Hydropower engineering electromechanical equipment installation detail control method based on three-dimensional laser scanning technology

Abstract

The invention discloses a hydropower engineering electromechanical equipment installation detail control method based on a three-dimensional laser scanning technology, and the method comprises the steps: S1, setting and determining the instrument parameters of a three-dimensional laser scanner, and collecting the point cloud data of a target region through the three-dimensional laser scanner; s2, remotely reading the point cloud data through a computer, uploading the point cloud data to a cloud database in a file stream form, and storing the point cloud data; s3, performing iterative fitting on the plane model by using a random sample consensus algorithm RANSAC and removing inner points, fitting a target ball model by multiplexing the RANSAC algorithm in the residual point cloud data after the plane model is removed, and screening target ball parameters with the maximum number of inner points; s4, constructing a combined reference model based on the electromechanical equipment to be installed and the virtual target ball, and performing coordinate deviation value comparison with the actually measured target ball model to obtain a deviation value; and S5, generating an installation detail adjustment scheme according to the coordinate deviation value, and sending the adjustment scheme to a mobile client of the field installation personnel.

Description

Technical Field

[0001] This invention relates to the field of detailed control of electromechanical equipment installation, and in particular to a method for detailed control of electromechanical equipment installation in hydropower projects based on three-dimensional laser scanning technology. Background Technology

[0002] The electromechanical installation process in hydropower projects requires extremely strict control over installation accuracy. Failure to follow specifications during installation can create significant hidden dangers for the subsequent operation of the electromechanical equipment. Therefore, it is essential to control every detail during the electromechanical installation process, strictly adhere to specifications and technical standards for acceptance testing, ensure the smooth operation of the equipment, and minimize malfunctions caused by oversights during installation that could affect its subsequent use.

[0003] In the entire installation process of a hydroelectric generator in a hydropower project, measurement and testing technologies are particularly important. First, it is crucial to ensure the flatness and depth of the foundation construction, accurately assemble the stator, and strictly control welding quality. Precise adjustments and positioning are made according to the center, elevation, and level of the turbine's main shaft, and the air gap between the rotor and stator is measured to ensure uniform air clearance. Finally, the runout of the unit's main shaft is measured and adjusted to ensure its accuracy. Establishing a precise sensing system is of great significance for the entire hydroelectric installation process.

[0004] Currently, the electromechanical installation of hydropower projects involves setting up monitoring points and manually conducting continuous or periodic inspections using equipment such as total stations and dial gauges. The accuracy of the installation is then analyzed and feedback is used to control the coordinate deviations of these monitoring points. In this process, the accuracy of the sampling data and the timeliness of the feedback are crucial for the control of the electromechanical installation process, thus impacting the safety and stable operation of the hydropower project. However, traditional methods for controlling the electromechanical metal structure installation process can only achieve random checks of key parameters during installation, making it difficult to achieve rapid, automated, intelligent sensing and feedback control of the electromechanical metal structure installation process data. Emerging 3D laser scanning technology can solve this problem; therefore, this invention combines 3D laser scanning technology to study detailed control methods for the electromechanical installation of hydropower projects.

[0005] Given the complex conditions at installation sites, the quality of sampling point data is affected by various factors such as personnel movement, obstruction, and instrument parameters. Traditional manual inspection methods struggle to achieve satisfactory results in terms of efficiency and automation. 3D laser scanning, as an emerging real-scene modeling technology, has matured considerably in the field of location surveying. Many scholars have conducted research on the application of 3D laser scanners in engineering and the automatic extraction and analysis of point cloud data. Ma Li et al. applied 3D laser scanning technology to road engineering surveying, established a point cloud analysis process, and performed planar virtual measurement, DEM modeling, contour line and longitudinal and cross-sectional model generation. They compared the accuracy with total station data acquisition, demonstrating that the method meets the accuracy requirements of road engineering surveying. Ren Hongwen et al. proposed a method for contour boundary and spatial positioning of unknown mining areas based on 3D laser scanners, overcoming the poor accuracy and high risk associated with traditional methods. Zhu Longjun et al. used a 3D laser scanner to inspect building quality, scanning the entire area and extracting building condition points, heights, and outlines from the scanned point cloud. Compared with traditional measurement methods, this method determines whether the accuracy of point positions, elevations, and side lengths meets specifications, effectively avoiding rework caused by missed inspections. Ding Ge et al. used 3D laser scanning technology to monitor large structures such as tunnels and bridges, and used a random sampling consensus algorithm for straight line fitting, calculating the centerline based on geometric positions to achieve cross-sectional extraction of tunnel scan point clouds. Wu Junhe et al. proposed a boundary extraction algorithm for rectangular windows based on terrestrial 3D laser scanning data, which can quickly obtain rich detailed information about building facades and has significant application advantages in the 3D fine-grained modeling of digital cities.

[0006] In summary, existing research has yielded some findings on the application of 3D laser scanners in engineering and the automatic extraction and analysis of point cloud data. However, as the core equipment of hydropower stations, turbine units have complex structures and numerous components, requiring extremely high installation accuracy and quality control. Traditional measurement and modeling methods often fall short of these requirements, struggling to consider the timeliness of feedback information during the electromechanical installation process of hydropower projects and the integrity of component facades, and lacking advanced sensing and analysis methods to perceive the spatial location information of sampling points. Summary of the Invention

[0007] The purpose of this invention is to overcome the shortcomings of existing technologies and provide new ideas and directions for the design of electromechanical systems with high efficiency and accuracy. It provides a method for controlling the installation details of electromechanical equipment in hydropower projects based on three-dimensional laser scanning technology. This method involves arranging a large number of sampling points around the electromechanical equipment and using three-dimensional laser scanning technology to record three-dimensional point cloud data. By segmenting and fitting the point cloud into a planar model and a target sphere model, and then determining the corresponding adjustment scheme based on the offset of the coordinate displacement relative to the design drawings and construction specifications, the results are fed back to a mobile terminal at the electromechanical installation site, thereby improving the installation quality of electromechanical details in hydropower projects.

[0008] The objective of this invention is achieved through the following technical solution:

[0009] A method for detailed control of the installation of electromechanical equipment in hydropower projects based on three-dimensional laser scanning technology includes:

[0010] S1. Survey the environment of the site where the electromechanical equipment is to be installed, specify the installation positions of the target ball and the 3D laser scanner, set and determine the instrument parameters of the 3D laser scanner, and collect point cloud data of the target area through the 3D laser scanner;

[0011] S2. Remotely read point cloud data via computer and upload it to the cloud database in the form of a file stream for storage. Use development tools to interpret the point cloud data into a common point cloud format.

[0012] S3. Use the Random Sampling Consensus (RANSAC) algorithm to iteratively fit the interpreted point cloud data to a planar model, dynamically update the planar model parameters with the most interior points, and extract and remove interior points from the planar model. In the remaining point cloud data after removing the planar model, reuse the RANSAC algorithm to fit the target sphere model and select the target sphere model parameters with the most interior points.

[0013] S4. Model the electromechanical equipment to be installed and the virtual target sphere, and construct a combined reference model based on the location of the preset sampling points. Compare the coordinate deviation values ​​of the target sphere model parameters obtained in step S3 with the center coordinates and radius parameters of the virtual target sphere in the combined reference model, and calculate the coordinate deviation amount.

[0014] S5. Generate an installation detail adjustment plan based on the coordinate deviation and send the adjustment plan to the mobile client of the on-site installation personnel.

[0015] Furthermore, the instrument parameters of a 3D laser scanner include: scanning angle, scanning resolution, and scanning quality.

[0016] Furthermore, in step S2, the SDK tool is used to read the three-dimensional spatial information of the original point cloud data and output it as a .txt file or a .xyz file.

[0017] Furthermore, in step S2, uploading refers to remotely reading the point cloud data obtained by the 3D laser scanner via a computer, encapsulating it layer by layer in the form of data packets on the source computer, forwarding it through switches and routers via IP address and MAC address, and finally sending it to the target computer for point cloud analysis and cloud backup.

[0018] Furthermore, in step S3, the planar model fitting is based on at least three points and uses a threshold to determine the criteria for inner and outer points, while the target sphere model fitting outputs the coordinates of the sphere's center and the radius as parameters.

[0019] Furthermore, the installation detail adjustment plan includes: adjusting distance, relative orientation, adjustment steps, and adjustment priority, and is presented in a visual interface on mobile devices.

[0020] Preferably, the present invention also provides a detailed control system for the installation of electromechanical equipment in hydropower projects based on three-dimensional laser scanning technology, comprising:

[0021] A three-dimensional laser scanning acquisition device is used to acquire point cloud data of a target area;

[0022] The transmission and processing module is used to remotely read point cloud data via computer and upload it to the cloud database in the form of a file stream for storage. It also uses development tools to interpret the point cloud data into a common point cloud format.

[0023] The point cloud analysis module is used to iteratively fit a planar model to the interpreted point cloud data using the Random Sampling Consensus Algorithm (RANSAC), dynamically update the planar model parameters with the most inliers, and extract and remove inliers from the planar model. In the remaining point cloud data after removing the planar model, the RANSAC algorithm is reused to fit a target sphere model, and the target sphere parameters with the most inliers are selected.

[0024] The simulation comparison module is used to model the electromechanical equipment to be installed and the virtual target sphere, and to construct a combined reference model based on the position of the preset sampling points. The target sphere parameters obtained by actual measurement in step S3 are compared with the center coordinates and radius parameters of the virtual target sphere in the combined reference model to calculate the coordinate deviation.

[0025] The communication module is used to generate an installation detail adjustment plan based on the coordinate deviation and send the adjustment plan to the mobile client of the on-site installers.

[0026] Preferably, the present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the method for detailed control of the installation of electromechanical equipment in hydropower engineering based on three-dimensional laser scanning technology.

[0027] Preferably, the present invention also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the steps of the method for detailed control of the installation of electromechanical equipment in hydropower engineering based on three-dimensional laser scanning technology.

[0028] Compared with the prior art, the beneficial effects of the technical solution of the present invention are:

[0029] 1. A 3D laser scanner is used as the data acquisition platform. The 3D laser scanner can quickly acquire high-density point clouds, capturing the true shape of the component surface and location, significantly improving coverage and sampling speed, and providing sufficient data for subsequent automated analysis. This solves the problems of narrow coverage, time-consuming inspection, and easy omissions in traditional manual sampling inspections (total station, dial gauge), making it difficult to obtain the complete spatial shape and a large number of detailed points of electromechanical components.

[0030] 2. Upload raw point cloud data to the cloud as a file stream and convert it to a common format (.txt / .xyz, etc.) and manage it according to the scan sequence number; this solves problems such as inconsistent data formats, chaotic storage and version management, and difficulty in connecting to backend analysis interfaces. The unified format facilitates batch processing by backend algorithms, traceable scan sequences, and cloud backup to ensure data integrity and traceability, thereby supporting remote analysis and multiple comparisons.

[0031] 3. Point cloud segmentation technology based on the Random Sampling Consensus Algorithm (RANSAC) first performs planar model fitting and removes outliers before fitting the target sphere; this solves the problems of point cloud data containing noise and outliers, direct fitting of the overall model being easily affected by noise, and difficulty in stably extracting target features (such as the center of the target sphere).

[0032] RANSAC is robust to noise and outliers; by first removing planar models and then fitting the target sphere, the target can be extracted in layers, which helps to accurately obtain the target sphere's center coordinates as a positioning reference and improve positioning accuracy. Furthermore, during the iterative fitting process, the computational scale is gradually reduced by removing segmented interior points, thus achieving resource optimization.

[0033] 4. The target sphere parameters obtained by fitting the measured point cloud data are used to replace the measured sampling points for positioning comparison and to match the design model for simulation calculation of deviation; this solves the problems of the on-site coordinates not being automatically aligned with the design coordinates, and the time-consuming and error-prone manual comparison.

[0034] The target sphere center obtained by fitting the measured point cloud data serves as a stable spatial reference point, facilitating the establishment of an accurate correspondence between the measured point cloud and the design model, enabling automated deviation calculation and outputting executable adjustment values ​​(distance / angle).

[0035] 5. Abstract the deviation into an adjustment strategy in the world coordinate system and feed it back to the mobile terminal (including adjustment distance, relative orientation and prompts); solve the problem of lack of a fast and easy-to-operate implementation path after the deviation is discovered, and the difficulty for on-site workers to make accurate adjustments directly according to the test results.

[0036] The results are sent to mobile terminals in the form of visual and quantitative adjustment instructions, enabling on-site personnel to directly implement and record adjustments according to the prompts, shortening the closed-loop time of detection-adjustment-verification, and improving construction efficiency and accuracy.

[0037] 6. An iterative strategy of prioritizing plane extraction followed by sphere fitting is adopted to avoid interference from large planes (such as walls and ground) during sphere fitting, thus ensuring the accuracy of target model recognition.

[0038] By first eliminating the dominant plane, the probability of mismatch in sphere fitting is reduced, thereby improving the target sphere recognition rate and the accuracy of the sphere center.

[0039] 7. Apply real-time / near real-time feedback to key components such as stator and rotor; solve the problem that small deviations in key components may lead to unstable equipment operation, and traditional spot checks cannot guarantee real-time control.

[0040] Real-time feedback allows for immediate fine-tuning on-site, ensuring that key geometric relationships (such as axis concentricity and gap uniformity) meet specifications, thereby reducing the risk of rework and improving the reliability of unit operation. Attached Figure Description

[0041] Figure 1 This is a flowchart illustrating the method of the present invention.

[0042] Figure 2 This is a flowchart illustrating the process of dividing the planar model and the target sphere model. Detailed Implementation

[0043] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only for explaining the present invention and are not intended to limit the present invention.

[0044] This invention provides a method for detailed control of the installation of electromechanical equipment in hydropower projects based on 3D laser scanning technology. It utilizes 3D laser scanning to capture the true shape and appearance of the hydropower electromechanical equipment, quickly and accurately collecting a large amount of detailed information, which is then converted into point clouds or polygon meshes (such as STL file format). Then, by analyzing the point cloud data, a high-quality, accurate model is established, enabling the rapid development of guidance plans for on-site installation.

[0045] Example 1

[0046] See Figure 1The specific control method for the installation details of electromechanical equipment in hydropower projects provided in this embodiment is as follows:

[0047] S1. Utilize a 3D laser scanner to collect installation details of the electromechanical equipment to ensure that the collected point cloud data contains sufficiently rich information for further analysis. First, determine the main target area and specify target points. Then, roughly determine the installation location of the 3D laser scanner within the target area, install the 3D laser scanner, set the instrument parameters, and then collect data to obtain the 3D point cloud data of the target area; specifically:

[0048] Using a 3D laser scanner as the data acquisition platform, it's necessary to consider the potential obstruction caused by moving construction machinery and personnel during the 3D laser scanning process. Therefore, a pre-planned field operation strategy is required to complete the point cloud data acquisition of the target area. First, the site environment is surveyed, and measurement stations and target points are designed for the electromechanical components to be installed, ensuring the 3D laser scanner completes the point cloud data acquisition task at the designated locations. Then, the 3D laser scanner parameters are rationally set, including scanning angle, scanning resolution, and scanning quality, to ensure both scanning quality and scanning time, achieving fast and high-precision point cloud data acquisition.

[0049] S2. The system remotely reads 3D point cloud data using a computer, encapsulates it layer by layer in the form of data packets on the source computer, forwards it through switches and routers via IP and MAC addresses, and finally sends it to the target computer for point cloud analysis and cloud backup. For the collected raw electromechanical point cloud data, the system uses software development tools to convert it into a common point cloud format file.

[0050] Specifically, the original 3D point cloud data is uploaded to the cloud and stored in the database as a file stream. Based on the scan sequence number, the SDK tool reads the 3D spatial information of the collected 3D point cloud data and outputs it as a common point cloud format such as .txt or .xyz file, which facilitates subsequent analysis of the point cloud.

[0051] S3. Using the Random Sample Consensus Algorithm (RANSAC) for point cloud segmentation, iteratively fit a planar model to the interpreted point cloud data, dynamically updating the planar model parameters with the most interior points, and extracting and removing interior points from the planar model. In the remaining point cloud data after removing the planar model, reuse the RANSAC algorithm to fit a target sphere model, selecting the target sphere parameters with the most interior points; see... Figure 2 Specifically:

[0052] S301. Planar model segmentation:

[0053] S3011. Initialization: Input point cloud data, set the interior point distance threshold ε and the minimum number of interior points n (n is dynamically adjusted according to the point cloud resolution).

[0054] S3012. Single Plane Fitting Iteration: First, three non-collinear points are randomly selected from the unlabeled points to form an initial plane model. The plane model parameters are calculated according to the plane equation Ax + By + Cz = D. Second, interior point detection is performed: the distance from all points to the plane model is calculated. If the distance is ≤ ε, it is marked as a current candidate interior point. Finally, the plane model is updated: if the number of candidate interior points is ≥ n and exceeds the historical maximum number of interior points, the plane model parameters and the interior point set are updated.

[0055] S3013. Iterate until the termination condition is met: if the preset number of iterations is reached or the maximum interior point set is not refreshed for several consecutive times, then save the current planar model as the optimal planar model;

[0056] S3014. Update point cloud: Remove the interior points corresponding to the optimal planar model, and the remaining point cloud data enters the next round of planar fitting until no valid planar model can be found.

[0057] S302 target sphere model segmentation:

[0058] S3021 Initialization: In the point cloud data after removing all planar models, set the threshold δ for points inside the sphere;

[0059] S3022. Single-step target sphere fitting iteration: First, random sampling: randomly select 4 points and substitute them into the sphere equation (x−a). 2 +(y−b) 2 +(z−c) 2 =r 2 First, calculate the center (a, b, c) and radius of the sphere; second, detect interior points: if the difference between the distance from the point to the center and the radius is ≤ δ, mark it as a candidate interior point; finally, update the target sphere model and retain the sphere parameters with the most interior points.

[0060] S3023. Iterate until the termination condition is met: when the maximum number of iterations is reached or the interior point set is stable, save the optimal target sphere model and output its sphere model parameters (including the center coordinates and radius) as a .txt file.

[0061] S4. Model the electromechanical equipment to be installed and the virtual target sphere, and construct a combined reference model based on the positions of preset sampling points. Compare the coordinate deviation values ​​of the virtual target sphere parameters obtained from the actual measurements in step S3 with the center coordinates and radius parameters of the target sphere in the combined reference model, and calculate the coordinate deviation amount; specifically:

[0062] First, the electromechanical equipment and the virtual target sphere are modeled in detail according to the specifications, design drawings and virtual target sphere dimensions, and a combined reference model is constructed based on the preset positioning sampling point positions. Second, the target sphere parameters obtained in step S3 are used as the positioning information of the measured three-dimensional space sampling points, and the position deviation values ​​are compared with the three-dimensional space information of the virtual target sphere in the combined reference model.

[0063] S5. Generate an installation detail adjustment plan based on the coordinate deviation and send the adjustment plan to the mobile client of the on-site installation personnel.

[0064] The installation detail adjustment scheme can be abstracted into an adjustment strategy relative to the world coordinate system, providing on-site installation operations with installation detail adjustment schemes including: adjustment distance, relative orientation display and reminder information.

[0065] Preferably, the feedback guidance provided in this embodiment is particularly important during the installation of key components such as the stator and rotor. Through real-time feedback, installers can precisely control the installation position and angle of these components, ensuring their compatibility and stability with the overall unit structure reach the highest level. This not only improves installation efficiency but, more importantly, guarantees the quality of the turbine unit installation details, laying a solid foundation for the stable operation and performance improvement of the unit.

[0066] Example 2

[0067] Based on the same inventive concept, this application also provides a detailed control system for the installation of electromechanical equipment in hydropower projects, which can be used to implement the methods described in the above embodiments, as shown in the following embodiments. Since the principle of the detailed control system for the installation of electromechanical equipment in hydropower projects is similar to that of the detailed control method for the installation of electromechanical equipment in hydropower projects, the implementation of the detailed control system for the installation of electromechanical equipment in hydropower projects can refer to the implementation of the detailed control method for the installation of electromechanical equipment in hydropower projects, and repeated details will not be elaborated further. As used below, the terms "unit" or "module" can refer to a combination of software and / or hardware that performs a predetermined function. Although the system described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0068] The present invention provides a specific implementation of a hydropower engineering electromechanical equipment installation detail control system capable of implementing a method for controlling the installation details of electromechanical equipment in hydropower projects. The hydropower engineering electromechanical equipment installation detail control system specifically includes:

[0069] A three-dimensional laser scanning acquisition device is used to acquire point cloud data of a target area;

[0070] The transmission and processing module is used to remotely read point cloud data via computer and upload it to the cloud database in the form of a file stream for storage. It also uses development tools to interpret the point cloud data into a common point cloud format.

[0071] The point cloud analysis module is used to iteratively fit a planar model to the interpreted point cloud data using the Random Sampling Consensus Algorithm (RANSAC), dynamically update the planar model parameters with the most inliers, and extract and remove inliers from the planar model. In the remaining point cloud data after removing the planar model, the RANSAC algorithm is reused to fit a target sphere model, and the target sphere parameters with the most inliers are selected.

[0072] The simulation comparison module is used to model the electromechanical equipment to be installed and the virtual target sphere, and to construct a combined reference model based on the position of the preset sampling points. The target sphere parameters obtained by actual measurement in step S3 are compared with the center coordinates and radius parameters of the virtual target sphere in the combined reference model to calculate the coordinate deviation.

[0073] The communication module is used to generate an installation detail adjustment plan based on the coordinate deviation and send the adjustment plan to the mobile client of the on-site installers.

[0074] Preferably, embodiments of this application also provide a specific implementation of an electronic device capable of implementing all steps in the detailed control method for the installation of electromechanical equipment in hydropower projects described above. The electronic device specifically includes the following components:

[0075] Processor, memory, communications interface, and bus;

[0076] The processor, memory, and communication interface communicate with each other via a bus; the communication interface is used to realize information transmission between server-side devices, metering devices, and user-side devices.

[0077] The processor is used to call the computer program in the memory. When the processor executes the computer program, it implements all the steps in the detailed control method for the installation of electromechanical equipment in hydropower projects in the above embodiments.

[0078] Embodiments of this application also provide a computer-readable storage medium capable of implementing all steps of the detailed control method for the installation of electromechanical equipment in hydropower engineering as described above. The computer-readable storage medium stores a computer program that, when executed by a processor, implements all steps of the detailed control method for the installation of electromechanical equipment in hydropower engineering as described above.

[0079] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to interchangeably. Each embodiment focuses on its differences from other embodiments. In particular, hardware + program embodiments are relatively simple in description because they are fundamentally similar to method embodiments; relevant parts can be referred to the descriptions in the method embodiments.

[0080] The foregoing has described specific embodiments of this specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be performed in a different order than that shown in the embodiments and may still achieve the desired result. Furthermore, the processes depicted in the drawings do not necessarily require the specific or sequential order shown to achieve the desired result. In some embodiments, multitasking and parallel processing are possible or may be advantageous.

[0081] While this application provides method operation steps as shown in the embodiments or flowcharts, more or fewer operation steps may be included based on conventional or non-inventive labor. The order of steps listed in the embodiments is merely one possible execution order among many and does not represent the only execution order. In actual device or client product execution, the method can be executed in the order shown in the embodiments or drawings or in parallel (e.g., in a parallel processor or multi-threaded processing environment).

[0082] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0083] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0084] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0085] This invention is not limited to the embodiments described above. The above description of specific embodiments is intended to illustrate and explain the technical solutions of this invention. The specific embodiments described above are merely illustrative and not restrictive. Without departing from the spirit and scope of the claims, those skilled in the art can make many specific modifications based on the teachings of this invention, and these modifications all fall within the scope of protection of this invention.

Claims

1. A method for detailed control of the installation of electromechanical equipment in hydropower projects based on three-dimensional laser scanning technology, characterized in that, include: S1. Survey the environment of the site where the electromechanical equipment is to be installed, specify the installation positions of the target ball and the 3D laser scanner, set and determine the instrument parameters of the 3D laser scanner, and collect point cloud data of the target area through the 3D laser scanner; S2. Remotely read point cloud data via computer and upload it to the cloud database in the form of a file stream for storage. Use development tools to interpret the point cloud data into a common point cloud format. S3. Use the Random Sampling Consensus (RANSAC) algorithm to iteratively fit the interpreted point cloud data to a planar model, dynamically update the planar model parameters with the most interior points, and extract and remove interior points from the planar model. In the remaining point cloud data after removing the planar model, reuse the RANSAC algorithm to fit the target sphere model and select the target sphere model parameters with the most interior points. S4. Model the electromechanical equipment to be installed and the virtual target sphere, and construct a combined reference model based on the location of the preset sampling points. Compare the coordinate deviation values ​​of the target sphere model parameters obtained in step S3 with the center coordinates and radius parameters of the virtual target sphere in the combined reference model, and calculate the coordinate deviation amount. S5. Generate an installation detail adjustment plan based on the coordinate deviation and send the adjustment plan to the mobile client of the on-site installation personnel.

2. The method for detailed control of electromechanical installation in hydropower projects according to claim 1, characterized in that, The instrument parameters of a 3D laser scanner include: scanning angle, scanning resolution, and scanning quality.

3. The method for detailed control of electromechanical installation in hydropower projects according to claim 1, characterized in that, In step S2, the SDK tool is used to read the three-dimensional spatial information of the original point cloud data and output it as a .txt file or a .xyz file.

4. The method for controlling the electromechanical installation details of hydropower projects according to claim 1 or 3, characterized in that, In step S2, uploading refers to remotely reading the point cloud data obtained by the 3D laser scanner via a computer, encapsulating it layer by layer in the form of data packets on the source computer, forwarding it through switches and routers via IP address and MAC address, and finally sending it to the target computer for point cloud analysis and cloud backup.

5. The method for detailed control of electromechanical installation in hydropower projects according to claim 1, characterized in that, In step S3, the planar model fitting is based on at least three points and uses a threshold to determine the criteria for inner and outer points, while the target sphere model fitting outputs the center coordinates and radius as parameters.

6. The method for detailed control of electromechanical installation in hydropower projects according to claim 1, characterized in that, The installation detail adjustment plan includes: adjusting distance, relative orientation, adjustment steps, and adjustment priority, and is presented in a visual interface on mobile devices.

7. A detailed control system for the installation of electromechanical equipment in hydropower projects based on three-dimensional laser scanning technology, characterized in that, include: A three-dimensional laser scanning acquisition device is used to acquire point cloud data of a target area; The transmission and processing module is used to remotely read point cloud data via computer and upload it to the cloud database in the form of a file stream for storage. It also uses development tools to interpret the point cloud data into a common point cloud format. The point cloud analysis module is used to iteratively fit a planar model to the interpreted point cloud data using the Random Sampling Consensus Algorithm (RANSAC), dynamically update the planar model parameters with the most inliers, and extract and remove inliers from the planar model. In the remaining point cloud data after removing the planar model, the RANSAC algorithm is reused to fit a target sphere model, and the target sphere parameters with the most inliers are selected. The simulation comparison module is used to model the electromechanical equipment to be installed and the virtual target sphere, and to construct a combined reference model based on the position of the preset sampling points. The target sphere parameters obtained by actual measurement in step S3 are compared with the center coordinates and radius parameters of the virtual target sphere in the combined reference model to calculate the coordinate deviation. The communication module is used to generate an installation detail adjustment plan based on the coordinate deviation and send the adjustment plan to the mobile client of the on-site installers.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method for controlling the installation details of hydropower engineering electromechanical equipment based on three-dimensional laser scanning technology as described in any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the computer program implements the steps of the method for controlling the installation details of electromechanical equipment in hydropower projects based on three-dimensional laser scanning technology as described in any one of claims 1 to 6.

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