CN106446415B - A kind of substation's support insulator center line extraction method based on point cloud data - Google Patents
A kind of substation's support insulator center line extraction method based on point cloud data Download PDFInfo
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- CN106446415B CN106446415B CN201610853963.5A CN201610853963A CN106446415B CN 106446415 B CN106446415 B CN 106446415B CN 201610853963 A CN201610853963 A CN 201610853963A CN 106446415 B CN106446415 B CN 106446415B
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Abstract
Substation's support insulator center line extraction method based on point cloud data that the invention discloses a kind of, 1) the support insulator center line extraction method is the following steps are included: acquire support insulator point cloud data；2) point cloud data trigonometric ratio；3) the cylinder end face of support insulator is extracted；4) output of point cloud and de-noising of cylindrical section；5) it is fitted cylinder characteristic quantity；6) cylindrical center's vector is extracted.Compared with prior art, this method, which extracts substation's support insulator center line, has many advantages, such as high efficiency, high-precision.Data user rate is high, the cylinder or section circle fitted can represent complete post insulator subcharacter, the center line of extraction is more preferable compared to existing method fitting degree, reliability is high, avoid influence of the full skirt to measurement, the deficiency of existing method is overcome, theoretical reference can be provided for further insulator gradient measurement.
Description
Technical field
It is specifically a kind of to be based on point cloud data the present invention relates to a kind of extracting method of substation's support insulator center line
Substation's support insulator center line extraction method, belong to substation's technical field.
Background technique
Support insulator is one of basic equipment of substation.In general, in substation's construction, examination and O&M
In, accurate detection is carried out to ensure the safe operation of substation's pillar class equipment to support insulator angle of deviation.Substation puts into operation
Afterwards, flexible by limited time when there is settlement of foundation, pipe mother, support insulator angle of deviation is measured, can be mentioned for crash analysis
For valid data, judgment basis is provided for acquisition interim measure or permanent measure.When detecting support insulator angle of deviation, adopt
Calculate with the vertical vector of insulator center line vector sum and can guarantee higher accuracy.It can be seen that accurate extract insulation
The center line of son has important practical significance to the primary equipment detection of substation.
The collected measurand point cloud data of Three Dimensional Ground laser radar has high-precision, digital feature, image conversion
The advantages that, according to the advantage that the digital feature of support insulator point cloud data is combined with image conversion, it can effectively extract pillar
The center line of insulator, to provide data for accurately and rapidly detection support insulator angle of deviation.
The method for extracting support insulator center line at present is mainly to pass through the axle center for extracting insulator both ends cylinder, is utilized
Axial connecting line obtains insulator center line.This method cardinal principle are as follows: support insulator is whole due to possessing numerous umbrella skirt constructions
For irregular structure, character column can not be directly extracted.For the character column for extracting insulator both ends, need to choose relatively regular
Part, i.e. the fitting connecting portion at both ends obtains both ends by being fitted cylinder function and is fitted cylinder.To obtain support insulator
Center line need to create vector functionality using number, with the low side cylinder center of circle by the center of circle D coordinates value of two sections of cylinders of extraction
For starting point, the bottom end original heart to the top center of circle is vector direction, creates center line vector, which is exactly support insulator
Center line.Since the center line has digital direction and characteristics of image, therefore, it can be used for the spatiality inspection of support insulator
It surveys.
The spatiality of insulator can be reacted to a certain extent by extracting insulator center line using this method, but be utilized
This method can not necessarily obtain accurate centreline data, have certain error.On the one hand, this method only uses insulation
The point cloud data at sub- both ends, point cloud data utilization rate is low, can not represent substation's support insulator completely；On the other hand, due to
Insulator both ends rule position is seldom, and utilisation point cloud is few when being fitted cylinder, and fitting cylinder is caused to have certain error.
Therefore, because the technical restriction of the irregularity of support insulator outer profile and existing detection method, it is difficult to accurate
The center line for extracting support insulator, it is therefore necessary to seek a kind of can efficiently and accurately extract support insulator center line
Method.
Summary of the invention
For the above-mentioned prior art there are problem, the present invention provides a kind of substation's support insulator based on point cloud data
Center line extraction method, the extracting method can be improved the utilization rate of point cloud data, reduce when extracting because insulator both ends
Error caused by irregular.
The present invention is through the following technical solutions to achieve the above objectives: a kind of substation's post insulator based on point cloud data
Subcenter line drawing method, the support insulator center line extraction method the following steps are included:
1) support insulator point cloud data is acquired；
2) point cloud data trigonometric ratio；
3) the cylinder end face of support insulator is extracted；
4) output of point cloud and de-noising of cylindrical section；
5) it is fitted cylinder characteristic quantity；
6) cylindrical center's vector is extracted.
Further, the step 1) includes the following steps:
A) Three Dimensional Ground laser radar and several targets are laid near support insulator, and three-dimensional laser radar is set
Relevant parameter；
B) support insulator side is scanned, and obtains corresponding point cloud data；
C) Three Dimensional Ground laser radar is set up in the support insulator other side, and acquires point cloud data；
It d) is complete support insulator point cloud data by the Point-clouds Registration in step b) and step c)；
E) using software by complete support insulator Point Cloud Processing, and the XYZ.ASC lattice of standard are converted thereof into
Formula point cloud data；
F) the XYZ.ASC format point cloud data for being converted into standard imports data processing software, and discrete noise point is disappeared
It removes.
Further, the step 2) includes: the maximal side by defining triangle, by the point cloud data after de-noising
In the processing of related software intermediate camization, to obtain support insulator triangulated model.
Further, the step 3) includes the following steps:
I) data of support insulator triangulated model are imported in related software, and obtain adjacent two using measuring tool
Spacing L between full skirt；
II) it in support insulator the lowermost umbrella skirt construction, and chooses at L/2 distance below the umbrella skirt construction and a little makees
For the initial point P in cylinder cross section；
III) using horizontal plane where initial point P as initial plane, and it is transversal to extract the support insulator cylinder in the plane
Face S1；
IV) with cylinder cross section S1, using Z axis as translation direction, distinguish for starting point using adjacent two full skirts spacing L as spacing
Extract all cylindrical cross-section S in support insulator triangulated model2、S3、S4…Sn。
Further, the cancellation process in the step 4) is as follows:
Step 1: adjusting all cylindrical cross-section S1、S2、S3…SnView, using Z axis opposite direction as visual angle, observation pillar is exhausted
Whether edge cylinder cross section point cloud data has some or several has significant difference with remaining；
Step 2: finding out a cloud individual cylinder cross sections devious, judge whether to cause deviation because full skirt point cloud interferes,
If so, full skirt point cloud is eliminated；If it is not, then the cylindrical section point cloud is deleted, the circle where the cylinder cross section
Shell of column point cloud cuts section again.
Further, the step 5) includes two kinds of situations:
The first situation: each cross-section millet cake cloud of cylinder is more than 2/3rds circumference, and point cloud data quality is high；
Second situation: less than 2/3rds circumference of multiple cylinder cross sections point range, point cloud data missing are serious.
Further, the first described situation is sought most using cylinder cross section point cloud data by corresponding fitting algorithm
Good fitting routines directly fit character column amount, and the spatial parameter according to character column amount, special using origin and direction
Sign, can be created that center line vector characteristics, which is exactly the center line of support insulator.
Further, the second situation includes the following steps:
I) by trimming, choose partial dot cloud high-quality, with high accuracy；
II) choose on each cylindrical section point respectively at 3 points, according to 3 points of creation characteristic circles, can be obtained a series of
Cut surface character circle；
III) using the spatial parameter of the round heart of each cut surface character, a feature vector is fitted, this feature vector is
For the center line of support insulator.
Compared with prior art, this method, which extracts substation's support insulator center line, has high efficiency, high-precision etc. excellent
Point.Data user rate is high, and the cylinder or section circle fitted can represent complete post insulator subcharacter, the center of extraction
Line is more preferable compared to existing method fitting degree, and reliability is high, avoids influence of the full skirt to measurement, overcomes existing method
Deficiency, theoretical reference can be provided for further insulator gradient measurement.
Detailed description of the invention
Fig. 1 is overall flow schematic diagram of the present invention；
Fig. 2 is cylinder cross section point cloud data flow diagram of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
As depicted in figs. 1 and 2, a kind of substation's support insulator center line extraction method based on point cloud data, it is described
Support insulator center line extraction method the following steps are included:
1) support insulator point cloud data is acquired；
2) point cloud data trigonometric ratio；
3) the cylinder end face of support insulator is extracted；
4) output of point cloud and de-noising of cylindrical section；
5) it is fitted cylinder characteristic quantity；
6) cylindrical center's vector is extracted.
Step 1) the acquisition support insulator point cloud data includes the following steps:
According to the performance parameter of ground laser radar, Three Dimensional Ground laser radar and several is laid near support insulator
The parameters such as its scanning angle, point Yun Zhiliang, resolution ratio are arranged after flattening instrument in spherical target；Start to scan, it is exhausted to obtain pillar
Then the point cloud data of edge side sets up Three Dimensional Ground laser radar in the support insulator other side and acquires point cloud data；It will
The Point-clouds Registration of two sides is a complete support insulator point cloud data；Utilize selected Three Dimensional Ground laser radar
The support insulator data of scanning, are converted to the XYZ.ASC format point cloud data of standard by mating data processing software, and are imported
Discrete noise point is eliminated using dedicated data processing software.
Step 2) the point cloud data trigonometric ratio includes: to need to extract support insulator cylindrical section first to point cloud data
Carry out trigonometric ratio.By defining the maximal side of triangle, the point cloud data after de-noising can carry out trigonometric ratio in related software
Processing, obtains smooth, effective support insulator triangulated model.
The step 3) is to extract the cylinder end face of support insulator.It is cylinder between adjacent two full skirt of support insulator
Structure is extracted cylinder cross section all in support insulator triangulated model with plane in the Z-direction of three-dimensional system of coordinate, is mentioned
Take process as follows:
I) data of support insulator triangulated model are imported in related software, and obtain adjacent two using measuring tool
Spacing L between full skirt；
II) it in support insulator the lowermost umbrella skirt construction, and chooses at L/2 distance below the umbrella skirt construction and a little makees
For the initial point P in cylinder cross section；
III) using horizontal plane where initial point P as initial plane, and it is transversal to extract the support insulator cylinder in the plane
Face S1；
IV) with cylinder cross section S1, using Z axis as translation direction, distinguish for starting point using adjacent two full skirts spacing L as spacing
Extract all cylindrical cross-section S in support insulator triangulated model2、S3、S4…Sn。
Profile data can export as the point cloud data of XYZ.ASC format again.Since the support insulator exists centainly
Angle of deviation causes to contain the point cloud data of insulator cluster parachute in the cylindrical section point cloud data extracted, so needing to section
Point cloud data carries out de-noising, and specific cancellation process is as follows:
Step 1: adjusting all cylindrical cross-section S1、S2、S3…SnView, using Z axis opposite direction as visual angle, observation pillar is exhausted
Whether edge cylinder cross section point cloud data has some or several has significant difference with remaining；If indifference, without carrying out
Denoising；If so, then entering second step.
Step 2: finding out a cloud individual cylinder cross sections devious, judge whether to cause deviation because full skirt point cloud interferes,
If so, full skirt point cloud is eliminated；If it is not, then the cylindrical section point cloud is deleted, the circle where the cylinder cross section
Shell of column point cloud cuts section again.
The step 5) is fitted cylinder characteristic quantity.Central line pick-up needs are taken according to extracted section point cloud data quality
Different schemes, including two kinds of situations:
The first situation: each cross-section millet cake cloud of cylinder is more than 2/3rds circumference, and point cloud data quality is high；
Second situation: less than 2/3rds circumference of multiple cylinder cross sections point range, point cloud data missing are serious.
The first described situation seeks best fit by corresponding fitting algorithm using cylinder cross section point cloud data
Path directly fits character column amount, and the spatial parameter according to character column amount, using origin and direction character, i.e.,
It can be created that center line vector characteristics, which is exactly the center line of support insulator.
The second situation includes the following steps:
I) by trimming, choose partial dot cloud high-quality, with high accuracy；
II) choose on each cylindrical section point respectively at 3 points, according to 3 points of creation characteristic circles, can be obtained a series of
Cut surface character circle；
III) using the spatial parameter of the round heart of each cut surface character, a feature vector is fitted, this feature vector is
For the center line of support insulator.
Embodiment provided above is better embodiment of the invention, only is used to facilitate to illustrate the present invention, not to this hair
It is bright to make any form of restriction, any those of ordinary skill in the art, if not departing from the proposed skill of the present invention
In the range of art feature, the equivalent embodiment that part is changed or modified is made using disclosed technology contents, and
Without departing from technical feature content of the invention, in the range of still falling within the technology of the present invention feature.
Claims (6)
1. a kind of substation's support insulator center line extraction method based on point cloud data, which is characterized in that the pillar is exhausted
Edge subcenter line drawing method the following steps are included:
1) support insulator point cloud data is acquired；
2) point cloud data trigonometric ratio；
3) the cylinder end face of support insulator is extracted；
4) output of point cloud and de-noising of cylindrical section；
5) it is fitted cylinder characteristic quantity；
6) cylindrical center's vector is extracted；
The step 3) includes the following steps:
I) data of support insulator triangulated model are imported in related software, and obtain adjacent two full skirt using measuring tool
Between spacing L；
II) it is chosen in support insulator the lowermost umbrella skirt construction, and below the umbrella skirt construction at L/2 distance a little as circle
The initial point P in column cross section；
III) using horizontal plane where initial point P as initial plane, and the support insulator cylindrical cross-section S in the plane is extracted1；
IV) with cylinder cross section S1For starting point, using Z axis as translation direction, branch is extracted respectively using adjacent two full skirts spacing L as spacing
All cylindrical cross-section S in column insulator triangulated model2、S3、S4…Sn；
Cancellation process in the step 4) is as follows:
Step 1: adjusting all cylindrical cross-section S1, S2, S3…SnView observes support insulator using Z axis opposite direction as visual angle
Whether cylinder cross section point cloud data has some or several has significant difference with remaining；
Step 2: finding out a cloud individual cylinder cross sections devious, judge whether to cause deviation because full skirt point cloud interferes, if
It is then to eliminate full skirt point cloud；If it is not, then the cylindrical section point cloud is deleted, in cylinder where the cylinder cross section
Section point cloud cuts section again.
2. a kind of substation's support insulator center line extraction method based on point cloud data according to claim 1,
It is characterized in that, the step 1) includes the following steps:
A) Three Dimensional Ground laser radar and several targets are laid near support insulator, and the correlation of three-dimensional laser radar is set
Parameter；
B) support insulator side is scanned, and obtains corresponding point cloud data；
C) Three Dimensional Ground laser radar is set up in the support insulator other side, and acquires point cloud data；
It d) is complete support insulator point cloud data by the Point-clouds Registration in step b) and step c)；
E) using software by complete support insulator Point Cloud Processing, and the XYZ.ASC format point of standard is converted thereof into
Cloud data；
F) the XYZ.ASC format point cloud data for being converted into standard imports data processing software, and discrete noise point is eliminated.
3. a kind of substation's support insulator center line extraction method based on point cloud data according to claim 2,
It is characterized in that, the step 2) includes: the maximal side by defining triangle, by the point cloud data after de-noising in correlation
Software intermediate camization processing, to obtain support insulator triangulated model.
4. a kind of substation's support insulator center line extraction method based on point cloud data according to claim 3,
It is characterized in that, the step 5) includes two kinds of situations:
The first situation: each cross-section millet cake cloud of cylinder is more than 2/3rds circumference, and point cloud data quality is high；
Second situation: less than 2/3rds circumference of multiple cylinder cross sections point range, point cloud data missing are serious.
5. a kind of substation's support insulator center line extraction method based on point cloud data according to claim 4,
Be characterized in that: the first described situation seeks best fit by corresponding fitting algorithm using cylinder cross section point cloud data
Path directly fits character column amount, and the spatial parameter according to character column amount, using origin and direction character, i.e.,
It can be created that center line vector characteristics, which is exactly the center line of support insulator.
6. a kind of substation's support insulator center line extraction method based on point cloud data according to claim 4,
Be characterized in that: the second situation includes the following steps:
I) by trimming, choose partial dot cloud high-quality, with high accuracy；
II) choose on each cylindrical section point respectively at 3 points, according to 3 points of creation characteristic circles, can be obtained a series of disconnected
Region feature circle；
III) using the spatial parameter of the round heart of each cut surface character, a feature vector is fitted, this feature vector is branch
The center line of column insulator.
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| CN107154075A (en) * | 2017-03-21 | 2017-09-12 | 国网湖北省电力公司检修公司 | The method being modeled based on cloud data to Substation Insulator |
| CN108444346B (en) * | 2018-02-23 | 2023-12-08 | 中国科学院西安光学精密机械研究所 | Rotator center line leading-out device and method |
| CN110553606A (en) * | 2019-08-26 | 2019-12-10 | 广州供电局有限公司 | method, device and equipment for monitoring horizontal axis difference of supporting type tubular bus of transformer substation |
| CN110514177A (en) * | 2019-08-30 | 2019-11-29 | 云南电网有限责任公司昆明供电局 | A kind of online Quantitative Monitoring system of pipe mother support insulator gradient |
| CN110986787B (en) * | 2019-10-18 | 2021-08-10 | 南京慕荣电气科技有限公司 | Transformer substation support type pipe bus deformation early warning method based on point cloud data |
| CN113720508B (en) * | 2021-08-12 | 2023-07-07 | 浙江省电力锅炉压力容器检验所有限公司 | Post porcelain insulator stress monitoring device and method based on double laser scanning |
| CN114935317A (en) * | 2022-05-31 | 2022-08-23 | 国网安徽省电力有限公司电力科学研究院 | Method for detecting deflection degree of disc-shaped suspension porcelain insulator |
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