CN110322564B - Three-dimensional model construction method suitable for VR/AR transformer substation operation environment - Google Patents
Three-dimensional model construction method suitable for VR/AR transformer substation operation environment Download PDFInfo
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Abstract
The invention discloses a three-dimensional model construction method suitable for a VR/AR transformer substation operation environment, which comprises the following steps: s1: by utilizing the principle of laser ranging, three-dimensional coordinates, reflectivity and texture information of a large number of dense points on the surface of a measured object are recorded, and three-dimensional models of large scenes and various drawing data of lines, surfaces and objects are rapidly acquired; s2: acquiring original image data by using a single lens reflex after detection, and rapidly restoring real scenes and models of equipment, towers and lines by using laser point cloud processing software and photogrammetric software; s3: the method simplifies the data of the triangular net, reduces the number of the model surfaces, achieves the purpose of optimizing the model, adjusts the positions of the nodes without changing the mutual connection mode of the nodes based on the local-global idea, and improves the uniformity of the image grid as a whole. The method solves the problems of long time consumption and poor fineness of the 3D modeling before the transformer substation equipment, and ensures that the transformer substation operation system keeps safe and efficient operation.
Description
Technical Field
The invention relates to the technical field of transformer substation operation environments, in particular to a three-dimensional model construction method suitable for a VR/AR transformer substation operation environment.
Background
The maintenance regulation and the instruction book for the operation such as the maintenance of the power equipment, the fault treatment, the emergency repair and the like are lack of standardized and standardized auxiliary instructions; the method is characterized in that management and control tools and means of visual description, accurate presentation and situational rehearsal are lacked in the formulated links such as maintenance plan, working range, construction scheme, site survey, working state and the like, necessary warning and reminding are blank, and restrictions are brought to production work, and the method is mainly represented by the following three points:
(1) The power equipment is compact in layout, complex in structure and large in quantity, and brings high maintenance difficulty, complex in inspection and operation and heavy in task, and timely, accurate and efficient maintenance becomes an obstacle for field management and control.
(2) The requirements for informatization and standardization of the equipment maintenance technology are higher and higher, and the paper guide book is difficult to realize the effects of equipment attribute information display, maintenance test process data query, 100% maintenance quality tracing and the like.
(3) The fault processing of different types of equipment mainly depends on operation experience, the influence of human factors is large, and system guidance for fault finding, analysis and judgment and a 'one-equipment-one-volume' operation and detection strategy are lacked.
Foreign technical directions, technical levels and key technologies: virtual reality technology (VR) is a hotspot of a computer network world in recent years, has very good development prospects in various industries, is a three-dimensional environment simulated by a computer, overcomes the limitation of two-dimensional interfaces of traditional software technologies such as a GIS (geographic information system) system and a plane simulation system, and has the sense of existence, interactivity, multi-perceptibility and user autonomy which cannot be realized by the two-dimensional interfaces in use.
The domestic technical direction, technical level and key technology are as follows: the virtual reality technology is applied to electric power safety supervision training by the Xuanjun at the university of Hunan and the like, so that the human resources and hardware equipment resources of teachers are saved, and the training effect is enhanced. The training system applies key technologies such as three-dimensional modeling, collision detection and interactive behavior control. In the system, the trainee is in a virtual audio-visual space in the field operation environment, so that on one hand, the trainee can feel an in-person training process, the training interest is increased, and the training effect is improved; on the other hand, a plurality of trainees operate simultaneously in the virtual scene, and the effect of saving human resources and hardware equipment resources of teachers is achieved.
The virtual reality can be applied to power system simulation, large-scale equipment design, training education systems and the like in the power system. The training simulator of the foreign power system is developed from the beginning of the 70 th 20 th century, mainly focuses on the power generating units of the thermal power plant, and then is developed to the simulation training of the power grid and the transformer substation. Generally, due to the characteristics of the power industry, the real operating environment risk coefficient is high, generally, an experienced master transfers experience in a mode of carrying on a brother, the efficiency is very low, PPT and pictures are also generally adopted for teaching in the teaching process, the whole maintenance process cannot be truly restored, and the manual capability of a student is very limited. Therefore, a three-dimensional model construction method suitable for the transformer substation operation environment of VR/AR is provided for solving the problems.
Disclosure of Invention
Based on the technical problems that the power equipment is complex to overhaul, the site of the transformer substation cannot be controlled timely and accurately, transformer substation overhaul technicians consume more manpower and material resources during training and normal operation, and the working efficiency is low in the background technology, the invention provides the three-dimensional model construction method suitable for the VR/AR transformer substation operation environment.
The invention provides a three-dimensional model construction method suitable for a VR/AR transformer substation operation environment, which comprises the following steps:
s1: by utilizing the principle of laser ranging, three-dimensional models of large scenes and various drawing data of lines, surfaces and bodies are rapidly acquired by recording three-dimensional coordinates, reflectivity and texture information of a large number of dense points on the surface of a measured object;
s2: acquiring original image data by using a single lens reflex after detection, and rapidly restoring real scenes and models of equipment, towers and lines by using laser point cloud processing software and photogrammetric software;
s3: the method has the advantages that the method simplifies the data of the triangulation network, reduces the number of the model surfaces, achieves the purpose of optimizing the model, and adjusts the positions of nodes to be optimal on the basis of a local-global idea under the condition that the mutual connection mode of the nodes is not changed, so that the uniformity of an image grid is integrally improved;
s4: the method comprises the steps of utilizing a U3D or UE4 engine to finish real restoration of power transformation equipment and surrounding environment scenes, editing materials according to actual equipment, and finishing real lamplight rendering and scene baking;
s5: the hot spot interactive work is completed by utilizing the U3D or UE4 engine, and the real-reaction power transformation equipment running state analysis and visualization system is suitable for the operation habits of power users and can adapt to the actual conditions of line running maintenance, comprehensive analysis and state evaluation work;
s6: establishing a virtual scene display mode based on virtual reality, and displaying data and system application by adopting a mode of an HTML5 webpage end or a client side and utilizing a mode of a PC and a VR glasses;
s7: and establishing a common fault type library according to the line fault phenomenon, and finishing a line fault preview, fault analysis and processing simulation system by combining a virtual scene to finish the construction of a three-dimensional model.
Preferably, in S1, a laser is used as a light source to measure position information of the surface feature point of the measured object, and image matching is performed.
Preferably, in S2, the laser point cloud processing software may adopt laser radar point cloud processing software, and the photogrammetry software may adopt Virzoto, DPGrid, helava, or PixelFactory.
Preferably, in S3, constraint control is set in the process of improving the uniformity of the image mesh, an optimization region is controlled, the quality of the image feature mesh is improved, and the GPU model operation pressure is reduced.
Preferably, in S3, after the uniformity of the image grid is improved, the image feature grid points are extracted and matched, sufficient SIFT feature points to be matched are detected from the images of multiple viewpoints, and the positions and scales of the feature points are determined.
Preferably, the exact position, scale and curvature ratio is found by fitting the determined data around the feature candidate points, and candidate points with low neighborhood contrast or on the edges are discarded.
Preferably, after the image feature grid points are extracted and matched, noise points are removed from the extracted matched feature points in the three-dimensional model by using a modified RANSAC refinement algorithm.
Preferably, the stable feature is searched in all scales using a scale-space function, which is expressed as:
preferably, the symbol
Representing the convolution operation, the gaussian kernel G (x, y, σ) is:
preferably, the scale space function L (x, y, σ) of the image I (x, y) comprises a convolution of a gaussian kernel G (x, y, σ) of the scale variable with the image I (x, y), i.e.:
compared with the prior art, the invention has the beneficial effects that:
1. the substation live-action modeling restoration and display are carried out by utilizing the 3D scanning technology and the photogrammetry, so that the accurate measurement of the spacing distances of a transformer, a disconnecting link, a bus and the like in the substation can be realized, the occurrence of power grid accidents is reduced, the accident occurrence probability is reduced, the reliable operation of a power grid is greatly improved, the technical problem of the substation in the aspects of operation and maintenance is solved, and the substation live-action modeling restoration and display method has huge economic and social benefits.
2. The virtual scene display mode based on the virtual reality is established, so that field operators and external construction personnel can know the field environment conveniently, know the equipment information and the position conveniently, develop the cooperative communication capacity between the field operators and control room operators, improve the operation skills of conventional operation and maintenance functions, and perform safety emergency procedures in the rehearsal or high-emergency state.
3. Through constructing a transformer substation maintenance technology knowledge base and combining with a Virtual Reality (VR) technology and an Augmented Reality (AR) technology, abundant field expert experience can be accumulated and recorded visually, and the method is widely applied to transformer substation maintenance technician training.
4. The interaction functions such as model interaction hotspot touch control and the like which are in accordance with the actual maintenance process of the transformer substation are realized, and the refined VR/AR display is carried out on the maintenance process of the transformer substation.
The method solves the problems of long time consumption and poor fineness of the 3D modeling before the transformer substation equipment, has obvious economic benefit and social benefit, provides great convenience for the operation of the transformer substation, and ensures that the transformer substation operation system keeps safe and efficient operation.
Drawings
FIG. 1 is a schematic diagram of a 3D modeling process of a main structure of a three-dimensional model construction method suitable for a VR/AR transformer substation operating environment provided by the invention;
FIG. 2 is a detail diagram of a main structure 3D modeling process of the three-dimensional model construction method for the VR/AR transformer substation operating environment provided by the invention;
FIG. 3 is a virtual scene light sensation rendering effect diagram of the three-dimensional model construction method applicable to the VR/AR transformer substation operation environment provided by the invention;
fig. 4 is a diagram showing details of a distance measurement function of the method for constructing a three-dimensional model of a substation operating environment suitable for VR/AR according to the present invention.
Detailed Description
The present invention will be further illustrated with reference to the following specific examples.
Examples
Referring to fig. 1 to 4, a method for constructing a three-dimensional model of a transformer substation operating environment suitable for VR/AR includes the following steps:
s1: by utilizing the principle of laser ranging, three-dimensional coordinates, reflectivity and texture information of a large number of dense points on the surface of a measured object are recorded, and three-dimensional models of large scenes and various image data of lines, surfaces and objects are rapidly acquired, wherein a laser is used as a light source to measure the position information of surface characteristic points of the measured object, and image matching is performed;
s2: acquiring original image data by using a detected single-lens reflex, and rapidly restoring real scenes and models of equipment, towers and lines by using laser point cloud processing software and photogrammetry software, as shown in figure 1, wherein the laser point cloud processing software can adopt laser radar point cloud processing software, and the photogrammetry software can adopt Virzoto, DPGrid, helava or PixelFactory;
s3: simplifying the data of the triangular net, reducing the number of the model surfaces and achieving the purpose of optimizing the model, based on the local-global thought, under the condition of not changing the interconnection mode of the nodes, adjusting the positions of the nodes to be optimal, thereby integrally improving the uniformity of the image grid, setting constraint control in the process of improving the uniformity of the image grid, controlling an optimization area, improving the quality of the image characteristic grid and reducing the operation pressure of a GPU model, as shown in figure 2;
after the uniformity of an image grid is improved, extracting and matching image feature grid points, detecting sufficient SIFT feature points to be matched from images of multiple viewpoints, determining the positions and scales of the feature points, fitting data around the determined feature candidate points to obtain accurate position, scale and curvature ratio, discarding candidate points with low neighborhood contrast or on the edge, wherein a scale space function is used for searching stable features in all scales, and the scale space function is expressed as:
after the image characteristic grid points are extracted and matched, noise points are removed from the extracted matching characteristic points in the three-dimensional model by using an improved RANSAC (random sample consensus) refinement algorithm, the noise proportion of data is greatly reduced by using an improved RANSAC refinement algorithm, the reliability of RANSAC results and the purity of data are improved, and the accuracy of parameter solution and the three-dimensional model construction efficiency of the transformer substation operation environment are facilitated;
s4: the method comprises the following steps of utilizing a U3D or UE4 engine to finish real restoration of power transformation equipment and surrounding environment scenes, editing materials according to actual equipment, finishing real light rendering and scene baking, and referring to fig. 3;
s5: the method has the advantages that hot spot interactive work is completed by using a U3D or UE4 engine, a truly-reflected substation equipment running state analysis and visualization system is suitable for the operation habits of power users, can adapt to the actual conditions of line running maintenance, comprehensive analysis and state evaluation work, facilitates field operators and external construction personnel to be familiar with the field environment, know equipment information and position, cultivate the cooperative communication capacity between the field operators and control room operators, improve the operation skills of conventional running and maintenance functions, and perform safety emergency procedures in a rehearsal or high-emergency state, as shown in figure 4;
s6: establishing a virtual scene display mode based on virtual reality, and performing refined VR/AR data and system application display by adopting an HTML5 webpage end or client side mode and utilizing a PC and VR glasses mode;
s7: according to the line fault phenomenon, a common fault type library is established, a line fault preview, fault analysis and processing simulation system is completed by combining a virtual scene, the construction of a three-dimensional model is completed, a transformer substation maintenance technology knowledge library can be constructed and combined with virtual reality VR and augmented reality AR technologies, rich field expert experience can be accumulated and recorded visually, and the method is widely applied to transformer substation maintenance technician training.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (10)
1. A three-dimensional model construction method suitable for a VR/AR transformer substation operation environment is characterized by comprising the following steps:
s1: by utilizing the principle of laser ranging, three-dimensional models of large scenes and various drawing data of lines, surfaces and bodies are rapidly acquired by recording three-dimensional coordinates, reflectivity and texture information of a large number of dense points on the surface of a measured object;
s2: acquiring original image data by using a single lens reflex after detection, and rapidly restoring real scenes and models of equipment, towers and lines by using laser point cloud processing software and photogrammetric software;
s3: simplifying the data of the triangular net, reducing the model surface number, achieving the purpose of optimizing the model, and adjusting the positions of the nodes to be optimal under the condition of not changing the interconnection mode of the nodes based on the local-global thought, thereby improving the uniformity of the image grid as a whole;
s4: the method comprises the steps of utilizing a U3D or UE4 engine to finish real restoration of power transformation equipment and surrounding environment scenes, editing materials according to actual equipment, and finishing real lamplight rendering and scene baking;
s5: the hot spot interactive work is completed by utilizing the U3D or UE4 engine, and the real-reaction power transformation equipment running state analysis and visualization system is suitable for the operation habits of power users and can adapt to the actual conditions of line running maintenance, comprehensive analysis and state evaluation work;
s6: establishing a virtual scene display mode based on virtual reality, and displaying data and system application by adopting a mode of an HTML5 webpage end or a client side and utilizing a mode of a PC and a VR glasses;
s7: and establishing a common fault type library according to the line fault phenomenon, and finishing a line fault preview, fault analysis and processing simulation system by combining a virtual scene to finish the construction of a three-dimensional model.
2. The method for constructing the three-dimensional model of the transformer substation operating environment suitable for VR/AR according to claim 1, wherein in S1, a laser is used as a light source to measure position information of surface feature points of a measured object, and image matching is performed.
3. The method for constructing the three-dimensional model of the transformer substation operating environment suitable for VR/AR according to claim 1, wherein in S2, the laser point cloud processing software may be lidar point cloud processing software, and the photogrammetry software may be Virzoto, DPGrid, helava, or PixelFactory.
4. The method of claim 1, wherein in step S3, constraint control is set in an image grid uniformity improvement process, an optimization region is controlled, quality of an image feature grid is improved, and GPU model operation pressure is reduced.
5. The method for constructing the three-dimensional model of the transformer substation operating environment applicable to VR/AR of claim 1, wherein in S3, after uniformity of an image grid is improved, image feature grid points are extracted and matched, sufficient SIFT feature points to be matched are detected from images of multiple viewpoints, and positions and scales of the feature points are determined.
6. The method for building the three-dimensional model of the transformer substation operating environment suitable for VR/AR according to claim 5, wherein the accurate position, scale and curvature ratio is obtained by fitting data around the determined characteristic candidate points, and candidate points with low neighborhood contrast or on edges are discarded.
7. The method for constructing the three-dimensional model of the substation operation environment applicable to VR/AR of claim 5, wherein after the image feature grid points are extracted and matched, noise points are removed from the extracted matched feature points in the three-dimensional model by using an improved RANSAC refinement algorithm.
8. The method for constructing the three-dimensional model of the transformer substation operation environment suitable for VR/AR according to claim 5, wherein a scale space function is used to search for stable features in all scales, and the scale space function is expressed as:
9. the method for constructing the three-dimensional model of the VR/AR substation operating environment according to claim 8, wherein the symbols are symbols
Representing the convolution operation, the gaussian kernel G (x, y, σ) is:
10. the method for building the three-dimensional model of the substation operation environment suitable for VR/AR according to claim 9, wherein the scale space function L (x, y, σ) of the image I (x, y) includes a convolution of a gaussian kernel G (x, y, σ) of a scale variable with the image I (x, y), that is:
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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 |
| 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 |
| 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 |
| CN112035934B (en) * | 2020-09-04 | 2024-05-10 | 国网山西省电力公司经济技术研究院 | Method for performing 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 |
| 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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