A high-precision digital installation and construction method for prefabricated components in substations

Abstract

The present invention relates to the technical field of prefabricated component installation, and specifically to a high-precision digital installation and construction method for prefabricated components of a substation, comprising: performing a three-dimensional scan of the substation construction site to establish a digital model of the construction site; performing a three-dimensional scan of the prefabricated components to establish a digital model of the prefabricated components; performing installation simulation using the digital model of the construction site, the digital model of the prefabricated components, and a BIM platform to determine installation parameters; and performing installation according to the installation parameters. The present invention minimizes the problem of inaccurate installation position caused by measurement errors, deviations in drawing interpretation, and other factors by performing a three-dimensional scan of the substation construction site and prefabricated components to establish a digital model and performing installation simulation using a BIM platform, effectively avoiding misalignment and offset of components after installation, and can detect and resolve potential installation conflicts and precision issues in advance.

Description

Technical Field

[0001] The present invention relates to the technical field of prefabricated component installation, and in particular to a high-precision digital installation and construction method for prefabricated components of a transformer substation. Background Art

[0002] With the rapid development of the power industry, the demand for substation construction is increasing, and higher requirements are being placed on its construction quality and efficiency. In traditional substation construction, the installation of prefabricated components mainly relies on manual experience and two-dimensional drawings, which has many drawbacks.

[0003] At the construction site, due to complex site conditions and the varying actual locations of various facilities and foundations, relying solely on two-dimensional drawings makes it difficult to accurately grasp the spatial relationships between components. This can easily lead to inaccurate component installation positions, leading to cumulative deviations that affect the stability of the overall structure and the accuracy of electrical equipment installation, posing a potential threat to the safe operation of the substation. Furthermore, manual measurement and positioning are inefficient, and repeated adjustments and verifications during the installation process not only consume significant manpower, material resources, and time, but can also increase project costs due to delays in construction progress.

[0004] Therefore, how to improve the installation accuracy of prefabricated components is a current research direction. Summary of the Invention

[0005] (1) Purpose of the invention

[0006] The purpose of the present invention is to provide a high-precision digital installation and construction method for prefabricated components of a transformer substation, which can improve the installation accuracy of the prefabricated components.

[0007] (2) Technical solution

[0008] To solve the above problems, the present invention provides a high-precision digital installation and construction method for prefabricated components of a substation, comprising:

[0009] Conduct 3D scanning of the substation construction site and create a digital model of the construction site;

[0010] Conduct 3D scanning of prefabricated components and establish digital models of prefabricated components;

[0011] Use the digital model of the construction site, the digital model of prefabricated components, and the BIM platform to simulate the installation and determine the installation parameters;

[0012] Perform installation according to the installation parameters.

[0013] In another aspect of the present invention, preferably,

[0014] The three-dimensional scanning of the substation construction site and establishment of a digital model of the construction site include:

[0015] Scanning the substation construction site using a three-dimensional scanning device to obtain three-dimensional point cloud data of the substation construction site;

[0016] Segmenting the three-dimensional point cloud data according to the geometric features of the object and then performing feature point recognition;

[0017] Fit the three-dimensional point cloud data identified as feature points to obtain the geometric outline of the object;

[0018] constructing a digital model of the object according to the geometric outline of the object;

[0019] Integrate the digital models of several objects to obtain a digital model of the construction site.

[0020] In another aspect of the present invention, preferably, segmenting the three-dimensional point cloud data according to the geometric features of the object and then performing feature point recognition includes:

[0021] Calculating a normal vector for each of the three-dimensional point cloud data;

[0022] Calculating the curvature of each three-dimensional point cloud data according to the normal vector;

[0023] The three-dimensional point cloud data having a curvature greater than or equal to a preset curvature threshold is a feature point;

[0024] The preset curvature threshold is set according to the geometric features of the object.

[0025] In another aspect of the present invention, preferably, fitting the three-dimensional point cloud data identified as feature points to obtain the geometric contour of the object includes:

[0026] Group the feature points to obtain several feature point groups;

[0027] Obtaining a plurality of control vertices of the feature point groups;

[0028] generating a plurality of feature lines according to the control vertices;

[0029] The plurality of feature lines are spliced ​​together to generate a geometric outline of the object.

[0030] In another aspect of the present invention, preferably, grouping the feature points to obtain a plurality of feature point groups includes:

[0031] Preset the minimum number of feature points for grouping;

[0032] If the number of feature points is greater than the preset minimum number of feature points for grouping, the points are grouped in sequence by sliding the box according to the preset minimum number of feature points for grouping until the number of feature points in the last group is less than or equal to the preset minimum number of feature points for grouping;

[0033] If the number of feature points is less than or equal to the preset minimum number of feature points for grouping, no grouping is required.

[0034] In another aspect of the present invention, preferably, the control vertex is obtained using the following formula:

[0035]

[0036] Among them, c j represents the jth control vertex, |G j | represents the number of feature points in the jth feature point group, p i =(x i ,y i ,z i ) represents the coordinates of the i-th feature point in the feature point group.

[0037] In another aspect of the present invention, preferably,

[0038] The characteristic line is generated using the following formula:

[0039] L k ={(1-t)c j +t·c j+1 |t∈[0,1]}

[0040] Among them, L k represents the kth characteristic line, c j represents the jth control vertex, c j+1 represents the j+1th control vertex.

[0041] In another aspect of the present invention, preferably, the method further comprises:

[0042] Compare and analyze the digital model of the prefabricated component with the corresponding design model to obtain comparative analysis results;

[0043] If the comparative analysis result is greater than a preset safety threshold, the prefabricated component is modified;

[0044] If the comparison and analysis result is less than or equal to the preset safety threshold, installation is performed.

[0045] In another aspect of the present invention, preferably,

[0046] The digital model of the prefabricated component and the corresponding design model are compared and analyzed using the following formula:

[0047]

[0048] Among them, E represents the comparative analysis results, (x i ,y i ,zi ) represents the coordinates of the i-th point in the digital model of prefabricated components, (x i ',y i ',z i ') represents the coordinates of the i-th point in the design model corresponding to the prefabricated component digital model, and n represents the total number of points in the prefabricated component digital model.

[0049] In another aspect of the present invention, preferably,

[0050] The installation parameters include component installation sequence and positioning parameters;

[0051] According to the installation parameters, the installation includes:

[0052] Pre-number prefabricated components according to the order in which they are to be installed;

[0053] Set up positioning benchmarks at the construction site;

[0054] According to the prefabricated component number, the hoisting path of the prefabricated component is obtained respectively according to the positioning reference point and the positioning parameters;

[0055] The prefabricated components will be installed to the corresponding positions of the positioning parameters according to the prefabricated component numbers and corresponding lifting paths.

[0056] (3) Beneficial effects

[0057] The above technical solution of the present invention has the following beneficial technical effects:

[0058] This method uses three-dimensional scanning of the substation construction site and prefabricated components to accurately capture their actual dimensions, shapes, and spatial positions. Compared to traditional methods that rely on manual measurement and two-dimensional drawings, this method minimizes installation position inaccuracies caused by measurement errors and deviations in drawing interpretation, effectively avoiding post-installation misalignment and offset, ensuring more precise connections between prefabricated components and improving the stability and reliability of the entire substation structure. After establishing a digital model, installation simulation using the BIM platform can proactively identify and resolve potential installation conflicts and accuracy issues. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] Figure 1 It is an overall flow chart of an embodiment of the present invention. DETAILED DESCRIPTION

[0060] To make the objectives, technical solutions, and advantages of the present invention more clearly understood, the present invention will be further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings. It should be understood that these descriptions are merely exemplary and are not intended to limit the scope of the present invention. In addition, in the following description, descriptions of well-known structures and technologies are omitted to avoid unnecessary confusion of the concepts of the present invention.

[0061] Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0062] In addition, the technical features involved in different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0063] The present invention will be described in more detail below with reference to the accompanying drawings. In each of the accompanying drawings, identical elements are represented by similar reference numerals. For the sake of clarity, the various parts in the accompanying drawings are not drawn to scale.

[0064] Example 1

[0065] A high-precision digital installation and construction method for prefabricated components in substations. Figure 1 FIG. 1 shows an overall flow chart of an embodiment of the present invention, as shown in FIG. Figure 1 As shown, including:

[0066] Perform a three-dimensional scan of the substation construction site to create a digital model of the construction site. Use a high-precision three-dimensional laser scanner or an optical camera mounted on a drone to perform a comprehensive scan of the substation construction site. These devices can capture detailed information such as the site's topography, landforms, existing buildings, and structures. In this embodiment, performing a three-dimensional scan of the substation construction site to create a digital model of the construction site includes:

[0067] The substation construction site is scanned using a 3D scanning device to obtain 3D point cloud data of the substation construction site. A high-precision 3D scanning device (such as a laser scanner, structured light scanner, or stereo vision camera) is used to comprehensively scan the substation construction site. These devices emit laser beams or structured light patterns and receive reflected signals, thereby calculating the 3D coordinates of each point in the scene and forming 3D point cloud data. The position, angle, and coverage of the scanning device enable comprehensive capture of key site information, including topography, buildings, and equipment foundations.

[0068] The 3D point cloud data is segmented based on the geometric features of the objects and then feature point identification is performed. The acquired 3D point cloud data contains a large number of scattered points, which are segmented to distinguish different objects or regions. Segmentation can be performed based on the geometric features of the objects. After segmentation, feature point identification is performed on the 3D point cloud data of each object or region. Feature points are points with significant geometric features on the object surface, such as corners, edges, and extreme curvature points.

[0069] Fitting is performed on the 3D point cloud data identified as feature points to obtain the geometric outline of the object. The purpose of fitting is to deduce the geometric outline or shape of the object based on the position information of the feature points.

[0070] Constructing a digital model of the object according to the geometric outline of the object; during the construction process, methods such as parametric modeling and feature modeling can be used to improve modeling efficiency and accuracy;

[0071] Integrate the digital models of several objects to create a digital model of the construction site. During the integration process, ensure that the positional and spatial relationships between objects meet design requirements. This can be achieved through methods such as coordinate transformations and Boolean operations. The integrated digital model should include all key information about the substation construction site, including topography, buildings, equipment foundations, pipelines, and more. This information will provide strong support for subsequent installation simulations, construction planning, and project management.

[0072] In this embodiment, segmenting the three-dimensional point cloud data according to the geometric features of the object and then performing feature point recognition includes:

[0073] Calculate the normal vector of each of the three-dimensional point cloud data; the normal vector is an important attribute that describes the surface direction at a point in three-dimensional space. In three-dimensional point cloud data, each point can be regarded as a part of a tiny plane piece, and the normal vector is the vertical direction of this plane piece. The method for calculating the normal vector can be a local fitting plane method, a method based on a covariance matrix, etc.; the local fitting plane method selects a point and its surrounding neighboring points, fits a plane, and then calculates the normal vector of this plane. The method based on the covariance matrix uses the neighborhood points of each point in the point cloud to construct a covariance matrix, and estimates the normal vector through the eigenvector of the matrix.

[0074] Calculating the curvature of each 3D point cloud data based on the normal vector; calculating the angle between the normal vector of each point and its neighboring points, and then using these angles to estimate the curvature;

[0075] The three-dimensional point cloud data having a curvature greater than or equal to a preset curvature threshold is a feature point. Feature points are points in the three-dimensional point cloud data that have significant geometric features, such as high curvature or edges. In this embodiment, feature points are identified by comparing the curvature of each point with a preset curvature threshold.

[0076] The preset curvature threshold is set according to the geometric features of the object. According to the geometric features of the object, a reasonable curvature threshold is set. This threshold should be able to distinguish significant feature points from flat areas.

[0077] Furthermore, in this embodiment, fitting the three-dimensional point cloud data identified as feature points to obtain the geometric contour of the object includes:

[0078] The feature points are grouped to obtain a plurality of feature point groups. The grouping rule may be based on distance or geometric attributes. In this embodiment, the feature points are grouped to obtain a plurality of feature point groups including:

[0079] Preset the minimum number of feature points for grouping. This number determines the minimum number of feature points that should be included in each feature point group. The preset number should be determined based on the object's geometry, the density of the point cloud, and subsequent processing requirements. If the preset number is too small, it may lead to too many groups, increasing the complexity of subsequent processing; if the preset number is too large, it may not fully reflect the object's detailed features.

[0080] If the number of feature points is greater than the preset minimum number of feature points for grouping, the points are grouped by sliding the box in sequence according to the preset minimum number of feature points for grouping until the number of feature points in the last group is less than or equal to the preset minimum number of feature points for grouping; a sliding box is created in the feature point sequence, and the size of the sliding box is equal to the preset minimum number of feature points for grouping. Starting from the starting position of the feature point sequence, the sliding box is slid in sequence, and during each sliding process, the feature points in the sliding box are grouped as a group. When the sliding box slides to the end of the feature point sequence, it may be encountered that the number of feature points in the last group is less than the preset minimum number of feature points for grouping. In this case, these remaining feature points can be treated as a separate group. If the number of feature points is less than or equal to the preset minimum number of feature points for grouping, no grouping is required.

[0081] Obtain several control vertices of the feature point group. A control vertex is a representative of the feature point group. Within the feature point group, the control vertex can reflect the characteristics of the feature point group. The control vertices can be selected manually or automatically using an algorithm.

[0082] In this embodiment, the control vertex is obtained using the following formula:

[0083]

[0084] Among them, c j represents the jth control vertex, |G j | represents the number of feature points in the jth feature point group, p i =(x i ,y i ,z i ) represents the coordinates of the i-th feature point in the feature point group.

[0085] A plurality of feature lines are generated according to the control vertices. In this embodiment, the feature lines are generated using the following formula:

[0086] L k ={(1-t)c j +t·c j+1 |t∈[0,1]}

[0087] Among them, L k represents the kth characteristic line, c j represents the jth control vertex, c j+1 represents the j+1th control vertex.

[0088] The several segments of feature lines are spliced ​​together to generate the geometric outline of the object. Grouping feature points, calculating control vertices and generating feature lines are all for the purpose of reducing the amount of calculation. By presetting the minimum number of feature points for grouping and grouping the feature points according to this number, the amount of calculation in subsequent processing can be significantly reduced. For large-scale point cloud data, the number of feature points is huge, and direct processing will consume a lot of computing resources. Control vertices, as representatives of feature point groups, can accurately reflect the geometric characteristics of the group. Using control vertices instead of the entire feature point group for processing can greatly simplify subsequent steps, such as feature line generation and splicing, thereby further reducing the amount of calculation.

[0089] Performing a three-dimensional scan on the prefabricated component to establish a digital model of the prefabricated component; establishing the digital model of the prefabricated component can adopt the same method as described above. Furthermore, in this embodiment, the method further includes:

[0090] The digital model of the prefabricated component is compared and analyzed with the corresponding design model to obtain a comparative analysis result. In this embodiment, the digital model of the prefabricated component and the corresponding design model are compared and analyzed using the following formula:

[0091]

[0092] Among them, E represents the comparative analysis results, (x i ,y i ,z i ) represents the coordinates of the i-th point in the digital model of prefabricated components, (xi ',y i ',z i ') represents the coordinates of the i-th point in the design model corresponding to the prefabricated component digital model, and n represents the total number of points in the prefabricated component digital model. The comparative analysis result can be a difference report that lists the coordinate differences between each feature point involved in the comparative analysis in the two models. The differences between the two models are displayed using a 3D visualization tool to more intuitively understand the distribution and extent of the deviations.

[0093] If the comparative analysis result is greater than the preset safety threshold, the prefabricated component will be corrected; the preset safety threshold is set according to engineering requirements, industry standards or empirical rules, and is used to determine whether the deviation of the prefabricated component is within an acceptable range. When the comparative analysis result shows that the deviation of the prefabricated component exceeds the preset safety threshold, it indicates that the prefabricated component does not meet the design requirements. The prefabricated component needs to be corrected. Correction may include reprocessing, resizing, modifying the shape or position, etc. The corrected prefabricated component should be 3D scanned and digitally rebuilt again, and a new comparative analysis should be performed with the design model to ensure that it meets the design requirements.

[0094] If the comparative analysis result is less than or equal to the preset safety threshold, installation can proceed. If the comparative analysis result shows that the deviation of the prefabricated component is within the preset safety threshold, it indicates that the prefabricated component meets the design requirements and can be installed. The installation process should comply with relevant engineering specifications and standards to ensure the correct installation and positioning of the prefabricated component.

[0095] Use the digital model of the construction site, the digital model of the prefabricated components, and the BIM platform to conduct installation simulations and determine installation parameters. Run the installation simulation on the BIM platform to observe the installation of prefabricated components at the construction site. Pay attention to checking for collisions between prefabricated components and other objects on the construction site, as well as ensuring that the installation position and posture of prefabricated components meet requirements.

[0096] Perform installation according to the installation parameters. In this embodiment, the installation parameters include component installation sequence and positioning parameters;

[0097] According to the installation parameters, the installation includes:

[0098] Prefabricated components are pre-numbered according to their installation sequence. Prior to installation, each prefabricated component is numbered according to the assembly sequence determined during simulation. Numbers should be clear, accurate, and easily identifiable to facilitate quick identification of the corresponding prefabricated component on the construction site. The numbers should include key information such as the prefabricated component's type, size, and weight, allowing construction personnel to better understand the component's characteristics.

[0099] Set positioning reference points at the construction site: Based on design requirements and simulation results, set positioning reference points at the construction site. Positioning reference points can include horizontal reference points, vertical reference points, etc., which are used to determine the exact position of prefabricated components in three-dimensional space.

[0100] Based on the prefabricated component number, the positioning reference points, and positioning parameters, the hoisting path for each prefabricated component is determined. Based on the prefabricated component number and positioning parameters, and taking into account the actual construction site conditions, the hoisting path for each prefabricated component is planned. The hoisting path should avoid obstacles to ensure the safety and efficiency of the hoisting process. The hoisting path should also take into account the performance parameters of the hoisting equipment, such as hoisting height and hoisting radius, to ensure a smooth hoisting process.

[0101] According to the prefabricated component number and the corresponding lifting path, the prefabricated components will be installed to the corresponding position of the positioning parameters. According to the prefabricated component number and lifting path, the prefabricated components will be lifted to the construction site in sequence. During the lifting process, close attention should be paid to the posture and position of the prefabricated components to ensure their consistency with the positioning parameters. When the prefabricated components arrive at the predetermined position, positioning tools (such as laser rangefinders, total stations, etc.) are used for precise measurement and adjustment to ensure the accurate installation of the prefabricated components. After the installation is completed, the prefabricated components should be fixed and inspected to ensure their stability and safety.

[0102] This method uses three-dimensional scanning of the substation construction site and prefabricated components to accurately capture their actual dimensions, shapes, and spatial positions. Compared to traditional methods that rely on manual measurement and two-dimensional drawings, this method minimizes installation position inaccuracies caused by measurement errors and deviations in drawing interpretation, effectively avoiding post-installation misalignment and offset, ensuring more precise connections between prefabricated components and improving the stability and reliability of the entire substation structure. After establishing a digital model, installation simulation using the BIM platform can proactively identify and resolve potential installation conflicts and accuracy issues.

[0103] It should be understood that the above-described specific embodiments of the present invention are merely illustrative or illustrative of the principles of the present invention and do not constitute limitations of the present invention. Therefore, any modifications, equivalent substitutions, improvements, etc. made without departing from the spirit and scope of the present invention should be included within the scope of protection of the present invention. In addition, the appended claims are intended to cover all variations and modifications that fall within the scope and metes and bounds of the appended claims, or equivalents thereof.

[0104] The present invention has been described above with reference to the embodiments thereof. However, these embodiments are for illustrative purposes only and are not intended to limit the scope of the present invention. The scope of the present invention is defined by the appended claims and their equivalents. Those skilled in the art may make various substitutions and modifications without departing from the scope of the present invention, and such substitutions and modifications are intended to fall within the scope of the present invention.

[0105] Although the embodiments of the present invention have been described in detail, it should be understood that the various changes, substitutions, and alterations could be made hereto without departing from the spirit and scope of the invention.

[0106] Obviously, the above embodiments are merely examples for clarity of explanation and are not intended to limit the implementation methods. Those skilled in the art will readily appreciate that other variations or modifications based on the above descriptions are possible. It is not necessary and impossible to enumerate all implementation methods here. Obvious variations or modifications arising therefrom remain within the scope of protection of the present invention.

Claims

1. A high-precision digital installation and construction method for prefabricated components of a substation, characterized in that: include: Conduct 3D scanning of the substation construction site and create a digital model of the construction site; Conduct 3D scanning of prefabricated components and establish digital models of prefabricated components; Use the digital model of the construction site, the digital model of prefabricated components, and the BIM platform to conduct installation simulation and determine installation parameters; Perform installation according to the installation parameters; The three-dimensional scanning of the substation construction site and establishment of a digital model of the construction site include: Scanning the substation construction site using a three-dimensional scanning device to obtain three-dimensional point cloud data of the substation construction site; Segmenting the three-dimensional point cloud data according to the geometric features of the object and then identifying feature points, wherein the feature points include corner points, edge points and curvature extreme points; Fit the 3D point cloud data identified as feature points to obtain the geometric outline of the object, including: Group the feature points to obtain several feature point groups; Obtaining a plurality of control vertices of the feature point groups; generating a plurality of feature lines according to the control vertices; Splicing the plurality of feature lines to generate a geometric outline of the object; constructing a digital model of the object according to the geometric outline of the object; Integrate the digital models of several objects to obtain a digital model of the construction site.

2. The high-precision digital installation and construction method for prefabricated components of a substation according to claim 1 is characterized in that: Segmenting the three-dimensional point cloud data according to the geometric features of the object and then performing feature point recognition includes: Calculating a normal vector for each of the three-dimensional point cloud data; Calculating the curvature of each three-dimensional point cloud data according to the normal vector; The three-dimensional point cloud data having a curvature greater than or equal to a preset curvature threshold is a feature point; The preset curvature threshold is set according to the geometric features of the object.

3. The high-precision digital installation and construction method for prefabricated components of a substation according to claim 1 is characterized in that: Group the feature points to obtain several feature point groups including: Preset the minimum number of feature points for grouping; If the number of feature points is greater than the preset minimum number of feature points for grouping, the points are grouped in sequence by sliding the box according to the preset minimum number of feature points for grouping until the number of feature points in the last group is less than or equal to the preset minimum number of feature points for grouping; If the number of feature points is less than or equal to the preset minimum number of feature points for grouping, no grouping is required.

4. The high-precision digital installation and construction method for prefabricated components of a substation according to claim 3 is characterized in that: The control vertex is obtained using the following formula: Among them, c j represents the jth control vertex, |G j | represents the number of feature points in the jth feature point group, p i =(x i ,y i ,z i ) represents the coordinates of the i-th feature point in the feature point group.

5. The high-precision digital installation and construction method for prefabricated components of a substation according to claim 4 is characterized in that: The characteristic line is generated using the following formula: Among them, L k represents the kth characteristic line, c j represents the jth control vertex, c j+1 represents the j+1th control vertex.

6. The high-precision digital installation and construction method for prefabricated components of a substation according to claim 1 is characterized in that: The method further comprises: Compare and analyze the digital model of the prefabricated component with the corresponding design model to obtain comparative analysis results; If the comparative analysis result is greater than a preset safety threshold, the prefabricated component is modified; If the comparison and analysis result is less than or equal to the preset safety threshold, installation is performed.

7. The high-precision digital installation and construction method for prefabricated components of a substation according to claim 6 is characterized in that: The digital model of the prefabricated component and the corresponding design model are compared and analyzed using the following formula: Among them, E represents the comparative analysis results, (x i ,y i ,z i ) represents the coordinates of the i-th point in the digital model of prefabricated components, represents the coordinates of the i-th point in the design model corresponding to the digital model of the prefabricated component, and n represents the total number of points in the digital model of the prefabricated component.

8. The high-precision digital installation and construction method for prefabricated components of a substation according to claim 1 is characterized in that: The installation parameters include component installation sequence and positioning parameters; According to the installation parameters, the installation includes: Pre-number prefabricated components according to the order in which they are to be installed; Set up positioning benchmarks at the construction site; According to the prefabricated component number, the hoisting path of the prefabricated component is obtained respectively according to the positioning reference point and the positioning parameters; The prefabricated components will be installed to the corresponding positions of the positioning parameters according to the prefabricated component numbers and corresponding lifting paths.

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