Power transmission line basic multi-scene self-adaptive automatic pit division method based on laser radar equipment

Abstract

The invention discloses a power transmission line foundation multi-scene self-adaptive automatic pit division method based on laser radar equipment, and relates to the technical field of power transmission line construction. According to the method, three-dimensional point cloud data is obtained through a laser radar, the terrain plane of each pithead area is fitted, the slope angle and the slope direction angle are calculated, a laser pointing vector is dynamically adjusted based on the terrain inclination degree, a multi-scale square area is constructed with pithead theoretical coordinates as the center, weights are distributed by combining point cloud density, correction values of the multiple areas are synthesized, and the multi-scale square area is obtained. Interference of low-density point clouds is suppressed, and pit dividing reliability of the complex earth surface is improved; the problem that in the prior art, point cloud data of different pitheads cannot be accurately analyzed, the deflection angle and the pitch angle of each pithead cannot be corrected in a targeted mode, and consequently the actual coordinate deviation is large is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of transmission line construction, and in particular to a method for adaptively and automatically dividing pits for transmission line foundations in multiple scenarios based on laser radar equipment. Background Art

[0002] As a key infrastructure of the power transmission system, transmission towers bear the important mission of supporting conductors and insulators and ensuring the safe and efficient transmission of electricity. In actual projects, due to the influence of complex terrain conditions, the tower foundation often needs to adopt a high-low foot structure to adapt to different terrain height changes.

[0003] However, the existing automatic pit division method for the high-low leg scenario of transmission line foundation still has the following shortcomings:

[0004] In complex terrain (such as mountains and hills), it is difficult to quickly and accurately convert the spatial positions of multiple pit openings manually. This is especially true for pit division operations involving high and low leg foundations. Traditional rectangular coordinate system calculations cannot effectively compensate for the effects of terrain slope and aspect, resulting in large deviations in pit opening positions.

[0005] In addition, the traditional pit division method is based on a single horizontal reference coordinate system and does not consider the impact of terrain slope and slope direction on the pit mouth position. Especially in high-low leg scenes such as mountains and slopes, it is impossible to accurately analyze the point cloud data of different pit mouths and make targeted corrections to the deflection angle and pitch angle of each pit mouth, resulting in large deviations in the actual coordinates.

[0006] To this end, a multi-scenario adaptive automatic pit division method for transmission line infrastructure based on lidar equipment is introduced. Summary of the Invention

[0007] In view of this, the present invention provides a multi-scenario adaptive automatic pit division method for power transmission lines based on laser radar equipment to solve the problems raised by the above background technology.

[0008] The purpose of the present invention can be achieved by the following technical solution: a method for adaptive automatic pit division based on multi-scenario transmission line equipment based on laser radar equipment, comprising:

[0009] S1: Load the center pile position information, build a horizontal reference coordinate system with the center pile position as the origin, and use the pre-built coordinate calculation logic to preliminarily calculate the absolute positions of the four pit openings in the horizontal reference coordinate system;

[0010] S2: Fix the laser radar equipment at the pit division operation site, obtain the location information of the laser radar automatic pit division equipment with a GPS module, and set it as the origin of the auxiliary reference coordinate system O B (y0,x0,z0), set the basis vector i based on the origin of the auxiliary reference coordinate system B ,jB ,k B ;Construct an auxiliary reference coordinate system with the location of the lidar device as the origin;

[0011] S3: Use laser radar equipment to obtain three-dimensional laser point cloud terrain data of the pit working surface;

[0012] S4: Based on the 3D point cloud data, the relative position and angle relationship between the horizontal reference coordinate system and the auxiliary reference coordinate system is converted to obtain the relative relationship between the two coordinate systems;

[0013] S5: Based on the relative relationship between the horizontal reference coordinate system and the auxiliary reference coordinate system, the absolute positions of the four pit openings in the horizontal reference coordinate system are converted based on the relationship between the sides and angles of the right triangle. After the conversion, the point cloud data corresponding to each pit opening is analyzed, and corrections are made based on the analysis results to obtain the corrected deflection angles and pitch angles of the four pit openings.

[0014] In some embodiments, the steps of analyzing the point cloud data corresponding to each pit opening are specifically as follows:

[0015] S5-501: Extract the orthogonal rotation matrix R AB Using the translation vector t, the pit opening coordinates in the horizontal reference coordinate system are converted to the auxiliary reference coordinate system to obtain the theoretical coordinates corresponding to each pit opening. Based on the relationship between the sides and angles of the right triangle, the theoretical coordinates after the pit opening coordinate conversion are decomposed into the deflection angle and pitch angle of the lidar device. With the theoretical coordinate corresponding to each pit opening as the center, a square area is constructed based on the set side length to obtain the construction area corresponding to each pit opening under different empirical coefficients k. The point sets corresponding to different construction areas of each pit opening are screened from the global point cloud data, where the different construction areas corresponding to each pit opening are represented by the number i.

[0016] S5-502: For each pit mouth, the point set of different construction areas is expressed as Where j represents the number of the point cloud data in the point set, n is the total number of point cloud data in the point set; the fitting plane equation is z=ax+by+c;

[0017] Design Matrix: Target vector:

[0018] Calculate the plane parameters θ = [a, b, c] by the least squares method T , so that the fitting error ||z-Xθ|| 2 Minimum: θ=(X T X) -1 X T z; where T represents matrix transpose;

[0019] The normal vector of the plane z = ax + by + c is n = [a, b, -1], which is normalized to: Then each pit mouth corresponds to a different construction area point set S i The slope angle θ i The calculation process is Slope angle α i The calculation process is α i =arctan 2(b,α).

[0020] In some embodiments, the step of analyzing the point cloud data corresponding to each pit opening further includes:

[0021] S5-503: Calculate the lidar origin O B Vector v to the theoretical coordinates corresponding to each pit opening 理论 , the formula is expressed as v 理论 =[x i 1 ,y i 1 , z i 1 ]=R AB ×[x i ,y i , z i ]+t;

[0022] According to the slope θ i and slope α i Adjust vector v 理论 , through the formula Δv i =λ×[sinθ i cosα i , sinθ i sinα i , cosθ i ]; where λ is the compensation amplitude; the corrected v 理论 That is, through v 理论 +Δv i Get, marked as v 修正 ;

[0023] S5-504: The corrected deflection angle ψ for each pit mouth corresponding to different point sets 修正 =arctan2(v 修正 ,y,v 修正 , x); the corrected pitch angle

[0024] S5-505: Decompose the deflection and pitch angles of each theoretical coordinate into ψ 理论 and

[0025] In some embodiments, the correction is performed based on the analysis results to obtain the corrected deflection angles and pitch angles of the four pit opening positions, specifically:

[0026] S5-505: Decompose the deflection and pitch angles of each theoretical coordinate into ψ 理论 and

[0027] S5-506: Corrected deflection angle ψ for each pit mouth corresponding to different point sets 修正 and pitch angle Calculate the corrected deflection angle ψ for different point sets 修正 and the deflection angle ψ 理论 The correction amount between is recorded as the deflection angle correction amount, that is, the difference ψ 修正 -ψ 理论 Calculated; similarly, the pitch angle correction is obtained;

[0028] Obtain the point cloud density of different point sets at each pit entrance and record it as p i ; The point cloud density p of different point sets at each pit entrance i The total density is obtained by summing up, and the proportion of the point cloud density of different point sets in the total density is calculated as the weight proportion of different point sets at each pit entrance;

[0029] The deflection angle correction values ​​calculated for different point sets at each pit mouth are multiplied by the weight proportions of the different point sets, and then the sum is calculated to obtain the final deflection angle value of each pit mouth; similarly, the final pitch angle value of each pit mouth is obtained.

[0030] S5-507: Based on the final deflection angle and pitch angle calculated for each pit, the ψ 理论 and Correction is performed to obtain the corrected deflection angle and pitch angle of the four pit opening positions.

[0031] In some embodiments, the specific steps of setting the side length are:

[0032] Side length = k × max(x, y); k is an empirical coefficient with a value range of 0.2-0.5; x and y are the horizontal and vertical widths respectively.

[0033] In some embodiments, the preliminarily calculating the absolute positions of the four pit openings in the horizontal reference coordinate system using the pre-built coordinate calculation logic is performed in the following steps:

[0034] S1-101: Set the center pile position as the origin of the horizontal reference coordinate system and mark it as O A (y0,x0,z0); where y0=0, x0=0, z0=0, and the basis vector i is set based on the origin A ,j A,k A ;

[0035] S1-102: Extract the pre-given horizontal heel opening x and vertical heel opening y, and calculate the positions of the four tower foot openings in the horizontal reference coordinate system G1(y1,x1,z1), G2(y2,x2,z2), G3(y3,x3,z3), and G4(y4,x4,z4), respectively;

[0036] (1)y1=y0-x / 2; (2)x1=x0+y / 2; (3)y2=y1+x; (4)x2=x1; (5)y3=y1; (6)x3=x1; (7)y4=y1+x; (8)x4=x1-y (9)z1=z2=z3=z4.

[0037] In some embodiments, the conversion of the relative position and angle relationship between the horizontal reference coordinate system and the auxiliary reference coordinate system based on the three-dimensional point cloud data to obtain the relative relationship between the two coordinate systems is performed in the following specific steps:

[0038] S4-401: Calculate the relative position t between the horizontal reference coordinate and the auxiliary reference coordinate system, which is determined by the translation vector of the origin of the two coordinate systems and is expressed as t = O B -O A ;

[0039] S4-402: Construct the unit orthogonal matrices of two sets of basis vectors of the horizontal reference coordinate system and the auxiliary reference coordinate system, expressed as R A ={i A ,j A ,k A} and R B ={i B ,j B ,k B};

[0040] S4-403: Calculate the relative rotation orientation between the horizontal reference coordinate system and the auxiliary reference coordinate system. The rotation from the horizontal reference coordinate system to the auxiliary reference coordinate system is given by the rotation matrix R AB Calculated, that is, R AB =R B ×R B T ; where R B T It is R B The matrix transpose of R AB is a 3×3 orthogonal matrix that satisfies R AB T ×R AB =I, I is the identity matrix;

[0041] S4-404: Using the 3×3 orthogonal rotation matrix RAB Calculate the relative rotation angle between the horizontal reference coordinate system and the auxiliary reference coordinate system, where the pitch angle φ, roll angle θ, and yaw angle ψ are: Φ = arctan2[R AB (3,2), R AB (3,3)];θ=arcsin[-R AB (3,1)];Ψ=arctan2[R AB (2,1), R AB (1,1].

[0042] In some embodiments, further comprising:

[0043] S6: According to the corrected deflection angle and pitch angle, the two-degree-of-freedom servo on the automatic pit division equipment is controlled to deflect, driving the laser pointer to rotate and point to the actual pit division pit mouth position.

[0044] Compared with the prior art, the present invention has the following beneficial effects:

[0045] The present invention uses a laser radar to acquire three-dimensional point cloud data, fits the terrain plane of each pit mouth area, calculates the slope angle and aspect angle, and dynamically adjusts the laser pointing vector based on the degree of terrain inclination. A multi-scale square area is constructed with the theoretical coordinates of the pit mouth as the center. Weights are assigned based on the point cloud density, and corrections for multiple areas are integrated to suppress interference from low-density point clouds and improve the reliability of pit division on complex surfaces. This solves the problem in the prior art of being unable to accurately analyze the point cloud data of different pit mouths and to perform targeted corrections to the deflection and pitch angles of each pit mouth, resulting in large deviations from the actual coordinates.

[0046] The present invention combines the known plane coordinates of the center pile with pre-built coordinate calculation logic to quickly calculate the horizontal coordinates of the four tower feet. The entire process is highly automated, significantly reducing the time and workload of manual measurement. This solves the problem of manual pit division in the prior art that relies on construction workers to measure and mark each one, which is cumbersome and time-consuming.

[0047] The present invention establishes a horizontal reference coordinate system and an auxiliary reference coordinate system, accurately solves the relative position and angle relationship through the translation vector t and the rotation matrix, and then uses the orthogonal rotation matrix and trigonometric functions to calculate the pitch angle, roll angle, and yaw angle, avoiding the cumulative error caused by model simplification and ensuring the mathematical rigor of the coordinate transformation. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Further details, features and advantages of the present application are disclosed in the following description of exemplary embodiments in conjunction with the accompanying drawings, in which:

[0049] Figure 1 Flowchart of the present invention. DETAILED DESCRIPTION

[0050] Several embodiments of the present application will be described in more detail below with reference to the accompanying drawings so that those skilled in the art can implement the present application. The present application can be embodied in many different forms and for many different purposes and should not be limited to the embodiments described herein. These embodiments are provided to make the present application comprehensive and complete and to fully convey the scope of the present application to those skilled in the art. The embodiments do not limit the present application.

[0051] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by those skilled in the art to which this application belongs. It will be further understood that terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the relevant art and / or the context of this specification, and will not be interpreted in an idealized or overly formal sense unless explicitly defined as such herein.

[0052] Example

[0053] See also Figure 1 As shown, a multi-scenario adaptive automatic pit division method for power transmission lines based on laser radar equipment includes:

[0054] S1: Load the center pile position information; the design pre-provided; construct a horizontal reference coordinate system with the center pile position as the origin, and use the pre-built coordinate calculation logic to preliminarily calculate the absolute positions of the four pit openings in the horizontal reference coordinate system;

[0055] Specifically:

[0056] S1-101: Set the center pile position as the origin of the horizontal reference coordinate system and mark it as O A (y0,x0,z0); where y0=0, x0=0, z0=0, and the basis vector i is set based on the origin A ,j A ,k A ;

[0057] S1-102: Extract the horizontal heel opening x and vertical heel opening y given in advance in the engineering design, and calculate the positions of the four tower foot openings in the horizontal reference coordinate system G1(y1,x1,z1), G2(y2,x2,z2), G3(y3,x3,z3), and G4(y4,x4,z4).

[0058] (1)y1=y0-x / 2; (2)x1=x0+y / 2; (3)y2=y1+x; (4)x2=x1; (5)y3=y1; (6)x3=x1; (7)y4=y1+x; (8)x4=x1-y (9)z1=z2=z3=z4;

[0059] S2: Fix the laser radar equipment at the pit division operation site, obtain the location information of the laser radar automatic pit division equipment with a GPS module, and set it as the origin of the auxiliary reference coordinate system O B (y0,x0,z0), set the basis vector i based on the origin of the auxiliary reference coordinate system B ,j B ,k B ;Construct an auxiliary reference coordinate system with the location of the lidar device as the origin;

[0060] S3: Use laser radar equipment to obtain three-dimensional laser point cloud terrain data of the pit working surface;

[0061] Specifically:

[0062] S3-101: Turn on the LiDAR device and run the laser point cloud acquisition program;

[0063] S3-102: Start recording the 3D laser point cloud data information of the construction work surface;

[0064] S3-103: End recording of the 3D laser point cloud data information of the construction work surface and save the 3D laser point cloud data in the form of rosbag locally on the device;

[0065] S4: Based on the 3D point cloud data, the relative position and angle relationship between the horizontal reference coordinate system and the auxiliary reference coordinate system is converted to obtain the relative relationship between the two coordinate systems;

[0066] Specifically:

[0067] S4-401: Calculate the relative position t between the horizontal reference coordinate and the auxiliary reference coordinate system, which is determined by the translation vector of the origin of the two coordinate systems and is expressed as t = O B -O A ;

[0068] S4-402: Construct the unit orthogonal matrices of two sets of basis vectors of the horizontal reference coordinate system and the auxiliary reference coordinate system, expressed as R A ={i A ,j A ,k A} and R B ={i B ,j B ,k B};

[0069] S4-403: Calculate the relative rotation orientation between the horizontal reference coordinate system and the auxiliary reference coordinate system. The rotation from the horizontal reference coordinate system to the auxiliary reference coordinate system is given by the rotation matrix R AB Calculated, that is, R AB =R B ×RB T ; where R B T It is R B The matrix transpose of R AB is a 3×3 orthogonal matrix that satisfies R AB T ×R AB =I, I is the identity matrix;

[0070] S4-404: Using the 3×3 orthogonal rotation matrix R AB Calculate the relative rotation angle between the horizontal reference coordinate system and the auxiliary reference coordinate system, where the pitch angle φ, roll angle θ, and yaw angle ψ are:

[0071] Φ=arctan2[R AB (3,2), R AB (3,3)];

[0072] θ=arcsin[-R AB (3,1)];

[0073] Ψ=arctan2[R AB (2,1), R AB (1,1];

[0074] S5: Based on the relative relationship between the horizontal reference coordinate system and the auxiliary reference coordinate system, the absolute positions of the four pit openings in the horizontal reference coordinate system are converted based on the relationship between the sides and angles of the right triangle. After the conversion, the point cloud data corresponding to each pit opening is analyzed and corrections are made based on the analysis results to obtain the corrected deflection angles and pitch angles of the four pit openings.

[0075] Specifically:

[0076] S5-501: Extract the orthogonal rotation matrix R ABand the translation vector t, transform the pit mouth coordinates in the horizontal reference coordinate system into the auxiliary reference coordinate system to obtain the theoretical coordinates corresponding to each pit mouth; based on the relationship between the sides and angles of the right triangle, decompose the theoretical coordinates after the pit mouth coordinates are transformed into the deflection angle (horizontal rotation angle) and pitch angle (vertical rotation angle) of the lidar device to ensure that the laser beam can accurately point to the theoretical pit mouth position; with the theoretical coordinates corresponding to each pit mouth as the center and the side length set as the basis, construct a square area; side length = k × max (x, y); where k is an empirical coefficient with a value range of 0.2-0.5, which is set by technical personnel The following adjustments and optimizations can be made; x and y are the horizontal and vertical follow-up, respectively. For example, if the horizontal follow-up x = 8m and the vertical follow-up y = 6m, and the empirical coefficient is 0.2, then the side length = 0.2×8 = 1.6, and a square area with a side length of 1.6m is constructed; the construction area corresponding to each pit opening under different empirical coefficients k is obtained; the point set corresponding to each pit opening under different construction areas is selected from the global point cloud data, where the different construction areas corresponding to each pit opening are represented by numbers i, i = 1, 2, 3, 4, corresponding to the construction areas under the empirical coefficients of 0.2, 0.3, 0.4 and 0.5 respectively;

[0077] S5-502: For each pit mouth, the point set of different construction areas is expressed as Where j represents the number of the point cloud data in the point set, n is the total number of point cloud data in the point set; the fitting plane equation is z=ax+by+c;

[0078] Design Matrix: Target vector:

[0079] Calculate the plane parameters θ = [a, b, c] by the least squares method T , so that the fitting error ||z-Xθ|| 2 Minimum: θ=(X T X) -1 X T z; where T represents matrix transpose;

[0080] The normal vector of the plane z = ax + by + c is n = [a, b, -1], which is normalized to: Then each pit mouth corresponds to a different construction area point set S i The slope angle θ i The calculation process is The angle between the normal vector and the horizontal plane reflects the slope of the terrain;

[0081] Slope angle α i The calculation process is α i =arctan 2(b,α); the projection direction of the normal vector on the horizontal plane, reflecting the direction of terrain inclination;

[0082] S5-503: Calculate the lidar origin O B Vector v to the theoretical coordinates corresponding to each pit opening 理论 , the formula is expressed as v 理论 =[x i 1 ,y i 1 , z i 1 ]=R AB ×[x i ,y i , z i ]+t;

[0083] According to the slope θ i and slope α i Adjust vector v 理论 , through the formula Δv i =λ×[sinθ i cosα i , sinθ i sinα i , cosθ i ]; where λ is the compensation amplitude; take 10% of the designed pit depth, such as when the pit depth is 2 meters, λ=0.2; the corrected v 理论 That is, through v 理论 +Δv i Get, marked as v 修正 ;

[0084] S5-504: The corrected deflection angle ψ for each pit mouth corresponding to different point sets 修正 =arctan2(v 修正 ,y,v 修正 , x); the corrected pitch angle

[0085] S5-505: Decompose the deflection and pitch angles of each theoretical coordinate into ψ 理论 and

[0086] S5-506: Corrected deflection angle ψ for each pit mouth corresponding to different point sets 修正 and pitch angle Calculate the corrected deflection angle ψ for different point sets 修正 and the deflection angle ψ 理论 The correction amount between is recorded as the deflection angle correction amount, that is, the difference ψ 修正 -ψ 理论 Calculated; similarly, the pitch angle correction is obtained;

[0087] Obtain the point cloud density of different point sets at each pit entrance and record it as p i; The higher the point cloud density, the higher the weight; the point cloud density p of different point sets at each pit entrance i The total density is obtained by summing up, and the proportion of the point cloud density of different point sets in the total density is calculated as the weight proportion of different point sets at each pit entrance;

[0088] The deflection angle correction values ​​calculated for different point sets at each pit mouth are multiplied by the weight proportions of the different point sets, and then the sum is calculated to obtain the final deflection angle value of each pit mouth; similarly, the final pitch angle value of each pit mouth is obtained.

[0089] S5-507: Based on the final deflection angle and pitch angle calculated for each pit, the ψ 理论 and Correction is performed to obtain the corrected deflection angle and pitch angle of the four pit opening positions;

[0090] S6: According to the corrected deflection angle and pitch angle, the two-degree-of-freedom servo on the automatic pit division equipment is controlled to deflect, driving the laser pointer to rotate and point to the actual pit division entrance position;

[0091] The specific steps of deflection control are:

[0092] The servo control includes a 2-DOF gimbal and an STM32F103 embedded chip. The 2-DOF gimbal includes a rocker servo and a gimbal servo. The signal lines of these two servos are connected to the GPIOA port of the STM32F103, and the power and ground lines are connected to the 5V and GND of the STM32F103 respectively. Taking the first tower foot as an example, the specific implementation steps are as follows:

[0093] S6-601: Calculate the CRR value using the yaw and pitch angles of the horizontal reference coordinate system and the auxiliary reference coordinate system, i.e., by CRR = (angle / 180°)*2000+500, where angle is the yaw and pitch angles;

[0094] S6-602: Sends the calculated yaw and pitch angle data to the STM32F103 via serial port 1. Inside the STM32F103 microcontroller, the data is passed to timer 3 for processing. Timer 3 is located on the APB1 clock bus and has a clock frequency of 72MHz. The PWM duty cycle of the 2DOF gimbal servo is then adjusted based on the calculated CRR value. Duty = CRR / (ARR+1).

[0095] Supplementary explanation: ARR is a preset value, which can be set to 20000-1. If the calculated CRR value is 1000 and ARR is 20000-1, then the duty cycle Duty = 1000 / 20000 = 5%; the control signal PWM frequency received by the servo is 50Hz, and the high-level duration is in the range of 0.5-2.5ms (duty cycle 2.5%-12.5%), corresponding to the servo angle of 0-180°; according to the servo control signal requirements, the prescaler register (PSC), auto-reload register (ARR) and capture / compare register (CRR) of timer 3 are configured; for example, according to the calculation, ARR is set to 20000-1 and PSC is set to 72-1; according to the formula CRR = (angle / 180°)*2000+500, the CRR value corresponding to the servo target angle is calculated. By adjusting the CRR value, the PWM duty cycle is changed, thereby controlling the deflection angle of the servo;

[0096] S6-603: Modulates the calculated PWM duty cycle into a PWM waveform and sends the modulated PWM waveform to the servo. This controls the servo to drive the laser pointer, indicating the positions of the four tower legs in the actual scene, completing the automatic pit positioning and indication work.

[0097] To ensure the simplicity and feasibility of control, the range of the initial deflection angle is limited to between -90° and 90°, and the initial angle of the servo is set to 90°. In this way, all deflection angles within the range of plus or minus 90° can be treated as positive numbers, thus avoiding the engineering implementation problems caused by negative angles.

[0098] The preferred embodiments of the present invention disclosed above are intended only to help illustrate the present invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the present invention to specific embodiments. Obviously, many modifications and variations are possible based on the contents of this specification. These embodiments are selected and described in detail in this specification to better explain the principles and practical applications of the present invention, thereby enabling those skilled in the art to better understand and utilize the present invention. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A multi-scenario adaptive automatic pit division method for power transmission lines based on laser radar equipment, characterized in that: include: S1: Load the center pile position information, build a horizontal reference coordinate system with the center pile position as the origin, and use the pre-built coordinate calculation logic to preliminarily calculate the absolute positions of the four pit openings in the horizontal reference coordinate system; S2: Fix the laser radar equipment at the pit division operation site, obtain the location information of the laser radar automatic pit division equipment with a GPS module, and set it as the origin of the auxiliary reference coordinate system O B (y0,x0,z0), set the basis vector i based on the origin of the auxiliary reference coordinate system B ,j B ,k B ;Construct an auxiliary reference coordinate system with the location of the lidar device as the origin; S3: Use laser radar equipment to obtain three-dimensional laser point cloud terrain data of the pit working surface; S4: Based on the 3D point cloud data, the relative position and angle relationship between the horizontal reference coordinate system and the auxiliary reference coordinate system is converted to obtain the relative relationship between the two coordinate systems; S5: Based on the relative relationship between the horizontal reference coordinate system and the auxiliary reference coordinate system, the absolute positions of the four pit openings in the horizontal reference coordinate system are converted based on the relationship between the sides and angles of the right triangle. After the conversion, the point cloud data corresponding to each pit opening is analyzed, and corrections are made based on the analysis results to obtain the corrected deflection angles and pitch angles of the four pit openings.

2. The method for adaptive automatic pit division based on multi-scenario transmission line infrastructure using laser radar equipment according to claim 1 is characterized in that: The steps for analyzing the point cloud data corresponding to each pit opening are as follows: S5-501: Extract the orthogonal rotation matrix R AB and the translation vector t, transforming the pit opening coordinates in the horizontal reference coordinate system into the auxiliary reference coordinate system to obtain the theoretical coordinates corresponding to each pit opening; Based on the relationship between the sides and angles of a right triangle, the theoretical coordinates after the pit opening coordinates are converted into the deflection angle and pitch angle of the lidar device. With the theoretical coordinates corresponding to each pit opening as the center, a square area is constructed based on the set side length to obtain the construction area corresponding to each pit opening under different empirical coefficients k. The point sets corresponding to different construction areas of each pit opening are filtered out from the global point cloud data, where the different construction areas corresponding to each pit opening are represented by number i; S5-502: For each pit mouth, the point set of different construction areas is expressed as Where j represents the number of the point cloud data in the point set, n is the total number of point cloud data in the point set; the fitting plane equation is z=ax+by+c; Design Matrix: Target vector: Calculate the plane parameters θ = [a, b, c] by the least squares method T , so that the fitting error ||z-Xθ|| 2 Minimum: θ=(X T X) - 1 X T z; where T represents matrix transpose; The normal vector of the plane z = ax + by + c is n = [a, b, -1], which is normalized to: Then each pit mouth corresponds to a different construction area point set S i The slope angle θ i The calculation process is Slope angle α i The calculation process is α i =arctan 2(b,a).

3. The method for adaptive automatic pit division based on multi-scenario transmission line infrastructure using laser radar equipment according to claim 2 is characterized in that: The specific steps of analyzing the point cloud data corresponding to each pit opening include: S5-503: Calculate the lidar origin O B Vector v to the theoretical coordinates corresponding to each pit opening 理论 , the formula is expressed as v 理论 =[x i 1 ,y i 1 , z i 1 ]=R AB ×[x i ,y i , z i ]+t; According to the slope θ i and slope α i Adjust vector v 理论 , through the formula Δv i =λ×[sinθ i cosα i , sinθ i sinα i , cosθ i ]; where λ is the compensation amplitude; the corrected v 理论 That is, through v 理论 +Δv i Get, marked as v 修正 ; S5-504: The corrected deflection angle ψ for each pit mouth corresponding to different point sets 修正 =arctan2(v 修正 ,y,v 修正 , x); the corrected pitch angle S5-505: Decompose the deflection and pitch angles of each theoretical coordinate into ψ 理论 and 4. The method for adaptive automatic pit division based on multi-scenario transmission line infrastructure using laser radar equipment according to claim 3 is characterized in that: The correction is performed based on the analysis results to obtain the corrected deflection angles and pitch angles of the four pit opening positions, specifically: S5-505: Decompose the deflection and pitch angles of each theoretical coordinate into ψ 理论 and S5-506: Corrected deflection angle ψ for each pit mouth corresponding to different point sets 修正 and pitch angle Calculate the corrected deflection angle ψ for different point sets 修正 and the deflection angle ψ 理论 The correction amount between is recorded as the deflection angle correction amount, that is, the difference ψ 修正 -ψ 理论 Calculated; similarly, the pitch angle correction is obtained; Obtain the point cloud density of different point sets at each pit entrance and record it as p i ; The point cloud density p of different point sets at each pit entrance i The total density is obtained by summing up, and the proportion of the point cloud density of different point sets in the total density is calculated as the weight proportion of different point sets at each pit entrance; The deflection angle correction values ​​calculated for different point sets at each pit mouth are multiplied by the weight proportions of the different point sets, and then the sum is calculated to obtain the final deflection angle value of each pit mouth; similarly, the final pitch angle value of each pit mouth is obtained. S5-507: Based on the final deflection angle and pitch angle calculated for each pit, the ψ 理论 and Correction is performed to obtain the corrected deflection angle and pitch angle of the four pit opening positions.

5. The method for adaptive automatic pit division based on multi-scenario transmission line infrastructure using laser radar equipment according to claim 4 is characterized in that: The specific steps of setting the side length are: Side length = k × max(x, y); k is an empirical coefficient with a value range of 0.2-0.5; x and y are the horizontal and vertical widths respectively.

6. The method for adaptive automatic pit division based on multi-scenario transmission line infrastructure using laser radar equipment according to claim 5 is characterized in that: The pre-built coordinate calculation logic is used to preliminarily calculate the absolute positions of the four pit openings in the horizontal reference coordinate system. The specific steps are as follows: S1-101: Set the center pile position as the origin of the horizontal reference coordinate system and mark it as O A (y0,x0,z0); where y0=0, x0=0, z0=0, and the basis vector i is set based on the origin A ,j A ,k A ; S1-102: Extract the pre-given horizontal heel opening x and vertical heel opening y, and calculate the positions of the four tower foot openings in the horizontal reference coordinate system G1(y1,x1,z1), G2(y2,x2,z2), G3(y3,x3,z3), and G4(y4,x4,z4), respectively; (1)y1=y0-x / 2; (2)x1=x0+y / 2; (3)y2=y1+x; (4)x2=x1; (5)y3=y1; (6)x3=x1; (7)y4=y1+x; (8)x4=x1-y (9)z1=z2=z3=z4.

7. The method for adaptive automatic pit division based on multi-scenario transmission line infrastructure using laser radar equipment according to claim 6 is characterized in that: The conversion of the relative position and angle relationship between the horizontal reference coordinate system and the auxiliary reference coordinate system based on the three-dimensional point cloud data to obtain the relative relationship between the two coordinate systems is carried out in the following specific steps: S4-401: Calculate the relative position t between the horizontal reference coordinate and the auxiliary reference coordinate system, which is determined by the translation vector of the origin of the two coordinate systems and is expressed as t = O B -O A ; S4-402: Construct the unit orthogonal matrices of two sets of basis vectors of the horizontal reference coordinate system and the auxiliary reference coordinate system, expressed as R A ={i A ,j A ,k A } and R B ={i B ,j B ,k B }; S4-403: Calculate the relative rotation orientation between the horizontal reference coordinate system and the auxiliary reference coordinate system. The rotation from the horizontal reference coordinate system to the auxiliary reference coordinate system is given by the rotation matrix R AB Calculated, that is in It is R B The matrix transpose of R AB is a 3×3 orthogonal matrix that satisfies I is the identity matrix; S4-404: Using the 3×3 orthogonal rotation matrix R AB Calculate the relative rotation angle between the horizontal reference coordinate system and the auxiliary reference coordinate system, where the pitch angle φ, roll angle θ, and yaw angle ψ are: Φ = arctan2[R AB (3,2), R AB (3,3)];θ=arcsin[-R AB (3,1)];Ψ=arctan2[R AB (2,1), R AB (1,1].

8. The method for adaptive automatic pit division based on multi-scenario transmission line infrastructure using laser radar equipment according to claim 1 is characterized in that: Also includes: S6: According to the corrected deflection angle and pitch angle, the two-degree-of-freedom servo on the automatic pit division equipment is controlled to deflect, driving the laser pointer to rotate and point to the actual pit division pit mouth position.

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