CN117405021A - Automatic measuring method for power transmission tower follow-up based on laser and image processing - Google Patents
Automatic measuring method for power transmission tower follow-up based on laser and image processing Download PDFInfo
- Publication number
- CN117405021A CN117405021A CN202311462557.2A CN202311462557A CN117405021A CN 117405021 A CN117405021 A CN 117405021A CN 202311462557 A CN202311462557 A CN 202311462557A CN 117405021 A CN117405021 A CN 117405021A
- Authority
- CN
- China
- Prior art keywords
- angle
- laser
- horizontal
- coordinates
- power transmission
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000005540 biological transmission Effects 0.000 title claims abstract description 43
- 238000012545 processing Methods 0.000 title claims abstract description 22
- 238000000034 method Methods 0.000 title claims description 17
- 230000033001 locomotion Effects 0.000 claims abstract description 27
- 238000009434 installation Methods 0.000 claims abstract description 19
- 239000011159 matrix material Substances 0.000 claims abstract description 16
- 230000003068 static effect Effects 0.000 claims abstract description 10
- 238000000691 measurement method Methods 0.000 claims abstract description 6
- 239000003638 chemical reducing agent Substances 0.000 claims description 11
- 241001442234 Cosa Species 0.000 claims description 6
- 244000089409 Erythrina poeppigiana Species 0.000 claims description 3
- 235000009776 Rathbunia alamosensis Nutrition 0.000 claims description 3
- 238000005259 measurement Methods 0.000 abstract description 17
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 10
- 230000009466 transformation Effects 0.000 description 9
- 238000004364 calculation method Methods 0.000 description 6
- 238000010276 construction Methods 0.000 description 6
- 229910052742 iron Inorganic materials 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000003014 reinforcing effect Effects 0.000 description 2
- 238000011426 transformation method Methods 0.000 description 2
- PCTMTFRHKVHKIS-BMFZQQSSSA-N (1s,3r,4e,6e,8e,10e,12e,14e,16e,18s,19r,20r,21s,25r,27r,30r,31r,33s,35r,37s,38r)-3-[(2r,3s,4s,5s,6r)-4-amino-3,5-dihydroxy-6-methyloxan-2-yl]oxy-19,25,27,30,31,33,35,37-octahydroxy-18,20,21-trimethyl-23-oxo-22,39-dioxabicyclo[33.3.1]nonatriaconta-4,6,8,10 Chemical compound C1C=C2C[C@@H](OS(O)(=O)=O)CC[C@]2(C)[C@@H]2[C@@H]1[C@@H]1CC[C@H]([C@H](C)CCCC(C)C)[C@@]1(C)CC2.O[C@H]1[C@@H](N)[C@H](O)[C@@H](C)O[C@H]1O[C@H]1/C=C/C=C/C=C/C=C/C=C/C=C/C=C/[C@H](C)[C@@H](O)[C@@H](C)[C@H](C)OC(=O)C[C@H](O)C[C@H](O)CC[C@@H](O)[C@H](O)C[C@H](O)C[C@](O)(C[C@H](O)[C@H]2C(O)=O)O[C@H]2C1 PCTMTFRHKVHKIS-BMFZQQSSSA-N 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 238000009412 basement excavation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000003550 marker Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
- G01C3/22—Measuring distances in line of sight; Optical rangefinders using a parallactic triangle with variable angles and a base of fixed length at, near, or formed by the object
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention relates to a power transmission tower follow-up automatic measurement method based on laser and image processing, which comprises the following steps: setting measuring devices at the centers of four pile foundations of the power transmission tower; acquiring an initial pile foundation image, identifying a mark point in the pile foundation image, and controlling the motion installation part to rotate so that the orientation of the laser range finder is opposite to the mark point; acquiring a current roll angle, a pitch angle and an inclination angle with a horizontal plane, acquiring a current motor pitch angle and a current motor horizontal angle, and acquiring a distance between a measuring device and an identification point; and calculating the coordinates of each identification point under the equipment coordinate system according to the acquired angle and distance, converting the coordinates into the coordinates under the horizontal coordinate system of each identification point according to the static Euler rotation matrix, wherein the horizontal distance between the coordinates under the horizontal coordinate system of the two identification points is the following distance of the transmission towers of the two pile foundations, and outputting the following distance of the transmission towers. Compared with the prior art, the invention has the advantages of automatic measurement, high measurement precision and the like.
Description
Technical Field
The invention relates to the technical field of iron tower follow-up measurement, in particular to a power transmission iron tower follow-up automatic measurement method based on laser and image processing.
Background
The power transmission line, especially the high voltage level line, generally needs to select a foundation type according to local conditions, and in the areas with relatively large topography height difference and complex surrounding environments of the tower, the foundation is designed to be unequal in height, so that no or fewer basal planes are opened as much as possible, the damage of vegetation is prevented, the water and soil loss is reduced, and the excavation and concrete pouring amount of the earthwork are reduced. For this reason, in order to ensure the quality of engineering construction, it is often necessary to make accurate measurements of the root-open, diagonal values of their foundations during construction. The foundation construction meets the requirements of 110-750 KV overhead transmission line construction and acceptance standardization, and the foundation follow-up value and the top surface height difference are strictly controlled when the transmission tower is installed. Particularly in hilly areas with relatively large spans. The working safety of the power transmission tower is seriously affected by the heel-on value of the tower foundation and the height difference of the top surface of the foundation. And the existing manual measurement is complex and large in calculation amount.
The foundation construction is one of important parameters of installation and safe operation of the power transmission tower, and whether the foundation construction is qualified directly influences the safe and stable operation of a later-stage conveying circuit. If the basic data and the design checking data deviate, the stability of the power transmission tower can be seriously affected, and the risk of toppling can be caused when the power transmission tower runs in a severe storm environment or runs for a long time. The hidden trouble of the stable operation of the later-stage power transmission line is increased, and the maintenance cost is also increased.
At present, the iron tower and exploitation are manually measured, and traditional tools such as steel tape and theodolite are adopted, so that the measuring parameters are more and the calculation mode is more complex, the tool equipment is more difficult to operate, and the accuracy of simultaneous measurement is insufficient, so that the accuracy of iron tower follow-up measurement is affected.
Disclosure of Invention
The invention aims to overcome the problems and provides a power transmission tower follow-up automatic measurement method based on laser and image processing.
The aim of the invention can be achieved by the following technical scheme:
a transmission tower follow-up automatic measurement method based on laser and image processing comprises the following steps:
setting measuring devices at the centers of four pile foundations of the power transmission tower;
acquiring an initial pile foundation image, identifying a mark point in the pile foundation image, and controlling the motion installation part to rotate so that the orientation of the laser range finder is opposite to the mark point;
acquiring a current roll angle, a pitch angle and an inclination angle with a horizontal plane, acquiring a current motor pitch angle and a current motor horizontal angle, and acquiring a distance between a measuring device and an identification point;
and calculating the coordinates of each identification point under the equipment coordinate system according to the acquired angle and distance, converting the coordinates into the coordinates under the horizontal coordinate system of each identification point according to the static Euler rotation matrix, wherein the horizontal distance between the coordinates under the horizontal coordinate system of the two identification points is the following distance of the transmission towers of the two pile foundations, and outputting the following distance of the transmission towers.
Further, the initial orientation of the laser is the x axis, the installation plane of the laser range finder is the XOY plane, and at this time, the coordinates P (x, y, z) of the identification point under the equipment coordinate system are specifically:
x＝L×COSa×COSb
y＝L×COSa×COSb
z＝L×SINa
l is the distance between the measuring device and the identification point, a is the pitch angle of the current motor, and b is the horizontal angle of the current motor.
Further, the static euler rotation matrix is:
wherein phi, theta androll angle, pitch angle and tilt angle with the horizontal plane, respectively.
Further, the coordinates in the horizontal coordinate system are: p' =ap, where a is the static euler rotation matrix.
Further, after the initial pile foundation image is obtained, if the identification point in the pile foundation image cannot be identified, the motion installation part is controlled to rotate, and the initial pile foundation image is obtained again until the identification point in the pile foundation image is identified.
Further, the motor pitch angle and the motor horizontal angle are obtained based on an angle sensor connected to an output end of the speed reducer in the motion mounting portion.
Further, the identification points are light-reflecting strips or identification bolts.
Further, identifying the identification point in the pile foundation image, and controlling the motion installation part to rotate so that the orientation of the laser range finder is opposite to the identification point, wherein the specific steps are as follows:
and obtaining a required motor pitch angle and a required motor horizontal angle according to the pixel position of the identification point in the initial pile foundation image, sending the required angle to a control module, and controlling the two motors to move by the control module until the distance between the laser light spot and the identification point is smaller than an error threshold value, wherein the orientation of the laser range finder is opposite to the identification point.
Further, the control module is a PLC controller.
Further, the specific steps of obtaining the required motor pitch angle and motor horizontal angle according to the pixel position of the identification point in the initial pile foundation image are as follows:
acquiring the pixel position of a laser spot generated by a current laser range finder, discretizing the two pixel positions according to the pixel position of an identification point and the pixel position of the laser spot to obtain camera plane coordinates P1[ x1, y1] and P2[ x2, y2] corresponding to the two pixel positions respectively, and differencing the two camera plane coordinates:
Δx＝x1-x2
Δy＝y1-y2
the required motor pitch angle a1 is calculated according to the obtained difference as follows:
the required motor horizontal angle b1 is:
where f represents the focal length.
Compared with the prior art, the invention has the following beneficial effects:
the invention utilizes laser to obtain distance data, utilizes the motor of the rotating mechanism to obtain rotation angle data, can calculate the coordinate under the equipment system, utilizes the attitude sensor to make coordinate system transformation to finish on-site basic measurement, does not need manual extra participation except setting identification points, has high automation of equipment, reduces manpower, simplifies measurement difficulty, does not need larger calculation amount, has low hardware requirement, has low overall manufacturing cost of the equipment, and has quicker and simpler scheme and reduced manpower cost investment.
Drawings
FIG. 1 is a flow chart of the present invention;
FIG. 2 is a block diagram of a measuring device according to the present invention;
FIG. 3 is a schematic diagram of object feature identification according to the present invention;
FIG. 4 is an imaging principle between an image coordinate system and a camera coordinate system of the present invention;
FIG. 5 is a flow chart of the overall transformation of a pixel coordinate system and a world coordinate system;
FIG. 6 is a pile foundation overhead view of the pylon;
FIG. 7 is an elevation view of pylon follow-up monitoring;
fig. 8 is a side view of a pylon pile foundation.
Detailed Description
The invention will now be described in detail with reference to the drawings and specific examples. The present embodiment is implemented on the premise of the technical scheme of the present invention, and a detailed implementation manner and a specific operation process are given, but the protection scope of the present invention is not limited to the following examples.
Example 1:
the invention provides a power transmission tower follow-up automatic measurement method based on laser and image processing, and a flow chart of the method is shown in figure 1.
The invention comprises the following steps:
setting measuring devices at the centers of four pile foundations of the power transmission tower;
acquiring an initial pile foundation image, identifying a mark point in the pile foundation image, and controlling the motion installation part to rotate so that the orientation of the laser range finder is opposite to the mark point;
acquiring a current roll angle, a pitch angle and an inclination angle with a horizontal plane, acquiring a current motor pitch angle and a current motor horizontal angle, and acquiring a distance between a measuring device and an identification point;
and calculating the coordinates of each identification point under the equipment coordinate system based on the acquired distance and angle, converting the coordinates into the coordinates under the horizontal coordinate system of each identification point according to the static Euler rotation matrix, wherein the horizontal distance between the coordinates under the horizontal coordinate system of the two identification points is the follow-up distance of the transmission towers of the two pile foundations, and outputting the follow-up distance of the transmission towers.
A schematic diagram of object feature recognition is shown in fig. 3. The imaging principle is shown in fig. 4.
Wherein, the preparation before measurement places the measuring device near four pile foundation central positions. The image recognition mark of the target to be detected can enable the image recognition speed to be faster and the stability to be higher.
In some embodiments, the measurement device includes a motion mounting portion including an attitude sensor and a laser rangefinder and a measurement portion including an x-axis motion motor and a y-axis motion motor;
the current roll angle, pitch angle and inclination angle with the horizontal plane are acquired based on an attitude sensor; the pitch angle of the current motor and the horizontal angle of the current motor are obtained based on the two motors, and the distance between the measuring device and the identification point is obtained based on a laser range finder;
when the attitude sensor is started, the roll pitch angle between the equipment and the horizontal plane is read. Transmitting the measurement information to an upper computer, wherein the angle roll angle phi, the pitch angle theta and the yaw angle measured by the attitude sensorThe coordinate transformation matrix A is obtained by using a Euler transformation method of a rotary coordinate system through matlab.
The motion mounting part is controlled to rotate, so that when the orientation of the laser range finder is opposite to the identification point, the laser range finder is started, the camera is started, the PLC controls the motor to rotate, and the object in image processing is used for detecting identification marks or fixed features with monitoring points, such as bolts in the project. Therefore, whether the target point appears in the field of view of the camera can be judged, and the angle of the laser which needs to move can be obtained according to the pixel position of the target to be measured in the field of view.
Identifying a marking point in the pile foundation image, and controlling the motion installation part to rotate so that the direction of the laser range finder is opposite to the marking point, wherein the specific steps are as follows:
and obtaining a required motor pitch angle and a required motor horizontal angle according to the pixel position of the identification point in the initial pile foundation image, sending the required angle to a control module, and controlling the two motors to move by the control module until the distance between the laser light spot and the identification point is smaller than an error threshold value, wherein the orientation of the laser range finder is opposite to the identification point.
The specific steps of obtaining the required motor pitch angle and motor horizontal angle according to the pixel position of the marking point in the initial pile foundation image are as follows:
acquiring the pixel position of a laser spot generated by a current laser range finder, discretizing the two pixel positions according to the pixel position of an identification point and the pixel position of the laser spot to obtain camera plane coordinates P1[ x1, y1] and P2[ x2, y2] corresponding to the two pixel positions respectively, and differencing the two camera plane coordinates:
Δx＝x1-x2
Δy＝y1-y2
the required motor pitch angle a1 is calculated according to the obtained difference as follows:
the required motor horizontal angle b1 is:
where f represents the focal length.
After the orientation of the laser range finder is just opposite to the identification point, the current roll angle, pitch angle and inclination angle with the horizontal plane are obtained based on the attitude sensor, the current motor pitch angle and the current motor horizontal angle are obtained based on the two motors, and the distance between the measuring device and the identification point is obtained based on the laser range finder.
The pile foundation overhead view of the pylon is shown in fig. 6, wherein ABCD are pile foundations. An elevation view of pylon follow-up monitoring is shown in figure 7. Taking one of the pile foundation points as an example. When the equipment strikes an A pile foundation point, recording a distance L measured by a laser ranging module, a pitch angle a and a horizontal angle b of rotation of two motors, and obtaining coordinates of a target point under an equipment coordinate system by using the data, wherein the initial orientation of laser is taken as the direction of an X axis, and the installation plane of the laser sensor is taken as an XOY plane.
x＝L×COSa×COSb
y＝L×COSa×COSb
z＝L×SINa
The coordinate P of the target point in the equipment coordinate system is the above coordinate P.
The rest mark points can be obtained by the same method.
At this time, the measured coordinates are not coordinates under the standard horizontal plane, so that the data processing of the data input matlab by using the attitude sensor is needed to level the equipment coordinate system by using the static Euler rotation matrix.
Converting coordinates in the device coordinate system into coordinates under a standard horizontal plane: p' =ap. Wherein P is the coordinate of the equipment in the coordinate system, P' is the coordinate A of the equipment in the horizontal coordinate system and is the Euler rotation matrix. And repeating the operation to obtain the coordinates of each target point in the horizontal coordinate system, so as to obtain the horizontal distance and the height difference between the two target points. The horizontal distance of the target point is the full heel-off value of the two pile foundations. And finally outputting the calculation result to display equipment and waiting for a next measuring instruction.
An overall conversion flow chart of the pixel coordinate system and the world coordinate system is shown in fig. 5.
In the embodiment, the control of the servo motor is realized through an H5U series PLC.
The whole flow of the invention is as follows:
and after the concrete pouring of the foundation of the iron tower is completed, the equipment is erected on the foundation center pile O. The marker is arranged at the position to be detected, so that the accuracy and the efficiency of image recognition can be improved, and the attitude sensor reading device is started to roll and pitch angles at the moment.
And transmitting the measurement information to an upper computer, and obtaining a coordinate transformation matrix A by using a coordinate transformation method through matlab according to the attitude roll angle phi and the pitch angle theta measured by the attitude sensor.
The measurement starts to start the laser sensor, and the PLC controls the motor to rotate, and receives stronger signal feedback as a stop signal when the laser strikes the reflective strip. Taking one of the pile foundation points as an example. When the equipment strikes an A pile foundation point, recording a distance L measured by a laser ranging module, a pitch angle a and a horizontal angle b of rotation angles of two motors, and recording a roll angle, a pitch angle and an inclination angle by an attitude sensor. And obtaining the coordinates of the target point in the equipment coordinate system according to the data, namely, the coordinates P of the target point in the equipment coordinate system.
And obtaining the coordinates of the point A in the system according to the result:
and similarly, B, C and D are obtained, and the measured coordinates are not coordinates under the standard horizontal plane, so that the data processing of the data input matlab by using the attitude sensor is needed to obtain a transformation matrix A by using the principle of coordinate transformation.
The coordinates in the device coordinate system are converted to coordinates below the standard level. P' =ap.
The full heel opening value and the top surface height difference are further contacted through the obtained coordinates. And outputting the calculation result to a display device and waiting for a next measuring instruction. The top surface height difference is the height difference between the two target points.
And according to the offset displayed by the attitude sensor, a transformation matrix A is obtained through a solution method of robot coordinate system transformation, and the offset coordinate point is converted into a horizontal coordinate point. The horizontal angle alpha, the pitch angle beta and the laser sensor L obtained by the angle sensor measure the distance. P (Lcos beta cos alpha, lcos beta sin alpha, lsin beta) -a coordinate system is established with the offset plane where the laser sensor is located. The coordinates in the horizontal plane coordinate system are obtained by the conversion matrix P' =pa.
According to the technical scheme, the distance data are obtained by using laser, the rotation angle data are obtained by using the rotating mechanism, the coordinates under the equipment system can be calculated, and the on-site basic measurement can be completed by using the attitude sensor to make coordinate system transformation. No extra manual intervention is needed except for sticking the reflective strips. The equipment is highly automated, reduces manpower, simplifies the measurement difficulty, does not need larger calculated amount, has low hardware requirement and low overall manufacturing cost, and the scheme is rapid and simple, thereby reducing the manpower cost input.
Example 2:
the invention further provides a device for automatically measuring the follow-up of the power transmission tower based on laser and image processing. The structure of the device is shown in fig. 2, the device comprising: tripod mounting plate 1, rotating bottom plate 2, reinforcing rib 3, pivot side riser 4, bearing end cover 5, pivot mounting plate 6, laser mounting plate 7, laser sensor 8, reduction gear mounting plate 9, reduction gear side riser 10, harmonic reducer 11, every single move motor 12, horizontal motor 13. The device consists of a supporting part, a motion installation part, a measuring part, a vision sensing part and a control part.
The support part is composed of a tripod and a tripod mounting plate which can be conveniently detached. The parts without the requirement of installation and positioning precision are assembled and disassembled in a portable way by screwing the bolts by hand. The motion mounting portion is composed of an X-axis motion transmitting portion and a Y-axis motion transmitting portion. And a harmonic reducer is adopted to refine the minimum motion angle of the motor so as to obtain higher control precision. And the output end of the speed reducer is connected with an angle sensor for obtaining the movement angle of the output end. The motor and the speed reducer are fixed through a motor mounting flange; and the X-axis output end, and the turntable bottom plate is connected with the harmonic reducer output end through 8 bolt hole sites on the circumference. The two side support plates are connected and arranged at the two side edges of the upper plane of the bottom plate by bolts. The support plates on two sides are used for installing and fixing the rotary platform, so that the rotating shaft of the rotary platform is required to be on line and parallel to the bottom plate during design. Simultaneously, two reinforcing rib plates are used for ensuring the perpendicularity of the two side supporting plates and the bottom plate. The base plate is provided with an attitude sensor, and a horizontally rotating shaft passes through the measuring center of the attitude sensor. The bearing, the rotating shaft and the bearing end cover are arranged on one side of the carrying platform, and the output end connecting plate of the speed reducer and the motor speed reducer are combined on the other end. One side of the carrying platform is provided with an image of the laser range finder and the image can be directly processed by a computer.
In the invention, PLC is adopted as motion control, and the sensor is communicated with the PLC by RS 485.
Based on the above measuring device, the method in embodiment 1 can be implemented.
Example 3:
the invention further provides a device for automatically measuring the follow-up of the power transmission tower based on laser and image processing. The device comprises: the identification point identification module is used for acquiring an initial pile foundation image and identifying identification points in the pile foundation image;
the control module is used for controlling the motion installation part to rotate so that the orientation of the laser range finder is opposite to the identification point;
the angle and distance acquisition module is used for acquiring the current roll angle, pitch angle and inclination angle with the horizontal plane, acquiring the current motor pitch angle and the current motor horizontal angle and acquiring the distance between the measuring device and the identification point;
the power transmission tower follow-up calculation module is used for calculating the coordinates of each identification point in the equipment coordinate system based on the obtained distance and angle, converting the coordinates into the coordinates of each identification point in the horizontal coordinate system according to the static Euler rotation matrix, and outputting the follow-up of the power transmission tower, wherein the horizontal distance between the coordinates of the two identification points in the horizontal coordinate system is the follow-up of the power transmission tower of the two pile foundations.
The foregoing describes in detail preferred embodiments of the present invention. It should be understood that numerous modifications and variations can be made in accordance with the concepts of the invention by one of ordinary skill in the art without undue burden. Therefore, all technical solutions which can be obtained by logic analysis, reasoning or limited experiments based on the prior art by the person skilled in the art according to the inventive concept shall be within the scope of protection defined by the claims. The Y-axis pitching transmission mechanism is composed of a rotating shaft, a bearing end cover, a carrying platform, a reducer output end connecting plate and a motor reducer.
Claims (10)
1. The utility model provides a transmission tower keep-away automatic measurement method based on laser and image processing which is characterized in that the method comprises the following steps:
setting measuring devices at the centers of four pile foundations of the power transmission tower;
acquiring an initial pile foundation image, identifying a mark point in the pile foundation image, and controlling the motion installation part to rotate so that the orientation of the laser range finder is opposite to the mark point;
acquiring a current roll angle, a pitch angle and an inclination angle with a horizontal plane, acquiring a current motor pitch angle and a current motor horizontal angle, and acquiring a distance between a measuring device and an identification point;
and calculating the coordinates of each identification point under the equipment coordinate system according to the acquired angle and distance, converting the coordinates into the coordinates under the horizontal coordinate system of each identification point according to the static Euler rotation matrix, wherein the horizontal distance between the coordinates under the horizontal coordinate system of the two identification points is the following distance of the transmission towers of the two pile foundations, and outputting the following distance of the transmission towers.
2. The automatic measuring method for the follow-up of the power transmission tower based on laser and image processing according to claim 1, wherein the measuring device comprises a motion installation part and a measuring part, the measuring part comprises an attitude sensor and a laser range finder, and the motion installation part comprises an x-axis motion motor and a y-axis motion motor;
the current roll angle, pitch angle and inclination angle with the horizontal plane are acquired based on an attitude sensor; the pitch angle of the current motor and the horizontal angle of the current motor are obtained based on the two motors, and the distance between the measuring device and the identification point is obtained based on a laser range finder;
the initial orientation of the laser is the x axis, the installation plane of the laser range finder is the XOY plane, and at the moment, the coordinates P (x, y, z) of the identification point under the equipment coordinate system are specifically as follows:
x＝L×COSa×COSb
y＝L×COSa×COSb
z＝L×SINa
l is the distance between the measuring device and the identification point, a is the pitch angle of the current motor, and b is the horizontal angle of the current motor.
3. The automatic measuring method for the follow-up of the power transmission tower based on laser and image processing according to claim 2, wherein the static euler rotation matrix is as follows:
wherein phi, theta androll angle, pitch angle and tilt angle with the horizontal plane, respectively.
4. The automatic measuring method for the follow-up of the power transmission tower based on laser and image processing according to claim 3, wherein the coordinates in a horizontal coordinate system are as follows: p' =ap, where a is the static euler rotation matrix.
5. The automatic measuring method for the follow-up of the power transmission tower based on laser and image processing according to claim 1, wherein after the initial pile foundation image is obtained, if the identification point in the pile foundation image cannot be identified, the motion installation part is controlled to rotate, and the initial pile foundation image is obtained again until the identification point in the pile foundation image is identified.
6. The automatic measuring method for the follow-up of the power transmission tower based on laser and image processing according to claim 1, wherein the pitch angle of the motor and the horizontal angle of the motor are obtained based on an angle sensor connected with an output end of a speed reducer in the motion installation part.
7. The automatic measuring method for the follow-up of the power transmission tower based on laser and image processing according to claim 1, wherein the identification points are light reflection strips or identification bolts.
8. The automatic measuring method for the follow-up of the power transmission tower based on laser and image processing according to claim 1, wherein the specific steps of identifying the identification point in the pile foundation image, controlling the rotation of the motion installation part so that the orientation of the laser range finder is opposite to the identification point are as follows:
and obtaining a required motor pitch angle and a required motor horizontal angle according to the pixel position of the identification point in the initial pile foundation image, sending the required angle to a control module, and controlling the two motors to move by the control module until the distance between the laser light spot and the identification point is smaller than an error threshold value, wherein the orientation of the laser range finder is opposite to the identification point.
9. The automatic measuring method for the follow-up of the power transmission tower based on laser and image processing according to claim 8, wherein the control module is a PLC.
10. The automatic measuring method for the follow-up of the power transmission tower based on laser and image processing according to claim 8, wherein the specific steps of obtaining the required motor pitch angle and motor horizontal angle according to the pixel positions of the identification points in the initial pile foundation image are as follows:
acquiring the pixel position of a laser spot generated by a current laser range finder, discretizing the two pixel positions according to the pixel position of an identification point and the pixel position of the laser spot to obtain camera plane coordinates P1[ x1, y1] and P2[ x2, y2] corresponding to the two pixel positions respectively, and differencing the two camera plane coordinates:
Δx＝x1-x2
Δy＝y1-y2
the required motor pitch angle a1 is calculated according to the obtained difference as follows:
the required motor horizontal angle b1 is:
where f represents the focal length.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311462557.2A CN117405021A (en) | 2023-11-03 | 2023-11-03 | Automatic measuring method for power transmission tower follow-up based on laser and image processing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311462557.2A CN117405021A (en) | 2023-11-03 | 2023-11-03 | Automatic measuring method for power transmission tower follow-up based on laser and image processing |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117405021A true CN117405021A (en) | 2024-01-16 |
Family
ID=89494235
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311462557.2A Pending CN117405021A (en) | 2023-11-03 | 2023-11-03 | Automatic measuring method for power transmission tower follow-up based on laser and image processing |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117405021A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117989990A (en) * | 2024-02-04 | 2024-05-07 | 东北电力大学 | Novel device and method for measuring looseness height of bolt of power transmission tower |
-
2023
- 2023-11-03 CN CN202311462557.2A patent/CN117405021A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117989990A (en) * | 2024-02-04 | 2024-05-07 | 东北电力大学 | Novel device and method for measuring looseness height of bolt of power transmission tower |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN207123616U (en) | A kind of deflection of bridge span real-time monitoring device based on laser ranging technique | |
| CN110057302B (en) | Underground safety-oriented full-automatic measuring device and measuring method | |
| CN108757343B (en) | Wind generating set and detection method, device and system for operation conditions of wind generating set | |
| CN110424479B (en) | Building deviation rectifying system and method based on three-dimensional laser scanning | |
| CN117405021A (en) | Automatic measuring method for power transmission tower follow-up based on laser and image processing | |
| CN114993263B (en) | High-precision unmanned aerial vehicle mapping system for building based on level point positioning | |
| CN114593708A (en) | Tunnel deformation automatic monitoring system based on inclination angle and reference point position compensation | |
| CN206627632U (en) | A kind of laser head intelligent space alignment system | |
| CN111458737B (en) | Real-time monitoring system and real-time monitoring method for integral hoisting of steel tower | |
| CN111022270B (en) | Real-time measurement method for tower top displacement of wind generating set | |
| CN209923999U (en) | System for single-pipe pile axis perpendicularity real-time monitoring | |
| CN209802295U (en) | Underground safety-oriented full-automatic measuring device | |
| CN112129261A (en) | Variable-angle range finder and using method thereof | |
| CN115752400A (en) | Multi-station interconnection measuring system for engineering measurement | |
| CN112014043B (en) | Digital large plate girder deflection measuring device and method | |
| CN113838190A (en) | Boiler inner wall inspection method and system | |
| CN112304227A (en) | Bridge displacement detection device and detection method thereof | |
| CN116753924A (en) | Automatic measuring method for foundation follow-up of power transmission tower | |
| CN215894951U (en) | Data acquisition system capable of simultaneously obtaining overwater and underwater point cloud data | |
| CN115560936A (en) | Laser automatic detection device and detection method for looseness of tower bolt | |
| CN113959375A (en) | Image acquisition method of tower drum flange flatness detection equipment | |
| CN117662914A (en) | Automatic measuring device and method for iron tower foundation heel-on | |
| CN216049824U (en) | Slope measuring and detecting instrument | |
| CN220829598U (en) | Pile body state monitoring system in piling process of water piling ship | |
| CN112130184B (en) | Wind turbine generator cabin low-frequency vibration displacement calculation method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |