WO2022062305A1 - Laser point cloud-based automatic line tower footing terrain extraction and mapping method - Google Patents

Laser point cloud-based automatic line tower footing terrain extraction and mapping method Download PDF

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WO2022062305A1
WO2022062305A1 PCT/CN2021/075722 CN2021075722W WO2022062305A1 WO 2022062305 A1 WO2022062305 A1 WO 2022062305A1 CN 2021075722 W CN2021075722 W CN 2021075722W WO 2022062305 A1 WO2022062305 A1 WO 2022062305A1
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tower
point cloud
line
tower base
data
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刘安涛
毛玉丽
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中国电建集团河北省电力勘测设计研究院有限公司
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
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    • G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
    • G06T17/05—Geographic models
    • 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
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
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  • the invention belongs to the technical field of power engineering overhead transmission line measurement, in particular to a method for automatically extracting and mapping the topography of a line tower base based on a laser point cloud.
  • the traditional way of collecting data of line tower base is GPS or total station collection, using GPS RTK mode or total station for field data collection to truly reflect the features and landforms around the tower.
  • the internal industry uses the "CASS Digital Terrain and Cadastral Mapping System" to generate the topographic map of the tower base.
  • the traditional GPS or total station collects the topographic data of the line tower base.
  • the aerial survey data and laser point cloud data are mainly used for line selection measurement and line plane section measurement.
  • the tower base shape data still uses artificial GPS to collect the tower base shape data during positioning, which still requires a large amount of manpower, material resources and time resources. .
  • the present invention provides a method for automatically extracting and mapping the terrain of a line tower base based on a laser point cloud.
  • the technical scheme adopted in the present invention is:
  • a method for automatically extracting and mapping the topography of a line tower base based on a laser point cloud which is characterized in that: comprising the following steps
  • a further improvement of the technical solution of the present invention is that: the filtering in the step (1) adopts the mathematical morphology filtering method.
  • a further improvement of the technical solution of the present invention is that: in the step (3), the coordinates of the tower are calculated by using the result table of the tower and the coordinate file of the line angle.
  • the range of the tower base shape in the step (4) is determined by the voltage level
  • the shape range of the 110kV line tower base is within a circular area with a radius of 15m from the center of the tower
  • the shape range of the 220kV line tower base is the tower base In a circular area with a center radius of 25m
  • the base shape range of a line tower of 500kV and above is within a circular area with a center radius of 35m.
  • the specific content of the step (5) is to combine the extracted tower coordinate file and the set tower base terrain range, use computer data processing algorithm to traverse the point cloud file;
  • the point cloud data of the tower base is automatically saved as the tower base shape data.
  • a further improvement of the technical solution of the present invention is that in the step (6), a contour graphic file can be formed after the terrain data file of each tower is subjected to grid interpolation.
  • the specific calculation method of the calculation is that according to the order of the towers in the tower result table, the computer judges the straight towers included in the tensile section of each line, and automatically records the names of the straight towers, the straight towers and the small corner towers. From the first tensile section of the line, the computer uses the similar triangle theorem to automatically calculate the coordinate increment of each straight tower compared to the small corner tower. According to the coordinates Increment to get the specific coordinate position.
  • the technical progress achieved by the present invention is: the specific calculation method of the calculation is: according to the order of the towers in the tower result table, the computer judges the straight towers included in the tensile section of each line, and automatically records the straight tower name, straight line The distance between the tower and the small corner tower, and the starting corner coordinates of the tension section are recorded. Starting from the first tension section of the line, the computer uses the similar triangle theorem to automatically calculate the difference between the straight tower and the small corner tower. Coordinate increment, the specific coordinate position is obtained according to the coordinate increment.
  • the method of the invention can automatically complete the whole line of tower base shape measurement and mapping work indoors, has high speed and high efficiency, greatly reduces the field workload, and greatly improves the operation efficiency.
  • the automatic extraction of the tower base shape of the whole line can be carried out for designers to check whether the positions of each tower position are reasonable, ensure the establishment of the line path, avoid the project rerouting or rework, and reduce the project cost investment, which has significant advantages. economic and social benefits.
  • Fig. 1 is a working flow chart of a method for automatic extraction and mapping of line tower base shape based on laser point cloud.
  • the laser point cloud obtained by the airborne radar includes multiple echo data. Compared with the ground objects that may have multiple echoes, the ground point can be considered to have only the last echo; the last echo is used to extract the initial ground surface from the lower laser point, Using the mathematical morphology filtering method, a reasonable ground point cloud is obtained, and the data is prepared for the subsequent DEM production.
  • the selected line corner file is called first, and the corner naming method is "J+number", which should be consistent with the tower result table. Then the computer reads the tower result table, and obtains the information such as the name, mileage, gear distance, and angle of the corner tower of each tower.
  • the tower achievement table includes corner towers and straight towers. The naming method of corner towers is "J+number”, and the naming method of straight towers is "N+number".
  • the computer determines the straight towers included in the tension section of each line, automatically records the name of the straight tower, the span between the straight tower and the small corner tower, and records the starting corner coordinates of the tension section.
  • the computer uses the similar triangle theorem to automatically calculate the coordinate increments ⁇ X and ⁇ Y of each straight tower compared to the small corner tower. Then the linear tower coordinates of the tension section are:
  • X and Y are the tower coordinates of the linear tower to be obtained, and X 0 and Y 0 are the tower coordinates of the small corner tower in the tension section.
  • step 2 the computer automatically calculates and extracts the coordinates of the linear towers of all tension sections to form the final coordinate file of the tower.
  • the voltage level determines the tower type selection and foundation opening, which also determines the measurement range of the tower base topography.
  • the base shape range of a 110kV line tower is a circular area with a center radius of 15m
  • a 220kV line tower base shape range is a circular area with a center radius of 25m
  • a 500kV and above tower base shape range is a circular area with a center radius of 35m.
  • the computer traverses the point cloud file, and through distance calculation, intelligently and quickly batches belong to the range of each tower position.
  • the point cloud is automatically extracted in batches, and automatically saved as tower base shape data according to the name of the tower position.
  • This patent first takes the center of the first tower in the tower coordinate file as the center of the circle, and constructs a circular area with the radius R of the tower base shape.
  • the ground point cloud in this area is the tower base shape data point set.
  • the distance S between the ground point and the center of the tower is obtained through the distance calculation of formula (3). If S ⁇ R, the ground point is the topographic point of the tower.
  • the computer traverses the ground point cloud file, extracts the terrain data points of the circular area, and automatically saves it to the specified storage directory.
  • This patent automatically names the file with the name of the tower.
  • (x, y) is the ground point cloud coordinates
  • (x', y') is the center coordinate of the tower.
  • the topographic data files of each tower are interpolated by grid to form contour graphic files, which provide complete tower base topographic files and graphic files for design professionals.
  • the scale of the topographic map of the 110kV line tower base is set to 1:100, and the equal height distance is 0.5 meters;

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Abstract

Disclosed is a laser point cloud-based automatic line tower footing terrain extraction and mapping method, comprising the following steps: denoising and filtering ground point cloud data acquired by a laser radar, patching the ground point cloud data, processing tower coordinates, setting a tower footing terrain range, processing full-line tower footing data in batches, and generating a contour map; by means of distance operation, extracting point clouds belonging to tower position ranges intelligently, quickly and automatically in batches, and automatically storing the point clouds as tower footing terrain data according to tower position names, such that designers can carry out design work such as tower footing leg matching; and generating contour line graphics files by using grid interpolation, and providing complete tower footing terrain files and graphic files for design major. According to the present invention, the tower footing terrain extraction speed is high, project cost investment is reduced, manual labor is reduced, and remarkable economic and social benefits are achieved.

Description

一种基于激光点云的线路塔基地形自动提取与成图方法A method for automatic extraction and mapping of line tower base terrain based on laser point cloud 技术领域technical field
本发明属于电力工程架空输电线路测量技术领域，尤其涉及一种基于激光点云的线路塔基地形自动提取与成图方法。The invention belongs to the technical field of power engineering overhead transmission line measurement, in particular to a method for automatically extracting and mapping the topography of a line tower base based on a laser point cloud.
背景技术Background technique
在输电线路勘测设计，电力杆塔往往位于山顶、山腰、丘包、荒地等复杂地形，需要测绘杆塔的塔基地形图，尤其是山区线路，塔基地形图的作用更加重要。山区及丘陵地区的塔位，要求测量专业必须实测塔位处的塔基地形图，以便设计人员现场确定高低腿配置与转角塔跳线校验。塔腿附近必须有足够的地形点，且必须提供塔腿处的山体最大坡度，地形有明显变化处也应有实测点。传统的线路塔基地形数据采集方式为GPS或全站仪采集，使用GPS RTK模式或全站仪进行野外数据采集真实反应塔位周围的地物、地貌。内业把测图数据导出至计算机后使用《CASS数字化地形地籍成图系统》生成塔基地形图，传统的GPS或全站仪采集线路塔基地形数据，需要测量员到塔位实地测绘，而目前航测数据与激光点云数据以选线测量、线路平断面测量应用为主，塔基地形数据仍采用定位时人工GPS采集塔基地形数据，这依然需要消耗较大的人力、物力、时间资源。In the survey and design of transmission lines, power towers are often located in complex terrains such as mountain tops, mountainsides, mounds, wastelands, etc. It is necessary to survey and map the tower topographic map of the tower, especially the mountain line, the role of the tower topographic map is more important. For the tower position in mountainous and hilly areas, it is required that the surveyor must actually measure the topographic map of the tower base at the tower position, so that the designer can determine the configuration of the high and low legs and check the jumper of the corner tower on the spot. There must be enough terrain points near the tower legs, and the maximum slope of the mountain at the tower legs must be provided. There should also be measured points where the terrain changes significantly. The traditional way of collecting data of line tower base is GPS or total station collection, using GPS RTK mode or total station for field data collection to truly reflect the features and landforms around the tower. After exporting the mapping data to the computer, the internal industry uses the "CASS Digital Terrain and Cadastral Mapping System" to generate the topographic map of the tower base. The traditional GPS or total station collects the topographic data of the line tower base. At present, the aerial survey data and laser point cloud data are mainly used for line selection measurement and line plane section measurement. The tower base shape data still uses artificial GPS to collect the tower base shape data during positioning, which still requires a large amount of manpower, material resources and time resources. .
发明内容SUMMARY OF THE INVENTION
本发明针对现有技术存在的不足，提供一种基于激光点云的线路塔基地形自动提取与成图方法。Aiming at the shortcomings of the prior art, the present invention provides a method for automatically extracting and mapping the terrain of a line tower base based on a laser point cloud.
为解决上述技术问题，本发明所采用的技术方案是：For solving the above-mentioned technical problems, the technical scheme adopted in the present invention is:
一种基于激光点云的线路塔基地形自动提取与成图方法，其特征在于：包括以下步骤A method for automatically extracting and mapping the topography of a line tower base based on a laser point cloud, which is characterized in that: comprising the following steps
(1)将激光雷达获取到的地面点云数据进行去噪和滤波；(1) Denoising and filtering the ground point cloud data obtained by the lidar;
(2)修补地面点云数据；(2) Repair the ground point cloud data;
(3)处理杆塔坐标；(3) Process the coordinates of the tower;
(4)设定塔基地形范围；(4) Set the topographical range of the tower base;
(5)批量处理全线塔基数据；(5) Batch processing of tower base data of the whole line;
(6)生成等高线图。(6) Generate contour map.
本发明技术方案的进一步改进在于：所述步骤(1)中的滤波采用数学形态学滤波方法。A further improvement of the technical solution of the present invention is that: the filtering in the step (1) adopts the mathematical morphology filtering method.
本发明技术方案的进一步改进在于：所述步骤(3)中杆塔坐标是利用杆塔成果表和线路转角坐标文件计算得出。A further improvement of the technical solution of the present invention is that: in the step (3), the coordinates of the tower are calculated by using the result table of the tower and the coordinate file of the line angle.
本发明技术方案的进一步改进在于：所述步骤(4)塔基地形的范围以电压等级来确定，110kV线路塔基地形范围为杆塔中心半径15m圆形区域内，220kV线路塔基地形范围为杆塔中心半径25m的圆形区域内，500kV及以上线路塔基地形范围为杆塔中心半径35m的圆形区域内。The further improvement of the technical solution of the present invention is: the range of the tower base shape in the step (4) is determined by the voltage level, the shape range of the 110kV line tower base is within a circular area with a radius of 15m from the center of the tower, and the shape range of the 220kV line tower base is the tower base In a circular area with a center radius of 25m, the base shape range of a line tower of 500kV and above is within a circular area with a center radius of 35m.
本发明技术方案的进一步改进在于：所述步骤(5)具体内容为结合提取的杆塔坐标文件和设定的塔基地形范围，利用计算机数据处理算法遍历点云文件；通过距离运算自动批量提取各塔基的点云数据，并自动保存成塔基地形数据。The further improvement of the technical solution of the present invention is: the specific content of the step (5) is to combine the extracted tower coordinate file and the set tower base terrain range, use computer data processing algorithm to traverse the point cloud file; The point cloud data of the tower base is automatically saved as the tower base shape data.
本发明技术方案的进一步改进在于：所述步骤(6)采取将各杆塔的地形数据文件经过格网插值后，可形成等高线图形文件。A further improvement of the technical solution of the present invention is that in the step (6), a contour graphic file can be formed after the terrain data file of each tower is subjected to grid interpolation.
本发明技术方案的进一步改进在于：所述计算具体计算方式为根据杆塔成果表各杆塔的顺序，计算机判断各线路耐张段包含的直线塔，自动记录直线塔名称、直线塔与小号转角塔的档距，并记录耐张段起始转角坐标，从线路第一个耐张段开始，计算机利用相似三角形定理，自动计算出各直线塔相比于小号转角塔的坐标增量，根据坐标增量得出具体坐标位置。The further improvement of the technical solution of the present invention is: the specific calculation method of the calculation is that according to the order of the towers in the tower result table, the computer judges the straight towers included in the tensile section of each line, and automatically records the names of the straight towers, the straight towers and the small corner towers. From the first tensile section of the line, the computer uses the similar triangle theorem to automatically calculate the coordinate increment of each straight tower compared to the small corner tower. According to the coordinates Increment to get the specific coordinate position.
由于采用了上述技术方案，本发明取得的技术进步是：所述计算具体计算方式为根据杆塔成果表各杆塔的顺序，计算机判断各线路耐张段包含的直线塔，自动记录直线塔名称、直线塔与小号转角塔的档距，并记录耐张段起始转角坐 标，从线路第一个耐张段开始，计算机利用相似三角形定理，自动计算出各直线塔相比于小号转角塔的坐标增量，根据坐标增量得出具体坐标位置。Due to the adoption of the above-mentioned technical solution, the technical progress achieved by the present invention is: the specific calculation method of the calculation is: according to the order of the towers in the tower result table, the computer judges the straight towers included in the tensile section of each line, and automatically records the straight tower name, straight line The distance between the tower and the small corner tower, and the starting corner coordinates of the tension section are recorded. Starting from the first tension section of the line, the computer uses the similar triangle theorem to automatically calculate the difference between the straight tower and the small corner tower. Coordinate increment, the specific coordinate position is obtained according to the coordinate increment.
本发明方法可室内自动批量完成全线的塔基地形测量成图工作，速度快、效率高，极大减少了野外工作量，大大提高了作业效率。另外在设计前期，可根据预选的塔位，进行全线塔基地形自动提取，供设计人员检查各塔位位置是否合理，保证线路路径成立，避免项目改线或返工，降低项目成本投入，具有显著的经济和社会效益。The method of the invention can automatically complete the whole line of tower base shape measurement and mapping work indoors, has high speed and high efficiency, greatly reduces the field workload, and greatly improves the operation efficiency. In addition, in the early stage of design, according to the pre-selected tower positions, the automatic extraction of the tower base shape of the whole line can be carried out for designers to check whether the positions of each tower position are reasonable, ensure the establishment of the line path, avoid the project rerouting or rework, and reduce the project cost investment, which has significant advantages. economic and social benefits.
附图说明Description of drawings
图1为一种基于激光点云的线路塔基地形自动提取与成图方法的作业流程图。Fig. 1 is a working flow chart of a method for automatic extraction and mapping of line tower base shape based on laser point cloud.
具体实施方式detailed description
(1)对激光点云去噪与滤波(1) Denoising and filtering of laser point cloud
机载雷达获取的激光点云包括多次回波数据，相比可能存在多次回波的地物，地面点可认为只有末次回波；利用末次回波从较低的激光点中提取初始地表面，采用数学形态学滤波方法，得到合理的地面点云，为后续DEM等制作准备数据。The laser point cloud obtained by the airborne radar includes multiple echo data. Compared with the ground objects that may have multiple echoes, the ground point can be considered to have only the last echo; the last echo is used to extract the initial ground surface from the lower laser point, Using the mathematical morphology filtering method, a reasonable ground point cloud is obtained, and the data is prepared for the subsequent DEM production.
(2)检查与修改地面点云数据(2) Check and modify the ground point cloud data
人工结合影像数据，对步骤(1)得到的地面点云进行检查，去掉房屋、植被等噪点，手动增加遗漏的地面点云，形成最终的地面点云数据。Manually combine the image data, check the ground point cloud obtained in step (1), remove noise points such as houses and vegetation, and manually add the missing ground point cloud to form the final ground point cloud data.
(3)处理杆塔坐标(3) Processing the coordinates of the tower
利用数字正射影像图DOM、数字高程模型DEM、点云数据、线路调绘补测数据进行三维输电线路路径优化设计，平断面图采集绘制工作，形成线路平断面地形图，设计完成线路杆塔排位，形成以里程定义的杆塔成果表。根据杆塔成果表中的各杆塔里程信息和转角塔的转角度数，以及确定的线路转角坐标文件，计算机自动计算出各杆塔具体坐标位置。Using digital orthophoto image DOM, digital elevation model DEM, point cloud data, and line mapping and supplementary survey data to optimize the design of 3D transmission line paths, collect and draw flat cross-section maps, form line flat cross-section topographic maps, and complete line tower rows. position to form a tower result table defined by mileage. According to the mileage information of each tower and the number of rotation angles of the corner tower in the tower achievement table, as well as the determined line angle coordinate file, the computer automatically calculates the specific coordinate position of each tower.
本专利首先调用已选定的线路转角文件，转角命名方式为“J+数字”，与杆塔成果表要一致。然后计算机读取杆塔成果表，获取各杆塔的名称、里程、档距、转角塔转角度数等信息。这里杆塔成果表包括转角塔与直线塔，转角塔命名方式为“J+数字”，直线塔命名方式为“N+数字”。In this patent, the selected line corner file is called first, and the corner naming method is "J+number", which should be consistent with the tower result table. Then the computer reads the tower result table, and obtains the information such as the name, mileage, gear distance, and angle of the corner tower of each tower. Here, the tower achievement table includes corner towers and straight towers. The naming method of corner towers is "J+number", and the naming method of straight towers is "N+number".
①根据杆塔成果表各杆塔的顺序，计算机判断各线路耐张段包含的直线塔，自动记录直线塔名称、直线塔与小号转角塔的档距，并记录耐张段起始转角坐标。①According to the order of the towers in the tower results table, the computer determines the straight towers included in the tension section of each line, automatically records the name of the straight tower, the span between the straight tower and the small corner tower, and records the starting corner coordinates of the tension section.
②从线路第一个耐张段J1-J2开始，计算机利用相似三角形定理，自动计算出各直线塔相比于小号转角塔的坐标增量△X、△Y。则该耐张段直线塔坐标：②Starting from the first tensile section J1-J2 of the line, the computer uses the similar triangle theorem to automatically calculate the coordinate increments △X and △Y of each straight tower compared to the small corner tower. Then the linear tower coordinates of the tension section are:
X＝X 0+ΔX  (1) X=X 0 +ΔX (1)
Y＝Y 0+ΔY  (2) Y=Y 0 +ΔY (2)
式中，X、Y为待求直线塔杆塔坐标，X 0、Y 0为该耐张段小号转角塔的杆塔坐标。 In the formula, X and Y are the tower coordinates of the linear tower to be obtained, and X 0 and Y 0 are the tower coordinates of the small corner tower in the tension section.
③重复②步骤，计算机自动把所有耐张段的直线塔坐标计算提取，形成最终的杆塔坐标文件。③ Repeat step ②, the computer automatically calculates and extracts the coordinates of the linear towers of all tension sections to form the final coordinate file of the tower.
(4)设定塔基地形范围(4) Set the tower base shape range
输电线路必须测绘塔位处的塔基地形图，以便设计人员现场确定高低腿配置与转角塔跳线校验。按照设计规范，电压等级决定着塔型选择与基础根开，这也确定了的塔基地形测量范围。一般110kV线路塔基地形范围取杆塔中心半径15m的圆形域，220kV线路塔基地形范围取杆塔中心半径25m的圆形域，500kV及以上塔基地形范围取杆塔中心半径35m的圆形域。The topography of the tower base at the tower location must be surveyed for the transmission line, so that the designer can determine the configuration of the high and low legs and check the jumper of the corner tower on the spot. According to the design specification, the voltage level determines the tower type selection and foundation opening, which also determines the measurement range of the tower base topography. Generally, the base shape range of a 110kV line tower is a circular area with a center radius of 15m, a 220kV line tower base shape range is a circular area with a center radius of 25m, and a 500kV and above tower base shape range is a circular area with a center radius of 35m.
(5)自动批量处理全线塔基数据(5) Automatic batch processing of tower base data of the whole line
为充分发挥激光点云数据的优势，结合设计排位提取的杆塔坐标文件和预先设定的工程塔基地形范围，计算机遍历点云文件，通过距离运算，智能、快 速批量把属于各塔位范围的点云自动批量提取，并按塔位名称自动保存成塔基地形数据。一键式快速提取全线的塔基数据文件，为电气专业开展跳线校验，提供全面、准确的基础数据；为结构专业开展塔腿配置、土方计算提供及时方案。In order to give full play to the advantages of laser point cloud data, combined with the tower coordinate file extracted from the design ranking and the pre-set engineering tower base shape range, the computer traverses the point cloud file, and through distance calculation, intelligently and quickly batches belong to the range of each tower position. The point cloud is automatically extracted in batches, and automatically saved as tower base shape data according to the name of the tower position. One-click quick extraction of tower base data files of the entire line, to carry out jumper calibration for electrical professionals, and to provide comprehensive and accurate basic data; to provide timely solutions for structural professionals to carry out tower leg configuration and earthwork calculations.
①本专利首先以杆塔坐标文件第一个杆塔中心为圆心，以塔基地形范围半径R构建圆形区域，此区域的地面点云即为塔基地形数据点集。通过式(3)距离运算得到地面点与杆塔中心的距离S，若S<R，该地面点为杆塔地形点。计算机遍历地面点云文件，提取该圆形区域的地形数据点，并自动保存到指定的存储目录下，本专利以杆塔名称对文件自动命名。①This patent first takes the center of the first tower in the tower coordinate file as the center of the circle, and constructs a circular area with the radius R of the tower base shape. The ground point cloud in this area is the tower base shape data point set. The distance S between the ground point and the center of the tower is obtained through the distance calculation of formula (3). If S<R, the ground point is the topographic point of the tower. The computer traverses the ground point cloud file, extracts the terrain data points of the circular area, and automatically saves it to the specified storage directory. This patent automatically names the file with the name of the tower.
Figure PCTCN2021075722-appb-000001
Figure PCTCN2021075722-appb-000001
式中(x,y)为地面点云坐标，(x'，y')为杆塔中心坐标。Where (x, y) is the ground point cloud coordinates, (x', y') is the center coordinate of the tower.
②重复①的步骤，直到让所有杆塔遍历地面点云中所有点，提取全部杆塔的塔基地形数据。本专利设置塔基地形数据存储目录为D盘根目录。②Repeat the steps of ① until all the towers traverse all the points in the ground point cloud, and extract the tower base shape data of all the towers. This patent sets the tower base shape data storage directory as the D disk root directory.
(6)生成等高线图(6) Generate contour map
把各杆塔的地形数据文件，经过格网插值，形成等高线图形文件，为设计专业提供完整的塔基地形文件与图形文件。本专利根据规范与经验，110kV线路塔基地形图比例设置为1：100，等高距为0.5米；220kV及以上线路塔基地形图比例设置为1：300，等高距为0.5米。The topographic data files of each tower are interpolated by grid to form contour graphic files, which provide complete tower base topographic files and graphic files for design professionals. According to the specification and experience of this patent, the scale of the topographic map of the 110kV line tower base is set to 1:100, and the equal height distance is 0.5 meters;

Claims (7)

  1. 一种基于激光点云的线路塔基地形自动提取与成图方法，其特征在于：包括以下步骤A method for automatically extracting and mapping the topography of a line tower base based on a laser point cloud, which is characterized in that: comprising the following steps
    (1)将激光雷达获取到的地面点云数据进行去噪和滤波；(1) Denoising and filtering the ground point cloud data obtained by the lidar;
    (2)修补地面点云数据；(2) Repair the ground point cloud data;
    (3)处理杆塔坐标；(3) Process the coordinates of the tower;
    (4)设定塔基地形范围；(4) Set the topographical range of the tower base;
    (5)批量处理全线塔基数据；(5) Batch processing of tower base data of the whole line;
    (6)生成等高线图。(6) Generate contour map.
  2. 根据权利要求1所述的一种基于激光点云的线路塔基地形自动提取与成图方法，其特征在于：所述步骤(1)中的滤波采用数学形态学滤波方法。The method for automatically extracting and mapping the topography of a line tower base based on a laser point cloud according to claim 1, wherein the filtering in the step (1) adopts a mathematical morphology filtering method.
  3. 根据权利要求1所述的一种基于激光点云的线路塔基地形自动提取与成图方法，其特征在于：所述步骤(3)中杆塔坐标是利用杆塔成果表和线路转角坐标文件计算得出。A laser point cloud-based automatic extraction and mapping method for line tower base shape according to claim 1, characterized in that: in the step (3), the coordinates of the tower are calculated by using the tower result table and the line corner coordinate file. out.
  4. 根据权利要求1所述的一种基于激光点云的线路塔基地形自动提取与成图方法，其特征在于：所述步骤(4)塔基地形的范围以电压等级来确定，110kV线路塔基地形范围为杆塔中心半径15m圆形区域内，220kV线路塔基地形范围为杆塔中心半径25m的圆形区域内，500kV及以上线路塔基地形范围为杆塔中心半径35m的圆形区域内。A method for automatic extraction and mapping of line tower base shape based on laser point cloud according to claim 1, characterized in that: in step (4), the range of the tower base shape is determined by voltage level, and the 110kV line tower base The shape range of the tower base is within a circular area with a radius of 15m from the center of the tower, the shape range of the 220kV line tower base is within a circular area with a radius of 25m from the center of the tower, and the shape range of the tower base for 500kV and above lines is within a circular area with a center radius of 35m.
  5. 根据权利要求1所述的一种基于激光点云的线路塔基地形自动提取与成图方法，其特征在于：所述步骤(5)具体内容为结合提取的杆塔坐标文件和设定的塔基地形范围，利用计算机数据处理算法遍历点云文件；通过距离运算自动批量提取各塔基的点云数据，并自动保存成塔基地形数据。The method for automatically extracting and mapping the topography of a line tower base based on a laser point cloud according to claim 1, wherein the specific content of the step (5) is to combine the extracted tower coordinate file and the set tower base Shape range, use computer data processing algorithm to traverse point cloud files; automatically extract point cloud data of each tower base in batches through distance calculation, and automatically save as tower base shape data.
  6. 根据权利要求1所述的一种基于激光点云的线路塔基地形自动提取与成图方法，其特征在于：所述步骤(6)采取将各杆塔的地形数据文件经过格网插值后，可形成等高线图形文件。A method for automatically extracting and mapping the topography of a line tower base based on a laser point cloud according to claim 1, wherein the step (6) adopts the grid interpolation of the topographic data files of each tower and Form a contour graphic file.
  7. 根据权利要求3所述的一种基于激光点云的线路塔基地形自动提取与成图方法，其特征在于：所述计算具体计算方式为根据杆塔成果表各杆塔的顺序，计算机判断各线路耐张段包含的直线塔，自动记录直线塔名称、直线塔与小号转角塔的档距，并记录耐张段起始转角坐标，从线路第一个耐张段开始，计算机利用相似三角形定理，自动计算出各直线塔相比于小号转角塔的坐标增量，根据坐标增量得出具体坐标位置。A method for automatically extracting and mapping the topography of a line tower base based on a laser point cloud according to claim 3, characterized in that: the specific calculation method of the calculation is that according to the order of each tower in the tower result table, the computer judges the resistance of each line The straight-line tower included in the stretch section automatically records the name of the straight-line tower, the distance between the straight-line tower and the trumpet corner tower, and records the starting corner coordinates of the tension section. Starting from the first tension section of the line, the computer uses the similar triangle theorem to calculate Automatically calculate the coordinate increment of each linear tower compared to the trumpet corner tower, and obtain the specific coordinate position according to the coordinate increment.
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