A 3D panoramic digital twin visualization method and system for power transmission channels

Abstract

The present invention discloses a three-dimensional panoramic digital twin power transmission channel visualization method and system, belonging to the technical field of intelligent operation and maintenance of transmission lines. In the power transmission channel, the present invention integrates remote sensing maps, three-dimensional models and point cloud models, and through the combination of models and maps, further fuses with sensor data to twin the real-time scene and three-dimensional stereo scene of the power transmission channel, and accordingly generates a visualized digital twin power transmission channel based on the sensor data, which greatly facilitates the inspection work of the operation and maintenance personnel of the power transmission channel and the maintenance work of transmission line faults.

Description

Technical Field

[0001] The present invention relates to a method and system for visualizing a three-dimensional panoramic digital twin transmission corridor, belonging to the technical field of intelligent operation and maintenance of transmission lines. Technical Background

[0002] Digital twin is becoming a new focus of global information technology development, and technologies such as the Internet of Things and cloud computing are increasingly widely used to implement digital twins. However, there are no mature and perfect products and technologies in the field of transmission lines. The original two-dimensional scenario can no longer meet the market demand. In order to better display the real-time scenario of the transmission line and restore the surrounding environment, so that users can have a better visual experience and more conveniently and quickly see the real scene on site, how to realize the visualization of the three-dimensional panoramic digital twin transmission corridor has become a technical problem to be solved urgently in this technical field.

[0003] For this reason, the prior art has also disclosed the following technical documents: Chinese Patent Document CN108389256A discloses a two- and three-dimensional interactive UAV power tower inspection assistance method, including the following steps: Step 1, using the images or videos captured by the UAV as input, and extracting the key frames of the images or videos; Step 2, extracting power tower information from the key frames of the extracted images or videos based on saliency and connectivity; Step 3, completing semi-dense three-dimensional point cloud reconstruction based on SfM and MVS and obtaining the correspondence between the two-dimensional image and the three-dimensional point cloud; Step 4, constructing a two- and three-dimensional interactive visualization system; Step 5, automatically segmenting the complete point cloud of the target to be inspected based on a perspective selected by the user in the three-dimensional point cloud; Step 6, automatically finding the image with the target to be inspected based on the correspondence between the two-dimensional image and the three-dimensional point cloud, marking the position of the target to be inspected in the image, and intelligently sorting the candidate images. However, only the information of the power tower is effectively collected in this technical document to realize the inspection data, but the ultimate goal of visualizing the three-dimensional panoramic digital twin transmission corridor cannot be achieved. Summary of the Invention

[0004] Aiming at the deficiencies of the prior art, the present invention discloses a method for visualizing a three-dimensional panoramic digital twin transmission corridor.

[0005] The present invention also discloses a visualization system for implementing the above method. Overview of the Invention:

[0007] A 3D panoramic digital twin visualization method for transmission channels. The transmission channel integrates remote sensing maps, 3D models, and point cloud models. By combining the models and maps and further fusing with sensor data, it twins the real-time scene and 3D stereoscopic scene of the transmission channel. Based on this, a visualized digital twin transmission channel generated according to sensor data greatly facilitates the inspection work of transmission channel operation and maintenance personnel and the maintenance work of transmission line faults.

[0008] The detailed technical solution of the present invention is as follows:

[0009] A 3D panoramic digital twin visualization method for transmission channels, characterized by including:

[0010] Create a 3D model of the tower:

[0011] Create a 3D model of the tower corresponding to the type of tower distributed on the transmission channel, export the gltf model, and load the point cloud data of the tower corresponding to the gltf model to flexibly configure the tower data source; wherein, the 3D model of the tower can be obtained through 3D technology, such as obtaining the 3D model of the tower through software such as 3dmax or oblique photography; the 3D model of the tower includes straight towers, tension towers, corner towers, transposition towers, etc.

[0012] Collect tower information:

[0013] Collect the information of the towers distributed on the real transmission channel, including: the longitude and latitude coordinates of the location of the tower, and the attribute information of the tower; the attribute information of the tower includes: the type information of the tower, and the maintenance information of the tower; the longitude and latitude coordinates corresponding to the tower can be obtained according to the monitoring equipment installed on the tower to obtain the accurate longitude and latitude coordinates of its location, which are later applied to the accurate positioning display of the tower; at the same time, the monitoring equipment collects the information that the tower needs to be maintained in real time, so that the maintenance personnel can track and maintain according to the attribute information of the tower.

[0014] Render the 3D model of the tower:

[0015] 1) Determine the rotation angle of the tower: Given three adjacent towers A'(x1, y1), B'(x2, y2), C'(x3, y3), determine whether the tower is a corner tower:

[0016] When the tower is not a corner tower, with the east-west longitude direction as the X-axis, the angle of tower A' is Math.atan2(x1, y1) / (Math.PI / 180);

[0017] When the tower is a corner tower, the calculation method is as follows:

[0018] The angle of line segment A'B' with respect to the X-axis is angl1 = Math.atan2((y2 - y1), (x2 - x1)) / (Math.PI / 180);

[0019] The angle of line segment B'C' with respect to the X-axis is angl2 = Math.atan2((y3 - y2), (x3 - x2)) / (Math.PI / 180);

[0020] The angle of tower B' is (angl1 + angl2 + 90) / 2

[0021] And so on to obtain the angles of all towers;

[0022] According to the calculation, the average value of the intermediate angles of the three points is the rotation angle of the angle tower, and the rotation angle of the angle tower is saved for directly calling this rotation angle when rendering the tower again later. This technical feature saves the rotation angle calculated during the first rendering, which helps with the subsequent rendering of the tower, that is, it will not be recalculated during the second rendering, thus reducing the loading performance of the browser and making the loading faster during the second load;

[0023] 2) Map positioning of the tower

[0024] Based on the longitude and latitude coordinates of the location of the tower, the tower type information, and the corresponding tower rotation angle, it is rendered onto the map using cesium. Cesium is a library of front-end scripting languages that can display the three-dimensional earth and maps across platforms and browsers;

[0025] 3) Render the wires between adjacent towers to form a digital twin simulation:

[0026] First, calculate the position coordinates of the insulator on the tower relative to the reference point. Here, the reference point is determined as follows: when the insulator rotates, a reference point is selected;

[0027] Then, calculate that the angle of rotation around the false y-axis is variable A (calculated by Method 1 in the following Example 1), and then substitute variable A into the calculation to obtain an angle of rotation around the axis of the target tower as variable B (calculated by Method 2 in the following Example 1). Then calculate the longitude, latitude, and height of the insulator:

[0028] Insulator latitude

[0029] = Cesium.Math.toDegrees(Cesium.Cartographic.fromCartesian(B).longitude).toFixed(10);

[0030] Longitude of insulator

[0031] = Cesium.Math.toDegrees(Cesium.Cartographic.fromCartesian(B).latitude).toFixed(10);

[0032] Height of insulator = Cesium.Cartographic.fromCartesian(B).height.toFixed(2);

[0033] Wherein, B is an angular variable for the wire to rotate around the axis of the target point tower (calculated by Method 2 in Embodiment 1 below);

[0034] Draw a parabola between two towers based on the above longitude, latitude and height data, and finally form a three-dimensional scene.

[0035] Preferably according to the present invention, when drawing the parabola, input the ratio of the highest point of the wire to the total distance to control the digital twin simulation of the parabola arc change caused by the thermal expansion and contraction of the line due to temperature changes.

[0036] Preferably according to the present invention, in step 2), Cesium supports the Cartesian coordinate system. Through the Cartesian3 method of Cesium, the longitude and latitude where the tower is located are converted into the Cartesian coordinate system; since the number of gltf objects is relatively large, a batch loading method will be used, and the batch loading of gltf files is completed using the ModelInstanceCollection method of Cesium.

[0037] Preferably according to the present invention, after step 2), fine-tune the rotation angle of the tower by selecting the tower and rotating the corresponding control of the tower; further, update the fine-tuned angle to the three-dimensional model of the tower or the tower ledger information, and finally store it in the server. When previewing the line, add a fine-tuning function. Click to select the tower. If the angle is not appropriate, you can rotate the control next to it to achieve the function of fine-tuning the tower angle, and then bind the fine-tuned angle to the tower ledger information, and then save it to the database of the server, making the rendering of the tower more accurate.

[0038] Preferably according to the present invention, for the longitude and latitude coordinates of the location of the tower, use front-end encryption, that is, encrypt according to the defined encryption rules, and finally transmit it to the server. The encryption rules can be set with different security levels according to different application scenarios. Existing encryption rules can be selected, and this encryption rule does not belong to the scope protected by the present invention.

[0039] Preferably according to the present invention, for the attribute information of the pole tower, front-end encryption is used, that is, encryption is performed according to the defined encryption rules and finally transmitted to the server. The encryption rules can be set with different security levels according to different application scenarios, and existing encryption rules can be selected. This encryption rule does not belong to the scope protected by the present invention.

[0040] Preferably according to the present invention, the method for determining whether the pole tower is a corner tower is as follows: It is known that three adjacent pole towers are A'(x1, y1), B'(x2, y2), and C'(x3, y3);

[0041] The angle of the line segment A'B' with respect to the X-axis is angl1 = Math.atan2((y2 - y1), (x2 - x1)) / (Math.PI / 180);

[0042] The angle of the line segment B'C' with respect to the X-axis is angl2 = Math.atan2((y3 - y2), (x3 - x2)) / (Math.PI / 180);

[0043] Compare angl1 and angl2:

[0044] If the absolute value of the subtraction is greater than 5 degrees, it is determined that the pole tower corresponding to the middle B' is a corner tower. Referring to the usage standard for corner towers in the State Grid standard: Corner towers are used where the line needs to turn. However, if the angle is not large, a straight tower can also be used, generally not more than 5 degrees.

[0045] Preferably according to the present invention, the map in step 2) is formed by downloading map tiles. The present invention integrates Tianditu. Since the involved invention will be used in an intranet environment, it is necessary to download the tiles of the integrated map.

[0046] Preferably according to the present invention, in creating the 3D model of the pole tower, the method for exporting the glTF model includes: After finely modeling using 3ds Max software, use the plugin Babylon of 3ds Max software to export the 3D model of the pole tower in glTF format.

[0047] Preferably according to the present invention, the visualization method also includes rendering of sensors:

[0048] Add a sensor model on the corresponding pole tower according to the longitude and latitude of the pole tower.

[0049] Preferably according to the present invention, the visualization method also includes autonomous cruising:

[0050] Construct the motion trajectory of the animation through the czml of cesium, and obtain the autonomous cruise motion trajectory according to the conversion of the longitude and latitude of the tower pole. Then, add the motion trajectory to the viewing angle through the CzmlDataSource method. Further, the autonomous cruise supports functions such as pause, fast forward, and fast rewind, making it more convenient to operate. The czml is a JSON-formatted string used to describe an animation scene related to time. CZML contains points, lines, landmarks, models, and some other graphic elements, and indicates how these elements change over time.

[0051] Preferably according to the present invention, the visualization method further includes: lazy loading of models. During the process of rendering the gltf model, rendering all models at once will consume a large amount of memory space, resulting in very laggy pages. Therefore, the lazy loading function is essential. By using the longitude and latitude coordinates within the past page viewing angle, obtain the coordinates of the tower poles during page loading or cruise to determine which gltf models need to be rendered within this coordinate range:

[0052] When the gltf model is not within the visible range, destroy this gltf model to release the browser memory, solve the lag phenomenon caused by too many models, and make the page more fluent.

[0053] Preferably according to the present invention, the visualization method further includes the interactive function of the page:

[0054] The user's interactive operations on the three-dimensional scene achieve rotation, scaling, and dragging of it;

[0055] The interactive operations further include: by clicking on the three-dimensional model of the tower pole, the longitude and latitude coordinates of the location of the tower pole and the attribute information of the tower pole are popped up;

[0056] By clicking on the three-dimensional model of the tower pole, the data real-time monitored by the corresponding sensor is popped up, thus achieving a good interactive experience and visual effect.

[0057] A visualization system for implementing the above three-dimensional panoramic digital twin transmission channel visualization method, characterized in that the system includes: a three-dimensional model, a point cloud model, a tower pole ledger data module, a sensor data module, a server, and a web end;

[0058] The three-dimensional model is the three-dimensional model of the tower pole in the visualization method;

[0059] The point cloud model is the model corresponding to the rendering of the three-dimensional model of the tower pole;

[0060] The tower pole ledger data module is used to store and update in real time the longitude and latitude coordinates of the location of the tower pole, the attribute information of the tower pole, and the corner data;

[0061] The sensor data module is used to transmit the monitoring data of the sensors on the pole tower to the server in real time;

[0062] The web end is used to display the three-dimensional scene in the target transmission channel in real time.

[0063] Preferably according to the present invention, the web end in the visualization system is further used for: the user realizes through page interaction, and the interactive operation of the three-dimensional scene realizes its rotation, scaling and dragging;

[0064] The interactive operation further includes: by clicking on the three-dimensional model of the pole tower, the longitude and latitude coordinates of the location where the pole tower is located and the attribute information of the pole tower are popped up;

[0065] By clicking on the three-dimensional model of the pole tower, the data real-time monitored by the corresponding sensor is popped up.

[0066] The beneficial technical effects of the present invention:

[0067] Aiming at the problem that the current two-dimensional scene cannot meet the current requirements, the present invention combines the three-dimensional model or point cloud data and remote sensing map and some sensor data on the transmission line to truly restore the transmission channel scene, and combines the sensor data to truly restore the icing of the line and the arc of the line between the pole towers according to the temperature change. The user can rotate, translate, and autonomously cruise the model, and restore the real scene of the transmission line according to various sensor information, accurately locate according to the longitude and latitude of the pole tower, and calculate the corresponding angle of the angle tower according to the corresponding algorithm. The rendering of the wire is also generated according to the Cartesian coordinates of the insulator in Cesium. The arc of the pole tower line can also display the corresponding arc according to the data returned by the sensor. This combination of 3D model and map and various sensor data as the basis does not require large-scale construction of 3D scene models, can display different data according to the change of data, has high flexibility and small workload, but has relatively high requirements for technology.

[0068] 1. The present invention uses the combination of glTF model and satellite map to display a three-dimensional panorama, makes full use of data such as physical models, sensor data updates, and operation history, integrates the simulation processes of multiple physical quantities and multiple scales, and simulates virtual three-dimensions according to these physical models and sensor data. Different from the previous two-dimensional technology, applying this invention in the transmission field can more intuitively display the alarm information in virtual reality and more intuitively locate the alarm position.

[0069] 2. The present invention also introduces an encryption link in the visualization method, uses encryption technology with custom rules for sensitive information of power operation to prevent the leakage of sensitive information, and the encryption and decryption processes will not affect the user experience.

[0070] 3. Through the method and system of the present invention, users can operate and interact with physical models in a three-dimensional scene, more conveniently and quickly understand the real-time monitoring data on the models, not only have a more intuitive understanding of the surrounding environment, but also have simple operations and high user-friendliness.

[0071] 4. The present invention renders different tower models according to the tower position information and attribute information, which can greatly reduce the workload, realizes the realization of the three-dimensional panorama on the web side without all three-dimensional modeling, and also does not require a large amount of technologies such as oblique photography to collect three-dimensional panorama information. Only a small amount of work preparation is required in the early stage, and it can be reused on multiple platforms and multi-level towers can be displayed. In the later maintenance, only a small amount of workload is required to realize the three-dimensional panorama of each transmission line. Finally, the purpose of reducing the R & D cost, reducing the maintenance cost and increasing the reuse rate is achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0072] Figure 1 is a schematic diagram of the combined effect of the tower line and the tower rendered by the visualization method of the present invention;

[0073] Figure 2 is a schematic diagram of the three-dimensional scene rendered by the visualization method of the present invention;

[0074] Figure 3 is a schematic diagram of the modules of the visualization system of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0075] The present invention will be described in detail below with reference to the embodiments and the accompanying drawings of the specification, but is not limited thereto.

[0076] Before the following embodiments, first, the tower information is maintained and data is collected, and secondly, the browser on the web side is rendered:

[0077] The first step: The user's maintenance and data collection of the tower information include the following steps

[0078] S1: Maintenance of tower types (such as straight towers, corner towers, tension towers, etc.);

[0079] S2: Collection of longitude and latitude. Since there are monitoring devices on the towers, the corresponding longitude and latitude can be transmitted, encrypted and uploaded;

[0080] S3: Download of map tiles. Since the three-dimensional panorama is combined with the map, map tiles need to be downloaded in the intranet environment, and a key for loading the map needs to be provided in the extranet environment and configured;

[0081] Step 2: Browser rendering. The Cesium framework is integrated in the browser, and it provides the best experience when used in Google Chrome. It is recommended to open it in the latest version of Google Chrome for operation and interaction.

[0082] Example 1

[0083] A three-dimensional panoramic digital twin visualization method for power transmission channels includes:

[0084] Create a 3D model of the tower:

[0085] Create a 3D model of the tower corresponding to the type of tower distributed on the power transmission channel, and export the glTF model. By loading the point cloud data of the tower corresponding to the glTF model, the tower data source can be flexibly configured. Among them, the 3D model of the tower can be obtained through 3D technology, such as obtaining the 3D model of the tower through 3ds Max software or oblique photography technology. The 3D model of the tower includes straight towers, tension towers, corner towers, transposition towers, etc.

[0086] Collect tower information:

[0087] Collect the information of the towers distributed on the actual power transmission channel, including: the longitude and latitude coordinates of the location of the tower, and the attribute information of the tower. The attribute information of the tower includes: the type information of the tower, and the maintenance information of the tower. The longitude and latitude coordinates corresponding to the tower can be obtained according to the monitoring equipment installed on the tower to obtain the accurate longitude and latitude coordinates of its location, which will be applied to the accurate positioning display of the tower in the later stage. At the same time, the monitoring equipment collects the information that the tower needs to be maintained in real time, so that the maintenance personnel can track and maintain according to the attribute information of the tower.

[0088] Render the 3D model of the tower:

[0089] 1) Determine the rotation angle of the tower: Given three adjacent towers A'(x1, y1), B'(x2, y2), C'(x3, y3), determine whether the tower is a corner tower:

[0090] When the tower is not a corner tower, with the east-west longitude direction as the X-axis, the angle of tower A' is Math.atan2(x1, y1) / (Math.PI / 180);

[0091] When the tower is a corner tower, the calculation method is as follows:

[0092] The angle of line segment A'B' with respect to the X-axis is angl1 = Math.atan2((y2 - y1), (x2 - x1)) / (Math.PI / 180);

[0093] The angle of line segment B'C' with respect to the X-axis is angl2 = Math.atan2((y3 - y2), (x3 - x2)) / (Math.PI / 180);

[0094] The angle of tower B' is (angl1 + angl2 + 90) / 2;

[0095] Compare angl1 and angl2:

[0096] If the absolute value of the subtraction is greater than 5 degrees, it is determined that the tower corresponding to the middle B' is a corner tower. The reference for the usage standard of corner towers in the State Grid standard is: Corner towers are used where the line needs to turn. However, if the angle is not large, a straight tower can also be used, generally not more than 5 degrees.

[0097] And so on to obtain the angles of all towers;

[0098] According to the calculation, the average value of the middle angles of the three points is the rotation angle of the corner tower, and the rotation angle of the corner tower is saved for direct calling of this rotation angle when rendering the tower again later. This technical feature is saved by the rotation angle calculated during the first rendering, which helps in the calling of tower rendering later, that is, it will not be calculated again during the second rendering, thereby reducing the loading performance of the browser and making it faster when loading again for the second time;

[0099] 2) Map positioning of towers

[0100] Based on the longitude and latitude coordinates of the location of the tower, the tower type information, and the corresponding tower rotation angle, it is rendered onto the map using cesium. Cesium is a library of front-end scripting languages that can display 3D globes and maps across platforms and browsers;

[0101] 3) Render the wires between adjacent towers to form a digital twin simulation:

[0102] First, calculate the position coordinates of the insulator on the tower relative to the reference point. Among them, the reference point is determined in the following way: When the insulator rotates, a reference point is selected;

[0103] Then, calculate that the angle of rotation around the false y-axis is variable A (calculated by Method 1 in the following Example 1), and then substitute variable A into the calculation to obtain an angle of rotation around the axis of the target tower as variable B (calculated by Method 2 in the following Example 1), and then calculate the longitude, latitude, and height of the insulator:

[0104] Insulator latitude

[0105] = Cesium.Math.toDegrees(Cesium.Cartographic.fromCartesian(B).longitude).toFixed(10);

[0106] Insulator longitude

[0107] = Cesium.Math.toDegrees(Cesium.Cartographic.fromCartesian(B).latitude).toFixed(10);

[0108] Insulator height = Cesium.Cartographic.fromCartesian(B).height.toFixed(2);

[0109] Wherein, the B is an angular variable for the wire to rotate around the axis of the target point tower (calculated by Method 2 in Embodiment 1 below);

[0110] Draw a parabola between two towers according to the above longitude, latitude and height data, and finally form a 3D scene. As Figure 1 shown.

[0111] When drawing the parabola, input the ratio of the highest point of the wire to the total distance to control the digital twin simulation of the parabolic arc change caused by the thermal expansion and contraction of the line due to temperature changes. As Figure 2 shown.

[0112] Specifically:

[0113] There are insulators on the towers, and the line generated by rendering needs to be strung into the insulators, so precise calculations are required.

[0114] Currently, only the longitude and latitude coordinates of the tower and the rotation angle of the tower can be obtained. Through these data, an offset of the insulator relative to the tower can be obtained through the function of picking points in cesium. Now, taking the insulator at the bottom leftmost as an example, the picked offset is: {x: -15.4486761698499, y: 29.5987414699048, z: 16.0361693799496}. Since cesium uses the Cartesian coordinate system, a reference point: 117.469717, 37.898389 is selected as the reference point for rotation when the insulator rotates, and then calculated by two methods:

[0115] Method 1:

[0116]

[0117]

[0118]

[0119] Method 2:

[0120]

[0121] The calculation process is as follows: First, calculate the position coordinates of this insulator relative to the reference point (117.469717, 37.898389). Then, through Method 1, calculate the angle of rotation around the false y-axis as variable A. Then, through Method 2, substitute variable A into the method to calculate an angle of rotation around the axis of the target tower as variable B. Then, calculate the longitude, latitude, and height of each point of the insulator as follows:

[0122] Latitude = Cesium.Math.toDegrees(Cesium.Cartographic.fromCartesian(B).longitude).toFixed(10) Longitude = Cesium.Math.toDegrees(Cesium.Cartographic.fromCartesian(B).latitude).toFixed(10),

[0123] Height = Cesium.Cartographic.fromCartesian(B).height.toFixed(2)

[0124] After saving these data, a parabola between two poles and towers can be drawn. When drawing the parabola, a ratio of the highest point to the total distance can be passed in to control the digital twin simulation of the change in the parabola arc due to the thermal expansion and contraction of the line caused by temperature changes.

[0125] Example 2

[0126] For the visualization method described in Example 1, in step 2), Cesium supports the Cartesian coordinate system. Through the Cartesian3 method of Cesium, convert the longitude and latitude where the pole and tower are located into the Cartesian coordinate system. Since the number of gltf objects is relatively large, a batch loading method will be used, and the ModelInstanceCollection method of Cesium is used to complete the batch loading of gltf files.

[0127] Example 3

[0128] For the visualization method described in Embodiment 2, after step 2), fine-tuning of the rotation angle of the pole tower is achieved by selecting the pole tower and rotating the corresponding control thereof; further, the fine-tuning angle is updated to the 3D model of the pole tower or the pole tower ledger information, and finally stored in the server. When previewing the line, a fine-tuning function is added. Click to select the pole tower. If the angle is inappropriate, the angle of the pole tower can be fine-tuned by rotating the adjacent control, and then the fine-tuned angle is bound to the pole tower ledger information and then saved to the database of the server, making the rendering of the pole tower more accurate.

[0129] Embodiment 4

[0130] For the visualization method described in Embodiments 1-3, for the longitude and latitude coordinates of the location of the pole tower, front-end encryption is used, that is, encryption is performed according to the defined encryption rules and finally transmitted to the server. The encryption rules can be set with different security levels according to different application scenarios, and existing encryption rules can be selected. This encryption rule does not belong to the scope of protection of the present invention.

[0131] Embodiment 5

[0132] For the visualization method described in Embodiments 1-4, for the attribute information of the pole tower, front-end encryption is used, that is, encryption is performed according to the defined encryption rules and finally transmitted to the server. The encryption rules can be set with different security levels according to different application scenarios, and existing encryption rules can be selected. This encryption rule does not belong to the scope of protection of the present invention.

[0133] Embodiment 6

[0134] For the visualization method described in Embodiment 1, the map in step 2) is formed by downloading map tiles. The present invention integrates Tianditu. Since the involved invention will be used in an intranet environment, the tiles of the integrated map need to be downloaded.

[0135] In the creation of the 3D model of the pole tower, the method of exporting the glTF model includes: after finely modeling with 3ds Max software, using the plugin Babylon of 3ds Max software to export the 3D model of the pole tower in glTF format.

[0136] Embodiment 7

[0137] For the visualization method described in Embodiment 1, it further includes the rendering of sensors:

[0138] Add sensor models on the corresponding pole towers according to the longitude and latitude of the pole towers.

[0139] Embodiment 8

[0140] The visualization method described in Embodiment 7 further includes autonomous cruise:

[0141] The motion trajectory of the animation is constructed through czml obtained by cesium, and the motion trajectory of the autonomous cruise is obtained according to the conversion of the longitude and latitude of the pole tower. Then, the motion trajectory is added to the viewing angle through the CzmlDataSource method. Further, the autonomous cruise supports functions such as pause, fast forward, and fast rewind, making it more convenient to operate. The czml is a JSON-formatted string used to describe an animation scene related to time. CZML contains points, lines, landmarks, models, and some other graphic elements, and indicates how these elements change over time.

[0142] Embodiment 9

[0143] The visualization method described in Embodiments 1-8 further includes: lazy loading of models. During the process of rendering the gltf model, rendering all models at once will consume a large amount of memory space, resulting in a very laggy page. Therefore, the lazy loading function is essential. By obtaining the longitude and latitude coordinates within the past page viewing angle and acquiring the coordinates of the pole tower during page loading or cruise to determine which gltf models need to be rendered within this coordinate range:

[0144] When the gltf model is not within the visible range, the gltf model is destroyed to release the browser memory, solving the lag phenomenon caused by too many models and making the page smoother.

[0145] Embodiment 10

[0146] The visualization method described in Embodiments 1-9 further includes the interactive function of the page:

[0147] The user's interactive operations on the three-dimensional scene achieve rotation, scaling, and dragging of it;

[0148] The interactive operations further include: by clicking on the three-dimensional model of the pole tower, the longitude and latitude coordinates of the location of the pole tower and the attribute information of the pole tower are popped up;

[0149] By clicking on the three-dimensional model of the pole tower, the data real-time monitored by the corresponding sensor is popped up, thus achieving a good interactive experience and visual effect. As Figure 3 shown.

[0150] Embodiment 11

[0151] A visualization system for implementing the three-dimensional panoramic digital twin transmission line channel visualization method described in Embodiments 1-10, the system includes: a three-dimensional model, a point cloud model, a pole tower ledger data module, a sensor data module, a server, and a web end;

[0152] The 3D model is the 3D model of the pole tower in the visualization method;

[0153] The point cloud model is the model corresponding to the rendering of the 3D model of the pole tower;

[0154] The pole tower ledger data module is used to store and update in real time the longitude and latitude coordinates of the location of the pole tower, the attribute information of the pole tower, and the corner data;

[0155] The sensor data module is used to transmit the monitoring data of the sensors on the pole tower to the server in real time;

[0156] The web side is used to display the 3D scene in the target transmission channel in real time.

[0157] The web side in the visualization system is also used for: realized by the user through page interaction,

[0158] The interactive operation of the 3D scene realizes its rotation, scaling, and dragging;

[0159] The interactive operation also includes: by clicking on the 3D model of the pole tower to pop up the longitude and latitude coordinates of the location of the pole tower and the attribute information of the pole tower;

[0160] By clicking on the 3D model of the pole tower to pop up the data real-time monitored by the corresponding sensors.

Claims

1. A three-dimensional panoramic digital twin power transmission channel visualization method, characterized in that Including: Create a 3D model of the pole tower: Create a 3D model of the pole tower corresponding to the types of pole towers distributed on the transmission corridor, export the gltf model, and load the point cloud data of the pole tower corresponding to the gltf model; Collect pole tower information: Collect the information of the pole towers distributed on the actual transmission corridor, including: the longitude and latitude coordinates of the location of the pole tower, the attribute information of the pole tower; the attribute information of the pole tower includes: the type information of the pole tower, the maintenance information of the pole tower; Render the 3D model of the pole tower: 1) Determine the rotation angle of the pole tower: Given A'(x 1 ,y 1 ), B'(x 2 ,y 2 ), C'(x 3 ,y 3 ） These three points are three adjacent pole towers. Determine whether the pole tower is a corner tower: When the pole tower is not a corner tower, taking the east-west longitude direction as X axis, A＇ the angle of the pole tower is Math.atan2(x 1 , y 1 ) / (Math.PI / 180) ; When the pole tower is a corner tower, the calculation method is as follows: A'B' The angle of the line segment with respect to X the axis is angl1 = Math.atan2((y 2 -y 1 ),(x 2 -x 1 )) / (Math.PI / 180) ; B'C' The angle of the line segment with respect to X the axis is angl2 = Math.atan2((y 3 -y 2 ),(x 3 -x 2 )) / (Math.PI / 180) ; B＇ The angle of the pole tower is (angl1 + angl2 + 90) / 2 And so on to obtain the angles of all pole towers; According to the calculation, the average value of the middle angles of the three points is the rotation angle of the corner tower, and save the rotation angle of the corner tower for direct calling of the rotation angle when rendering the pole tower again later; 2) Map positioning of the pole tower Based on the longitude and latitude coordinates of the location of the pole tower, the pole tower type information and the corresponding pole tower rotation angle, use cesium to render it on the map; 3) Render the wires between adjacent pole towers to form a digital twin simulation: First, calculate the position coordinates of the insulator on the pole tower relative to the reference point; Then, calculate the longitude, latitude and height of the insulator: Insulator latitude = Cesium.Math.toDegrees(Cesium.Cartographic.fromCartesian( B ).longitude).toFixed(10); Insulator longitude = Cesium.Math.toDegrees(Cesium.Cartographic.fromCartesian( B ).latitude).toFixed(10); Insulator height = Cesium.Cartographic.fromCartesian( B ).height.toFixed(2); Among them, the B is an angular variable for the wire to rotate around the axis of the target point tower; Draw a parabola between the two pole towers according to the above longitude, latitude and height data, and finally form a 3D scene.

2. The three-dimensional panoramic digital twin power transmission channel visualization method according to claim 1, wherein When drawing the parabola, pass in the ratio of the highest point of the wire to the total distance to control the digital twin simulation of the parabolic arc change caused by the thermal expansion and contraction of the line due to temperature changes.

3. The three-dimensional panoramic digital twin power transmission channel visualization method according to claim 1, wherein In step 2), the cesium supports the Cartesian coordinate system. Through the Cartesian3 method of cesium, convert the longitude and latitude where the pole tower is located into the Cartesian coordinate system; use the ModelInstanceCollection method of cesium to complete the batch loading of the gltf file.

4. The three-dimensional panoramic digital twin power transmission channel visualization method according to claim 1, wherein After step 2), fine-tune the rotation angle of the pole tower by selecting the pole tower and rotating the corresponding control of the pole tower; further, update the fine-tuning angle to the 3D model of the pole tower or the pole tower ledger information, and finally store it in the server.

5. The three-dimensional panoramic digital twin power transmission channel visualization method according to claim 1, characterized in that For the longitude and latitude coordinates of the location of the pole tower, use front-end encryption and finally transmit it to the server.

6. The three-dimensional panoramic digital twin transmission channel visualization method according to claim 1, wherein, For the attribute information of the pole tower, use front-end encryption and finally transmit it to the server.

7. The three-dimensional panoramic digital twin transmission channel visualization method according to claim 1, characterized in that The method for determining whether a pole tower is a corner tower is as follows: Given that A'(x 1 ,y 1 ), B'(x 2 ,y 2 ), C'(x 3 ,y 3 ） these three points are three adjacent pole towers; A'B' The angle of the line segment with respect to X the axis is angl1 = Math.atan2((y 2 -y 1 ),(x 2 -x 1 )) / (Math.PI / 180) ; B'C' The angle of the line segment with respect to X the axis is angl2 = Math.atan2((y 3 -y 2 ),(x 3 -x 2 )) / (Math.PI / 180) ; Compare angl1 with angl2 : If the absolute value of the subtraction is greater than 5 degrees, then it is judged that the middle The pole tower corresponding to B' is a corner tower.

8. The three-dimensional panoramic digital twin power transmission channel visualization method according to claim 1, characterized in that The map in step 2) is formed by downloading map tiles; In creating the 3D model of the pole tower, the method of exporting the gltf model includes: after refined modeling using 3dmax software, using the babylon plugin of 3dmax software to export the 3D model of the pole tower in gltf format; The visualization method also includes rendering of the sensor: Adding a sensor model on the corresponding pole tower according to the longitude and latitude of the pole tower; The visualization method also includes autonomous cruise: Constructing the motion trajectory of the animation through czml obtained by cesium, and then adding the motion trajectory to the view through the CzmlDataSource method; The visualization method also includes: lazy loading of the model. By the longitude and latitude coordinates within the past page view, obtain the coordinates of the pole tower when the page is loaded or during the cruise to determine which gltf models need to be rendered within this coordinate range: When the gltf model is not within the visible range, destroy this gltf model.

9. The three-dimensional panoramic digital twin power transmission channel visualization method according to claim 1, wherein The visualization method also includes the interactive function of the page: The user's interactive operations on the 3D scene achieve rotation, scaling, and dragging of it; The interactive operations also include: by clicking on the 3D model of the pole tower, to pop up the longitude and latitude coordinates of the location of the pole tower and the attribute information of the pole tower; By clicking on the 3D model of the pole tower, to pop up the data real-time monitored by the corresponding sensor.

10. A visualization system for implementing the three-dimensional panoramic digital twin transmission channel visualization method according to any one of claims 1-9, characterized in that, The system includes: 3D model, point cloud model, pole tower ledger data module, sensor data module, server, and web end; The 3D model is the 3D model of the pole tower in the visualization method; The point cloud model is the model corresponding to the rendering of the 3D model of the pole tower; The pole tower ledger data module is used to store and update in real time the longitude and latitude coordinates of the location of the pole tower, the attribute information of the pole tower, and the corner data; The sensor data module is used to transmit the monitoring data of the sensors on the pole tower to the server in real time; The web end is used to display the 3D scene of the target transmission corridor in real time; The web end in the visualization system is also used for: the user realizes through page interaction, The interactive operations on the 3D scene achieve rotation, scaling, and dragging of it; The interactive operations also include: by clicking on the 3D model of the pole tower, to pop up the longitude and latitude coordinates of the location of the pole tower and the attribute information of the pole tower; By clicking on the 3D model of the pole tower, to pop up the data real-time monitored by the corresponding sensor.

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