CN110322564A - A kind of 3 D model construction method of the substation operation environment suitable for VR/AR - Google Patents
A kind of 3 D model construction method of the substation operation environment suitable for VR/AR Download PDFInfo
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Abstract
The invention discloses a kind of 3 D model construction methods of substation operation environment suitable for VR/AR, the following steps are included: S1: utilizing the principle of laser ranging, by recording three-dimensional coordinate, reflectivity and the texture information of a large amount of point off density in testee surface, the various graph data of threedimensional model and line, face, the body of Quick Acquisition large scene；S2: raw video data are acquired using the slr camera that inspection was imitated, utilize laser point cloud processing software and the quick reduction apparatus of photogrammetric software, shaft tower and route real scene and model；S3: simplifying triangle network data, reduces model face number, achievees the purpose that Optimized model, adjusts the position of node in the case where not changing the interconnected mode of node based on local-global thought, improves the uniformity of image lattice on the whole.Time-consuming, fineness is poor for 3D modeling before the present invention solves the problems, such as substation equipment, and substation operation system is made to keep safe and efficient operation.
Description
Technical field
The present invention relates to substation operation field of environmental technology more particularly to a kind of substation operations suitable for VR/AR
The 3 D model construction method of environment.
Background technique
Lack rule when the operations utilization overhaul regulations such as electric power apparatus examination maintenance, troubleshooting, emergency first-aid repair and guiding book
Generalized, standardized auxiliary direction；The rings such as maintenance plan, working range, arrangement and method for construction, on-site land survey, the job state of formulation
Lack visual description, the administration tool that precision is presented, scene type previews and means in section, necessary warning and prompting are even more
Blank brings restriction to production work, is mainly manifested in following three points:
(1) power equipment compact layout, structure is complicated, substantial amounts, and bring maintenance difficulties are high, inspection behaviour is complicated, task
It is heavy, and in time, accurately, efficiently overhauling becomes the obstacle that scene is managed.
(2) informationization of overhaul of the equipments technology, Standardization Requirement are higher and higher, and papery guiding book is difficult to realize device attribute
Information displaying, the inquiry of checking experiment process data, the retrospect of repair quality 100% and other effects.
(3) mainly with operating experience, human factor influences greatly the different types of troubleshooting of equipment, shortage trouble shoot,
The fortune of analysis, the systematic direction of judgement and " equipment one " examines strategy.
Foreign technology direction, technical level and key technology: virtual reality technology (VirtualReality, VR) is in recent years
The hot spot for coming the computer network world has very good development prospect just in every profession and trade, and virtual reality is computer simulation
Three-dimensional environment, the limitation at the two-dimentional interface of customer service traditional software skill such as generalized information system and plane analogue system has in use
Have two-dimentional interface irrealizable there is sense, interactivity, the independence of Multi-Sensory and user.
Domestic technique direction, technical level and key technology: Xu Liangjun of Hunan University etc. is by virtual reality technology application
In electric power safety supervision training, saves teacher's human resources and hardware device resources and enhance result of training.The training system
Apply the key technologies such as three-dimensional modeling, collision detection and interbehavior control.In such a system, trainee is in one virtually
Site work environment audio-visual space in, on the one hand, so that trainee is felt training process on the spot in person, increase training
Interest, improve result of training；On the other hand, multiple trainees operate simultaneously in virtual scene, and have section
Save the effect of teacher's human resources and hardware device resources.
Virtual reality can be applied to dynamical system emulation, the design of large scale equipment, training education system in the power system
The directions such as system.The Training simulator of external electric system develops since early 1970s, starts to be concentrated mainly on thermoelectricity
Brand-name computer group develops to the emulation training of power grid, substation in succession later.The characteristics of being typically due to power industry, true operation ring
Border danger coefficient is high, and typically experienced master worker transmits experience with the mode trained an apprentice, and efficiency is not very high, was imparting knowledge to students
PPT is also generallyd use in journey and picture is imparted knowledge to students, can not really restore entire maintenance process, and student's manipulative ability is also very
It is limited.Therefore, we have proposed a kind of 3 D model construction methods of substation operation environment suitable for VR/AR for solving
The above problem.
Summary of the invention
It is cumbersome based on electric power apparatus examination existing for background technique, substation field can not be accurately manipulated in time, and
Station technical staff expends more manpower and material resources, ineffective technical problem in training and normal operation,
The invention proposes a kind of 3 D model construction methods of substation operation environment suitable for VR/AR.
A kind of 3 D model construction method of substation operation environment suitable for VR/AR proposed by the present invention, including with
Lower step:
S1: using the principle of laser ranging, by the three-dimensional coordinate, the reflection that record a large amount of point off density in testee surface
Rate and texture information, the various graph data of threedimensional model and line, face, the body of Quick Acquisition large scene；
S2: raw video data are acquired using the slr camera that inspection was imitated, utilize laser point cloud processing software and photography
The quick reduction apparatus of Survey Software, shaft tower and route real scene and model；
S3: simplifying triangle network data, reduces model face number, achievees the purpose that Optimized model, is thought based on local-global
Think, in the case where not changing the interconnected mode of node, it is optimal for adjusting the position of node, to improve image lattice on the whole
The uniformity；
S4: using U3D or UE4 engine complete transformer equipment and surrounding enviroment scene really restore, according to physical device into
Row material editor completes real lighting rendering and scene baking；
S5: using U3D or UE4 engine complete hot spot interworking, the transformer equipment running state analysis of actual response and
The reality that visualization system is suitble to the operating habit of power consumer, adapts to route operation and maintenance, comprehensive analysis, state evaluation work
Border situation；
S6: establishing and be based on virtual reality virtual scene exhibition method, sharp by the way of HTML5 page end or client
With PC and VR glasses mode display data and system application；
S7: according to line fault phenomenon, failure common type library is established, and it is pre- to combine virtual scene to complete line fault
It drills, fault scatter simulation system, completes the building to threedimensional model.
Preferably, it in the S1, using laser as the location information of light source measurement testee surface characteristics point, goes forward side by side
Row images match.
Preferably, in the S2, laser point cloud processing software can use laser radar point cloud processing software, photogrammetric
Software can use Virzoto, DPGrid, Helava or PixelFactory.
Preferably, in the S3, setting constraint control during the image lattice uniformity improves, control optimization region changes
The quality of kind characteristics of image grid, lowers GPU model calculation pressure.
Preferably, it in the S3, after the improvement of the image lattice uniformity, extracts and matching image feature grid point, from more
Enough SIFT features to be matched are detected in the image of a viewpoint, determine position and the scale of characteristic point.
Preferably, accurate position, scale and curvature ratio are acquired to the fitting of determining feature candidate point ambient data,
Abandon that neighborhood contrast is lower or candidate point on edge.
Preferably, after extracting simultaneously matching image feature grid point, matching characteristic point extracted in threedimensional model is made
Noise spot is removed with improved RANSAC fining algorithm.
Preferably, stable feature, scale space function representation are searched in all scales with scale space function are as follows:
Preferably, symbolRepresent convolution algorithm, Gaussian kernel G (x, y, σ) are as follows:
Preferably, the scale space function L (x, y, σ) of image I (x, y) include scale variable Gaussian kernel G (x, y, σ) with
The convolution of image I (x, y), it may be assumed that
Compared with prior art, the beneficial effects of the present invention are:
1, it restores and shows using 3D scanning technique and photogrammetric modeled to substation's outdoor scene, may be implemented in substation
The precise measurement of transformer, disconnecting link, bus distance at equal intervals reduces the generation of power grid accident, reduces contingency occurrence probability, significantly
The reliability service for improving power grid, solves technical problem of the substation in terms of operation and maintenance, economic benefit and social benefit
It is huge.
2, it establishes and is based on virtual reality virtual scene exhibition method, site operation personnel and external construction personnel is facilitated to be familiar with
Site environment understands facility information and position, and energy is linked up in the cooperation cultivated between site operation personnel and control room operator
Power improves the operative skill of conventional operation, maintenance function, and the security incident procedure in rehearsal or under the high state of emergency.
3, it is combined by building station technological know-how library with virtual reality (VR) and augmented reality (AR) technology,
Domain expertise abundant can be accumulated and very intuitively be recorded, and be widely used in station technology people
In member's training.
4, it realizes and suits the interactive functions such as the actual model interaction hot spot touch-control of station process, by station
Process carries out fining VR/AR and shows.
Time-consuming, fineness is poor for 3D modeling before the present invention solves the problems, such as substation equipment, economic benefit and society
Remarkable benefit provides great convenience for substation operation, and substation operation system is made to keep safe and efficient operation.
Detailed description of the invention
Fig. 1 is a kind of 3 D model construction method of the substation operation environment suitable for VR/AR proposed by the present invention
Main structure 3D modeling process schematic；
Fig. 2 is a kind of 3 D model construction method of the substation operation environment suitable for VR/AR proposed by the present invention
Main structure 3D modeling procedural details figure；
Fig. 3 is a kind of 3 D model construction method of the substation operation environment suitable for VR/AR proposed by the present invention
Virtual scene light sensation rendering effect figure；
Fig. 4 is a kind of 3 D model construction method of the substation operation environment suitable for VR/AR proposed by the present invention
Distance measurement function details display diagram.
Specific embodiment
Combined with specific embodiments below the present invention is made further to explain.
Embodiment
Referring to Fig.1-4, a kind of 3 D model construction method of the substation operation environment suitable for VR/AR, including it is following
Step:
S1: using the principle of laser ranging, by the three-dimensional coordinate, the reflection that record a large amount of point off density in testee surface
Rate and texture information, the various graph data of threedimensional model and line, face, the body of Quick Acquisition large scene, wherein using laser as
The location information of light source measurement testee surface characteristics point, and carry out images match；
S2: raw video data are acquired using the slr camera that inspection was imitated, utilize laser point cloud processing software and photography
The quick reduction apparatus of Survey Software, shaft tower and route real scene and model, such as attached drawing 1, wherein laser point cloud processing software can
To use laser radar point cloud processing software, photogrammetric software can using Virzoto, DPGrid, Helava or
PixelFactory；
S3: simplifying triangle network data, reduces model face number, achievees the purpose that Optimized model, is thought based on local-global
Think, in the case where not changing the interconnected mode of node, it is optimal for adjusting the position of node, to improve image lattice on the whole
The uniformity, setting constraint control during the image lattice uniformity improves, control optimization region improve the matter of characteristics of image grid
Amount lowers GPU model calculation pressure, such as attached drawing 2；
After the improvement of the image lattice uniformity, simultaneously matching image feature grid point is extracted, is examined from the image of multiple viewpoints
Enough SIFT features to be matched are surveyed, determine position and the scale of characteristic point, to the quasi- of determining feature candidate point ambient data
It closes to acquire accurate position, scale and curvature ratio, abandons that neighborhood contrast is lower or candidate point on edge, wherein using
Scale space function searches for stable feature, scale space function representation in all scales are as follows:SymbolRepresent convolution algorithm, Gaussian kernel G (x, y, σ) are as follows:The scale space function L (x, y, σ) of image I (x, y) includes scale variable
The convolution of Gaussian kernel G (x, y, σ) and image I (x, y), it may be assumed that
After extracting simultaneously matching image feature grid point, matching characteristic point extracted in threedimensional model is used improved
RANSAC refines algorithm and removes noise spot, purifies algorithm using improved RANSAC, the noise specific gravity of data is greatly reduced, mentions
The high reliability of RANSAC result and the purity of data, be conducive to parametric solution precision and the substation operation environment three
Dimension module constructs efficiency；
S4: using U3D or UE4 engine complete transformer equipment and surrounding enviroment scene really restore, according to physical device into
Row material editor completes real lighting rendering and scene baking, such as attached drawing 3；
S5: using U3D or UE4 engine complete hot spot interworking, the transformer equipment running state analysis of actual response and
The reality that visualization system is suitble to the operating habit of power consumer, adapts to route operation and maintenance, comprehensive analysis, state evaluation work
Border situation facilitates site operation personnel and external construction personnel to be familiar with site environment, understands facility information and position, culture scene
Cooperation communication capability between operator and control room operator improves the operative skill of conventional operation, maintenance function, with
And the security incident procedure in rehearsal or under the high state of emergency, such as attached drawing 4；
S6: establishing and be based on virtual reality virtual scene exhibition method, sharp by the way of HTML5 page end or client
With PC and VR glasses mode, carries out fining VR/AR data and system application is shown；
S7: according to line fault phenomenon, failure common type library is established, and it is pre- to combine virtual scene to complete line fault
Drill, fault scatter simulation system, complete building to threedimensional model, can construct station technological know-how library with
Virtual Reality and augmented reality AR technology combine, and domain expertise abundant can be accumulated and very intuitively be recorded
Get off, and is widely used in station Technician Training.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Anyone skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (10)
1. a kind of 3 D model construction method of the substation operation environment suitable for VR/AR, which is characterized in that including following step
It is rapid:
S1: using the principle of laser ranging, by record the three-dimensional coordinate of a large amount of point off density in testee surface, reflectivity and
Texture information, the various graph data of threedimensional model and line, face, the body of Quick Acquisition large scene；
S2: acquiring raw video data using the slr camera imitated of inspection, utilizes laser point cloud processing software and photogrammetric
The quick reduction apparatus of software, shaft tower and route real scene and model；
S3: simplifying triangle network data, reduces model face number, achievees the purpose that Optimized model, is based on local-global thought,
Under the interconnected mode for not changing node, it is optimal for adjusting the position of node, to improve the uniform of image lattice on the whole
Degree；
S4: transformer equipment is completed using U3D or UE4 engine and surrounding enviroment scene really restores, according to physical device progress material
Matter editor completes real lighting rendering and scene baking；
S5: completing hot spot interworking using U3D or UE4 engine, the transformer equipment running state analysis of actual response and visual
The practical shape that change system is suitble to the operating habit of power consumer, adapts to route operation and maintenance, comprehensive analysis, state evaluation work
Condition；
S6: establishing and be based on virtual reality virtual scene exhibition method, and PC is utilized by the way of HTML5 page end or client
And VR glasses mode display data and system application；
S7: according to line fault phenomenon, failure common type library is established, and virtual scene is combined to complete line fault preview, event
Barrier analysis and processing simulation system, complete the building to threedimensional model.
2. a kind of 3 D model construction method of substation operation environment suitable for VR/AR according to claim 1,
It is characterized in that, in the S1, using laser as the location information of light source measurement testee surface characteristics point, and carries out image
Matching.
3. a kind of 3 D model construction method of substation operation environment suitable for VR/AR according to claim 1,
It is characterized in that, in the S2, laser point cloud processing software can use laser radar point cloud processing software, and photogrammetric software can
To use Virzoto, DPGrid, Helava or PixelFactory.
4. a kind of 3 D model construction method of substation operation environment suitable for VR/AR according to claim 1,
It is characterized in that, in the S3, setting constraint control during the image lattice uniformity improves, control optimization region improves image
The quality of feature grid lowers GPU model calculation pressure.
5. a kind of 3 D model construction method of substation operation environment suitable for VR/AR according to claim 1,
It is characterized in that, in the S3, after the improvement of the image lattice uniformity, simultaneously matching image feature grid point is extracted, from multiple viewpoints
Image in detect enough SIFT features to be matched, determine position and the scale of characteristic point.
6. a kind of 3 D model construction method of substation operation environment suitable for VR/AR according to claim 5,
It is characterized in that, accurate position, scale and curvature ratio is acquired to the fitting of determining feature candidate point ambient data, abandons neighbour
Domain contrast is lower or candidate point on edge.
7. a kind of 3 D model construction method of substation operation environment suitable for VR/AR according to claim 5,
It is characterized in that, after extracting simultaneously matching image feature grid point, improvement is used to matching characteristic point extracted in threedimensional model
RANSAC fining algorithm remove noise spot.
8. a kind of 3 D model construction method of substation operation environment suitable for VR/AR according to claim 5,
It is characterized in that, searches for stable feature, scale space function representation in all scales with scale space function are as follows:
9. a kind of 3 D model construction method of substation operation environment suitable for VR/AR according to claim 8,
It is characterized in that, symbolRepresent convolution algorithm, Gaussian kernel G (x, y, σ) are as follows:
10. a kind of 3 D model construction method of substation operation environment suitable for VR/AR according to claim 9,
It is characterized in that, the scale space function L (x, y, σ) of image I (x, y) includes the Gaussian kernel G (x, y, σ) and image of scale variable
The convolution of I (x, y), it may be assumed that
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| CN110992491A (en) * | 2019-10-16 | 2020-04-10 | 广西电网有限责任公司贺州供电局 | Transformer substation main equipment part three-dimensional model construction system based on AR |
| CN111081109A (en) * | 2019-12-31 | 2020-04-28 | 江苏中孚电力工程设计有限公司 | Automatic fault rapid positioning simulation system for power distribution network |
| CN111127974A (en) * | 2019-12-16 | 2020-05-08 | 广东电网有限责任公司 | Virtual reality and augmented reality three-dimensional application service platform for transformer substation operation |
| CN111460659A (en) * | 2020-03-31 | 2020-07-28 | 广东电网有限责任公司 | Electrical equipment refinement modeling method, computer and computer program |
| CN112035934A (en) * | 2020-09-04 | 2020-12-04 | 国网山西省电力公司经济技术研究院 | Method for construction management control based on digital design model of transformer substation |
| CN112562092A (en) * | 2020-12-22 | 2021-03-26 | 国网上海市电力公司 | Electrical test intelligent interaction system based on AR technology |
| CN112883481A (en) * | 2021-04-12 | 2021-06-01 | 国网山东省电力公司济南供电公司 | Intelligent substation modeling method and system based on BIM |
| CN113642178A (en) * | 2021-08-16 | 2021-11-12 | 国网江苏省电力有限公司常州供电分公司 | Setting method and device of virtual red cloth mantle of transformer substation |
| CN115307716A (en) * | 2022-08-15 | 2022-11-08 | 贵州电网有限责任公司 | Main transformer vibration visualization detection method based on data mapping |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110992491A (en) * | 2019-10-16 | 2020-04-10 | 广西电网有限责任公司贺州供电局 | Transformer substation main equipment part three-dimensional model construction system based on AR |
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| CN111081109A (en) * | 2019-12-31 | 2020-04-28 | 江苏中孚电力工程设计有限公司 | Automatic fault rapid positioning simulation system for power distribution network |
| CN111460659A (en) * | 2020-03-31 | 2020-07-28 | 广东电网有限责任公司 | Electrical equipment refinement modeling method, computer and computer program |
| CN112035934A (en) * | 2020-09-04 | 2020-12-04 | 国网山西省电力公司经济技术研究院 | Method for construction management control based on digital design model of transformer substation |
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| CN112562092A (en) * | 2020-12-22 | 2021-03-26 | 国网上海市电力公司 | Electrical test intelligent interaction system based on AR technology |
| CN112883481A (en) * | 2021-04-12 | 2021-06-01 | 国网山东省电力公司济南供电公司 | Intelligent substation modeling method and system based on BIM |
| CN112883481B (en) * | 2021-04-12 | 2022-10-21 | 国网山东省电力公司济南供电公司 | Intelligent substation modeling method and system based on BIM |
| CN113642178A (en) * | 2021-08-16 | 2021-11-12 | 国网江苏省电力有限公司常州供电分公司 | Setting method and device of virtual red cloth mantle of transformer substation |
| CN115307716A (en) * | 2022-08-15 | 2022-11-08 | 贵州电网有限责任公司 | Main transformer vibration visualization detection method based on data mapping |
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