Substation three-dimensional laser scanning point cloud data acquisition device

Abstract

The invention provides a three-dimensional laser scanning point cloud data acquisition device for a transformer substation, and belongs to the field of three-dimensional laser scanning point cloud data acquisition. The device comprises a rotating disc, the top of the rotating disc is provided with a multi-directional acquisition assembly, the assembly comprises a supporting vertical rod arranged at the top of the rotating disc and used for supporting, the top end of the supporting vertical rod is provided with a scanning host, and the two sides of the surface of the scanning host are each provided with a first scanner; the other two sides of the surface of the scanning host are movably connected with transverse shafts used for supporting, and one end of each transverse shaft is provided with a second scanner. A multi-direction adjusting assembly is arranged at the bottom of the supporting vertical rod and used for enabling a transverse shaft of the multi-direction collecting assembly to rotate and / or rotate, and therefore the first scanner and the second scanner can conduct data collection at the needed angle. Through the multi-directional acquisition assembly at the top of the rotating disc and the multi-directional adjustment assembly at the bottom of the supporting vertical rod, the first scanner and the second scanner can perform multi-directional data acquisition, and multi-angle comprehensive scanning is realized.

Description

Technical Field

[0001] This invention belongs to the field of three-dimensional laser scanning point cloud data acquisition technology in substation scenarios, and specifically relates to a three-dimensional laser scanning point cloud data acquisition device for substations. Background Technology

[0002] In power systems, substations serve as the core hubs for power conversion and distribution, and the safe and stable operation of their equipment is of paramount importance. A 3D laser scanning point cloud data acquisition device for substations has emerged to address this need. This device uses a laser scanner to perform 3D scanning of the complex and diverse equipment within the substation, thereby acquiring accurate 3D point cloud data. This data, after subsequent processing and analysis, enables a series of functions crucial for ensuring the reliable operation of substations, such as equipment inspection, deformation monitoring, and accident analysis, providing strong support for the intelligent operation and maintenance of power systems.

[0003] Existing 3D laser scanning point cloud data acquisition devices have certain limitations in practical applications. For example, while existing devices can quickly fix the acquisition device itself and are easy to operate, they cannot perform multi-angle 3D scanning data acquisition and are limited to use in a specific area. This makes it difficult to comprehensively and accurately acquire point cloud data for all devices in locations with complex equipment layouts and diverse spatial structures, such as substations. This fails to meet the high-precision, comprehensive data requirements of intelligent substation operation and maintenance, resulting in significant drawbacks in practical use. Summary of the Invention

[0004] In view of this, the present invention aims to provide a three-dimensional laser scanning point cloud data acquisition device for substations to solve the above-mentioned problems existing in the prior art.

[0005] To achieve the above objectives, the technical solution provided by the present invention is as follows:

[0006] A three-dimensional laser scanning point cloud data acquisition device for a substation includes a supporting turntable with a multi-directional acquisition component on the top of the turntable.

[0007] The multi-directional acquisition component includes a support pole set on the top of the turntable for support, a scanning host set at the top of the support pole, a first scanner for acquiring three-dimensional point cloud data set on both sides of the surface of the scanning host, and a horizontal axis for support movably connected to the other two sides of the surface of the scanning host, and a second scanner for acquiring three-dimensional point cloud data set at one end of each horizontal axis.

[0008] The bottom of the support pole is provided with a multi-directional adjustment component, which is used to rotate and / or turn the horizontal axis of the multi-directional acquisition component, so that the first scanner and the second scanner can acquire data at the desired angle.

[0009] Furthermore, the multi-directional adjustment assembly includes a second collar sleeved on the support column, with second extension members respectively provided on both sides of the surface of the second collar, and traction rods movably connected to the two second extension members respectively. The traction rods are rotatably connected to the horizontal axis and are used to pull the horizontal axis to rotate and / or rotate.

[0010] Furthermore, each of the two traction rods has a traction component movably connected to its top, and each traction component is sleeved on the corresponding horizontal shaft and detachably connected to the horizontal shaft.

[0011] Furthermore, the outer side of the second ring is movably connected to a support frame, the top of the support frame is movably connected to a pivot frame, one end of the pivot frame is provided with a locking ring fitted on the support pole, and the bottom of the locking ring is provided with a protective sleeve for protection.

[0012] Furthermore, a support base mounted on a turntable is provided on the outer side of the support pole, and a limiting ring for support is provided on the outer side of the support base.

[0013] Furthermore, the outer side of the limiting ring is movably connected to an inclined support seat via a pivot pin, and the bottom of the inclined support seat is provided with a pivot pin seat installed on the outer side of the support base.

[0014] Furthermore, an electric push rod is movably connected to the shaft pin seat via a shaft pin, and the output end of the electric push rod extends to the support inclined seat and is movably connected to the support inclined seat via a shaft pin.

[0015] Furthermore, a triangular rod is movably connected to one end of the support inclined seat, and a first extension member is movably connected to both ends of the triangular rod.

[0016] Furthermore, each of the two first extension members has a first collar at one end, and a transition ball installed on the top of the support base is movably connected to the middle of the first collar. The first collar is located at the bottom of the second collar.

[0017] Furthermore, a programmable controller is installed on the top of the turntable, a display screen is installed on one side of the surface of the programmable controller, and control buttons are installed on one side of the surface of the display screen.

[0018] In summary, this invention provides a three-dimensional laser scanning point cloud data acquisition device for substations. A supporting turntable is used for support, and a multi-directional acquisition component is mounted on the top of the turntable. The multi-directional acquisition component includes a support rod mounted on the top of the turntable, a scanning host mounted at the top of the support rod, and first scanners for acquiring three-dimensional point cloud data mounted on both sides of the surface of the scanning host. Horizontal axes for support are movably connected to the other two sides of the surface of the scanning host, and a second scanner for acquiring three-dimensional point cloud data is mounted at one end of each horizontal axis. A multi-directional adjustment component is mounted at the bottom of the support rod, which is used to rotate and / or rotate the horizontal axes of the multi-directional acquisition component, thereby allowing the first and second scanners to acquire data at the desired angles. This invention, through the multi-directional acquisition component on the top of the turntable and the multi-directional adjustment component at the bottom of the support rod, enables the first and second scanners to acquire data at the desired angles, achieving comprehensive multi-angle scanning and improving the diversity and accuracy of data acquisition. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a front view of the overall structure of a three-dimensional laser scanning point cloud data acquisition device for a substation, provided in an embodiment of the present invention.

[0021] Figure 2 A side view of the overall structure provided in an embodiment of the present invention;

[0022] Figure 3 This is a front view of various structures on the scanning host provided in an embodiment of the present invention;

[0023] Figure 4 This is a front view of the top structure of the support base provided in an embodiment of the present invention;

[0024] Figure 5 A schematic diagram showing the transition ball, the first collar, and the support inclined seat assembled together according to an embodiment of the present invention;

[0025] Figure 6 This is a front view of the various structures on the second ring provided in an embodiment of the present invention.

[0026] The attached diagram is labeled as follows: 1. Turntable; 2. Supporting pole; 3. Scanning host; 4. First scanner; 5. Horizontal axis; 6. Second scanner; 7. Traction component; 8. Support base; 9. Limiting ring; 10. Supporting inclined seat; 11. Shaft pin seat; 12. Electric push rod; 13. Triangular rod; 14. First extension component; 15. First collar; 16. Transition ball; 17. Second collar; 18. Second extension component; 19. Traction rod; 20. Stand; 21. Shaft pin frame; 22. Locking ring; 23. Programmable controller; 24. Display screen; 25. Control button; 26. Protective cover. Detailed Implementation

[0027] To make the objectives, features, and advantages of this invention more apparent and understandable, the technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described below are only some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0028] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0029] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0030] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0031] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0032] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0033] Please see Figure 1 This invention provides a three-dimensional laser scanning point cloud data acquisition device for a substation, which includes a supporting turntable 1, with a multi-directional acquisition component on the top of the turntable 1.

[0034] The multi-directional acquisition component includes a support rod 2 set on the top of the turntable 1 for support, a scanning host set at the top of the support rod 2, a first scanner 4 for acquiring three-dimensional point cloud data set on both sides of the surface of the scanning host, and a horizontal axis 5 for support movably connected to the other two sides of the surface of the scanning host, and a second scanner 6 for acquiring three-dimensional point cloud data set at one end of each horizontal axis 5.

[0035] The bottom of the support pole 2 is provided with a multi-directional adjustment component, which is used to rotate and / or turn the horizontal axis of the multi-directional acquisition component, so that the first scanner 4 and the second scanner 6 can acquire data at the desired angle.

[0036] The substation 3D laser scanning point cloud data acquisition device in this embodiment uses a turntable 1 as its supporting base, and the multi-directional acquisition component on top of the turntable 1 is the core of data acquisition. Within the multi-directional acquisition component, a support pole vertically mounted on top of the turntable 1 stably supports the scanning host located at the top. Fixed first scanners 4 are located on both sides of the scanning host, and second scanners 6 are connected to the other two sides via horizontal axes. These two components work together to comprehensively cover the substation equipment from different directions, achieving the acquisition of 3D point cloud data. A multi-directional adjustment component located at the bottom of the support pole can control the horizontal axis, allowing it to rotate and / or turn, thereby changing the angles of the first scanners 4 and the second scanners 6. This greatly improves the flexibility and accuracy of data acquisition, meeting the needs of detailed scanning of different sides of complex structural equipment within the substation in various scenarios, ensuring the acquisition of complete and accurate 3D point cloud data.

[0037] The following combination Figure 1-6 Other embodiments of the present invention will be described.

[0038] As attached Figure 1-6 The substation three-dimensional laser scanning point cloud data acquisition device shown uses a multi-directional acquisition component on a turntable 1 to perform a full scan with the device as the axis point through a second scanner 6 and a first scanner 4. The point cloud data is processed and analyzed by a programmable controller 23. The second extension 18 is tilted to facilitate the linkage of various structures and make it easy to adjust the scanning angle according to the needs. The traction component 7 rotates along the axis point where the horizontal axis 5 is connected to the scanning host 3, so that the second scanner 6 can rotate during scanning and make appropriate angle adjustments, improving the diversity and accuracy of the device in scanning acquisition and increasing the versatility of the device in use. The specific structural settings of the components are as follows.

[0039] The multi-directional acquisition component includes a support rod 2 set on the top of the turntable 1 for support, a scanning host 3 set on the top of the support rod 2, a first scanner 4 for acquiring three-dimensional point cloud data set on both sides of the surface of the scanning host 3, and a horizontal axis 5 for support movably connected to the other two sides of the surface of the scanning host 3, and a second scanner 6 for acquiring three-dimensional point cloud data set on one end of each horizontal axis 5.

[0040] A support base 8 is installed on the turntable 1 on the outer side of the support pole 2, and a limiting ring 9 for support is provided on the outer side of the support base 8.

[0041] The outer side of the limiting ring 9 is movably connected to the inclined support seat 10 with an upward orientation via a shaft pin. The bottom of the inclined support seat 10 is provided with a shaft pin seat 11 installed on the outer side of the support base 8. An electric push rod 12 is movably connected to the shaft pin seat 11 via a shaft pin. The output end of the electric push rod 12 extends to the inclined support seat 10 and is movably connected to the inclined support seat 10 via a shaft pin. A triangular rod 13 is movably connected to one end of the inclined support seat 10. The two ends of the triangular rod 13 are respectively movably connected to the first extension member 14.

[0042] Each of the two first extension members 14 is provided with a first collar 15 at one end, and a transition ball 16 installed on the top of the support base 8 is movably connected to the middle of the first collar 15.

[0043] A second collar 17 is provided at the top of the first collar 15. Second extension members 18 are respectively provided on both sides of the surface of the second extension member 18. A traction rod 19 is movably connected to each of the two second extension members 18. The traction rod 19 is used to pull the horizontal shaft 5 to rotate and / or turn. A traction member 7 is movably connected to the top of each of the two traction rods 19, and each traction member 7 is respectively sleeved on the corresponding horizontal shaft 5 and detachably connected to the horizontal shaft 5. A vertical frame 20 is movably connected to the outer side of the second collar 17. A shaft pin frame 21 is movably connected to the top of the vertical frame 20. A locking ring 22 is provided at one end of the shaft pin frame 21 and sleeved on the supporting vertical rod 2. A protective sleeve 26 is provided at the bottom of the locking ring 22 for protection.

[0044] A programmable controller 23 is provided on the top of the turntable 1. A display screen 24 for display is provided on one side of the surface of the programmable controller 23. A control button 25 is provided on one side of the surface of the display screen 24.

[0045] When using the above structure, the staff installs the device at the designated location. During laser scanning point cloud data acquisition, the second scanner 6 and the first scanner 4 perform a comprehensive scan with the device as the axis point. At the same time, the programmable controller 23 processes and analyzes the point cloud data, including point cloud stitching, noise reduction, filtering, and other operations, extracts the feature information of the equipment, and realizes functions such as equipment detection, deformation monitoring, and accident analysis. It completes the integration of the substation's three-dimensional point cloud model, collects and verifies the file format of the substation's laser point cloud model data, verifies and transforms the coordinate system, and can also import the processed point cloud data into three-dimensional modeling software to generate a three-dimensional model of the equipment as needed.

[0046] Meanwhile, when the device is in use, the output end of the electric push rod 12 can be activated to drive the support inclined seat 10 to rotate along the axis point where the support inclined seat 10 is connected to the limiting ring 9, so that the triangular rod 13 can be displaced upward by the top force when the support inclined seat 10 is tilted. When the triangular rod 13 is displaced, it drives the first extension member 14 to be displaced, thereby allowing the first collar 15 to be displaced. When the first collar 15 is displaced, through the setting of the transition ball 16, the first collar 15 can drive the second collar 17 to tilt along the arc outside the transition ball 16, thereby causing the second extension member 18 to tilt.

[0047] When the second extension 18 tilts, it will cause the traction rod 19 to be displaced by the upward force of the second extension 18 tilting, so that the traction member 7 rotates along the axis point where the horizontal axis 5 is connected to the scanning host 3. Thus, the second scanner 6 can rotate during scanning and make appropriate angle adjustments, improving the diversity and accuracy of the device when scanning and acquiring data.

[0048] Unlike existing technologies, this application discloses a three-dimensional laser scanning point cloud data acquisition device for substations. It achieves comprehensive scanning with the device as the central axis through a second scanner 6 and a first scanner 4. The point cloud data is processed and analyzed by a programmable controller 23. The second extension 18 is tilted to facilitate the linkage of various structures and allows for subsequent adjustment of the scanning angle as needed. This allows the traction component 7 to rotate along the central axis 5 where it connects to the scanning host 3, enabling the second scanner 6 to rotate during scanning and allowing for appropriate angle adjustments. This improves the versatility and accuracy of the device during scanning and acquisition, enhancing its overall usability.

[0049] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A three-dimensional laser scanning point cloud data acquisition device for a substation, comprising a supporting turntable (1), characterized in that, The top of the turntable (1) is provided with a multi-directional acquisition component; The multi-directional acquisition component includes a support rod (2) set on the top of the turntable (1) for support, a scanning host (3) set on the top of the support rod (2), a first scanner (4) for acquiring three-dimensional point cloud data set on both sides of the surface of the scanning host (3), and a horizontal axis (5) for support movably connected to the other two sides of the surface of the scanning host (3), and a second scanner (6) for acquiring three-dimensional point cloud data set on one end of each horizontal axis (5). The bottom of the support pole (2) is provided with a multi-directional adjustment component, which is used to rotate and / or turn the horizontal axis (5) of the multi-directional acquisition component so that the first scanner (4) and the second scanner (6) can acquire data at the desired angle.

2. The three-dimensional laser scanning point cloud data acquisition device for substations according to claim 1, characterized in that, The multi-directional adjustment assembly includes a second collar (17) sleeved on the support pole (2). The second collar (17) has a second extension (18) on each side of its surface. A traction rod (19) is movably connected to each of the two second extensions (18). The traction rod (19) is rotatably connected to the horizontal shaft (5). The traction rod (19) is used to pull the horizontal shaft (5) to rotate and / or rotate.

3. The three-dimensional laser scanning point cloud data acquisition device for substations according to claim 2, characterized in that, The tops of the two traction rods (19) are respectively movably connected to traction components (7), and each traction component (7) is respectively sleeved on the corresponding horizontal shaft (5) and detachably connected to the horizontal shaft (5).

4. The three-dimensional laser scanning point cloud data acquisition device for substations according to claim 3, characterized in that, The second collar (17) is movably connected to the outside of the upright (20), and the top of the upright (20) is movably connected to the shaft pin frame (21). One end of the shaft pin frame (21) is provided with a locking ring (22) sleeved on the support rod (2), and the bottom of the locking ring (22) is provided with a protective sleeve (26) for protection.

5. The three-dimensional laser scanning point cloud data acquisition device for substations according to claim 1, characterized in that, The outer side of the support pole (2) is provided with a support base (8) installed on the turntable (1), and the outer side of the support base (8) is provided with a limiting ring (9) for support.

6. The three-dimensional laser scanning point cloud data acquisition device for substations according to claim 5, characterized in that, The outer side of the limiting ring (9) is movably connected to a support inclined seat (10) that is inclined upward through a shaft pin, and the bottom of the support inclined seat (10) is provided with a shaft pin seat (11) installed on the outer side of the support base (8).

7. The three-dimensional laser scanning point cloud data acquisition device for substations according to claim 6, characterized in that, An electric push rod (12) is movably connected to the shaft pin seat (11) via a shaft pin. The output end of the electric push rod (12) extends to the support inclined seat (10) and is movably connected to the support inclined seat (10) via a shaft pin.

8. The three-dimensional laser scanning point cloud data acquisition device for substations according to claim 7, characterized in that, One end of the support inclined seat (10) is movably connected to a triangular rod (13), and the two ends of the triangular rod (13) are respectively movably connected to a first extension member (14).

9. The three-dimensional laser scanning point cloud data acquisition device for substations according to claim 8, characterized in that, Each of the two first extension members (14) is provided with a first collar (15) at one end. The middle of the first collar (15) is movably connected to a transition ball (16) installed on the top of the support base (8). The first collar (15) is located at the bottom of the second collar (17).

10. The three-dimensional laser scanning point cloud data acquisition device for substations according to claim 1, characterized in that, The top of the turntable (1) is provided with a programmable controller (23), and a display screen (24) for display is provided on one side of the surface of the programmable controller (23). A control button (25) is provided on one side of the surface of the display screen (24).

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