CN107154075A - The method being modeled based on cloud data to Substation Insulator - Google Patents
The method being modeled based on cloud data to Substation Insulator Download PDFInfo
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Abstract
The invention discloses a kind of method being modeled based on cloud data to Substation Insulator, it includes step：(1) cloud data of Substation Insulator is gathered by the way of Multiple-Scan；(2) cloud data for the Substation Insulator for obtaining Multiple-Scan is spliced；(3) denoising Processing is carried out to cloud data；(4) cloud data after de-noising is vacuated；(5) insulator center line is extracted, and rectangular coordinate system in space is set up using insulator center line as z-axis；(6) point cloud slicing in generation insulator XOZ faces；(7) 2-d contour of insulator is sketched the contours with two dimensional polyline, and through insulator center line formation closed curve；(8) using the point on 2-d contour as target rotation, three-dimensional rotation is carried out by rotary shaft of insulator center line, the submodel that insulate is obtained.The inventive method accurately and efficiently can be modeled to Substation Insulator, and good basis is provided for transformer station's three-dimensional visualization, intelligent supervision.
Description
Technical field
The present invention relates to a kind of modeling method, more particularly to a kind of method being modeled to Substation Insulator.
Background technology
Insulator refers between the conductor of different potentials or between conductor and ground potential component, be resistant to voltage
The device acted on mechanical stress.At present, the attention for having obtained professional is supervised in transformer station's three-dimensional visualization, intellectuality, is entered
Row transformer station outdoor scene three-dimensionalreconstruction is the basis for realizing transformer station's three-dimensional visualization.To realize transformer station's outdoor scene three-dimensionalreconstruction, need
Equipment various to transformer station inside carry out accurately and efficiently three-dimensionalreconstruction.At present it is contemplated that being used for the modeling side of Substation Insulator
Method mainly includes：
(1) modeling method based on Virtual Reality Modeling Language.
Virtual Reality Modeling Language (Virtual Reality Modeling Language, VRML) is not only one kind and built
Mould language, is also a kind of scene language of object behavior in description 3D scenes.VRML is by programming language with cube, circular cone
Body, cylinder, spheroid etc. are that primary object construction insulator, disconnecting switch, breaker, voltage and current transformer etc. are electrically set
Apply and BUILDINGS MODELS, and specific materials are sticked to model, then splice these models to complete the three-dimensional scenic of whole transformer station
Modeling.The corresponding Java language of VRML script nodes (script) can carry out man-machine interaction, Jin Ershi using transformer station model
Existing transformer station virtual reality system.Though VRML modelings can easily carry out man-machine interaction, the model of fitting is due to using vertical
Cube, cone, cylinder, the combination of spheroid are built, and necessarily cause transformer station model to lack the sense of reality, model accuracy is poor.
(2) modeling method based on geometric modeling.
Geometric shape modeling method is utilized according to transformer station's digital pictures, design drawing and producer's facility drawing
The professional softwares such as AutoCAD, 3dMax, Maya, are set up using cube, cylinder, cone, annulus etc. according to a certain percentage
The threedimensional model of the various electric utilities of transformer station, then sets model pinup picture and material, and splicing electric utility model completes power transformation
Three-dimensional scenic of standing is modeled, and the model that the modeling method is obtained mainly has three kinds:Wire-frame model, surface model and physical model.It is several
What moulding modeling efficiency and intuitive preferably, but are difficult to real scene modeling.
Both the above modeling method can not be realized as the conventional method for being presently available for transformer station model three-dimensionalreconstruction
Transformer station model is true, high-precision model reconstruction, may be only available for that some are low to model accuracy requirement, to authenticity requirement not
In high occasion, it is impossible to meet the requirement that transformer station's three-dimensional visualization is used.Need it is emphasized that insulator is used as transformer station
In most commonly seen electrical equipment, realizing it, efficiently, accurately three-dimensional model reconfiguration is significant.But it is existing at present
Two kinds of modeling methods available for Substation Insulator all have that precision is low, authenticity is not enough and modeling efficiency is low asks
Topic, it is difficult to meet for insulation submodel high accuracy, high-quality requirement.Therefore, in order to realize the outdoor scene Three-dimensional Gravity of transformer station
Structure, it is necessary to study the insulator modeling method in transformer station, finds a kind of brand-new method.
(3) modeling method based on laser point cloud.
In recent years, with the development of laser measuring technique, the laser spots of body surface are obtained using laser radar scanner
The advantages of cloud possesses high accuracy, high efficiency.Cloud data refers to the spy that body surface is obtained using measurement means such as laser, photographies
Levy a little, these characteristic points are possible to 3 d space coordinate, colouring information or Reflection intensity information comprising object etc., due to points
Amount is very big, therefore is referred to as point cloud.Because the measurand cloud data that Three Dimensional Ground laser radar is collected has in high precision, entirely
The advantages of numerical characteristic, image conversion, the advantage being combined according to the digital feature of cloud data with image conversion, can be three-dimensionalreconstruction
There is provided data to support, and build model using this method has the advantages that precision height, efficiency high, can adjust, and compensate for tradition and builds
The deficiencies such as mould means efficiency is low, low precision.This method has been widely used in historical relic's protection, architectural mapping, communications and transportation, ship
The multiple fields such as oceangoing ship manufacture, and achieve good application effect.But these applications are confined to some simple rule objects
In terms of modeling and measurement, such as the single communal facility modeling of the single Building Modeling in border, structure and apart from, it is high
Degree, volume etc. are measured, and are seldom related to the reconstruct of complex model.In view of one in the particularity of substation structure, other field
A little modeling methods can not be simply transplanted among transformer station model reconstruct, directly become using the modeling method of other field
The reconstruct of power station model can cause the problems such as model accuracy is poor, details is lacked.Therefore, it is desirable to obtain a kind of exhausted available for transformer station
The modeling method based on cloud data of edge.
The content of the invention
It is an object of the invention to provide a kind of method being modeled based on cloud data to Substation Insulator, this method
Available for being accurately and efficiently modeled to Substation Insulator to realize the three-dimensionalreconstruction of Substation Insulator, so as to enter one
Step realizes the outdoor scene three-dimensionalreconstruction of transformer station, and good basis is provided for transformer station's three-dimensional visualization, intelligent supervision.
According to foregoing invention purpose, the present invention is proposed a kind of to be modeled based on cloud data to Substation Insulator
Method, it includes step：
(1) cloud data of Substation Insulator is gathered by the way of Multiple-Scan, the cloud data is comprised at least
Three-dimensional coordinate data；
(2) cloud data for the Substation Insulator for obtaining Multiple-Scan is spliced, to realize that cloud data is wrapped
The normalization of the three-dimensional coordinate data contained；
(3) denoising Processing is carried out to cloud data；
(4) cloud data after de-noising is vacuated；
(5) cloud data after basis is vacuated, extracts insulator center line, and sets up empty by z-axis of insulator center line
Between rectangular coordinate system；
(6) using XOZ planes as the plane of symmetry, the insulator cloud data parallel to XOZ planes, generation insulator XOZ are extracted
The point cloud slicing in face；
(7) point cloud slicing based on insulator, the 2-d contour of insulator is sketched the contours with two dimensional polyline, and through insulator
Center line formation closed curve；
(8) using the point on 2-d contour as target rotation, three-dimensional rotation is carried out by rotary shaft of insulator center line, is obtained
To insulation submodel.
The method of the present invention being modeled based on cloud data to Substation Insulator is exhausted by gathering transformer station
The cloud data of edge simultaneously carries out a series of data processing, and the practical structures for being then based on Substation Insulator extract insulator
Center line, and rectangular coordinate system in space is set up using insulator center line as z-axis, it is then based in the rectangular coordinate system in space
The point cloud slicing in XOZ planes generation insulator XOZ faces, and the point cloud slicing based on the insulator obtains including the two dimension of insulator
The closed curve of contour line and insulator center line, finally using the point on 2-d contour as target rotation, with the subcenter that insulate
Line is that rotary shaft carries out three-dimensional rotation, obtains the submodel that insulate.Wherein：
In step (1), the Multiple-Scan becomes to described from different angles respectively typically by multiple scanning websites
Station insulator is scanned, and its purpose primarily to gather the cloud data of Substation Insulator in all directions as far as possible.
The Multiple-Scan can be scanned using laser radar scanner, and it obtains cloud data and belongs to prior art, therefore this
Place is not described in detail.
In step (2), the normalized method of the three-dimensional coordinate data can be by arranging spherical target to three-dimensional
Coordinate data is positioned to realize normalization.
In step (3), the denoising Processing includes automatic de-noising, i.e., using automatic denoising algorithm that most of noise is (main
If the noise of fine particle formation in air) eliminate.Many suitable for the automatic denoising algorithm of a cloud, it is prior art,
Therefore it is not described in detail herein.
In step (4), vacuate and refer to, in the case where ensureing that vector curve shape is basically unchanged, number be reduced to greatest extent
Strong point number, so as to save memory space and reduce the amount of calculation of subsequent treatment.
In step (5), the rectangular coordinate system generally includes x-axis perpendicular to each other, y-axis and z-axis.
In step (6), the XOZ planes refer to the plane of x-axis, z-axis and rectangular coordinate system origin O formation.The insulator
The thickness of the point cloud slicing in XOZ faces is determined generally according to insulator sizes, can reflect that insulator circumference, thickness are as far as possible small
For principle.
In step (8), it is structurally characterized in that pivot is symmetrical due to Substation Insulator, therefore with 2-d contour
Point be target rotation, by rotary shaft of insulator center line carry out three-dimensional rotation, you can obtain insulation submodel.
The inventive method accurately and efficiently can be modeled to realize the three-dimensional of Substation Insulator to Substation Insulator
Reconstruct, so as to further realize the outdoor scene three-dimensionalreconstruction of transformer station, provides good for transformer station's three-dimensional visualization, intelligent supervision
Good basis.
Further, in the method for the present invention being modeled based on cloud data to Substation Insulator, in institute
State in step (3), cloud data is carried out by the way of " automatic de-noising-manual de-noising-automatic de-noising " substitutes circulation successively
Denoising Processing.
In such scheme, manual de-noising is carried out on the basis of automatic de-noising, manual de-noising object can include ground, enclose
All unrelated insulator point clouds such as wall, building, other equipment, personage and clean air noise is not eliminated；Then to manual
Noise after de-noising carries out automatic de-noising again, because most of noise can generally be eliminated after manual de-noising, but still
Can the tiny isolated noise of residual fraction, this part noise be due to first automatic de-noising residual or during due to manual de-noising to making an uproar
Residual causes when point cluster is eliminated, and can greatly reduce this part noise by automatic de-noising again, realize de-noising effect
Further optimization.
Further, in the above-mentioned method being modeled based on cloud data to Substation Insulator, the number of times of circulation
At least once.
Further, it is described in the method for the present invention being modeled based on cloud data to Substation Insulator
Cloud data also includes at least one of colouring information and Reflection intensity information.
In such scheme, corresponding surface color and material can be determined by the colouring information and Reflection intensity information
Matter.
Further, the of the present invention and any of the above-described method being modeled based on cloud data to Substation Insulator
In, the step (4) includes：
For the cloud data in any one region, the normal vector of each point is calculated；
The point that point similar with calculating obtained normal vector in close region and normal vector are mutated is found, wherein by normal direction
The similar point of amount is as point to be deleted, and the point that normal vector is mutated is used as retention point；
Then deleted according to the selected ratio point similar to normal vector.
In such scheme, generally for any point P put in any one region in cloudk, its normal vector NkCalculation formula
For：
Wherein l is with PkFor the triangle number on summit, αiIt is i-th of triangle in summit PkThe relative angle at place, ViFor
The normal vector of i triangle.The ratio can carry out reasonable selection according to the point cloud precision collected.This method can be well
Original contour feature is kept, simplifies efficiency higher.
Further, in the above-mentioned method being modeled based on cloud data to Substation Insulator, normal vector is judged
The method of similar and normal vector mutation is：The angle between two normal vectors is calculated, if the angle is less than or equal to the threshold of setting
Value, then be judged as that normal vector is similar；If the angle is more than the threshold value, it is judged as that normal vector is mutated.
In such scheme, the angle calcu-lation method between usual any two normal vector is as follows：
Further, it is described in the method for the present invention being modeled based on cloud data to Substation Insulator
Step (5) includes：
Spacing l between (5a) measurement two neighboring full skirt of insulator；
(5b) finds the full skirt of insulator bottom, is chosen at l/2 distances be a little used as section initial point P thereunder；
Horizontal plane where (5c) using section initial point P is initial plane, and the insulator cylinder extracted in the plane is cross-section
Face S1；
(5d) is with cylinder cross section S1For starting point, using adjacent two full skirts spacing l as spacing, using vertical direction as translation side
To extracting all cylinder cross section S in insulator cloud data respectively2、S3...Sn；
(5e) chooses at least 3 points on the cross-section millet cake cloud of each insulator cylinder respectively, according to this at least 3 points establishments
Characteristic circle, is justified with obtaining a series of cross sectional feature；
(5f) extracts the center of circle O of each cross sectional feature circlei(xi, yi, zi), and the theoretical circle of insulator is calculated according to this
The heart
(5g) passes throughOn(xn, yn, zn) straight line be insulator center line, and using the center line as z-axis
Set up rectangular coordinate system in space.
In such scheme, the theoretical center of circle of the insulator in step (5f)Computational methods can be：
Wherein, consider for modeling requirement, artificially the selected center of circle is located at insulator bottom, regulationValue is minimum point
z1, i.e. cylinder cross section S1Characteristic circle the center of circle z-axis coordinate.
The advantage and beneficial effect of the method for the present invention being modeled based on cloud data to Substation Insulator
Including：
(1) accurately and efficiently Substation Insulator is modeled to realize the three-dimensionalreconstruction of Substation Insulator, so that
The outdoor scene three-dimensionalreconstruction of transformer station can be further realized, good basis is provided for transformer station's three-dimensional visualization, intelligent supervision.
(2) the problem of traditional modeling method precision is low, authenticity is poor is solved, and is realized exhausted using laser point cloud realization
High-quality, the high-precision modeling of edge, meets insulator outdoor scene, the modeling demand of efficient and high fidelity.
(3) specification that may be referred to actual object carries out parameter adjustment to institute's established model, with modifiable advantage.
Brief description of the drawings
Fig. 1 is the method for the present invention being modeled based on cloud data to Substation Insulator in a kind of embodiment party
Flow chart under formula.
Fig. 2 is a kind of realistic picture of Substation Insulator.
Fig. 3 is the method for the present invention being modeled based on cloud data to Substation Insulator in a kind of embodiment party
The Computing Principle schematic diagram of each point normal vector in cloud data under formula.
Fig. 4 is the method for the present invention being modeled based on cloud data to Substation Insulator in a kind of embodiment party
The cloud data figure of the insulator extracted under formula.
Fig. 5 is the method for the present invention being modeled based on cloud data to Substation Insulator in a kind of embodiment party
The cloud data figure in the cylinder cross section extracted under formula.
Fig. 6 is the method for the present invention being modeled based on cloud data to Substation Insulator in a kind of embodiment party
The cross sectional feature circle diagram generated under formula.
Fig. 7 is the method for the present invention being modeled based on cloud data to Substation Insulator in a kind of embodiment party
The center line chart of the insulator extracted under formula.
Fig. 8 is the method for the present invention being modeled based on cloud data to Substation Insulator in a kind of embodiment party
The point cloud slicing figure in the insulator XOZ faces generated under formula.
Fig. 9 is the method for the present invention being modeled based on cloud data to Substation Insulator in a kind of embodiment party
The closed curve figure generated under formula.
Figure 10 is implemented to be of the present invention based on the method that cloud data is modeled to Substation Insulator in one kind
The insulator three-dimensional contour line illustraton of model generated under mode.
Figure 11 is implemented to be of the present invention based on the method that cloud data is modeled to Substation Insulator in one kind
The insulator three-dimensional entity model figure generated under mode.
Embodiment
Below in conjunction with Figure of description and specific embodiment to the cloud data of the present invention that is based on to transformer station
The method that insulator is modeled is described in further detail.
Fig. 1 shows the method for the present invention being modeled based on cloud data to Substation Insulator a kind of real
Apply the flow under mode.Fig. 2 shows a kind of realistic picture of Substation Insulator.Fig. 3 shows of the present invention based on point
The meter of each point normal vector in a kind of cloud data of the method that cloud data are modeled to Substation Insulator under embodiment
Calculate principle.Fig. 4 shows the cloud data for the insulator that the present embodiment is extracted.Fig. 5 shows that the cylinder that the present embodiment is extracted is horizontal
The cloud data of section.Fig. 6 shows the cross sectional feature circle of the present embodiment generation.It is exhausted that Fig. 7 shows that the present embodiment is extracted
The center line of edge.Fig. 8 shows the point cloud slicing in the insulator XOZ faces of the present embodiment generation.Fig. 9 shows that the present embodiment is given birth to
Into closed curve.Figure 10 shows the insulator three-D profile line model of the present embodiment generation.Figure 11 shows the present embodiment
The insulator three-dimensional entity model of generation.
As shown in figure 1, the method being modeled to Substation Insulator based on cloud data under the embodiment can be with
Realized by laser 3 d scanner, computer and the software run thereon, including step：
Step 110：The cloud data of Substation Insulator is gathered by the way of Multiple-Scan, the cloud data is at least
Include three-dimensional coordinate data.Wherein, cloud data can also include colouring information and/or Reflection intensity information.
In the present embodiment, scene is reconnoitred first, with reference to associated safety operating standard in transformer station, is ensureing the premise of safety
Under, determine sweep object and plan scanning route；Then the insulation of laser radar scanner point scanning website collection transformer station is utilized
Sub- cloud data, needs to lay spherical target, main function is to provide space identification for later data processing, is easy to number during collection
According to splicing.The realistic picture of Substation Insulator is as shown in Figure 2.
Step 120：The cloud data for the Substation Insulator that Multiple-Scan is obtained is spliced, to realize cloud data
Comprising three-dimensional coordinate data normalization.
In the present embodiment, the spherical target laid during according to scanning is realized not using the 3 d space coordinate of spherical target
With the space coordinate alignment of scanning website, the purpose of the cloud data Unitary coordinate of different scanning website is reached, so as to realize
The splicing of cloud data, obtains complete insulator cloud data.
Step 130：Denoising Processing is carried out to cloud data.
In the present embodiment, to a cloud number by the way of " automatic de-noising-manual de-noising-automatic de-noising " substitutes circulation successively
According to progress denoising Processing.Wherein, the number of times of circulation is at least once.Specifically, first, using automatic denoising algorithm by big portion
Noise (the mainly noise of fine particle formation in air) is divided to eliminate；Secondly, disappeared manually on the basis of automatic de-noising
Make an uproar, manual de-noising object is comprising all Independent Point clouds such as ground, enclosure wall, building, other equipment, personages and does not eliminate clean
Air noise；Finally, automatic de-noising again is carried out to the noise after manual de-noising, as a rule can be by major part after manual de-noising
Noise is eliminated, but still can the tiny isolated noise of residual fraction, this part noise be due to first automatic de-noising residual or by
Residual causes when being eliminated when manual de-noising to noise cluster, and can greatly reduce this part by automatic de-noising again makes an uproar
Point, realizes the optimal of de-noising effect.
Step 140：Cloud data after de-noising is vacuated.
In the present embodiment, the step is specifically included：For the cloud data in any one region, the normal direction of each point is calculated
Amount；The point that point similar with calculating obtained normal vector in close region and normal vector are mutated is found, wherein by normal vector phase
As point be used as point to be deleted, the point that normal vector is mutated is used as retention point；Then it is similar to normal vector according to the ratio selected
Point deleted.Wherein, for putting any point P in cloud in any one regionk, its normal vector NkCalculation formula is：
Wherein l is with PkFor the triangle number on summit, αiIt is i-th of triangle in summit PkThe relative angle at place, ViFor
The normal vector of i triangle.Fig. 3 shows summit PkAnd five triangles of five point A1-A5 formation around it, this five
It is α that triangle, which distinguishes corresponding relative angle,1-α5, corresponding normal vector is V1-V5, summit PkNormal vector be Nk.Aforementioned proportion
Reasonable selection is carried out according to the point cloud precision collected.Above-mentioned judgement normal vector is similar and the method for normal vector mutation is：Meter
The angle between two normal vectors is calculated, if the angle is less than or equal to the threshold value of setting, is judged as that normal vector is similar；If the angle is big
In the threshold value of setting, then it is judged as that normal vector is mutated.Wherein, the angle calcu-lation method between any two normal vector is as follows：
By 110~step 140 of above-mentioned steps, the cloud data for realizing modeling object insulator is extracted, and extracts result
As shown in Figure 4.
Step 150：According to the cloud data after vacuating, insulator center line is extracted, and built as z-axis using insulator center line
Vertical rectangular coordinate system in space.
In the present embodiment, the step is specifically included：
Spacing l between (150a) measurement two neighboring full skirt of insulator.
(150b) finds the full skirt of insulator bottom, is chosen at l/2 distances be a little used as section initial point thereunder
P。
Horizontal plane where (150c) using section initial point P is initial plane, and the insulator cylinder extracted in the plane is horizontal
Section S1。
(150d) is with cylinder cross section S1For starting point, using adjacent two full skirts spacing l as spacing, using vertical direction as translation side
To extracting all cylinder cross section S in insulator cloud data respectively2、S3...Sn, as shown in Figure 5.
(150e) chooses at 3 points on the cross-section millet cake cloud of each insulator cylinder respectively, according to this 3 points establishment features
Circle, is justified, as shown in Figure 6 with obtaining a series of cross sectional feature.
(150f) extracts the center of circle O of each cross sectional feature circlei(xi, yi, zi), and the theory of insulator is calculated according to this
The center of circle
In the present embodiment, the theoretical center of circle of the insulator in the stepComputational methods be：
Wherein, consider for modeling requirement, artificially the selected center of circle is located at insulator bottom, regulationValue is minimum point
z1, i.e. cylinder cross section S1Characteristic circle the center of circle z-axis coordinate.
(150g) passes throughOn(xn, yn, zn) straight line be insulator center line, such as arrow institute in Fig. 7
Show, and rectangular coordinate system in space is set up using the center line as z-axis, the rectangular coordinate system includes x-axis perpendicular to each other, y-axis and z
Axle.
Step 160：Using XOZ planes as the plane of symmetry, the insulator cloud data parallel to XOZ planes, generation insulation are extracted
The point cloud slicing in sub- XOZ faces, as shown in Figure 8.
In the present embodiment, above-mentioned XOZ planes refer to the plane of x-axis, z-axis and rectangular coordinate system origin O formation.Above-mentioned insulator
The thickness of the point cloud slicing in XOZ faces is determined according to insulator sizes, can reflect that it is small for original that insulator circumference, thickness are tried one's best
Then.
Step 170：Point cloud slicing based on insulator, the 2-d contour of insulator is sketched the contours with two dimensional polyline, and is passed through
Insulator center line formation closed curve, as shown in Figure 9.
Step 180：Using the point on 2-d contour as target rotation, three-dimensional rotation is carried out by rotary shaft of insulator center line
Turn, obtain the submodel that insulate.
In the present embodiment, the step is specifically included：
With the point position target rotation on 2-d contour, three-dimensional rotation is carried out by rotary shaft of insulator center line, for
Any point (x on contour linei,yi,zi), corresponding curvilinear equation is x after rotation2+y2+(z-zi)2=xi 2+yi 2, so as to obtain
Insulator three-D profile line model, as shown in Figure 10.
It is three-dimensional entity model by three-dimensional contour line model conversion, that is, insulator three-dimensional entity model is obtained, such as Figure 11 institutes
Show.
Building insulator three-dimensional entity model using the above method has the advantages that modeling efficiency height, model accuracy are high, and
And may be referred to the specification of actual object parameter adjustment is carried out to institute's established model, it is an entry value with that the advantage such as can change
Obtain the insulator class model high efficiency modeling method of popularization and application.
Claims (7)
1. a kind of method being modeled based on cloud data to Substation Insulator, it is characterised in that including step：
(1) cloud data of Substation Insulator is gathered by the way of Multiple-Scan, the cloud data comprises at least three-dimensional
Coordinate data；
(2) cloud data for the Substation Insulator for obtaining Multiple-Scan is spliced, and is included with to realize cloud data
The normalization of three-dimensional coordinate data；
(3) denoising Processing is carried out to cloud data；
(4) cloud data after de-noising is vacuated；
(5) according to the cloud data after vacuating, insulator center line is extracted, and it is straight using insulator center line as z-axis to set up space
Angular coordinate system；
(6) using XOZ planes as the plane of symmetry, the insulator cloud data parallel to XOZ planes is extracted, generation insulator XOZ faces
Point cloud slicing；
(7) point cloud slicing based on insulator, the 2-d contour of insulator is sketched the contours with two dimensional polyline, and through the subcenter that insulate
Line formation closed curve；
(8) using the point on 2-d contour as target rotation, three-dimensional rotation is carried out by rotary shaft of insulator center line, is obtained absolutely
Edge submodel.
2. the method as claimed in claim 1 being modeled based on cloud data to Substation Insulator, it is characterised in that
In the step (1), cloud data is entered by the way of " automatic de-noising-manual de-noising-automatic de-noising " substitutes circulation successively
Row denoising Processing.
3. the method as claimed in claim 2 being modeled based on cloud data to Substation Insulator, it is characterised in that follow
The number of times of ring is at least once.
4. the method as claimed in claim 1 being modeled based on cloud data to Substation Insulator, it is characterised in that institute
State at least one of cloud data also comprising colouring information and Reflection intensity information.
5. the method being modeled based on cloud data to Substation Insulator as described in any one in claim 1-4,
Characterized in that, the step (4) includes：
For the cloud data in any one region, the normal vector of each point is calculated；
The point that point similar with calculating obtained normal vector in close region and normal vector are mutated is found, wherein by normal vector phase
As point be used as point to be deleted, the point that normal vector is mutated is used as retention point；
Then deleted according to the selected ratio point similar to normal vector.
6. the method as claimed in claim 5 being modeled based on cloud data to Substation Insulator, it is characterised in that sentence
Disconnected normal vector is similar and method of normal vector mutation is：The angle between two normal vectors is calculated, if the angle is less than or equal to
The threshold value of setting, then be judged as that normal vector is similar；If the angle is more than the threshold value, it is judged as that normal vector is mutated.
7. the method as claimed in claim 1 being modeled based on cloud data to Substation Insulator, it is characterised in that institute
Stating step (5) includes：
Spacing l between (5a) measurement two neighboring full skirt of insulator；
(5b) finds the full skirt of insulator bottom, is chosen at l/2 distances be a little used as section initial point P thereunder；
Horizontal plane where (5c) using section initial point P extracts the insulator cylinder cross section S in the plane as initial plane1；
(5d) is with cylinder cross section S1For starting point, using adjacent two full skirts spacing l as spacing, using vertical direction as translation direction, distinguish
Extract cylinder cross section S all in insulator cloud data2、S3...Sn；
(5e) chooses at least 3 points on the cross-section millet cake cloud of each insulator cylinder respectively, according to this at least 3 points establishment features
Circle, is justified with obtaining a series of cross sectional feature；
(5f) extracts the center of circle O of each cross sectional feature circlei(xi, yi, zi), and the theoretical center of circle of insulator is calculated according to this
(5g) passes throughOn(xn, yn, zn) straight line be insulator center line, and by z-axis of the center line set up
Rectangular coordinate system in space.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710170621.8A CN107154075A (en) | 2017-03-21 | 2017-03-21 | The method being modeled based on cloud data to Substation Insulator |
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| CN107900534A (en) * | 2017-11-16 | 2018-04-13 | 惠州市契贝科技有限公司 | Steel plate and its method for cutting edge, cutting equipment |
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| CN110794861A (en) * | 2019-11-14 | 2020-02-14 | 国网山东省电力公司电力科学研究院 | Autonomous string falling method and system for flying on-line and off-line insulator string detection robot |
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| CN107900534A (en) * | 2017-11-16 | 2018-04-13 | 惠州市契贝科技有限公司 | Steel plate and its method for cutting edge, cutting equipment |
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| CN112050791A (en) * | 2020-09-15 | 2020-12-08 | 国家电网有限公司 | Device and method for observing GIS equipment isolation switch action parameters |
| 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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