CN105241378B - Transformer station's 3D outdoor scenes based on laser tracking technology redraw method - Google Patents

Transformer station's 3D outdoor scenes based on laser tracking technology redraw method Download PDF

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Publication number
CN105241378B
CN105241378B CN201510601659.7A CN201510601659A CN105241378B CN 105241378 B CN105241378 B CN 105241378B CN 201510601659 A CN201510601659 A CN 201510601659A CN 105241378 B CN105241378 B CN 105241378B
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laser
transformer station
measurement
station
erect
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CN105241378A (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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Publication of CN105241378A publication Critical patent/CN105241378A/en
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Abstract

The invention discloses a kind of transformer station's 3D outdoor scenes based on laser tracking technology to redraw method, including the size of the critical component such as transformer, oil circuit breaker, arrester and mutual distance, comprises the following steps:Select laser tracker;Select portable hand-held measuring terminals;Commissioning device;Understand the whole station arrangement of transformer station;Determine object and its geometric parameter to be measured;Select laser tracker erect-position point;Measurement;Measurand cloud data obtains;Data processing;Generate transformer station's 3D physical models.The present invention combines the single-point tracking measurement technology and line laser structured light technology of laser tracker, and the three-dimensional measurement in 50 meters of measurement spaces of maximum can be achieved, have the advantages of logicality is rigorous, Project Realization is simple, precision is reliable.

Description

Transformer station's 3D outdoor scenes based on laser tracking technology redraw method
Technical field
Scheme to be redrawn the invention discloses the present invention relates to a kind of transformer station 3D geometry outdoor scenes, is based particularly on laser tracking Transformer station's 3D outdoor scenes of technology redraw method.
Background technology
With oversize, the development of extremely manufacturing technology, corresponding large scale three-dimensional object surface profilometry One of focus of three-dimension sensor and measuring study both at home and abroad at present, it be widely used in Aero-Space, ship automobile, The field such as line detection and quality control, machine-building, CAD/manufacture, robotic vision system.
The large scale 3-D measuring apparatus of current main-stream includes large-sized gantry and bridge-type coordinate measuring machine, portable pass Joint arm measuring system easily laser tracker etc..Large-scale coordinate measuring machine measurement accuracy is high, but portability, very flexible; Portable joint arm is flexible preferably, but the measurement for big object is, it is necessary to the coordinate system of unified more joint arms.
Transformer station is the important component of power system, is to connect the pivot point between power plant and user, plays change The effect of electric energy is changed and distributes, the reliability and security of substation operation directly influence the safe operation of whole power network, become Power station is developed with the development of power system towards Large Copacity, over capacity, remote direction, and structure becomes increasingly complex.
At present, in failure or technological transformation, Field Force needs to be operated according to construction drawing, this to do for transformer station There is the shortcomings that time-consuming, efficiency is low, error-prone in method, and paper drawing is difficult to preserve, and it is inconvenient to search, in addition, typically Construction drawing is not intended that the actual size of critical component, is made troubles to maintenance and renovation;Skill is tracked with reference to absolute laser Art, it can completely, accurately realize that transformer station 3D geometry outdoor scenes are redrawn, including the critical component such as transformer, oil circuit breaker, arrester Size and mutual distance, lectotype selection can be rapidly completed in maintenance and renovation, can also be risen in work progress To booster action.
The content of the invention
The brief overview on the present invention is given below, to provide the basic reason on certain aspects of the invention Solution.It should be appreciated that this general introduction is not the exhaustive general introduction on the present invention.It is not intended to determine the key of the present invention Or pith, nor is it intended to limit the scope of the present invention.Its purpose only provides some concepts in simplified form, with This is as the preamble in greater detail discussed later.
The purpose of the present invention is to be to provide that a kind of logic is rigorous, and Project Realization is simple, precision reliably based on laser with Transformer station's 3D outdoor scenes of track technology redraw method.
A kind of transformer station's 3D outdoor scenes based on laser tracking technology redraw method, it is characterised in that:Comprise the following steps:
A, laser tracker is selected;
B, portable hand-held measuring terminals are selected:The wireless telecommunications touch sensor and one kind of a kind of hand-hold movable The high-rate laser scanner of hand-held non-contact formula;
C, commissioning device:Complete the work such as the assembling, activation, calibration of laser tracker and portable type measuring terminal;
D, the whole station arrangement of transformer station is understood, containing installations and facilities;
E, object and its geometric parameter to be measured are determined, object to be measured includes transformer station's building and all devices facility;
F, select laser tracker erect-position point, absolute laser tracker can measure 360 ° of horizontal direction, vertical direction ± Object in the range of 45 °, optimal erect-position point is selected in the measurement range of laser tracker according to object under test geometric parameter, and Station bit number of points is reduced as far as possible in the case where selected erect-position point can be formed to the envelope network of object to be measured to reduce movement The error that measuring instrument is brought, each erect-position point is numbered;
G, measure:1. laser tracker is fixed on a certain selected erect-position point;2. use hand-held touch sensor Multipoint positioning is carried out to the large-sized object such as transformer, building base plane, determines its accurate location in the three-dimensional model;③ Comprehensive laser scanning is carried out using all surface of contactless high-rate laser scanner measuring targets, with reference to hand-held The place that touch sensor device to hole, hole etc. are not easy to scan carries out pattern identification;4. by erect-position point number order movement laser with Track instrument, records mobile air line distance and deviation angle, repeat step 2. ~ 4. until all erect-position points are measured and finished;
H, measurand cloud data obtains, and preserves measurement result;
I, data processing:The cloud data of gained is handled by erect-position point number order, completes cloud data obtained by each erect-position point Filling-up hole, the operation such as trimming;On the basis of first selected erect-position point, according to other each erect-position points of record apart from base station Distance and angle-data the modification coordinate system in site, each erect-position point obtained under unified coordinate system are surveyed data, then alignd To the point cloud model at the whole station of transformer station;
J, transformer station's 3D physical models are generated:Point cloud model is generated into triangle meshes and then generates transformer station 3D entity moulds Type.
It is large-scale to transformer, building etc. using a kind of hand-held touch sensor using single-point tracking measurement technology Object base plane carries out multipoint positioning, determines its accurate location in the three-dimensional model;Boost line laser scanner technique is quick Measure hidden place and be difficult to measurement point;
Using line laser structured light technology, using a kind of contactless high-rate laser scanner, the number with 70000 points/second According to acquisition capacity, and in the range of 8.5 meters, space length measurement error is no more than 50 μm;
Laser beam density is voluntarily adjusted according to testee surface appearance, surface does not need coating Disposal Measures, to be measured The all surface of object carries out comprehensive laser scanning, the ground for being not easy to scan with reference to hand-held touch sensor device to hole, hole Fang Jinhang patterns identify.
The present invention has advantages below compared with prior art:
With reference to the single-point tracking measurement technology and line laser structured light technology of laser tracker, system can realize maximum 50 meters of surveys Three-dimensional measurement in quantity space, there is rigorous logicality, the characteristics of Project Realization is simple, and precision is reliable, existing laser with Can be without very high cost on the basis of track instrument realizes the whole station arrangement of transformer station containing installations and facilities distribution three dimensional point cloud It is quick, high accuracy obtain, complete carry out three-dimensional geometry reconstruct, can be repair technological transformation set up the project a distant place prospecting, emergency first-aid repair thing Preceding long-range anticipation and afterwards the job that requires special skills vehicle such as outdoor scene deductions, crane site safety manage long-range outdoor scene deduce provide intuitively and Accurate in-site modeling.
Embodiment
In order to deepen the understanding of the present invention, below in conjunction with embodiment, the invention will be further described, the embodiment It is only used for explaining the present invention, is not intended to limit the scope of the present invention..
The present invention relates to the embodiment that a kind of transformer station's 3D outdoor scenes based on laser tracking technology redraw method, bag Include following steps:
A, laser tracker is selected;
B, portable hand-held measuring terminals are selected:The wireless telecommunications touch sensor and one kind of a kind of hand-hold movable The high-rate laser scanner of hand-held non-contact formula;
C, commissioning device:Complete the work such as the assembling, activation, calibration of laser tracker and portable type measuring terminal;
D, the whole station arrangement of transformer station is understood, containing installations and facilities;
E, object and its geometric parameter to be measured are determined, object to be measured includes transformer station's building and all devices facility;
F, select laser tracker erect-position point, absolute laser tracker can measure 360 ° of horizontal direction, vertical direction ± Object in the range of 45 °, optimal erect-position point is selected in the measurement range of laser tracker according to object under test geometric parameter, and Station bit number of points is reduced as far as possible in the case where selected erect-position point can be formed to the envelope network of object to be measured to reduce movement The error that measuring instrument is brought, each erect-position point is numbered;
G, measure:1. laser tracker is fixed on a certain selected erect-position point;2. use hand-held touch sensor Multipoint positioning is carried out to the large-sized object such as transformer, building base plane, determines its accurate location in the three-dimensional model;③ Comprehensive laser scanning is carried out using all surface of contactless high-rate laser scanner measuring targets, with reference to hand-held The place that touch sensor device to hole, hole etc. are not easy to scan carries out pattern identification;4. by erect-position point number order movement laser with Track instrument, records mobile air line distance and deviation angle, repeat step 2. -4. until all erect-position points are measured and finished;
H, measurand cloud data obtains, and preserves measurement result
I, data processing:The cloud data of gained is handled by erect-position point number order, completes cloud data obtained by each erect-position point Filling-up hole, the operation such as trimming;On the basis of first selected erect-position point, according to other each erect-position points of record apart from base station Distance and angle-data the modification coordinate system in site, each erect-position point obtained under unified coordinate system are surveyed data, then alignd To the point cloud model at the whole station of transformer station;
J, transformer station's 3D physical models are generated:Point cloud model is generated into triangle meshes and then generates transformer station 3D entity moulds Type.
The present invention combines the single-point tracking measurement technology and line laser structured light technology of laser tracker, and system can realize maximum Three-dimensional measurement in 50 meters of measurement spaces, there is rigorous logicality, the characteristics of Project Realization is simple, and precision is reliable, existing Can be without very high cost on the basis of laser tracker realizes the whole station arrangement of transformer station containing installations and facilities distribution three-dimensional point Quick, the high accuracy acquisition of cloud data, complete progress three-dimensional geometry reconstruct, can be to repair technological transformation project verification distant place prospecting, meet an urgent need Remotely anticipation and the long-range outdoor scene of the management of the job that requires special skills vehicle such as outdoor scene deduction, crane site safety afterwards deduce offer in advance for repairing In-site modeling directly perceived and accurate.
Finally it should be noted that:Although the present invention and its advantage are described in detail above it should be appreciated that not Various changes can be carried out in the case of the spirit and scope of the present invention being defined by the claims appended hereto, substitute and Conversion.
Moreover, the scope of the present invention is not limited only to process described by specification, equipment, means, the tool of method and steps Body embodiment.
One of ordinary skilled in the art will readily appreciate that from the disclosure, can be used according to the present invention Perform the function essentially identical to corresponding embodiment described herein or obtain result, the existing and general essentially identical with it Come process, equipment, means, method or step to be developed.
Therefore, appended claim be directed in the range of them include such process, equipment, means, method or Person's step.

Claims (3)

1. a kind of transformer station's 3D outdoor scenes based on laser tracking technology redraw method, it is characterised in that:Comprise the following steps:
A, laser tracker is selected;
B, portable hand-held measuring terminals are selected:The wireless telecommunications touch sensor and one kind of a kind of hand-hold movable are held The contactless high-rate laser scanner of formula;
C, commissioning device:Complete assembling, activation, the calibration of laser tracker and portable type measuring terminal;
D, the whole station arrangement of transformer station is understood, containing installations and facilities;
E, object and its geometric parameter to be measured are determined, object to be measured includes transformer station's building and all devices facility;
F, laser tracker erect-position point is selected, selected erect-position point forms the envelope network to object to be measured;
G, measure:Positioned using hand-held touch sensor and contactless high-rate laser scanner measuring targets, The measurement of planeness, and comprehensive laser scanning;
H, measurand cloud data is obtained, preserves measurement result;
I, data processing:Filling-up hole, trimming are carried out to the cloud data of each measurement object on computers, then alignment obtains power transformation Stand the point cloud model at whole station;
J, transformer station's 3D physical models are generated:Point cloud model is generated into triangle meshes and then generates transformer station's 3D physical models;
Using single-point tracking measurement technology, using a kind of hand-held touch sensor to large-sized objects such as transformer, buildings Base plane carries out multipoint positioning, determines its accurate location in the three-dimensional model, boost line laser scanner technique quickly measures Hidden place and it is difficult to measurement point.
2. a kind of transformer station's 3D outdoor scenes based on laser tracking technology according to claim 1 redraw method, its feature exists In:Using line laser structured light technology, using a kind of contactless high-rate laser scanner, the data with 70000 points/second are adopted Collection ability, and in the range of 8.5 meters, space length measurement error is no more than 50 μm.
3. a kind of transformer station's 3D outdoor scenes based on laser tracking technology according to claim 1 redraw method, its feature exists In:Laser beam density is voluntarily adjusted according to testee surface appearance, surface does not need coating Disposal Measures, measuring targets All surface carries out comprehensive laser scanning, is carried out with reference to the place that hand-held touch sensor device to hole, hole are not easy to scan Pattern identifies.
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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CN105806219B (en) * 2016-03-23 2018-12-07 中国铁路设计集团有限公司 The method for detecting III type track plates apparent size deviation of CRTS
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
CN113790677A (en) * 2021-08-27 2021-12-14 中车广东轨道交通车辆有限公司 Three-dimensional measurement method for motor train unit body cover

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