume of three-dimensional laser scanner field data acquisition is very big, the integral body of utilizing software to carry out model is set up, and for the computer of height configuration, operation also is very slow.Set up three-dimensional model by piecemeal, be merged into a block mold at last, the good selection of can yet be regarded as.After the whole CAD 3D modelling of transformer station, as required, it can be transformed into other software environments such as 3DMAX, Skyline, stick texture again, just realize the true three-dimensional model of transformer station.
Below in conjunction with instantiation, the embodiment of the inventive method is described in further detail.Embodiment is the HQ of Jiangsu Province (500kV) transformer station.
1) sets up transformer station's three-dimensional measurement control net
(1) reconnaissance trip its objective is the understanding field condition, works out the detailed measurements scheme; Reconnaissance trip is chosen in and carries out a fine morning, behind the scene, takes pictures and records a video, and obtains related data, and has proposed some corresponding data acquisition schemes with regard to the zone of some complexity.
(2) make an on-the-spot survey and just laid 8 Surveying Control Point the same day, and all reference mark are numbered.Arrive the scene after two days again, utilize total station survey reference mark planimetric coordinates, utilize spirit-leveling instrument to measure its elevation.Suppose that wherein two points are known point, set up transformer station's partial 3 d coordinate system; Encrypt the reference mark by the routine measurement method again, calculate the three-dimensional coordinate at all reference mark.52 reference mark (contain and encrypt the reference mark) have been observed altogether.
2) laser 3 d scanner data acquisition
(1) after three-dimensional control survey work is finished, the numbering and the D coordinates value thereof at all reference mark all is input in the laser 3 d scanner (Leica HDS6000).Then, set up laser 3 d scanner at 52 reference mark successively, import this survey station point numbering, its known D coordinates value instrument reads in automatically; This survey station point other reference mark orientations far away are relatively left in utilization, import this orientation point numbering, and its known D coordinates value instrument reads in automatically; " some cloud " data that so can guarantee each station collection belong to same coordinate system, bring great convenience for " the some cloud " in later stage splices.
(2) measurement data acquisition.According to the instrumentation rules, laser 3 d scanner is measured, and automatic data collection is preserved data automatically.In order to improve the three-dimensional model precision, each survey station has used 6 targets, purpose when measuring be the precision that improves " some cloud " splicing between the adjacent survey station.During actual measurement, distance has been gathered the cloud data at 52 stations, about 6 minutes of every station Measuring Time, the about 60G of data total amount altogether less than 50 meters between standing and standing.Simultaneously, utilize the high-resolution picture of a large amount of open-air scene of digital camera collection once more, the about 600M of photo total amount is for the model material in later stage is handled ready.
3) industry is handled in the cloud data
(c1) take out the crack: HQ transformer station " some cloud " data are about 60G, consider the huge difficulty that causes post-processed of data, take into account the precision of model simultaneously, and the importing of HQ transformer station raw data is extracted by 1/4 amount.
(c2) subregion splicing: because data volume is huge, in order to increase work efficiency, HQ transformer station is divided into 4 zones, again according to 4 subregion situations, the splicing of raw data is carried out in each zone respectively.
(c3) registration: the neighbor point ICP algorithm of iteration is adopted in the calculating of the data registration during splicing, selects the target point of the same name of adjacent survey station scanning, utilizes the correlated condition constraint to splice drift correction, and HQ transformer station is controlled at the stitching error vector in the 2cm.
(c4) filtering: " some cloud " data are carried out filtering, reject shelters such as the preceding people who exists of sweep object, vehicle.
More than taking out work such as crack, splicing, registration, filtering, is that the Cyclone software that utilizes Leica company of instrument producer to provide is realized.
4) generate subregion CAD 3D model
(d1) monomer modelling: the Cyclone software that utilizes Leica company to provide, the cloud data of measuring gained is handled, generate the monomer model.This system software possesses following function: be furnished with three-dimensional model assembly commonly used, as cylinder, spheroid, tubular body, rectangular parallelepiped etc.; Provide and corresponding some cloud matching algorithm of model component; Solid surface TIN polygon algorithm is provided.For HQ transformer station, the function that high-tension insulator adopts the curved surface of Cyclone software to extend automatically, pertusate sake in the middle of generating, combination then.Transformer adopting surface extension and rectangular parallelepiped combination generating mode are set up definite three-dimensional model, and the details later stage can be undertaken perfect by the stickup of texture.High-voltage strut porcelain insulator sleeve pipe adopts several composite figures such as cylinder, spheroid, tubular body, utilizes its automatic matching way to carry out the generation of each self model, then according to a cloud built-up pattern.For improving modeling efficiency, set up HQ transformer station monomer model bank, then, can duplicate according to its position.
(d2) import AutoCAD behind the generation model, generate 4 subregion CAD 3D models.
5) merging of partition model
At last, the CAD 3D model of 4 subregions is merged into a block mold.After the whole CAD 3D modelling of HQ transformer station, as required, it is transformed in the 3DMAX software environment, sticks texture again, just realized the true three-dimensional model of HQ transformer station.
Claims (1)
1. a method of utilizing the laser three-dimensional scanning technology to set up the true three-dimensional model of transformer station is characterized in that, this method may further comprise the steps:
A. set up transformer station's three-dimensional measurement control net,
A1. reconnaissance trip is understood field condition, works out the detailed measurements scheme,
A2. lay Surveying Control Point, set up transformer station's partial 3 d coordinate system (x, y, H); At first utilize total powerstation, adopt the tracerse survey mode to carry out horizontal control survey; Require testing according to the first-order traverse measuring accuracy, by measurement adjustment calculate the reference mark planimetric coordinates (x, y); Utilize spirit-leveling instrument again, adopt the measurement of the level mode to carry out vertical control survey; According to fourth-order leveling accuracy requirement testing, calculate the elevation coordinate (H) at reference mark by measurement adjustment;
A3. encrypt the reference mark; If reference mark density is not enough, increase interim reference mark, utilize total powerstation, data such as horizontal angle between Surveying Control Point and the encryption reference mark and vertical angle, total powerstation will calculate the three-dimensional coordinate of interim point automatically; After the encryption, the quantity at reference mark is more, guarantees that all parts of transformer station can both be collected cloud data by the laser 3 d scanner measurement;
B. laser 3 d scanner data acquisition
B1. survey station preliminary work after setting up laser 3 d scanner on the reference mark, is provided with survey station point and orientation point information, and " some cloud " data that each station is gathered belong to same coordinate system,
B2. cloud data collection starts laser 3 d scanner, and laser 3 d scanner carries out scanning survey automatically, and cloud data is preserved automatically, in order to improve the three-dimensional model precision, uses 6 targets when each survey station is measured, and is later stage adjacent survey station cloud data splicing service,
C. industry is handled in the cloud data
C1. take out the crack: consider that " some cloud " data are huge, take into account the precision of model simultaneously, the importing of raw data is extracted by 1/4 or 1/9 amount,
C2. subregion splicing: in order to increase work efficiency, whole transformer station is divided into the 4-6 piece, carry out the splicing of raw data again according to the subregion situation, the software that splicing work utilizes laser 3 d scanner to carry realizes that adjacent survey station " some cloud " data guarantee to have at least 3 targets of the same name, during concatenation, as long as selected same place, software can carry out a cloud automatically and merge
C3. registration: the data registration during splicing, select the target point of the same name of adjacent survey station scanning, utilize the correlated condition constraint to splice drift correction, stitching error is controlled in the claimed range,
C4. filtering: reject shelters such as the preceding people who exists of sweep object, vehicle;
D. generate subregion CAD 3D model
D1. monomer modelling: " some cloud " data that obtain after will handling through interior industry are handled, and the software that utilizes laser 3 d scanner to carry generates the monomer model,
D2. after the monomer model generates, import AutoCAD, generate subregion CAD 3D model by software;
E. the merging of partition model
At last, the CAD 3D model of subregion is merged into a block mold, after the whole CAD 3D modelling of transformer station, as required, it is transformed into 3DMAX, Skyline software environment, stick texture again, just realized the true three-dimensional model of transformer station.
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