输电铁塔基础根开与高程差自动检测系统  

Automatic detection device and detection algorithm for transmission tower foundation

作　　者：董世杰 张爱华 夏严峰 方宇 范狄庆 张海峰 DONG Shijie;ZHANG Aihua;XIA Yanfeng;FANG Yu;FAN Diqing;ZHANG Haifeng(School of Mechanical and Automotive Engineering,Shanghai University of Engineering Science,Shanghai 201620,China;State Grid Shanghai Electric Power Company,Shanghai 200122,China)

机构地区：[1]上海工程技术大学机械与汽车工程学院,上海201620 [2]国网上海市电力公司,上海200122

出　　处：《光学精密工程》2024年第21期3200-3210,共11页Optics and Precision Engineering

基　　金：上海市大型构件智能制造机器人技术协同创新中心开放基金资助项目(No.ZXP20211101)。

摘　　要：鉴于输电铁塔的基础根开和高程差当前主要采用人工测量的方法,难以保证测量的精度和效率,基于激光检测提出的一种通过欧拉变换和误差补偿的自动测量系统。通过高精度电机驱动的二自由度转台,使用单点激光对特定区域进行指定轨迹的扫描;进而引入欧拉旋转变换建立测量模型,基于最小二乘法拟合了标定实验得到的俯仰角误差,并补偿到测量模型中;利用激光测距、编码器与姿态传感器的反馈数据直接计算基础根开和高程差,实现基础根开和高程差的高精度自动检测。最后,组装装置样机进行室内对比实验并在输电铁塔基础现场进行验证。实验表明,该装置使用方便,测量结果与参考值相比,根开的测量误差可控制在±0.2%之内,高程差的测量误差在5 mm以内,测量数据与平均值的偏差可控制在±0.15%以内。The measurement of foundation openings and tower-pile height differences is predominantly performed manually,which is time-consuming and prone to errors.This study presents an automated measurement method that combines Euler transformation with laser distance measurement to enhance both accuracy and efficiency.The proposed system employs a two-degree-of-freedom turntable,driven by a high-precision motor,and equipped with a single-point laser to scan designated areas along predefined trajectories.An Euler rotation transformation is utilized to establish the measurement model,which is further refined by compensating pitch angle errors obtained from horizontal rotation contour experiments using the least squares method.The integration of laser distance measurement,encoder feedback,and attitude sensor data enables precise calculations of foundation openings and tower-pile height differences.A prototype device was developed and validated through laboratory comparison tests and field experiments on transmission tower foundations.Results demonstrate that the device is user-friendly and highly accurate,with foundation opening measurement errors controlled within±0.2%,tower-pile height difference errors within 5 mm,and experimental group deviations from the average value maintained within±0.15%.This method significantly improves the precision and efficiency of foundation and tower-pile measurements,offering a robust solution for automated detection in practical engineering applications.

关 键 词：激光测量 输电铁塔基础 自动检测装置 欧拉旋转变换 基础根开 高程差 

分 类 号：TH721[机械工程—仪器科学与技术] TH711[机械工程—精密仪器及机械] TP23[自动化与计算机技术—检测技术与自动化装置]