CN110553606A - method, device and equipment for monitoring horizontal axis difference of supporting type tubular bus of transformer substation - Google Patents
method, device and equipment for monitoring horizontal axis difference of supporting type tubular bus of transformer substation Download PDFInfo
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- CN110553606A CN110553606A CN201910791125.3A CN201910791125A CN110553606A CN 110553606 A CN110553606 A CN 110553606A CN 201910791125 A CN201910791125 A CN 201910791125A CN 110553606 A CN110553606 A CN 110553606A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
- G01B11/27—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes for testing the alignment of axes
- G01B11/272—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes for testing the alignment of axes using photoelectric detection means
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
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- G01S17/06—Systems determining position data of a target
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Abstract
The application relates to and provides a method, a device and equipment for monitoring a horizontal axis difference value of a supporting type tubular bus of a transformer substation. The method comprises the following steps: acquiring point cloud data of a bus of the spacing pipe; constructing a pipe bus axis simulation model of the pipe bus of the spacing pipe according to the point cloud data of the pipe bus of the spacing pipe; acquiring the geometric characteristic information of the pipe bus axis corresponding to each spacing pipe bus according to the pipe bus axis simulation model; and acquiring the horizontal axis difference between the spaced tubular buses according to the geometric characteristic information of the tubular bus axes. According to the method, the point cloud data of the pipe bus at the intervals are obtained, the simulation model of the pipe bus axis corresponding to each pipe bus is constructed, the geometric characteristic information of the pipe bus axes is obtained according to the simulation model, and the horizontal axis difference between the pipe bus axes at the intervals is obtained through calculation of the geometric characteristic information, so that corresponding safety risks can be effectively avoided in the measurement process of the pipe bus horizontal axis difference, and the safety in the measurement process of the pipe bus horizontal axis difference is improved.
Description
Technical Field
The application relates to the technical field of transformer substations, in particular to a method and a device for monitoring a horizontal axis difference value of a supporting type tubular bus of a transformer substation, computer equipment and a storage medium.
background
The supporting type pipe bus system of the transformer substation generally comprises a pipe bus, a post insulator, a pipe bus hardware fitting, a steel post or a cement post and the like. The pipe bus system is generally exposed outdoors, the safety state of the pipe bus system is influenced by external factors and the form of the pipe bus system, the proper space posture is favorable for improving the safety performance of the support type pipe bus system, but the pipe bus system has certain deviation defects caused by the change of installation quality or later state, for example, the pipe bus system has the phenomena of inequality, unequal height, inclination of a post insulator and the like, so that the deviation between the pipe buses at intervals is caused, and the structural safety of the hard pipe bus system of the transformer substation is threatened.
The measurement technique of the horizontal axis difference between traditional tub generating line mainly has two kinds, one kind is through displacement sensor carry out on-line monitoring, this kind of device need can accomplish the measurement function with the help of online energy taking device, and online energy taking device has corresponding safety risk when the operation, and the input cost is higher, and another kind is through optical fiber sensor carry out on-line monitoring, nevertheless because can't carry out electrical insulation between optical fiber sensor and the tub generating line, still has corresponding safety risk.
disclosure of Invention
Therefore, in order to solve the technical problem that the horizontal axis difference has a safety risk, a transformer substation supporting type pipe bus horizontal axis difference monitoring method, a transformer substation supporting type pipe bus horizontal axis difference monitoring device, computer equipment and a storage medium are provided.
A method for monitoring a horizontal axis difference value of a supporting type tubular busbar of a transformer substation comprises the following steps: acquiring point cloud data of a bus of the spacing pipe; constructing a pipe bus axis simulation model of the pipe bus of the spacing pipe according to the point cloud data of the pipe bus of the spacing pipe; acquiring the geometric characteristic information of the pipe bus axis corresponding to each spacing pipe bus according to the pipe bus axis simulation model; and acquiring the horizontal axis difference between the spaced tubular buses according to the geometric characteristic information of the tubular bus axes.
according to the method, the point cloud data of the pipe bus at the intervals are obtained, the simulation model of the pipe bus axis corresponding to each pipe bus is constructed, the geometric characteristic information of the pipe bus axes is obtained according to the simulation model, and the horizontal axis difference between the pipe bus axes at the intervals is obtained through calculation of the geometric characteristic information, so that corresponding safety risks can be effectively avoided in the measurement process of the pipe bus horizontal axis difference, and the safety in the measurement process of the pipe bus horizontal axis difference is improved.
in one embodiment, the point cloud data comprises point cloud data of end surfaces on two sides of the pipe bus fitting on the pipe bus of the spacing pipe; according to the point cloud data of the pipe bus, a pipe bus axis simulation model of the pipe bus is constructed, and the method comprises the following steps: fitting the cylindrical characteristic quantity according to the point cloud data of the end face to construct a cylindrical characteristic body of the bus of the spacing pipe; and acquiring a pipe bus axis simulation model of the spacing pipe bus according to the axis of the cylindrical characteristic body.
in one embodiment, acquiring the horizontal axis difference between the spaced tubular bus bars according to the geometric characteristic information of the tubular bus bar axis comprises the following steps: acquiring the type of a pipe bus metal tool of the spacing pipe bus; and obtaining horizontal axis difference values among the tubular buses of different hardware types according to the tubular bus hardware type of the spaced tubular bus and the geometric characteristic information of the tubular bus axis.
in one embodiment, the geometric characteristic information of the tube bus axis includes a direction vector of the tube bus axis and a position point coordinate of the tube bus axis, and the geometric characteristic information of the tube bus axis corresponding to each tube bus at intervals is obtained according to the tube bus axis simulation model, and the method includes the following steps: acquiring a direction vector of a pipe bus axis in a space coordinate system according to the pipe bus axis simulation model; and determining the coordinates of the middle point of the axis of the pipe nut in a space coordinate system, and taking the coordinates of the middle point of the axis of the pipe nut as the coordinates of the position point of the axis of the pipe nut.
in one embodiment, obtaining the horizontal axis difference between the spaced tubular bus bars according to the geometric characteristic information of the tubular bus bar axis comprises:
In the above formula, vectorAnd vectorAre respectively the direction vectors, A, of the tube bus axes respectively corresponding to the spacing tube buses1And B2And the position point coordinates of the axes of the tube buses respectively corresponding to the spacing tube buses are respectively, and L is the horizontal axis difference between the spacing tube buses.
in one embodiment, the method for acquiring the point cloud data of the pipe generatrix comprises the following steps: acquiring scanning model information of a pipe bus, and acquiring original point cloud data according to the scanning model information; and carrying out point cloud denoising on the original point cloud data to obtain the point cloud data of the pipe generatrix.
In one embodiment, after obtaining the axis difference between the generatrices of the spacing pipes according to the preset model and the geometric characteristic information, the method further comprises the following steps:
And judging whether the axis difference exceeds a preset threshold value, and if so, outputting an alarm prompt.
In one embodiment, a transformer substation supporting type pipe bus horizontal axis difference monitoring device comprises: the point cloud acquisition module is used for acquiring point cloud data of the bus of the spacing pipe; the axis model building module is used for building a pipe bus axis simulation model of the pipe bus of the spacing pipe according to the point cloud data of the pipe bus of the spacing pipe; the characteristic acquisition module is used for acquiring the geometric characteristic information of the pipe bus axes corresponding to the pipe buses at intervals according to the pipe bus axis simulation model; and the difference acquisition module is used for acquiring the horizontal axis difference between the spaced tubular buses according to the geometric characteristic information of the tubular bus axes.
a computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor realizes the steps of the above method when executing the computer program.
According to the computer equipment, the point cloud data of the pipe bus at the intervals are obtained, then the simulation model of the pipe bus axis corresponding to each pipe bus is built, then the geometric characteristic information of the pipe bus axis is obtained according to the simulation model, and the horizontal axis difference between the pipe bus axes at the intervals is obtained through calculation of the geometric characteristic information, so that in the measurement process of the horizontal axis difference of the pipe bus, corresponding safety risks can be effectively avoided, and the safety in the measurement process of the horizontal axis difference of the pipe bus is improved.
A computer-readable storage medium, on which a computer program is stored, characterized in that the computer program realizes the steps of the above-mentioned method when being executed by a processor.
According to the computer-readable storage medium, the point cloud data of the pipe bus at intervals are obtained, then the simulation model of the pipe bus axis corresponding to each pipe bus is built, then the geometric characteristic information of the pipe bus axes is obtained according to the simulation model, and the horizontal axis difference between the pipe bus axes at intervals is obtained through calculation of the geometric characteristic information, so that in the measurement process of the horizontal axis difference of the pipe buses, corresponding safety risks can be effectively avoided, and the safety in the measurement process of the horizontal axis difference of the pipe buses is improved.
drawings
FIG. 1 is a schematic diagram of a substation-supported pipe bus system in one embodiment;
FIG. 2 is a schematic flow chart of a method for monitoring a horizontal axis difference of a supporting tubular busbar of a substation according to an embodiment;
FIG. 3 is a schematic flow chart of a method for monitoring a horizontal axis difference of a supporting tubular busbar of a substation according to an embodiment;
FIG. 4 is a schematic flow chart of a method for monitoring a horizontal axis difference of a supporting tubular busbar of a substation according to one embodiment;
FIG. 5 is a schematic flow chart of a method for monitoring a horizontal axis difference of a supporting tubular busbar of a substation according to one embodiment;
FIG. 6 is a schematic flow chart of a method for monitoring a horizontal axis difference of a supporting tubular busbar of a substation according to one embodiment;
FIG. 7 is a structural frame diagram of a substation support type tubular busbar horizontal axis difference monitoring device in one embodiment;
FIG. 8 is a structural frame diagram of a substation support type tubular busbar horizontal axis difference monitoring device in one embodiment;
FIG. 9 is a schematic diagram of a model for calculating a horizontal axis difference of a supporting tubular busbar of a substation according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
In one embodiment, as shown in fig. 1, a schematic structural diagram of a substation-supported pipe header system is provided. The supporting type pipe bus system comprises a pipe bus 10, a post insulator 20, a pipe bus metal tool 30, a steel (or cement) post 40 and the like. Tubular bus bar hardware 30 generally is used for fixed tubular bus bar 10, post insulator 20 plays support and insulating effect, tubular bus bar 10 has a plurality ofly usually, and because the type of the tubular bus bar hardware 30 of the installation of post insulator 20 top is different, tubular bus bar 10 is fixed through the tubular bus bar hardware 30 by the different grade type, wherein, the type of tubular bus bar hardware 30 is including supporting the gold utensil in the female system of support formula tubular bus bar, support the gold utensil and divide into fixed gold utensil and flexible gold utensil again, can guarantee that hard tubular bus bar body is under the expend with heat and contract with cold the condition, freely slide along the axial, wherein, fixed gold utensil divide into fixed gold utensil, swing type gold utensil and slip type gold utensil again.
In one embodiment, as shown in fig. 2, there is provided a method for monitoring horizontal axis difference of a supporting tubular busbar of a substation, comprising the following steps:
S100, point cloud data of the bus of the spacing pipe are obtained.
specifically, a plurality of pipe buses are generally arranged in the transformer substation supporting type pipe bus system, a space is formed between every two adjacent pipe buses, and point cloud data of the adjacent pipe buses can be obtained through scanning, for example, a laser radar scanner is selected to perform laser scanning on the adjacent pipe buses at a proper position to obtain the point cloud data of the adjacent pipe buses at the scanning position. After the point cloud data is acquired through the laser radar scanner, the laser radar scanner uploads the point cloud data to the computer, and then the computer can acquire the point cloud data. Accordingly, other scanning devices such as three-dimensional laser scanners or photographic scanners may be used in other embodiments.
S200, constructing a pipe bus axis simulation model of the pipe bus of the interval pipe according to the point cloud data of the pipe bus of the interval pipe.
Specifically, the pipe bus axis simulation model refers to a model of an axis of a pipe bus in a three-dimensional coordinate system, the partition pipe bus comprises at least two pipe buses, for example, the partition pipe bus comprises a fixed partition pipe bus and a loose fixed partition pipe bus, wherein the fixed partition pipe bus refers to a fixed pipe bus adopting a pipe bus metal fitting type as a fixed fitting, and the loose fixed partition pipe bus refers to a pipe bus fixed by a swing type fitting or a sliding type fitting. When the tubular busbar comprises a fixed tubular busbar and a loose fixed tubular busbar, correspondingly, the tubular busbar axis simulation model also has two tubular busbar axis simulation models (namely, the tubular busbar axis simulation model of the fixed tubular busbar and the tubular busbar axis simulation model of the loose fixed tubular busbar).
S300, according to the pipe bus axis simulation model, acquiring the geometric characteristic information of the pipe bus axis corresponding to each spacing pipe bus.
the tubular busbar comprises at least two tubular busbars, for example the tubular busbar comprises a fixed tubular busbar and a loose tubular busbar. It will be appreciated that in other embodiments, the spacer tubular busbar may also include a plurality of tubular busbars. The geometric characteristic information of the axis of the spacing pipe bus in reality is inconvenient to measure and obtain, and the geometric characteristic information of the axis of the corresponding pipe bus in reality can be obtained from the virtual pipe bus axis simulation model through the constructed pipe bus axis simulation model, wherein the geometric characteristic information comprises coordinates of position points on the pipe bus axis, direction angles of the pipe bus axis and the like.
S400, acquiring a horizontal axis difference value between the spaced tube buses according to the geometric characteristic information of the tube bus axes.
Specifically, the horizontal axis difference is the horizontal spacing between the tubular bus bars, for example, there is a horizontal separation distance between two tubular bus bars, which is the horizontal axis difference. It should be noted that, since the pipe bus system generally has a plurality of pipe buses, there are a plurality of horizontal axis differences, and each horizontal axis difference refers to a horizontal separation distance between two pipe buses. For example, a fixed spacer tubular busbar is horizontally spaced from other loose spacer tubular busbars by a certain distance, and the fixed spacer tubular busbar is also horizontally spaced from a different loose spacer tubular busbar by a different distance. The computer can calculate the horizontal spacing distance between the fixed spacing pipe bus bar and the loose spacing pipe bus bar according to actual needs.
It should be understood that, when the horizontal axis difference between the compartment tube buses is calculated according to the geometric characteristic information of the tube bus axes, the horizontal axis difference can be obtained by directly measuring the horizontal spacing distance between the compartment tube bus axis simulation models through corresponding software of a computer, or can be calculated through other corresponding distance calculation formulas.
According to the method, the point cloud data of the pipe bus at the intervals are obtained, the simulation model of the pipe bus axis corresponding to each pipe bus is constructed, the geometric characteristic information of the pipe bus axes is obtained according to the simulation model, and the horizontal axis difference between the pipe bus axes at the intervals is obtained through calculation of the geometric characteristic information, so that corresponding safety risks can be effectively avoided in the measurement process of the pipe bus horizontal axis difference, and the safety in the measurement process of the pipe bus horizontal axis difference is improved.
in one embodiment, as shown in fig. 3, step S200 further includes the steps of:
S210, fitting the cylindrical characteristic quantity according to the point cloud data of the end face, and constructing a cylindrical characteristic body of the spacing pipe bus.
the point cloud data of the end faces are point cloud data of the end faces on two sides of the pipe fitting on the bus of the spaced pipe. Specifically, the tubular bus is generally fixed through tubular bus hardware fitting staple bolt, has the circular shape through-hole on the tubular bus hardware fitting, and the tubular bus passes from one side of tubular bus hardware fitting through the circular shape through-hole, wears out from the opposite side, and the terminal surface of tubular bus hardware fitting both sides is the cross-section of tubular bus when passing through the circular shape through-hole promptly, through the point cloud data fitting cylinder characteristic quantity of the terminal surface of tubular bus hardware fitting both sides, can obtain the cylinder characteristic body.
S220, acquiring a pipe bus axis simulation model of the spacing pipe bus according to the axis of the cylindrical feature body.
The axis of the cylindrical feature body represents the tubular bus axis of the tubular bus, and the tubular bus axis simulation model of each tubular bus can be obtained by simulating the axis of the cylindrical feature body.
The pipe trunk axis simulation model obtained by acquiring the point cloud data of the end surfaces at the two sides of the pipe trunk metal tool to fit the cylindrical characteristic quantity and constructing the cylindrical characteristic body can avoid errors caused by point cloud data formed on irregular surfaces to the position selection of the subsequent pipe trunk axis and improve the accuracy of the horizontal axis difference between the subsequent pipe trunk axes.
In one embodiment, as shown in fig. 4, step S400 includes the steps of:
S410, acquiring the pipe bus metal tool type of the spacing pipe bus.
The tubular bus bar fixing device comprises a tubular bus bar fixing device, a computer, a swinging type hardware fitting and a sliding type hardware fitting, wherein the tubular bus bar fixing device is used for fixing the tubular bus bar, the tubular bus bar fixing device comprises the fixed type hardware fitting, the swinging type hardware fitting and the sliding type hardware fitting, the tubular bus bar is fixed by adopting which tubular bus bar type and can be obtained by observing a transformer substation site, and a follow-up observer can input an observation result into the computer so that the computer can obtain which tubular bus bar type is adopted. The fixed spacing tubular busbar can be defined as a fixed spacing tubular busbar by adopting a fixed hardware fitting to fix the tubular busbar, and the loose spacing tubular busbar by adopting a swinging hardware fitting or a sliding hardware fitting to fix the tubular busbar. The pipe bus system generally comprises a plurality of fixed spacing pipe buses and a plurality of loose fixed spacing pipe buses.
And S420, obtaining horizontal axis difference values among the tubular buses of different hardware types according to the tubular bus hardware types of the spaced tubular buses and the geometric characteristic information of the tubular bus axis.
In the process of calculating the horizontal axis difference of the spacing tubular busbar, because including a plurality of fixed spacing tubular busbars of fastening and a plurality of loose fixed spacing tubular busbars in the tubular busbar system, through discerning the female gold utensil type of pipe, the computer can finally calculate the horizontal axis difference between the tubular busbar that obtains different gold utensil types, guarantees the variety of horizontal axis difference to the convenience is monitored transformer substation support type tubular busbar system.
In one embodiment, as shown in fig. 5, step S300 includes the steps of:
s310, obtaining a direction vector of the pipe trunk axis in the space coordinate system according to the pipe trunk axis simulation model.
And S320, determining the coordinates of the middle point of the pipe nut axis in a space coordinate system, and taking the coordinates of the middle point of the pipe nut axis as the coordinates of the position point of the pipe nut axis.
The geometric characteristic information of the pipe nut axis comprises a direction vector of the pipe nut axis and the position point coordinates of the pipe nut axis. By determining the position point coordinates of the tube bus axis and the direction vector of the tube bus axis in the space coordinate system, the computer can directly calculate according to the corresponding calculation formula to obtain the horizontal axis difference between the spaced tube buses. For example, by the corresponding calculation:
In the above formula, vectorAnd vectorAre respectively the direction vectors, A, of the tube bus axes respectively corresponding to the spacing tube buses1And B2The position of the pipe bus axis corresponding to the spacing pipe bus respectivelyPoint coordinates, L, are the horizontal axis difference between the spacer tube generatrices.
By acquiring the direction vector of the pipe bus axis and the position point coordinates of the pipe bus axis, the horizontal axis difference is calculated by adopting a calculation formula, the accuracy of a calculation result can be ensured, the calculation efficiency can be improved, and the calculation complexity of the horizontal axis difference between the pipe bus axes at intervals is reduced.
In one embodiment, as shown in fig. 6, step S100 includes the steps of:
S110, obtaining scanning model information of the tube bus, and obtaining original point cloud data according to the scanning model information.
Specifically, the laser radar scanner can be used for scanning the on-site pipe bus to obtain preliminary model information, the computer can obtain original point cloud data according to the preliminary scanning model information, and in other embodiments, the scanning model information can be directly converted into the original point cloud data through the laser radar scanner and then sent to the computer.
and S120, performing point cloud denoising on the original point cloud data to obtain point cloud data of the pipe bus.
Point cloud denoising adopts Z + flash software to perform point cloud preprocessing, remove main noise points in the point cloud data, and then eliminate other redundant noise points through the polyfworks software (for example, the redundant noise points are eliminated through a manual selection mode, and the elimination accuracy can be ensured through the manual selection mode), so as to obtain the final point cloud data of the pipe bus.
Through point cloud noise elimination, the point cloud data of the pipe bus with high quality can be obtained, the influence of noise points on the point cloud data of the pipe bus generated in the scanning process of the laser radar scanner is reduced, the construction of a subsequent pipe bus axis simulation model can be accurate, and the interference of the noise points is reduced.
In one embodiment, as shown in fig. 6, after step S400, the method further includes the steps of:
and S500, judging whether the horizontal axis difference value exceeds a preset threshold value, and if not, returning to the step S110.
S600, if yes, outputting an alarm prompt.
The preset threshold value can be preset, when the computer judges that the horizontal axis difference value exceeds the preset threshold value, a corresponding alarm prompt can be provided, wherein the alarm prompt can be a voice prompt, a text prompt, a light flicker prompt and the like, correspondingly, when the computer judges that the horizontal axis difference value is lower than or equal to the preset threshold value, the alarm prompt can not be output, and other analysis results can be output instead, so that a worker can manage and maintain the transformer substation support type pipe main system according to the analysis results, for example, the analysis results can be historical horizontal axis difference values and the like.
it should be understood that although the various steps in the flowcharts of fig. 2-6 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 2-6 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternating with other steps or at least some of the sub-steps or stages of other steps.
in one embodiment, as shown in fig. 7, there is provided a substation-supported tubular busbar horizontal axis difference monitoring device, including:
The point cloud obtaining module 100 is used for obtaining point cloud data of the spacing pipe generatrix.
The axis model building module 200 is configured to build a pipe bus axis simulation model of the pipe bus according to the point cloud data of the pipe bus.
The characteristic obtaining module 300 is configured to obtain, according to the pipe bus axis simulation model, geometric characteristic information of pipe bus axes corresponding to the pipe buses at intervals.
The difference obtaining module 400 is configured to obtain a horizontal axis difference between the spaced pipe buses according to the geometric feature information of the pipe bus axes.
According to the device, the point cloud data of the pipe bus at the intervals are obtained, then the simulation model of the pipe bus axis corresponding to each pipe bus is built, then the geometric characteristic information of the pipe bus axes is obtained according to the simulation model, and the horizontal axis difference between the pipe bus axes at the intervals is obtained through calculation of the geometric characteristic information, so that corresponding safety risks can be effectively avoided in the measurement process of the horizontal axis difference of the pipe buses, and the safety in the measurement process of the horizontal axis difference of the pipe buses is improved.
In one embodiment, the axis model building module 200 further comprises: and the cylinder fitting unit is used for fitting the cylinder characteristic quantity according to the point cloud data of the end surface to construct a cylinder characteristic body of the spacing pipe bus. The cylindrical axis simulation unit is used for acquiring a pipe bus axis simulation model of the spacing pipe bus according to the axis of the cylindrical feature body. The point cloud data comprises point cloud data of end surfaces of two sides of the pipe fitting on the pipe bus at intervals.
in one embodiment, the difference obtaining module 400 further includes: the fitting type acquiring unit is used for acquiring the pipe bus fitting type of the spacing pipe bus. The type distinguishing and calculating unit is used for obtaining horizontal axis difference values among the tubular buses of different hardware types according to the tubular bus hardware types of the spaced tubular buses and the geometric characteristic information of the tubular bus axes.
In one embodiment, the feature acquisition module 300 further comprises: the direction vector obtaining unit is used for obtaining the direction vector of the pipe trunk axis in the space coordinate system according to the pipe trunk axis simulation model. The position coordinate acquisition unit is used for determining the coordinates of the middle point of the pipe parent axis in a space coordinate system, and taking the coordinates of the middle point of the pipe parent axis as the coordinates of the position point of the pipe parent axis. The geometric characteristic information of the pipe nut axis comprises a direction vector of the pipe nut axis and the position point coordinates of the pipe nut axis.
In one embodiment, the point cloud obtaining module 100 further comprises: the model information acquisition unit is used for acquiring scanning model information of the tubular bus and obtaining original point cloud data according to the scanning model information. The noise elimination unit is used for carrying out point cloud noise elimination on the original point cloud data to obtain point cloud data of the pipe bus.
in one embodiment, as shown in fig. 8, the apparatus further includes a determining module 500, configured to determine whether the axis difference exceeds a preset threshold after the difference obtaining module 400 obtains the horizontal axis difference between the spaced tubular buses according to the geometric characteristic information of the axes of the tubular buses, and if so, output an alarm prompt.
In an embodiment, a computer device comprises a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the above method when executing the computer program.
According to the computer equipment, the point cloud data of the pipe bus at the intervals are obtained, then the simulation model of the pipe bus axis corresponding to each pipe bus is built, then the geometric characteristic information of the pipe bus axis is obtained according to the simulation model, and the horizontal axis difference between the pipe bus axes at the intervals is obtained through calculation of the geometric characteristic information, so that in the measurement process of the horizontal axis difference of the pipe bus, corresponding safety risks can be effectively avoided, and the safety in the measurement process of the horizontal axis difference of the pipe bus is improved.
In an embodiment, a computer-readable storage medium, on which a computer program is stored, is characterized in that the computer program realizes the steps of the above-mentioned method when being executed by a processor.
According to the computer-readable storage medium, the point cloud data of the pipe bus at intervals are obtained, then the simulation model of the pipe bus axis corresponding to each pipe bus is built, then the geometric characteristic information of the pipe bus axes is obtained according to the simulation model, and the horizontal axis difference between the pipe bus axes at intervals is obtained through calculation of the geometric characteristic information, so that in the measurement process of the horizontal axis difference of the pipe buses, corresponding safety risks can be effectively avoided, and the safety in the measurement process of the horizontal axis difference of the pipe buses is improved.
further, for more fully explaining the present application, as shown in FIG. 9, FIG. 9 provides an illustration of a calculation model for calculating horizontal axis differences, wherein vectors are providedAnd vectorare respectively the direction vectors, A, of the tube bus axes respectively corresponding to the spacing tube buses1and B2Respectively are the position point coordinates of the axes of the tube buses corresponding to the bus bars of the spacing tube, L is the horizontal axis difference between the bus bars of the spacing tube, and then the horizontal axis difference between the bus bars of the spacing tube can be obtained by calculation by combining a calculation formula, wherein the calculation formula is as follows:
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A method for monitoring the horizontal axis difference of a supporting tubular busbar of a transformer substation comprises the following steps:
Acquiring point cloud data of a bus of the spacing pipe;
constructing a pipe bus axis simulation model of the pipe bus of the spacing pipe according to the point cloud data of the pipe bus of the spacing pipe;
Acquiring the geometric characteristic information of the pipe bus axis corresponding to each spacing pipe bus according to the pipe bus axis simulation model;
And acquiring a horizontal axis difference value between the spaced tube buses according to the geometric characteristic information of the tube bus axes.
2. The method of claim 1, wherein the point cloud data comprises point cloud data of end surfaces on both sides of a pipe parent metal on the spacer pipe busbar; the method for constructing the pipe bus axis simulation model of the spaced pipe bus according to the point cloud data of the pipe bus comprises the following steps:
Fitting the cylindrical characteristic quantity according to the point cloud data of the end face to construct a cylindrical characteristic body of the spacing tube bus;
And acquiring a pipe bus axis simulation model of the spacing pipe bus according to the axis of the cylindrical characteristic body.
3. The method according to claim 1, wherein the obtaining of the horizontal axis difference between the spaced tubular buses according to the geometric feature information of the tubular bus axis comprises the steps of:
acquiring the type of a pipe bus metal tool of the spacing pipe bus;
And obtaining horizontal axis difference values among the tubular buses of different hardware types according to the tubular bus hardware type of the spaced tubular bus and the geometric characteristic information of the tubular bus axis.
4. The method according to claim 1, wherein the geometric feature information of the pipe busbar axis comprises a direction vector of the pipe busbar axis and a position point coordinate of the pipe busbar axis, and the obtaining of the geometric feature information of the pipe busbar axis corresponding to each spacer pipe busbar according to the pipe busbar axis simulation model comprises the steps of:
Acquiring a direction vector of the pipe bus axis in a space coordinate system according to the pipe bus axis simulation model;
And determining the coordinates of the middle point of the pipe nut axis in a space coordinate system, and taking the coordinates of the middle point of the pipe nut axis as the coordinates of the position point of the pipe nut axis.
5. the method of claim 4, wherein obtaining a horizontal axis difference between the spaced tube buses from the geometric characteristic information of the bus axis comprises:
In the above formula, vectorAnd vectorAre respectively the direction vectors, A, of the tube bus axes respectively corresponding to the spacing tube buses1And B2and the position point coordinates of the axes of the tube buses respectively corresponding to the spacing tube buses are respectively, and L is the horizontal axis difference between the spacing tube buses.
6. The method according to any one of claims 1 to 5, wherein the acquiring of point cloud data of a pipe generatrix comprises the steps of:
Acquiring scanning model information of the pipe bus, and acquiring original point cloud data according to the scanning model information;
And performing point cloud denoising on the original point cloud data to obtain point cloud data of the pipe generatrix.
7. The method according to any one of claims 1 to 5, wherein after obtaining the axis difference between the generatrices of the spacing pipes according to the preset model and the geometrical characteristic information, the method further comprises the following steps:
and judging whether the axis difference exceeds a preset threshold value, if so, outputting an alarm prompt.
8. a transformer substation support type tubular busbar horizontal axis difference monitoring device is characterized by comprising:
The point cloud acquisition module is used for acquiring point cloud data of the bus of the spacing pipe;
the axis model building module is used for building a pipe bus axis simulation model of the pipe bus of the interval pipe according to the point cloud data of the pipe bus of the interval pipe;
the characteristic acquisition module is used for acquiring the geometric characteristic information of the pipe bus axis corresponding to each spacer pipe bus according to the pipe bus axis simulation model;
And the difference value acquisition module is used for acquiring the horizontal axis difference value between the spaced tubular buses according to the geometric characteristic information of the tubular bus axes.
9. A computer device comprising a memory and a processor, the memory storing a computer program, wherein the processor implements the steps of the method of any one of claims 1 to 7 when executing the computer program.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.
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