CN111337944A - Tower footing acceptance check method and device based on foundation laser radar - Google Patents

Tower footing acceptance check method and device based on foundation laser radar Download PDF

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CN111337944A
CN111337944A CN202010422437.XA CN202010422437A CN111337944A CN 111337944 A CN111337944 A CN 111337944A CN 202010422437 A CN202010422437 A CN 202010422437A CN 111337944 A CN111337944 A CN 111337944A
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tower
foundation
footing
target
point cloud
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CN111337944B (en
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孙万红
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Beijing Digital Green Earth Technology Co.,Ltd.
Wuhan lvtu tujing Technology Co., Ltd
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Shenzhen Lyushi Intelligent Technology Co ltd
Beijing Greenvalley Technology Co ltd
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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
    • G01S17/88—Lidar systems specially adapted for specific applications
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
    • E02D27/00—Foundations as substructures
    • E02D27/32—Foundations for special purposes
    • E02D27/42—Foundations for poles, masts or chimneys
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H12/00—Towers; Masts or poles; Chimney stacks; Water-towers; Methods of erecting such structures
    • E04H12/22—Sockets or holders for poles or posts
    • E04H12/2253—Mounting poles or posts to the holder
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D21/00—Measuring or testing not otherwise provided for
    • G01D21/02—Measuring two or more variables by means not covered by a single other subclass

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Abstract

The embodiment of the application provides a tower footing acceptance method and a device based on a foundation laser radar, wherein the method comprises the following steps: acquiring point cloud data of a tower foundation of a target tower from foundation three-dimensional laser radar data of an area where an overhead transmission line is located; determining the value of each tower footing measurement parameter of the target tower based on the point cloud data of the tower legs, the foundation bolts, the direction piles, the center piles and part of the ground; respectively obtaining the quality judgment result of each tower footing measurement parameter according to the value of each tower footing measurement parameter by applying the preset quality standard rule corresponding to each tower footing measurement parameter; and generating a tower footing acceptance report aiming at the target tower according to the quality judgment result of each tower footing measurement parameter. The method and the device can effectively improve the automation degree and efficiency of tower footing acceptance check, and can effectively improve the accuracy and reliability of tower footing acceptance check result acquisition.

Description

Tower footing acceptance check method and device based on foundation laser radar
Technical Field
The application relates to the technical field of transmission line operation, in particular to a tower footing acceptance method and device based on a foundation laser radar.
Background
The construction compliance of the power transmission line tower footing is related to the following problem of smooth installation of the iron tower and the safety of the whole line. In the concrete work of tower footing acceptance inspection, the tower footing acceptance inspection mainly comprises the steps of collecting data of 16 foundation bolts, direction piles, center piles and the like of the iron tower foundation and calculating acceptance parameters. Meanwhile, the design requirements and relevant specifications of the line are compared, and whether the tower footing construction meets the requirements or not is determined.
However, the acceptance of tower foundations currently has the following problems:
1) and measuring related parameters by using a ruler in a manual operation mode, and then performing manual calculation. The requirements on the operators are high, and the measurement results of different operators may have great differences. The standard can not be unified, the efficiency is lower, and the labor intensity is higher.
2) Data calculation is carried out manually, and errors are easy to occur. It is impossible to generate a cross-sectional view and label information such as height difference, distance, angle, etc. There is no uniform acceptance report and there is a lack of standardized acceptance results.
Disclosure of Invention
In view of at least one of the above problems in the prior art, the present application provides a tower footing acceptance method and apparatus based on a foundation lidar, which can effectively improve the automation degree and efficiency of tower footing acceptance, and can effectively improve the accuracy and reliability of tower footing acceptance result acquisition.
In order to solve the technical problem, the application provides the following technical scheme:
in a first aspect, the present application provides a tower footing acceptance method based on a ground-based laser radar, including:
acquiring point cloud data of a tower foundation of a target tower from foundation three-dimensional laser radar data of an area where an overhead transmission line is located, wherein the point cloud data of the tower foundation comprises tower legs, foundation bolts, direction piles, center piles and part of ground point cloud data;
determining the value of each tower footing measurement parameter of the target tower based on the point cloud data of the tower legs, the foundation bolts, the direction piles, the center piles and part of the ground;
respectively obtaining the quality judgment result of each tower footing measurement parameter according to the value of each tower footing measurement parameter by applying the preset quality standard rule corresponding to each tower footing measurement parameter;
and generating a tower footing acceptance report aiming at the target tower according to the quality judgment result of each tower footing measurement parameter.
Further, before determining the values of the measured parameters of each tower footing of the target tower based on the point cloud data of the tower legs, the anchor bolts, the direction piles, the center pile and a part of the ground, the method further includes:
marking and naming each tower leg in the tower footing of the target tower by using the point cloud data of the tower legs;
and marking and naming the foundation bolts, the direction piles and the center piles corresponding to the tower legs in sequence according to the foundation bolts, the direction piles, the center piles and the point cloud data of part of the ground to form a tower foundation marking map of the target tower.
Further, the measurement parameters of each tower footing of the target tower comprise:
the top surface sectional area, the foundation root opening and the diagonal root opening of the tower foundation of the target tower;
the center deviation, the diameter and the exposure height of each foundation bolt of the tower foundation of the target tower;
the height difference of the top surface of the foundation of each tower leg of the tower foundation of the target tower;
the distance between piles in the direction along the bridge and the distance between piles in the direction across the bridge of the tower foundation of the target tower;
and a base torsion angle of each tower leg of the tower base of the target tower.
Further, the determining the value of each tower footing measurement parameter of the target tower based on the point cloud data of the tower legs, the anchor bolts, the direction piles, the center piles and part of the ground comprises:
determining the deviation between the center of each foundation bolt and a basic centroid based on the point cloud data of the foundation bolt;
respectively determining the top surface sectional area, the foundation root opening and the diagonal root opening of the tower foundation of the target tower, and the diameter and the exposed height of each foundation bolt of the tower foundation of the target tower according to the model of the target tower and the model of each foundation bolt which are obtained in advance;
determining a base top surface height difference of each tower leg and a base torsion angle of each tower leg based on the point cloud data of the tower legs;
and determining the distance between the piles in the direction of the bridge and the distance between the piles in the direction of the transverse bridge by using the point cloud data of the direction pile and the center pile.
Further, the determining a deviation of each of the anchor bolt centers from a base centroid based on the point cloud data of the anchor bolts comprises:
selecting one of the tower legs in the tower footing marking diagram of the target tower as the current target tower leg;
determining the central points and the central lines of the four foundation bolts by using the position information of the four foundation bolts corresponding to the target tower leg in the tower footing marking diagram of the target tower;
if the end surface of the top surface of the foundation of the tower leg is circular, the center line of the foundation bolt is the diameter of the circle; if the end surface of the top surface of the foundation of the tower leg is rectangular, the central line of the foundation bolt is the side length of the rectangle;
and determining the deviation corresponding to the four foundation bolts in the target tower leg based on the position information of the four foundation bolts corresponding to the target tower leg and the center lines and the center points of the foundation bolts.
Further, the determining, according to the model of the target tower and the model of the anchor bolt obtained in advance, the top surface sectional area, the foundation root opening and the diagonal root opening of the tower foundation of the target tower, and the diameter and the exposure height of each anchor bolt of the tower foundation of the target tower respectively includes:
determining the position information of a foundation boundary of a target tower according to the model of the target tower, determining the top surface sectional area of a tower footing of the target tower, and determining the foundation root opening and the diagonal root opening of the tower footing of the target tower based on a tower footing mark map of the target tower;
determining the diameter of each foundation bolt of the tower foundation of the target tower according to the type of the foundation bolt obtained in advance, and respectively determining the exposure height of each foundation bolt based on the direct height difference from the tower foundation of the target tower to the top of each foundation bolt.
Further, the applying a preset quality standard rule corresponding to each of the tower footing measurement parameters and obtaining a quality judgment result of each of the tower footing measurement parameters according to the value of each of the tower footing measurement parameters includes:
respectively obtaining quality judgment results of the diameters of the foundation bolts and the basic section sizes corresponding to the exposed heights according to the diameters and the exposed height values of the foundation bolts of the tower foundation of the target tower by applying a preset quality standard rule corresponding to the basic section sizes;
respectively acquiring a quality judgment result of the foundation anchor offset corresponding to the deviation of each anchor bolt according to the value of the center deviation of each anchor bolt of the tower foundation of the target tower based on a quality standard rule corresponding to the preset foundation anchor offset;
respectively acquiring a quality judgment result of the foundation foot exposure corresponding to the exposure height of each foundation bolt according to the exposure height value of each foundation bolt of the tower footing of the target tower based on a preset quality standard rule corresponding to the foundation foot exposure height;
respectively obtaining quality judgment results of the foundation root openings corresponding to the downbridge pile distance and the transverse bridge pile distance according to the values of the downbridge pile distance and the transverse bridge pile distance of the tower footing of the target tower by applying a preset quality standard rule corresponding to the foundation root openings;
and respectively acquiring a quality judgment result of the basic torsion corresponding to the basic torsion angle of each tower leg of the tower foundation of the target tower according to the value of the basic torsion angle of each tower leg of the tower foundation of the target tower by applying a preset quality standard rule corresponding to the basic torsion.
In a second aspect, the present application provides a tower footing acceptance apparatus based on ground-based lidar, including:
the system comprises a tower foundation point cloud data acquisition module, a data acquisition module and a data acquisition module, wherein the tower foundation point cloud data acquisition module is used for acquiring the point cloud data of a tower foundation of a target tower in foundation three-dimensional laser radar data of an area where an overhead transmission line is located, and the point cloud data of the tower foundation comprises tower legs, foundation bolts, direction piles, center piles and part of ground point cloud data;
the measurement parameter assignment module is used for determining the value of each tower foundation measurement parameter of the target tower based on the tower legs, the foundation bolts, the direction piles, the center piles and part of the point cloud data of the ground;
the quality judgment module is used for applying a preset quality standard rule corresponding to each tower footing measurement parameter and respectively obtaining a quality judgment result of each tower footing measurement parameter according to the value of each tower footing measurement parameter;
and the acceptance report generating module is used for generating a tower footing acceptance report aiming at the target tower according to the quality judgment result of each tower footing measurement parameter.
In a third aspect, the present application provides an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the steps of the ground-based lidar-based tower-based acceptance method when executing the program.
In a fourth aspect, the present application provides a computer readable storage medium having stored thereon a computer program which, when being executed by a processor, carries out the steps of the ground based lidar based tower-based acceptance method.
According to the technical scheme, the tower footing acceptance method and device based on the foundation laser radar, provided by the application, comprise the following steps: acquiring point cloud data of a tower foundation of a target tower from foundation three-dimensional laser radar data of an area where an overhead transmission line is located, wherein the point cloud data of the tower foundation comprises tower legs, foundation bolts, direction piles, center piles and part of ground point cloud data; determining the value of each tower footing measurement parameter of the target tower based on the point cloud data of the tower legs, the foundation bolts, the direction piles, the center piles and part of the ground; respectively obtaining the quality judgment result of each tower footing measurement parameter according to the value of each tower footing measurement parameter by applying the preset quality standard rule corresponding to each tower footing measurement parameter; generating a tower footing acceptance report aiming at the target tower according to the quality judgment result of each tower footing measurement parameter, solving the problems of low acceptance precision and low efficiency of the traditional artificial tower footing, and avoiding the problem of larger error caused by acceptance measurement of different personnel; the precision of the tower footing three-dimensional point cloud data acquired by the foundation laser radar can reach millimeter level, and the accuracy of an acceptance result can be ensured by calculating acceptance parameters based on the data; based on the acquired point cloud data of the tower footing, automatic identification of components such as bolts can be carried out, parameters such as height difference, distance and angle are automatically calculated, design requirements are compared, acceptance reports are formed, acceptance modes are standardized, and then the use reliability of the tower footing of the overhead transmission line can be effectively improved.
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In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic flow chart of a tower footing acceptance method based on ground-based laser radar according to an embodiment of the present application;
FIG. 2 is a schematic flow chart of a tower footing acceptance method based on ground-based laser radar provided by an application example of the application example;
FIG. 3 is a schematic view showing the relationship between anchor bolts A1 to A4 in an example of application of the present application;
FIG. 4 is a schematic view showing the relationship between tower legs A to D of a tower footing in an example of application of the present application;
fig. 5 is a schematic structural diagram of a foundation acceptance device based on a ground-based lidar according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In order to effectively improve the automation degree and efficiency of tower footing acceptance check and can effectively improve the accuracy and reliability of obtaining tower footing acceptance check results, the embodiment of the application provides an embodiment of a tower footing acceptance check method based on a foundation laser radar, and referring to fig. 1, the tower footing acceptance check method based on the foundation laser radar specifically comprises the following contents:
step S100: the method comprises the steps of obtaining point cloud data of a tower foundation of a target tower in foundation three-dimensional laser radar data of an area where an overhead transmission line is located, wherein the point cloud data of the tower foundation comprises tower legs, foundation bolts, direction piles, center piles and part of ground point cloud data.
Step S200: and determining the value of each tower footing measurement parameter of the target tower based on the point cloud data of the tower legs, the foundation bolts, the direction piles, the center piles and part of the ground.
Step S300: and respectively obtaining the quality judgment result of each tower footing measurement parameter according to the value of each tower footing measurement parameter by applying the preset quality standard rule corresponding to each tower footing measurement parameter.
Step S400: and generating a tower footing acceptance report aiming at the target tower according to the quality judgment result of each tower footing measurement parameter.
In order to further improve the efficiency and reliability of tower footing acceptance, in an embodiment of the tower footing acceptance method based on ground-based lidar provided by the present application, the following contents are further specifically included between the step S100 and the step S200:
step S500: and marking and naming each tower leg in the tower footing of the target tower by using the point cloud data of the tower legs.
Step S600: and marking and naming the foundation bolts, the direction piles and the center piles corresponding to the tower legs in sequence according to the foundation bolts, the direction piles, the center piles and the point cloud data of part of the ground to form a tower foundation marking map of the target tower.
It can be understood that, in order to effectively improve the comprehensiveness and the applicability of tower footing acceptance, in an embodiment of the tower footing acceptance method based on the ground-based laser radar provided in the present application, the measured parameters of each tower footing of the target tower specifically include the following:
(1) the top surface sectional area, the foundation root opening and the diagonal root opening of the tower base of the target tower.
(2) And the center deviation, the diameter and the exposure height of each foundation bolt of the tower foundation of the target tower.
(3) And the height difference of the top surface of the foundation of each tower leg of the tower base of the target tower.
(4) And the distance between piles in the direction along the bridge and the distance between piles in the direction across the bridge of the tower foundation of the target tower.
(5) And the base torsion angle of each tower leg of the tower base of the target tower.
In order to effectively improve the accuracy and efficiency of the values of the tower footing measurement parameters of the target tower, in an embodiment of the tower footing acceptance method based on the ground-based laser radar provided by the application, the step S200 in the tower footing acceptance method based on the ground-based laser radar specifically includes the following steps:
step S210: and determining the deviation between the center of each foundation bolt and the basic centroid based on the point cloud data of the foundation bolt.
Step S220: according to the model of the target tower and the model of the foundation bolts, the top surface sectional area, the foundation root opening and the diagonal root opening of the tower foundation of the target tower, and the diameter and the exposure height of each foundation bolt of the tower foundation of the target tower are determined respectively.
Step S230: and determining the height difference of the foundation top surface of each tower leg and the foundation torsion angle of each tower leg based on the point cloud data of the tower legs.
Step S240: and determining the distance between the piles in the direction of the bridge and the distance between the piles in the direction of the transverse bridge by using the point cloud data of the direction pile and the center pile.
In order to effectively improve the accuracy and reliability of obtaining the deviation of each foundation bolt, in an embodiment of the tower footing acceptance method based on the ground-based laser radar provided by the present application, step S210 in the tower footing acceptance method based on the ground-based laser radar specifically includes the following steps:
step S211: and selecting one of the tower legs from the tower footing marking diagram of the target tower as the current target tower leg.
Step S212: and determining the central points of the four foundation bolts by using the position information of the four foundation bolts corresponding to the target tower leg in the tower foundation mark diagram of the target tower, and determining the central lines of the four foundation bolts according to the central points.
If the end surface of the top surface of the foundation of the tower leg is circular, the center line of the foundation bolt is the diameter of the circle; and if the end surface of the top surface of the foundation of the tower leg is rectangular, the central line of the foundation bolt is the side length of the rectangle.
Step S213: and determining the deviation corresponding to the four foundation bolts in the target tower leg based on the position information of the four foundation bolts corresponding to the target tower leg and the center lines and the center points of the foundation bolts.
In addition, in order to effectively improve the top surface sectional area, the foundation root opening and the diagonal root opening of the tower foundation, and the accuracy and reliability of obtaining the diameter and the exposed height of each anchor bolt of the tower foundation of the target tower, in an embodiment of the tower foundation acceptance method based on the ground-based laser radar provided by the application, the step S220 in the tower foundation acceptance method based on the ground-based laser radar specifically includes the following steps:
step S221: determining the position information of the boundary of the foundation of a target tower according to the model of the target tower, determining the sectional area of the top surface of the tower base of the target tower, and determining the foundation root opening and the diagonal root opening of the tower base of the target tower based on the tower base mark map of the target tower.
Step S222: determining the diameter of each foundation bolt of the tower foundation of the target tower according to the type of the foundation bolt obtained in advance, and respectively determining the exposure height of each foundation bolt based on the direct height difference from the tower foundation of the target tower to the top of each foundation bolt.
In order to effectively improve the efficiency and accuracy of obtaining the quality determination result of each tower footing measurement parameter, in an embodiment of the tower footing acceptance method based on the ground-based lidar provided in the present application, the step S300 in the tower footing acceptance method based on the ground-based lidar specifically includes the following steps:
step S310: and respectively acquiring quality judgment results of the diameters of the foundation bolts and the basic section sizes corresponding to the exposed heights according to the diameters and the exposed height values of the foundation bolts of the tower foundation of the target tower by applying a preset quality standard rule corresponding to the basic section sizes.
Step S320: and respectively acquiring a quality judgment result of the foundation anchor offset corresponding to the deviation of each anchor bolt according to the value of the center deviation of each anchor bolt of the tower foundation of the target tower based on a quality standard rule corresponding to the preset foundation anchor offset.
Step S330: and respectively acquiring a quality judgment result of the foundation foot exposure corresponding to the exposure height of each foundation bolt according to the exposure height value of each foundation bolt of the tower footing of the target tower based on a preset quality standard rule corresponding to the foundation foot exposure height.
Step S340: and respectively acquiring quality judgment results of the foundation root openings corresponding to the distance of the piles in the direction of the bridge and the distance of the piles in the direction of the cross bridge according to the values of the distance of the piles in the direction of the bridge and the distance of the piles in the direction of the cross bridge of the tower foundation of the target tower by applying a preset quality standard rule corresponding to the foundation root openings.
Step S350: and respectively acquiring a quality judgment result of the basic torsion corresponding to the basic torsion angle of each tower leg of the tower foundation of the target tower according to the value of the basic torsion angle of each tower leg of the tower foundation of the target tower by applying a preset quality standard rule corresponding to the basic torsion.
In order to further explain the scheme, the application example provides a foundation laser radar-based iron tower foundation appearance quality detection acceptance method, the method comprises the steps of firstly marking 16 foundation bolts, direction piles and center piles of a truss iron tower foundation based on tower foundation three-dimensional point cloud data, automatically marking four foundation boundary lines in analysis software through marking, and manually assisting to confirm; calculating the size and the centroid of the section of the foundation and the centers of the foundation bolts in the same group; the analysis software calculates the model, the exposed height and the bolt centroid of the foundation anchor bolt through marking; calculating the displacement between the centers of the foundation bolts in the same group and the centroid of the foundation through the top view sectional view; then calculating the top surface height difference, the foundation root opening and the foundation corner torsion angle of each foundation; the types of the foundation bolts, the size of the section of the foundation and the circuit design requirements are input into analysis software, and the software judges whether the foundation meets the acceptance standard requirements and generates an acceptance report.
The specific technical content is as follows:
the application example provides a foundation laser radar-based iron tower foundation appearance quality detection acceptance method, and the method is based on foundation laser radar acquisition tower foundation three-dimensional point cloud data, adopts analysis software to extract and calculate relevant parameters, and verifies whether construction requirements are met. Referring to fig. 2, the method comprises the following steps:
and S101, acquiring data of an iron tower foundation to be detected (tower foundation for short) by adopting a foundation three-dimensional laser radar.
Evaluating according to a measuring area of the foundation three-dimensional laser radar, and selecting a measuring point of the three-dimensional laser radar during foundation detection; the measurement precision is not lower than mm level, the measurement range can be adjusted to only measure the ground part, so as to reduce the measurement time (namely, shorten the measurement time) and the data formed by measurement (namely, reduce the total amount of the measurement data); it should be required that the foundation not be in the pit before measurement to prevent the measurement from being blocked. And after the measurement is finished, inputting the obtained tower footing three-dimensional point cloud data into analysis software, and marking and generating output results such as the size, the height difference, the distance angle between the bolts and the like by the analysis software. It can be understood that the adoption of the foundation three-dimensional laser radar refers to the data acquisition of the iron tower foundation to be detected (tower foundation for short) in a foundation laser radar station-erecting scanning mode.
And S102, processing the point cloud data of the tower footing target area in analysis software, and identifying and marking the foundation bolts, the direction piles and the center piles.
The tower footing target area point cloud data are identified, then target object point cloud (namely point cloud data such as foundation bolts, direction piles and center piles) is identified, and the specific identification scheme is as follows: firstly, confirming a plane, then identifying the point cloud shape of the ground object on the plane, and judging the type of the ground object according to the known characteristic shape.
(1) According to the design habit of the power transmission line, naming each power transmission line foundation (namely each tower footing), facing the direction of the large-size side, from the left near side, the left far side, the right far side and the right near side, respectively naming A, B, C, D legs (note: each tower footing foundation is composed of four legs, and the periphery of each leg is composed of four foundation bolts, and the total number of the foundation bolts is 16);
(2) and (3) designating anchor bolts and direction piles of each leg of the current tower footing for naming, taking the current A leg of the current tower footing as an example, facing the direction of the large-size side, and naming the anchor bolts from the left near side, the left far side, the right far side and the right near side as A1, A2, A3 and A4 respectively, wherein the anchor bolts for naming the B leg in the same way are as follows: b1, B2, B3 and B4, and the same reasoning is carried out for C, D-leg anchor bolts; designating a top point A5 of the anchor bolt of the current tower footing, and so on at point B, C, D; when the foundation three-dimensional laser radar is adopted for scanning, the direction pile should adopt other obvious labeling directions; for example, a patterned rod is convenient to find. The direction stake is designated as point F and the center stake is designated as point E.
And step S103, calculating related parameters based on the three-dimensional point cloud data and the marking condition of the tower footing component.
(1) The boundary of the iron tower foundation is confirmed, and the section of the top surface of the foundation can be generally divided into a round section and a square section; the measuring personnel can assist the field situation to confirm the boundary position of the foundation and calculate the top surface sectional area S of each foundation according to the boundary positionA、SB、SC、SD(cross-sectional area of each foundation);
(2) a1, A2, A3 and A4 are foundation bolts, A1, A2, A3 and A4 are circle center positions of tops of the foundation bolts, an intersection point A0 connecting two straight lines of A1A3 and A2A4 is the center of the foundation bolt in the same group, a parallel line A0 passing through A0 is used as a parallel line of A1A2 and A1A4, the parallel line A5, A6, A7 and A8 intersect with a basic boundary respectively, and the length L of the line segment between the boundaries is calculated as shown in FIG. 3A5A6If the base is circular, the length L of the line segmentA5A6Then represents the diameter of the base top surface, and if the base top surface is rectangular, then the length of the line segment LA5A6、LA7A8Then it is represented as the side length of its square; so as to analogize the BCD leg;
（LA5A0-LA6A0）/2、（LA7A0-LA8A0) The deviation L between the center of the foundation bolt in the same group and the centroid of the foundation bolt isDeviation from zero (A)(ii) a So as to analogize the BCD leg;
(3) the size of the foundation bolt is easy to measure the diameter of the foundation bolt at the ground section, and the exposed height of the foundation bolt is the height difference of the foundation bolt from the top surface of the foundation to the top of the bolt;
（4）LA1B1、LA2B2、LA3B3、LA4B4、LA1D1、LA2D2root cutting is taken as the basis; l isA1C1、LA2C2、LA3C3、LA4C4Equal to diagonal root;
(5) calculating A, B, C, D a leg base top surface height difference value;
(6) referring to fig. 4, the intersection point Z0 of the two straight lines connecting A0C0 and B0D0 is the point E of the foundation center pile, parallel lines (i.e., auxiliary lines) passing through the point E of A0B0 and A0D0 are respectively made, and the distances between Z0 and the auxiliary lines on both sides are respectively calculated as the horizontal displacement LCis-trans、LTransversely;is ready to useDistance L of piles in bridge directionCis-transDistance L from transverse bridge direction pileTransversely;
(7) the connection of the FZ0 forms a straight line, the included angle formed by the FZ0 and A0Z0 is ∠ A, the included angle formed by the FZ0 and B0Z0 is ∠ B, the included angle formed by the FZ0 and C0Z0 is ∠ C, and the included angle formed by the FZ0 and D0Z0 is ∠ D;
Figure 64938DEST_PATH_IMAGE001
calculating the angle as the basic torsion angle
Figure 309974DEST_PATH_IMAGE002
。
And step S104, according to the requirement of circuit design, calculating and comparing the relevant data parameters obtained in the step S103 of the application example with the standard values, and judging whether the basis meets the requirement of acceptance criteria.
The judgment method comprises the following steps:
the input data includes: the length of side or the diameter L of the size of the top surface of the foundation is set, the type M of the ground foot is set, and the formula for judging the construction quality of the foundation is as follows:
(1) if it is
Figure 558553DEST_PATH_IMAGE003
And is
Figure 281658DEST_PATH_IMAGE004
；
Wherein L isIs provided withThe size of the adopted bolt is specified when the circuit is designed; l isHorizontal barIs the diameter of the bolt, LVerticalThe height of the bare leakage surface of the bolt.
The size of the basic section is qualified, otherwise, the size of the basic section is unqualified;
(2) if it is
Figure 925392DEST_PATH_IMAGE005
；
The offset L of the center of the foundationDeflectionUnqualified, otherwise, the offset of the center of the foundation is qualified;
(3) if it is
Figure 75750DEST_PATH_IMAGE006
And is
Figure 546046DEST_PATH_IMAGE007
Wherein d ismin-dmaxIs a reasonable range region for this parameter D;
the machining quality of the foundation is qualified, otherwise, the machining quality of the foundation is unqualified;
(4) if it is
Figure 338421DEST_PATH_IMAGE008
Wherein, in the step (A),
Figure 476142DEST_PATH_IMAGE009
the design requires the height of the bolt leaking out of the base surface;
the height of the foundation foot exposure is qualified, otherwise, the height of the foundation foot exposure is unqualified.
(5) If L isA1B1、LA2B2、LA3B3、LA4B4、LA1D1、LA2D2If the deviation from the input root opening value is less than 2 per thousand, the root opening is qualified, otherwise, the basic root opening is unqualified.
(6) If the base torsion angle
Figure 797402DEST_PATH_IMAGE010
An angle of less than 10';
the foundation is twisted to be qualified, otherwise, the foundation is twisted to be unqualified.
In summary, the above parameters are finally determined, including the concrete basic construction quality and the basic anchor center offset (i.e. L)Deflection) Numerical value of foundation foot adding working medium, foundation foot exposure height and foundation torsion angle
Figure 643741DEST_PATH_IMAGE010
And comparing and judging the parameters to finally obtain an acceptance report.
In addition, the correlation data in step S103 may also be compared and judged with reference to the whole foundation dimension construction allowable deviation table as shown in table 1.
TABLE 1
Figure 584016DEST_PATH_IMAGE012
Step S105, generating an acceptance report.
And generating a uniform standard acceptance report according to the requirements of acceptance units, wherein the report comprises contents such as a profile, labels of related calculation parameters, acceptance conclusions and the like.
From the above description, the tower footing acceptance method based on the foundation laser radar provided in the specific application example of the application example 1) solves the problems of low acceptance precision and low efficiency of the artificial traditional tower footing, and avoids the problem of large error in acceptance measurement of different personnel. 2) The tower footing three-dimensional point cloud data acquired by the foundation laser radar can reach millimeter level in precision, and acceptance parameter calculation is carried out based on the data, so that the accuracy of an acceptance result can be ensured. 3) Based on the acquired tower footing point cloud data, automatic identification of components such as bolts and the like can be carried out, parameters such as height difference, distance, angles and the like can be automatically calculated, design requirements are compared, acceptance reports are formed, and acceptance modes are standardized.
From the software aspect, in order to effectively improve the automation degree and efficiency of tower footing acceptance check and effectively improve the accuracy and reliability of obtaining tower footing acceptance check results, the application provides an embodiment of a tower footing acceptance check device based on ground-based laser radar for realizing all or part of the contents in the tower footing acceptance check method based on ground-based laser radar, referring to fig. 5, the tower footing acceptance check device based on ground-based laser radar comprises the following contents:
the tower footing point cloud data acquisition module 10 is configured to acquire point cloud data of a tower footing of a target tower from foundation three-dimensional laser radar data of an area where the overhead transmission line is located, where the point cloud data of the tower footing includes tower legs, anchor bolts, direction piles, center piles and part of ground point cloud data.
And the measurement parameter assignment module 20 is configured to determine values of measurement parameters of each tower foundation of the target tower based on the point cloud data of the tower legs, the foundation bolts, the direction piles, the center piles and part of the ground.
The quality judgment module 30 is configured to apply a preset quality standard rule corresponding to each of the tower footing measurement parameters, and obtain a quality judgment result of each of the tower footing measurement parameters according to a value of each of the tower footing measurement parameters.
And the acceptance report generating module 40 is configured to generate a tower footing acceptance report for the target tower according to the quality determination result of each tower footing measurement parameter.
The concrete implementation content of the tower footing acceptance check device based on the foundation laser radar provided by the embodiment of the application is referred to the embodiment of the tower footing acceptance check method based on the foundation laser radar, and the details are not repeated here.
From the above description, the tower footing acceptance device based on the foundation laser radar provided by the embodiment of the application solves the problems of low acceptance precision and low efficiency of the traditional tower footing manual acceptance, and avoids the problem of large errors caused by acceptance measurement of different personnel; the precision of the tower footing three-dimensional point cloud data acquired by the foundation laser radar can reach millimeter level, and the accuracy of an acceptance result can be ensured by calculating acceptance parameters based on the data; based on the acquired point cloud data of the tower footing, automatic identification of components such as bolts can be carried out, parameters such as height difference, distance and angle are automatically calculated, design requirements are compared, acceptance reports are formed, acceptance modes are standardized, and then the use reliability of the tower footing of the overhead transmission line can be effectively improved.
In order to effectively improve the automation degree and efficiency of tower footing acceptance check and effectively improve the accuracy and reliability of tower footing acceptance check result acquisition, the application provides an embodiment of an electronic device for implementing all or part of contents in the tower footing acceptance check method based on the ground-based laser radar, and the electronic device specifically includes the following contents:
a processor, a memory, a communication interface, and a bus; the processor, the memory and the communication interface complete mutual communication through the bus; the communication interface is used for realizing information transmission between the electronic equipment and the user terminal and relevant equipment such as a relevant database and the like; the electronic device may be a desktop computer, a tablet computer, a mobile terminal, and the like, but the embodiment is not limited thereto. In this embodiment, the electronic device may refer to the embodiment of the tower footing acceptance method based on the ground-based lidar and the embodiment of the tower footing acceptance device based on the ground-based lidar in the embodiment for implementation, which are incorporated herein, and repeated details are omitted.
In one embodiment, the foundation acceptance function of the foundation based lidar may be integrated into the central processor. Wherein the central processor may be configured to control:
step S100: the method comprises the steps of obtaining point cloud data of a tower foundation of a target tower in foundation three-dimensional laser radar data of an area where an overhead transmission line is located, wherein the point cloud data of the tower foundation comprises tower legs, foundation bolts, direction piles, center piles and part of ground point cloud data.
Step S200: and determining the value of each tower footing measurement parameter of the target tower based on the point cloud data of the tower legs, the foundation bolts, the direction piles, the center piles and part of the ground.
Step S300: and respectively obtaining the quality judgment result of each tower footing measurement parameter according to the value of each tower footing measurement parameter by applying the preset quality standard rule corresponding to each tower footing measurement parameter.
Step S400: and generating a tower footing acceptance report aiming at the target tower according to the quality judgment result of each tower footing measurement parameter.
From the above description, the electronic device provided by the embodiment of the application solves the problems of low acceptance precision and low efficiency of the manual traditional tower footing, and avoids the problem of large errors caused by acceptance measurement of different personnel; the precision of the tower footing three-dimensional point cloud data acquired by the foundation laser radar can reach millimeter level, and the accuracy of an acceptance result can be ensured by calculating acceptance parameters based on the data; based on the acquired point cloud data of the tower footing, automatic identification of components such as bolts can be carried out, parameters such as height difference, distance and angle are automatically calculated, design requirements are compared, acceptance reports are formed, acceptance modes are standardized, and then the use reliability of the tower footing of the overhead transmission line can be effectively improved.
Embodiments of the present application further provide a computer-readable storage medium capable of implementing all steps in the above-mentioned foundation laser radar-based tower-based acceptance method, where the computer-readable storage medium stores thereon a computer program, and when the computer program is executed by a processor, the computer program implements all steps of the above-mentioned foundation laser radar-based tower-based acceptance method, where the execution subject of the computer program is a server or a client, for example, the processor implements the following steps when executing the computer program:
step S100: the method comprises the steps of obtaining point cloud data of a tower foundation of a target tower in foundation three-dimensional laser radar data of an area where an overhead transmission line is located, wherein the point cloud data of the tower foundation comprises tower legs, foundation bolts, direction piles, center piles and part of ground point cloud data.
Step S200: and determining the value of each tower footing measurement parameter of the target tower based on the point cloud data of the tower legs, the foundation bolts, the direction piles, the center piles and part of the ground.
Step S300: and respectively obtaining the quality judgment result of each tower footing measurement parameter according to the value of each tower footing measurement parameter by applying the preset quality standard rule corresponding to each tower footing measurement parameter.
Step S400: and generating a tower footing acceptance report aiming at the target tower according to the quality judgment result of each tower footing measurement parameter.
From the above description, the computer-readable storage medium provided by the embodiment of the application solves the problems of low acceptance precision and low efficiency of the manual traditional tower footing, and avoids the problem of large error caused by acceptance measurement of different personnel; the precision of the tower footing three-dimensional point cloud data acquired by the foundation laser radar can reach millimeter level, and the accuracy of an acceptance result can be ensured by calculating acceptance parameters based on the data; based on the acquired point cloud data of the tower footing, automatic identification of components such as bolts can be carried out, parameters such as height difference, distance and angle are automatically calculated, design requirements are compared, acceptance reports are formed, acceptance modes are standardized, and then the use reliability of the tower footing of the overhead transmission line can be effectively improved.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (devices), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The principle and the implementation mode of the invention are explained by applying specific embodiments in the invention, and the description of the embodiments is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.

Claims (10)

1. A tower footing acceptance method based on a foundation laser radar is characterized by comprising the following steps:
acquiring point cloud data of a tower foundation of a target tower from foundation three-dimensional laser radar data of an area where an overhead transmission line is located, wherein the point cloud data of the tower foundation comprises tower legs, foundation bolts, direction piles, center piles and part of ground point cloud data;
determining the value of each tower footing measurement parameter of the target tower based on the point cloud data of the tower legs, the foundation bolts, the direction piles, the center piles and part of the ground;
respectively obtaining the quality judgment result of each tower footing measurement parameter according to the value of each tower footing measurement parameter by applying the preset quality standard rule corresponding to each tower footing measurement parameter;
and generating a tower footing acceptance report aiming at the target tower according to the quality judgment result of each tower footing measurement parameter.
2. The tower footing acceptance method based on the ground-based laser radar according to claim 1, wherein before the determining the values of the measurement parameters of each tower footing of the target tower based on the point cloud data of the tower legs, the anchor bolts, the direction piles, the center pile and the partial ground, further comprises:
marking and naming each tower leg in the tower footing of the target tower by using the point cloud data of the tower legs;
and marking and naming the foundation bolts, the direction piles and the center piles corresponding to the tower legs in sequence according to the foundation bolts, the direction piles, the center piles and the point cloud data of part of the ground to form a tower foundation marking map of the target tower.
3. The tower footing acceptance method based on ground-based laser radar according to claim 2, wherein the measurement parameters of each tower footing of the target tower comprise:
the top surface sectional area, the foundation root opening and the diagonal root opening of the tower foundation of the target tower;
the center deviation, the diameter and the exposure height of each foundation bolt of the tower foundation of the target tower;
the height difference of the top surface of the foundation of each tower leg of the tower foundation of the target tower;
the distance between piles in the direction along the bridge and the distance between piles in the direction across the bridge of the tower foundation of the target tower;
and a base torsion angle of each tower leg of the tower base of the target tower.
4. The tower footing acceptance method based on the ground-based laser radar according to claim 3, wherein the determining the values of the measurement parameters of each tower footing of the target tower based on the point cloud data of the tower legs, the anchor bolts, the direction piles, the center pile and the partial ground comprises:
determining the deviation between the center of each foundation bolt and a basic centroid based on the point cloud data of the foundation bolt;
respectively determining the top surface sectional area, the foundation root opening and the diagonal root opening of the tower foundation of the target tower, and the diameter and the exposed height of each foundation bolt of the tower foundation of the target tower according to the model of the target tower and the model of each foundation bolt which are obtained in advance;
determining a base top surface height difference of each tower leg and a base torsion angle of each tower leg based on the point cloud data of the tower legs;
and determining the distance between the piles in the direction of the bridge and the distance between the piles in the direction of the transverse bridge by using the point cloud data of the direction pile and the center pile.
5. The foundation acceptance method based on ground-based lidar according to claim 4, wherein the determining deviations of the respective anchor bolt centers from a base centroid based on the point cloud data of the anchor bolts comprises:
selecting one of the tower legs in the tower footing marking diagram of the target tower as the current target tower leg;
determining the central points and the central lines of the four foundation bolts by using the position information of the four foundation bolts corresponding to the target tower leg in the tower footing marking diagram of the target tower;
if the end surface of the top surface of the foundation of the tower leg is circular, the center line of the foundation bolt is the diameter of the circle; if the end surface of the top surface of the foundation of the tower leg is rectangular, the central line of the foundation bolt is the side length of the rectangle;
and determining the deviation corresponding to the four foundation bolts in the target tower leg based on the position information of the four foundation bolts corresponding to the target tower leg and the center lines and the center points of the foundation bolts.
6. The tower footing acceptance method based on the foundation laser radar according to claim 4, wherein the determining, according to the model of the target tower and the model of the anchor bolts obtained in advance, the top surface sectional area, the foundation root opening and the diagonal root opening of the tower footing of the target tower, and the diameter and the exposed height of each anchor bolt of the tower footing of the target tower respectively comprises:
determining the position information of a foundation boundary of a target tower according to the model of the target tower, determining the top surface sectional area of a tower footing of the target tower, and determining the foundation root opening and the diagonal root opening of the tower footing of the target tower based on a tower footing mark map of the target tower;
determining the diameter of each foundation bolt of the tower foundation of the target tower according to the type of the foundation bolt obtained in advance, and respectively determining the exposure height of each foundation bolt based on the direct height difference from the tower foundation of the target tower to the top of each foundation bolt.
7. The tower footing acceptance method based on the ground-based laser radar according to claim 3, wherein the applying a preset quality standard rule corresponding to each of the tower footing measurement parameters to obtain the quality judgment result of each of the tower footing measurement parameters according to the value of each of the tower footing measurement parameters comprises:
respectively obtaining quality judgment results of the diameters of the foundation bolts and the basic section sizes corresponding to the exposed heights according to the diameters and the exposed height values of the foundation bolts of the tower foundation of the target tower by applying a preset quality standard rule corresponding to the basic section sizes;
respectively acquiring a quality judgment result of the foundation anchor offset corresponding to the deviation of each anchor bolt according to the value of the center deviation of each anchor bolt of the tower foundation of the target tower based on a quality standard rule corresponding to the preset foundation anchor offset;
respectively acquiring a quality judgment result of the foundation foot exposure corresponding to the exposure height of each foundation bolt according to the exposure height value of each foundation bolt of the tower footing of the target tower based on a preset quality standard rule corresponding to the foundation foot exposure height;
respectively obtaining quality judgment results of the foundation root openings corresponding to the downbridge pile distance and the transverse bridge pile distance according to the values of the downbridge pile distance and the transverse bridge pile distance of the tower footing of the target tower by applying a preset quality standard rule corresponding to the foundation root openings;
and respectively acquiring a quality judgment result of the basic torsion corresponding to the basic torsion angle of each tower leg of the tower foundation of the target tower according to the value of the basic torsion angle of each tower leg of the tower foundation of the target tower by applying a preset quality standard rule corresponding to the basic torsion.
8. The utility model provides a tower footing acceptance device based on ground based laser radar which characterized in that includes:
the system comprises a tower foundation point cloud data acquisition module, a data acquisition module and a data acquisition module, wherein the tower foundation point cloud data acquisition module is used for acquiring the point cloud data of a tower foundation of a target tower in foundation three-dimensional laser radar data of an area where an overhead transmission line is located, and the point cloud data of the tower foundation comprises tower legs, foundation bolts, direction piles, center piles and part of ground point cloud data;
the measurement parameter assignment module is used for determining the value of each tower foundation measurement parameter of the target tower based on the tower legs, the foundation bolts, the direction piles, the center piles and part of the point cloud data of the ground;
the quality judgment module is used for applying a preset quality standard rule corresponding to each tower footing measurement parameter and respectively obtaining a quality judgment result of each tower footing measurement parameter according to the value of each tower footing measurement parameter;
and the acceptance report generating module is used for generating a tower footing acceptance report aiming at the target tower according to the quality judgment result of each tower footing measurement parameter.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program performs the steps of the ground-based lidar based tower-based acceptance method of any of claims 1 to 7.
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 ground-based lidar-based tower-based acceptance method according to any one of claims 1 to 7.
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