Power transmission line foundation engineering acceptance method, device and computer program product

Abstract

The present application relates to the technical field of transmission line engineering acceptance, in particular to a transmission line foundation engineering acceptance method, device and computer program product. It can: based on the design data of the transmission line foundation engineering to be accepted, construct the electronic drawing of the transmission line foundation engineering to be accepted; based on the unmanned aerial vehicle orthographic image of the transmission line foundation engineering to be accepted, construct the image model of the transmission line foundation engineering to be accepted; based on the comparison of the electronic drawing and the image model, obtain the acceptance data of the transmission line foundation engineering to be accepted. The present application ensures the accuracy of the comparison reference by using the design data to draw the electronic drawing; the acceptance efficiency can be improved by constructing the image model through the unmanned aerial vehicle orthographic image; the characteristics of high accuracy and high efficiency can be combined by using the comparison of the electronic drawing and the image model to obtain the acceptance data.

Description

Technical Field

[0001] This invention relates to the field of power transmission line engineering acceptance technology, and more specifically, to a method, apparatus, and computer program product for the acceptance of power transmission line foundation engineering. Background Technology

[0002] Overhead transmission lines, as power transmission channels, mainly consist of multiple levels of towers and conductors erected on these towers. Each level of tower is built on a corresponding tower foundation, and the foundation engineering of overhead transmission lines mainly refers to the construction of the tower foundations.

[0003] The construction of overhead transmission line foundations is based on design drawings. To ensure that all parameters of the overhead transmission line meet design requirements, it is necessary to ensure that all construction parameters of the overhead transmission line foundation meet design requirements. Therefore, the overhead transmission line foundation project needs to be inspected and accepted during construction and after completion.

[0004] Currently, the acceptance of overhead transmission line foundation engineering is mainly carried out through manual measurement. The main acceptance tasks and difficulties include:

[0005] 1) It is necessary to verify whether the center point of the tower foundation at each tower level is deviated. This requires measuring the coordinates of the center point of the tower foundation and then comparing them with the design drawings.

[0006] After the tower foundation is built, the center point needs to be manually marked, which makes the data accuracy affected by human experience.

[0007] 2) It is necessary to verify whether the construction parameters of the tower leg foundation and anchor bolts of each tower position meet the design requirements. This mainly includes verifying the dimensions, form, root opening, and deflection information of the tower leg foundation and anchor bolts.

[0008] A single tower foundation has four tower leg foundations, and the anchor bolts are generally in the form of 4 arrays, 6 arrays, 8 arrays, etc. After the construction parameters of each tower leg foundation and each anchor bolt are measured, they need to be converted according to the center point coordinates of the tower foundation, and then compared with the design data such as the root opening data and the rotation angle. This makes the workload of data measurement and calculation huge, and the data accuracy cannot be effectively guaranteed at all.

[0009] 3) Each level of the tower foundation needs to be inspected step by step;

[0010] Due to the long-distance nature of overhead transmission lines, a single overhead transmission line often crosses various terrains, which inevitably introduces unknown safety risks when conducting acceptance work in complex terrains such as mountainous areas. Summary of the Invention

[0011] This invention provides a method, device, and computer program product for the acceptance of power transmission line foundation engineering based on UAV modeling, which can overcome some or all of the defects of the prior art.

[0012] The method for acceptance of power transmission line foundation engineering based on UAV modeling according to the present invention includes:

[0013] Based on the design data of the foundation engineering of the transmission line to be inspected, construct electronic drawings of the foundation engineering of the transmission line to be inspected.

[0014] Based on UAV orthophotos of the foundation engineering of the transmission line to be inspected, an image model of the foundation engineering of the transmission line to be inspected is constructed.

[0015] Based on the comparison between electronic drawings and image models, acceptance data for the foundation engineering of the transmission line to be inspected is obtained.

[0016] As a preferred option

[0017] The design data for the foundation engineering of the transmission line to be inspected includes the center point coordinates, rotation angle, tower leg foundation data, large root opening data, anchor bolt data, and small root opening data for each level of the transmission line foundation engineering; among them, the center point coordinates of each level of the tower are coordinates in the real coordinate system;

[0018] The electronic drawings include the tower foundation graphic objects corresponding to each tower position. The tower foundation graphic objects include the tower center point graphic object, the tower leg foundation graphic object, and the anchor bolt graphic object.

[0019] in,

[0020] The graphic object representing the center point of the tower location corresponds to the center point of the tower location, and the image coordinates of the center point of the graphic object are the coordinates of the center point of the corresponding tower location.

[0021] The tower leg foundation graphic object corresponds to the tower leg foundation and is constructed based on the rotation angle, tower leg foundation data, and large root opening data.

[0022] An anchor bolt graphic object corresponds to the anchor bolt, and is constructed based on the anchor bolt data and the small root opening data.

[0023] As a preferred option

[0024] The construction of the tower leg foundation graphic object based on the rotation angle, tower leg foundation data, and large root opening data includes,

[0025] Based on the rotation angle, the center point coordinates of the current tower position, the center point coordinates of the tower position one level above the current tower position, and the center point coordinates of the tower position one level below the current tower position, the relative position relationship between the tower leg base graphic object and the tower position center point graphic object is obtained.

[0026] Based on the tower leg foundation data, obtain the dimension data of a single tower leg foundation graphic object;

[0027] Based on the large root opening data, obtain the spacing data of the tower leg foundation graphic object.

[0028] As a preferred option

[0029] The construction of the anchor bolt graphic object based on anchor bolt data and small root opening data includes,

[0030] Based on the anchor bolt data, obtain the dimension data of a single anchor bolt graphic object;

[0031] Based on the small root opening data, obtain the spacing data of the anchor bolt graphic object.

[0032] As a preferred option

[0033] The image model uses a point cloud model, and the coordinates of each data point in the image model are taken from the coordinates in the real coordinate system.

[0034] The image model includes images of the tower foundation corresponding to each tower position, and the tower foundation images include images of the tower leg foundations and images of the anchor bolts;

[0035] The comparison between electronic drawings and image models is used to obtain acceptance data for the foundation engineering of the transmission line to be inspected, including:

[0036] Based on the comparison between the tower leg foundation graphic object and the tower leg foundation image, tower leg foundation acceptance data is obtained.

[0037] Anchor bolt foundation acceptance data is obtained by comparing the graphic object of the anchor bolt with the image of the anchor bolt.

[0038] As a preferred option

[0039] When comparing the graphic object of the tower leg foundation with the image of the tower leg foundation, the image model and the electronic map are overlaid in different layers and aligned to the real coordinate system.

[0040] As a preferred option

[0041] The tower leg foundation acceptance data includes deviation data for each tower leg foundation. The steps for obtaining the tower leg foundation acceptance data include:

[0042] The center coordinates of the tower leg foundation image are obtained by averaging the coordinates of all data points in the tower leg foundation image.

[0043] Obtain the Euclidean distance between the center coordinates of the tower leg foundation image and the center coordinates of the corresponding tower leg foundation graphic object, and use it as the deviation data for the corresponding tower leg foundation.

[0044] As a preferred option

[0045] The acceptance data for anchor bolt foundations includes the deviation data for each anchor bolt foundation. The steps for obtaining the acceptance data for anchor bolt foundations include...

[0046] The center coordinates of the anchor bolt image are obtained by averaging the coordinates of all data points in the anchor bolt image.

[0047] Obtain the Euclidean distance between the center coordinates of the anchor bolt image and the center coordinates of the corresponding anchor bolt graphic object, and use it as the offset data of the corresponding anchor bolt foundation.

[0048] The transmission line foundation engineering acceptance device based on UAV modeling according to the present invention is used to implement any of the above-mentioned transmission line foundation engineering acceptance methods, and includes,

[0049] The electronic drawing generation unit is used to generate electronic drawings of the foundation engineering of the transmission line to be inspected based on the design data of the foundation engineering of the transmission line to be inspected.

[0050] The image model generation unit is used to construct an image model of the foundation engineering of the transmission line to be inspected based on the UAV orthophotos of the foundation engineering.

[0051] The comparison unit is used to obtain acceptance data for the foundation engineering of the transmission line to be inspected based on the comparison between electronic drawings and image models; and

[0052] The output unit is used to output the numbers of the tower leg foundations and the anchor bolt foundations whose deviation data exceeds the set threshold.

[0053] According to a computer program product of the present invention, the computer program, when executed by a processor, is capable of implementing any of the above-described methods for acceptance of power transmission line foundation engineering.

[0054] The beneficial effects of this invention are as follows: by using design data to draw electronic drawings, the accuracy of the comparison benchmark is ensured; by constructing an image model using UAV orthophotos, the acceptance efficiency can be improved; and by using the comparison between electronic drawings and image models to obtain acceptance data, both high accuracy and high efficiency can be achieved. Attached Figure Description

[0055] Figure 1 This is a flowchart illustrating an acceptance method for the foundation engineering of an overhead transmission line disclosed herein.

[0056] Figure 2 This is a schematic diagram illustrating the generation result of a graphical object representing the center point of a tower location as disclosed in this disclosure.

[0057] Figure 3 This is a schematic diagram illustrating the acquisition results of the center coordinates of each tower leg foundation at each tower level according to this disclosure;

[0058] Figure 4 This is a schematic diagram showing the generation result of a tower leg foundation graphic object disclosed in this invention;

[0059] Figure 5 This is a schematic diagram showing the generation result of an anchor bolt graphic object according to the present disclosure.

[0060] Figure 6 This is a schematic diagram of an example of a tower foundation image in a specific image model of this disclosure;

[0061] Figure 7 This is a schematic diagram of an instance of a corresponding tower location base graphic object in a specific electronic map disclosed herein.

[0062] Figure 8 for Figure 6 and Figure 7 A schematic diagram illustrating an example of the overlay of an image model and an electronic map;

[0063] Figure 9 This is a block diagram of an acceptance device for the foundation engineering of an overhead transmission line disclosed herein. Detailed Implementation

[0064] To further understand the content of this invention, the invention will be described in detail with reference to the embodiments. It should be understood that the embodiments are merely illustrative and not limiting of the invention.

[0065] To address the problems of traditional manual acceptance, such as low efficiency, safety risks (operations in complex terrain), insufficient data accuracy, and lack of line of sight for transmission lines, this disclosure provides a method for acceptance of overhead transmission line foundation engineering based on UAV modeling.

[0066] Seen in Figure 1 The overhead transmission line foundation engineering acceptance method provided in one embodiment of this disclosure includes the following steps:

[0067] Based on the design data of the foundation engineering of the transmission line to be inspected, construct electronic drawings of the foundation engineering of the transmission line to be inspected.

[0068] Based on UAV orthophotos of the foundation engineering of the transmission line to be inspected, an image model of the foundation engineering of the transmission line to be inspected is constructed.

[0069] Based on the comparison between electronic drawings and image models, acceptance data for the foundation engineering of the transmission line to be inspected is obtained.

[0070] Based on the above, the accuracy of the comparison benchmark is ensured by using design data to draw electronic drawings; the acceptance efficiency can be improved by constructing an image model using UAV orthophotos; and the acceptance data can be obtained by comparing electronic drawings with the image model, which has the characteristics of high accuracy and high efficiency.

[0071] Furthermore, the application of UAV technology can overcome problems such as high safety risks and lack of line of sight for power transmission lines caused by complex terrain. The acceptance method disclosed herein only involves the application of UAV modeling technology; the specific principles of UAV modeling technology will not be elaborated upon in this disclosure.

[0072] In the above embodiments of this disclosure,

[0073] The design data for the foundation engineering of the transmission line to be inspected can include, for example, the center point coordinates, rotation angle, tower leg foundation data, large root opening data, anchor bolt data, and small root opening data for each level of the transmission line foundation engineering to be inspected; among which, the center point coordinates of each level of the tower are coordinates in the real coordinate system;

[0074] The electronic drawings include the tower foundation graphic objects corresponding to each tower position. The tower foundation graphic objects include the tower center point graphic object, the tower leg foundation graphic object, and the anchor bolt graphic object.

[0075] in,

[0076] The graphic object representing the center point of the tower location corresponds to the center point of the tower location, and the image coordinates of the center point of the graphic object representing the center point of the tower location are taken from the coordinates of the center point of the corresponding tower location.

[0077] The tower leg foundation graphic object corresponds to the tower leg foundation and is constructed based on the rotation angle, tower leg foundation data, and large root opening data.

[0078] An anchor bolt graphic object corresponds to the anchor bolt, and is constructed based on the anchor bolt data and the small root opening data.

[0079] Based on the above, the construction of electronic drawings can be achieved more effectively.

[0080] Specifically, the design data for transmission line foundation engineering can be obtained from the design drawings. Current design drawings clearly indicate the center point coordinates, rotation angle, tower leg foundation data, large root opening data, anchor bolt data, and small root opening data for each tower level.

[0081] The coordinates of the center point of each tower level are the coordinates in a real coordinate system (such as the geodetic coordinate system used in construction);

[0082] The rotation angle refers to the angle formed by the transmission line at the current level of the tower. According to the layout of the transmission line, the rotation angle directly affects the deflection angle of the tower leg foundation. The deflection angle of the tower leg foundation is half of the rotation angle.

[0083] The tower leg foundation data mainly refers to the cross-sectional shape, elevation, and cross-sectional dimensions of the tower leg foundation. The cross-sectional shape includes circular or square shapes, the elevation is the height of the tower leg foundation, and the cross-sectional dimensions are the side length or radius of the tower leg foundation.

[0084] The "big root opening data" refers to the distance between the diagonal tower leg foundations;

[0085] Anchor bolt data mainly refers to the quantity of anchor bolts;

[0086] The "small root opening" data refers to the distance between the diagonal anchor bolts.

[0087] In the above embodiments of this disclosure, the construction of the tower leg foundation graphic object based on the rotation angle, tower leg foundation data, and large root opening data includes,

[0088] Based on the rotation angle, the center point coordinates of the current tower position, the center point coordinates of the tower position one level above the current tower position, and the center point coordinates of the tower position one level below the current tower position, the relative position relationship between the tower leg base graphic object and the tower position center point graphic object is obtained.

[0089] Based on the tower leg foundation data, obtain the dimension data of a single tower leg foundation graphic object;

[0090] Based on the large root opening data, obtain the spacing data of the tower leg foundation graphic object.

[0091] Based on the above, the drawing of a single tower leg foundation graphic object can be achieved more effectively, thereby realizing the drawing of the entire electronic drawing.

[0092] Specifically, an electronic drawing generation unit can be used to create electronic drawings; the electronic drawing generation unit can include a computer-executable program, and its writing language can be written in a language readable by the corresponding drawing processing software. In fact, the electronic drawings disclosed herein can be in CAD format, and the electronic drawing generation unit can be implemented using an embedded program.

[0093] When generating electronic drawings using the electronic drawing generation unit, it is possible to target the first-level tower positions of the transmission line foundation engineering to be inspected. Up to the Nth level tower position The design data is used to construct the input dataset for any level of tower. The input dataset it constructs Able to be,

[0094] ;

[0095] in, Let these be the coordinates of the center point of the i-th level tower location; Let be the rotation angle of the i-th tower position; Let be the cross-sectional shape of the foundation leg of the i-th tower position. The corresponding tower leg foundation has a circular cross-sectional shape. The corresponding tower leg foundation has a square cross-sectional shape; Let be the elevation of the foundation of the tower leg at the i-th tower position; Let be the dimensions of the tower leg foundation for the i-th tower position, where the cross-sectional shape of the corresponding tower leg foundation is circular. Select the radius of the tower leg foundation, when the corresponding cross-sectional shape of the tower leg foundation is square. Select the side length of the tower leg foundation; The big-root open data for the i-th level tower position; Let be the number of anchor bolts for the i-th tower position; Data for the small root.

[0096] The electronic drawing generation unit is capable of receiving input datasets. After processing, an electronic drawing is generated, which may include steps such as the following:

[0097] Based on the center point coordinates of each tower level, a tower center point graphic object is generated; wherein, the tower center point graphic object can be a circle with the center point coordinates of each tower level as the center and a preset value as the radius;

[0098] Based on the center point coordinates and rotation angle of each tower position, obtain the deflection angle of the tower leg foundation of each tower position;

[0099] Based on the deflection angle and root opening data of the tower leg foundation of each tower position, obtain the center coordinates of each tower leg foundation of each tower position.

[0100] Based on the center coordinates of the tower leg foundation of each tower leg foundation and the tower leg foundation data of each tower position, generate a tower leg foundation graphic object.

[0101] Based on the center coordinates, anchor bolt data, and small root opening data of each tower leg foundation at each tower level, generate an anchor bolt graphic object.

[0102] Based on the above, the automatic generation of electronic drawings can be achieved more effectively.

[0103] by Figures 2-5 The above is illustrated by an example. In this example, the foundation engineering of the transmission line to be inspected has 5 levels of tower positions, namely the tower positions. To the tower It is understandable that the number of tower leg foundations for each level of tower is four, distributed in an array.

[0104] First, the first-level tower needs to be constructed. Up to the Nth level tower position The input datasets, in this example, are as follows:

[0105] ;

[0106] ;

[0107] ;

[0108] ;

[0109] .

[0110] Seen in Figure 2 The electronic drawing generation unit can extract the center point coordinates of each tower level from the input dataset. Then, the center coordinates of the center point of each tower position are used as image coordinates to generate the center coordinates of the tower position center point graphic object. Then, a circle with a preset value as the radius is generated with the center coordinates of the tower position center point graphic object as the center, thereby realizing the generation of the tower position center point graphic object. At the same time, the electronic drawing generation unit can also draw line segments between the center coordinates of any adjacent tower positions, thereby constructing a conductor graphic object.

[0111] Figure 2 In the attached drawing, reference numeral 210 represents the center point of the tower, and reference numeral 220 represents the conductor.

[0112] Seen in Figure 3 After generating the graphic objects of the tower center point and the conductor, it is possible to perform calculations based on the coordinates of the center point of each tower level. Generate the center coordinates of each leg foundation for each tower level; it can be understood that each tower level has 4 leg foundations, which can be denoted as... , , and , representing the 1st to 4th tower leg foundations of the i-th tower position respectively; tower leg foundation , , and The deflection angles can be denoted as follows: , , and Tower leg foundation , , and The center coordinates can be denoted as: , , and ;Specifically,

[0113] Firstly, based on the center point coordinates and rotation angle of each tower level, the deflection angle of each tower leg foundation at each tower level can be obtained.

[0114] ;

[0115] ;

[0116] ;

[0117] ;

[0118] in, This represents the angle between the line connecting the center point coordinates of the (i-1)th level tower location and the center point coordinates of the ith level tower location and the positive horizontal axis. Let represent the angle between the line connecting the center point coordinates of the i-th tower position and the center point coordinates of the (i+1)-th tower position and the positive horizontal axis; where,

[0119] ;

[0120] ;

[0121] Additionally, the rotation angle of the i-th tower position and and The following constraints must be satisfied.

[0122] ;

[0123] Additionally, when i=1 and i=N,

[0124] ;

[0125] Where N is the maximum number of levels in the tower;

[0126] Secondly, it can obtain the center coordinates of each leg foundation of each tower position based on the deflection angle and root opening data of each tower leg foundation of each tower position. Specifically,

[0127] ;

[0128] ;

[0129] ;

[0130] ;

[0131] ;

[0132] ;

[0133] ;

[0134] .

[0135] Based on the above, the center coordinates of each tower leg foundation at each tower level can be obtained more effectively.

[0136] Figure 3 In the diagram, the vertices of the rectangular dashed boxes at each tower level represent the center coordinates of each tower leg foundation at that level.

[0137] Seen in Figure 4 After obtaining the center coordinates of each tower leg foundation at each tower level, a tower leg foundation graphic object can be generated based on the center coordinates of each tower leg foundation and the tower leg foundation data; specifically,

[0138] exist When the center coordinates of the tower leg foundation are used as the center, a radius of is generated. By drawing a circle, you can obtain the basic graphic object of the tower leg;

[0139] exist When the center coordinates of the tower leg foundation are used as the center point, a side with a length of is generated. You can obtain the basic graphic object of the tower leg by drawing a regular rectangle.

[0140] Understandably, when the cross-sectional shape of the tower leg foundation is square, the tower leg foundation graphic object should have a rotation angle that is consistent with the deflection angle of each tower leg foundation. This can be achieved by following these steps:

[0141] Based on the deflection angle of each tower leg foundation, the center coordinates of each tower leg foundation, and the dimensions of the tower leg foundation, obtain the coordinates of the four corner points of the tower leg foundation graphic object; then, based on the coordinates of the four corner points, the graphic object of each tower leg foundation can be determined.

[0142] For example, the coordinates of the four corner points of the graphical object of the j-th leg foundation of the i-th level tower location are... , , and The calculation formulas are as follows:

[0143] ;

[0144] ;

[0145] ;

[0146] ;

[0147] ;

[0148] ;

[0149] ;

[0150] .

[0151] Figure 4 In the figure, reference numeral 410 is the graphic object of the tower leg foundation.

[0152] Seen in Figure 5 After generating the graphic object of each tower leg foundation for each tower level, an anchor bolt graphic object can be generated at each tower leg foundation graphic object based on the center coordinates, anchor bolt data, and small root opening data of each tower leg foundation for each tower level. Specifically, this can include the following steps:

[0153] Based on the anchor bolt data, obtain the dimension data of a single anchor bolt graphic object;

[0154] Based on the small root opening data, obtain the spacing data of the anchor bolt graphic object;

[0155] An anchor bolt graphic object is generated based on the size data and spacing data of a single anchor bolt graphic object.

[0156] It is understandable that each tower leg foundation has multiple anchor bolts, typically 4, 6, or 8. The relative positions of these anchor bolts to their corresponding tower leg foundations are unique. Therefore, the center coordinates of each anchor bolt can be generated based on the spacing data of the anchor bolt graphic object, the center coordinates of each tower leg foundation, and the deflection angle of each tower leg foundation. Then, the anchor bolt graphic object can be generated based on the size data of the individual anchor bolt graphic object, with the center coordinates of each anchor bolt as the center.

[0157] Figure 5 In the figure, reference numeral 510 represents a single anchor bolt graphic object.

[0158] In the examples disclosed above, the image model can adopt a point cloud model, and the coordinates of each data point in the image model are in the real coordinate system. Based on this, the electronic drawing and the image model can be constructed based on the same coordinate system, ensuring that subsequent comparisons can be performed smoothly.

[0159] The image model includes images of the tower foundation corresponding to each tower level, and the tower foundation images include images of the tower leg foundations and anchor bolts.

[0160] Seen in Figure 6 This is an example image of a tower foundation in a specific image model; see [reference needed]. Figure 7 This is an instance diagram of the corresponding tower location's basic graphic object in a specific electronic map;

[0161] The method disclosed herein can obtain tower leg foundation acceptance data by comparing tower leg foundation graphic objects with tower leg foundation images; and can obtain anchor bolt foundation acceptance data by comparing anchor bolt graphic objects with anchor bolt images.

[0162] Seen in Figure 8 When comparing the graphic object of the tower leg foundation with the image of the tower leg foundation, the image model and the electronic map can be overlaid in different layers and aligned to the real coordinate system, thus realizing a visual comparison; at the same time, it can calculate and output the acceptance data of the tower leg foundation and the acceptance data of the anchor bolt foundation based on a comparison unit.

[0163] The tower leg foundation acceptance data includes deviation data for each tower leg foundation, and the anchor bolt foundation acceptance data includes deviation data for each anchor bolt foundation; specifically,

[0164] The comparison unit can obtain the center coordinates of the tower leg foundation image based on the average of the coordinates of all data points in the tower leg foundation image;

[0165] The comparison unit can calculate the Euclidean distance between the center coordinates of the tower leg foundation image and the center coordinates of the corresponding tower leg foundation graphic object, and use it as the deviation data of the corresponding tower leg foundation.

[0166] The comparison unit can obtain the center coordinates of the anchor bolt image based on the average of the coordinates of all data points in the anchor bolt image;

[0167] The comparison unit can calculate the Euclidean distance between the center coordinates of the anchor bolt image and the center coordinates of the corresponding anchor bolt graphic object, and use it as the deviation data of the corresponding anchor bolt foundation.

[0168] Seen in Figure 9Another objective of this disclosure is to provide an overhead transmission line foundation engineering acceptance device for implementing the aforementioned overhead transmission line foundation engineering acceptance method, which can include,

[0169] The electronic drawing generation unit is used to generate electronic drawings of the foundation engineering of the transmission line to be inspected based on the design data of the foundation engineering of the transmission line to be inspected.

[0170] The image model generation unit is used to construct an image model of the foundation engineering of the transmission line to be inspected based on the UAV orthophotos of the foundation engineering.

[0171] The comparison unit is used to obtain acceptance data for the foundation engineering of the transmission line to be inspected based on the comparison between electronic drawings and image models; and

[0172] The output unit is used to output the numbers of the tower leg foundations and the anchor bolt foundations whose deviation data exceeds the set threshold.

[0173] Based on the above, the automatic execution of the acceptance method for the foundation engineering of overhead transmission lines can be achieved more effectively.

[0174] Understandably, the output unit can set a first deviation threshold for the deviation data of the tower leg foundation and a second deviation threshold for the deviation data of the anchor bolt foundation; the output unit can compare the deviation data of each tower leg foundation with the first deviation threshold, compare the deviation data of each anchor bolt foundation with the second deviation threshold, and output the numbers of the tower leg foundations and / or the anchor bolt foundations that exceed the corresponding deviation thresholds, thereby realizing the acquisition of acceptance data.

[0175] Meanwhile, this disclosure also proposes a computer program product, which includes a computer program that, when executed by a processor, can implement the overhead transmission line foundation engineering acceptance method of this disclosure.

[0176] It is understood that, based on the foregoing description, those skilled in the art will readily recognize that this disclosure includes a method and / or apparatus for generating electronic drawings for transmission line foundation engineering. Based on this method and / or apparatus, those skilled in the art can construct electronic drawings of the transmission line foundation engineering to be inspected, using the design data of the foundation engineering.

[0177] As an extension or application of the method and / or apparatus for generating electronic drawings for transmission line foundation engineering disclosed herein, after obtaining electronic drawings of transmission line foundation engineering based on the method and / or apparatus for generating electronic drawings for transmission line foundation engineering, the following objectives can also be achieved.

[0178] For example, earthwork measurement can be achieved by drawing the construction area on the electronic map after obtaining the electronic map and calculating the earthwork volume based on the elevation information of the image model.

[0179] For example, cadastral mapping specifically involves, after obtaining an electronic map, accurately measuring the coordinates of the boundary points, the location of the boundary points, and the main features (buildings, roads, etc.) of the land parcel, and drawing a cadastral map that reflects information such as land ownership, location, area, and use.

[0180] For example, line reset can be achieved by accurately measuring and marking the centerline, sidelines, turning points, and key structures of the line after obtaining an electronic map.

[0181] For example, axis acceptance specifically means that after obtaining the electronic map, the main control axes of buildings or structures can be verified to ensure that the positioning, direction, verticality and other aspects of the construction line structure are accurate and in accordance with the design drawings.

[0182] For example, elevation acceptance involves selecting key points such as the top surface of the structural foundation and the surface of the equipment foundation from the electronic map after obtaining the map, and then obtaining the elevation information of the corresponding points from the image model and comparing it with the design data to achieve elevation acceptance.

[0183] Taking elevation acceptance as an example, the method disclosed herein can realize an elevation acceptance method for overhead transmission line foundation engineering based on image models and electronic drawings, which includes:

[0184] Based on the design data of the foundation engineering of the transmission line to be accepted, electronic drawings of the foundation engineering of the transmission line to be accepted are constructed. The electronic drawings include the tower foundation graphic objects corresponding to each tower position. The image coordinates of the tower foundation graphic objects in the electronic drawings are consistent with the plane coordinates of the tower foundations in the real coordinate system.

[0185] Based on UAV orthophotos of the foundation engineering of the transmission line to be inspected, an image model of the foundation engineering of the transmission line to be inspected is constructed. The image model includes tower foundation images corresponding to each tower position. The image model is a point cloud model. The spatial coordinates of each data point in the tower foundation image and the corresponding point of the tower foundation are consistent in the real coordinate system.

[0186] Obtain the plane coordinates of the surface to be inspected that requires elevation verification from the electronic drawings;

[0187] Based on the planar coordinates of the surface to be inspected, the elevation data of the surface to be inspected is obtained from the image model;

[0188] Based on the elevation data of the surface to be inspected and the design elevation data in the design data of the surface to be inspected, the elevation inspection of the surface to be inspected is completed.

[0189] The elevation acceptance of the surface to be inspected, based on the elevation data of the surface to be inspected and the design elevation data of the surface to be inspected, includes the following:

[0190] Obtain the elevation error rate, average elevation error, and elevation variance of the surface to be inspected;

[0191] Obtain the elevation acceptance score of the surface to be inspected;

[0192] Based on the elevation acceptance score and the set elevation acceptance score threshold, the elevation acceptance result of the surface to be accepted is obtained.

[0193] The calculation method for the elevation error rate index includes,

[0194] Set the elevation error rate threshold;

[0195] Calculate the elevation error rate between the elevation data of each point on the surface to be inspected and the design elevation data;

[0196] The elevation error rate is defined as the ratio of the number of points exceeding the elevation error rate threshold to the total number of points on the surface to be inspected.

[0197] The calculation method for the average elevation error index includes,

[0198] Calculate the elevation error rate between the elevation data of each point on the surface to be inspected and the design elevation data;

[0199] The average elevation error rate of each point on the surface to be inspected is used as the average elevation error index.

[0200] The calculation methods for the elevation variance index include:

[0201] Calculate the elevation error rate between the elevation data of each point on the surface to be inspected and the design elevation data;

[0202] The variance of the elevation error rate at each point on the surface to be inspected is used as the elevation variance index.

[0203] The elevation acceptance scoring thresholds include a first threshold corresponding to the elevation error rate index, a second threshold corresponding to the elevation average error index, and a third threshold corresponding to the elevation variance index.

[0204] The process of obtaining the elevation acceptance result of the surface to be inspected based on the elevation acceptance score and the set elevation acceptance score threshold includes:

[0205] If the elevation error rate of the surface to be inspected exceeds the first threshold, the average elevation error exceeds the second threshold, or the elevation variance exceeds the third threshold, the inspection result of the surface to be inspected is output as "not inspected"; otherwise, the inspection result of the surface to be inspected is output as "passed".

[0206] Among them, when the elevation error rate index does not exceed the first threshold, the elevation average error index does not exceed the second threshold, and the elevation variance index exceeds the third threshold, the type of acceptance result for the surface to be inspected that fails the inspection is that the surface to be inspected has pits and defects.

[0207] When the elevation error rate index does not exceed the first threshold, the elevation average error index exceeds the second threshold, and the elevation variance index does not exceed the third threshold, the type of acceptance result for the surface to be inspected that fails the inspection is that the surface to be inspected has a main body missing defect.

[0208] When the elevation error rate exceeds the first threshold, the average elevation error does not exceed the second threshold, and the elevation variance does not exceed the third threshold, the type of acceptance result for the surface to be inspected that fails the inspection is that the surface to be inspected has defects due to incorrect construction parameters.

[0209] It is understood that, based on the description in this disclosure, those skilled in the art will readily recognize that this disclosure also discloses an overhead transmission line foundation engineering elevation acceptance device based on image models and electronic drawings, which is used to implement the aforementioned overhead transmission line foundation engineering elevation acceptance method, comprising,

[0210] The electronic drawing generation unit is used to generate electronic drawings of the foundation engineering of the transmission line to be inspected based on the design data of the foundation engineering of the transmission line to be inspected.

[0211] The image model generation unit is used to construct an image model of the foundation engineering of the transmission line to be inspected based on the UAV orthophotos of the foundation engineering.

[0212] The comparison unit is used to obtain the elevation data of the surface to be inspected based on electronic drawings and image models, and compare it with the design elevation data in the design data of the surface to be inspected.

[0213] The output unit is used to output the acceptance results of the elevation acceptance of the surface to be inspected.

[0214] The disclosed solution enables engineering acceptance based on multi-dimensional data fusion, significantly improving acceptance efficiency and accuracy. Furthermore, due to the automated execution of the acceptance process, it paves a new technological path for the automatic acceptance of transmission lines.

[0215] In a test case, for a 500kV line project, the acceptance of 120 towers took 2 days (traditionally it would take 7 days), and 3 instances of excessive deviation were found (due to human error).

[0216] index Traditional methods This plan 120 towers took a long time to build. 7 days 2 days Defect detection rate 82% 98% Comprehensive cost ￥15000 ￥3000

[0217] It is readily understood that those skilled in the art can combine, split, or reorganize the embodiments provided in this application to obtain other embodiments, all of which do not exceed the protection scope of this application.

[0218] The present invention and its embodiments have been described above illustratively. This description is not restrictive, and the embodiments shown are only part of the embodiments of the present invention. The actual structure is not limited thereto. Therefore, if those skilled in the art are inspired by this description and design similar structures and embodiments without departing from the spirit of the present invention, they should all fall within the protection scope of the present invention.

Claims

1. An acceptance method for power transmission line foundation engineering based on UAV modeling, which includes: Based on the design data of the foundation engineering of the transmission line to be inspected, construct electronic drawings of the foundation engineering of the transmission line to be inspected. Based on UAV orthophotos of the foundation engineering of the transmission line to be inspected, an image model of the foundation engineering of the transmission line to be inspected is constructed. Based on the comparison between electronic drawings and image models, the acceptance data of the foundation engineering of the transmission line to be inspected is obtained; The design data for the foundation engineering of the transmission line to be inspected includes the center point coordinates, rotation angle, tower leg foundation data, large root opening data, anchor bolt data, and small root opening data for each level of the tower foundation. Among them, the center point coordinates of each level of the tower are coordinates in the real coordinate system; the large root opening data refers to the distance between the diagonal tower leg foundations; and the small root opening data refers to the distance between the diagonal anchor bolts. The electronic drawings include the tower foundation graphic objects corresponding to each tower position. The tower foundation graphic objects include the tower center point graphic object, the tower leg foundation graphic object, and the anchor bolt graphic object. in, The graphic object representing the center point of the tower location corresponds to the center point of the tower location, and the image coordinates of the center point of the graphic object are the coordinates of the center point of the corresponding tower location. The tower leg foundation graphic object corresponds to the tower leg foundation and is constructed based on the rotation angle, tower leg foundation data, and large root opening data. An anchor bolt graphic object corresponds to the anchor bolt, and is constructed based on the anchor bolt data and the small root opening data.

2. The method for transmission line foundation engineering acceptance based on unmanned aerial vehicle modeling according to claim 1, characterized in that: The tower leg foundation graphic object is constructed based on the rotation angle, tower leg foundation data, and large root opening data. include, Based on the rotation angle, the center point coordinates of the current tower position, the center point coordinates of the tower position one level above the current tower position, and the center point coordinates of the tower position one level below the current tower position, the relative position relationship between the tower leg base graphic object and the tower position center point graphic object is obtained. Based on the tower leg foundation data, obtain the dimension data of a single tower leg foundation graphic object; Based on the large root opening data, obtain the spacing data of the tower leg foundation graphic object.

3. The method for transmission line foundation engineering acceptance based on unmanned aerial vehicle modeling according to claim 1, characterized in that: The anchor bolt graphic object is constructed based on the anchor bolt data and the small root opening data. include, Based on the anchor bolt data, obtain the dimension data of a single anchor bolt graphic object; Based on the small root opening data, obtain the spacing data of the anchor bolt graphic object.

4. The method for acceptance of power transmission line foundation engineering based on UAV modeling according to claim 1, characterized in that: The image model uses a point cloud model, and the coordinates of each data point in the image model are taken from the coordinates in the real coordinate system. The image model includes images of the tower foundation corresponding to each tower position, and the tower foundation images include images of the tower leg foundations and images of the anchor bolts; The comparison between electronic drawings and image models is used to obtain acceptance data for the foundation engineering of the transmission line to be inspected, including: Based on the comparison between the tower leg foundation graphic object and the tower leg foundation image, tower leg foundation acceptance data is obtained. Anchor bolt foundation acceptance data is obtained by comparing the graphic object of the anchor bolt with the image of the anchor bolt.

5. The method for transmission line foundation engineering acceptance based on unmanned aerial vehicle modeling according to claim 4, characterized in that: When comparing the graphic object of the tower leg foundation with the image of the tower leg foundation, the image model and the electronic map are overlaid in different layers and aligned to the real coordinate system.

6. The unmanned aerial vehicle modeling based transmission line foundation engineering acceptance method of claim 4, wherein: The tower leg foundation acceptance data includes the deviation data for each tower leg foundation. The steps for obtaining the tower leg foundation acceptance data include: The center coordinates of the tower leg foundation image are obtained by averaging the coordinates of all data points in the tower leg foundation image. Obtain the Euclidean distance between the center coordinates of the tower leg foundation image and the center coordinates of the corresponding tower leg foundation graphic object, and use it as the deviation data for the corresponding tower leg foundation.

7. The unmanned aerial vehicle modeling based transmission line foundation engineering acceptance method of claim 4, wherein: The acceptance data for anchor bolt foundations includes the deviation data for each anchor bolt foundation. The steps for obtaining the acceptance data for anchor bolt foundations include... The center coordinates of the anchor bolt image are obtained by averaging the coordinates of all data points in the anchor bolt image. Obtain the Euclidean distance between the center coordinates of the anchor bolt image and the center coordinates of the corresponding anchor bolt graphic object, and use it as the offset data of the corresponding anchor bolt foundation.

8. A transmission line foundation engineering acceptance device based on UAV modeling, used to implement the transmission line foundation engineering acceptance method according to any one of claims 1-7, comprising, The electronic drawing generation unit is used to generate electronic drawings of the foundation engineering of the transmission line to be inspected based on the design data of the foundation engineering of the transmission line to be inspected. The image model generation unit is used to construct an image model of the foundation engineering of the transmission line to be inspected based on the UAV orthophotos of the foundation engineering. The comparison unit is used to obtain acceptance data for the foundation engineering of the transmission line to be inspected based on the comparison between electronic drawings and image models. as well as The output unit is used to output the numbers of the tower leg foundations and the anchor bolt foundations whose deviation data exceeds the set threshold.

9. A computer program product comprising a computer program that, when executed by a processor, can implement the transmission line foundation engineering acceptance method according to any one of claims 1-7.

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