A power transmission line foundation multi-scene adaptive automatic trenching method based on a laser radar device

Abstract

The application discloses a power transmission line foundation multi-scene adaptive automatic ditching method based on a laser radar device, and relates to the technical field of power transmission line construction. The application obtains three-dimensional point cloud data through the laser radar, fits the terrain plane of each pit opening area, calculates the slope angle and the slope direction angle, dynamically adjusts the laser pointing vector based on the terrain inclination degree, constructs a multi-scale square area with the pit opening theoretical coordinate as the center, combines the point cloud density to distribute the weight, comprehensively corrects the amount of multiple areas, suppresses the interference of low-density point clouds, and improves the ditching reliability of complex ground surfaces; and solves the problem that the point cloud data of different pit openings cannot be accurately analyzed in the prior art, and the deflection angle and the pitch angle of each pit opening cannot be corrected, so that the actual coordinate deviation is large.

Description

Technical Field

[0001] This invention relates to the field of power transmission line construction technology, and in particular to a multi-scenario adaptive automatic pit-division method for power transmission line foundations based on lidar equipment. Background Technology

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

[0003] However, existing automatic pit-dividing methods for high and low leg scenarios of transmission line foundations still have the following shortcomings:

[0004] In complex terrain (such as mountains and hills), it is difficult for humans to quickly and accurately calculate the spatial position of multiple pit openings. In particular, for the pit division operation of foundations with different heights, traditional rectangular coordinate system calculations cannot effectively compensate for the influence of terrain slope and aspect, resulting in a large deviation in the position of the pit openings.

[0005] Furthermore, traditional pit division methods are based on a single horizontal reference coordinate system and do not consider the influence of terrain slope and aspect on the pit opening position. Especially in mountainous or sloping terrain, it is impossible to accurately analyze the point cloud data of different pit openings and make targeted corrections to the deflection and pitch angles of each pit opening, resulting in a large deviation in actual coordinates.

[0006] To address this, a multi-scenario adaptive automatic pit-digging method for power transmission line foundations based on lidar equipment is proposed. Summary of the Invention

[0007] In view of this, the present invention provides a multi-scenario adaptive automatic pit-division method for power transmission line foundations based on lidar equipment, in order to solve the problems mentioned in the background art.

[0008] The objective of this invention can be achieved through the following technical solution: a multi-scenario adaptive automatic pit-division method for power transmission line foundations based on lidar equipment, comprising:

[0009] S1: Load the center pile position information, construct a horizontal reference coordinate system with the center pile position as the origin, and use the pre-constructed coordinate calculation logic to initially calculate the absolute position of the four pit openings in the horizontal reference coordinate system.

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

[0011] S3: Use lidar equipment to acquire three-dimensional laser point cloud terrain data of the pit-digging operation surface;

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

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

[0014] In some embodiments, the step of analyzing the point cloud data corresponding to each pit opening specifically includes:

[0015] S5-501: Extracting the orthogonal rotation matrix R AB The coordinates of the pit openings in the horizontal reference coordinate system are transformed to the auxiliary reference coordinate system by the translation vector t, thus obtaining the theoretical coordinates corresponding to each pit opening. Based on the side-angle relationship of a right triangle, the theoretical coordinates after the pit opening coordinates are transformed are decomposed into the deflection angle and elevation angle of the lidar device. A square region is constructed with the theoretical coordinates corresponding to each pit opening as the center and the side length is set as the basis, thus obtaining the constructed region corresponding to each pit opening under different empirical coefficients k. The point sets corresponding to different constructed regions of each pit opening are selected from the global point cloud data, where the different constructed regions corresponding to each pit opening are represented by the number i.

[0016] S5-502: For the point set of different construction areas at each pithead, it is represented as... Where j represents the number of the point cloud data in the point set, and n is the total number of point cloud data in the point set; the fitted plane equation is z = ax + by + c;

[0017] Design matrix: Target vector:

[0018] The plane parameters θ = [a, b, c] are calculated using the least squares method. T This makes the fitting error ||z-Xθ|| 2 Minimum: θ = (X) T X) -1 X T z; where T represents the matrix transpose;

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

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

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

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

[0023] S5-504: Corrected deflection angle ψ for different point sets at each pithead 修正 =arctan2(v 修正 ,y,v 修正 (x); Corrected pitch angle

[0024] S5-505: Decompose the deflection and pitch angles of each theoretical coordinate system and label them as ψ. 理论 and

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

[0026] S5-505: Decompose the deflection and pitch angles of each theoretical coordinate system and label them as ψ. 理论 and

[0027] S5-506: The corrected deflection angle ψ for different point sets corresponding to each pithead. 修正 and pitch angle Calculate the corrected deflection angle ψ for different point sets 修正 and deflection angle ψ 理论 The correction amount between them is denoted as the deflection angle correction amount, i.e., the difference ψ is calculated. 修正 -ψ 理论 The calculation yields the pitch angle correction; similarly, the pitch angle correction is obtained.

[0028] The point cloud density of different point sets at each pit opening is denoted as p. i Point cloud density p for different point sets at each pithead i The total density value is obtained by summing the values. The proportion of the point cloud density of different point sets in the total density value is calculated and used as the weight proportion of different point sets at each pit opening.

[0029] The deflection angle correction calculated for each pithead point set is multiplied by the weight ratio of each point set, and then summed to obtain the final deflection angle of each pithead; similarly, the final pitch angle of each pithead is obtained.

[0030] S5-507: Based on the final values ​​of the deflection angle and pitch angle calculated for each pit entrance, the ψ value for each pit entrance is... 理论 and After making corrections, the corrected deflection and pitch angles of the four pit opening positions are obtained.

[0031] In some embodiments, the specific steps for setting the side length are as follows:

[0032] Side length = k × max(x, y); where k is an empirical coefficient, ranging from 0.2 to 0.5; x and y are the horizontal and vertical sides, respectively.

[0033] In some embodiments, the steps for initially calculating the absolute positions of the four pit openings in the horizontal reference coordinate system using pre-built coordinate calculation logic are as follows:

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

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

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

[0037] In some embodiments, the conversion of the relative position and angle relationship between the horizontal reference coordinate system and the auxiliary reference coordinate system based on 3D point cloud data to obtain the relative relationship between the two coordinate systems is as follows:

[0038] S4-401: The relative position t between the horizontal datum coordinate system and the auxiliary reference coordinate system is determined by the translation vectors of the origins of the two coordinate systems, expressed as t = 0. B -O A ;

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

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

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

[0042] In some embodiments, it also includes:

[0043] S6: Based on the corrected deflection and pitch angles, control the two-degree-of-freedom servo motors on the automatic pit dividing equipment to deflect, causing the laser indicator to rotate and point to the actual pit opening position.

[0044] Compared with the prior art, the beneficial effects of the present invention are:

[0045] This invention acquires 3D point cloud data using lidar, fits the terrain plane of each pit opening area, calculates the slope angle and aspect angle, and dynamically adjusts the lidar pointing vector based on the terrain tilt. A multi-scale square region is constructed centered on the theoretical coordinates of the pit opening. By combining point cloud density with weighted distribution and integrating corrections from multiple regions, interference from low-density point clouds is suppressed, improving the reliability of pit division on complex surfaces. This invention solves the problem in existing technologies where accurate analysis of point cloud data for different pit openings is impossible, and where targeted corrections to the deflection and pitch angles of each pit opening are necessary, leading to significant deviations in actual coordinates.

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

[0047] This invention establishes a horizontal reference coordinate system and an auxiliary reference coordinate system, accurately calculates the relative position and angle relationship using the translation vector t and the rotation matrix, and then uses the orthogonal rotation matrix and trigonometric functions to calculate the pitch angle, roll angle, and yaw angle, avoiding the cumulative error caused by model simplification and ensuring the mathematical rigor of coordinate transformation. Attached Figure Description

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

[0049] Figure 1 This is a flowchart of the present invention. Detailed Implementation

[0050] Several embodiments of this application will now be described in more detail with reference to the accompanying drawings to enable those skilled in the art to implement this application. This application may be embodied in many different forms and for various purposes and should not be limited to the embodiments set forth herein. These embodiments are provided to make this application thorough and complete, and to fully convey the scope of this application to those skilled in the art. The embodiments described do not limit this application.

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

[0052] Example

[0053] Please see Figure 1 As shown, a multi-scenario adaptive automatic pit-division method for power transmission line foundations based on lidar equipment includes:

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

[0055] Specifically:

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

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

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

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

[0060] S3: Use lidar equipment to acquire three-dimensional laser point cloud terrain data of the pit-digging operation surface;

[0061] Specifically:

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

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

[0064] S3-103: End recording of 3D laser point cloud data information of the construction work surface, and save the 3D laser point cloud data in rosbag format to the local device;

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

[0066] Specifically:

[0067] S4-401: The relative position t between the horizontal datum coordinate system and the auxiliary reference coordinate system is determined by the translation vectors of the origins of the two coordinate systems, expressed as t = 0. B -O A ;

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

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

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

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

[0072] θ = arcsin[-R] AB (3,1)];

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

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

[0075] Specifically:

[0076] S5-501: Extracting the orthogonal rotation matrix R ABThe coordinates of the pit openings in the horizontal reference coordinate system are transformed to the auxiliary reference coordinate system using a translation vector t, yielding the theoretical coordinates corresponding to each pit opening. Based on the side-angle relationship of a right triangle, the theoretical coordinates after the pit opening coordinates are transformed are decomposed into the deflection angle (horizontal rotation angle) and elevation angle (vertical rotation angle) of the lidar device, ensuring that the laser beam can accurately point to the theoretical pit opening position. A square area is constructed with the theoretical coordinates corresponding to each pit opening as the center and the side length is set as the basis; side length = k × max(x, y); where k is an empirical coefficient, ranging from 0.2 to 0.5, and is set by technical personnel. The current setting can be adjusted and optimized later. x and y represent the horizontal and vertical openings, respectively. For example, if the horizontal opening x = 8m and the vertical opening y = 6m, and the empirical coefficient is 0.2, then the side length = 0.2 × 8 = 1.6, and a square area with a side length of 1.6m is constructed. The constructed areas corresponding to different empirical coefficients k for each pit opening are obtained. The point sets corresponding to different constructed areas for each pit opening are selected from the global point cloud data. The different constructed areas corresponding to each pit opening are represented by the number i, i = 1, 2, 3, 4, which correspond to the constructed areas with empirical coefficients of 0.2, 0.3, 0.4 and 0.5, respectively.

[0077] S5-502: For the point set of different construction areas at each pithead, it is represented as... Where j represents the number of the point cloud data in the point set, and n is the total number of point cloud data in the point set; the fitted plane equation is z = ax + by + c;

[0078] Design matrix: Target vector:

[0079] The plane parameters θ = [a, b, c] are calculated using the least squares method. T This makes the fitting error ||z-Xθ|| 2 Minimum: θ = (X) T X) -1 X T z; where T represents the matrix transpose;

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

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

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

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

[0084] S5-504: Corrected deflection angle ψ for different point sets at each pithead 修正 =arctan2(v 修正 ,y,v 修正 (x); Corrected pitch angle

[0085] S5-505: Decompose the deflection and pitch angles of each theoretical coordinate system and label them as ψ. 理论 and

[0086] S5-506: The corrected deflection angle ψ for different point sets corresponding to each pithead. 修正 and pitch angle Calculate the corrected deflection angle ψ for different point sets 修正 and deflection angle ψ 理论 The correction amount between them is denoted as the deflection angle correction amount, i.e., the difference ψ is calculated. 修正 -ψ 理论 The calculation yields the pitch angle correction; similarly, the pitch angle correction is obtained.

[0087] The point cloud density of different point sets at each pit opening is denoted as p. iHigher point cloud density results in higher weight; for different point sets at each pithead, the point cloud density p i The total density value is obtained by summing the values. The proportion of the point cloud density of different point sets in the total density value is calculated and used as the weight proportion of different point sets at each pit opening.

[0088] The deflection angle correction calculated for each pithead point set is multiplied by the weight ratio of each point set, and then summed to obtain the final deflection angle of each pithead; similarly, the final pitch angle of each pithead is obtained.

[0089] S5-507: Based on the final values ​​of the deflection angle and pitch angle calculated for each pithead, the ψ value for each pithead is... 理论 and After making corrections, the corrected deflection and pitch angles of the four pit opening positions are obtained;

[0090] S6: Based on the corrected deflection and pitch angles, control the two-degree-of-freedom servo motors on the automatic pit dividing equipment to deflect, causing the laser indicator to rotate and point to the actual pit opening position.

[0091] The specific steps for deflection control are as follows:

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

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

[0094] S6-602: The calculated yaw and pitch angle data are sent to the STM32F103 via serial port 1. Inside the STM32F103 microcontroller, after receiving the data, it will pass it to Timer 3 for processing. Timer 3 is located on the APB1 clock bus and its clock pulse frequency is 72MHz. Then, according to the calculated CRR value, the PWM duty cycle (Duty) of the two-degree-of-freedom gimbal servo is adjusted; where Duty = CRR / (ARR+1).

[0095] Additional notes: ARR is a preset value, which can be set to 20000-1. If the calculated CRR value is 1000 and the ARR is 20000-1, then the duty cycle is 1000 / 20000 = 5%. The PWM frequency of the control signal received by the servo is 50Hz, and the high-level duration is within the range of 0.5-2.5ms (duty cycle 2.5%-12.5%), corresponding to a servo angle of 0-180°. Configure the prescaler register (PSC), automatic reload register (ARR), and capture / compare register (CRR) of Timer 3 according to the servo control signal requirements. For example, set ARR to 20000-1 and PSC to 72-1 based on the calculation. Calculate the CRR value corresponding to the target servo angle using the formula CRR = (angle / 180°)*2000+500. By adjusting the CRR value, the PWM duty cycle is changed, thereby controlling the servo's deflection angle.

[0096] S6-603: The calculated PWM duty cycle is modulated into a PWM waveform, and the modulated PWM waveform is sent to the servo motor to control the servo motor to drive the laser indicator, indicating the position of the four tower feet in the actual scene, and completing the automatic pit positioning and indication work.

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

[0098] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to any specific implementation. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. A multi-scenario adaptive automatic pit-division method for power transmission line foundations based on lidar equipment, characterized in that, include: S1: Load the center pile position information, construct a horizontal reference coordinate system with the center pile position as the origin, and use the pre-constructed coordinate calculation logic to initially calculate the absolute position of the four pit openings in the horizontal reference coordinate system. S2: Fix the lidar equipment at the pit-digging operation site, obtain the location information of the lidar automatic pit-digging equipment with GPS module, and set it as the origin O of the auxiliary reference coordinate system. B (y0, x0, z0), with basis vector i set based on the origin of the auxiliary reference coordinate system. B ,j B ,k B Construct an auxiliary reference coordinate system with the location of the lidar device as the origin; S3: Use lidar equipment to acquire three-dimensional laser point cloud terrain data of the pit-digging operation surface; S4: Based on 3D point cloud data, perform the conversion of the relative position and angle relationship between the horizontal reference coordinate system and the auxiliary reference coordinate system to obtain the relative relationship between the two coordinate systems; The specific steps are as follows: S4-401: The relative position t between the horizontal datum coordinate system and the auxiliary reference coordinate system is determined by the translation vectors of the origins of the two coordinate systems, expressed as t=0. B -O A ; S4-402: Construct two sets of orthogonal identity matrices for the basis vectors of the horizontal datum coordinate system and the auxiliary reference coordinate system, respectively, denoted as R. A ={i A ,j A ,k A } and R B ={i B ,j B ,k B }; S4-403: Calculate the relative rotation orientation between the horizontal reference coordinate system and the auxiliary reference coordinate system. The rotation from the horizontal reference coordinate system to the auxiliary reference coordinate system is determined by the rotation matrix R. AB The calculation yields R. AB =R B ×R B T ;where R B T It is R B The matrix transpose, R AB It is a 3×3 orthogonal matrix that satisfies R. AB T ×R AB =I, where I is the identity matrix; S4-404: Using a 3×3 orthogonal rotation matrix R AB Calculate the relative rotation angles between the horizontal reference coordinate system and the auxiliary reference coordinate system, where the pitch angle φ, roll angle θ, and yaw angle ψ are respectively: Φ = arctan2[R AB (3,2),R AB (3,3)];θ=arcsin[-R AB (3,1)];Ψ=arctan2[R AB (2,1),R AB (1,1]; S5: Based on the relative relationship between the horizontal reference coordinate system and the auxiliary reference coordinate system, the absolute positions of the four pit openings in the horizontal reference coordinate system are converted based on the side-angle relationship of a right triangle. After conversion, the point cloud data corresponding to each pit opening is analyzed, and the correction is made based on the analysis results to obtain the deflection angle and pitch angle of the four pit openings after position correction. S6: Based on the corrected deflection and pitch angles, control the two-degree-of-freedom servo motors on the automatic pit dividing equipment to deflect, causing the laser indicator to rotate and point to the actual pit opening position.

2. The method for adaptive automatic pit division of power transmission line foundations based on lidar equipment according to claim 1, characterized in that, The specific steps for analyzing the point cloud data corresponding to each pit opening are as follows: S5-501: Extracting the orthogonal rotation matrix R AB The translation vector t is used to transform the pit opening coordinates in the horizontal reference coordinate system to the auxiliary reference coordinate system, thus obtaining the theoretical coordinates corresponding to each pit opening. Based on the side-angle relationship of a right triangle, the theoretical coordinates after the transformation of the pithead coordinates are decomposed into the deflection angle and elevation angle of the lidar device; with the theoretical coordinates corresponding to each pithead as the center, a square area is constructed based on the set side length to obtain the constructed area under different empirical coefficients k corresponding to each pithead. The point sets corresponding to different construction regions for each pit are selected from the global point cloud data, where the different construction regions corresponding to each pit are represented by the number i. S5-502: For the point set of different construction areas at each pithead, it is represented as... Where j represents the number of the point cloud data in the point set, and n is the total number of point cloud data in the point set; the fitted plane equation is z = ax + by + c; Design matrix: Target vector: ; Plane parameters are calculated using the least squares method. This makes the fitting error Minimum: Where T represents matrix transpose; The normal vector of the plane z = ax + by + c is n = [a, b, -1], which, after normalization, is: Then each pithead corresponds to a different set of construction area points. slope angle The calculation process is as follows ; slope angle The calculation process is as follows .

3. The method for adaptive automatic pit division of power transmission line foundations based on lidar equipment according to claim 2, characterized in that, The specific steps for analyzing the point cloud data corresponding to each pit opening also include: S5-503: Calculate the origin O of the lidar. B Vectors corresponding to the theoretical coordinates of each pit opening The formula is expressed as ; According to the slope and slope Adjusting vectors Through formula ;in For the compensation range; the corrected That is, through + Received, marked as ; S5-504: Corrected deflection angles for different point sets at each pithead Corrected pitch angle ; S5-505: The deflection and pitch angles of each theoretical coordinate decomposition are denoted as... and .

4. The method for adaptive automatic pit division of power transmission line foundations based on lidar equipment according to claim 3, characterized in that, The analysis results were used to make corrections, resulting in the corrected deflection and pitch angles for the four pit positions: S5-505: The deflection and pitch angles of each theoretical coordinate decomposition are denoted as... and ; S5-506: Corrected deflection angles for different point sets corresponding to each pithead. and pitch angle Calculate the corrected deflection angle for different point sets. and deflection angle The correction amount between them is denoted as the deflection angle correction amount, i.e., the difference is calculated. - The calculation yields the pitch angle correction; similarly, the pitch angle correction is obtained. The point cloud density of different point sets at each pit opening is denoted as . Point cloud density for different point sets at each pithead The total density value is obtained by summing the values. The proportion of the point cloud density of different point sets in the total density value is calculated and used as the weight proportion of different point sets at each pit opening. The deflection angle correction calculated for each pithead point set is multiplied by the weight ratio of each point set, and then summed to obtain the final deflection angle of each pithead; similarly, the final pitch angle of each pithead is obtained. S5-507: Based on the final deflection and pitch angles calculated for each pithead, the following applies to each pithead... and After making corrections, the corrected deflection and pitch angles of the four pit opening positions are obtained.

5. The method for adaptive automatic pit division of power transmission line foundations based on lidar equipment according to claim 4, characterized in that, The specific steps for setting the side length are as follows: Side length = k × max(x, y); where k is an empirical coefficient, ranging from 0.2 to 0.5; x and y are the horizontal and vertical sides, respectively.

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

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