CN103017734A - Pole and tower gradient of slope measuring method based on laser radar - Google Patents
Pole and tower gradient of slope measuring method based on laser radar Download PDFInfo
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- CN103017734A CN103017734A CN201210533707XA CN201210533707A CN103017734A CN 103017734 A CN103017734 A CN 103017734A CN 201210533707X A CN201210533707X A CN 201210533707XA CN 201210533707 A CN201210533707 A CN 201210533707A CN 103017734 A CN103017734 A CN 103017734A
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Abstract
本发明公开了一种基于激光雷达的杆塔倾斜率测量方法，包括以下具体步骤：采集数据和图像；将数据和图像导入计算机系统；预处理；选取五个基点；选取第五顶点25；计算垂直距离；计算出杆塔倾斜率q。本发明的有益效果是基于激光雷达的非接触测量，有效解决了杆塔倾斜现有测量方法面临的作业风险大、精确度不够高等不足，实现了输电线路杆塔倾斜测量的图像化与高精度化，降低了现场测量工作量和复杂性。
The invention discloses a method for measuring the inclination rate of a tower based on laser radar, comprising the following specific steps: collecting data and images; importing the data and images into a computer system; preprocessing; selecting five base points; selecting the fifth vertex 25; Distance; calculate the tower inclination rate q. The beneficial effect of the present invention is that based on the non-contact measurement of laser radar, it effectively solves the shortcomings of the existing measurement method of tower inclination, such as high operational risk and insufficient accuracy, and realizes the visualization and high precision of transmission line tower inclination measurement. Reduced on-site measurement workload and complexity.
Description
Technical field
The present invention relates to the inclination of transmission line tower measuring method, refer to particularly a kind of shaft tower slope measuring method based on laser radar.
Background technology
Shaft tower is one of basic equipment in the overhead transmission line, is the main contents of line construction construction and O﹠M to its inclination measurement.Before circuit puts into operation, with final acceptance of construction shaft tower is tilted to measure the defective that tilts to exist with timely discovery shaft tower, allow construction party in time process and remove a hidden danger, guarantee the safe operation after circuit puts into operation.After circuit puts into operation, when coming down, when the geologic hazard such as depression or outside destroy, shaft tower being carried out inclination measurement, can provide accurate data for crash analysis, for taking interim measures and permanent measure provides the foundation of judgement.Current, the Iron tower incline measuring method mainly contains vertical mensuration and transit survey method, and wherein the vertical mensuration needs the staff to step on the tower operation, has the large and risk height of workload, inefficient deficiency; Though the transit survey method need not to step on tower, there is the not high deficiency of complex operation and measuring accuracy.
Summary of the invention
The objective of the invention is to provide in order to overcome above-mentioned deficiency that a kind of operating risk is little, the enough high a kind of shaft tower slope measuring methods based on laser radar of degree of accuracy.
For achieving the above object, the technical solution used in the present invention is:
A kind of shaft tower slope measuring method based on laser radar is characterized in that comprising following concrete steps:
Step 1: utilize the laser infrared radar imaging instrument to gather three-dimensional space data and the image of shaft tower point;
Step 2: three-dimensional space data and image that collection in worksite is obtained import computer system;
Step 3: three-dimensional space data and image to the shaft tower point that imports computer system carry out noise suppression preprocessing;
Step 4: choose an angle steel back of the body central point in four tower angles of shaft tower lower curtate as the first basic point 11 at described three-dimension space image, carry on the back the center line intersection point with the first basic point 11 with the angle steel at other three tower angles and create successively the second basic point 12, the 3rd basic point 13, the 4th basic point 14, the diagonal line joining that the first basic point 11 and the second basic point 12, the 3rd basic point 13, the 4th basic point 14 are formed 1, the first planes 1, the first plane is the 5th basic point 15;
Step 5: method same in utilization and the step 4 is chosen the 5th summit 25 at the top of shaft tower, according to described three-dimensional space data, measure between the 5th basic point 15 and the 5th summit 25 apart from dL, measure the vertical range dH on 25 to first planes 1, the 5th summit, dH is the height of shaft tower central point;
Step 6: choose the vertical point 251 on 25 to first planes 1, the 5th summit, according to Pythagorean theorem dS
2+ dH
2=dL
2, calculate the 5th summit 25 to the point 251 that hangs down apart from dS;
Step 7: according to shaft tower slope q=dS/dH, calculate shaft tower slope q.
The invention has the beneficial effects as follows the non-cpntact measurement based on laser radar, efficiently solve shaft tower and tilt to have now large, the high not deficiency of degree of accuracy of operating risk that measuring method faces, realize image conversion and high precision int that inclination of transmission line tower is measured, reduced in-site measurement workload and complicacy.
Description of drawings
Fig. 1 is method flow diagram of the present invention.
Fig. 2 is instrumentation plan of the present invention
Embodiment
Further specify the present invention below in conjunction with drawings and Examples.
Embodiment: a kind of shaft tower slope measuring method based on laser radar of the present invention comprises following concrete steps:
Step 1: utilize the laser infrared radar imaging instrument to gather three-dimensional space data and the image of shaft tower point;
Step 2: three-dimensional space data and image that collection in worksite is obtained import computer system;
Step 3: three-dimensional space data and image to the shaft tower point that imports computer system carry out noise suppression preprocessing;
Step 4: choose an angle steel back of the body central point in four tower angles of shaft tower lower curtate as the first basic point 11 at described three-dimension space image, carry on the back the center line intersection point with the first basic point 11 with the angle steel at other three tower angles and create successively the second basic point 12, the 3rd basic point 13, the 4th basic point 14, the diagonal line joining that the first basic point 11 and the second basic point 12, the 3rd basic point 13, the 4th basic point 14 are formed 1, the first planes 1, the first plane is the 5th basic point 15;
Step 5: method same in utilization and the step 4 is chosen the 5th summit 25 at the top of shaft tower, according to described three-dimensional space data, measure between the 5th basic point 15 and the 5th summit 25 apart from dL=40.5215m, measure the vertical range dH=40.5210m on 25 to first planes 1, the 5th summit, dH is the height of shaft tower central point;
Step 6: choose the vertical point 251 on 25 to first planes 1, the 5th summit, according to Pythagorean theorem dS
2+ dH
2=dL
2, calculate the 5th summit 25 to the point 251 that hangs down apart from dS=0.201m;
Step 7: according to shaft tower slope q=dS/dH, calculate shaft tower slope q=4.96 ‰.
In step 1, for ease of fast choosing of shaft tower cloud data, locate to set up ground laser radar departing from about 45 ° in shaft tower fair line road direction, then open the laser centring device of ground laser radar, regulate three pillars on its base, until the circle of the blueness on the screen fits like a glove with black circles, show that ground laser radar has been installed on the absolute horizon, the scanning angle of ground laser radar is set and after sweep time, just can begin scanning, obtain steel tower point three-dimensional space data and picture, total 3 minutes consuming time.
In step 2, the shaft tower data of scanning are converted to the XYZ.ASC cloud data form of standard, and import computer system, then unwanted assorted point is rejected, obtain the shaft tower point three dimensions picture of a good visual effect, solid.
In step 5-7, carry out data according to the three dimensions picture after processing and process the measurement that realizes that shaft tower tilts, test result dL is 40.5215m, dH is 40.5210m, according to Pythagorean theorem dS
2+ dH
2=dL
2, calculating dS is 0.201m, then according to shaft tower slope q=dS/dH, calculating shaft tower slope q is 4.96 ‰, and manifesting this shaft tower according to design data is the pre-tilt anchor support, and the design slope is 5 ‰, measuring error is 0.8%, so the slope of institute's measuring staff tower meets design requirement.
The above is the preferred embodiments of the present invention only, is not limited to the present invention.The content that is not described in detail in this instructions belongs to the known prior art of this area professional and technical personnel.
Claims (1)
1. shaft tower slope measuring method based on laser radar is characterized in that comprising following concrete steps:
Step 1: utilize the laser infrared radar imaging instrument to gather three-dimensional space data and the image of shaft tower point;
Step 2: three-dimensional space data and image that collection in worksite is obtained import computer system;
Step 3: three-dimensional space data and image to the shaft tower point that imports computer system carry out noise suppression preprocessing;
Step 4: choose an angle steel back of the body central point in four tower angles of shaft tower lower curtate as the first basic point 11 at described three-dimension space image, carry on the back the center line intersection point with the first basic point 11 with the angle steel at other three tower angles and create successively the second basic point 12, the 3rd basic point 13, the 4th basic point 14, the diagonal line joining that the first basic point 11 and the second basic point 12, the 3rd basic point 13, the 4th basic point 14 are formed 1, the first planes 1, the first plane is the 5th basic point 15;
Step 5: method same in utilization and the step 4 is chosen the 5th summit 25 at the top of shaft tower, according to described three-dimensional space data, measure between the 5th basic point 15 and the 5th summit 25 apart from dL, measure the vertical range dH on 25 to first planes 1, the 5th summit, dH is the height of shaft tower central point;
Step 6: choose the vertical point 251 on 25 to first planes 1, the 5th summit, according to Pythagorean theorem dS
2+ dH
2=dL
2, calculate the 5th summit 25 to the point 251 that hangs down apart from dS;
Step 7: according to shaft tower slope q=dS/dH, calculate shaft tower slope q.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210533707XA CN103017734A (en) | 2012-12-11 | 2012-12-11 | Pole and tower gradient of slope measuring method based on laser radar |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210533707XA CN103017734A (en) | 2012-12-11 | 2012-12-11 | Pole and tower gradient of slope measuring method based on laser radar |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105333861A (en) * | 2015-12-02 | 2016-02-17 | 中国测绘科学研究院 | Pole and tower skew detection method and device based on laser-point cloud |
| CN106092049A (en) * | 2016-08-13 | 2016-11-09 | 哈尔滨理工大学 | Shaft tower tilts intelligent image on-line monitoring system |
| CN106646509A (en) * | 2016-09-14 | 2017-05-10 | 国网上海市电力公司 | Method for evaluating damage of tower slope protection based on real point cloud data |
| CN107633504A (en) * | 2017-08-07 | 2018-01-26 | 广东电网有限责任公司机巡作业中心 | Shaft tower inclined degree detection method and device |
| CN108444453A (en) * | 2018-03-19 | 2018-08-24 | 河南科技大学 | A kind of anode rod spatial attitude detection method and device |
| CN109613514A (en) * | 2018-12-29 | 2019-04-12 | 中国科学院遥感与数字地球研究所 | A tower tilt warning method based on airborne LiDAR point cloud data |
| CN109668543A (en) * | 2019-01-22 | 2019-04-23 | 南京理工大学 | Inclination measurement method based on laser radar |
| CN110849326A (en) * | 2019-12-25 | 2020-02-28 | 深圳供电局有限公司 | A kind of monitoring method and monitoring equipment of electric pole |
| CN114743169A (en) * | 2022-04-11 | 2022-07-12 | 南京领行科技股份有限公司 | Object abnormity detection method and device, electronic equipment and storage medium |
| CN115031689A (en) * | 2022-04-13 | 2022-09-09 | 北京拓维思科技有限公司 | Electric power transmission tower inclination state identification method based on laser point cloud data |
-
2012
- 2012-12-11 CN CN201210533707XA patent/CN103017734A/en active Pending
Non-Patent Citations (2)
| Title |
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| 党晓斌: "三维激光扫描技术在建筑物形变监测中的应用研究", 《中国优秀硕士学位论文全文数据库 基础科学辑》 * |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105333861A (en) * | 2015-12-02 | 2016-02-17 | 中国测绘科学研究院 | Pole and tower skew detection method and device based on laser-point cloud |
| CN106092049A (en) * | 2016-08-13 | 2016-11-09 | 哈尔滨理工大学 | Shaft tower tilts intelligent image on-line monitoring system |
| CN106092049B (en) * | 2016-08-13 | 2018-11-09 | 哈尔滨理工大学 | Shaft tower tilts intelligent image on-line monitoring system |
| CN106646509B (en) * | 2016-09-14 | 2019-10-11 | 国网上海市电力公司 | A damage assessment method for tower slope protection based on real point cloud data |
| CN106646509A (en) * | 2016-09-14 | 2017-05-10 | 国网上海市电力公司 | Method for evaluating damage of tower slope protection based on real point cloud data |
| CN107633504A (en) * | 2017-08-07 | 2018-01-26 | 广东电网有限责任公司机巡作业中心 | Shaft tower inclined degree detection method and device |
| CN108444453A (en) * | 2018-03-19 | 2018-08-24 | 河南科技大学 | A kind of anode rod spatial attitude detection method and device |
| CN108444453B (en) * | 2018-03-19 | 2021-01-29 | 河南科技大学 | Anode rod space attitude detection method and device |
| CN109613514A (en) * | 2018-12-29 | 2019-04-12 | 中国科学院遥感与数字地球研究所 | A tower tilt warning method based on airborne LiDAR point cloud data |
| CN109668543A (en) * | 2019-01-22 | 2019-04-23 | 南京理工大学 | Inclination measurement method based on laser radar |
| CN110849326A (en) * | 2019-12-25 | 2020-02-28 | 深圳供电局有限公司 | A kind of monitoring method and monitoring equipment of electric pole |
| CN110849326B (en) * | 2019-12-25 | 2022-06-07 | 深圳供电局有限公司 | A kind of monitoring method and monitoring equipment of electric pole |
| CN114743169A (en) * | 2022-04-11 | 2022-07-12 | 南京领行科技股份有限公司 | Object abnormity detection method and device, electronic equipment and storage medium |
| CN115031689A (en) * | 2022-04-13 | 2022-09-09 | 北京拓维思科技有限公司 | Electric power transmission tower inclination state identification method based on laser point cloud data |
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Effective date of registration: 20130805 Address after: 100031 Xicheng District West Chang'an Avenue, No. 86, Beijing Applicant after: State Grid Corporation of China Applicant after: Maintenance Branch of Hubei Electric Power Company Address before: Hubei city in Wuhan province 430050 maintenance wulidun Hanyang district electric power company of Hubei Province Branch Applicant before: Maintenance Branch of Hubei Electric Power Company Applicant before: State Grid Corporation of China |
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