Installation method and device for low-voltage commutation and commutation equipment

Abstract

The invention relates to an installation method and device for low-voltage commutation and commutation equipment. According to the method, laser beam projection and video guidance are combined, and high-precision installation of the CLCC component is achieved. The laser projection system generates an alignment mark for indicating an ideal position and an ideal angle; the video system captures the installation process in real time, laser marks are overlaid on pictures, and deflection and position errors of the parts are visually displayed. And the installation personnel performs real-time adjustment according to the dual guidance information, and optimizes the installation path through adaptive feedback. According to the invention, point cloud data and image data are collected in real time by using the laser sensor and the camera, and high-precision three-dimensional space information and clear visual data can be obtained through filtering, denoising, color correction and other processing. According to the utility model, the interference of environmental factors on the installation precision is effectively eliminated, each part of the low-voltage commutation and phase change equipment can be accurately aligned, personal errors are reduced, and the high precision and stability of the installation are ensured.

Description

Technical Field

[0001] The present invention belongs to the technical field of power equipment installation, and in particular relates to an installation method and device for low-voltage current commutation and phase-changing equipment. Background Art

[0002] As a key device in the field of power systems and industrial control, the controllable commutation converter valve (CLCC) is widely used in important scenarios such as energy conversion, DC transmission and voltage regulation. Its reliable operation depends on the precise alignment and installation of internal components and auxiliary systems, including core components such as the converter valve module, support structure and cooling system. Whether it is the transformation of an existing converter station or the process of building a new converter station, the installation of the CLCC converter valve must strictly follow the alignment requirements to ensure the stability of the system performance and effectively avoid failures or safety hazards caused by installation deviations.

[0003] Compared with traditional converter valves, CLCC introduces auxiliary branches in its structure, which significantly increases the complexity of the equipment and the difficulty of construction. In order to ensure the quality of the project and shorten the construction period, CLCC usually adopts a single-layer installation form, that is, the valve module is assembled first, and then the converter valve is hoisted using special tools. It is worth noting that this special tool cannot use traditional lifting equipment and can only be hoisted by lifting, so a special hoisting platform needs to be designed. This special requirement has caused a significant change in the installation technology of the CLCC controllable phase-changing converter valve compared to traditional converter valves.

[0004] At present, the installation process of CLCC mainly relies on manual measurement and mechanical tool assistance. This installation method has the following problems:

[0005] 1. Insufficient installation accuracy: The internal structure of CLCC is complex, and the connection between components requires extremely high accuracy. Manual alignment is easily affected by subjective judgment and environmental factors, and it is difficult to ensure the precise alignment of component positions and angles. Slight deflection or position errors may lead to poor electrical connections or increased mechanical stress, which in turn affects the overall performance of the system.

[0006] 2. Lack of real-time feedback mechanism: In traditional installation methods, installers cannot obtain the deflection and position errors of components in real time, and the alignment process requires frequent adjustments, which increases installation time and labor intensity. In addition, the lack of real-time feedback also causes undetected installation errors to be magnified during system operation, affecting the stability and safety of the equipment.

[0007] 3. Lack of complete data records: In the existing installation process, deflection and alignment data usually rely on manual recording or simple sensor data collection, which makes it difficult to form a comprehensive and accurate installation process traceability and quality analysis. This brings challenges to the subsequent maintenance, performance evaluation and optimization of the equipment. Summary of the invention

[0008] The purpose of the present invention is to overcome the defects of the prior art and provide a method and device for installing a low voltage commutation device.

[0009] The purpose of the present invention can be achieved by the following technical solutions:

[0010] In one aspect, the present invention provides a method for installing a low-voltage commutation device, comprising the following steps:

[0011] Step S1: a laser sensor and a camera are arranged at a preset position around the valve hall of the low-voltage commutation equipment, and the angle of the laser sensor is adjusted to a preset angle;

[0012] Step S2: acquiring real-time point cloud data of the low-voltage commutation equipment through a laser sensor, and acquiring real-time image data of the low-voltage commutation equipment through a camera;

[0013] Step S3: filtering and denoising the real-time point cloud data, performing color correction and brightness smoothing on the real-time image data, and obtaining real-time video feature data of the low-voltage commutation device through an image processing algorithm on the processed real-time image data;

[0014] Step S4: constructing a real-time three-dimensional model of the low-voltage commutation equipment through the real-time point cloud data and the real-time video feature data processed in step S3;

[0015] Step S5: compare the real-time 3D model with the ideal alignment model in real time to determine whether the two models are the same. If they are not the same, execute step S6. If they are the same, the installation ends.

[0016] Step S6: Based on the laser sensing data obtained by multiple laser sensors and combined with the ideal alignment coordinates, calculate the offset of each laser sensor corresponding to the low-voltage commutation equipment part, and compare the offset of each part with the first preset value. If the offset is greater than the first preset value, adjust the position and angle of the part. If the offset is less than or equal to the first preset value, do not process the part.

[0017] Furthermore, the preset positions include the surroundings of the low-voltage commutation and switching equipment installation valve hall, the top and bottom ends of the low-voltage commutation and switching equipment, the IGBT, the thyristor and the starting section of the water system.

[0018] Furthermore, the laser sensor is arranged on the lifting guide rail.

[0019] Furthermore, the real-time point cloud data includes three-dimensional coordinates and reflection intensity information, and the real-time video feature data includes component feature contours and key point information.

[0020] Furthermore, the step S4 specifically includes the following steps:

[0021] Step S4.1: Time synchronization is performed on the real-time point cloud data and the real-time video feature data by using a time synchronization algorithm, and the time-synchronized real-time point cloud data and the real-time video feature data are aligned in the same coordinate system by using an iterative closest point algorithm;

[0022] Step S4.2: Construct a real-time three-dimensional model of the low-voltage commutation equipment based on the real-time point cloud data and real-time video feature data aligned in step S4.1.

[0023] Furthermore, the step S4.2 specifically includes the following steps:

[0024] Convert the real-time point cloud data in step S4.1 into a voxel grid, and simplify the grid to generate a simplified voxel grid;

[0025] The Marching Cubes algorithm is used to reconstruct the surface of the simplified voxel grid to generate a three-dimensional surface mesh;

[0026] The real-time video feature data is mapped to the generated three-dimensional surface mesh through the texture mapping algorithm to obtain a real-time three-dimensional model of the low-voltage commutation equipment.

[0027] Furthermore, the use of the Marching Cubes algorithm to perform surface reconstruction on the simplified voxel grid to generate a three-dimensional surface grid includes the following steps:

[0028] Traversing eight vertices of each voxel unit in the simplified voxel grid one by one, calculating the isosurface value of each vertex, and comparing the isosurface value of each vertex with a second preset threshold value. If the isosurface value is greater than or equal to the second preset threshold value, the vertex is within the isosurface; if the isosurface value is less than the second preset threshold value, the vertex is outside the isosurface;

[0029] Select the corresponding triangulation mode according to the status of the eight vertices, connect each voxel unit into triangles according to the selected triangulation mode, and superimpose the triangular meshes one by one to form a complete three-dimensional isosurface mesh;

[0030] The mesh is optimized by the Laplacian smoothing algorithm, the model details are locally refined, the local voxel resolution is increased, and a three-dimensional surface mesh is generated.

[0031] Furthermore, the laser sensing data includes the time, distance and angle of laser reflection, and the offset includes translation deviation, rotation angle and tilt angle.

[0032] Furthermore, the real-time point cloud data, real-time video feature data, real-time three-dimensional model and the offset of each part are recorded and stored in real time.

[0033] Another aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, characterized in that when the computer program is executed by a processor, the steps of the above-mentioned method for installing a low-voltage commutation device are implemented.

[0034] Compared with the prior art, the present invention has the following advantages:

[0035] (1) The beneficial effect of the present invention is that, through the combination of laser alignment system, video monitoring and spatial model reconstruction, high-precision alignment and automated verification are achieved during the installation of CLCC equipment. The laser system not only provides multi-point scanning and three-dimensional model reconstruction, but also performs direct alignment analysis, which, combined with multi-angle capture of video monitoring, provides comprehensive spatial positioning and real-time feedback for installation. The installer uses a laser sensor to calculate the deviation value of each part, and adjusts the corresponding part according to the deviation value of each part to improve the alignment accuracy and efficiency. The system has an adaptive adjustment function that can cope with different light, space and interference conditions to ensure stable feedback and precise alignment in multiple dimensions. At the same time, the system automatically generates an alignment verification report and records all data during the installation process to form a complete installation file, providing data support for subsequent equipment maintenance, performance evaluation and process optimization.

[0036] (2) The present invention uses laser sensors and cameras to collect point cloud data and image data in real time, and can obtain high-precision three-dimensional spatial information and clear visual data through filtering, denoising, color correction and other processing. It effectively eliminates the interference of environmental factors on installation accuracy, ensures that each component of the low-voltage commutation equipment can be accurately aligned, reduces human errors, and ensures high precision and stability of installation.

[0037] (3) The present invention uses a computer program to automatically process and analyze the data collected by the laser sensor and the camera, construct a real-time three-dimensional model, and compare it with the ideal alignment model in real time. By automatically correcting the offset, the position of the equipment can be automatically adjusted during the installation process. This reduces manual intervention and improves the automation and intelligence level of the installation process, which not only speeds up the installation speed, but also reduces the complexity and errors of manual operations, thereby improving work efficiency and accuracy.

[0038] (4) The present invention can determine the deviation between the actual position and the ideal position of the equipment in real time by acquiring and processing data in real time during the installation process, and make dynamic adjustments based on the offset. The equipment position can be corrected at any time to ensure that each component can be accurately installed according to the design requirements, preventing the accumulation of equipment deviations from affecting system performance, and significantly improving the installation quality and accuracy.

[0039] (5) The present invention reconstructs the surface of the simplified voxel grid using the Marching Cubes algorithm and optimizes the details using the Laplacian smoothing algorithm to generate an accurate three-dimensional surface grid. The generated three-dimensional model has high detail expression and smoothness, providing an accurate digital model for subsequent installation and debugging, ensuring the fine docking of the equipment, and further improving the installation accuracy.

[0040] (6) All real-time point cloud data, image feature data and 3D model information of the present invention are recorded and stored in real time, ensuring the traceability of the installation process. The recorded detailed data can be traced back and analyzed later, providing strong support for quality control and troubleshooting, and improving the reliability and safety of the system.

[0041] (7) The present invention can be flexibly adjusted according to different parts and installation positions of the equipment to adapt to various equipment types and installation environments. It has strong adaptability and scalability, can be widely used in the installation of low-voltage commutation equipment, and is also suitable for the installation of other types of equipment, and has good versatility. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 is a flow chart of the method of the present invention;

[0043] Figure 2 It is an installation side view of the present invention;

[0044] Figure 3 It is the installation top view of the present invention. DETAILED DESCRIPTION

[0045] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0046] Embodiment 1:

[0047] This embodiment provides a method for installing a low voltage commutation device, such as Figure 1 As shown, the following steps are included:

[0048] Step S1: a laser sensor and a camera are arranged at a preset position around the valve hall of the low-voltage commutation equipment, and the angle of the laser sensor is adjusted to a preset angle; wherein, Figure 2 Figure 3As shown, the preset positions include the surroundings of the low-voltage commutation equipment installation valve hall, the top and bottom of the low-voltage commutation equipment, the IGBT, the thyristor, and the starting section of the water system. The laser sensor is set on the lifting guide rail.

[0049] Step S2: acquiring real-time point cloud data of the low-voltage commutation equipment through a laser sensor, and acquiring real-time image data of the low-voltage commutation equipment through a camera;

[0050] Step S3: Filter and denoise the real-time point cloud data, perform color correction and brightness smoothing on the real-time image data, and obtain real-time video feature data of the low-voltage commutation device through an image processing algorithm for the processed real-time image data; wherein the real-time point cloud data includes three-dimensional coordinates and reflection intensity information, and the real-time video feature data includes component feature contours and key point information.

[0051] Step S4: constructing a real-time three-dimensional model of the low-voltage commutation equipment through the real-time point cloud data and the real-time video feature data processed in step S3;

[0052] Step S4 specifically includes the following steps:

[0053] Step S4.1: Time synchronization is performed on the real-time point cloud data and the real-time video feature data by using a time synchronization algorithm, and the time-synchronized real-time point cloud data and the real-time video feature data are aligned in the same coordinate system by using an iterative closest point algorithm;

[0054] Step S4.2: Construct a real-time three-dimensional model of the low-voltage commutation equipment based on the real-time point cloud data and real-time video feature data aligned in step S4.1.

[0055] Step S4.2 specifically includes the following steps:

[0056] Convert the real-time point cloud data in step S4.1 into a voxel grid, and simplify the grid to generate a simplified voxel grid;

[0057] The Marching Cubes algorithm is used to reconstruct the surface of the simplified voxel grid to generate a three-dimensional surface mesh;

[0058] The real-time video feature data is mapped to the generated three-dimensional surface mesh through the texture mapping algorithm to obtain a real-time three-dimensional model of the low-voltage commutation equipment.

[0059] The Marching Cubes algorithm is used to reconstruct the surface of the simplified voxel grid to generate a three-dimensional surface grid, including the following steps:

[0060] Traversing eight vertices of each voxel unit in the simplified voxel grid one by one, calculating the isosurface value of each vertex, and comparing the isosurface value of each vertex with a second preset threshold value. If the isosurface value is greater than or equal to the second preset threshold value, the vertex is within the isosurface; if the isosurface value is less than the second preset threshold value, the vertex is outside the isosurface;

[0061] Select the corresponding triangulation mode according to the status of the eight vertices, connect each voxel unit into triangles according to the selected triangulation mode, and superimpose the triangular meshes one by one to form a complete three-dimensional isosurface mesh;

[0062] The mesh is optimized by the Laplacian smoothing algorithm, the model details are locally refined, the local voxel resolution is increased, and a three-dimensional surface mesh is generated.

[0063] Step S5: compare the real-time 3D model with the ideal alignment model in real time to determine whether the two models are the same. If they are not the same, execute step S6. If they are the same, the installation ends.

[0064] Step S6: According to the laser sensor data obtained by multiple laser sensors, combined with the ideal alignment coordinates, calculate the offset of each laser sensor corresponding to the low-voltage commutation equipment part, compare the offset of each part with the first preset value, if the offset is greater than the first preset value, adjust the position and angle of the part, if the offset is less than or equal to the first preset value, do not process the part. The laser sensor data includes the time, distance and angle of laser reflection, and the offset includes translation deviation, rotation angle and tilt angle.

[0065] Real-time point cloud data, real-time video feature data, real-time 3D model and the offset of each part are recorded and stored in real time.

[0066] Embodiment 2:

[0067] The parts not mentioned in this embodiment are the same as those in Embodiment 1.

[0068] This embodiment provides a controllable commutation valve (CLCC) alignment method based on laser projection and video guidance, aiming to solve the problems of insufficient installation accuracy, lack of real-time feedback and incomplete data recording of CLCC valves in the prior art. The following is a specific implementation method of this embodiment:

[0069] Environmental preparation: Before installing the valve hall, ensure that the infrastructure in the valve hall has been completed, the ground has been protected and has the necessary bearing capacity. Clean the floor of the valve hall to ensure that there are no metal objects, debris, and other factors that may affect the installation. Maintain a slightly positive pressure state in the valve hall, and keep the temperature at 30% humidity and 30°C.

[0070] Equipment and material preparation: Ensure that the lifting platform, electric forklift and other equipment are in place and have passed the acceptance inspection. The staff must be equipped with a laser alignment system, video monitoring system, torque wrench, safety helmet and necessary installation tools. All fasteners, tools and auxiliary materials should be stored in a dedicated area to ensure that the installation materials are placed in an orderly manner and are easy to access.

[0071] Laser sensor layout. Multiple laser sensors are arranged at key locations of the valve tower to ensure that the installation areas of key components such as steel plates, booms, and valve tower modules are covered. Laser sensors should be calibrated synchronously at multiple points to ensure the stability and accuracy of laser marking.

[0072] Laser mark adjustment. Start the laser alignment system to generate alignment marks such as straight lines or cross lines. The marks should be visible to the installer and adjust the brightness and color according to the ambient light. Ensure that the position of the laser mark is consistent with the ideal alignment position, and provide real-time feedback on the flatness and angle status of the component.

[0073] Install multiple high-resolution cameras in the valve hall, covering key installation locations such as steel plates, booms, and valve tower modules. The cameras should have a wide-angle field of view and a high frame rate to capture subtle deflections and movements of components. Start the video monitoring system and run it synchronously with the laser alignment system to capture the 3D spatial data of the components. The laser alignment system performs multi-angle scanning, and the video system captures image information, and the two are combined to generate a preliminary 3D model of the CLCC component.

[0074] The laser scanning system uses multiple laser sensors to perform continuous scanning at multiple angles. Each laser sensor emits laser beams at different angles and heights, covering key components such as steel plates, booms, and valve tower modules. Multiple laser sensors are used to perform multi-point scanning of CLCC components at different angles and positions to obtain three-dimensional point cloud data. The point cloud data obtained by each laser sensor contains three-dimensional coordinates (x, y, z) and reflection intensity information. The data is filtered and denoised to remove unnecessary noise points and mismeasured data to ensure the clarity and accuracy of the three-dimensional point cloud.

[0075] Multiple high-resolution cameras in the video surveillance system capture real-time images of components from different angles. These images are processed by image processing algorithms (such as edge detection and feature point extraction) to obtain the characteristic contours and key point information of the components. In order to improve the fusion effect of video images and laser scanning data, the collected images are color corrected and brightness smoothed.

[0076] The laser point cloud and video image data are time-synchronized in the central processing unit. Using the iterative closest point algorithm, the two types of time-synchronized data are aligned in the same coordinate system to ensure accurate matching of the point cloud data and the image data.

[0077] Map the processed laser point cloud and video feature points into the three-dimensional voxel space, initialize the voxel grid, and set the voxel grid resolution to 1cm. According to the position of the laser point cloud and video feature points, mark the corresponding voxel unit as "inside" or "outside". If the voxel unit contains a laser point or a video feature point, it is marked as "inside"; otherwise, it is marked as "outside". After the voxel filling is completed, simplify the grid to generate a simplified voxel grid. The voxel grid forms a rough three-dimensional structure for the next step of the Marching Cubes algorithm.

[0078] Using the Marching Cubes algorithm, based on the voxel grid, the eight vertices of each voxel unit are traversed one by one. According to the coordinates of these vertices in three-dimensional space, the isosurface value is calculated. The calculation of the isosurface value is based on the density or distance information of the laser point cloud and the video feature points. A threshold of 0.5 is set, and each vertex of the voxel unit is judged whether it is within the isosurface according to the threshold. If the vertex value is greater than the threshold, it is within the isosurface; otherwise, it is outside the isosurface.

[0079] Select the corresponding triangulation mode according to the status of the eight vertices to determine the shape and position of the isosurface in the voxel unit. Create one or more triangles in the voxel unit, and connect the triangles to form a mesh structure of the isosurface. For each voxel unit, the results of the vertex interpolation calculation are connected into triangles according to the selected triangulation mode. The interpolation calculation determines the intersection position of the isosurface and the voxel unit boundary based on the vertex value. These triangular meshes are superimposed one by one to eventually form a complete three-dimensional isosurface mesh, which represents the surface contour of the CLCC part.

[0080] The generated preliminary 3D mesh may contain jagged edges or irregular surfaces. The mesh is optimized by the Laplacian smoothing algorithm to reduce sharp corners and noise, making the model surface smoother. The details of the model are locally refined to increase the local voxel resolution, improve the accuracy of the model, and generate a 3D surface mesh. The 3D surface mesh is texture mapped using video image data, and the image's color, texture and other features are mapped to the surface of the 3D model to obtain a real-time 3D model of the device.

[0081] The voxel grid and 3D model are dynamically updated as new point cloud and image data is continuously collected by the laser scanning system and video surveillance system. The Marching Cubes algorithm is applied in real time to the new voxel data, ensuring that the 3D model reflects the current state of the component in real time. The generated 3D model is used for comparison with the ideal alignment model. The system provides intuitive feedback to the installer through color, sound and text instructions to help them make precise alignment. If the generated 3D model is the same as the ideal alignment model, the installation is complete. If not, the following steps are performed:

[0082] The laser alignment system uses multiple laser sensors arranged at key component positions of the CLCC, such as steel plates, booms, and valve tower modules. Each laser sensor emits a laser beam to form a straight line, cross line, or laser mark of a specific shape to indicate the ideal installation position and angle. High-precision continuous wave laser or pulsed laser is used, and the specific choice depends on the installation conditions and the required alignment accuracy. Continuous wave laser is suitable for stable projection over a large range, while pulsed laser is suitable for precise ranging and fast scanning. The color, brightness, and shape of the laser mark can be automatically adjusted according to the ambient light to ensure visibility and accuracy under different lighting conditions.

[0083] The laser alignment system obtains the precise position of the CLCC component being measured by emitting a laser beam and detecting its reflected light. Each component surface reflects part of the laser beam, and the laser receiver performs real-time position analysis based on the characteristics of the reflected light. The laser sensor in the laser alignment system calculates the distance between the component and the laser sensor by measuring the round-trip time (TOF, Time of Flight) or phase offset of the laser beam. This distance data is used to determine whether the actual position of the component is consistent with the ideal alignment position. The laser sensor can also detect the reflection angle of the laser beam and identify the rotational deviation and tilt state of the component by calculating the angle change.

[0084] The laser alignment system uses multi-point laser scanning technology to measure components at multiple angles and points through multiple laser sensors. It also detects the translation deviation of components and identifies their rotation and tilt states, ensuring comprehensive spatial alignment analysis.

[0085] The laser alignment system continuously collects laser sensor data, including the time, distance and angle of laser reflection, and transmits it to the central processing unit for analysis. The system uses algorithms (triangulation, TOF calculation and phase ranging) to accurately calculate the spatial position and angle of the object being measured.

[0086] The central processing unit compares the real-time collected laser sensor data with the ideal alignment coordinates and calculates the component offset, including translation deviation, rotation angle and tilt angle. The system determines whether the deviation exceeds the preset threshold. If it exceeds the threshold, it is marked as misaligned.

[0087] The laser alignment system presents the deviation results through a laser sensor. The color of the laser mark changes according to the deviation status: red for misalignment and green for alignment. This color change allows the installer to intuitively understand the alignment status of the components.

[0088] Installers adjust the position and angle of components in real time based on feedback from the laser alignment system and video surveillance system. The system guides installers through precise alignment through voice prompts, text instructions, and color marking changes.

[0089] After installation, the system verifies the alignment results again through multi-angle scanning and image capture. If all the inspection data meets the design requirements, the system generates an alignment verification report to record the final position, angle and levelness of the component.

[0090] The system verifies the alignment results again through multi-angle scanning and image capture. If all the inspection data meets the design requirements, the system generates an alignment verification report to record the final position, angle and levelness of the component.

[0091] The system automatically records the laser alignment data, video capture information and 3D model reconstruction results during the entire installation process. The records include the alignment status of each component, the adjustment process and the final verification results. All data will be stored in a central database to support subsequent equipment maintenance, performance evaluation and quality traceability. The recorded data can also be used for future installation process optimization and technical improvements.

[0092] The laser alignment system and video monitoring system have adaptive functions, which can automatically optimize laser projection, image capture and data processing parameters according to environmental changes (such as light, temperature and humidity, and space limitations), ensuring the stability and accuracy of multi-dimensional alignment.

[0093] If the above functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc., which can store program code.

[0094] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A method for installing a low voltage commutation device, characterized in that: The following steps are involved: Step S1: a laser sensor and a camera are arranged at a preset position around the valve hall of the low-voltage commutation equipment, and the angle of the laser sensor is adjusted to a preset angle; Step S2: acquiring real-time point cloud data of the low-voltage commutation equipment through a laser sensor, and acquiring real-time image data of the low-voltage commutation equipment through a camera; Step S3: filtering and denoising the real-time point cloud data, performing color correction and brightness smoothing on the real-time image data, and obtaining real-time video feature data of the low-voltage commutation device through an image processing algorithm on the processed real-time image data; Step S4: constructing a real-time three-dimensional model of the low-voltage commutation equipment through the real-time point cloud data and the real-time video feature data processed in step S3; Step S5: compare the real-time 3D model with the ideal alignment model in real time to determine whether the two models are the same. If they are not the same, execute step S6. If they are the same, the installation ends. Step S6: Based on the laser sensing data obtained by multiple laser sensors and combined with the ideal alignment coordinates, calculate the offset of each laser sensor corresponding to the low-voltage commutation equipment part, and compare the offset of each part with the first preset value. If the offset is greater than the first preset value, adjust the position and angle of the part. If the offset is less than or equal to the first preset value, do not process the part.

2. A method for installing a low voltage commutation device according to claim 1, characterized in that: The preset positions include the surroundings of the low-voltage commutation and phase-changing equipment installation valve hall, the uppermost and lowermost ends of the low-voltage commutation and phase-changing equipment, the IGBT, the thyristor and the starting section of the water system.

3. The installation method for low voltage commutation equipment according to claim 1, characterized in that: The laser sensor is arranged on the lifting guide rail.

4. The installation method for low voltage commutation equipment according to claim 1, characterized in that: The real-time point cloud data includes three-dimensional coordinates and reflection intensity information, and the real-time video feature data includes component feature contours and key point information.

5. The installation method for low voltage commutation equipment according to claim 1, characterized in that: The step S4 specifically comprises the following steps: Step S4.1: Time synchronization is performed on the real-time point cloud data and the real-time video feature data by using a time synchronization algorithm, and the time-synchronized real-time point cloud data and the real-time video feature data are aligned in the same coordinate system by using an iterative closest point algorithm; Step S4.2: Construct a real-time three-dimensional model of the low-voltage commutation equipment based on the real-time point cloud data and real-time video feature data aligned in step S4.

1.

6. A method for installing a low voltage commutation device according to claim 5, characterized in that: The step S4.2 specifically includes the following steps: Convert the real-time point cloud data in step S4.1 into a voxel grid, and simplify the grid to generate a simplified voxel grid; The Marching Cubes algorithm is used to reconstruct the surface of the simplified voxel grid to generate a three-dimensional surface mesh; The real-time video feature data is mapped to the generated three-dimensional surface mesh through the texture mapping algorithm to obtain a real-time three-dimensional model of the low-voltage commutation equipment.

7. A method for installing a low voltage commutation device according to claim 6, characterized in that: The process of using the Marching Cubes algorithm to perform surface reconstruction on the simplified voxel grid to generate a three-dimensional surface grid includes the following steps: Traversing eight vertices of each voxel unit in the simplified voxel grid one by one, calculating the isosurface value of each vertex, and comparing the isosurface value of each vertex with a second preset threshold value. If the isosurface value is greater than or equal to the second preset threshold value, the vertex is within the isosurface; if the isosurface value is less than the second preset threshold value, the vertex is outside the isosurface; Select the corresponding triangulation mode according to the status of the eight vertices, connect each voxel unit into triangles according to the selected triangulation mode, and superimpose the triangular meshes one by one to form a complete three-dimensional isosurface mesh; The mesh is optimized by the Laplacian smoothing algorithm, the model details are locally refined, the local voxel resolution is increased, and a three-dimensional surface mesh is generated.

8. The installation method for low voltage commutation equipment according to claim 1, characterized in that: The laser sensing data includes the time, distance and angle of laser reflection, and the offset includes translation deviation, rotation angle and tilt angle.

9. The installation method for low voltage commutation equipment according to claim 1, characterized in that: The real-time point cloud data, real-time video feature data, real-time three-dimensional model and the offset of each part are recorded and stored in real time.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of a method for installing a low-voltage commutation device as described in any one of claims 1 to 9 are implemented.

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