CN105241378A - Transformer station 3D real scene redrawing method based on technology of laser tracking - Google Patents

Transformer station 3D real scene redrawing method based on technology of laser tracking Download PDF

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Publication number
CN105241378A
CN105241378A CN201510601659.7A CN201510601659A CN105241378A CN 105241378 A CN105241378 A CN 105241378A CN 201510601659 A CN201510601659 A CN 201510601659A CN 105241378 A CN105241378 A CN 105241378A
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China
Prior art keywords
transformer station
laser
measurement
hand
station
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CN201510601659.7A
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Chinese (zh)
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CN105241378B (en
Inventor
朱富云
茅雷
陆志辉
林林
沈新宇
王栋
毛艳芳
吴国庆
刘洋
张旭东
肖龙雪
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State Grid Corp of China SGCC
Nantong University
State Grid Jiangsu Electric Power Co Ltd
Nantong Power Supply Co of Jiangsu Electric Power Co Ltd
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State Grid Corp of China SGCC
Nantong University
State Grid Jiangsu Electric Power Co Ltd
Nantong Power Supply Co of Jiangsu Electric Power Co Ltd
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Application filed by State Grid Corp of China SGCC, Nantong University, State Grid Jiangsu Electric Power Co Ltd, Nantong Power Supply Co of Jiangsu Electric Power Co Ltd filed Critical State Grid Corp of China SGCC
Priority to CN201510601659.7A priority Critical patent/CN105241378B/en
Publication of CN105241378A publication Critical patent/CN105241378A/en
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Publication of CN105241378B publication Critical patent/CN105241378B/en
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Abstract

The invention discloses a transformer station 3D real scene redrawing method based on the technology of laser tracking, and the method employs the parameters: the sizes of a transformer, an oil switch, a lightning arrester and other key parts and the distances therebetween. The method comprises the following steps: selecting a laser tracker; selecting a portable hand-held measurement terminal; debugging equipment; knowing the overall arrangement of a transformer station; determining a to-be-measured object and geometric parameters thereof; selecting a laser tracker station site; carrying out measurement; obtaining point cloud data of the to-be-measured object; carrying out data processing; and generating a transformer station 3D entity model. The method combines the technologies of single-point tracking measurement and linear laser scanning of the laser tracker, can achieve three-dimensional measurement in a 50m measurement space to the largest degree, is rigid in logic, is simple in projection implement, and is reliable in precision.

Description

Transformer station's 3D outdoor scene based on laser tracking technology redraws method
Technical field
The invention discloses and the present invention relates to a kind of transformer station 3D geometry outdoor scene and redraw scheme, the transformer station's 3D outdoor scene particularly based on laser tracking technology redraws method.
Background technology
Along with the development of oversize, extremely manufacturing technology, corresponding large scale three-dimensional object surface profilometry is one of focus of at present both at home and abroad three-dimension sensor and measuring study, and it is widely used in Aero-Space, boats and ships automobile, on-line checkingi and quality control, machine-building, computer-aided design (CAD)/field such as manufacture, robotic vision system.
The large scale 3-D measuring apparatus of current main-stream comprises large-sized gantry and bridge-type coordinate measuring machine, portable joint arm measuring system very easily laser tracker etc.Large-scale coordinate measuring machine measuring accuracy is high, but portability, very flexible; Portable joint arm is better flexible, but for the measurement of big article, needs the coordinate system of unified multiple stage joint arm.
Transformer station is the important component part of electric system, connect the pivot point between generating plant and user, play the effect of conversion and distribution electric energy, the reliability of substation operation and security directly have influence on the safe operation of whole electrical network, transformer station is along with the development of electric system is towards Large Copacity, over capacity, remote future development, and structure becomes increasingly complex.
At present, transformer station break down or technological transformation time, field staff needs to carry out work according to construction drawing, there is length consuming time, inefficiency, the shortcoming of easily makeing mistakes in this way, and paper drawing is difficult to preserve, and searches inconvenience, in addition, common buildings construction drawing does not show the physical size of critical component, makes troubles to maintenance and renovation; In conjunction with absolute laser tracking technique, transformer station 3D geometry outdoor scene can be realized complete, accurately redraw, comprise size and the distance each other of the critical components such as transformer, oil switch, lightning arrester, can when maintenance and renovation quick finishing equipment type selecting, in work progress, also can play booster action.
Summary of the invention
Provide hereinafter about brief overview of the present invention, to provide about the basic comprehension in some of the present invention.Should be appreciated that this general introduction is not summarize about exhaustive of the present invention.It is not that intention determines key of the present invention or pith, and nor is it intended to limit the scope of the present invention.Its object is only provide some concept in simplified form, in this, as the preorder in greater detail discussed after a while.
The object of the invention is to be to provide a kind of logic rigorous, Project Realization is simple, and precision redraws method based on transformer station's 3D outdoor scene of laser tracking technology reliably.
Transformer station's 3D outdoor scene based on laser tracking technology redraws a method, it is characterized in that: comprise the following steps:
A, selection laser tracker;
B, selection portable hand-held measuring terminals: a kind of wireless telecommunications touch sensor of hand-hold movable and a kind of high-rate laser scanner of hand-held non-contact formula;
C, commissioning device: complete the work such as the assembling of laser tracker and portable type measuring terminal, activation, calibration;
D, the whole station of understanding transformer station are arranged, containing installations and facilities;
E, determine object to be measured and geometric parameter thereof, object to be measured comprises transformer station's building and all devices facility;
F, selection laser tracker erect-position point, absolute laser tracker can measure the object within the scope of horizontal direction 360 °, vertical direction ± 45 °, in the measurement range of laser tracker, optimum erect-position point is selected according to object under test geometric parameter, and the error that minimizing erect-position point quantity of trying one's best when selected erect-position point can form the envelope network to object to be measured is brought to reduce traverse measurement instrument, to each erect-position point numbering;
G, measurement: 1. laser tracker is fixed on a certain selected erect-position point; 2. use hand-held touch sensor to carry out multipoint positioning to the large-sized object such as converting equipment, building base plane, determine its accurate location in the three-dimensional model; 3. use all surface of contactless high-rate laser scanner measuring targets to carry out omnibearing laser scanning, in conjunction with hand-held touch sensor, pattern identification is carried out to the place that hole, hole etc. are not easily scanned; 4. move laser tracker, the air line distance of record move and deviation angle by erect-position point number order, repeat step 2. ~ 4. until all erect-positions point is all measured complete;
H, measurand cloud data obtain, and preserve measurement result;
I, data processing: by the cloud data of erect-position point number order process gained, complete the operation such as filling-up hole, pruning of each erect-position point gained cloud data; With first selected erect-position point for benchmark, according to distance and the angle-data amendment coordinate system in other each erect-position point distance base station sites of record, obtain each erect-position point data of surveying under unified coordinate system, then alignment obtains the point cloud model at the whole station of transformer station;
J, generation transformer station 3D solid model: point cloud model generated triangle meshes and then generate transformer station 3D solid model.
Adopt single-point tracking measurement technology, use a kind of hand-held touch sensor to carry out multipoint positioning to the large-sized object such as converting equipment, building base plane, determine its accurate location in the three-dimensional model; Boost line laser scanner technique Quick Measurement hidden place and be difficult to measurement point;
Adopt line laser structured light technology, use a kind of contactless high-rate laser scanner, there is the data acquisition ability of 70000 points/second, and within the scope of 8.5 meters, space length measuring error is no more than 50 μm;
According to testee surface appearance adjusting laser beam density voluntarily, surface does not need coating Disposal Measures, the all surface of measuring targets carries out omnibearing laser scanning, carries out pattern identification in conjunction with hand-held touch sensor to the place that hole, hole are not easily scanned.
The present invention compared with prior art has the following advantages:
In conjunction with single-point tracking measurement technology and the line laser structured light technology of laser tracker, system can realize the three-dimensional measurement in maximum 50 meters of measurement spaces, there is rigorous logicality, Project Realization is simple, the reliable feature of precision, on the basis of existing laser tracker without the need to very high cost namely realize that the whole station of transformer station arranges containing installations and facilities distribution three dimensional point cloud quick, high precision obtains, complete and carry out three-dimensional geometry reconstruct, can for repairing technological transformation project verification distant place prospecting, emergency first-aid repair is long-range anticipation and outdoor scene deduction afterwards in advance, the job that requires special skills vehicle site safeties such as crane manage the deduction of long-range outdoor scene and provide directly perceived and in-site modeling accurately.
Embodiment
In order to deepen the understanding of the present invention, below in conjunction with embodiment, the invention will be further described, and this embodiment only for explaining the present invention, does not form limiting the scope of the present invention.
The present invention relates to the embodiment that a kind of transformer station's 3D outdoor scene based on laser tracking technology redraws method, comprise the following steps:
A, selection laser tracker;
B, selection portable hand-held measuring terminals: a kind of wireless telecommunications touch sensor of hand-hold movable and a kind of high-rate laser scanner of hand-held non-contact formula;
C, commissioning device: complete the work such as the assembling of laser tracker and portable type measuring terminal, activation, calibration;
D, the whole station of understanding transformer station are arranged, containing installations and facilities;
E, determine object to be measured and geometric parameter thereof, object to be measured comprises transformer station's building and all devices facility;
F, selection laser tracker erect-position point, absolute laser tracker can measure the object within the scope of horizontal direction 360 °, vertical direction ± 45 °, in the measurement range of laser tracker, optimum erect-position point is selected according to object under test geometric parameter, and the error that minimizing erect-position point quantity of trying one's best when selected erect-position point can form the envelope network to object to be measured is brought to reduce traverse measurement instrument, to each erect-position point numbering;
G, measurement: 1. laser tracker is fixed on a certain selected erect-position point; 2. use hand-held touch sensor to carry out multipoint positioning to the large-sized object such as converting equipment, building base plane, determine its accurate location in the three-dimensional model; 3. use all surface of contactless high-rate laser scanner measuring targets to carry out omnibearing laser scanning, in conjunction with hand-held touch sensor, pattern identification is carried out to the place that hole, hole etc. are not easily scanned; 4. move laser tracker, the air line distance of record move and deviation angle by erect-position point number order, repeat step 2.-4. until all erect-positions point is all measured complete;
H, measurand cloud data obtain, and preserve measurement result
I, data processing: by the cloud data of erect-position point number order process gained, complete the operation such as filling-up hole, pruning of each erect-position point gained cloud data; With first selected erect-position point for benchmark, according to distance and the angle-data amendment coordinate system in other each erect-position point distance base station sites of record, obtain each erect-position point data of surveying under unified coordinate system, then alignment obtains the point cloud model at the whole station of transformer station;
J, generation transformer station 3D solid model: point cloud model generated triangle meshes and then generate transformer station 3D solid model.
The present invention is in conjunction with the single-point tracking measurement technology of laser tracker and line laser structured light technology, system can realize the three-dimensional measurement in maximum 50 meters of measurement spaces, there is rigorous logicality, Project Realization is simple, the reliable feature of precision, on the basis of existing laser tracker without the need to very high cost namely realize that the whole station of transformer station arranges containing installations and facilities distribution three dimensional point cloud quick, high precision obtains, complete and carry out three-dimensional geometry reconstruct, can for repairing technological transformation project verification distant place prospecting, emergency first-aid repair is long-range anticipation and outdoor scene deduction afterwards in advance, the job that requires special skills vehicle site safeties such as crane manage the deduction of long-range outdoor scene and provide directly perceived and in-site modeling accurately.
Although last it is noted that described the present invention and advantage thereof in detail above, be to be understood that and can carry out various change when not exceeding the spirit and scope of the present invention limited by appended claim, substituting and converting.
And scope of the present invention is not limited only to the specific embodiment of process, equipment, means, method and step described by instructions.
One of ordinary skilled in the art will readily appreciate that from disclosure of the present invention, can use perform the function substantially identical with corresponding embodiment described herein or obtain and its substantially identical result, existing and that will be developed in the future process, equipment, means, method or step according to the present invention.
Therefore, appended claim is intended to comprise such process, equipment, means, method or step in their scope.

Claims (4)

1. the transformer station's 3D outdoor scene based on laser tracking technology redraws a method, it is characterized in that: comprise the following steps:
A, selection laser tracker;
B, selection portable hand-held measuring terminals: a kind of wireless telecommunications touch sensor of hand-hold movable and a kind of high-rate laser scanner of hand-held non-contact formula;
C, commissioning device: complete the assembling of laser tracker and portable type measuring terminal, activation, calibration;
D, the whole station of understanding transformer station are arranged, containing installations and facilities;
E, determine object to be measured and geometric parameter thereof, object to be measured comprises transformer station's building and all devices facility;
F, selection laser tracker erect-position point, selected erect-position point forms the envelope network to object to be measured;
G, measurement: utilize that hand-held touch sensor and contactless high-rate laser scanner measuring targets position, the measurement of planeness, and omnibearing laser scanning;
H, acquisition measurand cloud data, preserve measurement result;
I, data processing: on computers filling-up hole, pruning are carried out to the cloud data of each measuring object, then alignment obtains the point cloud model at the whole station of transformer station;
J, generation transformer station 3D solid model: point cloud model generated triangle meshes and then generate transformer station 3D solid model.
2. a kind of transformer station's 3D outdoor scene based on laser tracking technology according to claim 1 redraws method, it is characterized in that: adopt single-point tracking measurement technology, a kind of hand-held touch sensor is used to carry out multipoint positioning to the large-sized object such as converting equipment, building base plane, determine its accurate location in the three-dimensional model, boost line laser scanner technique Quick Measurement hidden place and be difficult to measurement point.
3. a kind of transformer station's 3D outdoor scene based on laser tracking technology according to claim 1 redraws method, it is characterized in that: adopt line laser structured light technology, use a kind of contactless high-rate laser scanner, there is the data acquisition ability of 70000 points/second, and within the scope of 8.5 meters, space length measuring error is no more than 50 μm.
4. a kind of transformer station's 3D outdoor scene based on laser tracking technology according to claim 1 redraws method, it is characterized in that: according to testee surface appearance adjusting laser beam density voluntarily, surface does not need coating Disposal Measures, the all surface of measuring targets carries out omnibearing laser scanning, carries out pattern identification in conjunction with hand-held touch sensor to the place that hole, hole are not easily scanned.
CN201510601659.7A 2015-09-21 2015-09-21 Transformer station's 3D outdoor scenes based on laser tracking technology redraw method Active CN105241378B (en)

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Publication number Priority date Publication date Assignee Title
CN105806219A (en) * 2016-03-23 2016-07-27 铁道第三勘察设计院集团有限公司 Method for detecting external dimension deviation of CRTSIII type track board
CN107909644A (en) * 2017-11-09 2018-04-13 广东电网有限责任公司教育培训评价中心 A kind of substation equipment 3 d model library method for building up
CN108038910A (en) * 2017-11-10 2018-05-15 广东电网有限责任公司教育培训评价中心 The implementation method of substation's main equipment Virtual Reality Demonstration

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CN101950433A (en) * 2010-08-31 2011-01-19 东南大学 Building method of transformer substation three-dimensional model by using laser three-dimensional scanning technique
CN102930600A (en) * 2012-11-16 2013-02-13 福建省电力勘测设计院 Computer generation method based on cloud computing for three-dimensional model of power transformer equipment
CN104331504A (en) * 2014-11-20 2015-02-04 卢丽花 System for building three-dimensional effect diagram of maintenance site of substation
CN104897061A (en) * 2015-06-19 2015-09-09 太原理工大学 Total station and three-dimensional laser scanning combined large-scale maritime work equipment measuring method
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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105806219A (en) * 2016-03-23 2016-07-27 铁道第三勘察设计院集团有限公司 Method for detecting external dimension deviation of CRTSIII type track board
CN107909644A (en) * 2017-11-09 2018-04-13 广东电网有限责任公司教育培训评价中心 A kind of substation equipment 3 d model library method for building up
CN108038910A (en) * 2017-11-10 2018-05-15 广东电网有限责任公司教育培训评价中心 The implementation method of substation's main equipment Virtual Reality Demonstration

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