CN110986787B - Transformer substation support type pipe bus deformation early warning method based on point cloud data - Google Patents
Transformer substation support type pipe bus deformation early warning method based on point cloud data Download PDFInfo
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- 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
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
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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
- G01B11/14—Measuring arrangements characterised by the use of optical techniques for measuring distance or clearance between spaced objects or spaced apertures
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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
- G01B11/16—Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge
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Abstract
The invention relates to a transformer substation support type pipe bus deformation early warning method based on point cloud data. A transformer substation supporting type pipe bus deformation early warning method based on point cloud data comprises the following steps: collecting point cloud data of a pipe stock system; creating a cylinder according to the point cloud data; acquiring characteristic points of the cylindrical section; connecting each characteristic point to create a broken line segment of the pipe main axis; measuring and calculating the deflection value, the length value and the distance between two ends of the broken line segment; and judging whether the deformation of the pipe bus exceeds a deformation threshold value or not according to the deflection value, the length value and the distance between the two ends of the broken line, and if so, sending an early warning signal. The method solves the problem that the length and the deflection of the bent pipe bus cannot be accurately measured by the traditional method, and meanwhile, the method for approximating the axis of the bent pipe bus by the broken line segment can control the length of the broken line segment to meet the measurement requirements of pipe buses with different diameters, and has the characteristics of simple and convenient measurement and high accuracy of a prediction result.
Description
Technical Field
The invention relates to the technical field of transformer substation maintenance, in particular to a transformer substation supporting type pipe bus deformation early warning method based on point cloud data.
Background
The supporting type pipe bus system of the transformer substation is generally exposed outdoors, and the safety state of the supporting type pipe bus system is influenced by external factors and the form of the supporting type pipe bus system. The proper space posture is helpful for improving the safety performance of the support type pipe mother system, but the structure safety of the transformer substation pipe mother system is threatened due to the fact that certain deviation defects occur due to the installation quality or the later state change, for example, the deflection of the pipe mother is too large, larger deformation occurs to generate larger acting force on a lower support structure, and even irreversible shaping deformation occurs. Therefore, the deformation early warning of the transformer substation support type pipe bus has important engineering application value. The method for measuring the length of the normal pipe bus generally comprises the step of measuring the spherical center distance of the end cap of the pipe bus as the length of the pipe bus, and in a transformer substation support type pipe bus system, the pipe bus is always in a curve state due to external factors, so that the length and deflection errors of the pipe bus obtained by the method for measuring the length of the normal pipe bus are large, and the method cannot be used for early warning application of actual pipe bus deformation.
Disclosure of Invention
Therefore, the method for early warning the deformation of the supporting type pipe bus of the transformer substation based on the point cloud data is needed to solve the problem that the deformation of the supporting type pipe bus cannot be accurately early warned due to the fact that the length and the deflection of the supporting type pipe bus of the transformer substation cannot be accurately measured by a common method.
A transformer substation supporting type pipe bus deformation early warning method based on point cloud data comprises the following steps:
collecting point cloud data of a pipe stock system;
creating a cylinder according to the point cloud data;
acquiring characteristic points of the cylindrical section;
connecting each characteristic point to create a broken line segment of the pipe bus axis;
measuring and calculating the deflection value, the length value and the distance between two ends of the broken line segment;
and judging whether the deformation of the pipe bus exceeds a deformation threshold value or not according to the deflection value, the length value and the distance between the two ends of the broken line segment, and if so, sending an early warning signal.
In one embodiment, the step of determining whether the deformation of the pipe nut exceeds a deformation threshold value according to the deflection, the length and the distance between the two ends of the broken line segment, and if so, sending an early warning signal includes:
comparing the deflection value with a set first threshold, and when the absolute value of the difference value between the deflection value and the first threshold is smaller than a set second threshold, constructing a deformation parameter, wherein the deformation parameter is the ratio of the distance between the two ends of the broken line segment to the length value of the broken line segment;
and comparing the deformation parameter with a set fourth threshold, and when the deformation parameter is smaller than the fourth threshold, judging that potential safety hazards appear in the deformation of the pipe bus and sending out an early warning signal.
In one embodiment, the step of determining whether the deformation of the pipe nut exceeds a deformation threshold according to the deflection, the length and the distance between the two ends of the broken line segment, and if so, sending an early warning signal further includes:
when the absolute value of the difference value between the deflection value and the first threshold is larger than a set second threshold, comparing the deflection value with a set third threshold;
and when the deflection value is larger than the third threshold value, judging that potential safety hazards appear in the deformation of the pipe nut, and sending out an early warning signal.
In one embodiment, the setting method of the fourth threshold is as follows:
In one embodiment, the third threshold is a measured radius of the tubular nut.
In one embodiment, the second threshold is b times of the measurement precision value of the measurement tool used in the step of collecting the point cloud data of the management system, wherein b is greater than or equal to 1 and less than or equal to 10.
In one embodiment, the step of creating a cylinder from the point cloud data comprises:
removing redundant noise points of the part to be detected in the point cloud data;
screening out points with the curvature smaller than a set threshold value in the point cloud after noise elimination;
and creating the cylinder according to the screened points.
In one embodiment, the step of obtaining the feature points of the cylindrical section includes:
setting a certain sampling interval;
slicing the cylinder a plurality of times according to the sampling interval;
acquiring the end surfaces of a plurality of cylindrical slices obtained after slicing as the cylindrical sections;
and acquiring the circle center of each cylindrical section as a characteristic point.
In one embodiment, the sampling interval is set to a range of no more than 2 cylinder diameters.
In one embodiment, the step of measuring the deflection and the length of the broken line segment further comprises the following steps:
measuring an included angle between adjacent broken line segments, and judging that the intersection point of the adjacent broken line segments is a dead point when the included angle is smaller than a set threshold value;
and deleting dead spots and recreating the broken line segment of the pipe bus axis.
According to the transformer substation support type pipe bus deformation early warning method based on point cloud data, the axis of the pipe bus is obtained in a mode that a broken line segment is constructed at multiple points to approach the axis of the bent pipe bus by combining with the differential engineering mathematics idea, the length and the deflection of the bent pipe bus are calculated according to the axis, the problem that the length and the deflection of the bent pipe bus cannot be accurately measured by a traditional method is solved, meanwhile, the length of the broken line segment can be controlled by the method that the broken line segment approaches the axis of the bent pipe bus to meet the measurement requirements of pipe buses with different diameters, and the method has the characteristics of being simple and convenient to measure and high in prediction result precision.
Drawings
FIG. 1 is a schematic flow chart of a transformer substation supporting type pipe deformation early warning method based on point cloud data in an embodiment;
FIG. 2 is a schematic diagram illustrating a method for creating a polyline;
FIG. 3 is a schematic diagram of the measurement of the length, the deflection and the distance between two ends of the axial broken line section of the pipe bus;
FIG. 4 is a schematic structural diagram of the corrugated pipe nut;
FIG. 5 is a diagram illustrating the calculation of the deformation parameter threshold.
Detailed Description
To facilitate an understanding of the present application, the present application will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present application are given in the accompanying drawings. This application may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.
The method adopts the idea of differentiation in engineering mathematics, combines a point cloud data processing method, and obtains the axis of a pipe bus in a mode of establishing a polyline segment to approach the axis of a bent pipe bus at multiple points, specifically, referring to fig. 1, fig. 1 is a flow diagram of a transformer substation supporting type pipe bus deformation early warning method based on point cloud data in an embodiment, and as shown in fig. 1, the implementation method specifically comprises the following steps:
The pipe mother system is generally composed of a plurality of pipe mother, and the point cloud data of the pipe mother system to be measured is obtained by adopting a laser radar scanning non-contact method according to the actual geographic position and the appearance shape of the pipe mother system to be measured.
Specifically, because a single point scan of the laser radar can only obtain points on a corresponding projection plane with the position of the laser radar as a projection center, complete point cloud data of an object to be measured cannot be completely obtained only by the single point scan, a proper working mode of the laser radar scanner needs to be set, and a sufficient number of scanning sites at different positions are selected to scan the pipe system to be measured, so as to ensure that complete appearance point cloud data of the pipe system to be measured can be obtained; and acquiring local point cloud data of the to-be-detected pipe bus system, which is obtained by scanning at different scanning points. The obtained point cloud data comprises relative space coordinate information of the to-be-detected pipe system point measured at each scanning point, such as a cartesian coordinate system position or a spherical coordinate position, and the coordinate origin of the coordinate system of each obtained point cloud data can be a corresponding scanning point.
And 104, creating a cylinder according to the point cloud data.
Specifically, due to interference of external factors and the limitation of the laser radar scanner, each obtained point cloud data needs to be denoised, redundant noise points of a part to be detected, namely the position of the pipe system, in the point cloud data are removed, and the quality of the point cloud data is improved.
Further, after denoising the point cloud data, removing points with overlarge curvature in the point cloud data according to needs, namely screening out points with curvature smaller than a certain value in the denoised point cloud data; because the model of an ideal pipe-mother system is a cylinder, the cylinder axis itself is a straight line with a curvature of 0, and for a pipe-mother system with bending, because the curvature of the axis is considered to approach 0 in a sufficiently small scale, the axis created by the point with smaller curvature can be closer to the actual pipe-mother axis, which is beneficial to reduce errors, and therefore, in one embodiment, step 104 includes: removing redundant noise points of the part to be detected in the point cloud data; and screening out points with the curvature smaller than the set threshold value in the point cloud after the noise elimination.
Specifically, when the point cloud data are processed to create the cylinder, each obtained point cloud data is a part of data of the to-be-detected pipe mother system scanned by the laser radar scanner at different points, so that each point cloud data only has a part of points of a complete pipe mother and has a local space coordinate system opposite to the point cloud data, the space coordinates of each point cloud data are spliced, a plurality of point cloud data scanned at different points are spliced in the same coordinate system, the point cloud data of the complete pipe mother appearance are obtained, and fitting is performed to create the pipe mother cylinder.
And 106, acquiring characteristic points of the cylindrical section.
The created cylinder only simulates the outer surface of the pipe bus to be measured, and the inner axis of the pipe bus needs to be obtained when the deformation of the pipe bus is early warned, so that the circle center of the section of the cylinder needs to be obtained as a characteristic point to establish a pipe bus axis model.
In one embodiment, the step of obtaining the characteristic points of the cylindrical section comprises: setting a certain sampling interval;
slicing the cylinder a plurality of times according to the sampling interval;
acquiring the end surfaces of a plurality of cylindrical slices obtained after slicing as the cylindrical sections;
and acquiring the circle center of each cylindrical section as a characteristic point.
Specifically, in order to obtain the center of a circle of a cylindrical section as a feature point, a certain sampling interval is set as required to determine the sampling frequency and the number of the feature points of the existing point cloud data acquisition samples. Theoretically, as long as the sampling interval sets up short enough, just can infinitely approach to the fitting of tub female axis, but among the actual operation process, because measuring tool and some cloud measurement system's own limitation, the setting of sampling interval can receive certain restriction: if the set sampling interval is too long, the deviation of the collected characteristic points is large because the pipe nut to be detected is deformed; if the set sampling interval is too short, the reliability of the collected feature points is lowered due to insufficient data points. Thus, in one embodiment, the sampling interval is set to no more than twice the diameter of the created cylinder.
And slicing the established cylinder for a plurality of times according to the set sampling interval until the whole cylinder is cut. In one embodiment, any one end face of the obtained cylinder may be selected as a cutting reference face, and the remaining cutting planes are parallel to the cutting reference face, and then, starting from this end face, the cylinder is cut once every time a distance of one sampling interval passes in a direction of a straight line perpendicular to the cutting plane reference face until the entire cylinder is cut.
After the cylinder is cut, a plurality of cylinder slices are obtained, the cylinder slices are a plurality of cylinders, and the cylinder slices are expressed as follows: the side surface of the cylinder has data, and only the edge of the end surface of the cylinder has data, namely the end surface of the cylinder is a circular ring with data. The ring is regarded as a cylindrical section, and the center of each cylindrical section is obtained as a feature point. In one embodiment, the mode of obtaining the center of each cylindrical section is as follows: randomly selecting three different points on the edge of the cylindrical section, regarding the three points as points on a circle, calculating the circle corresponding to the three points and the circle center of the circle, repeating the steps for a plurality of times to obtain a plurality of circle centers, fitting the plurality of circle centers, and calculating the most appropriate point as the current circle center of the cylindrical section.
And step 108, connecting the characteristic points to create a broken line segment of the pipe bus axis.
Referring to fig. 2, fig. 2 is a schematic diagram illustrating a step of creating a nut axis broken line segment in an embodiment, as shown in fig. 2, the obtained feature points are sequentially connected to obtain a broken line segment of the nut axis as a fit of the nut axis, where a is shown in the figure1、A2、A3、A4And the like are used for numbering each characteristic point in sequence so as to be beneficial to the efficient implementation of the subsequent measurement and calculation process. It can be understood that, in the process of creating a pipe axis broken line segment, not all feature points are necessarily qualified feature points, and once a dead spot occurs, the fitting accuracy of the created pipe axis broken line segment may be seriously affected. Therefore, in one embodiment, after the broken line segment of the pipe parent axis is created and before the relevant data of the broken line segment is measured, the included angle between any two adjacent broken line segments of the created broken line segment of the pipe parent axis is measured, when the included angle is measured to be smaller than the set threshold value, the intersection point of the two adjacent broken line segments is judged to be a dead point, the dead point is deleted, the broken line segment of the pipe parent axis is created again, and the steps are repeated for a plurality of times to improve the fitting accuracy of the broken line segment of the pipe parent axis to the real pipe parent axis.
Step 110 is to measure and calculate the flexibility value, the length value and the distance between two ends of the broken line segment.
Referring to fig. 3, fig. 3 is a schematic diagram illustrating calculation of a deflection value, a length value and a distance between two ends of a pipe parent axis broken line segment in an embodiment, as shown in fig. 3, for an obtained fitting axis of the pipe parent axis, that is, a broken line segment of the pipe parent axis, the length of each line segment is measured and linearly added to obtain a total length of the pipe parent axis. The calculation method is as follows:
wherein L is the total length of the axis of the pipe nut, Xi、Yi、ZiRespectively, the space coordinates, X, of a Cartesian coordinate system of a certain characteristic pointi+1、Yi+1、Zi+1Respectively, the space coordinates of the cartesian coordinate system of the next adjacent feature point relative to the above-mentioned feature point.
Meanwhile, the head and tail characteristic points of the broken line segment connecting the pipe bus axis are regarded as the pipe bus axis in an ideal state, and the deflection value of each cylindrical section characteristic point relative to the pipe bus axis in the ideal state is calculated. The calculation method is as follows:
in the formula
Is A1Point to AiThe length of the point or points is,
for A calculated by vector operation1AiTLength of line segment, wherein AiTIs too much AiStippling as A1ANPerpendicular to A1ANY is the calculated pipe parent AiDeflection of the dots.
In addition, the distance between two ends of the broken line segment also needs to be calculated, and the calculation method comprises the following steps:
in the formula Xi、Yi、ZiRespectively, the space coordinate, X, of a Cartesian coordinate system of a characteristic point of one end of a broken line segmenti+1、Yi+1、Zi+1Respectively, the space coordinates of the Cartesian coordinate system of the feature point of the other end point of the broken line segment, and d is the distance between the two ends of the broken line segment obtained by calculation.
And 112, judging whether the deformation of the pipe nut exceeds a deformation threshold value according to the deflection value, the length value and the distance between the two ends of the broken line segment, and if so, sending an early warning signal.
And comparing the deflection value and the length value of the obtained broken line segment of the axis of the pipe bus with the set deformation thresholds such as the deflection threshold, the length threshold and the like, if the deflection value and the length value exceed the set deformation thresholds, judging that the deformation of the pipe bus exceeds a safety range, and correspondingly sending out an early warning signal.
For the deformation judgment, the most direct method is to judge whether the deflection value exceeds the safety range, since the measured deflection value has a larger difference from the set deflection safety threshold when the deformation degree of the pipe nut is larger or lower, the judgment is directly performed conveniently and quickly, and the accuracy is higher, in an embodiment, step 112 includes: comparing the deflection value with a set first threshold, and when the absolute value of the difference value between the deflection value and the first threshold is greater than a set second threshold, comparing the deflection value with a set third threshold; and when the deflection value is larger than the third threshold value, judging that potential safety hazards appear in the deformation of the pipe nut, and sending out an early warning signal.
Specifically, the first threshold is a set judgment value, and is matched with the second threshold to detect whether the deflection value of the measured broken line segment of the axis of the tube bus is far larger or far smaller than the first threshold, and further, if the deflection value is far larger or far smaller than the first threshold, the measured deflection value is directly compared with a set deformation safety threshold, namely a third threshold, and when the measured deflection value is larger than the third threshold, the tube bus deformation is judged to exceed a safety range, and an early warning signal is correspondingly sent out. In one embodiment, the value of the third threshold is the measured radius of the pipe nut. In another embodiment, the magnitude of the second threshold is related to the measurement accuracy of the measurement tool used to measure the point cloud data, which is b times the measurement accuracy, and generally includes: b is more than or equal to 1 and less than or equal to 10 so as to reasonably evaluate whether the flexibility value is far larger or far smaller than the first threshold value.
The method in the embodiment can effectively correspond to the situation that the deformation degree of the pipe nut is larger or smaller, and has the characteristics of high judgment accuracy and simple judgment method. However, the situation is different when the deformation of the pipe bus is not large or small, see fig. 4, and fig. 4 is a schematic structural diagram of the shape of the corrugated pipe bus, and as shown in fig. 4, for an actual supporting type pipe bus system of a transformer substation, a section of the long pipe bus is often supported by a plurality of groups of supporting columns, and the shape of the pipe bus is often wavy rather than simple single arch under the action of factors such as the supporting columns cannot be strictly equal in height and the influence of the external environment. Theoretical analysis shows that under the condition that the deflection values of the same size are measured, the strain or stress value of the wavy tube mother is inevitably larger than that of the single-arch tube mother, and the measurement method is to simply regard the tube mother as the single-arch tube mother, when the deflection of the measured tube mother is close to the set safety threshold, if the judgment method in the embodiment is only adopted, the situation that although the deformation of the tube mother is judged to not exceed the deformation safety threshold, the tube mother actually has potential safety hazards is likely to occur, and therefore when the deflection of the tube mother is close to the set deformation safety threshold, the mode of ignoring the shape of the tube mother and only paying attention to the maximum deflection value of the tube mother is not accurate enough.
In order to reasonably and accurately judge whether the deformation is safe when the deflection of the pipe nut is close to the set deformation safety threshold, in one embodiment, the step 112 further includes the steps of: when the absolute value of the difference value between the flexibility value and the first threshold is smaller than a set second threshold, constructing a deformation parameter, wherein the deformation parameter is the ratio of the distance between the two ends of the broken line segment to the length value of the broken line segment; and comparing the deformation parameter with a set fourth threshold, and when the deformation parameter is smaller than the fourth threshold, judging that potential safety hazards appear in the deformation of the pipe bus and sending out an early warning signal.
Specifically, when the first threshold and the second threshold are used for judging that the flexibility value of the measured broken line segment of the pipe bus axis is close to the first threshold, a new parameter a is d/L is constructed as a deformation parameter, wherein d is the distance between two ends of the broken line segment of the pipe bus axis, L is the length value of the broken line segment of the pipe bus axis, and it is easy to know that a is less than or equal to 1, particularly, when the pipe bus deforms, a is<1, and the smaller the value of a, the greater the degree of deformation of the tubular nut. Thus, for a given length of pipe, there is oneCritical value a of deformation parameter0So that: when a is more than or equal to a0Judging that the deformation of the pipe nut in any shape is always in a safe range; when a is<a0And judging that the deformation of the pipe nut exceeds the safety range. And after the deformation parameter of the measured pipe bus is constructed, comparing the deformation parameter with a set critical value of the deformation parameter, namely the fourth threshold value in the step, judging that the deformation of the pipe bus exceeds a safety range when the deformation parameter is smaller than the critical value of the deformation parameter, and correspondingly sending out an early warning signal.
Referring to fig. 5, in one embodiment, the deformation parameter threshold, i.e. the fourth threshold, is set by:
wherein a is0Is the fourth threshold, L is the length value of the broken line segment, YmaxIs the third threshold. Specifically, under the premise of the same deflection value, the distance value d between two ends of the single-arch-shaped pipe nut is larger than that of the wavy pipe nut, so that the critical value a of the deformation parameter0Namely the value of the deformation parameter a of the single-arch tube mother which meets the requirement that the flexibility value Y is equal to the deformation safety threshold, so that a reasonable deformation parameter critical value a can be calculated by taking the measured tube mother as the single-arch tube mother and using related parameters0Meanwhile, in order to reserve a certain safety margin, the critical value a of the deformation parameter is set0The calculation is performed in a certain manner. Referring to FIG. 5, d is the distance between two ends of the pipe bus, L is the approximate pipe bus, i.e. the broken line segment, YmaxThe deflection value of the pipe bus is equal to the deformation safety threshold, and X is a perpendicular point of a perpendicular line section formed by straight lines spaced from the maximum deflection value to two ends of the pipe bus and a connecting line of an end point of one end of the pipe bus. Then a0The calculation method is as follows:
the length value of X is in the range of 0 to d, a0Is a function of x, so the maximum of the above equation can be found:
is the obtained critical value a of the deformation parameter0。
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within 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 invention, 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 inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A transformer substation supporting type pipe bus deformation early warning method based on point cloud data comprises the following steps:
collecting point cloud data of a pipe stock system;
creating a cylinder according to the point cloud data;
acquiring characteristic points of the cylindrical section;
connecting each characteristic point to create a broken line segment of the pipe bus axis;
measuring and calculating the deflection value, the length value and the distance between two ends of the broken line segment;
comparing the deflection value with a set first threshold, and when the absolute value of the difference value between the deflection value and the first threshold is smaller than a set second threshold, constructing a deformation parameter, wherein the deformation parameter is the ratio of the distance between the two ends of the broken line segment to the length value of the broken line segment;
and comparing the deformation parameter with a set fourth threshold, and when the deformation parameter is smaller than the fourth threshold, judging that potential safety hazards appear in the deformation of the pipe bus and sending out an early warning signal.
2. The method of claim 1, further comprising:
when the absolute value of the difference value between the deflection value and the first threshold is larger than a set second threshold, comparing the deflection value with a set third threshold;
and when the deflection value is larger than the third threshold value, judging that potential safety hazards appear in the deformation of the pipe nut, and sending out an early warning signal.
3. The method according to claim 2, wherein the fourth threshold is set by:
4. The method of claim 2, wherein the third threshold is a measured radius of the tubular nut.
5. The method of any one of claims 1 to 4, wherein the second threshold is b times of the measurement precision value of the measurement tool used in the step of collecting the point cloud data of the management system, wherein b is greater than or equal to 1 and less than or equal to 10.
6. The method of claim 1, wherein the step of creating a cylinder from the point cloud data comprises:
removing redundant noise points of the part to be detected in the point cloud data;
screening out points with the curvature smaller than a set threshold value in the point cloud after noise elimination;
and creating the cylinder according to the screened points.
7. The method according to claim 1, wherein the step of obtaining the characteristic points of the cylindrical section comprises:
setting a certain sampling interval;
slicing the cylinder a plurality of times according to the sampling interval;
acquiring the end surfaces of a plurality of cylindrical slices obtained after slicing as the cylindrical sections;
and acquiring the circle center of each cylindrical section as a characteristic point.
8. The method according to claim 7, wherein the obtaining of the center of each cylindrical section as a feature point comprises:
randomly selecting three different points on the edge of the cylindrical section;
regarding the three points as points on a circle, and calculating the circle corresponding to the three points and the circle center of the circle;
repeating the steps for a plurality of times to obtain a plurality of circle centers;
and fitting the plurality of circle centers, and calculating the most appropriate point as the circle center of the current cylindrical section.
9. The method of claim 7, wherein the sampling interval is set to a range of no more than 2 cylinder diameters.
10. The method of claim 1, wherein the step of measuring the deflection and length of the break line segment is preceded by:
measuring an included angle between adjacent broken line segments, and judging that the intersection point of the adjacent broken line segments is a dead point when the included angle is smaller than a set threshold value;
and deleting dead spots and recreating the broken line segment of the pipe bus axis.
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| CN107045731A (en) * | 2017-03-21 | 2017-08-15 | 国网湖北省电力公司检修公司 | The method being modeled based on cloud data to substation bus bar |
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