Method, device and electronic equipment for detecting size and position of substation three-dimensional model

Abstract

This invention provides a method, device, and electronic device for detecting the size and position of a three-dimensional substation model. These methods relate to the field of three-dimensional modeling technology. The method includes loading a pre-acquired laser point cloud model of the substation and the three-dimensional model to be detected; matching the laser point cloud model and the three-dimensional model to be detected based on pre-set reference points; performing a data segmentation operation on the position-matched laser point cloud model using a point cloud segmentation algorithm to obtain a point cloud cluster of equipment specific to the substation; and detecting the size and position of the three-dimensional model to be detected based on the device point cloud cluster. This invention improves the accuracy of size and position detection of three-dimensional substation models.

Description

Technical Field

[0001] The present invention relates to the technical field of three-dimensional modeling, and in particular to a method, device and electronic equipment for detecting the size and position of a three-dimensional model of a substation. Background Art

[0002] 3D models are widely used across various industries. With the advent of digital twins, 3D models, as fundamental data for various application systems, have placed higher demands on their dimensional and positional accuracy. However, currently, the dimensional and positional accuracy of 3D models can only be determined manually, resulting in low accuracy and efficiency. This is particularly true for 3D substation models, as they are complex models that include conductors, internal facilities, and equipment, making it even more difficult to measure their size and position. Summary of the Invention

[0003] The purpose of the present invention is to provide a method, device and electronic equipment for detecting the size and position of a three-dimensional model of a substation, thereby improving the accuracy of the size and position detection of the three-dimensional model of the substation.

[0004] In the first aspect, an embodiment of the present invention provides a method for detecting the size and position of a three-dimensional model of a substation, the method comprising: loading a pre-acquired laser point cloud model of the substation and a three-dimensional model to be detected; performing position matching on the laser point cloud model and the three-dimensional model to be detected based on a pre-set reference point; performing data segmentation operations on the position-matched laser point cloud model through a point cloud segmentation algorithm to obtain a device point cloud cluster for the substation; and detecting the size and position of the three-dimensional model to be detected based on the device point cloud cluster.

[0005] In an optional embodiment, the laser point cloud model and the three-dimensional model to be inspected are for the same substation; the three-dimensional model to be inspected has corresponding naming tags; the naming tags include equipment type tags, insulator tags and pillar object tags for the substation.

[0006] In an optional embodiment, the step of positionally matching the laser point cloud model and the three-dimensional model to be detected based on pre-set reference points includes: selecting a specified number of non-collinear reference points in the laser point cloud model and the three-dimensional model to be detected, respectively; wherein the reference points are the three-dimensional model reference points of the three-dimensional model to be detected for a real substation scene and the point cloud model reference points at corresponding positions of the laser point cloud model; and positionally matching the laser point cloud model and the three-dimensional model to be detected based on the specified number of point cloud model reference points and three-dimensional model reference points.

[0007] In an optional embodiment, the specified number is 3; the specified number of three-dimensional model reference points are the first reference point and the second reference point on the boundary of the model detection area, and the third reference point at the ground center of the model detection area; wherein the first reference point, the second reference point and the third reference point are 3 non-collinear points.

[0008] In an optional embodiment, a data segmentation operation is performed on the position-matched laser point cloud model through a point cloud segmentation algorithm to obtain a point cloud cluster of equipment for the substation, including: performing a data segmentation operation on the position-matched laser point cloud model through a RANSAC plane model segmentation algorithm to obtain a ground point cloud and a substation conductor point cloud; removing the ground point cloud and the substation conductor point cloud to obtain a point cloud of facilities and equipment within the substation; and segmenting the point cloud of facilities and equipment within the substation based on the Euclidean segmentation method to obtain an equipment point cloud cluster.

[0009] In an optional embodiment, the equipment point cloud cluster includes multiple equipment and facility point clouds; the step of detecting the size and position of the three-dimensional model to be detected based on the equipment point cloud cluster includes: calculating the first centroid coordinates of the equipment and facility point cloud, and determining the first object set of the three-dimensional model to be detected based on the first centroid coordinates; calculating the first coordinates of the first object set of the three-dimensional model to be detected, so as to determine the size and position of the three-dimensional model to be detected based on the first coordinates; wherein the first coordinates include the lengths in the X, Y, and Z axis directions of the world coordinate system and the centroid coordinates of the first object set.

[0010] In an optional embodiment, the object set of the three-dimensional model includes insulators and pillars; the method further includes: segmenting the equipment and facility point cloud based on a color and RANSAC segmentation algorithm to obtain a point cloud set of insulators and pillars; the point cloud set of insulators and pillars includes multiple subclusters; calculating the second centroid coordinates of each subcluster, and determining the second object set of the three-dimensional model to be detected based on the second centroid coordinates; calculating the second coordinates of the second object set of the three-dimensional model to be detected, so as to perform size detection on the second object set of the corresponding three-dimensional model; wherein the second coordinates include the lengths in the X, Y, and Z axis directions of the world coordinate system and the centroid coordinates of the second object set.

[0011] In the second aspect, an embodiment of the present invention provides a device for detecting the size and position of a three-dimensional model of a substation, the device including: a loading module for loading a pre-acquired laser point cloud model and a three-dimensional model to be detected for the substation; a position matching module for performing position matching of the laser point cloud model and the three-dimensional model to be detected based on a pre-set reference point; a point cloud segmentation module for performing data segmentation operations on the position-matched laser point cloud model through a point cloud segmentation algorithm to obtain a device point cloud cluster for the substation; and a detection module for detecting the size and position of the three-dimensional model to be detected based on the device point cloud cluster.

[0012] In a third aspect, an embodiment of the present invention provides an electronic device comprising a processor and a memory, wherein the memory stores machine-executable instructions that can be executed by the processor, and the processor executes the machine-executable instructions to implement the method for detecting the size and position of a three-dimensional model of a substation according to any of the aforementioned embodiments.

[0013] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium storing machine-executable instructions. When the machine-executable instructions are called and executed by a processor, the machine-executable instructions prompt the processor to implement the method for detecting the size and position of the three-dimensional model of a substation of any of the aforementioned embodiments.

[0014] The present invention provides a method, device, and electronic device for detecting the size and position of a three-dimensional model of a substation. The method first loads a pre-acquired laser point cloud model of the substation and a three-dimensional model to be detected. Then, based on a pre-set reference point, the laser point cloud model and the three-dimensional model to be detected are positionally matched. Then, a point cloud segmentation algorithm is used to perform data segmentation on the position-matched laser point cloud model to obtain a device point cloud cluster for the substation. Finally, the size and position of the three-dimensional model to be detected are detected based on the device point cloud cluster. The above method performs position matching between the laser point cloud model and the three-dimensional model to be detected, and further obtains a device point cloud cluster of the substation through point cloud segmentation. Thus, the size and position of the three-dimensional model to be detected are detected based on the device point cloud cluster, thereby improving the accuracy of the size and position detection of the three-dimensional model of the substation. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0016] Figure 1An overall flow chart of a method for detecting the size and position of a three-dimensional substation model provided by an embodiment of the present invention;

[0017] FIG2( a ) is a schematic diagram of a three-dimensional model reference point selection method according to an embodiment of the present invention;

[0018] FIG2( b ) is a schematic diagram of reference point selection for a laser point cloud model according to an embodiment of the present invention;

[0019] FIG2( c ) is a schematic diagram of a substation model provided by an embodiment of the present invention;

[0020] FIG2( d ) is a schematic diagram of another substation model provided by an embodiment of the present invention;

[0021] Figure 3 A technical flow chart of a specific method for detecting the size and position of a three-dimensional substation model provided by an embodiment of the present invention;

[0022] Figure 4 A structural diagram of a device for detecting the size and position of a three-dimensional substation model provided by an embodiment of the present invention;

[0023] Figure 5 A schematic structural diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0024] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.

[0025] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention as claimed, but rather merely represents selected embodiments of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort shall fall within the scope of protection of the present invention.

[0026] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0027] In the description of the present invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, or are the orientations or positional relationships in which the inventive product is typically placed when in use. These terms are intended solely to facilitate the description of the present invention and to simplify the description, and are not intended to indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first," "second," etc., etc., are used solely to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0028] The following embodiments of the present invention are described in detail with reference to the accompanying drawings. In the absence of conflict, the following embodiments and features in the embodiments may be combined with each other.

[0029] Currently, there is no effective method for detecting the size and position accuracy of three-dimensional substation models. Considering the maturity of laser scanning technology, which can achieve centimeter-level accuracy, the present invention provides a method, device, and electronic device for detecting the size and position of three-dimensional substation models, thereby improving the accuracy of size and position detection of three-dimensional substation models.

[0030] For ease of understanding, a method for detecting the size and position of a three-dimensional model of a substation provided by an embodiment of the present invention is first described in detail. Figure 1 The overall flow chart of a method for detecting the size and position of a three-dimensional model of a substation is shown, and the method includes the following steps S102 to S108:

[0031] Step S102: loading the pre-acquired laser point cloud model of the substation and the three-dimensional model to be detected.

[0032] The laser point cloud model of the substation is represented by laser point cloud data. The laser point cloud model and the 3D model to be inspected must be different 3D models of the same substation entity. Within the 3D model to be inspected, objects can be grouped by device and named using "device type-unique code." Insulators and pillars can be named using "ObjJYZ-serial number" and "ObjZZ-serial number," respectively.

[0033] Step S104 , performing position matching between the laser point cloud model and the three-dimensional model to be detected based on a preset reference point.

[0034] To facilitate detection of the 3D model to be inspected using the laser point cloud model as a reference, it is first necessary to positionally match the laser point cloud model and the 3D model to be inspected in order to obtain accurate detection results. In one embodiment, position matching can be performed by selecting reference points at the same at least three locations on the laser point cloud model and the 3D model to be inspected.

[0035] Step S106 , performing data segmentation operations on the position-matched laser point cloud model using a point cloud segmentation algorithm to obtain a point cloud cluster of equipment for the substation.

[0036] Since the laser point cloud model for the substation includes point clouds of the substation's terrain, conductors, and all the equipment and facilities within the substation, it is necessary to perform data segmentation on the position-matched laser point cloud model to obtain a point cloud cluster for the substation's equipment. This point cloud cluster can be the point cloud cluster corresponding to the equipment and facilities within the substation.

[0037] Step S108 : Detect the size and position of the three-dimensional model to be detected based on the device point cloud cluster.

[0038] During detection, the center of gravity, length, width, and height of the segmented device point cloud cluster can be compared with the three-dimensional model to be detected with matching position, so as to detect the size and position of the three-dimensional model to be detected.

[0039] The method for detecting the size and position of a substation three-dimensional model provided in an embodiment of the present invention performs position matching between a laser point cloud model and a three-dimensional model to be detected, and further obtains a point cloud cluster of equipment in the substation through point cloud segmentation, thereby detecting the size and position of the three-dimensional model to be detected based on the equipment point cloud cluster, thereby improving the accuracy of size and position detection of the substation three-dimensional model.

[0040] In one embodiment, the laser point cloud model and the 3D model to be inspected are for the same substation. The 3D model to be inspected is assigned a naming tag, wherein the naming tag includes a substation-specific device type tag, an insulator tag, and a support object tag. For example, the device's naming tag may be "device type-unique code," while the insulator and support objects may be named "ObjJYZ-serial number" and "ObjZZ-serial number," respectively.

[0041] In one embodiment, when position matching is performed between the laser point cloud model and the three-dimensional model to be detected based on a preset reference point, the following steps may be specifically performed:

[0042] Step 2.1) Select a specified number of non-collinear reference points on the laser point cloud model and the 3D model to be inspected; wherein the reference points are the 3D model reference points of the 3D model to be inspected and the point cloud model reference points at corresponding positions on the laser point cloud model for the actual substation scene;

[0043] In step 2.2), position matching is performed between the laser point cloud model and the 3D model to be detected based on a specified number of point cloud model reference points and 3D model reference points.

[0044] For the above step 2.1), the specified number can be 3, and the specified number of three-dimensional model reference points are the first reference point and the second reference point on the boundary of the model detection area, and the third reference point at the ground center of the model detection area. Among them, the first reference point, the second reference point and the third reference point are three non-collinear points. As shown in Figure 2(a), three non-collinear reference points A, B, and C are taken in the three-dimensional model. Points A and B are selected on the boundary of the model detection area, and C is the ground center of the model detection area. At the same time, three non-collinear reference points E, F, and G are taken on the laser point cloud model of Figure 2(b). A and E, B and F, and C and G correspond to the same points in the real scene. In the world coordinate system, point A and point E, point B and point F, point C and point G are completely coincident, and the straight line AB and EF are completely coincident, and the straight line AC and CG are completely coincident, with the top of the two models as the positive direction of the Z axis. After position matching, the overall schematic diagram of the three-dimensional model can be obtained. For details, please refer to the schematic diagrams of the three-dimensional model under two viewing angles in Figure 2(c) and Figure 2(d).

[0045] Furthermore, the specified number can also be a value greater than three. It is understood that the more reference points selected, the easier it is to perform position matching. Considering time cost and processing efficiency, three non-collinear points can be selected for matching. Of course, in actual processing, a value greater than three can also be selected.

[0046] Furthermore, since the point cloud data is relatively dense, in order to improve computational efficiency, the laser point cloud data corresponding to the laser point cloud model can be downsampled. In one embodiment, a voxel grid filter can be used to downsample the laser point cloud data, wherein the voxel grid size of the filter can be set to 0.01f.

[0047] The above-mentioned step of performing data segmentation operation on the position-matched laser point cloud model using a point cloud segmentation algorithm to obtain a point cloud cluster of equipment for the substation may include:

[0048] In step 3.1), the RANSAC plane model segmentation algorithm is used to perform data segmentation on the laser point cloud model after position matching to obtain the ground point cloud and the substation conductor point cloud.

[0049] Step 3.2) Remove the ground point cloud and the substation conductor point cloud to obtain the substation facility and equipment point cloud;

[0050] In step 3.3), the point cloud of the substation facilities and equipment is segmented based on the Euclidean segmentation method to obtain the equipment point cloud cluster.

[0051] For the above step 3.1), a RANSAC-based plane model segmentation algorithm is used to segment the ground point cloud, and a RANSAC-based line model segmentation algorithm is used to segment the wire point cloud.

[0052] With respect to the above step 3.2), the segmented ground and wire point clouds can be removed to obtain the point clouds of all equipment and facilities in the substation.

[0053] Regarding step 3.3), since the equipment and facilities in the substation are distributed at a fixed distance, the Euclidean segmentation method can be used to segment the facilities and equipment in the substation to obtain a point cloud cluster set P.

[0054] Furthermore, the above-mentioned equipment point cloud cluster P includes multiple equipment and facility point clouds. The step of detecting the size and position of the three-dimensional model to be detected based on the equipment point cloud cluster, when specifically implemented, includes:

[0055] Step 4.1) Calculate the first barycentric coordinates of the equipment and facility point cloud, and determine a first object set of the three-dimensional model to be detected based on the first barycentric coordinates;

[0056] Step 4.2) Calculate the first coordinates of the first object set of the three-dimensional model to be detected, so as to determine the size and position of the three-dimensional model to be detected based on the first coordinates; wherein the first coordinates include the lengths in the X, Y, and Z axis directions of the world coordinate system and the coordinates of the center of gravity of the first object set.

[0057] For the above step 4.1), the first cluster P1 can be found in the point cloud cluster P, the first centroid coordinate G of the cluster P1 can be calculated, and the first object set M of the nearest device three-dimensional model can be obtained based on the first centroid coordinate.

[0058] With respect to the above step 4.2), the lengths of P1 and M in the directions of the X, Y, and Z axes of the world coordinate system and the coordinates G' of the center of gravity of M can be calculated respectively.

[0059] Furthermore, since the object set of the 3D model includes insulators and pillars, after determining the equipment and facility point cloud, the following steps may be further included:

[0060] In step 5.1), the equipment and facility point cloud is segmented using a color and RANSAC-based segmentation algorithm to obtain a point cloud set Q of insulators and pillars. Because the equipment and facilities in the substation laser point cloud model include both insulators and pillars, and also include individual insulators and pillars, the point cloud set Q of insulators and pillars obtained in this step is the point cloud set of insulators and pillars obtained by segmenting the equipment and facilities that include them, rather than the point cloud set of individual insulators and pillars present in the substation model. The point cloud set Q obtained by segmenting the equipment and facility point cloud in this step includes multiple subclusters.

[0061] In step 5.2, calculate the second barycentric coordinates of each subcluster and use them to determine the second object set of the 3D model to be detected. Find the first cluster Q1 in the point cloud cluster Q, calculate the barycentric coordinates G1 of cluster Q1, and use G1 to obtain the second object set M1 of the closest 3D model. Repeat this process until all subcluster instances have been traversed and calculated.

[0062] In step 5.3, calculate the second coordinates of the second set of objects in the 3D model to be inspected, so as to perform size inspection on the corresponding second set of objects in the 3D model. The second coordinates include the lengths along the X, Y, and Z axes of the world coordinate system and the coordinates of the center of gravity of the second set of objects. Specifically, calculate the lengths of Q1 and M1 along the X, Y, and Z axes of the world coordinate system, as well as the second center of gravity coordinate G1' of M1. Repeat this process until each subcluster has been traversed and calculated.

[0063] In addition, you can also generate a test report after the test and output the test report.

[0064] To facilitate understanding of the above steps, the present invention provides a specific method for detecting the size and position of a three-dimensional substation model. Figure 3 The technical flow chart of a specific method for detecting the size and position of a three-dimensional substation model is shown. For details, please refer to the description of the above embodiment, which will not be repeated here.

[0065] In summary, this embodiment can automatically detect the accuracy of the size and position of the three-dimensional model based on the laser point cloud data, and output the detection result data, so that the model detection no longer relies on human subjective feeling, thereby improving the accuracy and efficiency of model detection.

[0066] In order to detect the size and position of the above-mentioned substation three-dimensional model, an embodiment of the present invention provides a device for detecting the size and position of the substation three-dimensional model, see Figure 4 As shown, the device includes:

[0067] The loading module 402 is used to load the pre-acquired laser point cloud model of the substation and the three-dimensional model to be detected;

[0068] Position matching module 404, used for performing position matching between the laser point cloud model and the three-dimensional model to be detected based on a preset reference point;

[0069] The point cloud segmentation module 406 is used to perform data segmentation operations on the laser point cloud model after position matching using a point cloud segmentation algorithm to obtain a point cloud cluster of equipment for the substation;

[0070] The detection module 408 is used to detect the size and position of the three-dimensional model to be detected based on the device point cloud cluster.

[0071] The device for detecting the size and position of a substation three-dimensional model provided by an embodiment of the present invention performs position matching between a laser point cloud model and a three-dimensional model to be detected, and further obtains a point cloud cluster of equipment of the substation through point cloud segmentation, thereby detecting the size and position of the three-dimensional model to be detected based on the equipment point cloud cluster, thereby improving the accuracy of the size and position detection of the substation three-dimensional model.

[0072] In one embodiment, the laser point cloud model and the three-dimensional model to be inspected are for the same substation; the three-dimensional model to be inspected has corresponding naming tags; the naming tags include an equipment type tag, an insulator tag, and a pillar object tag for the substation.

[0073] In one embodiment, the position matching module 404 is further used to select a specified number of non-collinear reference points in the laser point cloud model and the three-dimensional model to be detected, respectively; wherein the reference points are the three-dimensional model reference points of the three-dimensional model to be detected for the real substation scene and the point cloud model reference points at corresponding positions of the laser point cloud model; and the laser point cloud model and the three-dimensional model to be detected are positionally matched based on the specified number of point cloud model reference points and three-dimensional model reference points.

[0074] In one embodiment, the specified number is 3; the specified number of three-dimensional model reference points are a first reference point and a second reference point on the boundary of the model detection area, and a third reference point at the ground center of the model detection area; wherein the first reference point, the second reference point and the third reference point are three non-collinear points.

[0075] In one embodiment, the point cloud segmentation module 406 is also used to perform data segmentation operations on the laser point cloud model after position matching through the RANSAC plane model segmentation algorithm to obtain a ground point cloud and a substation conductor point cloud; remove the ground point cloud and the substation conductor point cloud to obtain a point cloud of facilities and equipment within the substation; and segment the point cloud of facilities and equipment within the substation based on the Euclidean segmentation method to obtain an equipment point cloud cluster.

[0076] In one embodiment, the equipment point cloud cluster includes multiple equipment and facility point clouds; the point cloud segmentation module 406 is also used to calculate the first centroid coordinates of the equipment and facility point clouds, and determine the first object set of the three-dimensional model to be detected based on the first centroid coordinates; calculate the first coordinates of the first object set of the three-dimensional model to be detected, so as to determine the size and position of the three-dimensional model to be detected based on the first coordinates; wherein the first coordinates include the length in the X, Y, and Z axis directions of the world coordinate system and the centroid coordinates of the first object set.

[0077] In one embodiment, the object set of the three-dimensional model includes insulators and pillars; the point cloud segmentation module 406 is further used to segment the equipment and facility point cloud based on the color and RANSAC segmentation algorithm to obtain a point cloud set of insulators and pillars; the point cloud set of insulators and pillars includes multiple subclusters; the second centroid coordinates of each subcluster are calculated, and the second object set of the three-dimensional model to be detected is determined based on the second centroid coordinates; the second coordinates of the second object set of the three-dimensional model to be detected are calculated so as to perform size detection on the corresponding second object set of the three-dimensional model; wherein the second coordinates include the lengths in the X, Y, and Z axis directions of the world coordinate system and the centroid coordinates of the second object set.

[0078] The device provided in the embodiment of the present invention has the same implementation principle and technical effects as those in the aforementioned method embodiment. For the sake of brief description, for matters not mentioned in the device embodiment, reference can be made to the corresponding content in the aforementioned method embodiment.

[0079] An embodiment of the present invention provides an electronic device. Specifically, the electronic device includes a processor and a storage device. The storage device stores a computer program, and when the computer program is executed by the processor, it executes the method described in any one of the above-mentioned embodiments.

[0080] Figure 5 This is a structural diagram of an electronic device provided in an embodiment of the present invention. The electronic device 100 includes: a processor 50, a memory 51, a bus 52 and a communication interface 53. The processor 50, the communication interface 53 and the memory 51 are connected via the bus 52; the processor 50 is used to execute an executable module stored in the memory 51, such as a computer program.

[0081] The memory 51 may include high-speed random access memory (RAM) and may also include non-volatile memory, such as at least one disk storage. The system network element communicates with at least one other network element via at least one communication interface 53 (which may be wired or wireless), and may utilize the Internet, a wide area network, a local area network, a metropolitan area network, or the like.

[0082] The bus 52 may be an ISA bus, a PCI bus, or an EISA bus. The bus may be divided into an address bus, a data bus, a control bus, and the like. For ease of representation, Figure 5 Only one bidirectional arrow is used in the diagram, but this does not mean that there is only one bus or one type of bus.

[0083] Among them, the memory 51 is used to store programs, and the processor 50 executes the program after receiving the execution instruction. The method executed by the device for flow process definition disclosed in any embodiment of the above-mentioned embodiment of the present invention can be applied to the processor 50 or implemented by the processor 50.

[0084] The processor 50 may be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above method may be completed by hardware integrated logic circuits or software instructions in the processor 50. The processor 50 may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It may implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of the present invention. The general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in conjunction with the embodiments of the present invention may be directly implemented and executed by a hardware decoding processor, or by a combination of hardware and software modules in the decoding processor. The software module may be located in a storage medium well-known in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or the like. The storage medium is located in the memory 51 , and the processor 50 reads the information in the memory 51 and completes the steps of the above method in combination with its hardware.

[0085] The computer program product of the method, device and electronic device for detecting the size and position of the three-dimensional model of a substation provided in the embodiments of the present invention includes a computer-readable storage medium storing non-volatile program code executable by a processor, and a computer program is stored on the computer-readable storage medium. The computer program is executed by the processor to execute the method described in the previous method embodiment. The specific implementation can be found in the method embodiment and will not be repeated here.

[0086] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working process of the system described above can refer to the corresponding process in the aforementioned embodiment and will not be repeated here.

[0087] The computer program product of the readable storage medium provided in the embodiment of the present invention includes a computer-readable storage medium storing program code. The instructions included in the program code can be used to execute the method described in the previous method embodiment. The specific implementation can be found in the method embodiment and will not be repeated here.

[0088] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0089] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for detecting the size and position of a three-dimensional model of a substation, characterized in that: The method comprises: Load the pre-acquired laser point cloud model of the substation and the 3D model to be inspected; Performing position matching between the laser point cloud model and the three-dimensional model to be detected based on a preset reference point; The point cloud segmentation algorithm is used to perform data segmentation on the laser point cloud model after position matching to obtain a point cloud cluster of equipment for the substation. Detecting the size and position of the three-dimensional model to be detected based on the device point cloud cluster; The step of performing a data segmentation operation on the position-matched laser point cloud model using a point cloud segmentation algorithm to obtain a point cloud cluster of equipment for the substation includes: The RANSAC plane model segmentation algorithm is used to perform data segmentation on the laser point cloud model after position matching to obtain the ground point cloud and the substation conductor point cloud; Eliminate the ground point cloud and the substation conductor point cloud to obtain a point cloud of substation facilities and equipment; Segmenting the point cloud of the substation facilities and equipment based on the Euclidean segmentation method to obtain the equipment point cloud cluster; The device point cloud cluster includes a plurality of device and facility point clouds; the step of detecting the size and position of the three-dimensional model to be detected based on the device point cloud cluster includes: Calculating first barycentric coordinates of the equipment and facility point cloud, and determining a first object set of the to-be-detected three-dimensional model corresponding to the equipment and facility point cloud based on the first barycentric coordinates; Calculate the first coordinates of the first object set of the three-dimensional model to be detected, so as to determine the size and position of the three-dimensional model to be detected based on the first coordinates; wherein, the first coordinates include the lengths in the X, Y, and Z axis directions of the world coordinate system and the coordinates of the center of gravity of the first object set; during the detection process of the size and position of the three-dimensional model to be detected, calculate the lengths of the first object set of the three-dimensional model to be detected and the equipment and facility point cloud in the X, Y, and Z axis directions of the world coordinate system and the coordinates of the center of gravity of the first object set, and use the lengths and the coordinates of the center of gravity to determine the size and position of the three-dimensional model to be detected.

2. The method for detecting the size and position of a three-dimensional model of a substation according to claim 1, characterized in that: The laser point cloud model and the three-dimensional model to be detected are for the same substation; the three-dimensional model to be detected corresponds to a naming tag; the naming tag includes an equipment type tag, an insulator tag and a pillar object tag for the substation.

3. The method for detecting the size and position of a three-dimensional model of a substation according to claim 1, characterized in that: The step of positionally matching the laser point cloud model and the three-dimensional model to be detected based on a preset reference point includes: Selecting a specified number of non-collinear reference points on the laser point cloud model and the three-dimensional model to be inspected, respectively; wherein the reference points are three-dimensional model reference points of the three-dimensional model to be inspected for a real substation scene and point cloud model reference points at corresponding positions on the laser point cloud model; Position matching is performed on the laser point cloud model and the three-dimensional model to be detected based on a specified number of the point cloud model reference points and the three-dimensional model reference points.

4. The method for detecting the size and position of a three-dimensional model of a substation according to claim 3, characterized in that: The specified number is 3; the specified number of three-dimensional model reference points are the first reference point and the second reference point on the boundary of the model detection area, and the third reference point at the ground center of the model detection area; wherein the first reference point, the second reference point and the third reference point are 3 non-collinear points.

5. The method for detecting the size and position of a three-dimensional model of a substation according to claim 1, characterized in that: The object set of the three-dimensional model includes insulators and pillars; the method further includes: Segmenting the equipment and facility point cloud using a color and RANSAC segmentation algorithm to obtain a point cloud set of insulators and pillars; the point cloud set of insulators and pillars includes multiple subclusters; Calculating the second barycentric coordinates of each of the sub-clusters, and determining a second object set of the three-dimensional model to be detected corresponding to the insulator and the pillar according to the second barycentric coordinates; Calculate the second coordinates of the second object set of the three-dimensional model to be detected so as to perform size detection on the second object set of the corresponding three-dimensional model; wherein the second coordinates include the lengths in the X, Y, and Z axis directions of the world coordinate system and the centroid coordinates of the second object set; during the size detection process of the second object set of the three-dimensional model, calculate the lengths of the sub-cluster and the second object set in the X, Y, and Z axis directions of the world coordinate system and the centroid coordinates of the second object set, and use the lengths and the centroid coordinates to determine the size detection result of the second object set.

6. A device for detecting the size and position of a three-dimensional model of a substation, characterized in that: The device comprises: A loading module is used to load the pre-acquired laser point cloud model of the substation and the 3D model to be inspected; A position matching module, configured to perform position matching between the laser point cloud model and the three-dimensional model to be detected based on a preset reference point; The point cloud segmentation module is used to perform data segmentation operations on the laser point cloud model after position matching through the point cloud segmentation algorithm to obtain the equipment point cloud cluster for the substation; A detection module, configured to detect the size and position of the three-dimensional model to be detected based on the device point cloud cluster; The point cloud segmentation module is further configured to: perform data segmentation on the position-matched laser point cloud model using a RANSAC plane model segmentation algorithm to obtain a ground point cloud and a substation conductor point cloud; remove the ground point cloud and the substation conductor point cloud to obtain a point cloud of substation facilities and equipment; and segment the point cloud of substation facilities and equipment based on a Euclidean segmentation method to obtain the equipment point cloud cluster; The equipment point cloud cluster includes multiple equipment and facility point clouds; the detection module is also used to: calculate the first centroid coordinates of the equipment and facility point cloud, and determine the first object set of the equipment and facility point cloud corresponding to the three-dimensional model to be detected based on the first centroid coordinates; calculate the first coordinates of the first object set of the three-dimensional model to be detected, so as to determine the size and position of the three-dimensional model to be detected based on the first coordinates; wherein the first coordinates include the length in the X, Y, and Z axis directions of the world coordinate system and the centroid coordinates of the first object set; during the detection process of the size and position of the three-dimensional model to be detected, calculate the length of the first object set of the three-dimensional model to be detected and the equipment and facility point cloud in the X, Y, and Z axis directions of the world coordinate system and the centroid coordinates of the first object set, and use the length and the centroid coordinates to determine the size and position of the three-dimensional model to be detected.

7. An electronic device, characterized in that: The method comprises a processor and a memory, wherein the memory stores machine executable instructions that can be executed by the processor, and the processor executes the machine executable instructions to implement the method for detecting the size and position of the three-dimensional model of a substation according to any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that The computer-readable storage medium stores machine-executable instructions. When the machine-executable instructions are called and executed by the processor, the machine-executable instructions prompt the processor to implement the method for detecting the size and position of the three-dimensional model of a substation as described in any one of claims 1 to 5.

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