A digital twin modeling system suitable for power tunnel operation and maintenance

Abstract

The application provides a digital twin modeling system suitable for power tunnel operation and maintenance, which comprises a tunnel real scene modeling module, a tunnel data detection module, a detection position positioning module and a model data integration module, wherein the tunnel real scene modeling module can scan the laser of the tunnel to be operated and maintained to obtain point cloud data, so as to construct a tunnel static model; the tunnel data detection module can detect the environmental parameters in the tunnel; the detection position positioning module can position the real-time position of the data detection module during detection through a TOA ranging algorithm; finally, the model data integration module can integrate the detection data into the detection position corresponding to the real-time position in the tunnel static model, to generate a tunnel dynamic model, the application links the data detected in real time in the tunnel with the tunnel static model, realizes complete data mapping from reality to virtuality of the tunnel, so that the operation and maintenance personnel can carry out visual inspection and real-time state perception of the tunnel panorama, and the efficiency of tunnel operation and maintenance is improved.

Description

Technical Field

[0001] This application relates to the field of power tunnel modeling technology, and in particular to a digital twin modeling system suitable for power tunnel operation and maintenance. Background Technology

[0002] With the continuous development of the power system, the scale of power grid construction is getting larger and larger. As an important part of the power system, the requirements and difficulties of operation and maintenance of power tunnels are also constantly increasing. As a facility that provides channels and protection for transmission lines, power tunnels are generally built underground in order to reduce the impact on the environment and protect the power equipment in the tunnel. Therefore, when operation and maintenance personnel carry out operation and maintenance of power tunnels, the space that can be detected is very limited, and it is impossible to perceive the overall operating environment of the power tunnel, making it difficult to meet the requirements of safe operation and maintenance.

[0003] In recent years, online monitoring systems such as integrated monitoring systems, inspection and fire-fighting robot systems, and video surveillance systems have been gradually installed in power tunnels to promote the strategy of replacing humans with machines and realize a maintenance mode where daily inspections do not need to be carried out in the tunnel, thereby reducing the risks for maintenance personnel working in power tunnels. However, the construction of existing online monitoring systems lacks unified planning, and the data between various system modules is isolated, resulting in poor information flow within the system. Furthermore, it is impossible to intuitively view the mapping relationship between tunnel geospatial information and tunnel environmental monitoring data, leading to situations where the inspection path and inspection data of the inspection system do not match. Consequently, it is impossible to rationally allocate maintenance resources, which greatly reduces the efficiency of tunnel maintenance. Summary of the Invention

[0004] The purpose of this application is to at least address one of the aforementioned technical deficiencies, particularly the lack of unified planning in the construction of existing online monitoring systems, the data isolation between various system modules, resulting in poor information flow within the system, and the inability to intuitively view the mapping relationship between tunnel geospatial information and tunnel environmental monitoring data.

[0005] This application provides a digital twin modeling system suitable for the operation and maintenance of power tunnels. The system includes a tunnel real-scene modeling module, a tunnel data detection module, a detection location positioning module, and a model data integration module; wherein the tunnel data detection module and the detection location positioning module are applied in a mobile inspection terminal.

[0006] The tunnel real-scene modeling module is used to combine the point cloud data obtained by laser scanning of the tunnel to be maintained with the preset tunnel texture map to construct the static model of the tunnel to be maintained, and send the static model of the tunnel to the model data integration module.

[0007] The tunnel data detection module is used to detect environmental parameters at the location of the mobile inspection terminal and send the detection data to the model data integration module.

[0008] The detection location module is used to locate the real-time position of the inspection mobile terminal in the tunnel to be maintained by the TOA ranging algorithm, and send the real-time position to the model data integration module.

[0009] The model data integration module is used to receive the tunnel static model sent by the tunnel real-scene modeling module, the detection data sent by the tunnel data detection module, and the real-time position sent by the detection position positioning module, and to determine the detection position in the tunnel static model corresponding to the real-time position, so as to integrate the detection data into the detection position in the tunnel static model to obtain the tunnel dynamic model of the tunnel to be maintained.

[0010] Optionally, the tunnel real-scene modeling module includes a laser scanning submodule, a model building submodule, and a texture mapping submodule;

[0011] The laser scanning submodule is used to perform laser scanning on the tunnel to be maintained, obtain point cloud data of the tunnel to be maintained, and send the point cloud data to the model building submodule;

[0012] The model building submodule is used to perform point cloud registration on the point cloud data using BIM technology, generate an initial tunnel model, and send the initial tunnel model to the texture mapping submodule.

[0013] The texture mapping submodule is used to obtain the tunnel texture map corresponding to the tunnel to be maintained, and to attach the tunnel texture map to the initial tunnel model to obtain the static tunnel model.

[0014] Optionally, the laser scanning submodule is used to perform laser scanning on the tunnel to be maintained to obtain point cloud data of the tunnel, including:

[0015] The laser scanning submodule scans the spatial structure of the tunnel to be maintained by emitting multiple laser pulses and uses an encoder to measure the scanning angle of each laser pulse, generating three-dimensional coordinates of the spatial structure and converting the three-dimensional coordinates into point cloud data of the tunnel to be maintained.

[0016] Optionally, the model building submodule is used to perform point cloud registration on the point cloud data using BIM technology to generate an initial tunnel model, including:

[0017] The model building submodule filters the point cloud data and uses BIM technology to align and fuse the processed point cloud data in the same coordinate system to generate the initial tunnel model.

[0018] Optionally, the texture mapping submodule is used to attach the tunnel texture map to the initial tunnel model to obtain a static tunnel model, including:

[0019] The texture mapping submodule adjusts and cuts the tunnel texture map according to the spatial structure of the initial tunnel model, and then applies the processed tunnel texture map to the initial tunnel model to obtain the static tunnel model.

[0020] Optionally, the tunnel data detection module includes a temperature sensor, a vibration sensor, a settlement sensor, a gas sensor, and a hydroacoustic sensor;

[0021] The temperature sensor is used to detect the temperature at the location of the mobile inspection terminal.

[0022] The vibration sensor is used to detect the amplitude and frequency of structural vibration at the location of the mobile inspection terminal;

[0023] The settlement sensor is used to detect ground settlement at the location of the mobile inspection terminal;

[0024] The gas sensor is used to detect the gas concentration at the location of the mobile inspection terminal;

[0025] The underwater acoustic sensor is used to detect the sound of water flow at the location of the mobile inspection terminal.

[0026] Optionally, the tunnel data detection module further includes a video sensor;

[0027] When the tunnel data detection module detects an anomaly in the detection data at the location of the mobile inspection terminal, it uses a video sensor to collect on-site audio and sends it to the model data integration module so that maintenance personnel can confirm the abnormal event.

[0028] Optionally, the detection location positioning module includes a signal transmission submodule, a distance measurement submodule, and a location determination submodule;

[0029] The signal transmission submodule is used to identify multiple ranging base stations and send ranging signals to each ranging base station;

[0030] The distance measurement submodule is used to measure the propagation time of the ranging signal between the patrol mobile terminal and each ranging base station, and convert each propagation time into the corresponding base station distance;

[0031] The location determination submodule is used to calculate the distance to each base station to obtain the real-time location of the patrol mobile terminal.

[0032] Optionally, the model data integration module further includes:

[0033] The model data integration module receives the detection data sent by the tunnel data detection module in real time, and updates the tunnel dynamic model with the detection data when it detects that the detection data is inconsistent with the data in the tunnel dynamic model.

[0034] Optionally, the model data integration module further includes:

[0035] The model data integration module analyzes the tunnel dynamic model and sends an alert to the operation and maintenance personnel when the analysis results are abnormal.

[0036] As can be seen from the above technical solutions, the embodiments of this application have the following advantages:

[0037] This application provides a digital twin modeling system suitable for the operation and maintenance of power tunnels. The system includes a tunnel real-scene modeling module, a tunnel data detection module, a detection location positioning module, and a model data integration module. The tunnel data detection module and the detection location positioning module are applied in a mobile inspection terminal. The tunnel real-scene modeling module combines point cloud data obtained from laser scanning of the tunnel under maintenance with preset tunnel texture maps to construct a static model of the tunnel. This 3D model of the tunnel allows for a direct representation of its spatial structure, such as tunnel alignment and cable layout, freeing maintenance personnel from reliance on tunnel drawings and enabling them to monitor the tunnel's spatial structure in real time. The tunnel data detection module detects environmental parameters at the location of the mobile inspection terminal. By using the mobile inspection terminal to monitor various data related to the environment and power equipment in the tunnel under maintenance in real time, it allows for real-time understanding of the tunnel's spatial structure. The system monitors changes in on-site data. The detection and positioning module uses a TOA ranging algorithm to locate the real-time position of the mobile inspection terminal within the tunnel to be maintained. This allows for real-time mapping of inspection data based on the mobile terminal's location, preventing errors in matching the inspection path and data. Finally, the model data integration module receives the tunnel static model from the tunnel real-scene modeling module, the detection data from the tunnel data detection module, and the real-time position from the detection and positioning module. It integrates the detection data into the detection position corresponding to the real-time position in the tunnel static model, generating a dynamic model of the tunnel to be maintained. This application links the real-time detection data in the tunnel to be maintained with the tunnel static model, achieving a complete data mapping from real to virtual, enabling maintenance personnel to conduct panoramic visual inspections and real-time status awareness of the tunnel, thereby rationally allocating maintenance resources and improving the efficiency of tunnel maintenance. Attached Figure Description

[0038] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0039] Figure 1 A schematic diagram of the structure of a digital twin modeling system provided in an embodiment of this application;

[0040] Figure 2 This is a schematic diagram of the tunnel real-scene modeling module provided in an embodiment of this application;

[0041] Figure 3 This is a schematic diagram of the tunnel data detection module provided in an embodiment of this application;

[0042] Figure 4 This is a schematic diagram of the detection and positioning module provided in an embodiment of this application. Detailed Implementation

[0043] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0044] In recent years, online monitoring systems such as integrated monitoring systems, inspection and fire-fighting robot systems, and video surveillance systems have been gradually installed in power tunnels to promote the strategy of replacing humans with machines and realize a maintenance mode where daily inspections do not need to be carried out in the tunnel, thereby reducing the risks for maintenance personnel working in power tunnels. However, the construction of existing online monitoring systems lacks unified planning, and the data between various system modules is isolated, resulting in poor information flow within the system. Furthermore, it is impossible to intuitively view the mapping relationship between tunnel geospatial information and tunnel environmental monitoring data, leading to situations where the inspection path and inspection data of the inspection system do not match. Consequently, it is impossible to rationally allocate maintenance resources, which greatly reduces the efficiency of tunnel maintenance.

[0045] Based on this, this application proposes the following technical solution, as detailed below:

[0046] In one embodiment, such as Figure 1 As shown, Figure 1This is a schematic diagram of the structure of a digital twin modeling system provided in an embodiment of this application; this application provides a digital twin modeling system, which may include a tunnel real-scene modeling module, a tunnel data detection module, a detection location positioning module, and a model data integration module.

[0047] The tunnel real-scene modeling module is used to combine the point cloud data obtained by laser scanning of the tunnel to be maintained with the preset tunnel texture map to construct the static model of the tunnel to be maintained, and send the static model of the tunnel to the model data integration module.

[0048] The tunnel data detection module is used to detect environmental parameters at the location of the mobile inspection terminal and send the detection data to the model data integration module.

[0049] The detection location module is used to locate the real-time position of the inspection mobile terminal in the tunnel to be maintained by using the TOA ranging algorithm, and send the real-time position to the model data integration module.

[0050] The model data integration module is used to receive the tunnel static model sent by the tunnel real-scene modeling module, the detection data sent by the tunnel data detection module, and the real-time position sent by the detection position positioning module, and to determine the detection position in the tunnel static model corresponding to the real-time position, so as to integrate the detection data into the detection position in the tunnel static model to obtain the tunnel dynamic model of the tunnel to be maintained.

[0051] Among them, the tunnel data detection module and the detection location positioning module are applied to the inspection mobile terminal, which is a handheld multi-functional terminal suitable for the operation and maintenance of power tunnels. It integrates various detection tools and can be carried by operation and maintenance personnel into the tunnel to be maintained to detect environmental parameters, or it can be carried into the tunnel to be maintained by operation and maintenance robots to detect environmental parameters. There are no restrictions on this.

[0052] In this embodiment, as Figure 1 As shown, the digital twin modeling system may include a tunnel real-scene modeling module, a tunnel data detection module, a detection location positioning module, and a model data integration module. The tunnel data detection module and the detection location positioning module are mainly responsible for acquiring the detection data corresponding to each detection location in the tunnel to be maintained. The tunnel real-scene modeling module and the model data integration module are mainly responsible for modeling based on the real scene of the tunnel to be maintained and the detection data of each detection location in the tunnel to be maintained, thereby obtaining a dynamic model of the tunnel. This application constitutes a complete digital twin modeling system.

[0053] Specifically, each module in this application performs a corresponding function in the process of establishing a dynamic model of the tunnel to be maintained. For example, the tunnel real-scene modeling module can use laser to scan the tunnel to be maintained to obtain point cloud data, and combine the point cloud data with the preset tunnel texture map to construct a static model of the tunnel to be maintained. The tunnel data detection module can detect the tunnel environment in real time according to the inspection position of the inspection mobile terminal in the tunnel, so as to obtain the environmental parameters corresponding to the inspection position of the inspection mobile terminal. The detection position positioning module can locate the real-time inspection position of the inspection mobile terminal through the TOA ranging algorithm. Finally, the model data integration module can receive the tunnel static model sent by the tunnel real-scene modeling module, the detection data sent by the tunnel data detection module, and the real-time position sent by the detection position positioning module, and integrate the detection data into the detection position corresponding to the real-time position in the tunnel static model, so as to obtain the dynamic model of the tunnel to be maintained.

[0054] Among them, the TOA ranging algorithm is a time difference ranging algorithm. It has high ranging accuracy, is applicable to various signal types and environments, and is not affected by factors such as transmission rate and signal strength. It can calculate the distance the signal propagates by measuring the time difference of signal propagation from the transmitter to the receiver. It usually uses at least two receivers. By measuring the time difference of the signal arriving at different receivers, the propagation distance of the signal is calculated. Therefore, in the TOA ranging algorithm, the more receivers there are, the more accurate the positioning of the transmitter. In practical applications, the appropriate number of receivers can be selected according to the specific scenario to improve the accuracy and reliability of ranging.

[0055] Furthermore, the tunnel data detection module can be configured with various on-site detection methods, including but not limited to temperature detection, vibration detection, settlement detection, and gas detection. When the mobile inspection terminal is stationary at any location in the tunnel to be maintained, the tunnel data detection module can detect the environmental parameters at the current location and send the detection data back to the model data integration module in the command center in real time, providing data support for the dynamic model of the tunnel to be maintained.

[0056] Understandably, tunnels under maintenance contain various types of electrical equipment. When monitoring these tunnels, the tunnel data detection module can not only detect environmental parameters such as gas concentration, temperature changes, and ground subsidence, but also monitor the operating status of the electrical equipment, such as equipment temperature, equipment noise, and vibration amplitude during operation. The model data integration module can analyze the data sent by the tunnel data detection module to determine whether there are environmental anomalies or operational anomalies in the electrical equipment, enabling maintenance personnel to promptly develop corresponding emergency plans in case of anomalies.

[0057] In the above embodiments, the system includes a tunnel real-scene modeling module, a tunnel data detection module, a detection location positioning module, and a model data integration module. The tunnel data detection module and the detection location positioning module are applied in the mobile inspection terminal. The tunnel real-scene modeling module combines point cloud data obtained from laser scanning of the tunnel to be maintained with preset tunnel texture maps to construct a static model of the tunnel. This allows for a direct representation of the tunnel's orientation, cable layout, and other spatial structures using a 3D model, freeing maintenance personnel from reliance on tunnel drawings and enabling them to monitor the tunnel's spatial structure in real time. The tunnel data detection module detects environmental parameters at the location of the mobile inspection terminal. By using the mobile inspection terminal to monitor various data related to the environment and power equipment in the tunnel to be maintained in real time, the system can provide real-time insights into changes in the on-site data of the tunnel. The location positioning module can locate the real-time position of the inspection mobile terminal in the tunnel to be maintained using the TOA ranging algorithm. This allows for real-time mapping of inspection data based on the mobile terminal's real-time position, preventing errors in matching the inspection path and data. Finally, the model data integration module receives the tunnel static model from the tunnel real-scene modeling module, the detection data from the tunnel data detection module, and the real-time position from the detection location positioning module. It integrates the detection data into the detection position corresponding to the real-time position in the tunnel static model, generating a dynamic tunnel model for the tunnel to be maintained. This application links the real-time detection data in the tunnel to be maintained with the tunnel static model, achieving a complete data mapping from real to virtual, enabling maintenance personnel to conduct panoramic visual inspections and real-time status awareness of the tunnel, thereby rationally allocating maintenance resources and improving the efficiency of tunnel maintenance.

[0058] In one embodiment, such as Figure 2 As shown, Figure 2 This is a schematic diagram of the tunnel real-scene modeling module provided in an embodiment of this application; Figure 2 In the process, the tunnel real-scene modeling module can include a laser scanning submodule, a model building submodule, and a texture mapping submodule.

[0059] The laser scanning submodule is used to perform laser scanning on the tunnel to be maintained, obtain point cloud data of the tunnel to be maintained, and send the point cloud data to the model building submodule.

[0060] The model building submodule is used to perform point cloud registration on the point cloud data using BIM technology, generate an initial tunnel model, and send the initial tunnel model to the texture mapping submodule.

[0061] The texture mapping submodule is used to obtain the tunnel texture map corresponding to the tunnel to be maintained, and to attach the tunnel texture map to the initial tunnel model to obtain the static tunnel model.

[0062] In this embodiment, the tunnel real-scene modeling module may further include multiple sub-modules, such as a laser scanning sub-module, a model building sub-module, and a texture mapping sub-module. The laser scanning sub-module is mainly responsible for performing laser scanning on the tunnel to be maintained to obtain point cloud data of the tunnel. The model building sub-module is mainly responsible for using BIM (Building Information Modeling) technology to perform point cloud registration on the point cloud data to generate an initial tunnel model. The texture mapping sub-module is mainly responsible for obtaining the tunnel texture map corresponding to the tunnel to be maintained and attaching the tunnel texture map to the initial tunnel model to obtain a static tunnel model.

[0063] It is understandable that BIM technology is a tool for building a building model, which uses various relevant information and data of a building project as the basis for the model. It simulates the real information of a building through digital information, including three-dimensional geometric information, such as the material, performance, weight, and location of building components. It has five major characteristics: visualization, coordination, simulation, optimization, and drawing output. Therefore, in this application, BIM modeling uses point cloud data as the reference for modeling, which can effectively make up for the lack of three-dimensional information of equipment in the traditional modeling process.

[0064] Furthermore, after establishing the initial tunnel model, a tunnel texture map can be set based on the actual environment of the tunnel to be maintained. This tunnel texture map is an image that includes information such as the material, color, and texture of the tunnel's inner surface. It can be obtained by taking pictures inside the tunnel or by 3D laser scanning. After obtaining the tunnel texture map, it can be applied to the spatial structure corresponding to the initial tunnel model to obtain the static tunnel model. This results in a highly realistic simulation of the tunnel to be maintained, which highly restores the real scene inside the tunnel. Therefore, maintenance personnel can directly observe the details of the tunnel to be maintained without going inside, thereby reducing the workload of maintenance personnel and improving the maintenance speed.

[0065] In one embodiment, the laser scanning submodule is used to perform laser scanning on the tunnel to be maintained to obtain point cloud data of the tunnel. The process may include: the laser scanning submodule scans the spatial structure of the tunnel to be maintained by multiple laser pulses emitted by the laser and uses an encoder to measure the scanning angle of each laser pulse, generating three-dimensional coordinates of the spatial structure, and converting the three-dimensional coordinates into point cloud data of the tunnel to be maintained.

[0066] In this embodiment, when acquiring point cloud data of the tunnel to be maintained, a laser can be used to scan the tunnel and collect its spatial structure information. That is, multiple laser pulses emitted by the laser are used to scan the tunnel to obtain the spatial structure of the tunnel to be maintained. An encoder is used to measure the scanning angle of each laser pulse, and three-dimensional coordinates are generated according to the spatial structure and the corresponding scanning angle. Thus, the three-dimensional coordinates can be converted into point cloud data of the tunnel to be maintained.

[0067] Understandably, the laser scanning submodule may include a laser pulse emitter and two reflectors. The laser pulse emitter emits a laser pulse, which is then guided into the scanning area by a rotating reflector. The second reflector reflects the laser pulse back, which is then reflected back to the laser pulse emitter by the first reflector. During the scanning process, the two reflectors rotate rapidly and in an orderly manner, allowing the laser pulse to scan the entire scanning area.

[0068] Specifically, the laser scanning submodule utilizes the relationship between the speed of light and time to calculate the time required for the reflection and echo of a laser pulse, thereby obtaining the measured distance from each point on the surface of an object within the tunnel to be maintained to the laser pulse emitter. An encoder is used to measure the angle of each laser pulse in two continuously rotating mirrors, yielding the rotation angle of the laser pulse in both the horizontal and vertical directions. This rotation angle, along with the position of the laser pulse emitter, is used to calculate the direction vector of each laser pulse. Furthermore, based on the measured distance and direction vector, the three-dimensional coordinates of each point on the surface of an object within the tunnel to be maintained can be calculated. Objects within the tunnel to be maintained include, but are not limited to, the tunnel body, cable supports, cables, fire protection facilities, online monitoring equipment, nameplates, cross-connection boxes, and intermediate joint equipment.

[0069] Furthermore, during the scanning process of the tunnel under maintenance, the laser scanning submodule can also reflect the reflectivity of the object surface inside the tunnel, i.e., the brightness of the object surface, through the reflection intensity of the laser pulse. The color of the scanned points on the object surface can be matched according to the reflection intensity of the laser pulse, making the scanning results more realistic. Specifically, the reflection intensity can be mapped to grayscale or color values, thereby assigning a corresponding color to each scanned point. This application can assign a brighter color to points with higher reflection intensity and a darker color to points with lower reflection intensity. This application uses three-dimensional coordinates and their rich color information to convert into point cloud data, which can intuitively and comprehensively reflect the actual situation inside the tunnel, effectively improving the work efficiency of maintenance personnel and the identification of the location of equipment in the internal scene, thereby improving the positional accuracy and dimensional accuracy of the model in multiple ways.

[0070] In one embodiment, the process of using BIM technology to register point cloud data and generate an initial tunnel model may include: the model building submodule filtering the point cloud data and using BIM technology to align and fuse the processed point cloud data in the same coordinate system to generate an initial tunnel model.

[0071] In this embodiment, after obtaining the point cloud data of the surface of the tunnel object to be maintained, the point cloud data can be preprocessed such as filtering to ensure the accuracy and reliability of the point cloud data. Then, the preprocessed point cloud data can be imported into BIM modeling software, and BIM technology can be used to align and fuse the point cloud data in the same coordinate system to generate the initial model of the tunnel.

[0072] It is understandable that the point cloud data obtained during laser scanning is affected by environmental factors such as lighting and occlusion, resulting in noise. To improve the quality of the point cloud data, filtering and noise reduction can be performed to remove useless point cloud data. After filtering the point cloud data, this application can also perform preprocessing operations such as data stitching, accuracy verification, and format conversion. Among them, data stitching refers to the ability of the laser scanning submodule to stitch together multiple point cloud data obtained when scanning the same object multiple times to obtain the complete point cloud data of the object. Accuracy verification refers to the calibration of errors in the point cloud data caused by the accuracy limitations of the laser scanning submodule and the influence of environmental factors. Format conversion refers to converting the format of the point cloud data into a format that is easy for BIM modeling software to operate.

[0073] Specifically, when aligning and fusing preprocessed point cloud data in the same coordinate system in BIM modeling software, a global coordinate system can be established first in the BIM modeling software to determine the position and orientation of each point cloud data. Then, methods such as the ICP algorithm can be used to register point cloud data at different locations to align them in the same coordinate system. The registered point cloud data can then be fused. Finally, the fused point cloud data can be converted into a BIM model to generate a complete initial tunnel model. In this application, the fusion method can be the weighted average method, moving least squares method, etc., and no restrictions are imposed here.

[0074] In one embodiment, the process of attaching the tunnel texture map to the initial tunnel model to obtain a static tunnel model may include: the texture map submodule adjusting and cutting the tunnel texture map according to the spatial structure of the initial tunnel model, and attaching the processed tunnel texture map to the initial tunnel model to obtain a static tunnel model.

[0075] In this embodiment, after the initial tunnel model is generated, a pre-stored tunnel texture map can be obtained, and the tunnel texture map can be adjusted and cut according to the spatial structure of the initial tunnel model so that the tunnel texture map is completely matched with the tunnel. Then, the processed tunnel texture map can be pasted into the initial tunnel model to obtain the static tunnel model.

[0076] Specifically, when adjusting and cutting tunnel texture maps, the tunnel texture map corresponding to the tunnel to be maintained can be determined first and imported into BIM modeling software. The size and scale can be adjusted according to the static tunnel model to match the initial tunnel model. At the same time, the texture map can be segmented according to the shape and topology of objects inside the tunnel to better fit into the initial tunnel model. When the tunnel texture map is fitted into the initial tunnel model, the static tunnel model is obtained. When applying the texture map, techniques such as UV mapping and texture mapping can be used. Throughout the process, the scale, orientation and position of the tunnel texture map are maintained to ensure the accuracy and consistency of the texture map.

[0077] Furthermore, the static tunnel model can be optimized, such as by adjusting parameters like brightness, contrast, and hue of the tunnel texture map, to improve the realism and aesthetics of the texture map, making the static tunnel model highly realistic with the tunnel to be maintained. Then, the optimized static tunnel model can be exported as a 3D model file and displayed, so that maintenance personnel can analyze and manage the static tunnel model. The 3D model file can be exported in formats such as .obj, .fbx, and .skp, without any restrictions.

[0078] In one embodiment, such as Figure 3 As shown, Figure 3 This is a schematic diagram of the tunnel data detection module provided in an embodiment of this application; Figure 3 In the tunnel, the data detection module may include temperature sensors, vibration sensors, settlement sensors, gas sensors, and underwater acoustic sensors.

[0079] The temperature sensor is used to detect the temperature at the location of the mobile inspection terminal.

[0080] The vibration sensor is used to detect the amplitude and frequency of structural vibration at the location of the mobile inspection terminal.

[0081] The settlement sensor is used to detect ground settlement at the location of the mobile inspection terminal.

[0082] The gas sensor is used to detect the gas concentration at the location of the mobile inspection terminal.

[0083] The underwater acoustic sensor is used to detect the sound of water flow at the location of the mobile inspection terminal.

[0084] In this embodiment, when the tunnel data detection module performs real-time detection of the tunnel to be maintained, it can detect environmental parameters in the tunnel through multiple different sensors. The tunnel data detection module includes, but is not limited to, temperature sensors, vibration sensors, settlement sensors, gas sensors, and underwater acoustic sensors, which are used to detect temperature, structural vibration amplitude and frequency, gas concentration, and water flow sound, respectively, and send the detected environmental parameters back to the model data integration module of the command center outside the tunnel to be maintained in real time.

[0085] Specifically, the temperature sensor in this application can employ infrared thermometry to determine the surface temperature of an object by measuring the infrared radiation temperature of its surface; the vibration sensor can employ piezoelectric, electromagnetic induction, or electrostatic induction technologies to measure the vibration amplitude and frequency of objects within a tunnel; the settlement sensor can employ fiber optic grating or strain gauge technology to measure land settlement by measuring changes in the length of the fiber optic grating or the resistance of the strain gauge; the gas sensor can draw in gas using a suction pump to sense combustible gases, oxygen, hydrogen sulfide, carbon monoxide, etc., and measure and analyze the gas concentration; and the underwater acoustic sensor can employ the principles of sound wave propagation and reflection to detect the water surface position by sending sound waves, thereby determining the liquid level.

[0086] Furthermore, the tunnel data detection module can utilize fiber optic sensing technology to convert the data detected by various sensors into electrical signals and send them back to the model data integration module. Fiber optic sensing technology is a type of optical fiber that uses optical principles for signal transmission and sensing. Its core is the detection element in the optical fiber, which can be applied to various sensors. Fiber optic sensing technology includes distributed sensing fiber and point sensing fiber. In this application, distributed sensing fiber can be used, with a measurement distance of up to 200km, a temperature measurement accuracy of 1℃, and a strain measurement accuracy of 20με. Using distributed sensing fiber to realize environmental health detection of tunnels under maintenance can eliminate safety accidents in their infancy and truly achieve prevention before problems occur.

[0087] In one embodiment, the tunnel data detection module further includes a video sensor; when the tunnel data detection module detects an anomaly in the detection data at the location of the patrol mobile terminal, it uses the video sensor to collect on-site audio and sends it to the model data integration module so that maintenance personnel can confirm the abnormal event.

[0088] In this embodiment, the mobile inspection terminal continuously inspects the environment of the tunnel to be maintained. When it detects that the sensor data exceeds the preset standard range, it determines that the detection data is abnormal. At this time, the video sensor can be activated to record audio at the location of the data abnormality, and the recorded audio data is sent to the model data integration module so that maintenance personnel can analyze the abnormal detection data in combination with the audio data, thereby identifying the abnormal event and responding to the corresponding emergency plan in a timely manner.

[0089] Specifically, different sensors use different standards to determine whether there are anomalies in their detection data. For example, a temperature sensor can determine whether the detection data exceeds a preset temperature range; a vibration sensor can determine whether the detection data is higher than a preset vibration threshold; a sedimentation sensor can determine whether the detection data is higher than a preset sedimentation threshold; a gas sensor can determine whether the concentration of a gas in the detection data exceeds its corresponding preset concentration range. The types of gases in the detection data can be combustible gases, oxygen, hydrogen sulfide, carbon monoxide, etc.; while a water acoustic sensor can calculate the water level in a well based on the detection data and then determine whether the water level exceeds a preset water level range.

[0090] In one embodiment, such as Figure 4 As shown, Figure 4 This is a schematic diagram of the detection and positioning module provided in an embodiment of this application; Figure 4 In this context, the detection and positioning module may include a signal transmission submodule, a distance measurement submodule, and a position determination submodule.

[0091] The signal transmission submodule is used to identify multiple ranging base stations and send ranging signals to each ranging base station.

[0092] The distance measurement submodule is used to measure the propagation time of the ranging signal between the patrol mobile terminal and each ranging base station, and convert each propagation time into the corresponding base station distance.

[0093] The location determination submodule is used to calculate the distance to each base station to obtain the real-time location of the patrol mobile terminal.

[0094] In this embodiment, the detection and positioning module may include multiple sub-modules, such as a signal transmission sub-module, a distance measurement sub-module, and a position determination sub-module. Each sub-module performs a corresponding function. For example, the signal transmission sub-module is mainly responsible for identifying multiple ranging base stations used for positioning the patrol mobile terminal and sending ranging signals to each ranging base station. The distance measurement sub-module is mainly responsible for measuring the propagation time of the ranging signal between the patrol mobile terminal and each ranging base station and converting each propagation time into the corresponding base station distance. The position determination sub-module is mainly responsible for calculating the distance of each base station to locate the real-time position of the patrol mobile terminal.

[0095] It is understandable that objects such as metal supports in the tunnel under maintenance cause a strong multipath effect on the transmission of ranging signals. Moreover, tunnels are usually several kilometers long, and the wireless channel is in U-DPP (Undetected Direct-path-pusle) state. The channel errors caused by multipath transmission and non-line-of-sight transmission often result in large errors in the positioning function. Therefore, this application adopts a TOA ranging algorithm based on complex channel modeling and integrates ultra-wideband technology to further improve the positioning accuracy for positioning the patrol mobile terminal.

[0096] Specifically, when locating the mobile patrol terminal, a parametric statistical model of the ranging signal can be trained based on the relevant data of the ranging signal sent by the signal transmission submodule. The Gaussian statistical distribution characteristics of the parameters can then be tested. According to the 3σ principle in the normal distribution, under the U-DPP channel state, the probability distribution of the TOA ranging error mainly concentrates in (μ...). U-DPP -3σ U-DPP μ U-DPP +3σ U-DPP Within this interval, the channel state can be divided into three intervals based on the TOA ranging error distribution:

[0097]

[0098] Among them, e TOA For TOA ranging error, μ U-DPP Let σ be the mean of the Gaussian distribution function of the TOA error under D-DPP channel conditions. U-DPP τ is the variance of the Gaussian distribution function of the TOA error under D-DPP channel conditions, τ is the unit time measured by the TOA ranging chip, and v is the electromagnetic wave transmission speed. This application divides the channel into three states based on the TOA ranging error: S1 is unobstructed, S2 is obstructed but has a direct line of sight and can be detected, and S3 is obstructed but has a direct line of sight and cannot be detected.

[0099] Furthermore, the formula can determine the channel environment of the signal transmission in the current period based on the TOA, and then use the measurement results obtained from the TOA ranging and the variance of the observation noise to input the Kalman filtering algorithm to iteratively model the channel, obtain the signal transmission model, and improve the positioning accuracy.

[0100] In one embodiment, the model data integration module may further include: the model data integration module receiving detection data sent by the tunnel data detection module in real time, and updating the detection data to the tunnel dynamic model when the detection data is found to be inconsistent with the data in the tunnel dynamic model.

[0101] In this embodiment, the mobile inspection terminal can continuously and repeatedly inspect the tunnel under maintenance, and realize continuous and dynamic data collection on the tunnel environment status. The model data integration module receives the detection data sent by the tunnel data detection module in real time, and updates the detection data to the tunnel dynamic model when the detection data is found to be inconsistent with the data in the tunnel dynamic model.

[0102] Understandably, when the detected data is inconsistent with the data in the tunnel dynamic model, it indicates that there has been a change in the detected data in the tunnel to be maintained. At this time, the latest detected data can be updated to the tunnel dynamic model to manage the tunnel dynamic model and ensure its accuracy and reliability.

[0103] Specifically, the model data integration module can use different algorithms or methods to compare the detection data and the data in the tunnel dynamic model. For example, a difference algorithm can be used to calculate the difference between the two data and determine whether the data in the model needs to be updated based on the magnitude of the difference. In addition, during the management of the data in the tunnel dynamic model, information can be inserted, extracted, updated and modified in the BIM modeling software to realize the dynamic changes of the three-dimensional model of the tunnel to be maintained.

[0104] In one embodiment, the model data integration module may further include: the model data integration module analyzes the tunnel dynamic model and issues an early warning to the operation and maintenance personnel when there are abnormalities in the analysis results.

[0105] In this embodiment, when the data in the tunnel dynamic model is updated, the model data integration module can analyze it. When there is an anomaly in the analysis result, it can issue an early warning to the operation and maintenance personnel so that they can obtain the abnormal information in a timely manner and take corresponding countermeasures to maintain the tunnel.

[0106] It is understandable that the analysis results show anomalies, indicating that safety issues have occurred in the tunnel under maintenance, such as excessively high temperatures, high concentrations of harmful gases in the air, or ground subsidence and deformation. In this case, the data integration module can directly issue an alert to the maintenance personnel. The alert can be sent via SMS, email, telephone, or alarm, so that the maintenance personnel can promptly detect and handle the abnormal situation in the tunnel under maintenance, thereby ensuring the safe operation of the tunnel.

[0107] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0108] The various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. The various embodiments can be combined as needed, and the same or similar parts can be referred to each other.

[0109] The above description of the disclosed embodiments enables those skilled in the art to make or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A digital twin modeling system suitable for the operation and maintenance of power tunnels, characterized in that, The system includes a tunnel real-scene modeling module, a tunnel data detection module, a detection location positioning module, and a model data integration module; wherein, the tunnel data detection module and the detection location positioning module are applied in the mobile inspection terminal; The tunnel real-scene modeling module is used to combine the point cloud data obtained by laser scanning of the tunnel to be maintained with the preset tunnel texture map to construct the static model of the tunnel to be maintained, and send the static model of the tunnel to the model data integration module. The tunnel data detection module is used to detect environmental parameters at the location of the mobile inspection terminal and send the detection data to the model data integration module. The detection location module is used to locate the real-time position of the inspection mobile terminal in the tunnel to be maintained by the TOA ranging algorithm, and send the real-time position to the model data integration module. The model data integration module is used to receive the tunnel static model sent by the tunnel real scene modeling module, the detection data sent by the tunnel data detection module, and the real-time position sent by the detection position positioning module, and to determine the detection position in the tunnel static model corresponding to the real-time position, so as to integrate the detection data into the detection position in the tunnel static model to obtain the tunnel dynamic model of the tunnel to be maintained. The tunnel real-scene modeling module includes a laser scanning submodule, a model building submodule, and a texture mapping submodule. The laser scanning submodule is used to perform laser scanning on the tunnel to be maintained, obtain point cloud data of the tunnel to be maintained, and send the point cloud data to the model building submodule; The model building submodule is used to perform point cloud registration on the point cloud data using BIM technology, generate an initial tunnel model, and send the initial tunnel model to the texture mapping submodule. The texture mapping submodule is used to obtain the tunnel texture map corresponding to the tunnel to be maintained, and to attach the tunnel texture map to the initial tunnel model to obtain the static tunnel model.

2. The digital twin modeling system according to claim 1, characterized in that, The laser scanning submodule is used to perform laser scanning on the tunnel to be maintained, and to obtain the point cloud data of the tunnel to be maintained, including: The laser scanning submodule scans the spatial structure of the tunnel to be maintained by emitting multiple laser pulses and uses an encoder to measure the scanning angle of each laser pulse, generating three-dimensional coordinates of the spatial structure and converting the three-dimensional coordinates into point cloud data of the tunnel to be maintained.

3. The digital twin modeling system according to claim 1, characterized in that, The model building submodule is used to perform point cloud registration on the point cloud data using BIM technology to generate an initial tunnel model, including: The model building submodule filters the point cloud data and uses BIM technology to align and fuse the processed point cloud data in the same coordinate system to generate the initial tunnel model.

4. The digital twin modeling system according to claim 1, characterized in that, The texture mapping submodule is used to attach the tunnel texture map to the initial tunnel model to obtain the static tunnel model, including: The texture mapping submodule adjusts and cuts the tunnel texture map according to the spatial structure of the initial tunnel model, and then applies the processed tunnel texture map to the initial tunnel model to obtain the static tunnel model.

5. The digital twin modeling system according to claim 1, characterized in that, The tunnel data detection module includes a temperature sensor, a vibration sensor, a settlement sensor, a gas sensor, and a hydroacoustic sensor. The temperature sensor is used to detect the temperature at the location of the mobile inspection terminal. The vibration sensor is used to detect the amplitude and frequency of structural vibration at the location of the mobile inspection terminal; The settlement sensor is used to detect ground settlement at the location of the mobile inspection terminal; The gas sensor is used to detect the gas concentration at the location of the mobile inspection terminal; The underwater acoustic sensor is used to detect the sound of water flow at the location of the mobile inspection terminal.

6. The digital twin modeling system according to claim 5, characterized in that, The tunnel data detection module also includes a video sensor; When the tunnel data detection module detects an anomaly in the detection data at the location of the mobile inspection terminal, it uses a video sensor to collect on-site audio and sends it to the model data integration module so that maintenance personnel can confirm the abnormal event.

7. The digital twin modeling system according to claim 1, characterized in that, The detection and positioning module includes a signal transmission submodule, a distance measurement submodule, and a position determination submodule; The signal transmission submodule is used to identify multiple ranging base stations and send ranging signals to each ranging base station; The distance measurement submodule is used to measure the propagation time of the ranging signal between the patrol mobile terminal and each ranging base station, and convert each propagation time into the corresponding base station distance; The location determination submodule is used to calculate the distance to each base station to obtain the real-time location of the patrol mobile terminal.

8. The digital twin modeling system according to claim 1, characterized in that, The model data integration module also includes: The model data integration module receives the detection data sent by the tunnel data detection module in real time, and updates the tunnel dynamic model with the detection data when it detects that the detection data is inconsistent with the data in the tunnel dynamic model.

9. The digital twin modeling system according to claim 1 or 8, characterized in that, The model data integration module also includes: The model data integration module analyzes the tunnel dynamic model and sends an alert to the operation and maintenance personnel when the analysis results are abnormal.

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