A method for automatically measuring the foundation of a power transmission tower

Abstract

The application relates to a transmission tower foundation follow-opening automatic measuring method, which comprises the following steps: erecting a measuring device at the center of a foundation center pile; starting an inclination sensor to read the double-axis included angle between the measuring device and a horizontal plane; obtaining a coordinate transformation matrix by using a coordinate conversion method according to the measured double-axis inclination; controlling a motion mechanism to rotate, and measuring the distance between the measuring device and the center of the tower foundation, the pitch angle and the horizontal rotation angle; calculating the horizontal distance of a half diagonal according to the distance and the pitch angle, and further calculating the horizontal distance from the center of the tower foundation to the axis; obtaining the coordinates of the center of the tower foundation in a measuring system according to the calculation result, and converting the coordinates in the measuring coordinate system into the coordinates under a standard horizontal plane according to the coordinate transformation matrix; and calculating the full follow-opening value and the top surface height difference according to the coordinates under the standard horizontal plane. The application adopts PLC to precisely control a servo device, measures through a high-precision laser sensor and automatically processes data, and can obtain accurate results within a small error range.

Description

Technical Field

[0001] This invention relates to the field of tower measurement technology, and in particular to a tower foundation and opening measurement device and method. Background Technology

[0002] Transmission lines, especially high-voltage lines, typically require foundation types selected according to local conditions. In areas with significant elevation differences and complex surrounding environments, foundations should ideally employ unequal height designs to minimize or eliminate the need for foundation excavation, thus preventing vegetation damage, reducing soil erosion, and minimizing earthwork excavation and concrete pouring. Therefore, to ensure construction quality, precise measurements of the foundation's base opening and diagonal are frequently necessary during construction. Foundation construction must comply with the requirements of the "110-750kV Overhead Transmission Line Construction and Acceptance Specifications." Strict control of the foundation's base opening and top elevation difference is crucial during transmission tower installation, especially in mountainous and hilly areas with significant elevation differences. The base opening and top elevation difference severely impact the operational safety of the transmission tower. Furthermore, manual measurement is complex and involves substantial calculations.

[0003] Foundation construction is one of the crucial parameters for the installation and safe operation of transmission towers. The quality of the foundation construction directly impacts the safe and stable operation of the transmission circuit. Deviations between the foundation data and the design verification data can lead to instability of the transmission tower, posing a risk of toppling during severe storms or prolonged operation. This increases the potential for unstable operation of the transmission line and raises maintenance costs.

[0004] Currently, manual measurement methods still mostly use traditional tools such as steel tape measures and theodolites because they involve many measurement parameters, have complex calculation methods, and are difficult to use. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of the existing technology and provide an automatic measurement method for the foundation and opening of power transmission towers.

[0006] The objective of this invention can be achieved through the following technical solutions:

[0007] An automatic measurement method for the foundation opening of a power transmission tower is provided. The method uses an automatic opening measurement device for measurement. The measurement device includes: a support mechanism, a motion mechanism mounted on the support mechanism, a measuring device, and a control device.

[0008] The motion mechanism is capable of rotating in both horizontal and pitch directions;

[0009] The measuring device includes: grating sensors for detecting horizontal and pitch rotation angles respectively arranged along the horizontal and pitch rotation directions of the motion mechanism; a laser sensor arranged on the motion mechanism that can rotate with the horizontal and pitch directions of the motion mechanism; and an angle sensor arranged on the motion mechanism for detecting the angle between the measuring device and the horizontal plane.

[0010] After the concrete pouring of the tower foundation is completed, the measuring equipment is placed at the center of the foundation's central pile. The control equipment controls the measuring device to perform automatic measurements, including the following steps:

[0011] Activate the tilt sensor to read the biaxial angle between the measuring device and the horizontal plane at this time;

[0012] The coordinate transformation matrix A is obtained by using the coordinate transformation method to obtain the dual-axis tilt angles α and β measured by the tilt sensor.

[0013] Control the rotation of the motion mechanism, and measure and record the distance, pitch angle, and horizontal rotation angle to the center of the four tower bases;

[0014] Calculate the horizontal distance of half the diagonal based on the distance and the pitch angle;

[0015] Calculate the horizontal distance from the center of the tower foundation to the axis based on the horizontal distance of the half diagonal and the horizontal turning angle;

[0016] The coordinates of the four tower foundation centers in the measurement system were obtained based on the calculation results;

[0017] The coordinates in the measurement coordinate system are converted to coordinates under the standard horizontal plane based on the obtained coordinate transformation matrix A.

[0018] Based on the obtained coordinates under the standard horizontal plane, the full opening value and the height difference of the top surface are further calculated.

[0019] Furthermore, the specific process of measuring and recording the data at the center of the four tower foundations is as follows:

[0020] Apply reflective strips to the center of the four tower bases;

[0021] Activate the laser sensor and control the rotation of the motion mechanism;

[0022] A strong signal feedback when the laser hits the reflective strip is used as a stop signal;

[0023] Measure and record the distance, pitch angle, and horizontal rotation angle data at this time.

[0024] Furthermore, the motion mechanism includes a turntable base plate, a laser mechanism reducer mounting plate, a laser mechanism shaft side mounting plate, a laser sensor mounting plate, and a first servo motor and a second servo motor for pitch and horizontal rotation, respectively. The laser mechanism reducer mounting plate and the laser mechanism shaft side mounting plate are fixed to both sides of the turntable base plate. The shaft of the laser sensor mounting plate passes through the laser mechanism reducer mounting plate and the laser mechanism shaft side mounting plate and is connected to the first servo motor to transmit torque.

[0025] Furthermore, the laser sensor is mounted on a laser sensor mounting plate.

[0026] Furthermore, the tilt sensor is mounted on the turntable base plate and fixed in the center of the turntable base plate.

[0027] Furthermore, the support mechanism includes a tripod and a tripod mounting plate;

[0028] One side of the tripod mounting plate is detachably connected to the tripod, and a second servo motor is installed in the center through a round hole and a motor mounting flange.

[0029] The other side of the tripod mounting plate is provided with a mounting slot for a grating probe, and a first grating probe is fixed thereon.

[0030] Furthermore, the turntable base plate has a central opening, in which a reducer is installed and connected to the shaft of the second servo motor;

[0031] The turntable base plate has a grating sensor mounting groove engraved on the side facing the tripod mounting plate, and a first grating sensor is fixed thereon. The first grating sensor cooperates with the first grating probe on the tripod mounting plate.

[0032] Furthermore, a first servo motor reducer is fixedly mounted on the laser mechanism reducer mounting plate;

[0033] The laser mechanism reducer mounting plate has an inner groove for mounting a grating plate, and a second grating plate is fixed thereon.

[0034] Furthermore,

[0035] A side grating probe mounting plate is fixedly connected to the side of the laser sensor mounting plate near the second grating plate mounting groove. A second grating probe, which works in conjunction with the second grating plate to read the platform rotation angle, is mounted on the side grating probe mounting plate.

[0036] Furthermore, a side plate reinforcing rib is provided between the laser mechanism reducer mounting plate and the laser mechanism shaft side mounting plate.

[0037] Compared with the prior art, the present invention has the following beneficial effects:

[0038] To address the aforementioned problems, this invention employs precise control via PLC servo equipment, measurement using a high-precision laser sensor, and automatic processing, achieving accurate results within a small error range. It is simple to learn, easy to operate, and highly accurate, solving the highly specialized problems inherent in this measurement field. Attached Figure Description

[0039] Figure 1 This is a front view of the automatic measuring device of the present invention;

[0040] Figure 2 This is a side view of the automatic measuring device of the present invention;

[0041] Figure 3 This is a top view of the tripod connecting base plate of the present invention;

[0042] Figure 4 This is a front view of the tripod connecting base plate of the present invention;

[0043] Figure 5 This is a top view of the turntable base plate of the present invention;

[0044] Figure 6 This is a front view of the turntable base plate of the present invention;

[0045] Figure 7 This is a side view of the mounting plate on the rotating shaft side of the laser mechanism of the present invention;

[0046] Figure 8 This is a front view of the mounting plate on the rotating shaft side of the laser mechanism of the present invention;

[0047] Figure 9 This is a top view of the laser sensor mounting plate of the present invention;

[0048] Figure 10 This is a side view of the laser sensor mounting plate of the present invention;

[0049] Figure 11 This is a side view of the mounting plate of the laser mechanism reducer of the present invention;

[0050] Figure 12 This is a front view of the laser mechanism reducer mounting plate of the present invention;

[0051] Figure 13 This is a front view of the side grating probe mounting plate of the present invention;

[0052] Figure 14 This is a side view of the mounting plate for the side grating probe of the present invention;

[0053] Figure 15 This is a partial ladder diagram of some PLC control devices of the present invention;

[0054] Figure 16 A comprehensive plan view of the rectangular foundation with varying heights;

[0055] Figure 17 This is a flowchart of the automatic measurement process of the present invention;

[0056] The following are the labels in the diagram: 1. Tripod mounting plate, 2. Turntable base plate, 3. Side plate reinforcing rib, 4. Laser mechanism shaft side plate, 5. End cover, 6. Reducer, 7. Laser sensor mounting plate, 8. Laser sensor, 9. Motor shaft, 10. Laser mechanism shaft side mounting plate, 11. Motor mounting flange, 12. First servo motor, 13. Second servo motor. Detailed Implementation

[0057] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments. These embodiments are based on the technical solution of the present invention and provide detailed implementation methods and specific operating procedures. However, the scope of protection of the present invention is not limited to the following embodiments.

[0058] Example 1

[0059] This invention designs an automatic measurement scheme for tower base opening. The mechanical structure of the automatic device includes: a tripod support, a servo motor, a circular grating sensor, a tilt sensor, a laser sensor, a motion mechanism, and a control device. The motion mechanism uses a PLC to control the servo motor to achieve the required motion effect. Then, it measures data through the sensors and transmits it back to the host computer for algorithm processing to obtain and display the desired results.

[0060] like Figure 1-14 The image shows one example of the automatic measurement device for the foundation of a power transmission tower according to the present invention. The measurement device includes: a support mechanism, a motion mechanism mounted on the support mechanism, a measuring device, and a control device. The motion mechanism is capable of rotating in both horizontal and pitch directions. The measuring device includes: grating sensors mounted along the horizontal and pitch rotation directions of the motion mechanism for detecting the horizontal and pitch rotation angles; a laser sensor 8 mounted on the motion mechanism and capable of rotating with it in both horizontal and pitch directions; and an angle sensor mounted on the motion mechanism for detecting the angle between the measuring device and the horizontal plane.

[0061] Specifically, the motion mechanism includes a turntable base plate 2, a laser mechanism reducer mounting plate 6, a laser mechanism shaft-side mounting plate 11, a laser sensor mounting plate 7, and a first servo motor 12 and a second servo motor 13 for pitch and horizontal rotation, respectively. The laser mechanism reducer mounting plate 6 and the laser mechanism shaft-side mounting plate 11 are fixed to both sides of the turntable base plate 2. The shaft of the laser sensor mounting plate 7 passes through the laser mechanism reducer mounting plate 6 and the laser mechanism shaft-side mounting plate 11 and is connected to the first servo motor 12 to transmit torque. The motion mechanism, controlled by the servo motors, can achieve horizontal and pitch rotation.

[0062] Furthermore, the support mechanism includes a tripod and a tripod mounting plate 1; the bottom of the tripod mounting plate 1 is detachably connected to the tripod via a pin, and a second servo motor 13 is mounted on the center of the tripod mounting plate 1 via a round hole and screws to the motor mounting flange; a grating probe mounting groove is milled on the top surface of the tripod mounting plate 1, and a first grating probe is fixed thereon via screws.

[0063] Furthermore, the turntable base plate 2 has a central circular hole for screw fixing to facilitate the installation of the reducer and connection of the second servo motor 13 shaft. The turntable base plate 2 facing the tripod mounting plate 1 has a grating sensor mounting groove, in which a first grating sensor is fixed. The first grating sensor cooperates with the first grating probe on the tripod mounting plate 1. When the motor drives the rotation, the probe moves across the grating plate to form relative motion and record the angle generated by the motion. The turntable base plate 2 has mounting holes on both sides for installing the laser mechanism reducer mounting plate and the laser mechanism shaft mounting plate.

[0064] Furthermore, the laser mechanism reducer mounting plate 6 and the laser mechanism shaft mounting plate 11 are fixed with screws through threaded holes on the side of the turntable base plate 2. The openings of the laser mechanism shaft mounting plate 6 and the laser mechanism reducer mounting plate 11 must ensure coaxiality during installation to prevent shaft misalignment; and two side plate reinforcing ribs 3 are added between them to ensure that the parallelism between the two plates does not change during operation.

[0065] Furthermore, the laser mechanism reducer mounting plate 6 is milled with mounting screw holes for the reducer, and the reducer of the first servo motor 12 is fixedly installed thereon; the inner side of the laser mechanism reducer mounting plate 6 is milled with mounting grooves for grating plates, and a second grating plate is fixed in the groove.

[0066] Furthermore, the shaft of the laser sensor mounting plate 7 passes through the aforementioned two side plates and is connected to the first servo motor 12 to transmit torque. A grating probe mounting plate is screwed to the side of the laser sensor mounting plate 7 closest to the second grating plate mounting slot. A second grating probe is mounted on the plate to cooperate with the grating plate in reading the rotation angle of the platform.

[0067] Furthermore, the laser sensor 8 is mounted on the laser sensor mounting plate 7 and connected by four screws; the tilt sensor is mounted on the turntable base plate 2 and fixed to the center of the turntable base plate 2 by three screws.

[0068] After the concrete for the tower foundation is poured, the measuring equipment is placed at the center of the foundation's central pile, and the control equipment controls the measuring device to perform automatic measurements.

[0069] Furthermore, the control and computing device of the present invention includes a PLC controller and a host computer. The servo motor is controlled by the PLC controller, and the data processing is performed by the host computer.

[0070] As a second aspect of the invention, such as the process Figure 17 The steps of the measurement method using the automatic measurement device for transmission tower connections as described above are as follows:

[0071] Step 1, as follows Figure 16 As shown, after the concrete pouring of the tower foundation is completed, the equipment is placed at point O, the center pile of the foundation. Reflective strips are then attached to the centers of the four tower foundation bases.

[0072] Step 2: Place the device at point O, the center of the central pile, and activate the tilt sensor to read the angle between the device and the horizontal plane.

[0073] Step 3: Transmit the measurement information to the host computer. The tilt angles α and β measured by the tilt sensor are used in MATLAB to obtain the coordinate transformation matrix A.

[0074] Step 4: Measurement begins. The laser sensor is activated, and the PLC controls the motor to rotate. A strong signal received when the laser hits the reflector strip serves as a stop signal. Taking point A as an example, when the device hits point A, it records the distance LA, pitch angle γA, and horizontal angle ∠AOE.

[0075] Based on LA and γA, the horizontal distance OA′ of the half-diagonal can be calculated as L. A ×COSγ A Similarly, OB', OC', and OD' can be calculated.

[0076] The horizontal distance to the axis can be calculated based on OA' and the horizontal turning angle. Horizontal distance

[0077] AE = OA × COS∠AOE

[0078] AE′=OA×SIN∠AOE′

[0079] Based on the above results, the coordinates of point A in this system can be obtained. Similarly, we can obtain B, C, and D.

[0080] Step 5: The measured coordinates are not on a standard horizontal plane, so we need to import the data from the tilt sensor into MATLAB for data processing and use the principle of coordinate transformation to obtain the transformation matrix.

[0081]

[0082] Convert the coordinates in the device coordinate system to coordinates in the standard horizontal plane.

[0083]

[0084] The X and Y values ​​in the standard coordinate system are the half-root open values ​​of that point.

[0085] Step 6: Further investigate the full contact opening value and the top surface height difference using the obtained coordinates.

[0086] Step 7: Output the calculation results to the display device and wait for the next measurement instruction.

[0087] The preferred embodiments of the present invention have been described in detail above. It should be understood that those skilled in the art can make numerous modifications and variations based on the concept of the present invention without creative effort. Therefore, all technical solutions that can be obtained by those skilled in the art based on the concept of the present invention through logical analysis, reasoning, or limited experimentation on the basis of existing technology should be within the scope of protection defined by the claims.

Claims

1. An automatic measurement method for the foundation and opening of a power transmission tower, characterized in that, The method employs an automatic follow-opening measuring device for measurement, which includes: a support mechanism, a motion mechanism mounted on the support mechanism, a measuring device, and a control device. The motion mechanism is capable of rotating in both horizontal and pitch directions; The measuring device includes: grating sensors for detecting horizontal and pitch rotation angles respectively arranged along the horizontal and pitch rotation directions of the motion mechanism; a laser sensor (8) arranged on the motion mechanism that can rotate with the horizontal and pitch directions of the motion mechanism; and an angle sensor arranged on the motion mechanism for detecting the angle between the measuring device and the horizontal plane. After the concrete pouring of the tower foundation is completed, the automatic follow-up measuring device is placed at the center of the foundation's central pile. The control equipment controls the measuring device to perform automatic measurements, including the following steps: Activate the tilt sensor to read the biaxial angle between the measuring device and the horizontal plane at this time; The coordinate transformation matrix A is obtained by using the coordinate transformation method to obtain the dual-axis tilt angles α and β measured by the tilt sensor. Control the rotation of the motion mechanism, and measure and record the distance, pitch angle, and horizontal rotation angle to the center of the four tower bases; Calculate the horizontal distance of half the diagonal based on the distance and the pitch angle; Calculate the horizontal distance from the center of the tower foundation to the axis based on the horizontal distance of the half diagonal and the horizontal turning angle; The coordinates of the four tower foundation centers in the measurement system were obtained based on the calculation results; The coordinates in the measurement coordinate system are converted to coordinates under the standard horizontal plane based on the obtained coordinate transformation matrix A. Based on the obtained coordinates under the standard horizontal plane, the full opening value and the height difference of the top surface are further calculated.

2. The automatic measurement method for the foundation and opening of a power transmission tower according to claim 1, characterized in that, The specific process of measuring and recording the data at the center of the four tower foundations is as follows: Apply reflective strips to the center of the four tower bases; Turn on the laser sensor (8) and control the rotation of the motion mechanism; A strong signal feedback when the laser hits the reflective strip is used as a stop signal; Measure and record the distance, pitch angle, and horizontal rotation angle data at this time.

3. The automatic measurement method for the foundation opening of a power transmission tower according to claim 1, characterized in that, The motion mechanism includes a turntable base plate (2), a laser mechanism reducer mounting plate (6), a laser mechanism shaft side mounting plate (11), a laser sensor mounting plate (7), and a first servo motor (12) and a second servo motor (13) for pitch and horizontal rotation, respectively. The laser mechanism reducer mounting plate (6) and the laser mechanism shaft side mounting plate (11) are fixed on both sides of the turntable base plate (2). The shaft of the laser sensor mounting plate (7) passes through the laser mechanism reducer mounting plate (6) and the laser mechanism shaft side mounting plate (11) and is connected to the first servo motor (12) to transmit torque.

4. The automatic measurement method for the foundation and opening of a power transmission tower according to claim 3, characterized in that, The laser sensor (8) is mounted on the laser sensor mounting plate (7).

5. The automatic measurement method for the foundation and opening of a power transmission tower according to claim 3, characterized in that, The tilt sensor is installed on the turntable base plate (2) and fixed in the center of the turntable base plate (2).

6. The automatic measurement method for the foundation and opening of a power transmission tower according to claim 3, characterized in that, The support mechanism includes a tripod and a tripod mounting plate (1); One side of the tripod mounting plate (1) is detachably connected to the tripod, and a second servo motor (13) is installed in the center through a round hole and a motor mounting flange. The other side of the tripod mounting plate (1) is provided with a mounting slot for a grating probe and a first grating probe is fixed thereon.

7. The automatic measurement method for the foundation and opening of a power transmission tower according to claim 6, characterized in that, The turntable base plate (2) has a central opening, in which a reducer is installed and the shaft of the second servo motor (13) is connected; The turntable base plate (2) has a grating sensor mounting groove engraved on the side facing the tripod mounting plate (1), and a first grating sensor is fixed thereon. The first grating sensor cooperates with the first grating probe on the tripod mounting plate (1).

8. The automatic measurement method for the foundation and opening of a power transmission tower according to claim 3, characterized in that, The laser mechanism reducer mounting plate (6) is fixedly mounted with the first servo motor (12) reducer; The laser mechanism reducer mounting plate (6) has an inner groove for mounting a grating plate and a second grating plate is fixed thereon.

9. The automatic measurement method for the foundation and opening of a power transmission tower according to claim 8, characterized in that, The laser sensor mounting plate (7) is fixedly connected to a side grating probe mounting plate on the side near the second grating plate mounting groove. The side grating probe mounting plate is equipped with a second grating probe that works with the second grating plate to read the platform rotation angle.

10. The automatic measurement method for the foundation and opening of a power transmission tower according to claim 3, characterized in that, A side plate reinforcing rib (3) is provided between the laser mechanism reducer mounting plate (6) and the laser mechanism shaft side mounting plate (11).

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