CN111091615A - Substation three-dimensional simulation system database modeling system facing power grid training service - Google Patents
Substation three-dimensional simulation system database modeling system facing power grid training service Download PDFInfo
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Abstract
The invention provides a substation three-dimensional simulation system database modeling system for power grid training service, which comprises: the scene three-dimensional model building module is used for building a transformer substation three-dimensional scene model; the power equipment model building module is used for building a three-dimensional simulation model of the power equipment; the virtual role model building module is used for building a virtual role model; the model library management module is used for storing model data constructed by the scene three-dimensional model construction module, the power equipment model construction module and the virtual role model construction module; and the three-dimensional visualization platform is used for calling the required model data from the model library management module and displaying the model data. The modeling system can truly restore the scene of the transformer substation and each power device in the transformer substation, and lays a foundation for the development of subsequent power grid training services.
Description
Technical Field
The invention relates to the technical field of database modeling, in particular to a substation three-dimensional simulation system database modeling system for power grid training service.
Background
The training work of the transformer substation staff is mainly realized in the current stage through teaching by a master, ppt display, appearance display of running equipment and the like, the actual operation and exception handling of the transformer substation of the new staff are not intuitively known, and meanwhile, the number of training platforms for the staff to actually operate in the current stage is relatively small, so that the requirements of the current staff and the future staff on the training work are difficult to meet. At present, the following problems exist in the training of power transformation operation and maintenance staff: 1. untrained staff cannot meet the operation qualification and participate in switching operation training. The training effect cannot be achieved only by watching the teacher and father operations; 2. the newly-built training transformer substation is long in time consumption, high in cost, large in occupied area, poor in economy and difficult to cover all equipment types; 3. exception handling occupies a significant position in everyday work and once it occurs, requires rapid and correct handling by staff. Often, abnormal scenes cannot be simulated in daily work to train staff, and the training effect is poor.
Therefore, it is highly desirable to establish a database modeling system of a three-dimensional simulation system of a transformer substation facing a power grid training service to solve the above technical problems
Disclosure of Invention
Aiming at the problems, the invention provides a substation three-dimensional simulation system database modeling system facing to the power grid training service.
The purpose of the invention is realized by adopting the following technical scheme:
a three-dimensional simulation system database modeling system of a transformer substation facing to a power grid training service comprises:
the scene three-dimensional model building module is used for building a transformer substation three-dimensional scene model;
the power equipment model building module is used for building a three-dimensional simulation model of the power equipment;
the virtual role model building module is used for building a virtual role model;
the model library management module is used for storing model data constructed by the scene three-dimensional model construction module, the power equipment model construction module and the virtual role model construction module;
and the three-dimensional visualization platform is used for calling the required model data from the model library management module and displaying the model data.
In an optional embodiment, the scene three-dimensional model building module comprises: the system comprises a laser point cloud data acquisition unit, a laser point cloud data processing unit and a model construction unit;
the laser point cloud data acquisition unit is used for three-dimensionally scanning internal equipment and an external structure of a transformer substation based on a mobile three-dimensional laser scanning system to acquire laser point cloud data of the internal equipment and the external structure information of the transformer substation, wherein the laser point cloud data comprises: counting the coordinates of the laser points;
the laser point cloud data processing unit is used for denoising, indexing, registering, compressing and surface fitting the laser point cloud data to obtain processed laser point cloud data;
and the model building unit is used for building a three-dimensional scene model of the transformer substation based on the processed laser point cloud data.
In an optional embodiment, the power device model building module includes: the system comprises an image acquisition unit, an image processing unit, a feature extraction unit, a stereo matching unit and a three-dimensional model construction unit;
the image acquisition unit is used for acquiring a plurality of images of the power equipment to be modeled from multiple angles in an all-around manner and transmitting the acquired images to the image processing unit;
the image processing unit is used for processing the received image;
the feature extraction unit is used for extracting feature points of each image from the processed images;
the stereo matching unit is used for converting the characteristic points of each image into three-dimensional characteristic points and calculating to obtain a depth image of each image;
and the three-dimensional model building unit is used for obtaining three-dimensional space coordinates of three-dimensional characteristic points of the electric power equipment to be modeled based on the obtained depth images of the images, so that the three-dimensional simulation model of the electric power equipment to be modeled is obtained.
In an optional embodiment, the virtual character model building module comprises: the device comprises an original picture construction unit, a surface model making unit and a skeleton model construction unit;
the original picture constructing unit is used for constructing an original picture of the virtual role;
the surface model making unit is used for creating a basic human body structure of a virtual role by using 3DMAX software according to the size, the dimension and the whole structure of the constructed original picture, and performing mapping processing on the basic human body structure to obtain a virtual role surface model;
the skeleton model building unit is used for dividing the virtual role surface model into a plurality of virtual role blocks, determining joint points of the virtual role blocks, determining the skeleton of each virtual role block according to the obtained joint points, and further obtaining the skeleton model of the virtual role.
In an alternative embodiment, the image processing unit comprises: an image noise reduction subunit and an edge detection subunit;
the image noise reduction subunit is used for carrying out graying conversion on the received image and carrying out noise reduction operation on the grayed image;
and the edge detection subunit is used for carrying out edge detection on the denoised image to obtain a sub-image only containing the information of the power equipment.
In an optional implementation manner, the performing noise reduction on the grayed image specifically includes:
(1) carrying out sparse decomposition on the grayed image in an NSCT domain to obtain a decomposed high-frequency sub-band coefficient and a decomposed low-frequency sub-band coefficient;
(2) correcting the high-frequency sub-band coefficient by using the following formula to obtain a corrected high-frequency sub-band coefficient;
in formula (II), g'k,s(i, j) is the k-scale after correction, the s-th high-frequency subband, the high-frequency subband coefficient with the position of (i, j), gk,s(i, j) is k-scale before correction, the s-th subband, the position of which is the high-frequency subband coefficient at (i, j), maxgk,sIs k scale, the maximum value of the high-frequency subband coefficient on the s-th high-frequency subband, α is an amplitude adjustment factor, and the value range is [0.735,1]β is a gain intensity adjustment factor with a value in the range of [20,50 ]]Gamma is a curve shape regulating factor, and the value of gamma is more than 1;
(3) and performing NSCT inverse transformation on the modified high-frequency sub-band coefficient and the modified low-frequency sub-band coefficient to obtain the noise-reduced image.
The invention has the beneficial effects that: according to the method, a three-dimensional scene model of the transformer substation, a three-dimensional simulation model and a virtual role model of the power equipment are constructed, and then display is carried out through a three-dimensional visualization platform. The modeling system can truly restore the scene of the transformer substation and each power device in the transformer substation, and lays a foundation for the development of subsequent power grid training services.
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The invention is further illustrated by means of the attached drawings, but the embodiments in the drawings do not constitute any limitation to the invention, and for a person skilled in the art, other drawings can be obtained on the basis of the following drawings without inventive effort.
Fig. 1 is a framework structure diagram of a database modeling system of a three-dimensional simulation system of a transformer substation according to an embodiment of the present invention;
FIG. 2 is a frame structure diagram of a scene three-dimensional model building module according to an embodiment of the present invention;
fig. 3 is a frame structure diagram of a power equipment model building module according to an embodiment of the present invention;
fig. 4 is a framework structure diagram of a virtual character model building module according to an embodiment of the present invention.
Reference numerals: the system comprises a scene three-dimensional model building module 1, a power equipment model building module 2, a virtual role model building module 3, a model library management module 4, a three-dimensional visualization platform 5, a laser point cloud data acquisition unit 6, a laser point cloud data processing unit 7, a model building unit 8, an image acquisition unit 9, an image processing unit 10, a feature extraction unit 11, a stereo matching unit 12, a three-dimensional model building unit 13, an original picture building unit 14, a surface model making unit 15, a skeleton model building unit 16, an image noise reduction subunit 17 and an edge detection subunit 18.
Detailed Description
The invention is further described with reference to the following examples.
Fig. 1 shows a substation three-dimensional simulation system database modeling system for power grid training service, which includes: the system comprises a scene three-dimensional model building module 1, a power equipment model building module 2, a virtual role model building module 3, a model library management module 4 and a three-dimensional visualization platform 5.
The system comprises a scene three-dimensional model building module 1, a transformer substation three-dimensional model building module and a scene three-dimensional model building module, wherein the scene three-dimensional model building module is used for building a transformer substation three-dimensional scene model;
the power equipment model building module 2 is used for building a three-dimensional simulation model of the power equipment;
the virtual role model building module 3 is used for building a virtual role model;
the model library management module 4 is used for storing model data constructed by the scene three-dimensional model construction module 1, the power equipment model construction module 2 and the virtual role model construction module 3;
and the three-dimensional visualization platform 5 is used for calling the required model data from the model library management module 4 and displaying the model data.
According to the embodiment of the invention, a three-dimensional scene model of the transformer substation, a three-dimensional simulation model and a virtual role model of the power equipment are constructed, and then the three-dimensional scene model, the three-dimensional simulation model and the virtual role model are displayed through a three-dimensional visualization platform. The modeling system can truly restore the scene of the transformer substation and each power device in the transformer substation, and lays a foundation for the development of subsequent power grid training services.
Referring to fig. 2, the scene three-dimensional model building module 1 includes: the system comprises a laser point cloud data acquisition unit 6, a laser point cloud data processing unit 7 and a model construction unit 8;
the laser point cloud data acquisition unit 6 is configured to perform three-dimensional scanning on the internal device and the external structure of the substation based on a mobile three-dimensional laser scanning system, and acquire laser point cloud data of the internal device and the external structure information of the substation, where the laser point cloud data includes: and laser point coordinates.
By adopting the mobile three-dimensional laser scanning system, the system can realize indoor and outdoor three-dimensional scanning without auxiliary technologies such as a GPS (global positioning system) and the like, realizes the continuous characteristic matching of large areas and large scenes only by depending on a simple inertia measuring device configured by the system under the environment without the GPS and a complex inertia navigation system, can acquire the area of tens of thousands of square meters at one time based on an SLAM (real-time positioning and mapping) algorithm, and realizes the acquisition of centimeter-level three-dimensional data.
The laser point cloud data processing unit 7 performs denoising, indexing, registering, compressing and surface fitting on the laser point cloud data to obtain processed laser point cloud data.
After the laser point cloud data acquisition is completed, calculating the original track of the IMU based on the feature matching of the original track, adjustment calculation optimization track precision, point cloud secondary calculation based on the precise track and the SLAM algorithm based on the measurement principle. After the data calibration and arrangement are finished, a rough frame model is constructed through software processing and used for being matched with fine laser point cloud data to carry out correction processing and detail supplement.
And the model construction unit 8 is used for constructing a three-dimensional scene model of the transformer substation based on the processed laser point cloud data.
Preferably, after the texture of the three-dimensional scene model of the transformer substation is manufactured, a series of optimization and adjustment works such as further model optimization, enhancement of the real texture of the model material, scene adjustment and the like need to be performed on the model, and the three-dimensional display effect of the model is improved.
Referring to fig. 3, the power equipment model building module 2 includes: the three-dimensional image processing system comprises an image acquisition unit 9, an image processing unit 10, a feature extraction unit 11, a stereo matching unit 12 and a three-dimensional model construction unit 13;
the image acquisition unit 9 is used for acquiring a plurality of images of the power equipment to be modeled from multiple angles in an all-around manner and transmitting the acquired images to the image processing unit 10;
the image processing unit 10 is configured to process the received image;
the feature extraction unit 11 is configured to extract feature points of each image from the processed image;
the stereo matching unit 12 is configured to convert the feature points of each image into three-dimensional feature points, and calculate to obtain a depth image of each image;
the three-dimensional model constructing unit 13 obtains three-dimensional space coordinates of each three-dimensional feature point of the electric power equipment to be modeled based on the obtained depth image of each image, and obtains a three-dimensional simulation model of the electric power equipment to be modeled.
Preferably, the image processing unit 10 comprises an image noise reduction subunit 17 and an edge detection subunit 18.
The image denoising subunit 17 is configured to perform graying conversion on the received image, and perform denoising operation on the grayed image;
the edge detection subunit 18 is configured to perform edge detection on the noise-reduced image to obtain a sub-image that only includes information of the power device.
Preferably, the above-mentioned noise reduction operation performed on the grayed image specifically includes:
(1) carrying out sparse decomposition on the grayed image in an NSCT domain to obtain a decomposed high-frequency sub-band coefficient and a decomposed low-frequency sub-band coefficient;
(2) correcting the high-frequency sub-band coefficient by using the following formula to obtain a corrected high-frequency sub-band coefficient;
in formula (II), g'k,s(i, j) is the k-scale after correction, the s-th high-frequency subband, the high-frequency subband coefficient with the position of (i, j), gk,s(i, j) is k-scale before correction, the s-th subband, the position of which is the high-frequency subband coefficient at (i, j), maxgk,sIs k scale, the maximum value of the high-frequency subband coefficient on the s-th high-frequency subband, α is an amplitude adjustment factor, and the value range is [0.735,1]β is a gain intensity adjustment factor with a value in the range of [20,50 ]]Preferably, γ is a curve shape adjustment factor, which has a value greater than 1, β being 25.
(3) And performing NSCT inverse transformation on the modified high-frequency sub-band coefficient and the modified low-frequency sub-band coefficient to obtain the noise-reduced image.
Due to the influences of the environment of the transformer substation, illumination, the configuration of the image acquisition unit 9, noise infection of the image in transmission and other factors, the image of the electric power equipment to be modeled may be polluted by noise when being acquired, so that the acquired image needs to be subjected to noise reduction processing to improve the image quality and facilitate accurate modeling of the electric power equipment to be modeled subsequently. In the above embodiment, firstly, the acquired image is grayed, then the grayed image is subjected to coefficient decomposition in the NSCT domain, then the obtained high-frequency subband coefficient is corrected according to the above, and then the corrected high-frequency subband coefficient and low-frequency subband coefficient are subjected to NSCT inverse transformation, so that the noise-reduced image can be obtained, the image quality of the image is improved, and the subsequent three-dimensional modeling of the power equipment is facilitated. The image is subjected to multi-scale decomposition by NSCT transformation to obtain high-frequency sub-band coefficients and low-frequency sub-band coefficients under different scales, so that singular points of the image can be captured, and the image is subjected to noise reduction treatment conveniently in the follow-up process. By adopting the formula above to correct the high-frequency sub-band coefficient, not only the information such as edge and detail in the original image can be retained, but also noise can be effectively removed and pseudo-Gibbs distortion can be inhibited. Through adjusting amplitude adjustment factor, gain intensity adjustment factor and curve shape adjustment factor can be fine regulate and control the range value, the curvature value etc. of this curve, steep peak and valley appear in avoiding the curve to reach good noise reduction effect, be convenient for follow-up power equipment edge detects in the image, draws power equipment profile information, in order to do benefit to follow-up accurate modeling to this power equipment, make the power equipment model that obtains more closely in true.
In an alternative embodiment, the specific value of the amplitude adjustment factor α can be obtained by solving the following equation:
the method has the beneficial effects that in the implementation mode, the value of the amplitude adjustment factor is specifically determined by using the formula, and the influence of the values of the gain intensity adjustment factor and the curve shape adjustment factor on the amplitude adjustment factor α is considered in the formula, so that the reasonability of the value of the amplitude adjustment factor α is ensured, the reasonability of image denoising operation is also ensured, the accurate denoising of the image is realized, and the image denoising quality is ensured.
In an alternative embodiment, the gain intensity adjustment factor β may be specifically determined according to the high frequency subband coefficient size at each scale, wherein, regarding the k-scale, the gain intensity adjustment factor β at the s-th high frequency subband isk,sCan be adaptively determined by:
in the formula, Tk,sA threshold value of the s high-frequency sub-band with the size equal to the noise standard of the s high-frequency sub-band with the k scaleThe ratio of the difference to the standard deviation of the subband coefficient.
The method has the beneficial effects that in the embodiment, the value of the gain intensity adjustment factor is specifically determined by using the formula, and in the formula, the amplitude adjustment factor α and the threshold value T are consideredk,sThe method can specifically determine the value of the gain intensity adjustment factor of the high-frequency sub-band coefficient on the corresponding scale according to the value of the high-frequency sub-band coefficient on each scale, thereby realizing self-adaptive denoising according to the characteristics of the high-frequency sub-band coefficient on each scale and improving the flexibility of image denoising operation.
Referring to fig. 4, the virtual character model building module 3 includes: a raw picture constructing unit 14, a surface model making unit 15 and a skeleton model constructing unit 16;
the original picture constructing unit 14 is used for constructing an original picture of the virtual character;
the surface model making unit 15 creates a basic human body structure of a virtual character by using 3DMAX software according to the size, the dimension and the whole structure of the constructed original picture, and performs mapping processing on the basic human body structure to obtain a virtual character surface model;
the skeleton model constructing unit 16 is configured to divide the virtual character surface model into a plurality of virtual character blocks, determine joint points of each virtual character block, determine a skeleton of each virtual character block according to the obtained joint points, and further obtain a skeleton model of the virtual character.
Before the virtual character model is made, an original drawing of the virtual character needs to be constructed. After obtaining the original picture of the virtual character, firstly creating a basic human body structure of the virtual character in 3DMAX software according to the size, the dimension and the whole structure of the original picture; then, fine adjustment is carried out on the details of the model, such as five sense organs, fingers and the like; in order to better fit the subsequent chartlet to the 3D model and ensure that the chartlet content position corresponds to the accurate model position, the three-dimensional model is planarized (split UV); and finally, mapping on UV (ultraviolet), namely manufacturing an outer skin model of the virtual role, and optimizing and adjusting the whole model to finish the manufacturing of the surface model of the virtual role.
After the virtual character surface model is manufactured, a skeleton model of the virtual character needs to be further established. The adjacent relationship between the blocks of the virtual character surface model determines the motion sequence between the bones. A common plane between adjacent partitions is defined as a boundary. And determining a boundary central point by averaging the points of each boundary, and respectively obtaining virtual angle color blocks such as an arm, a palm block, a chest block and the like by taking the calculated boundary central point as the joint points of the blocks. And determining the topmost block according to the translation motion rule and the rotation motion rule of the blocks. After the top-most piece and the number of joint points for each piece are determined, the skeleton for each piece can be established from the joint points. After a skeleton model is established, the actions of a virtual role are simulated through inverse kinematics, and the immersion sense of a virtual scene is enhanced: and defining a coordinate system for the local part of the skeleton, determining parameters, establishing an equation, and obtaining the action posture of the model after obtaining the solution of the equation. Therefore, the action posture of the model can be changed by changing the direction of a certain bone, and the aim of controlling the motion of the virtual character model is fulfilled.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the protection scope of the present invention, although the present invention is described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions can be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.
Claims (6)
1. A three-dimensional simulation system database modeling system of transformer substation facing to power grid training service is characterized by comprising:
the scene three-dimensional model building module is used for building a transformer substation three-dimensional scene model;
the power equipment model building module is used for building a three-dimensional simulation model of the power equipment;
the virtual role model building module is used for building a virtual role model;
the model library management module is used for storing model data constructed by the scene three-dimensional model construction module, the power equipment model construction module and the virtual role model construction module;
and the three-dimensional visualization platform is used for calling the required model data from the model library management module and displaying the model data.
2. The substation three-dimensional simulation system database modeling system of claim 1, wherein the scene three-dimensional model building module comprises: the system comprises a laser point cloud data acquisition unit, a laser point cloud data processing unit and a model construction unit;
the laser point cloud data acquisition unit is used for three-dimensionally scanning internal equipment and an external structure of a transformer substation based on a mobile three-dimensional laser scanning system to acquire laser point cloud data of the internal equipment and the external structure information of the transformer substation, wherein the laser point cloud data comprises: counting the coordinates of the laser points;
the laser point cloud data processing unit is used for denoising, indexing, registering, compressing and surface fitting the laser point cloud data to obtain processed laser point cloud data;
and the model building unit is used for building a three-dimensional scene model of the transformer substation based on the processed laser point cloud data.
3. The substation three-dimensional simulation system database modeling system of claim 1, wherein the power equipment model building module comprises: the system comprises an image acquisition unit, an image processing unit, a feature extraction unit, a stereo matching unit and a three-dimensional model construction unit;
the image acquisition unit is used for acquiring a plurality of images of the power equipment to be modeled from multiple angles in an all-around manner and transmitting the acquired images to the image processing unit;
the image processing unit is used for processing the received image;
the feature extraction unit is used for extracting feature points of each image from the processed images;
the stereo matching unit is used for converting the characteristic points of each image into three-dimensional characteristic points and calculating to obtain a depth image of each image;
and the three-dimensional model building unit is used for obtaining three-dimensional space coordinates of three-dimensional characteristic points of the electric power equipment to be modeled based on the obtained depth images of the images, so that the three-dimensional simulation model of the electric power equipment to be modeled is obtained.
4. The substation three-dimensional simulation system database modeling system of claim 1, wherein the virtual character model building module comprises: the device comprises an original picture construction unit, a surface model making unit and a skeleton model construction unit;
the original picture constructing unit is used for constructing an original picture of the virtual role;
the surface model making unit is used for creating a basic human body structure of a virtual role by using 3DMAX software according to the size, the dimension and the whole structure of the constructed original picture, and performing mapping processing on the basic human body structure to obtain a virtual role surface model;
the skeleton model building unit is used for dividing the virtual role surface model into a plurality of virtual role blocks, determining joint points of the virtual role blocks, determining the skeleton of each virtual role block according to the obtained joint points, and further obtaining the skeleton model of the virtual role.
5. The substation three-dimensional simulation system database modeling system of claim 3, wherein the image processing unit comprises: an image noise reduction subunit and an edge detection subunit;
the image noise reduction subunit is used for carrying out graying conversion on the received image and carrying out noise reduction operation on the grayed image;
and the edge detection subunit is used for carrying out edge detection on the denoised image to obtain a sub-image only containing the information of the power equipment.
6. The substation three-dimensional simulation system database modeling system according to claim 5, wherein the denoising operation is performed on the grayed image, specifically:
(1) carrying out sparse decomposition on the grayed image in an NSCT domain to obtain a decomposed high-frequency sub-band coefficient and a decomposed low-frequency sub-band coefficient;
(2) correcting the high-frequency sub-band coefficient by using the following formula to obtain a corrected high-frequency sub-band coefficient;
in formula (II), g'k,s(i, j) is the k-scale after correction, the s-th high-frequency subband, the high-frequency subband coefficient with the position of (i, j), gk,s(i, j) is k-scale before correction, the s-th subband, the position of which is the high-frequency subband coefficient at (i, j), maxgk,sIs k scale, the maximum value of the high-frequency subband coefficient on the s-th high-frequency subband, α is an amplitude adjustment factor, and the value range is [0.735,1]β is a gain intensity adjustment factor with a value in the range of [20,50 ]]Gamma is a curve shape regulating factor, and the value of gamma is more than 1;
(3) and performing NSCT inverse transformation on the modified high-frequency sub-band coefficient and the modified low-frequency sub-band coefficient to obtain the noise-reduced image.
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