摘要
针对传统的经纬仪测量法存在的诸多弊端,本文提出一种新的塔式起重机垂直度激光雷达无损检测算法。利用激光雷达获取塔式起重机点云数据,经点云配准、拼接及去噪去冗等预处理,获得塔身标准节有效点云数据;设计塔身标准节点云横截面切片分割方案,利用Marching Square算法提取切片多边形轮廓线,并确定轮廓线顶点及其对应的中心点坐标;利用最小二乘参数估计法拟合中心点空间直线,确定塔身轴心线方向向量,并与站心空间坐标系的z轴和x轴分别作向量运算,求解塔身轴心线的倾斜角、倾斜方位角及垂直度参数。试验结果表明,基于本文算法设计的两种方案获得的塔式起重机垂直度参数分别为2.04‰和2.49‰,均小于传统的经纬仪测量法的3.02‰。本文算法行之有效,为塔式起重机垂直度高精度监测提供了一种无损检测算法。
Aiming at the many disadvantages of traditional theodolite measurement method,a novel LiDAR-based non-destructive detection algorithm of tower crane verticality is proposed.The point cloud data of the tower crane is obtained by using LiDAR,and the effective point cloud data of the standard section of the tower body is obtained through the pre-processing of point cloud alignment,stitching,de-noising and de-redundancy.The standard node cloud cross-section slice segmentation scheme is designed for the tower body,and the Marching Square algorithm is used to extract the cross-section slice polygon contour lines and determine the vertices of the contour lines and their corresponding centroids.The least squares parameter estimation method is used to fit the linear equation of the center point space,the direction vector of the tower axis line is determined,and vector operations are performed with the z-axis and x-axis of the station-center spatial coordinate system,respectively,and then the tilt angle,tilt azimuth and verticality parameters of the tower axis line are solved.The experimental results show that the tower crane verticality parameters obtained by the two kinds of segmentation scheme designed by the algorithm in this paper are 2.04‰and 2.49‰respectively,which are smaller than the results of the traditional theodolite measurement method of 3.02‰.The algorithm in this paper is effective,which can provide a kind of non-destructive detection algorithm for the high-precision monitoring of the verticality of tower crane.
作者
周命端
覃钰涵
张文尧
徐翔
周庆辉
ZHOU Mingduan;QIN Yuhan;ZHANG Wenyao;XU Xiang;ZHOU Qinghui(School of Geomatrics and Urban Spatial Information,Beijing University of Civil Engineering and Architecture,Beijing 102616,China;School of Mechanical Electronic and Vehicle Engineering,Beijing University of Civil Engineering and Architecture,Beijing 102616,China)
出处
《测绘通报》
CSCD
北大核心
2024年第2期90-94,共5页
Bulletin of Surveying and Mapping
基金
中国高等教育学会2022年度高等教育科学研究规划课题(22CJRH0404)
教育部产学合作协同育人项目(220802313231626,220704718292519)。
关键词
塔式起重机垂直度
激光雷达
点云数据
无损检测算法
经纬仪测量法
tower crane verticality
LiDAR
point cloud data
non-destructive detection algorithm
theodolite measurement method
