CN116045908A - Method and system for measuring inclination angle of transmission tower body - Google Patents
Method and system for measuring inclination angle of transmission tower body Download PDFInfo
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- CN116045908A CN116045908A CN202211544783.0A CN202211544783A CN116045908A CN 116045908 A CN116045908 A CN 116045908A CN 202211544783 A CN202211544783 A CN 202211544783A CN 116045908 A CN116045908 A CN 116045908A
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- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
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Abstract
The invention relates to a transmission tower body inclination angle measuring method and system, wherein the method comprises the steps of obtaining distance data and attitude angle data of a transmission tower body to-be-measured point; calculating to obtain three-dimensional coordinates of the point to be measured according to the distance data and the attitude angle data of the point to be measured; converting the three-dimensional coordinates of the to-be-measured point into the same coordinate system through translation and rotation to obtain converted coordinates; and calculating the inclination angle of the transmission tower body according to the converted coordinates. The invention can accurately acquire the whole inclination angle of the transmission tower, thereby obtaining the real-time attitude of the transmission tower, providing important data support for post-tower maintenance, and providing guarantee for the stable operation of the power grid.
Description
Technical Field
The invention relates to the technical field of optical measurement, in particular to a transmission tower body inclination angle measurement method and system.
Background
With the rapid development of national economy in China, the demand of various industries for electric power is increased, the investment of the national power grid is increased continuously in the construction of electric power, the trans-regional trans-basin type high-voltage transmission lines are increased gradually, the trans-regional terrain is complex, the goaf and the subsidence area are more, and the goaf can cause natural disasters such as subsidence and cracking of the earth surface, landslide and debris flow in mountain areas. Many high-voltage transmission towers are inevitably built above goafs, and the safety of the high-voltage transmission towers and tower bases is greatly damaged, so that the operation of a power grid is affected. At present, a transmission tower is huge in size and complex in structure, and a supporting part is a non-monomer tower, so that a tower base is often formed by a plurality of upright posts in a net shape. The existing manual regular inspection mode is difficult to accurately know the inclination state of the whole tower, the manual inspection mode simply relies on 'eyes' for inspection personnel to detect the settlement and inclination of the transmission tower, the efficiency is low, the labor intensity is high, the subjectivity is high, and the inclination state of the whole tower cannot be accurately judged.
Therefore, it is highly desirable to provide a method and a system for measuring the inclination angle of a transmission tower body so as to accurately determine the inclination state of the transmission tower body.
Disclosure of Invention
Therefore, the technical problem to be solved by the invention is to overcome the problems existing in the prior art, and the invention provides the transmission tower body inclination angle measuring method and system, which can accurately acquire the whole inclination angle of the transmission tower, so that the real-time posture of the transmission tower is obtained, and important data support is provided for post-tower maintenance, so that the guarantee is provided for the stable operation of a power grid.
In order to solve the technical problems, the invention provides a transmission tower body inclination angle measuring method, which comprises the following steps:
s1: distance data and attitude angle data of a to-be-measured point of a transmission tower body are obtained;
s2: calculating to obtain the three-dimensional coordinates of the point to be measured according to the distance data and the attitude angle data of the point to be measured;
s3: converting the three-dimensional coordinates of the to-be-measured point into the same coordinate system through translation and rotation to obtain converted coordinates;
s4: and calculating the inclination angle of the transmission tower body according to the converted coordinates.
In one embodiment of the present invention, in S1, a method for acquiring distance data and attitude angle data of a point to be measured includes:
and carrying out laser ranging module and attitude sensing module, and acquiring distance data and attitude angle data of the to-be-measured point by using the laser ranging module and the attitude sensing module.
In one embodiment of the present invention, in S2, the method for calculating the three-dimensional coordinates of the point to be measured according to the distance data and the attitude angle data of the point to be measured includes:
let the coordinates of the point to be measured be (x) n ，y n ，z n ) And x is n ，y n ，z n The following set of equations is satisfied:
wherein L is n For measuring the distance from any point on a plane formed by the points to the measuring point, alpha n For the angle beta between any point on the plane formed by the measuring points and the line segment between the two points of the measuring points and the plane n The included angle between the line segment between any point on the plane formed by the measuring points and the two points of the measuring points and the horizontal plane is as follows
In one embodiment of the present invention, in S3, the method for converting the three-dimensional coordinates of the point to be measured into the same coordinate system by translation and rotation includes:
let the measured points be A, B, C and D, translate plane ABCD to plane A 1 B 1 C 1 D 1 And then plane A 1 B 1 C 1 D 1 Rotated to plane A 2 B 2 C 2 D 2 The coordinates were obtained as follows:
C 2 :(0，0)
wherein:
x 1 -x 3 ＝X 13 y 1 -y 3 ＝Y 13
x 2 -x 3 ＝X 23 y 2 -y 3 ＝Y 23 。
x 4 -x 3 ＝X 43 y 4 -y 3 ＝Y 43
in one embodiment of the invention, the conversion is only for the x, y coordinates of the four coordinates, and the z coordinates are not processed.
In one embodiment of the present invention, in S4, a method for calculating an inclination angle of a transmission tower body according to the converted coordinates includes:
known plane A 2 B 2 C 2 D 2 Is (x) 1 ，y 1 ，z 1 )、(x 2 ，y 2 ，z 2 )、(x 3 ，y 3 ，z 3 )(x 4 ，y 4 ，z 4 ) Plane A 1 B 1 C 2 D 2 An included angle alpha with the plane xoy, plane A 2 B 2 C 2 D 2 With plane A 1 B 1 C 2 D 2 The included angle of (2) is beta;
is known to be
Taking xoz normal vector V 1 = (0, 1, 0), then α is:
is known to be
Taking yoz normal vector V 2 = (1, 0), then β is:
in addition, the invention also provides a transmission tower body inclination angle measuring system, which comprises:
the data acquisition module is used for acquiring distance data and attitude angle data of a to-be-measured point of the transmission tower body;
the coordinate calculation module is used for calculating the three-dimensional coordinates of the point to be measured according to the distance data and the attitude angle data of the point to be measured;
the coordinate conversion module is used for converting the three-dimensional coordinates of the to-be-measured point into the same coordinate system through translation and rotation to obtain converted coordinates;
and the inclination angle calculation module is used for calculating the inclination angle of the transmission tower body according to the converted coordinates.
In one embodiment of the present invention, the method for calculating the three-dimensional coordinates of the point to be measured by the coordinate calculation module according to the distance data and the attitude angle data of the point to be measured includes:
let the coordinates of the point to be measured be (x) n ，y n ，z n ) And x is n ，y n ，z n The following set of equations is satisfied:
wherein L is n For measuring the distance from any point on a plane formed by the points to the measuring point, alpha n For the angle beta between any point on the plane formed by the measuring points and the line segment between the two points of the measuring points and the plane n The included angle between the line segment between any point on the plane formed by the measuring points and the two points of the measuring points and the horizontal plane is as follows
In one embodiment of the present invention, the method for converting the three-dimensional coordinates of the to-be-measured point by the coordinate conversion module through translation and rotation into the same coordinate system includes:
let the measured points be A, B, C and D, translate plane ABCD to plane A 1 B 1 C 1 D 1 And then plane A 1 B 1 C 1 D 1 Rotated to plane A 2 B 2 C 2 D 2 The coordinates were obtained as follows:
C 2 :(0，0)
wherein:
x 1 -x 3 ＝X 13 y 1 -y 3 ＝Y 13
x 2 -x 3 ＝X 23 y 2 -y 3 ＝Y 23 。
x 4 -x 3 ＝X 43 y 4 -y 3 ＝Y 43
in one embodiment of the present invention, the method for calculating the inclination angle of the transmission tower body by the inclination angle calculation module according to the transformed coordinates includes:
known plane A 2 B 2 C 2 D 2 Is (x) 1 ，y 1 ，z 1 )、(x 2 ，y 2 ，z 2 )、(x 3 ，y 3 ，z 3 )(x 4 ，y 4 ，z 4 ) Plane A 1 B 1 C 2 D 2 An included angle alpha with the plane xoy, plane A 2 B 2 C 2 D 2 With plane A 1 B 1 C 2 D 2 The included angle of (2) is beta;
is known to be
Taking xoz normal vector V 1 = (0, 1, 0), then α is:
is known to be
Taking yoz normal vector V 2 = (1, 0), then β is: />
Compared with the prior art, the technical scheme of the invention has the following advantages:
according to the transmission tower body inclination angle measuring method and system, the whole inclination angle of the transmission tower can be accurately obtained, so that the real-time posture of the transmission tower is obtained, important data support is provided for post-tower maintenance, and therefore, the stable operation of a power grid is guaranteed.
Drawings
In order that the invention may be more readily understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof that are illustrated in the appended drawings.
Fig. 1 is a schematic flow chart of a transmission tower body inclination angle measurement method according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of acquiring distance data and attitude angle data of a point to be measured according to an embodiment of the present invention.
FIG. 3 is a schematic diagram of calculating three-dimensional coordinates according to an embodiment of the present invention.
Fig. 4 is a schematic diagram of coordinate transformation according to an embodiment of the present invention.
FIG. 5 is a schematic view of a tower tilt model according to an embodiment of the present invention.
Fig. 6 is a schematic diagram of basic components of a transmission tower body inclination angle measurement system according to an embodiment of the present invention.
Fig. 7 is a circuit diagram of a power supply according to an embodiment of the present invention.
Fig. 8 is a circuit diagram of another power supply according to an embodiment of the invention.
Fig. 9 is a main control circuit diagram of an embodiment of the present invention.
Fig. 10 is a circuit diagram of a laser ranging module according to an embodiment of the invention.
FIG. 11 is a circuit diagram of an attitude sensing module according to an embodiment of the present invention.
Fig. 12 is a schematic diagram of a communication module according to an embodiment of the invention.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and specific examples, which are not intended to be limiting, so that those skilled in the art will better understand the invention and practice it.
Referring to fig. 1, the method for measuring the inclination angle of the transmission tower body provided by the embodiment of the invention includes the following steps:
s1: distance data and attitude angle data of a to-be-measured point of a transmission tower body are obtained;
s2: calculating to obtain the three-dimensional coordinates of the point to be measured according to the distance data and the attitude angle data of the point to be measured;
s3: converting the three-dimensional coordinates of the to-be-measured point into the same coordinate system through translation and rotation to obtain converted coordinates;
s4: and calculating the inclination angle of the transmission tower body according to the converted coordinates.
According to the transmission tower body inclination angle measurement method, the whole inclination angle of the transmission tower can be accurately obtained, so that the real-time posture of the transmission tower is obtained, important data support is provided for post-tower maintenance, and therefore, the stable operation of a power grid is guaranteed.
In S1, the method for obtaining distance data and attitude angle data of the to-be-measured point includes:
referring to fig. 2, a laser ranging module and an attitude sensing module are carried, and distance data and attitude angle data of a to-be-measured point are obtained by using the laser ranging module and the attitude sensing module.
In S2, the method for calculating the three-dimensional coordinates of the point to be measured according to the distance data and the attitude angle data of the point to be measured includes:
let the coordinates of the point to be measured be (x) n ，y n ，z n ) And x is n ，y n ，z n The following set of equations is satisfied:
wherein L is n For measuring the distance from any point on a plane formed by the points to the measuring point, alpha n For the angle beta between any point on the plane formed by the measuring points and the line segment between the two points of the measuring points and the plane n The included angle between the line segment between any point on the plane formed by the measuring points and the two points of the measuring points and the horizontal plane is as follows
As an example, please refer to fig. 3, A, B, C, D is 4 points to be measured at the center of the transmission tower foundation. The point P is set to be (0, 0) above the plane. Known PA, PB, PC, PD have lengths L respectively 1 、L 2 、L 3 、L 4 PA, PB, PC, PD and the horizontal plane respectively have the included angles of beta 1 、β 2 、β 3 、β 4 The projection of PA, PB, PC, PD on the horizontal plane and the included angle between PE are respectively alpha 1 、α 2 、α 3 、α 4 And determining coordinates of 4 points to be detected. Let the coordinates of point A be (x 1 ，y 1 ，z 1 ) And x is 1 ，y 1 ，z 1 Is full ofThe following equations are followed.
Wherein alpha is 1 ，β 1 ，L 1 Are all known parameters and satisfy
And obtaining the other three groups of coordinates by the same method.
In S3, the method for converting the three-dimensional coordinates of the to-be-measured point into the same coordinate system through translation and rotation includes:
let the measured points be A, B, C and D, translate plane ABCD to plane A 1 B 1 C 1 D 1 And then plane A 1 B 1 C 1 D 1 Rotated to plane A 2 B 2 C 2 D 2 The coordinate conversion is only performed for the x and y coordinates of the four coordinates, and the z coordinate is not processed. The calculation of the whole inclination angle of the pole tower is not influenced after the coordinate conversion. The coordinate transformation diagram is shown in fig. 4, and the obtained coordinates are as follows:
C 2 :(0，0)
x 1 -x 3 ＝X 13 y 1 -y 3 ＝Y 13
wherein: x is x 2 -x 3 ＝X 23 y 2 -y 3 ＝Y 23 。
x 4 -x 3 ＝X 43 y 4 -y 3 ＝Y 43
In S4, the method for calculating the inclination angle of the transmission tower body according to the transformed coordinates includes:
building a tower inclination model as shown in fig. 5, wherein the inclination angle of the tower in three dimensions can be decomposed into a line-following direction (i.e. alpha rotating around the x axis in the figure) and a line-traversing direction (i.e. beta rotating around the y axis in the figure), and A is known as 2 B 2 C 2 D 2 Is (x) 1 ，y 1 ，z 1 )、(x 2 ，y 2 ，z 2 )、(x 3 ，y 3 ，z 3 ),(x 4 ，y 4 ，z 4 ) Plane A 1 B 1 C 2 D 2 An included angle alpha with the plane xoy, plane A 2 B 2 C 2 D 2 With plane A 1 B 1 C 2 D 2 The included angle of (2) is beta;
is known to be
Taking xoz normal vector V 1 = (0, 1, 0), then α can be calculated as
Known->
Taking yoz normal vector V 2 = (1, 0), β can be calculated as +.>
The beneficial effects of the transmission tower body inclination angle measuring method provided by the invention are shown by experimental measurement.
By constructing a test platform in a laboratory and calibrating the test platform through a level gauge, setting the inclination angle of the high-voltage model tangent tower along the line direction to be 15 degrees and the transverse inclination angle to be 10 degrees, carrying out 15 measurement experiments on the tower inclination model according to the transmission tower body inclination angle measurement method provided by the invention, wherein experimental data are shown in table 1:
TABLE 1
The uncertainty of the transmission tower inclination angle detection device is analyzed through experimental data, class A assessment is adopted for carrying out quantitative calculation on the uncertainty, and a calculation formula is shown as follows:
wherein U is A S (x) is the standard deviation of the sample, n is the experiment number, and U is defined A1 、U A2 Uncertainty in the line and transverse directions, respectively, from which U can be calculated A1 、U A2 The following is shown:
U A1 ＝0.091°U A2 ＝0.097°
according to experimental results, the absolute accuracy average value of the inclination angles of the transmission tower body in the two directions of the measurement tower is 1.11 degrees and 1.03 degrees respectively, and the relative error is 7.3 percent and 10 percent respectively, so that the transmission tower body inclination angle measurement method can completely meet the requirement of tower angle measurement.
The transmission tower body inclination angle measuring system disclosed in the embodiment of the invention is introduced below, and the transmission tower body inclination angle measuring system described below and the transmission tower body inclination angle measuring method described above can be correspondingly referred to each other.
The invention also provides a transmission tower body inclination angle measuring system, which comprises:
the data acquisition module is used for acquiring distance data and attitude angle data of a to-be-measured point of the transmission tower body;
the coordinate calculation module is used for calculating the three-dimensional coordinates of the point to be measured according to the distance data and the attitude angle data of the point to be measured;
the coordinate conversion module is used for converting the three-dimensional coordinates of the to-be-measured point into the same coordinate system through translation and rotation to obtain converted coordinates;
and the inclination angle calculation module is used for calculating the inclination angle of the transmission tower body according to the converted coordinates.
According to the transmission tower body inclination angle measurement system, the whole inclination angle of the transmission tower can be accurately obtained, so that the real-time posture of the transmission tower is obtained, important data support is provided for post-tower maintenance, and therefore, the stable operation of a power grid is guaranteed.
In one embodiment of the present invention, the method for calculating the three-dimensional coordinates of the point to be measured by the coordinate calculation module according to the distance data and the attitude angle data of the point to be measured includes:
let the coordinates of the point to be measured be (x) n ，y n ，z n ) And x is n ，y n ，z n The following set of equations is satisfied:
wherein L is n For measuring the distance from any point on a plane formed by the points to the measuring point, alpha n For the angle beta between any point on the plane formed by the measuring points and the line segment between the two points of the measuring points and the plane n The included angle between the line segment between any point on the plane formed by the measuring points and the two points of the measuring points and the horizontal plane is as follows
In one embodiment of the present invention, the method for converting the three-dimensional coordinates of the to-be-measured point by the coordinate conversion module through translation and rotation into the same coordinate system includes:
let the measured points be A, B, C and D, translate plane ABCD to plane A 1 B 1 C 1 D 1 And then plane A 1 B 1 C 1 D 1 Rotated to plane A 2 B 2 C 2 D 2 The coordinates were obtained as follows:
C 2 :(0，0)
wherein:
x 1 -x 3 ＝X 13 y 1 -y 3 ＝Y 13
x 2 -x 3 ＝X 23 y 2 -y 3 ＝Y 23 。
x 4 -x 3 ＝X 43 y 4 -y 3 ＝Y 43
in one embodiment of the present invention, the method for calculating the inclination angle of the transmission tower body by the inclination angle calculation module according to the transformed coordinates includes:
known plane A 2 B 2 C 2 D 2 Is (x) 1 ，y 1 ，z 1 )、(x 2 ，y 2 ，z 2 )、(x 3 ，y 3 ，z 3 )(x 4 ，y 4 ，z 4 ) Plane A 1 B 1 C 2 D 2 An included angle alpha with the plane xoy, plane A 2 B 2 C 2 D 2 With plane A 1 B 1 C 2 D 2 The included angle of (2) is beta;
is known to be
Taking xoz normal vector V 1 = (0, 1, 0), then α is:
is known to be
Taking yoz normal vector V 2 = (1, 0), then β is:
referring to fig. 6, the transmission tower body inclination angle measurement system provided by the embodiment of the invention is mainly divided into a measurement system terminal, a bluetooth communication system and a system upper computer resolving center in basic composition. The 24V power supply directly supplies power to the two-dimensional cradle head, 5V supplies power to the single-chip microcomputer main controller 1, the main controller 1 collects distance data and attitude data by utilizing the laser ranging module and the attitude sensing module, the data are sent to the upper computer through the Bluetooth module, and finally the overall attitude of the transmission tower and the inclination angle of the transmission tower are obtained. In addition, the steering engine remotely controls the rotation of the cradle head so as to change the direction of the laser ranging module.
The terminal circuit of the measuring system consists of a power supply circuit, a main control circuit, a laser ranging circuit and an attitude sensing circuit.
1) Power supply circuit design
In the transmission tower body inclination angle measurement system, as the measurement terminal system is built on the two-dimensional cradle head, the cradle head power supply voltage is direct current 24V, the laser ranging module and the gesture sensing module are powered to direct current 5V, and the main controller power supply voltage is 3.3V, the invention designs a two-way power supply conversion circuit, and the power supply circuit is shown in figures 7 and 8.
2) Master control circuit design
The main control circuit consists of a main control chip, a reset circuit, a clock circuit and a starting mode circuit. The invention selects STM32F103C8T6 as a main control chip and a 32-bit microcontroller based on ARM Cortex-M3 kernel, the main frequency is 72MHz, and the main control circuit diagram is shown in figure 9.
3) Laser ranging module circuit design
The laser ranging module supplies power to direct current 3.3V to 5V, outputs digital signals, and is connected with serial port 2 of STM32F103C8T6, namely RX of the laser ranging module is connected with TX end (PA 2 pin) of single chip microcomputer serial port 2, and TX of the laser ranging module is connected with RX end (PA 3 pin) of single chip microcomputer serial port 2. The working principle is that the singlechip sends specific instructions to the laser ranging sensor, and the sensor address, the measuring range, the measuring frequency, the resolution, the measuring mode (single measurement or continuous measurement), the beginning measurement, the ending measurement and the like can be adjusted. After the laser ranging sensor is configured, the sensor returns a distance value between the ranging module and the measured object, and a circuit of the laser ranging module is shown in fig. 10.
4) Gesture sensing module circuit design
The gesture sensing circuit supplies power to direct current 5V, the output interface is provided with a serial port and an IIC, the serial port is used in the problem, the serial port can directly output an angle value, after hardware connection is completed, the six-axis sensor continuously sends gesture data to the singlechip, the singlechip obtains a required gesture angle after simple frame analysis, and a circuit diagram of the gesture sensing module is shown in fig. 11.
The Bluetooth communication system mainly realizes the transmission and the reception of data between the measurement system terminal and the upper computer data settlement center, the measurement system terminal transmits the acquired distance and attitude data to the upper computer data settlement center through Bluetooth to calculate the attitude and the inclination angle of the tower, and a communication module circuit is shown in fig. 12.
The system upper computer resolving center mainly displays a transmission tower and base model, a COM port selection button, two visual angle switching buttons, a reset button and a data window through unit 3D software development. The transmission tower and the base model mainly rotate and twist according to data change, so that the actual condition of the transmission tower is displayed more vividly and intuitively. The COM port is used for selecting a port number of the serial port, and other configuration information of the serial port is set in a background code, wherein: the baud rate is set to 9600, 1 start bit, 8 data bits, 1 stop bit, no check bit, no hardware flow control. The two visual angle switching buttons are used for switching visual angles of the transmission tower and the base model. Viewing angle 1 is mainly the observation of transmission tower, and viewing angle 2 is mainly the observation of transmission tower base.
The transmission tower body inclination angle measurement system of the present embodiment is used to implement the foregoing transmission tower body inclination angle measurement method, so that the specific implementation of the system can be seen from the foregoing example part of the transmission tower body inclination angle measurement method, and therefore, the specific implementation thereof may be referred to the description of the corresponding examples of the respective parts, and will not be further described herein.
In addition, since the transmission tower body inclination angle measurement system of the present embodiment is used to implement the foregoing transmission tower body inclination angle measurement method, the function thereof corresponds to the function of the foregoing method, and will not be described herein again.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations 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.
It is apparent that the above examples are given by way of illustration only and are not limiting of the embodiments. Other variations and modifications of the present invention will be apparent to those of ordinary skill in the art in light of the foregoing description. It is not necessary here nor is it exhaustive of all embodiments. And obvious variations or modifications thereof are contemplated as falling within the scope of the present invention.
Claims (10)
1. The transmission tower body inclination angle measuring method is characterized by comprising the following steps of:
s1: distance data and attitude angle data of a to-be-measured point of a transmission tower body are obtained;
s2: calculating to obtain the three-dimensional coordinates of the point to be measured according to the distance data and the attitude angle data of the point to be measured;
s3: converting the three-dimensional coordinates of the to-be-measured point into the same coordinate system through translation and rotation to obtain converted coordinates;
s4: and calculating the inclination angle of the transmission tower body according to the converted coordinates.
2. A transmission tower body inclination angle measurement method as claimed in claim 1, wherein: in S1, the method for acquiring distance data and attitude angle data of the to-be-measured point includes:
and carrying out laser ranging module and attitude sensing module, and acquiring distance data and attitude angle data of the to-be-measured point by using the laser ranging module and the attitude sensing module.
3. A transmission tower body inclination angle measurement method as claimed in claim 1, wherein: in S2, the method for calculating the three-dimensional coordinates of the point to be measured according to the distance data and the attitude angle data of the point to be measured includes:
let the coordinates of the point to be measured be (x) n ，y n ，z n ) And x is n ，y n ，z n The following set of equations is satisfied:
wherein L is n For measuring the distance from any point on a plane formed by the points to the measuring point, alpha n For the angle beta between any point on the plane formed by the measuring points and the line segment between the two points of the measuring points and the plane n The included angle between the line segment between any point on the plane formed by the measuring points and the two points of the measuring points and the horizontal plane is as follows
4. A transmission tower body inclination angle measurement method according to claim 3, wherein: in S3, the method for converting the three-dimensional coordinates of the to-be-measured point into the same coordinate system through translation and rotation includes:
let the measured points be A, B, C and D, translate plane ABCD to plane A 1 B 1 C 1 D 1 And then plane A 1 B 1 C 1 D 1 Rotated to plane A 2 B 2 C 2 D 2 The coordinates were obtained as follows:
A 2 :
B 2 :
C 2 :(0，0)
D 2 :
wherein:
5. a transmission tower body inclination angle measuring method according to claim 1 or 4, wherein: the conversion is only performed for the x, y coordinates of the four coordinates, and the z coordinates are not processed.
6. The transmission tower body inclination angle measurement method according to claim 4, wherein: in S4, the method for calculating the inclination angle of the transmission tower body according to the converted coordinates includes:
known plane A 2 B 2 C 2 D 2 Is (x) 1 ，y 1 ，z 1 )、(x 2 ，y 2 ，z 2 )、(x 3 ，y 3 ，z 3 )(x 4 ，y 4 ，z 4 ) Plane A 1 B 1 C 2 D 2 An included angle alpha with the plane xoy, plane A 2 B 2 C 2 D 2 With plane A 1 B 1 C 2 D 2 The included angle of (2) is beta;
is known to be
Taking xoz normal vector V 1 = (0, 1, 0), then α is:
is known to be
Taking yoz normal vector V 2 = (1, 0), then β is:
7. transmission tower body inclination angle measurement system, its characterized in that, the system includes:
the data acquisition module is used for acquiring distance data and attitude angle data of a to-be-measured point of the transmission tower body;
the coordinate calculation module is used for calculating the three-dimensional coordinates of the point to be measured according to the distance data and the attitude angle data of the point to be measured;
the coordinate conversion module is used for converting the three-dimensional coordinates of the to-be-measured point into the same coordinate system through translation and rotation to obtain converted coordinates;
and the inclination angle calculation module is used for calculating the inclination angle of the transmission tower body according to the converted coordinates.
8. A transmission tower body inclination angle measurement system according to claim 7, wherein: the method for calculating the three-dimensional coordinates of the point to be measured by the coordinate calculation module according to the distance data and the attitude angle data of the point to be measured comprises the following steps:
let the coordinates of the point to be measured be (x) n ，y n ，z n ) And x is n ，y n ，z n The following set of equations is satisfied:
wherein L is n For measuring the distance from any point on a plane formed by the points to the measuring point, alpha n For the angle beta between any point on the plane formed by the measuring points and the line segment between the two points of the measuring points and the plane n The included angle between the line segment between any point on the plane formed by the measuring points and the two points of the measuring points and the horizontal plane is as follows
9. A transmission tower body inclination angle measurement system according to claim 7, wherein: the method for converting the three-dimensional coordinates of the to-be-measured point into the same coordinate system by the coordinate conversion module through translation and rotation comprises the following steps:
let the measured points be A, B, C and D, translate plane ABCD to plane A 1 B 1 C 1 D 1 And then plane A 1 B 1 C 1 D 1 Rotated to plane A 2 B 2 C 2 D 2 The coordinates were obtained as follows:
A 2 :
B 2 :
C 2 :(0，0)
D 2 :
wherein:
10. the transmission tower body inclination angle measurement method according to claim 4, wherein: the method for calculating the inclination angle of the transmission tower body by the inclination angle calculation module according to the converted coordinates comprises the following steps:
known plane A 2 B 2 C 2 D 2 Is (x) 1 ，y 1 ，z 1 )、(x 2 ，y 2 ，z 2 )、(x 3 ，y 3 ，z 3 )(x 4 ，y 4 ，z 4 ) Plane A 1 B 1 C 2 D 2 An included angle alpha with the plane xoy, plane A 2 B 2 C 2 D 2 With plane A 1 B 1 C 2 D 2 The included angle of (2) is beta;
is known to be
Taking xoz normal vector V 1 = (0, 1, 0), then α is:
is known to be
Taking yoz normal vector V 2 = (1, 0), then β is:
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| CN116625219A (en) * | 2023-07-25 | 2023-08-22 | 北京华力方元科技有限公司 | Distance monitoring method and system for insulator string of electric power iron tower |
| CN116625219B (en) * | 2023-07-25 | 2023-10-03 | 北京华力方元科技有限公司 | Distance monitoring method and system for insulator string of electric power iron tower |
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