CN107607929B - Method and device for measuring inclination angle of tower based on laser point cloud data - Google Patents
Method and device for measuring inclination angle of tower based on laser point cloud data Download PDFInfo
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Abstract
The application discloses a method and a device for measuring the inclination angle of a tower based on laser point cloud data, relates to the technical field of measurement, and aims to solve the problem of low efficiency of tower inclination test. The method mainly comprises the following steps: the method comprises the steps of obtaining laser point cloud data of a tower, wherein the laser point cloud data are obtained through an airborne laser radar system; identifying cross arm data in the laser point cloud data; calculating a simulated cross arm plane equation according to the cross arm data; and calculating the tower inclination angle between the normal of the simulated cross arm plane equation and the Z axis. The method and the device are mainly applied to the process of tower inclination measurement.
Description
Technical Field
The application relates to the technical field of measurement, in particular to a method and a device for measuring the inclination angle of a tower based on laser point cloud data.
Background
The tower is basic equipment in an overhead transmission line, is in a tower-shaped structure, is used for supporting overhead line conductors and overhead ground wires, and has enough safety distance between the conductors, between the conductors and the overhead ground wires, and between the conductors and the ground and cross spanning objects. The tower inclination refers to the phenomenon that the center of the tower deviates from the position of a plumb bob due to the change of the tower foundation. The tower inclination refers to the deviation angle between the center of the tower and a plumb. Before the line is put into operation, the gradient of the tower is measured when completion acceptance is carried out, so that the gradient defect of the tower can be found in time, a construction side can deal with the gradient defect in time, hidden dangers are eliminated, and safe operation after the line is put into operation is ensured. After the line is put into operation, when geological disasters such as landslide and subsidence occur or external force damages occur, the inclination of the pole tower is measured again so as to conveniently judge and take temporary repair measures or permanent repair measures.
The existing methods for measuring the inclination of the tower comprise a plumb measuring method, a theodolite measuring method, a plane mirror measuring method and a ground three-dimensional laser measuring method. The three-dimensional laser scanning technology is an emerging mapping technology, and can quickly acquire point cloud coordinate data information which is uniformly distributed in space and has high density, so that a three-dimensional model of a measurement target object is inverted. The three-dimensional laser scanner directly obtains sampling points of a practical surface by adopting a non-contact measuring method, namely laser point cloud data. The laser point cloud data can be processed to reconstruct any curved surface. The ground three-dimensional laser measuring method specifically comprises the following steps: selecting a lower point on a tower corner main material of a tower, establishing an absolute horizontal plane by using the three-dimensional coordinates and normal vectors (0,0,1) of the lower point, further selecting intersection points of other three tower corners and the horizontal plane, and using diagonal lines of the four tower corner points as bottom center points of the tower; and finally, selecting a point at the center of the tower material structure at the top of the tower as the center point of the top of the tower, and calculating the inclination of the tower through the center point of the bottom of the tower and the center point of the top of the tower.
In order to accurately select the angular points and improve the tower inclination measurement precision, the ground three-dimensional laser measurement method needs to establish a station for multiple times for the same tower to obtain complete tower point cloud data and process a large amount of tower point cloud data, so that the tower inclination measurement efficiency is difficult to improve.
Disclosure of Invention
The application provides a method and a device for measuring the inclination angle of a tower based on laser point cloud data, which aim to solve the problem of low tower inclination testing efficiency.
In a first aspect, the application provides a method for measuring a tower inclination angle based on laser point cloud data, which includes: the method comprises the steps of obtaining laser point cloud data of a tower, wherein the laser point cloud data are obtained through an airborne laser radar system; identifying cross arm data in the laser point cloud data; calculating a simulated cross arm plane equation according to the cross arm data; and calculating the tower inclination angle between the normal of the simulated cross arm plane equation and the Z axis. By adopting the implementation mode, through the airborne laser radar system, a large amount of laser point cloud data can be acquired through one-time flight, and the accuracy and the acquisition efficiency of the laser point cloud data can be ensured. The cross arm data comprise a plurality of data points, and the simulation cross arm plane equation calculated according to the cross arm data is high in conformity with an actual cross arm plane, so that the accuracy of the calculated gradient of the tower is high. The inclination of the tower is calculated by identifying the cross arm data, and the method is suitable for various tower types containing the cross arm data. And the device is not influenced by the surrounding environment, does not need manual field measurement, improves the working efficiency, and saves manpower, material resources and financial resources.
With reference to the first aspect, in a first possible implementation manner of the first aspect, the identifying cross arm data in the laser point cloud data includes: three-dimensionally visualizing the laser point cloud data; rotating the laser point cloud data according to a preset visual angle; the cross arm data is identified. By adopting the implementation mode, the cross arm data can be accurately identified, and the accuracy of calculating the gradient of the tower is improved.
With reference to the first aspect, in a second possible implementation manner of the first aspect, the calculating a tower inclination angle between a normal of the simulated cross arm plane equation and the Z axis includes: acquiring a normal direction vector of the simulated cross arm plane equation; if the Z-axis direction coefficient of the simulated cross arm plane equation is larger than zero, determining the included angle between the normal direction vector and the Z-axis positive direction as the tower inclination angle; and if the Z-axis direction coefficient of the simulated cross arm plane equation is smaller than zero, determining the included angle between the normal direction vector and the Z-axis negative direction as the inclination angle of the tower.
With reference to the first aspect, in a third possible implementation manner of the first aspect, after the calculating a tower inclination angle between a normal of the simulated cross-arm plane equation and a Z-axis, the method further includes: and judging the inclination direction of the tower according to the simulated cross arm plane equation.
With reference to the first aspect, in a fourth possible implementation manner of the first aspect, the determining, according to the simulated cross arm plane equation, the tower inclination direction includes: acquiring an X-axis coefficient and a Y-axis coefficient of the cross arm plane equation; if the number of the X axes is greater than zero and the number of the Y axes is greater than zero, determining that the inclination direction of the tower is northeast; if the number of the X axes is less than zero and the number of the Y axes is greater than zero, determining that the inclination direction of the tower is northwest; if the number of the X axes is less than zero and the number of the Y axes is less than zero, determining that the inclination direction of the tower is southwest; and if the X axis number is greater than zero and the Y axis number is less than zero, determining that the inclination direction of the tower is southeast.
In a second aspect, the present application further provides a device for measuring a tower inclination angle based on laser point cloud data, the device comprising a module for performing the method steps in the various implementations of the first aspect.
In a third aspect, the present application further provides a terminal, including: a processor and a memory; the processor may execute the program or instructions stored in the memory, thereby implementing the method for measuring the tower inclination angle based on the laser point cloud data in the various implementation manners of the first aspect.
In a fourth aspect, the present application further provides a storage medium, where the computer storage medium may store a program, and the program may implement, when executed, some or all of the steps in the embodiments of the method for measuring a tower tilt angle based on laser point cloud data provided in the present application.
Drawings
In order to more clearly explain the technical solution of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious to those skilled in the art that other drawings can be obtained according to the drawings without any creative effort.
Fig. 1 is a flowchart of a method for measuring an inclination angle of a tower based on laser point cloud data according to the present application;
FIG. 2 is a flowchart of a method for identifying cross arm data in laser point cloud data according to the present disclosure;
fig. 3 is a flowchart of a method for calculating a tower inclination angle between a normal of a simulated cross-arm plane equation and a Z-axis provided by the present application;
fig. 4 is a flowchart of another method for measuring the inclination angle of the tower based on the laser point cloud data provided by the present application;
fig. 5 is a flowchart of a method for determining a tower inclination direction according to the present application;
fig. 6 is a block diagram of a device for measuring the inclination angle of a tower based on laser point cloud data according to the present application;
FIG. 7 is a block diagram of an identification unit according to the present application;
FIG. 8 is a block diagram of a second computing unit according to the present disclosure;
fig. 9 is a block diagram of another device for measuring the tilt angle of a tower based on laser point cloud data according to the present application;
fig. 10 is a block diagram of a determining unit provided in the present application.
Detailed Description
Referring to fig. 1, a flow chart of a method for measuring a tower inclination angle based on laser point cloud data is provided. As shown in fig. 1, the method includes:
And the laser point cloud data is acquired through an airborne laser radar system. The laser point cloud data are acquired through the airborne laser radar system, the limitation of the geographic environment is avoided, and the effectiveness of the laser point cloud data can be guaranteed. The laser point cloud data is a set of laser reflection points which can be formed by the whole tower. In order to process the cross arm data in the subsequent steps, the data density of the laser point cloud data needs to meet the requirement that the cross arm data corresponding to the tower cross arm is complete and has no deficiency.
And 102, identifying cross arm data in the laser point cloud data.
The cross arm is an angle iron transversely fixed on the top of the telegraph pole, and a porcelain bottle is arranged on the cross arm and used for supporting the overhead wire. The cross arm is an important component in a tower and is used for installing insulators and hardware fittings so as to support a conducting wire and a lightning conductor and keep a certain safety distance according to regulations. And laser point cloud data corresponding to the cross arm of the tower are cross arm data.
The laser point cloud data is a set of point coordinates having specific attributes, and cross arm data in the laser point cloud data cannot be identified according to the point coordinates. Simulating a tower model according to the laser point cloud data, identifying the position of a cross arm of the tower according to the simulated tower model, and identifying the cross arm data in the laser point cloud data according to the position of the cross arm.
And 103, calculating a simulated cross arm plane equation according to the cross arm data.
A tower comprises a plurality of cross arms, and the cross arms are positioned on different planes which are parallel to each other. No matter which cross arm is selected to be located on the plane, the calculated inclination angles of the towers are equal. Therefore, according to the point coordinates of the cross arm data, points with similar Z-axis coordinate values are selected as target points for calculating the cross arm plane equation. The number of the target points is larger than the number of the points necessary for calculating the plane equation, and the cross arm plane equation is calculated and simulated by taking all the target points as the basis, so that the cross arm corresponding to the target points can be represented more accurately by the cross arm plane equation.
And 104, calculating the tower inclination angle between the normal of the simulated cross arm plane equation and the Z axis.
Now, as an example of the method for calculating the tower inclination angle, assuming that the expression of the simulated cross-arm plane equation calculated in step 103 is Ax + By + Cz + D is 0, the normal direction of the simulated plane is (a, B, C). And (2) expressing the tower inclination angle by alpha, wherein the vector in the Z-axis direction is (0,0,1), and then the tower inclination angle calculation formula is as follows:
and calculating the value of the tower inclination angle alpha according to the inverse trigonometric function.
By adopting the implementation mode, through the airborne laser radar system, a large amount of laser point cloud data can be acquired through one-time flight, and the accuracy and the acquisition efficiency of the laser point cloud data can be ensured. The cross arm data comprise a plurality of data points, and the simulation cross arm plane equation calculated according to the cross arm data is high in conformity with an actual cross arm plane, so that the accuracy of the calculated gradient of the tower is high. The inclination of the tower is calculated by identifying the cross arm data, and the method is suitable for various tower types containing the cross arm data. And the device is not influenced by the surrounding environment, does not need manual field measurement, improves the working efficiency, and saves manpower, material resources and financial resources.
Referring to fig. 2, a flowchart of a method for identifying cross arm data in laser point cloud data is provided. On the basis of the method shown in fig. 1, as shown in fig. 2, identifying cross arm data in laser point cloud data includes:
Laser point cloud data, which is a collection of points. And carrying out data processing such as characteristic analysis, denoising, integration and the like on the point cloud data to obtain the tower point cloud data.
The preset visual angle means that the front sight line direction is vertical to the transmission line direction. And rotating the laser point cloud data to a preset visual angle, or calculating a deviation angle between the current visual angle and the preset visual angle, and rotating the laser point cloud data by the deviation angle. In the embodiment of the present invention, the implementation method of the rotating laser point cloud data is not limited.
And identifying cross arm data in the tower three-dimensional visual laser point cloud data according to the approximate parallel relation between the cross arm and the transmission line trend. By adopting the implementation mode, the cross arm data can be accurately identified, and the accuracy of calculating the gradient of the tower is improved.
Referring to fig. 3, a flowchart of a method for calculating a tower inclination angle between a normal of a simulated cross-arm plane equation and a Z-axis is provided. On the basis of the method shown in fig. 1, as shown in fig. 3, calculating the tower inclination angle between the normal of the simulated cross-arm plane equation and the Z-axis includes:
The normal direction vector of the plane equation has the same meaning as in the field of mathematics, so the calculation method thereof is not described in detail in the present application.
And 302, if the Z-axis direction coefficient of the simulated cross arm plane equation is larger than zero, determining that the included angle between the normal direction vector and the Z-axis positive direction is the tower inclination angle.
And 303, if the Z-axis direction coefficient of the simulated cross arm plane equation is smaller than zero, determining that the included angle between the normal direction vector and the Z-axis negative direction is the inclination angle of the tower.
Referring to fig. 4, a flowchart of another method for measuring the tower inclination angle based on laser point cloud data is provided. On the basis of the method shown in fig. 1, as shown in fig. 4, after calculating the tower inclination angle between the normal of the simulated cross-arm plane equation and the Z-axis, the method further includes:
and step 401, judging the inclination direction of the tower according to the simulated cross arm plane equation.
The inclination direction of the tower is the basis for correcting the inclination of the tower. Only the inclination direction of the tower is judged, and a correction scheme for correcting the inclination of the tower is planned in advance on the premise of the surrounding environment, so that the correction efficiency is improved.
Referring to fig. 5, a flowchart of a method for determining a tower inclination direction is provided in the present application. On the basis of the method shown in fig. 4, as shown in fig. 5, the determining the tower inclination direction according to the simulated cross-arm plane equation includes:
And step 504, if the number of the X axes is less than zero and the number of the Y axes is less than zero, determining that the inclination direction of the tower is southwest.
And 505, if the number of the X axes is greater than zero and the number of the Y axes is less than zero, determining that the inclination direction of the tower is southeast.
Through the steps, the inclination direction of the tower can be directly judged according to the simulated cross arm plane equation.
As a specific implementation of the method shown in fig. 1, referring to fig. 6, a block diagram of a device for measuring an inclination angle of a tower based on laser point cloud data is provided, where the device includes:
the acquisition unit 61 is used for acquiring laser point cloud data of a tower, and the laser point cloud data is acquired through an airborne laser radar system;
an identification unit 62 for identifying cross arm data in the laser point cloud data;
a first calculating unit 63, configured to calculate a simulated cross arm plane equation according to the cross arm data;
and the second calculating unit 64 is used for calculating the tower inclination angle between the normal of the simulated cross arm plane equation and the Z axis.
As a specific implementation of the method shown in fig. 2, referring to fig. 7, a block diagram of a recognition unit provided in the present application is shown, where the recognition unit 62 includes:
a visualization module 621, configured to visualize the laser point cloud data three-dimensionally;
a rotation module 622, configured to rotate the laser point cloud data according to a preset viewing angle;
and the identification module 623 is used for identifying the cross arm data.
As a specific implementation of the method shown in fig. 3, referring to fig. 8, a block diagram of a second computing unit provided in the present application is shown, where the second computing unit 64 includes:
an obtaining module 641, configured to obtain a normal direction vector of the simulated cross-arm plane equation;
the determining module 642 is configured to determine, if a Z-axis direction coefficient of the simulated cross-arm plane equation is greater than zero, that an included angle between the normal direction vector and the Z-axis forward direction is a tower inclination angle;
the determining module 642 is configured to determine, if a Z-axis direction coefficient of the simulated cross-arm plane equation is smaller than zero, that an included angle between the normal direction vector and the Z-axis negative direction is an inclination angle of the tower.
As a specific implementation of the method shown in fig. 4, referring to fig. 9, a block diagram of another device for measuring an inclination angle of a tower based on laser point cloud data is provided, and the device further includes:
and the judging unit 81 is configured to judge the tower inclination direction according to the simulated cross arm plane equation after calculating the tower inclination angle between the normal of the simulated cross arm plane equation and the Z axis.
As a specific implementation of the method shown in fig. 5, referring to fig. 10, a block diagram of a determining unit provided in the present application is shown, where the determining unit 81 includes:
the obtaining module 811 is used for obtaining an X-axis coefficient and a Y-axis coefficient of the cross arm plane equation;
a determining module 812, configured to determine that the tower inclination direction is northeast if the X axis number is greater than zero and the Y axis number is greater than zero;
the determining module 812 is further configured to determine that the tower inclination direction is northwest if the X axis number is less than zero and the Y axis number is greater than zero;
the determining module 812 is further configured to determine that the tower inclination direction is southwest if the X axis number is less than zero and the Y axis number is less than zero;
the determining module 812 is further configured to determine that the tower inclination direction is southeast if the X axis number is greater than zero and the Y axis number is less than zero.
By adopting the implementation mode, through the airborne laser radar system, a large amount of laser point cloud data can be acquired through one-time flight, and the accuracy and the acquisition efficiency of the laser point cloud data can be ensured. The cross arm data comprise a plurality of data points, and the simulation cross arm plane equation calculated according to the cross arm data is high in conformity with an actual cross arm plane, so that the accuracy of the calculated gradient of the tower is high. The inclination of the tower is calculated by identifying the cross arm data, and the method is suitable for various tower types containing the cross arm data. And the device is not influenced by the surrounding environment, does not need manual field measurement, improves the working efficiency, and saves manpower, material resources and financial resources.
In a specific implementation, the present invention further provides a computer storage medium, where the computer storage medium may store a program, and the program may include some or all of the steps in the embodiments of the calling method provided by the present invention when executed. The storage medium may be a magnetic disk, an optical disk, a read-only memory (ROM) or a Random Access Memory (RAM).
Those skilled in the art will readily appreciate that the techniques of the embodiments of the present invention may be implemented as software plus a required general purpose hardware platform. Based on such understanding, the technical solutions in the embodiments of the present invention may be essentially or partially implemented in the form of a software product, which may be stored in a storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method according to the embodiments or some parts of the embodiments.
The same and similar parts in the various embodiments in this specification may be referred to each other. In particular, as for the apparatus embodiment, since it is substantially similar to the method embodiment, the description is simple, and the relevant points can be referred to the description in the method embodiment.
The above-described embodiments of the present invention should not be construed as limiting the scope of the present invention.
Claims (6)
1. A method for measuring the inclination angle of a tower based on laser point cloud data is characterized by comprising the following steps:
the method comprises the steps of obtaining laser point cloud data of a tower, wherein the laser point cloud data are obtained through an airborne laser radar system;
identifying cross arm data in the laser point cloud data;
calculating a simulated cross arm plane equation according to the cross arm data;
calculating the tower inclination angle between the normal of the simulated cross arm plane equation and the Z axis;
judging the inclination direction of the tower according to the simulated cross arm plane equation;
judging the inclination direction of the tower according to the simulated cross arm plane equation, comprising the following steps:
acquiring an X-axis coefficient and a Y-axis coefficient of the cross arm plane equation;
if the number of the X axes is greater than zero and the number of the Y axes is greater than zero, determining that the inclination direction of the tower is northeast;
if the number of the X axes is less than zero and the number of the Y axes is greater than zero, determining that the inclination direction of the tower is northwest;
if the number of the X axes is less than zero and the number of the Y axes is less than zero, determining that the inclination direction of the tower is southwest;
and if the X axis number is greater than zero and the Y axis number is less than zero, determining that the inclination direction of the tower is southeast.
2. The method of claim 1, wherein the identifying cross-arm data in the laser point cloud data comprises:
three-dimensionally visualizing the laser point cloud data;
rotating the laser point cloud data according to a preset visual angle;
the cross arm data is identified.
3. The method of claim 1, wherein calculating the tower tilt angle of the normal to the simulated cross-arm plane equation from the Z-axis comprises:
acquiring a normal direction vector of the simulated cross arm plane equation;
if the Z-axis direction coefficient of the simulated cross arm plane equation is larger than zero, determining the included angle between the normal direction vector and the Z-axis positive direction as the tower inclination angle;
and if the Z-axis direction coefficient of the simulated cross arm plane equation is smaller than zero, determining the included angle between the normal direction vector and the Z-axis negative direction as the inclination angle of the tower.
4. The utility model provides a device of measurement shaft tower inclination based on laser point cloud data which characterized in that, the device includes:
the acquisition unit is used for acquiring laser point cloud data of a tower, and the laser point cloud data is acquired through an airborne laser radar system;
the identification unit is used for identifying cross arm data in the laser point cloud data;
the first calculation unit is used for calculating a simulation cross arm plane equation according to the cross arm data;
the second calculation unit is used for calculating the tower inclination angle between the normal of the simulated cross arm plane equation and the Z axis;
the judging unit is used for judging the inclination direction of the tower according to the simulated cross arm plane equation after calculating the tower inclination angle between the normal of the simulated cross arm plane equation and the Z axis;
the acquisition module is used for acquiring an X-axis coefficient and a Y-axis coefficient of the cross arm plane equation;
the determining module is used for determining that the inclination direction of the tower is northeast if the X axis number is greater than zero and the Y axis number is greater than zero;
the determining module is further configured to determine that the tower inclination direction is northwest if the X axis number is less than zero and the Y axis number is greater than zero;
the determining module is further configured to determine that the tower inclination direction is southwest if the number of X axes is less than zero and the number of Y axes is less than zero;
the determining module is further configured to determine that the tower inclination direction is southeast if the number of the X axes is greater than zero and the number of the Y axes is less than zero.
5. The apparatus of claim 4, wherein the identification unit comprises:
the visualization module is used for three-dimensionally visualizing the laser point cloud data;
the rotating module is used for rotating the laser point cloud data according to a preset visual angle;
and the identification module is used for identifying the cross arm data.
6. The apparatus of claim 4, wherein the second computing unit comprises:
the acquisition module is used for acquiring a normal direction vector of the simulated cross arm plane equation;
the determining module is used for determining an included angle between the normal direction vector and the Z-axis positive direction as the tower inclination angle if the Z-axis direction coefficient of the simulated cross arm plane equation is greater than zero;
the determining module is configured to determine, if a Z-axis direction coefficient of the simulated cross-arm plane equation is smaller than zero, that an included angle between the normal direction vector and the Z-axis negative direction is the inclination angle of the tower.
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