CN107607929A - A kind of method and device at the measurement shaft tower angle of inclination based on laser point cloud data - Google Patents
A kind of method and device at the measurement shaft tower angle of inclination based on laser point cloud data Download PDFInfo
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- CN107607929A CN107607929A CN201710852065.2A CN201710852065A CN107607929A CN 107607929 A CN107607929 A CN 107607929A CN 201710852065 A CN201710852065 A CN 201710852065A CN 107607929 A CN107607929 A CN 107607929A
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Abstract
This application discloses a kind of method and device at the measurement shaft tower angle of inclination based on laser point cloud data, it is related to field of measuring technique, to solve the problems, such as the low invention of shaft tower inclining test efficiency.This method mainly includes：The laser point cloud data of shaft tower is obtained, the laser point cloud data is obtained by airborne laser radar system；Identify the cross-arm data in the laser point cloud data；According to the cross-arm data, calculating simulation cross-arm plane equation；Calculate the normal of the simulation cross-arm plane equation and the shaft tower angle of inclination of Z axis.During the application is mainly used in shaft tower inclination measurement.
Description
Technical field
The application is related to field of measuring technique, more particularly to a kind of measurement shaft tower angle of inclination based on laser point cloud data
Method and device.
Background technology
Shaft tower is basic equipment in overhead transmission line, into tower-like framework, for supporting overhead line conductor and aerial ground
Line, it is between wire and wire, between wire and aerial earth wire, and wire is enough to having between the earth and scissors crossing thing
Safe distance.Shaft tower tilts the phenomenon for referring to because pole and tower foundation changes, cause shaft tower center deviation plumb position.Shaft tower inclines
Gradient refers to the deviation angle of shaft tower center and plummet.Before circuit puts into operation, shaft tower gradient is measured during final acceptance of construction, so as to timely
It was found that inclination defect existing for shaft tower, allow construction party timely processing, remove a hidden danger, it is ensured that circuit put into operation after safe operation.Line
After road is put into operation, when the geological disasters such as landslide, depression occurring or external force is destroyed, shaft tower gradient is remeasured, in order to judge
Take interim reclamation activities or permanent reclamation activities.
The existing measurement inclined method of shaft tower has vertical mensuration, transit survey method, plane mirror measurement method and ground
Three-dimensional laser mensuration.Three-dimensional laser scanning technique, it is an emerging surveying and mapping technology, can rapidly obtains space uniform point
Cloth and the higher point cloud coordinate data information of density, so as to be finally inversed by the threedimensional model of measurement object.3 D laser scanning
Instrument uses non-contacting measuring method, directly obtains the sampled point on practice surface, i.e. laser point cloud data.Laser point cloud data passes through
Arbitrary surface can be reconstructed by crossing processing.Three Dimensional Ground laser optical method, is specifically included：One is chosen in the tower angle main material of shaft tower
It is individual compared with low spot, an absolute horizon is established with the three-dimensional coordinate of the point and normal vector (0,0,1), and then choose other three towers
Angle and the intersection point of horizontal plane, the bottom centre of shaft tower point is used as using the diagonal of this four tower angle points；Then in head of mast
Tower material construction center, which is chosen, is a little used as head of mast central point last, by shaft tower bottom bottom centre point and head of mast
Heart point calculates the gradient of shaft tower.
Three Dimensional Ground laser measurement method, in order to accurately choose angle point, shaft tower inclination measurement precision is improved, it is necessary to same
Individual shaft tower carries out repeatedly setting the complete shaft tower cloud data of station acquisition, and handles a large amount of shaft tower cloud datas, it is difficult to improves shaft tower
Inclined measurement efficiency.
The content of the invention
This application provides a kind of method and device at the measurement shaft tower angle of inclination based on laser point cloud data, to solve
The problem of shaft tower inclining test efficiency is low.
In a first aspect, this application provides a kind of method at the measurement shaft tower angle of inclination based on laser point cloud data, should
Method includes：The laser point cloud data of shaft tower is obtained, the laser point cloud data is obtained by airborne laser radar system；Identification
Cross-arm data in the laser point cloud data；According to the cross-arm data, calculating simulation cross-arm plane equation；Calculate the mould
Intend the normal of cross-arm plane equation and the shaft tower angle of inclination of Z axis.Using this implementation, by airborne laser radar system,
Flight can obtain a large amount of laser point cloud datas, can ensure the degree of accuracy of laser point cloud data and obtain efficiency.Cross-arm number
According to including multiple data points, the simulation cross-arm plane equation calculated according to cross-arm data is high with actual cross-arm plane degree of conformity, makes
The shaft tower gradient accuracy rate that must be calculated is high.By identifying that cross-arm data calculate shaft tower gradient, suitable for containing cross-arm data
Various shaft tower types.And not by surrounding environment influence, it is not necessary to which manual site measures, and improves operating efficiency, saves manpower
Physical resources and financial resources.
With reference in a first aspect, in first aspect in the first possible implementation, the identification laser point cloud number
Cross-arm data in, including：Laser point cloud data described in three-dimensional visualization；According to preset visual angle, the laser point cloud is rotated
Data；Identify the cross-arm data.Using this implementation, cross-arm data can be accurately identified, improves and calculates shaft tower gradient
The degree of accuracy.
It is described to calculate the simulation cross-arm with reference in a first aspect, in second of possible implementation of first aspect
The normal of plane equation and the shaft tower angle of inclination of Z axis, including：Obtain it is described simulation cross-arm plane equation normal direction to
Amount；If the Z-direction coefficient of the simulation cross-arm plane equation is more than zero, it is determined that the normal direction vector and Z axis are just
To angle be the shaft tower angle of inclination；If the Z-direction coefficient of the simulation cross-arm plane equation is less than zero, it is determined that
The angle of the normal direction vector and Z axis negative sense is the angle of inclination of the shaft tower.
It is described to calculate the simulation cross-arm with reference in a first aspect, in the third possible implementation of first aspect
After the normal of plane equation and the shaft tower angle of inclination of Z axis, methods described also includes：According to the simulation cross-arm plane side
Journey, judge the shaft tower incline direction.
It is described according to the simulation cross-arm with reference in a first aspect, in the 4th kind of possible implementation of first aspect
Plane equation, judge the shaft tower incline direction, including：Obtain the X-axis coefficient and Y-axis coefficient of the cross-arm plane equation；Such as
X-axis coefficient described in fruit is more than zero, and Y-axis coefficient is more than zero, it is determined that the shaft tower incline direction is northeast；If the X-axis
Coefficient is less than zero, and Y-axis coefficient is more than zero, it is determined that the shaft tower incline direction is northwest；If the X-axis coefficient is less than
Zero, and Y-axis coefficient is less than zero, it is determined that the shaft tower incline direction is southwest；If the X-axis coefficient is more than zero, and Y-axis system
Number is less than zero, it is determined that the shaft tower incline direction is the southeast.
Second aspect, present invention also provides a kind of device at the measurement shaft tower angle of inclination based on laser point cloud data,
Described device includes being used for the module for performing method and step in the various implementations of first aspect.
The third aspect, present invention also provides a kind of terminal, including：Processor and memory；The processor can be held
The program stored in the row memory or instruction, so as to realize to be based on laser spots described in the various implementations of first aspect
The method at the measurement shaft tower angle of inclination of cloud data.
Fourth aspect, present invention also provides a kind of storage medium, the computer-readable storage medium can have program stored therein, the journey
Sequence can realize that the method at the measurement shaft tower angle of inclination based on laser point cloud data provided including the application is respectively implemented when performing
Part or all of step in example.
Brief description of the drawings
In order to illustrate more clearly of the technical scheme of the application, letter will be made to the required accompanying drawing used in embodiment below
Singly introduce, it should be apparent that, for those of ordinary skills, without having to pay creative labor,
Other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is a kind of method flow diagram at measurement shaft tower angle of inclination based on laser point cloud data that the application provides；
Fig. 2 is the method flow diagram of cross-arm data in a kind of identification laser point cloud data that the application provides；
Fig. 3 is normal and the shaft tower angle of inclination of Z axis for a kind of calculating simulation cross-arm plane equation that the application provides
Method flow diagram；
Fig. 4 is the method flow at another measurement shaft tower angle of inclination based on laser point cloud data that the application provides
Figure；
Fig. 5 is a kind of method flow diagram for judgement shaft tower incline direction that the application provides；
Fig. 6 is that a kind of device at measurement shaft tower angle of inclination based on laser point cloud data that the application provides forms frame
Figure；
Fig. 7 is a kind of composition frame chart for recognition unit that the application provides；
Fig. 8 is a kind of composition frame chart for second computing unit that the application provides；
Fig. 9 is that the device with measurement shaft tower angle of inclination of the another kind based on laser point cloud data that the application provides forms
Block diagram；
Figure 10 is a kind of composition frame chart for judging unit that the application provides.
Embodiment
Referring to Fig. 1, a kind of method stream at the measurement shaft tower angle of inclination based on laser point cloud data provided for the application
Cheng Tu.As shown in figure 1, this method includes：
Step 101, the laser point cloud data of shaft tower is obtained.
Laser point cloud data is obtained by airborne laser radar system.Laser point cloud is obtained by airborne laser radar system
Data, do not limited by geographical environment, the validity of laser point cloud data can be ensured.Laser point cloud data is whole shaft tower energy
The set of the laser reflection point enough formed.For the processing in subsequent step to cross-arm data, the data of laser point cloud data are close
Degree is, it is necessary to meet that cross-arm data are complete corresponding to cross arm of tower, do not lack.
Step 102, the cross-arm data in laser point cloud data are identified.
Cross-arm, refer to the angle bar that electric pole top is laterally fixed, there is porcelain vase above, for supporting trolley wire.Cross-arm
It is part important in shaft tower, its effect is for installing insulator and gold utensil, to support wire, lightning conducter, and is made
Keep certain safe distance by regulation.Laser point cloud data corresponding to cross arm of tower is cross-arm data.
Laser point cloud data, it is the set of the point coordinates with particular community, laser spots can not be identified according to point coordinates
Cross-arm data in cloud data.Tower Model is simulated according to laser point cloud data, according to the Tower Model of simulation, identification shaft tower is horizontal
Position is carried on a shoulder pole, further according to cross-arm position, identifies the cross-arm data in laser point cloud data.
Step 103, according to cross-arm data, calculating simulation cross-arm plane equation.
Include multiple cross-arms on one shaft tower, multiple cross-arms are in the different planes being parallel to each other.No matter which is chosen
Plane where individual cross-arm, the shaft tower angle of inclination of calculating are all equal.So according to the point coordinates of cross-arm data, choose Z axis and sit
The similar point of scale value is as the target point for calculating cross-arm plane equation.The quantity of target point is more than necessary to Calculation Plane equation
Point, using all target points as according to calculating simulation cross-arm plane equation so that cross-arm plane equation can be characterized more accurately
Cross-arm corresponding to target point.
Step 104, the shaft tower angle of inclination of the normal of calculating simulation cross-arm plane equation and Z axis.
The method that now citing calculates shaft tower angle of inclination, it is assumed that the expression for the simulation cross-arm plane equation that step 103 calculates
Formula is Ax+By+Cz+D=0, then the normal direction for simulating plane is (A, B, C).Shaft tower inclination angle is represented with α, Z-direction to
Measure as (0,0,1), then shaft tower angle of inclination calculation formula is：Bar is calculated according to antitrigonometric function
The value of tower tilt angle alpha.
Using this implementation, by airborne laser radar system, flight can obtain a large amount of laser point cloud datas, energy
Enough ensure the degree of accuracy of laser point cloud data and obtain efficiency.Cross-arm data include multiple data points, are calculated according to cross-arm data
Simulation cross-arm plane equation, it is high with actual cross-arm plane degree of conformity so that the shaft tower gradient accuracy rate of calculating is high.Pass through knowledge
Other cross-arm data calculate shaft tower gradient, suitable for the various shaft tower types containing cross-arm data.And not by surrounding environment shadow
Ring, it is not necessary to which manual site measures, and improves operating efficiency, use manpower and material resources sparingly financial resources.
Referring to Fig. 2, the method flow diagram of cross-arm data in a kind of identification laser point cloud data provided for the application.Scheming
On the basis of method shown in 1, as shown in Fig. 2 the cross-arm data in identification laser point cloud data, including：
Step 201, three-dimensional visualization laser point cloud data.
Laser point cloud data, it is the set of point.By being carried out to cloud data at the data such as signature analysis, denoising, integration
Reason obtains shaft tower cloud data.
Step 202, according to preset visual angle, the laser point cloud data is rotated.
Preset visual angle, refer to face direction of visual lines vertical with transmission line trend.Laser point cloud data is rotated to preset
Visual angle, or current visual angle and the misalignment angle at preset visual angle are calculated, by laser point cloud data deviation angle.In the present invention
In embodiment, the implementation method of rotary laser cloud data is not limited.
Step 203, cross-arm data are identified.
The less parallel relation moved towards according to cross-arm and transmission line, is identified in shaft tower three-dimensional visualization laser point cloud data
Cross-arm data.Using this implementation, cross-arm data can be accurately identified, improve the degree of accuracy for calculating shaft tower gradient.
Referring to Fig. 3, the normal of a kind of calculating simulation cross-arm plane equation provided for the application and the shaft tower inclination angle of Z axis
The method flow diagram of degree.On the basis of method shown in Fig. 1, as shown in figure 3, the normal and Z of calculating simulation cross-arm plane equation
The shaft tower angle of inclination of axle, including：
Step 301, the normal direction vector of simulation cross-arm plane equation is obtained.
The normal direction vector of plane equation, it is identical with the implication in art of mathematics, so calculating in this application it
Method is not described in detail.
Step 302, if the Z-direction coefficient of simulation cross-arm plane equation is more than zero, it is determined that normal direction vector and Z
The positive angle of axle is shaft tower angle of inclination.
Step 303, if the Z-direction coefficient of simulation cross-arm plane equation is less than zero, it is determined that normal direction vector and Z
The angle of axle negative sense is the angle of inclination of shaft tower.
Referring to Fig. 4, the method at another measurement shaft tower angle of inclination based on laser point cloud data provided for the application
Flow chart.On the basis of method shown in Fig. 1, as shown in figure 4, the shaft tower of the normal of calculating simulation cross-arm plane equation and Z axis
After angle of inclination, method also includes：
Step 401, according to simulation cross-arm plane equation, shaft tower incline direction is judged.
Shaft tower incline direction, it is the correction inclined foundation of shaft tower.The incline direction of shaft tower is only judged, around
On the premise of environment, the inclined correcting scheme of shaft tower of planning correction in advance, there is provided correction efficiency.
Referring to Fig. 5, a kind of method flow diagram of the judgement shaft tower incline direction provided for the application.In method shown in Fig. 4
On the basis of, as shown in figure 5, according to simulation cross-arm plane equation, judge shaft tower incline direction, including：
Step 501, the X-axis coefficient and Y-axis coefficient of cross-arm plane equation are obtained.
Step 502, if X-axis coefficient is more than zero, and Y-axis coefficient is more than zero, it is determined that shaft tower incline direction is northeast.
Step 503, if X-axis coefficient is less than zero, and Y-axis coefficient is more than zero, it is determined that shaft tower incline direction is northwest.
Step 504, if X-axis coefficient is less than zero, and Y-axis coefficient is less than zero, it is determined that shaft tower incline direction is southwest.
Step 505, if X-axis coefficient is more than zero, and Y-axis coefficient is less than zero, it is determined that shaft tower incline direction is the southeast.
Shaft tower incline direction can directly be judged according to simulation cross-arm plane equation by above-mentioned steps.
As the specific implementation of method shown in Fig. 1, referring to Fig. 6, the one kind provided for the application is based on laser point cloud data
Measurement shaft tower angle of inclination device composition frame chart, the device includes：
Acquiring unit 61, for obtaining the laser point cloud data of shaft tower, laser point cloud data passes through airborne laser radar system
System obtains；
Recognition unit 62, for identifying the cross-arm data in laser point cloud data；
First computing unit 63, for according to cross-arm data, calculating simulation cross-arm plane equation；
Second computing unit 64, for the normal of calculating simulation cross-arm plane equation and the shaft tower angle of inclination of Z axis.
As the specific implementation of method shown in Fig. 2, referring to Fig. 7, a kind of composition frame of the recognition unit provided for the application
Figure, the recognition unit 62, including：
Visualization model 621, for three-dimensional visualization laser point cloud data；
Rotary module 622, for according to preset visual angle, rotary laser cloud data；
Identification module 623, for identifying cross-arm data.
As the specific implementation of method shown in Fig. 3, referring to Fig. 8, a kind of group of second computing unit provided for the application
Into block diagram, second computing unit 64, including：
Acquisition module 641, for obtaining the normal direction vector of simulation cross-arm plane equation；
Determining module 642, if being more than zero for the Z-direction coefficient for simulating cross-arm plane equation, it is determined that normal side
The angle positive with Z axis to vector is shaft tower angle of inclination；
Determining module 642, if the Z-direction coefficient that be used to simulate cross-arm plane equation is less than zero, it is determined that normal
The angle of direction vector and Z axis negative sense is the angle of inclination of shaft tower.
As the specific implementation of method shown in Fig. 4, referring to Fig. 9, laser point cloud is based on another kind for what the application provided
The device composition frame chart at the measurement shaft tower angle of inclination of data, the device also include：
Judging unit 81, after the normal of calculating simulation cross-arm plane equation and the shaft tower angle of inclination of Z axis, according to
Cross-arm plane equation is simulated, judges shaft tower incline direction.
As the specific implementation of method shown in Fig. 5, referring to Figure 10, a kind of composition frame of the judging unit provided for the application
Figure, the judging unit 81, including：
Acquisition module 811, for obtaining the X-axis coefficient and Y-axis coefficient of cross-arm plane equation；
Determining module 812, if it is more than zero for X-axis coefficient, and Y-axis coefficient is more than zero, it is determined that shaft tower incline direction
For northeast；
Determining module 812, if X-axis coefficient is additionally operable to less than zero, and Y-axis coefficient is more than zero, it is determined that shaft tower inclination side
To for northwest；
Determining module 812, if X-axis coefficient is additionally operable to less than zero, and Y-axis coefficient is less than zero, it is determined that shaft tower inclination side
To for southwest；
Determining module 812, if X-axis coefficient is additionally operable to more than zero, and Y-axis coefficient is less than zero, it is determined that shaft tower inclination side
To for the southeast.
Using this implementation, by airborne laser radar system, flight can obtain a large amount of laser point cloud datas, energy
Enough ensure the degree of accuracy of laser point cloud data and obtain efficiency.Cross-arm data include multiple data points, are calculated according to cross-arm data
Simulation cross-arm plane equation, it is high with actual cross-arm plane degree of conformity so that the shaft tower gradient accuracy rate of calculating is high.Pass through knowledge
Other cross-arm data calculate shaft tower gradient, suitable for the various shaft tower types containing cross-arm data.And not by surrounding environment shadow
Ring, it is not necessary to which manual site measures, and improves operating efficiency, use manpower and material resources sparingly financial resources.
In the specific implementation, the present invention also provides a kind of computer-readable storage medium, wherein, the computer-readable storage medium can store
There is program, the program may include the part or all of step in each embodiment of method of calling provided by the invention when performing.Institute
The storage medium stated can be magnetic disc, CD, read-only memory (English：Read-only memory, referred to as：ROM) or with
Machine storage memory (English：Random access memory, referred to as：RAM) etc..
It is required that those skilled in the art can be understood that the technology in the embodiment of the present invention can add by software
The mode of general hardware platform realize.Based on such understanding, the technical scheme in the embodiment of the present invention substantially or
Say that the part to be contributed to prior art can be embodied in the form of software product, the computer software product can be deposited
Storage is in storage medium, such as ROM/RAM, magnetic disc, CD, including some instructions are causing a computer equipment (can be with
Be personal computer, server, either network equipment etc.) perform some part institutes of each embodiment of the present invention or embodiment
The method stated.
In this specification between each embodiment identical similar part mutually referring to.Implement especially for device
For example, because it is substantially similar to embodiment of the method, so description is fairly simple, related part is referring in embodiment of the method
Explanation.
Invention described above embodiment is not intended to limit the scope of the present invention..
Claims (10)
- A kind of 1. method at the measurement shaft tower angle of inclination based on laser point cloud data, it is characterised in that methods described includes：The laser point cloud data of shaft tower is obtained, the laser point cloud data is obtained by airborne laser radar system；Identify the cross-arm data in the laser point cloud data；According to the cross-arm data, calculating simulation cross-arm plane equation；Calculate the normal of the simulation cross-arm plane equation and the shaft tower angle of inclination of Z axis.
- 2. the method as described in claim 1, it is characterised in that the cross-arm data in the identification laser point cloud data, Including：Laser point cloud data described in three-dimensional visualization；According to preset visual angle, the laser point cloud data is rotated；Identify the cross-arm data.
- 3. the method as described in claim 1, it is characterised in that the normal and Z for calculating the simulation cross-arm plane equation The shaft tower angle of inclination of axle, including：Obtain the normal direction vector of the simulation cross-arm plane equation；If the Z-direction coefficient of the simulation cross-arm plane equation is more than zero, it is determined that the normal direction vector and Z axis are just To angle be the shaft tower angle of inclination；If the Z-direction coefficient of the simulation cross-arm plane equation is less than zero, it is determined that the normal direction vector is born with Z axis To angle be the shaft tower angle of inclination.
- 4. the method as described in claim 1, it is characterised in that the normal and Z for calculating the simulation cross-arm plane equation After the shaft tower angle of inclination of axle, methods described also includes：According to the simulation cross-arm plane equation, the shaft tower incline direction is judged.
- 5. method as claimed in claim 4, it is characterised in that it is described according to the simulation cross-arm plane equation, described in judgement Shaft tower incline direction, including：Obtain the X-axis coefficient and Y-axis coefficient of the cross-arm plane equation；If the X-axis coefficient is more than zero, and Y-axis coefficient is more than zero, it is determined that the shaft tower incline direction is northeast；If the X-axis coefficient is less than zero, and Y-axis coefficient is more than zero, it is determined that the shaft tower incline direction is northwest；If the X-axis coefficient is less than zero, and Y-axis coefficient is less than zero, it is determined that the shaft tower incline direction is southwest；If the X-axis coefficient is more than zero, and Y-axis coefficient is less than zero, it is determined that the shaft tower incline direction is the southeast.
- 6. a kind of device at the measurement shaft tower angle of inclination based on laser point cloud data, it is characterised in that described device includes：Acquiring unit, for obtaining the laser point cloud data of shaft tower, the laser point cloud data passes through airborne laser radar system Obtain；Recognition unit, for identifying the cross-arm data in the laser point cloud data；First computing unit, for according to the cross-arm data, calculating simulation cross-arm plane equation；Second computing unit, for calculating the normal of the simulation cross-arm plane equation and the shaft tower angle of inclination of Z axis.
- 7. device as claimed in claim 6, it is characterised in that the recognition unit, including：Visualization model, for laser point cloud data described in three-dimensional visualization；Rotary module, for according to preset visual angle, rotating the laser point cloud data；Identification module, for identifying the cross-arm data.
- 8. device as claimed in claim 6, it is characterised in that second computing unit, including：Acquisition module, for obtaining the normal direction vector of the simulation cross-arm plane equation；Determining module, if the Z-direction coefficient for the simulation cross-arm plane equation is more than zero, it is determined that the normal side The angle positive with Z axis to vector is the shaft tower angle of inclination；The determining module, if the Z-direction coefficient that be used for the simulation cross-arm plane equation is less than zero, it is determined that described The angle of normal direction vector and Z axis negative sense is the angle of inclination of the shaft tower.
- 9. device as claimed in claim 6, it is characterised in that described device also includes：Judging unit, after the shaft tower angle of inclination for calculating the normal for simulating cross-arm plane equation and Z axis, root According to the simulation cross-arm plane equation, the shaft tower incline direction is judged.
- 10. device as claimed in claim 9, it is characterised in that the judging unit, including：Acquisition module, for obtaining the X-axis coefficient and Y-axis coefficient of the cross-arm plane equation；Determining module, if it is more than zero for the X-axis coefficient, and Y-axis coefficient is more than zero, it is determined that the shaft tower incline direction For northeast；The determining module, if the X-axis coefficient is additionally operable to less than zero, and Y-axis coefficient is more than zero, it is determined that the shaft tower inclines Tilted direction is northwest；The determining module, if the X-axis coefficient is additionally operable to less than zero, and Y-axis coefficient is less than zero, it is determined that the shaft tower inclines Tilted direction is southwest；The determining module, if the X-axis coefficient is additionally operable to more than zero, and Y-axis coefficient is less than zero, it is determined that the shaft tower inclines Tilted direction is the southeast.
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| CN201710852065.2A CN107607929B (en) | 2017-09-20 | 2017-09-20 | Method and device for measuring inclination angle of tower based on laser point cloud data |
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| CN113107253A (en) * | 2021-04-08 | 2021-07-13 | 云南电网有限责任公司电力科学研究院 | Device for adjusting inclination angle of transmission tower |
| CN113107253B (en) * | 2021-04-08 | 2023-03-31 | 云南电网有限责任公司电力科学研究院 | Device for adjusting inclination angle of transmission tower |
| CN113029088A (en) * | 2021-05-08 | 2021-06-25 | 国网新疆电力有限公司喀什供电公司 | Online monitoring system and monitoring method for tower inclination |
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