A station mapping method, device and electronic equipment based on feature matching

Abstract

The present application provides a site mapping method, device and electronic device based on feature matching, which can efficiently and accurately model and map substations. The method includes: acquiring three-dimensional geometric data of multiple first power equipment and constructing a device feature database; determining three-dimensional edge feature information of multiple second power equipment in the target site laser point cloud map; using the device feature database to perform feature matching on the three-dimensional edge feature information to determine the first power equipment corresponding to the second power equipment; generating a digital twin geometry for the second power equipment in the laser cloud point map based on the first power equipment. The device includes: a database construction module, a site scanning module, a feature matching module and a digital twin construction module. The electronic device includes a memory, a processor and a computer program stored on the memory and executable on the processor to implement the site mapping method based on feature matching.

Description

Technical Field

[0001] One or more embodiments of the present application relate to the technical field of digital automation of power systems, and in particular, to a site mapping method, device, and electronic device based on feature matching. Background Art

[0002] Power digital twin is an important technical means for the digitalization of new power systems. The geometric modeling of substation digital twins currently uses laser point cloud or drone oblique photography to scan the entire station and then manually segment the image, adjust the angle and render the material. This is not only time-consuming, but the association of equipment data and other attributes requires professionals familiar with the equipment. In addition, the construction of the three-dimensional model of each substation needs to be repeated, which consumes a lot of manpower and material resources, and affects the overall progress of the project. Summary of the invention

[0003] In view of this, the purpose of one or more embodiments of the present application is to propose a site mapping method, device and electronic equipment based on feature matching, which can efficiently and accurately model and map substations, thereby facilitating the digitalization of power systems.

[0004] Based on the above objectives, in a first aspect, an embodiment of the present application provides a site mapping method based on feature matching, comprising:

[0005] Acquire three-dimensional geometric data of a plurality of first electric power devices, and construct a device feature database according to the three-dimensional geometric data;

[0006] Acquire a laser point cloud image of the target station, and determine three-dimensional edge feature information of a plurality of second electric power devices in the laser point cloud image;

[0007] Performing feature matching on the three-dimensional edge feature information using the device feature database to determine the first power device corresponding to the second power device;

[0008] A digital twin geometry is generated for the second power device according to the first power device, and the second power device is replaced with the corresponding digital twin geometry in the laser cloud point map.

[0009] Optionally, the three-dimensional geometric data includes shape profile data, overall size data and structural feature information;

[0010] The step of constructing a device feature database according to the three-dimensional geometric data comprises:

[0011] generating a plurality of device outline views corresponding to the first electrical device at a plurality of viewing angles according to the shape profile data;

[0012] Determine outline dimension data of the device outline view according to the overall dimension data;

[0013] The device feature database is constructed according to the device outline view, the outline dimension data and the structural feature information.

[0014] Optionally, determining three-dimensional edge feature information of a plurality of second power devices in the laser point cloud image includes:

[0015] Dividing the laser point cloud image to determine point cloud data corresponding to the second electric power equipment;

[0016] Determine a point cloud edge image of the second electric power equipment according to the point cloud data and determine edge size data of the point cloud edge image;

[0017] Determine key component feature information of the second electric power equipment according to the point cloud data;

[0018] Determine the spatial position information of the second power equipment in the corresponding scene of the laser cloud point map according to the point cloud data;

[0019] The three-dimensional edge feature information includes the point cloud edge image, the edge size data, the key component feature information and the spatial position information.

[0020] Optionally, the performing feature matching on the three-dimensional edge feature information using the device feature database to determine the first power device corresponding to the second power device includes:

[0021] Performing edge feature matching on a plurality of device outline views corresponding to the first power device and the point cloud edge image of the second power device respectively, and determining the similarity between the device outline view and the point cloud edge image;

[0022] In response to the similarity between the device outline view and the point cloud edge image being greater than a preset similarity threshold, determining that the outline feature of the first power device matches the outline feature of the second power device;

[0023] Comparing the outline dimension data of the device outline view with the edge dimension data of the point cloud edge image to determine the conformity between the outline dimension data and the edge dimension data;

[0024] In response to the degree of conformity being greater than a preset degree of conformity threshold, determining that the size characteristic of the first electrical device matches the size characteristic of the second electrical device;

[0025] Comparing the structural feature information of the first electric device with the key component feature information of the second electric device to determine the matching degree between the structural feature information and the key component feature information;

[0026] In response to the matching degree being greater than a preset matching degree threshold, it is determined that the structural feature of the first electrical device matches the structural feature of the second electrical device, and the first electrical device corresponds to the second electrical device.

[0027] Optionally, it is characterized in that the step of performing edge feature matching on the plurality of device outline views corresponding to the first power device and the point cloud edge image of the second power device respectively comprises:

[0028] An artificial neural network-based image matching algorithm is used to perform matching detection between the device outline view and the point cloud edge image.

[0029] Optionally, generating a digital twin geometry for the second power device according to the first power device includes:

[0030] constructing the digital twin geometry according to the three-dimensional geometry data of the first power equipment;

[0031] Determining parameter data and behavior data of the first electric power device;

[0032] Determining data attributes of the digital twin geometric body according to the parameter data;

[0033] Determine the behavior attributes of the digital twin geometric body based on the behavior data.

[0034] Optionally, replacing the second power device with the corresponding digital twin geometric body in the laser cloud point map includes:

[0035] Setting the digital twin geometric body in a corresponding scene of the laser cloud point map according to the spatial position information;

[0036] The size and placement angle of the digital twin geometric body are adjusted so that multiple geometric vertices of the digital twin geometric body coincide with multiple geometric vertices corresponding to the second power device.

[0037] Based on the above purpose, in a second aspect, the embodiment of the present application further provides a site mapping device based on feature matching, including:

[0038] A database construction module, used to obtain three-dimensional geometric data of a plurality of first electric power devices, and to construct a device feature database according to the three-dimensional geometric data;

[0039] A station scanning module, used to obtain a laser point cloud image of a target station and determine three-dimensional edge feature information of a plurality of second power devices in the laser point cloud image;

[0040] a feature matching module, configured to perform feature matching on the three-dimensional edge feature information using the device feature database, and determine the first power device corresponding to the second power device;

[0041] A digital twin construction module is used to generate a digital twin geometry for the second power device based on the first power device, and replace the second power device with the corresponding digital twin geometry in the laser cloud point map.

[0042] Optionally, the three-dimensional geometric data includes shape profile data, overall size data and structural feature information;

[0043] The database construction module is used to construct a device feature database according to the three-dimensional geometric data, including:

[0044] generating a plurality of device outline views corresponding to the first electrical device at a plurality of viewing angles according to the shape profile data;

[0045] Determine outline dimension data of the device outline view according to the overall dimension data;

[0046] The device feature database is constructed according to the device outline view, the outline dimension data and the structural feature information.

[0047] Optionally, the site scanning module is used to determine the three-dimensional edge feature information of the plurality of second power equipment in the laser point cloud image, including:

[0048] Dividing the laser point cloud image to determine point cloud data corresponding to the second electric power equipment;

[0049] Determine a point cloud edge image of the second electric power equipment according to the point cloud data and determine edge size data of the point cloud edge image;

[0050] Determine key component feature information of the second electric power equipment according to the point cloud data;

[0051] Determine the spatial position information of the second power equipment in the corresponding scene of the laser cloud point map according to the point cloud data;

[0052] The three-dimensional edge feature information includes the point cloud edge image, the edge size data, the key component feature information and the spatial position information.

[0053] Optionally, the digital twin construction module is used to generate a digital twin geometry for the second power device according to the first power device, including:

[0054] constructing the digital twin geometry according to the three-dimensional geometry data of the first power equipment;

[0055] Determining parameter data and behavior data of the first electric power device;

[0056] Determining data attributes of the digital twin geometric body according to the parameter data;

[0057] Determine the behavior attributes of the digital twin geometric body based on the behavior data.

[0058] Based on the above purpose, in the third aspect, the embodiment of the present application also provides an electronic device for station mapping based on feature matching. The electronic device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the program, the station mapping method based on feature matching as described in the first aspect is implemented.

[0059] It can be seen from the above that the site mapping method, device and electronic device based on feature matching provided in the embodiments of the present application have the following beneficial technical effects:

[0060] In the pre-preparation stage, three-dimensional geometric data of various types of first power equipment are obtained to construct a device feature database, and the three-dimensional edge feature information of multiple second power equipment in the substation scene is determined according to the corresponding laser point cloud map of the target substation. The two are then compared for features, and the three-dimensional edge feature information is matched using the device feature database. While efficiently and accurately determining the specific equipment types of the multiple second power equipment in the target station, the corresponding digital twin geometries of the multiple second power equipment are accurately located in the target substation scene and constructed, thereby realizing the mapping of the target substation scene and facilitating the further digitalization of the power system. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] In order to more clearly illustrate one or more embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only one or more embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0062] Figure 1 A schematic diagram of a site mapping method based on feature matching provided in one or more embodiments of the present application;

[0063] Figure 2 A schematic diagram of a method for constructing a device feature database in a site mapping method based on feature matching provided by one or more embodiments of the present application;

[0064] Figure 3 A schematic diagram of a method for determining three-dimensional edge feature information of a second power device in a site mapping method based on feature matching provided by one or more embodiments of the present application;

[0065] Figure 4 A schematic diagram of a feature matching method in a site mapping method based on feature matching provided by one or more embodiments of the present application;

[0066] Figure 5 A schematic diagram of the structure of a site mapping device based on feature matching provided by one or more embodiments of the present application;

[0067] Figure 6 A schematic diagram of the structure of a site mapping electronic device based on feature matching provided in one or more embodiments of the present application. DETAILED DESCRIPTION

[0068] In order to make the objectives, technical solutions and advantages of the present disclosure more clearly understood, the present disclosure is further described in detail below in combination with specific embodiments and with reference to the accompanying drawings.

[0069] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in one or more embodiments of the present application should be understood by people with ordinary skills in the field to which the present disclosure belongs. The "first", "second" and similar words used in one or more embodiments of the present application do not indicate any order, quantity or importance, but are only used to distinguish different components. "Include" or "comprise" and similar words mean that the elements or objects appearing before the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0070] In one aspect, an optional embodiment of the present application provides a site mapping method based on feature matching.

[0071] like Figure 1 As shown, one or more optional embodiments of the present application provide a site mapping method based on feature matching, including:

[0072] S1: Acquire three-dimensional geometric data of a plurality of first power devices, and construct a device feature database according to the three-dimensional geometric data.

[0073] Various first-level power equipment includes primary power equipment, mainly including: equipment for producing and converting electric energy, such as generators, motors, transformers, etc.; switchgear for connecting and disconnecting circuits, such as circuit breakers, disconnectors, contactors, fuses and other current-carrying conductors and gas-insulated equipment. Such as busbars, power cables, insulators, wall bushings, etc.; equipment for limiting overcurrent or overvoltage, such as current-limiting reactors, lightning arresters, etc.; and transformer equipment: reducing high voltage and high current in the primary circuit for use by measuring instruments and relay protection devices, such as voltage transformers and current transformers. Various first-level power equipment also includes secondary power equipment, mainly various measuring meters, various relay protection and automatic devices, DC power supply equipment, etc.

[0074] The number and types of first power equipment used in different substations are not the same, but for the same type of first power equipment, its equipment model, three-dimensional geometric data, working purpose parameters, connection relationship with other first power equipment, etc. are relatively clear. Among them, the three-dimensional geometric data is one of the most important data for identifying and confirming the type of first power equipment. Therefore, the equipment feature database can be extracted and constructed based on the three-dimensional geometric data of multiple first power equipment.

[0075] S2: Acquire a laser point cloud image of the target site, and determine three-dimensional edge feature information of a plurality of second power equipment in the laser point cloud image.

[0076] The laser point cloud image of the target station is obtained by three-dimensional laser scanning, which includes point cloud data reflected from the surfaces of multiple second power devices in the target station. The three-dimensional edge feature information of multiple second power devices can be obtained through the laser point cloud image.

[0077] S3: performing feature matching on the three-dimensional edge feature information using the device feature database to determine the first power device corresponding to the second power device.

[0078] According to the device feature database, the three-dimensional edge feature information can be used to compare and match the second power device with the first power device in terms of contour features, size features, and structural features. The first power device corresponding to the second power device can be accurately determined by matching the contour features, size features, and structural features, that is, the device type of the second power device can be determined.

[0079] S4: Generate a digital twin geometry for the second power device based on the first power device, and replace the second power device with the corresponding digital twin geometry in the laser cloud point map.

[0080] In the site mapping method based on feature matching, three-dimensional geometric data of multiple types of first power equipment are obtained in the pre-preparation stage to construct a device feature database, and the three-dimensional edge feature information of multiple second power equipment in the substation scene is determined according to the corresponding laser point cloud map of the target substation. After that, the two are feature compared, and the three-dimensional edge feature information is feature matched using the device feature database. While efficiently and accurately determining the specific device types of the multiple second power equipment in the target site, the corresponding digital twin geometries of the multiple second power equipment are accurately located and constructed in the target substation scene, thereby realizing the mapping of the target substation scene and facilitating the further digitalization of the power system.

[0081] like Figure 2 As shown, in a site mapping method based on feature matching provided in one or more optional embodiments of the present application, the three-dimensional geometric data includes the shape profile data, overall size data and structural feature information of the first power equipment;

[0082] The step of constructing a device feature database according to the three-dimensional geometric data comprises:

[0083] S201: Generate a plurality of device outline views corresponding to the first electrical device at a plurality of viewing angles according to the appearance contour data.

[0084] When matching the second power device with the first power device for contour features, one point that needs to be considered is that the contour views of the first power device at different viewing angles are different. In the laser point cloud image, the angle of the corresponding laser scan of the second power device is already fixed, so in order to achieve contour feature matching between the first power device and the second power device, multiple device contour views corresponding to the first power device at multiple viewing angles can be generated based on the shape profile data.

[0085] S202: Determine outline dimension data of the device outline view according to the overall dimension data.

[0086] S203: Constructing the device feature database according to the device outline view, the outline dimension data and the structural feature information.

[0087] For each type of first power equipment, multiple equipment outline views, corresponding outline dimension data and structural feature information at multiple viewing angles are determined, and the equipment feature database is constructed based on the equipment outline views, outline dimension data and structural feature information of multiple first power equipment.

[0088] like Figure 3As shown, in a site mapping method based on feature matching provided in one or more optional embodiments of the present application, the determining of three-dimensional edge feature information of a plurality of second power devices in the laser point cloud image includes:

[0089] S301: Divide the laser point cloud image to determine point cloud data corresponding to the second power equipment.

[0090] S302: Determine a point cloud edge image of the second electric power equipment according to the point cloud data and determine edge size data of the point cloud edge image.

[0091] S303: Determine key component feature information of the second power equipment according to the point cloud data.

[0092] S304: Determine the spatial position information of the second power equipment in the corresponding scene of the laser cloud point diagram according to the point cloud data.

[0093] The three-dimensional edge feature information includes the point cloud edge image, the edge size data, the key component feature information and the spatial position information.

[0094] like Figure 4 As shown, in a site mapping method based on feature matching provided in one or more optional embodiments of the present application, the method of performing feature matching on the three-dimensional edge feature information using the device feature database to determine the first power device corresponding to the second power device includes:

[0095] S401: performing edge feature matching on a plurality of device outline views corresponding to the first power device and the point cloud edge image of the second power device respectively, and determining similarity between the device outline view and the point cloud edge image.

[0096] There are differences in the contour views of the first power device at different viewing angles. Therefore, when matching the contour features of the second power device and the first power device, edge feature matching is performed on the corresponding multiple device contour views of the first power device and the point cloud edge image of the second power device. If there is a match between the device contour view and the point cloud edge image, it means that the contours of the first power device and the second power device are consistent at the corresponding viewing angle of the device contour view. If all the device contour views do not match the point cloud edge image, it means that the first power device and the second power device do not match at all in terms of contour features.

[0097] In some optional embodiments, when edge feature matching is performed between the multiple device outline views corresponding to the first power device and the point cloud edge image of the second power device, an image matching algorithm based on an artificial neural network can be used to perform matching detection on the device outline view and the point cloud edge image. The device outline view and the point cloud edge image are used as inputs of the artificial neural network, and the difference between the device outline view and the point cloud edge image is determined after processing by the artificial neural network. The smaller the difference value, the greater the similarity between the device outline view and the point cloud edge image.

[0098] S402: In response to the similarity between the device outline view and the point cloud edge image being greater than a preset similarity threshold, determining that the outline feature of the first power device matches the outline feature of the second power device.

[0099] S403: Compare the outline dimension data of the device outline view with the edge dimension data of the point cloud edge image to determine the consistency between the outline dimension data and the edge dimension data.

[0100] S404: In response to the compliance being greater than a preset compliance threshold, determining that a size feature of the first electrical device matches a size feature of the second electrical device.

[0101] S405: Compare the structural feature information of the first electric device with the key component feature information of the second electric device to determine the matching degree between the structural feature information and the key component feature information.

[0102] S406: In response to the matching degree being greater than a preset matching degree threshold, determining that the structural characteristics of the first power device match the structural characteristics of the second power device, and the first power device corresponds to the second power device.

[0103] In the site mapping method based on feature matching, the second power device and the first power device are compared and matched in three aspects of contour features, size features and structural features in turn. Only when the similarity, conformity and matching between the two meet the requirements, the first power device and the second power device are determined to be matched. Matching in this way can accurately determine the first power device corresponding to the second power device, that is, determine the device type of the second power device.

[0104] In a site mapping method based on feature matching provided in one or more optional embodiments of the present application, generating a digital twin geometry for the second power device according to the first power device includes:

[0105] constructing the digital twin geometry according to the three-dimensional geometry data of the first power equipment;

[0106] Determining parameter data and behavior data of the first electric power device;

[0107] Determining data attributes of the digital twin geometric body according to the parameter data;

[0108] Determine the behavior attributes of the digital twin geometric body based on the behavior data.

[0109] In a site mapping method based on feature matching provided in one or more optional embodiments of the present application, replacing the second power equipment with the corresponding digital twin geometry in the laser cloud point map includes:

[0110] Setting the digital twin geometric body in a corresponding scene of the laser cloud point map according to the spatial position information;

[0111] The size and placement angle of the digital twin geometric body are adjusted so that multiple geometric vertices of the digital twin geometric body coincide with multiple geometric vertices corresponding to the second power device.

[0112] It should be noted that the method of the embodiment of the present disclosure can be performed by a single device, such as a computer or a server. The method of the present embodiment can also be applied in a distributed scenario and completed by multiple devices cooperating with each other. In the case of such a distributed scenario, one of the multiple devices can only perform one or more steps in the method of the embodiment of the present disclosure, and the multiple devices will interact with each other to complete the described method.

[0113] It should be noted that the above describes some embodiments of the present disclosure. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the above embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0114] Based on the same inventive concept, corresponding to any of the above-mentioned embodiment methods, the present disclosure also provides a site mapping device based on feature matching.

[0115] refer to Figure 5 , a site mapping device based on feature matching provided by one or more optional embodiments of the present application includes:

[0116] A database construction module 501 is used to obtain three-dimensional geometric data of a plurality of first power devices and construct a device feature database according to the three-dimensional geometric data;

[0117] A station scanning module 502 is used to obtain a laser point cloud image of a target station and determine three-dimensional edge feature information of a plurality of second power devices in the laser point cloud image;

[0118] A feature matching module 503 is used to perform feature matching on the three-dimensional edge feature information using the device feature database to determine the first power device corresponding to the second power device;

[0119] The digital twin construction module 504 is used to generate a digital twin geometry for the second power device based on the first power device, and replace the second power device with the corresponding digital twin geometry in the laser cloud point map.

[0120] In a site mapping device based on feature matching provided in one or more optional embodiments of the present application, the three-dimensional geometric data includes shape contour data, overall size data and structural feature information;

[0121] The database construction module 501 is used to construct a device feature database according to the three-dimensional geometric data, including:

[0122] generating a plurality of device outline views corresponding to the first electrical device at a plurality of viewing angles according to the shape profile data;

[0123] Determine outline dimension data of the device outline view according to the overall dimension data;

[0124] The device feature database is constructed according to the device outline view, the outline dimension data and the structural feature information.

[0125] In a site mapping device based on feature matching provided in one or more optional embodiments of the present application, the site scanning module 502 is used to determine the three-dimensional edge feature information of multiple second power equipment in the laser point cloud image, including:

[0126] Dividing the laser point cloud image to determine point cloud data corresponding to the second electric power equipment;

[0127] Determine a point cloud edge image of the second electric power equipment according to the point cloud data and determine edge size data of the point cloud edge image;

[0128] Determine key component feature information of the second electric power equipment according to the point cloud data;

[0129] Determine the spatial position information of the second power equipment in the corresponding scene of the laser cloud point map according to the point cloud data;

[0130] The three-dimensional edge feature information includes the point cloud edge image, the edge size data, the key component feature information and the spatial position information.

[0131] In a site mapping device based on feature matching provided in one or more optional embodiments of the present application, the digital twin construction module 504 is used to generate a digital twin geometry for the second power device according to the first power device, including:

[0132] constructing the digital twin geometry according to the three-dimensional geometry data of the first power equipment;

[0133] Determining parameter data and behavior data of the first electric power device;

[0134] Determining data attributes of the digital twin geometric body according to the parameter data;

[0135] Determine the behavior attributes of the digital twin geometric body based on the behavior data.

[0136] For the convenience of description, the above device is described by dividing it into various modules according to its functions. Of course, when implementing the present disclosure, the functions of each module can be implemented in the same or multiple software and / or hardware.

[0137] The device of the above embodiment is used to implement the corresponding site mapping method based on feature matching in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be repeated here.

[0138] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments and methods, the present disclosure also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the site mapping method based on feature matching described in any of the above embodiments is implemented.

[0139] Figure 6 A more specific schematic diagram of the hardware structure of an electronic device provided in this embodiment is shown, and the device may include: a processor 1010, a memory 1020, an input / output interface 1030, a communication interface 1040, and a bus 1050. The processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040 are connected to each other through the bus 1050 in the device.

[0140] The processor 1010 can be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this specification.

[0141] The memory 1020 may be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage device, dynamic storage device, etc. The memory 1020 may store an operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented by software or firmware, the relevant program codes are stored in the memory 1020 and are called and executed by the processor 1010.

[0142] The input / output interface 1030 is used to connect the input / output module to realize information input and output. The input / output module can be configured in the device as a component (not shown in the figure), or it can be externally connected to the device to provide corresponding functions. The input device may include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output device may include a display, a speaker, a vibrator, an indicator light, etc.

[0143] The communication interface 1040 is used to connect a communication module (not shown) to realize communication interaction between the device and other devices. The communication module can realize communication through a wired mode (such as USB, network cable, etc.) or a wireless mode (such as mobile network, WIFI, Bluetooth, etc.).

[0144] The bus 1050 includes a path that transmits information between the various components of the device (eg, the processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040).

[0145] It should be noted that, although the above device only shows the processor 1010, the memory 1020, the input / output interface 1030, the communication interface 1040 and the bus 1050, in the specific implementation process, the device may also include other components necessary for normal operation. In addition, it can be understood by those skilled in the art that the above device may also only include the components necessary for implementing the embodiments of the present specification, and does not necessarily include all the components shown in the figure.

[0146] The electronic device of the above embodiment is used to implement the corresponding site mapping method based on feature matching in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be described in detail here.

[0147] Those skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present disclosure (including the claims) is limited to these examples. Based on the concept of the present disclosure, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of different aspects of one or more embodiments of the present application as described above, which are not provided in detail for the sake of simplicity.

[0148] In addition, to simplify the description and discussion, and in order not to make one or more embodiments of the present application difficult to understand, the known power / ground connections to the integrated circuit (IC) chip and other components may or may not be shown in the provided drawings. In addition, the device can be shown in the form of a block diagram to avoid making one or more embodiments of the present application difficult to understand, and this also takes into account the fact that the details of the implementation of these block diagram devices are highly dependent on the platform on which one or more embodiments of the present application will be implemented (that is, these details should be fully within the scope of understanding of those skilled in the art). In the case of elaborating specific details (e.g., circuits) to describe exemplary embodiments of the present disclosure, it is obvious to those skilled in the art that one or more embodiments of the present application can be implemented without these specific details or when these specific details are changed. Therefore, these descriptions should be considered illustrative rather than restrictive.

[0149] Although the present disclosure has been described in conjunction with specific embodiments of the present disclosure, many replacements, modifications and variations of these embodiments will be apparent to those skilled in the art from the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may use the embodiments discussed.

[0150] One or more embodiments of the present application are intended to cover all such substitutions, modifications and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of one or more embodiments of the present application should be included in the scope of protection of this disclosure.

Claims

1. A site mapping method based on feature matching, characterized in that: include: Acquire three-dimensional geometric data of a plurality of first power devices, the three-dimensional geometric data including shape contour data, overall dimension data and structural feature information, and construct a device feature database according to the three-dimensional geometric data, including: generating a plurality of device contour views corresponding to the first power device at a plurality of viewing angles according to the shape contour data; determining contour dimension data of the device contour view according to the overall dimension data; and constructing the device feature database according to the device contour view, the contour dimension data and the structural feature information; Acquire a laser point cloud image of a target site, and determine three-dimensional edge feature information of a plurality of second electric power devices in the laser point cloud image, including: dividing the laser point cloud image to determine point cloud data corresponding to the second electric power device; determining a point cloud edge image of the second electric power device according to the point cloud data and determining edge size data of the point cloud edge image; determining feature information of key components of the second electric power device according to the point cloud data; determining spatial position information of the second electric power device in a corresponding scene of the laser point cloud image according to the point cloud data; the three-dimensional edge feature information includes the point cloud edge image, the edge size data, feature information of key components, and the spatial position information; The device feature database is used to perform feature matching on the three-dimensional edge feature information to determine the first power device corresponding to the second power device, including: respectively performing edge feature matching on a plurality of device outline views corresponding to the first power device and the point cloud edge image of the second power device, including: using an image matching algorithm based on an artificial neural network to perform matching detection on the device outline view and the point cloud edge image to determine the similarity between the device outline view and the point cloud edge image; in response to the existence of the similarity between the device outline view and the point cloud edge image being greater than a preset similarity threshold, determining that the outline feature of the first power device matches the outline feature of the second power device; matching the device outline view with the point cloud edge image; The contour size data of the contour view is compared with the edge size data of the point cloud edge image to determine the conformity between the contour size data and the edge size data; in response to the conformity being greater than a preset conformity threshold, it is determined that the size feature of the first electric device matches the size feature of the second electric device; the structural feature information of the first electric device is compared with the key component feature information of the second electric device to determine the matching degree between the structural feature information and the key component feature information; in response to the matching degree being greater than a preset matching threshold, it is determined that the structural feature of the first electric device matches the structural feature of the second electric device, and the first electric device corresponds to the second electric device; Generate a digital twin geometry for the second power equipment based on the first power equipment, including: constructing the digital twin geometry based on the three-dimensional geometric data of the first power equipment; determining parameter data and behavior data of the first power equipment; determining data attributes of the digital twin geometry based on the parameter data; determining behavior attributes of the digital twin geometry based on the behavior data, and replacing the first power equipment object with the corresponding digital twin geometry in the laser point cloud image.

2. A station mapping device based on feature matching, characterized in that: include: A database construction module is used to obtain three-dimensional geometric data of multiple first power devices, wherein the three-dimensional geometric data includes shape contour data, overall dimension data and structural feature information, and construct a device feature database according to the three-dimensional geometric data, including: generating a plurality of device contour views corresponding to the first power device at a plurality of viewing angles according to the shape contour data; determining contour dimension data of the device contour view according to the overall dimension data; and constructing the device feature database according to the device contour view, the contour dimension data and the structural feature information; A station scanning module is used to obtain a laser point cloud image of a target station and determine the three-dimensional edge feature information of a plurality of second power devices in the laser point cloud image, including: dividing the laser point cloud image to determine the point cloud data corresponding to the second power device; determining the point cloud edge image of the second power device according to the point cloud data and determining the edge size data of the point cloud edge image; determining the key component feature information of the second power device according to the point cloud data; determining the spatial position information of the second power device in the corresponding scene of the laser point cloud image according to the point cloud data; the three-dimensional edge feature information includes the point cloud edge image, the edge size data, the key component feature information and the spatial position information; A feature matching module is used to perform feature matching on the three-dimensional edge feature information using the device feature database to determine the first power device corresponding to the second power device, including: performing edge feature matching on a plurality of device outline views corresponding to the first power device and the point cloud edge image of the second power device respectively, including: performing matching detection on the device outline view and the point cloud edge image using an image matching algorithm based on an artificial neural network to determine the similarity between the device outline view and the point cloud edge image; in response to the existence of a similarity between the device outline view and the point cloud edge image being greater than a preset similarity threshold, determining that the outline feature of the first power device matches the outline feature of the second power device; and The outline size data of the device outline view is compared with the edge size data of the point cloud edge image to determine the conformity between the outline size data and the edge size data; in response to the conformity being greater than a preset conformity threshold, it is determined that the size feature of the first power device matches the size feature of the second power device; the structural feature information of the first power device is compared with the key component feature information of the second power device to determine the matching degree between the structural feature information and the key component feature information; in response to the matching degree being greater than a preset matching threshold, it is determined that the structural feature of the first power device matches the structural feature of the second power device, and the first power device corresponds to the second power device; A digital twin construction module is used to generate a digital twin geometry for the second power equipment based on the first power equipment, including: constructing the digital twin geometry based on the three-dimensional geometric data of the first power equipment; determining the parameter data and behavior data of the first power equipment; determining the data attributes of the digital twin geometry based on the parameter data; determining the behavior attributes of the digital twin geometry based on the behavior data, and replacing the second power equipment with the corresponding digital twin geometry in the laser point cloud image.

3. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the method according to claim 1 is implemented.

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