Substation hot-line work simulation method and platform based on three-dimensional live-action modeling

Abstract

The invention discloses a transformer substation live-line work simulation method and platform based on three-dimensional real scene modeling, and belongs to the field of electric power training simulation. According to the method, a real transformer substation image is collected through an unmanned aerial vehicle, a high-precision three-dimensional real scene model is constructed, and in combination with a parameter chemical tool model library, a virtual-real fused simulation environment is achieved; the limitation that formulation of a traditional scheme depends on a two-dimensional drawing is solved; real-time spatial distance measurement calculation with centimeter-level precision is realized based on a nearest point search algorithm of a KD-Tree data structure, so that safety distance evaluation is converted from experience judgment to accurate calculation; safety regulations are digitalized into an executable rule base, automatic verification and early warning of the safety distance are achieved, and potential safety risks are found in advance; and functions of recording, playback and multi-scheme comparative analysis of the operation process are provided, and quantitative evaluation of different operation schemes is supported, so that scheme selection is more scientific and objective.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of power training simulation, and particularly relates to a substation live working simulation method and platform based on three-dimensional real scene modeling. BACKGROUND

[0002] Substation live working is an important link in the operation and maintenance of the power system, is a key technology to ensure the safe and stable operation of the power grid, has the characteristics of high risk and high technical content, but at the same time, its high risk puts high requirements on the skills and safety awareness of the operating personnel.

[0003] The traditional live working scheme formulation relies heavily on personnel experience and two-dimensional drawings, and cannot perform immersive and visual pre-rehearsal and verification of the operation process, tool placement, and personnel activity range before the operation, so it is difficult to discover and avoid potential safety risks (such as insufficient safety distance and improper tool use). The selection of different operation methods and different tools is mostly based on the experience of relevant personnel, and there is a lack of means for objective comparison and quantitative analysis (such as operation space, efficiency, and risk level) in a precisely restored real three-dimensional environment, which leads to difficulties in scheme optimization. In summary, the traditional training method for substation live working mainly relies on two-dimensional drawing explanation, simulation equipment practice, and on-site apprenticeship, and has the following significant defects: 1) high risk and high cost, on-site practical training may cause serious electric shock and equipment accidents if a mistake is made; 2) dependent on experience and lack of quantification, the formulation and optimization of the operation scheme highly depend on personal experience, and there is a lack of means for quantitative analysis and verification in a precisely restored real environment; 3) training is not intuitive and is low in efficiency, two-dimensional drawings and static models cannot provide an immersive operation experience, and students have difficulty in comprehensively understanding the complex relationship of the operation space, and the training period is long.

[0004] With the development of three-dimensional visualization technology, some power training simulation systems have appeared, but most of them have the following problems: the models are mostly hand-drawn, low in precision, high in cost, and slow in updating; the simulation process is disconnected from the real environment data, and cannot perform accurate spatial calculation and safety checking; and there is a lack of an intelligent rule engine deeply integrated with the existing safety regulations. SUMMARY

[0005] In order to solve the problems existing in the prior art, the present application proposes a substation live working simulation method and platform based on three-dimensional real scene modeling, which realizes a full-link closed loop from real data collection to virtual simulation pre-rehearsal, and greatly improves the safety, training efficiency, and decision-making scientificity of live working.

[0006] The present application is implemented through the following technical solutions:

[0007] A substation live working simulation method based on three-dimensional real scene modeling, comprising:

[0008] collecting multi-view sequence images of the substation live working by a UAV according to a preset route, and preprocessing the images;

[0009] based on the preprocessed multi-view sequence images, generating a three-dimensional point cloud model and a real scene three-dimensional model of the substation containing live equipment through aerial triangulation, dense matching, surface reconstruction and texture mapping;

[0010] selecting a tool model from a pre-constructed standard tool model library, and fusing the selected tool model with the real scene three-dimensional model to construct a virtual-real fused live working simulation environment; wherein the standard tool model library is used to store and manage the parameterized tool model and its electrical safety attribute parameters;

[0011] In the virtual-real fused live working simulation environment, based on the three-dimensional point cloud model, the spatial distance between the personnel, the tool and the live equipment in the simulation operation is calculated in real time for the personnel and the selected tool in the simulation operation;

[0012] The calculated spatial distance is compared with the safety threshold in the pre-set rule library, and a warning is triggered when a violation occurs; wherein the safety threshold is determined according to the voltage level of the live equipment and the electrical safety attribute of the selected tool;

[0013] The operation process editing and simulation function is provided in the virtual-real fused live working simulation environment, supporting users to record, play back and compare multiple schemes for the operation process containing tool operation.

[0014] In some embodiments, the multi-view sequence images of the substation are collected by a UAV according to a preset route, and the images are preprocessed, including:

[0015] The multi-view sequence images of the substation are automatically collected by a camera carried by a UAV according to a preset standard route, and the images are subjected to distortion correction and color balance processing.

[0016] In some embodiments, the three-dimensional point cloud model and the real scene three-dimensional model of the substation containing live equipment are generated through aerial triangulation, dense matching, surface reconstruction and texture mapping, including:

[0017] Based on the preprocessed images, a motion recovery structure algorithm is used for aerial triangulation, feature points of the images are extracted and matched, camera poses are calculated, and a sparse point cloud is generated;

[0018] The sparse point cloud is subjected to dense matching by using a multi-view stereo algorithm to generate a high-density three-dimensional point cloud;

[0019] Based on the high-density three-dimensional point cloud, a mesh model is generated by a Poisson surface reconstruction algorithm, and texture mapping is performed to generate a real-texture centimeter-level precision real scene three-dimensional model.

[0020] In some embodiments, the selected tool model is fused with the real scene three-dimensional model to construct a virtual-real fused live-line work simulation environment, including:

[0021] According to the actual work requirements, the corresponding tool model is selected from the standard tool model library, the selected tool model is automatically placed in the real scene three-dimensional model, and the user is supported to adjust the position and configure the parameters.

[0022] In some embodiments, based on the three-dimensional point cloud model, the spatial distance between the personnel in the simulation operation and the selected tool and the live equipment is calculated in real time, including:

[0023] Based on the KD-Tree data structure management of the three-dimensional point cloud model, the nearest point search algorithm is used to calculate the spatial distance between the personnel in the simulation operation, the tool and the live equipment in real time, and the precision of the spatial distance reaches centimeter level.

[0024] In some embodiments, the pre-warning includes visual pre-warning and / or auditory pre-warning;

[0025] The visual pre-warning includes highlighting the illegal object and dynamically drawing a warning line marked with a real-time distance value between the objects, and the color of the warning line automatically changes according to the safety distance margin;

[0026] The auditory pre-warning raises the attention of the operator to the safety distance through different frequencies and rhythms of sound, and automatically issues an alarm sound when the distance is less than the safety threshold.

[0027] In some embodiments, the operation process editing and simulation function is provided, and the user is supported to record, play back and compare multiple schemes for the work flow including tool operation, including:

[0028] A time axis editor is provided to allow the user to record, edit and play back the entire work flow;

[0029] Supporting synchronous comparison and playback of multiple work schemes on the same screen, and automatically generating a quantitative analysis report;

[0030] Comparing the total time consumption, path index and minimum safety distance of different work schemes to select the optimal work scheme.

[0031] Further, the method further includes:

[0032] A structured simulation report is automatically generated based on the simulation process data. The structured simulation report includes the operation sequence, a list of risk points, and safety verification results.

[0033] On the other hand, this application also proposes a substation live-line working simulation platform based on 3D real-scene modeling, including:

[0034] The data acquisition and processing module is used to acquire multi-view sequence images of the substation via a drone along a preset route, and to preprocess the images.

[0035] The real-scene 3D modeling module is used to generate a 3D point cloud model and a real-scene 3D model of a substation containing live equipment based on preprocessed images through aerial triangulation, dense matching, surface reconstruction and texture mapping.

[0036] The scene fusion module is used to select tool models from a pre-built standard tool model library and fuse the selected tool models with the real-scene 3D model to construct a virtual-real fusion live-line operation simulation environment; wherein the standard tool model library is used to store and manage parameterized tool models and their attribute parameters.

[0037] The real-time computing module is used to calculate, in the virtual fusion operation simulation environment, based on the three-dimensional point cloud model, the spatial distance between personnel, tools and selected equipment in the simulation operation and the electrical equipment in real time.

[0038] The safety verification module is used to compare the calculated spatial distance with the safety threshold in the preset rule base and trigger an early warning when a violation occurs; wherein the safety threshold is determined according to the voltage level of the energized equipment and the electrical safety attributes of the selected tools.

[0039] In addition, a simulation interaction module is provided to provide operation process editing and simulation functions in the virtual fusion live-line work simulation environment, supporting users to record, play back, and compare and analyze multiple schemes of operation processes including tool operations.

[0040] Furthermore, the platform also includes:

[0041] The management and report generation module is used to store different work plans and automatically generate structured simulation reports based on simulation process data. The structured simulation reports include work sequence, risk point list and safety verification results.

[0042] The application provides a substation live working simulation method based on three-dimensional real scene modeling, collects real substation images by using a drone and constructs a high-precision three-dimensional real scene model, combines a parameterized tool model library, realizes a simulation environment integrating virtual and real scenes, and solves the limitation of a traditional scheme that depends on two-dimensional drawings; and based on a nearest point search algorithm of a KD-Tree data structure, the method realizes real-time space distance measurement with a centimeter-level precision, changes the safety distance evaluation from experience judgment to accurate calculation; digitizes safety procedures into an executable rule library, realizes automatic checking and early warning of the safety distance, and discovers potential safety risks in advance; provides recording, playback and multi-scheme comparative analysis functions of the working process, supports quantitative evaluation of different working schemes, and makes the scheme selection more scientific and objective; the method effectively solves the problems of high risk, high cost and low efficiency in existing live working training, improves the scientificity and safety of the working scheme, and provides a new training and scheme preview solution for live working in the power industry.

[0043] Correspondingly, the substation live working simulation device based on three-dimensional real scene modeling also has the same technical effects. BRIEF DESCRIPTION OF DRAWINGS

[0044] The accompanying drawings used to provide further understanding of the embodiments of the application, constitute a part of the application, and do not constitute a limitation to the embodiments of the application. In the drawings:

[0045] Figure 1 The substation live working simulation method flowchart provided by the embodiments of the application;

[0046] Figure 2 The substation live working simulation platform principle block diagram provided by the embodiments of the application;

[0047] Figure 3 The substation live working simulation system architecture schematic diagram provided by the embodiments of the application;

[0048] Figure 4 The electronic device schematic diagram provided by the embodiments of the application;

[0049] Figure 5 The computer readable storage medium schematic diagram provided by the embodiments of the application;

[0050] The accompanying drawings and corresponding component names:

[0051] 200 - substation live working simulation platform, 201 - data acquisition and processing module, 202 - real scene three-dimensional modeling module, 203 - scene fusion module, 204 - real-time calculation module, 205 - safety verification module, 206 - simulation interaction module, 207 - management and report generation module, 300 - substation live working simulation system, 301 - input device, 302 - output device, 303 - processor A, 304 - memory A, 400 - electronic device, 410 - memory B, 420 - processor B, 411 - computer program A, 500 - computer readable storage medium, 511 - computer program B. DETAILED DESCRIPTION

[0052] In order to make the purpose, technical solutions and advantages of the present application clearer, further detailed description of the present application will be given below in combination with embodiments and drawings. The illustrative embodiments of the present application and their descriptions are only used to explain the present application and do not limit the present application.

[0053] The existing live working training and scheme development technology has high safety risk, low efficiency, high cost, and cannot realize accurate space calculation and safety verification. In view of this, the present application embodiment proposes a substation live working simulation method based on three-dimensional real scene modeling.

[0054] As shown in Figure 1 The substation live working simulation method proposed by the present application embodiment includes the following steps:

[0055] Step 1, collecting multiple-view sequence images of the substation by the unmanned aerial vehicle according to a preset route, and preprocessing the images;

[0056] Step 2, based on the preprocessed images, generating a three-dimensional point cloud model and a real scene three-dimensional model of the substation containing live equipment through aerial triangulation, dense matching, surface reconstruction and texture mapping;

[0057] Step 3, selecting a tool model from a pre-constructed standard tool model library, and fusing the selected tool model with the real scene three-dimensional model to construct a virtual-real fused live working simulation environment; wherein the standard tool model library is used to store and manage parameterized tool three-dimensional models and their attribute parameters;

[0058] Step 4, in the virtual-real fused live working simulation environment, based on the three-dimensional point cloud model, calculating the spatial distance between the personnel in the simulation operation, the selected tool and the live equipment in real time;

[0059] Step 5, compare the calculated spatial distance with the preset safety threshold in the rule base, and trigger a warning when a violation occurs; wherein the safety threshold is determined according to the voltage level of the live equipment and the electrical safety attribute of the selected tool;

[0060] Step 6, provide a job process editing and simulation function in the virtual-real fusion live working simulation environment, support users to record, play back and compare multiple schemes for the job flow.

[0061] Further, in step 1 of the embodiment of the present application, a high-resolution camera carried by the unmanned aerial vehicle automatically collects multiple-view sequence images of the substation according to a preset standard flight route, and performs pre-processing such as distortion correction and color balance on the images. Specifically, when the unmanned aerial vehicle collects, the flight height is usually set to 30-50 meters from the ground, the flight speed is controlled at 3-5 meters per second, and the image overlap degree is ensured to be more than 80% in the forward direction and 60% in the lateral direction, so as to meet the needs of subsequent three-dimensional reconstruction. The collected images are corrected by a distortion correction algorithm to eliminate lens distortion, and are processed by color balance to make the color tone of the images shot under different lighting conditions consistent.

[0062] Further, in step 2 of the embodiment of the present application, firstly, based on the preprocessed images, a structure from motion (SfM) algorithm is used for aerial triangulation, image feature points are extracted and matched, camera poses are calculated, and a sparse point cloud is generated; then a multi-view stereo (MVS) algorithm is used for dense matching of the sparse point cloud, and a high-density three-dimensional point cloud (model) is generated; finally, based on the high-density three-dimensional point cloud, a mesh model is generated through a Poisson surface reconstruction algorithm, and texture mapping is performed to generate a real-texture centimeter-level precision real scene three-dimensional model. In this process, the point cloud density can usually reach 500-1000 points per square meter, and the mesh model accuracy can reach centimeter level. The structure from motion algorithm specifically includes: feature extraction and description: for each input image, a large number of stable and distinguishable feature points are detected, commonly used feature detectors include SIFT, SURF, ORB, etc., these feature points are the basis for subsequent matching, and a descriptor is calculated for each feature point, which is a high-dimensional vector used to quantify its appearance for comparison in different images; feature matching: by comparing the similarity of the descriptors between all image pairs, feature points from different images but corresponding to the same physical point in the real world are found, this step will produce a large number of false matches, which need to be removed through geometric verification to retain the correct homonymic points; incremental reconstruction and bundle adjustment: usually, two images with high overlap are selected as the initial image pair, the fundamental matrix is calculated through the matching points, the relative poses of the two images are recovered, and the first batch of three-dimensional points is triangulated to form an initial sparse point cloud, then, a new image is registered to the existing three-dimensional scene one by one, as more and more images and three-dimensional points are added, the cumulative error will become larger; bundle adjustment is a large-scale nonlinear least squares optimization process that optimizes all camera pose parameters and all three-dimensional point coordinates simultaneously, so that the re-projection error between the three-dimensional points projected back from the camera pose and the actual observed feature points in the image is minimized, this process is repeated to ensure the global consistency of the scene structure and motion, so that a sparse point cloud with accurate camera poses is obtained, which accurately outlines the main structure of the scene and the path of the camera shooting. The multi-view stereo algorithm includes: depth map calculation: a depth map is calculated for each registered image, each pixel value in the depth map represents the distance from the scene point corresponding to the pixel to the camera, taking one image as a reference image, corresponding pixels are found in its adjacent multiple images (source images); at each pixel of the reference image, a series of depth values (depth hypotheses) are assumed along its line-of-sight direction; for each depth hypothesis, the point is projected into all source images.The similarity of the pixel blocks of these projected points in each source image is compared; the depth hypothesis that makes the similarity between multiple images the highest and the consistency the best is considered to be the real depth of the pixel; depth map fusion: firstly, consistency check, project the points in a depth map into the depth maps of its adjacent images, check whether the depth values are consistent, filter out those inconsistent and unreliable points; secondly, remove redundancy, the same three-dimensional surface point may be reconstructed by the depth maps of multiple images at the same time, and the fusion process will combine these repeated points into one point.

[0063] Further, in step 3 of the embodiment of the present application, the pre-constructed parameterized standard tool model library includes insulating boom trucks, cranes, insulating operating poles and other models, each model is associated with geometric dimensions, weight, electrical insulation grade, and safe operation range and other attributes, for example, the insulating operating pole model includes length specifications (2 meters, 3 meters, 5 meters, etc.), insulation levels (10kV, 35kV, 110kV, etc.), materials (epoxy resin, glass steel, etc.), weights (2kg-5kg) and safe operation distances and other parameters; the embodiment of the present application can select suitable tool models from the model library according to actual operation needs, automatically place these models in the real three-dimensional scene, and support users to adjust the positions and configure parameters thereof.

[0064] Further, in step 4 of the embodiment of the present application, in the live-line work simulation environment of virtual-real fusion, the three-dimensional point cloud model is managed based on the KD-Tree data structure, and the nearest point search algorithm is used to calculate the spatial distance between the personnel, tools and live equipment in the simulation operation in real time, and the accuracy of the spatial distance can reach centimeter level. Specifically, the KD-Tree data structure recursively divides the three-dimensional space, greatly improves the efficiency of the nearest neighbor point query, enables the system to calculate the shortest distance between any two objects in a complex scene in real time, the calculation accuracy can reach ±2 centimeters, and the calculation frequency can reach 30 times per second, meeting the real-time interaction requirements.

[0065] Further, in step 5 of the embodiment of the present application, the “Electric Power Safety Work Specification” is pre-digitized into an executable rule library. The calculated spatial distance is compared with the safety threshold (for example, 5.0 meters for 500kV voltage level) in the rule library, and once the rule is violated, a warning is triggered immediately, wherein the warning can include visual warning and / or auditory warning, the visual warning includes highlighting the violating object and dynamically drawing a warning line marked with a real-time distance value between the objects, the color of the warning line automatically changes according to the safety distance margin, such as green for safety, yellow for approaching the warning value, and red for violating the rule. The auditory warning prompts the operator to pay attention to the safety distance through different frequencies and rhythms of sound, and when the distance is less than the safety threshold, a clear and distinguishable alarm sound is automatically emitted.

[0066] Further, in step 6 of the embodiment of the present application, a timeline editor is provided in the virtual-real fusion live working simulation environment to allow the user to record, edit and replay the entire working process; the simultaneous screen comparison and playback of multiple working schemes are supported, and a quantitative analysis report is automatically generated to compare the total time consumption, path length, minimum safety distance and other indicators of different schemes. Through such intuitive comparison, the user can clearly see the differences between different schemes in terms of safety, efficiency and operation difficulty, so as to select the optimal scheme.

[0067] Further, the substation live working simulation method proposed in the embodiment of the present application further comprises:

[0068] A typical live working task template is preset, which includes a standard operation procedure, a list of necessary tools and a risk point information. The embodiment of the present application restores the most common working task scenarios and working conditions through the typical live working task template.

[0069] Further, the substation live working simulation method proposed in the embodiment of the present application further comprises:

[0070] A structured simulation report is automatically generated according to the simulation process data, and the simulation report contains the working time sequence, the risk point list and the safety check result.

[0071] The substation live working simulation method proposed in the embodiment of the present application is first based on real scene modeling of a UAV, the model accuracy can reach centimeter level, and the complex environment of a substation is truly and reliably reproduced to provide a reliable basis for accurate calculation and simulation; training and scheme rehearsal are carried out in a virtual environment, which completely avoids the safety risks brought by real operation; and safety regulations are digitally embedded to realize real-time automatic safety checking of the operation process without relying on human judgment, and the checking result is more accurate and reliable; the method can also realize quantitative comparison of multiple schemes to provide intuitive and reliable data support for selecting the optimal and safest working scheme, reduce subjective speculation, greatly shorten the training period, and improve the efficiency and scientificity of scheme formulation.

[0072] Based on the same technical concept, the embodiment of the present application further proposes a substation live working simulation platform based on three-dimensional real scene modeling, as shown in Figure 2 The substation live working simulation platform 200 comprises:

[0073] The data acquisition and processing module 201 is configured to collect a plurality of visual sequence images of the substation by the UAV according to a preset route, and pre-process the images. The specific process is described in step 1 above, which will not be repeated here.

[0074] The real scene three-dimensional modeling module 202 is configured to generate a three-dimensional point cloud model and a real scene three-dimensional model of the substation including live equipment based on the preprocessed images through aerial triangulation, dense matching, surface reconstruction and texture mapping. The specific process is described in the above step 2, and will not be repeated here.

[0075] The scene fusion module 203 is configured to select a tool model from a pre-constructed standard tool model library and fuse the selected tool model with the real scene three-dimensional model to construct a virtual-real fused live working simulation environment. The standard tool model library is configured to store and manage parameterized tool three-dimensional models and attribute parameters thereof. The specific process is described in the above step 3, and will not be repeated here.

[0076] The real-time calculation module 204 is configured to calculate the spatial distance between the personnel, the tool and the live equipment in the simulation operation in real time based on the three-dimensional point cloud model in the virtual-real fused live working simulation environment. The specific process is described in the above step 4, and will not be repeated here.

[0077] The safety verification module 205 is configured to compare the calculated spatial distance with a safety threshold in a pre-set rule library and trigger a warning when a violation occurs. The safety threshold is determined according to the voltage level of the live equipment and the electrical safety attribute of the selected tool. The specific process is described in the above step 5, and will not be repeated here.

[0078] In addition, the simulation interaction module 206 is configured to provide operation process editing and simulation functions in the virtual-real fused live working simulation environment to support users to record, play back and compare multiple schemes for analysis. The specific process is described in the above step 6, and will not be repeated here.

[0079] Further, the substation live working simulation platform 200 proposed in the embodiments of the present application further comprises:

[0080] The management and report generation module 207 is configured to store different operation schemes and automatically generate a structured simulation report according to simulation process data, wherein the simulation report includes operation timing, a risk point list and safety verification results.

[0081] Based on the same technical concept, the embodiments of the present application further propose a substation live working simulation system based on three-dimensional real scene modeling, as shown in Figure 3 The substation live working simulation system 300 proposed in the embodiments of the present application comprises:

[0082] an input device 301, an output device 302, a processor A 303 and a memory A 304; wherein the number of the processor A 303 and the memory A 304 can be one or more,Figure 3 The following description uses a processor A303 and a memory A304 as an example. The input device 301, output device 302, processor A303, and memory A304 can be connected via a bus or other means. Figure 3 Taking the example of a connection between China and Israel via a bus.

[0083] Specifically, by calling the operation instructions stored in memory A304, processor A303 executes the following steps:

[0084] The substation was captured by drones following a preset route, and the images were preprocessed.

[0085] Based on the preprocessed images, a 3D point cloud model and a real-world 3D model of the substation are generated through aerial triangulation, dense matching, surface reconstruction, and texture mapping.

[0086] Tool models are selected from a pre-built standard tool model library and then fused with a real-world 3D model to construct a virtual-real integrated work simulation environment. The standard tool model library is used to store and manage parameterized tool 3D models and their attribute parameters.

[0087] Based on a 3D point cloud model, the spatial distance between personnel, tools and electrical equipment in the simulation operation is calculated in real time.

[0088] The calculated spatial distance is compared with the security threshold in the pre-set rule base, and an alert is triggered when a violation occurs; the rule base is used to store and manage various security distance thresholds and logical rules digitally generated according to the security procedure clauses;

[0089] It provides job process editing and simulation functions, allowing users to record, replay, and compare multiple solutions for job processes.

[0090] Optionally, by calling the operation instructions stored in memory A304, processor A303 is also used to execute any of the corresponding embodiments in the above-described substation live-line working simulation method.

[0091] Based on the same technical concept described above, this application also proposes an electronic device, such as... Figure 4 As shown, the electronic device 400 includes: a memory B410, a processor B420, and a computer program A411 stored in the memory B410 and executable on the processor B420. When the processor B420 executes the computer program A411, it performs the following steps:

[0092] The substation was captured by drones following a preset route, and the images were preprocessed.

[0093] Based on the pre-processed images, a three-dimensional point cloud model and a real scene three-dimensional model of the transformer substation are generated through aerial triangulation, dense matching, surface reconstruction and texture mapping;

[0094] A tool model is selected from a pre-constructed standard tool model library, and the selected tool model is fused with the real scene three-dimensional model to construct a virtual-real fused operation simulation environment; wherein the standard tool model library is used to store and manage parameterized tool three-dimensional models and their attribute parameters;

[0095] Based on the three-dimensional point cloud model, the spatial distance between personnel, tools and live equipment in the simulation operation is calculated in real time;

[0096] The calculated spatial distance is compared with the safety threshold in the pre-set rule library, and a warning is triggered when a violation occurs; wherein the rule library is used to store and manage various safety distance thresholds and logical rules generated according to the safety regulation clauses;

[0097] The operation process editing and simulation function is provided, which supports users to record, play back and compare multiple schemes for the operation process.

[0098] Optionally, when the processor B420 executes the computer program A411, any of the embodiments in the corresponding embodiments of the above transformer substation live working simulation method can be implemented.

[0099] It should be noted that the electronic device proposed in the embodiments of the present application is a device used to implement the above transformer substation live working simulation method, and therefore based on the above transformer substation live working simulation method proposed in the embodiments of the present application, those skilled in the art can understand the specific implementation of the electronic device of the embodiments of the present application and its various forms of change, therefore the specific implementation of the electronic device for implementing the above transformer substation live working simulation method will not be introduced in detail here, as long as the electronic device used to implement the above transformer substation live working simulation method is implemented by those skilled in the art, it belongs to the scope of protection of the present application.

[0100] Based on the same technical concept, the embodiments of the present application also propose a computer readable storage medium, as shown in Figure 5 The computer readable storage medium 500 stores a computer program B511, which is executed by a processor to implement the following steps:

[0101] The unmanned aerial vehicle collects multiple-view sequence images of the transformer substation along a pre-set route, and pre-processes the images;

[0102] Based on the pre-processed images, a three-dimensional point cloud model and a real scene three-dimensional model of the transformer substation are generated through aerial triangulation, dense matching, surface reconstruction and texture mapping;

[0103] selecting an implement model from a pre-constructed standard implement model library, and fusing the selected implement model with the real scene three-dimensional model to construct a virtual-real fused operation simulation environment; wherein the standard implement model library is used to store and manage parameterized implement three-dimensional models and attribute parameters thereof;

[0104] Based on the three-dimensional point cloud model, the spatial distance between the personnel, implements and live equipment in the simulation operation is calculated in real time;

[0105] The calculated spatial distance is compared with the safety threshold in the pre-set rule library, and a warning is triggered when a violation occurs; wherein the rule library is used to store and manage various safety distance thresholds and logical rules generated according to the safety regulation clauses;

[0106] The operation process editing and simulation function is provided, and the user is supported to record, play back and compare and analyze multiple schemes for the operation process.

[0107] Optionally, the computer program B511, when executed by the processor, can implement any embodiment of the substation live operation simulation method.

[0108] It should be noted that in the above embodiments, the description of each embodiment has its own emphasis, and the parts not described in detail in a certain embodiment can be referred to the related description of other embodiments.

[0109] The 500kV substation operation is taken as an example in the embodiments of the present application, and the substation live operation simulation method proposed in the embodiments of the present application is used for processing, and the specific process is as follows:

[0110] First, data acquisition and three-dimensional modeling, select a certain 500kV substation as the target, select the "500kV framework area fine modeling" flight route scheme from the standard flight route library, control the DJI Matrice 350 RTK unmanned aerial vehicle (equipped with Chan Si P1 full-frame aerial survey camera) to automatically fly and collect a total of ××× high-resolution (××× pixels) multi-angle sequence images in the area. The flight height is ×× meters, the heading overlap rate is ××%, and the lateral overlap rate is ××%.

[0111] After the unmanned aerial vehicle completes the collection, the following processing is performed:

[0112] Preprocessing: lens distortion correction and light balance are performed on the image data;

[0113] Aero Triangulation: using the ContextCapture center software, a sparse point cloud is generated.

[0114] Dense matching: a high-precision point cloud with a density of ×× points per square meter is generated.

[0115] Model generation: build a triangular irregular network (TIN) model, and map the image texture to the model, finally generate a real scene 3D model with accuracy better than 2 cm. The model clearly shows the real shape and spatial position of all devices such as insulator string, conductor, structure, fittings, etc.

[0116] Then, the operation scheme simulation rehearsal is carried out, the process is as follows:

[0117] Load the generated real scene 3D model;

[0118] Retrieve the required model from the tool library management module for this operation: an insulated boom truck (parameters: maximum working height × × meters, maximum working radius × × meters, rated voltage 500 kV), a set of insulating pulley group, and several insulating operating rods. Through the dragging method, the boom truck is accurately placed at the planned working position;

[0119] Start planning the operation process and use the timeline editor to record the simulation operation:

[0120] t0-t1: simulate the boom truck to unfold the outrigger and level horizontally.

[0121] t1-t2: simulate the operator entering the work bucket, and the boom truck starting to lift the work bucket to the vicinity of the insulator string.

[0122] t2-t3: simulate the operator using the operating rod for operation.

[0123] During the entire recording process, the distance calculation and collision detection module and the safety rule engine module are continuously working. When the simulated work bucket approaches to within 4.5 meters from the adjacent live conductor (less than the safety distance of 5.0 meters set in the rule library) in the t1-t2 stage, the system immediately triggers a warning: the work bucket model turns red and flashes, a red dynamic connection is generated between the work bucket and the conductor, and a text prompt of "current distance: 4.5m, warning! Insufficient safety distance!" is displayed in real time, and an alarm sound is emitted;

[0124] Stop recording, adjust the parking position of the boom truck according to the warning, and record a non-warning and safe operation path again, save it as scheme A.

[0125] After that, multiple scheme comparison and decision:

[0126] Scheme B is also proposed, which uses a crane (selected from the tool library) and an insulating platform. Scheme A and scheme B are played simultaneously on the same screen, and the execution processes of the two schemes can be displayed on the display interface in split screen.

[0127] After the simulation is completed, a quantitative comparison report is automatically generated:

[0128] Scenario A (boom truck): total time 15 minutes, worker path length 30 meters, minimum safety distance 5.2 meters.

[0129] Scenario B (crane + platform): total time 25 minutes (platform needs to be built), worker path length 10 meters, minimum safety distance 5.5 meters.

[0130] The report also points out that although scenario B is safer and more centralized, it takes longer. In combination with the time window requirements of this operation, the application embodiment finally selects scenario A, but clearly requires the worker to stop precisely at the safety position verified by simulation.

[0131] Finally, the operation instruction book is generated:

[0132] According to the finally determined scenario A, a structured simulation report is generated as an attachment of the electronic operation instruction book. The report includes:

[0133] (1) Operation task information.

[0134] (2) List of tools used and their verification status.

[0135] (3) Operation flow time sequence diagram (Gantt chart).

[0136] (4) Safety distance verification passing conclusion.

[0137] (5) Scene screenshots of key nodes in the whole process.

[0138] Thus, the whole process from field data collection to scenario simulation, optimization, decision-making and output is completed.

[0139] Those skilled in the art will appreciate that embodiments of the application can be provided as methods, systems, or computer program products. Therefore, the application can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the application can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROMs, optical storage, etc.) containing computer usable program code.

[0140] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flow or blocks Figure 1 one or more flow or blocks

[0141] These computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture including instructions which implement the function specified in the flowchart block or blocks. Figure 1 one or more flow or blocks Figure 1 one or more flow or blocks

[0142] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flow or blocks Figure 1 one or more flow or blocks

[0143] The above detailed description merely describes preferred embodiments of the application, and is not intended to limit the scope of the application. Various modifications of the application can be made by persons of ordinary skill in the art without departing from the spirit and principles of the application. The scope of the application is defined by the appended claims.

Claims

1. A substation hot-line work simulation method based on three-dimensional real scene modeling, characterized in that, The application relates to a method for constructing a live-line work simulation environment for a power substation. The method comprises the following steps: a plurality of visual sequence images of live-line work of a power substation are collected by a UAV according to a preset route, and the images are preprocessed; based on the preprocessed plurality of visual sequence images, a three-dimensional point cloud model and a real scene three-dimensional model of the power substation containing live equipment are generated through aerial triangulation, dense matching, surface reconstruction and texture mapping; a tool model is selected from a standard tool model library constructed in advance, and the selected tool model is fused with the real scene three-dimensional model to construct a virtual-real fused live-line work simulation environment; wherein the standard tool model library is used for storing and managing the parameterized tool model and its electrical safety attribute parameters; in the virtual-real fused live-line work simulation environment, based on the three-dimensional point cloud model, the spatial distance between personnel, tools and live equipment in simulation operation is calculated in real time for the personnel and the selected tools in simulation operation; the calculated spatial distance is compared with a safety threshold in a preset rule library, and a warning is triggered when a violation occurs; wherein the safety threshold is determined according to the voltage level of the live equipment and the electrical safety attribute of the selected tool; 2. The substation hot-line work simulation method based on three-dimensional real scene modeling according to claim 1, characterized in that, in the virtual-real fused live-line work simulation environment, work process editing and simulation functions are provided to support users to record, play back and compare multiple schemes for a work flow containing tool operation. The method for collecting a plurality of visual sequence images of live-line work of a power substation by a UAV according to a preset route and preprocessing the images comprises the following steps:

3. The simulation method of live working of a substation based on three-dimensional real scene modeling according to claim 1, characterized in that, a plurality of visual sequence images of live-line work of a power substation are collected by a UAV according to a preset route, and the images are preprocessed; the plurality of visual sequence images of live-line work of a power substation are automatically collected by a camera carried by the UAV according to a preset standard route, and the images are subjected to distortion correction and color balance processing. The method for generating a three-dimensional point cloud model and a real scene three-dimensional model of a power substation containing live equipment through aerial triangulation, dense matching, surface reconstruction and texture mapping comprises the following steps: based on the preprocessed images, a motion recovery structure algorithm is used for aerial triangulation, image feature points are extracted and matched, camera poses are calculated and a sparse point cloud is generated; 4. The substation live working simulation method based on three-dimensional real scene modeling according to claim 1, characterized in that, a multi-view stereo algorithm is used for dense matching of the sparse point cloud to generate a high-density three-dimensional point cloud; based on the high-density three-dimensional point cloud, a mesh model is generated through a Poisson surface reconstruction algorithm, and texture mapping is performed to generate a real-texture centimeter-level precision real scene three-dimensional model.

5. The substation live working simulation method based on three-dimensional real scene modeling according to claim 1, characterized in that, The method for fusing the selected tool model with the real scene three-dimensional model to construct a virtual-real fused live-line work simulation environment comprises the following steps: according to actual work requirements, a corresponding tool model is selected from the standard tool model library, the selected tool model is automatically placed in the real scene three-dimensional model, and position adjustment and parameter configuration of the tool model are supported. The method for calculating the spatial distance between personnel, tools and live equipment in simulation operation based on the three-dimensional point cloud model for the personnel and the selected tools in simulation operation comprises the following steps: the three-dimensional point cloud model is managed based on a KD-Tree data structure, and the nearest point search algorithm is used to calculate the spatial distance between personnel, tools and live equipment in simulation operation in real time, and the precision of the spatial distance reaches the centimeter level.

6. The substation hot-line work simulation method based on three-dimensional real scene modeling according to claim 1, characterized in that, The pre-warning includes visual pre-warning and / or auditory pre-warning; The visual pre-warning includes highlighting the violation object and dynamically drawing a warning line marked with a real-time distance value between objects, and the color of the warning line automatically changes according to the safety distance margin; The auditory pre-warning promotes the operator's attention to the safety distance through different frequencies and rhythms of sound, and automatically issues an alarm sound when the distance is less than the safety threshold.

7. The substation hot-line work simulation method based on three-dimensional real scene modeling according to claim 1, characterized in that, The operation process editing and simulation function is provided to support users to record, play back and compare multiple schemes for the operation process including tool operation, including: A time axis editor is provided to allow users to record, edit and play back the entire operation process; Multiple operation schemes can be played back and compared on the same screen synchronously, and a quantitative analysis report can be automatically generated; The total time consumption, path index and minimum safety distance of different operation schemes are compared to select the optimal operation scheme.

8. The simulation method of live working of a substation based on three-dimensional real scene modeling according to any one of claims 1-7, characterized in that, Further comprising: A structured simulation report is automatically generated according to simulation process data, and the structured simulation report includes operation timing, risk point list and safety check result.

9. A substation hot-line work simulation platform based on three-dimensional real scene modeling, characterized in that, Including: A data acquisition and processing module is configured to acquire multiple-view sequence images of a substation by a UAV along a preset route, and pre-process the images; A real scene three-dimensional modeling module is configured to generate a three-dimensional point cloud model and a real scene three-dimensional model of the substation including live equipment based on the pre-processed images through aerial triangulation, dense matching, surface reconstruction and texture mapping; A scene fusion module is configured to select a tool model from a pre-constructed standard tool model library, and fuse the selected tool model with the real scene three-dimensional model to construct a virtual-real fused live working simulation environment; wherein the standard tool model library is configured to store and manage parameterized tool models and attribute parameters thereof; A real-time calculation module is configured to calculate, in the virtual fused live working simulation environment, a spatial distance between personnel, tools and live equipment in simulation operation based on the three-dimensional point cloud model and the selected tool and personnel in the simulation operation; A safety check module is configured to compare the calculated spatial distance with a safety threshold in a pre-set rule library, and trigger a pre-warning when a violation occurs; The safety threshold is determined according to the voltage level of the live equipment and the electrical safety attribute of the selected tool; And a simulation interaction module is configured to provide an operation process editing and simulation function in the virtual fused live working simulation environment, and support users to record, play back and compare multiple schemes for the operation process including tool operation.

10. The substation hot-line work simulation platform based on three-dimensional real scene modeling of claim 9, wherein, Further comprising: A management and report generation module is configured to store different operation schemes, and automatically generate a structured simulation report according to simulation process data, wherein the structured simulation report includes operation timing, risk point list and safety check result.

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