Acquisition method for high-precision three-dimensional data of valve hall

Abstract

The invention provides a method for collecting high-precision three-dimensional data of a valve hall, and relates to the technical field of three-dimensional data collection. The method for collecting the high-precision three-dimensional data of the valve hall comprises the following steps of: forming a uniform space grid structure by a first transverse measurement lane and a first longitudinal measurement lane in a free measurement region; in the intermittent measurement area, a second transverse measurement lane and a second longitudinal measurement lane form a space grid structure which is not overlapped with internal components of the valve hall, and the unmanned aerial vehicle carrying a three-dimensional laser scanner and a photographing assembly moves on the measurement lanes so that high-precision three-dimensional data acquisition can be effectively performed on the valve hall. The three-dimensional data acquisition efficiency and precision can be effectively improved through the movement of the unmanned aerial vehicle carrying the three-dimensional laser scanner and the photographing assembly on the measurement walkway, and the data acquisition effect of the internal components of the valve hall can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of three-dimensional data acquisition, and in particular to a method for acquiring high-precision three-dimensional data of a valve hall. Background Art

[0002] The valve hall is mainly used to arrange the converter valve and related equipment. It is the core of the converter station building. The valve hall usually uses a steel structure and adopts a full metal shielding to shield the external electromagnetic interference and the external radio interference caused by the valve phase change. The valve hall should be equipped with air conditioning and ventilation facilities to control the temperature and humidity in the valve hall within the specified range to ensure that the insulating parts of the valve do not condense and overheat under various operating conditions. The valve hall should also be equipped with air filtration facilities and maintain a certain micro-positive pressure to prevent dust from entering and keep the air in the valve hall clean. The valve hall material should be fireproof and heat-insulating. The hall should be equipped with advanced and reliable fire detection alarm and fire prevention facilities. In the work of constructing the valve hall, it is first necessary to collect three-dimensional spatial data of the complex and diverse power equipment in the valve hall.

[0003] The traditional construction of the 3D visualization model of the converter station valve hall is to build a 3D model based on the dimensions of each equipment in the equipment drawings, or use traditional ground-based fixed-point 3D laser scanning technology. The operation efficiency is low and the accuracy of the drawings is high, especially the drawings must be consistent with the actual data on site. The operation process is complicated and the efficiency of 3D data collection is low, which leads to increased project costs. Summary of the invention

[0004] 1. Technical issues to be solved

[0005] In view of the deficiencies of the prior art, the present invention provides a method for collecting high-precision three-dimensional data of a valve hall, which solves the problems of low operating efficiency and complicated operating procedures in the existing method for collecting three-dimensional data of a valve hall.

[0006] (II) Technical solution

[0007] To achieve the above objectives, the present invention is implemented through the following technical solutions: A method for collecting high-precision three-dimensional data of a valve hall, comprising the following steps:

[0008] Step 1: Obtain the basic size information of the valve hall to be constructed, and divide the internal space of the valve hall into a free measurement area and an intermittent measurement area;

[0009] Step 2: Evenly divide the free measurement area into a number of first measurement layers, and divide each first measurement layer into a number of spaces of uniform size through transverse first measurement lanes and longitudinal first measurement lanes;

[0010] Step 3: Evenly divide the intermittent measurement area into a plurality of second measurement layers, and divide each second measurement layer into a plurality of spaces by means of a transverse second measurement lane and a longitudinal second measurement lane;

[0011] Step 4: Arrange measurement targets on the valve hall floor and make sure all targets are at the same height;

[0012] Step 5: The drone equipped with a 3D laser scanner and a photography component cruises at a constant speed on the first transverse measurement lane, the first longitudinal measurement lane, the second transverse measurement lane, and the second longitudinal measurement lane in turn, and accurately scans the passing targets to complete the 3D data collection;

[0013] Step 6: The scanning data of the 3D laser scanner is stitched and coordinate converted between internal measuring stations based on the target to obtain point cloud data in the geodetic coordinate system;

[0014] Step 7: De-noise and smooth the collected initial point cloud data and the geographic location information data of the drone, and splice the spatial data collected from different sites to obtain complete and clear overall scanning point cloud data;

[0015] Step 8. Use professional modeling software to build a three-dimensional model to obtain a 1:1 high-precision external structure restoration model and internal equipment model, and perform high-precision three-dimensional high-precision modeling of the valve hall.

[0016] Preferably, a plane perpendicular to the ground is formed between multiple transverse first measurement tracks in the first measurement layers, a plane perpendicular to the ground is formed between multiple longitudinal first measurement tracks in the first measurement layers, and the transverse first measurement tracks and the longitudinal first measurement tracks are perpendicular to each other.

[0017] Preferably, a plane perpendicular to the ground is formed between multiple transverse second measurement lanes in the second measurement layers, and a plane perpendicular to the ground is formed between multiple longitudinal second measurement lanes in the second measurement layers. The transverse second measurement lanes and the longitudinal second measurement lanes are perpendicular to each other, and each of the transverse second measurement lanes or the longitudinal second measurement lanes is located directly below the transverse first measurement lane or the longitudinal first measurement lane.

[0018] Preferably, the second transverse measuring lane and the second longitudinal measuring lane do not overlap with internal components of the valve hall, and the internal components of the valve hall include internal equipment components of the valve hall and internal building components of the valve hall.

[0019] Preferably, the drone is equipped with GPS, IMU and visual sensor, GPS provides location information, IMU provides attitude and speed information, and visual sensor provides target relative position information. By fusing heterogeneous data from different sensors through extended Kalman filter, the accuracy of trajectory measurement is improved, thereby effectively improving the accuracy of three-dimensional acquisition.

[0020] Preferably, each of the measurement targets is located directly below the second measurement lane and the intersection of the longitudinal second measurement lane, so that the drone can scan enough measurement targets when measuring on any measurement lane.

[0021] Preferably, the photographic component can take pictures of the internal components of the valve hall to obtain texture data, and then perform texture mapping on the model, which can improve the visualization effect of the three-dimensional model.

[0022] Preferably, after the modeling is completed in step 8, it is necessary to compare with known dimensions to verify the accuracy of the model and make adjustments if necessary.

[0023] Working principle: This acquisition method divides the internal space of the valve hall into a free measurement area and an intermittent measurement area. The first horizontal measurement lane and the first vertical measurement lane in the free measurement area form a uniform spatial grid structure. The second horizontal measurement lane and the second vertical measurement lane in the intermittent measurement area form a spatial grid structure that does not overlap with the internal components of the valve hall. The drone equipped with a three-dimensional laser scanner and a photographic component moving on the measurement lane can effectively collect high-precision three-dimensional data of the valve hall.

[0024] (III) Beneficial effects

[0025] The present invention provides a method for collecting high-precision three-dimensional data of a valve hall. It has the following beneficial effects:

[0026] 1. This method sets up two groups of drone measurement lanes. The first horizontal measurement lane and the first longitudinal measurement lane in the free measurement area form a uniform spatial grid structure. The second horizontal measurement lane and the second longitudinal measurement lane in the intermittent measurement area form a spatial grid structure that does not overlap with the internal components of the valve hall. The drone equipped with a three-dimensional laser scanner and a photographic component moves on the measurement lane, which can effectively improve the efficiency and accuracy of three-dimensional data acquisition, and can improve the data acquisition effect of the internal components of the valve hall.

[0027] 2. This method deploys multiple measurement targets, which can effectively improve the measurement accuracy of the 3D laser scanner and can be used as a common reference point for cloud data stitching, thereby improving the data stitching effect and efficiency and reducing stitching errors. In addition, the measurement targets can also be used to align the scanned data with known measurement paths, facilitating later data processing and modeling. DETAILED DESCRIPTION

[0028] The technical solutions in the embodiments of the present invention are described clearly and completely below. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] The embodiment of the present invention provides a method for collecting high-precision three-dimensional data of a valve hall, comprising the following steps:

[0030] Step 1: Obtain the basic size information of the valve hall to be constructed, and divide the internal space of the valve hall into a free measurement area and an intermittent measurement area;

[0031] Step 2: Evenly divide the free measurement area into a number of first measurement layers, and divide each first measurement layer into a number of uniformly sized spaces through transverse first measurement paths and longitudinal first measurement paths, a plane perpendicular to the ground is formed between the transverse first measurement paths in the multiple first measurement layers, a plane perpendicular to the ground is formed between the longitudinal first measurement paths in the multiple first measurement layers, and the transverse first measurement paths and the longitudinal first measurement paths are perpendicular to each other.

[0032] Step three, evenly divide the intermittent measurement area into several second measurement layers, and divide each second measurement layer into several spaces through transverse second measurement lanes and longitudinal second measurement lanes, a plane perpendicular to the ground is formed between the transverse second measurement lanes in multiple second measurement layers, a plane perpendicular to the ground is formed between the longitudinal second measurement lanes in multiple second measurement layers, the transverse second measurement lanes and the longitudinal second measurement lanes are perpendicular to each other, each transverse second measurement lane or longitudinal second measurement lane is located directly below the transverse first measurement lane or the longitudinal first measurement lane, the transverse second measurement lanes and the longitudinal second measurement lanes do not overlap with the internal components of the valve hall, and the internal components of the valve hall include internal equipment components of the valve hall and internal building components of the valve hall.

[0033] Step 4: Place measurement targets on the ground of the valve hall, and make sure that all targets are at the same height. Each measurement target is located directly below the intersection of the second measurement lane and the longitudinal second measurement lane, so that the drone can scan enough measurement targets when measuring on any measurement lane.

[0034] Step 5: The drone equipped with a 3D laser scanner and a photography component cruises at a constant speed on the first horizontal measurement lane, the first vertical measurement lane, the second horizontal measurement lane, and the second vertical measurement lane in turn, and accurately scans the passing targets to complete the 3D data collection. The drone is equipped with GPS, IMU, and visual sensors. GPS provides location information, IMU provides attitude and speed information, and visual sensors provide target relative position information. By extending the Kalman filter to fuse heterogeneous data from different sensors, the accuracy of trajectory measurement can be improved, thereby effectively improving the accuracy of 3D acquisition. The photography component can take pictures of the internal components of the valve hall, obtain texture data, and then texture map the model, which can improve the visualization effect of the 3D model.

[0035] Step 6: The scanning data of the 3D laser scanner is stitched and coordinate converted between internal measuring stations based on the target to obtain point cloud data in the geodetic coordinate system;

[0036] Step 7: De-noise and smooth the collected initial point cloud data and the geographic location information data of the drone, and splice the spatial data collected from different sites to obtain complete and clear overall scanning point cloud data;

[0037] Step 8. Use professional modeling software to build a three-dimensional model to obtain a 1:1 high-precision external structure restoration model and internal equipment model. After the modeling is completed, it is necessary to compare with the known dimensions to verify the accuracy of the model and make adjustments if necessary.

[0038] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A method for collecting high-precision three-dimensional data of a valve hall, characterized in that: The following steps are involved: Step 1: Obtain the basic size information of the valve hall to be constructed, and divide the internal space of the valve hall into a free measurement area and an intermittent measurement area; Step 2: Evenly divide the free measurement area into a number of first measurement layers, and divide each first measurement layer into a number of spaces of uniform size through transverse first measurement lanes and longitudinal first measurement lanes; Step 3: Evenly divide the intermittent measurement area into a plurality of second measurement layers, and divide each second measurement layer into a plurality of spaces by means of a transverse second measurement lane and a longitudinal second measurement lane; Step 4: Arrange measurement targets on the valve hall floor and make sure all targets are at the same height; Step 5: The drone equipped with a person and a camera unit cruises at a constant speed on the first transverse measurement lane, the first longitudinal measurement lane, the second transverse measurement lane, and the second longitudinal measurement lane in sequence, and accurately scans the passing targets to complete the three-dimensional data collection; Step 6: The scanning data of the 3D laser scanner is stitched and coordinate converted between internal measuring stations based on the target to obtain point cloud data in the geodetic coordinate system; Step 7: De-noise and smooth the collected initial point cloud data and the geographic location information data of the drone, and splice the spatial data collected from different sites to obtain complete and clear overall scanning point cloud data; Step 8. Use professional modeling software to build a three-dimensional model to obtain a 1:1 high-precision external structure restoration model and internal equipment model, and perform high-precision three-dimensional high-precision modeling of the valve hall.

2. The method for collecting high-precision three-dimensional data of a valve hall according to claim 1, characterized in that: A plane perpendicular to the ground is formed between multiple transverse first measurement tracks in the first measurement layers, a plane perpendicular to the ground is formed between multiple longitudinal first measurement tracks in the first measurement layers, and the transverse first measurement tracks and the longitudinal first measurement tracks are perpendicular to each other.

3. The method for collecting high-precision three-dimensional data of a valve hall according to claim 1, characterized in that: A plane perpendicular to the ground is formed between multiple transverse second measurement lanes in the second measurement layers, and a plane perpendicular to the ground is formed between multiple longitudinal second measurement lanes in the second measurement layers. The transverse second measurement lanes and the longitudinal second measurement lanes are perpendicular to each other, and each of the transverse second measurement lanes or the longitudinal second measurement lanes is located directly below the transverse first measurement lane or the longitudinal first measurement lane.

4. The method for collecting high-precision three-dimensional data of a valve hall according to claim 1, characterized in that: The second transverse measuring lane and the second longitudinal measuring lane do not overlap with the internal components of the valve hall. The internal components of the valve hall include internal equipment components of the valve hall and internal building components of the valve hall.

5. The method for collecting high-precision three-dimensional data of a valve hall according to claim 1, characterized in that: The drone is equipped with GPS, IMU and visual sensors.

6. The method for collecting high-precision three-dimensional data of a valve hall according to claim 1, characterized in that: Each of the measurement targets is located directly below the second measurement lane and the intersection of the longitudinal second measurement lane.

7. The method for collecting high-precision three-dimensional data of a valve hall according to claim 1, characterized in that: The photographic component can take pictures of the internal components of the valve hall, obtain texture data, and then perform texture mapping on the model.

8. The method for collecting high-precision three-dimensional data of a valve hall according to claim 1, characterized in that: After the modeling is completed in step 8, it is necessary to compare with the known dimensions to verify the accuracy of the model and make adjustments if necessary.