High-voltage cable digital panoramic system

Abstract

The invention belongs to the technical field of power systems, and particularly relates to a high-voltage cable digital panorama system, which comprises an IOT channel, a model fusion module, an equipment panorama display module and an equipment positioning and state sensing module, after processing operation, fusion of panorama and laser point cloud data is realized; on the basis of the model fusion module, the equipment panoramic display module carries out transformation processing on a three-dimensional platform to realize loading display of a model fusion result, and integrates state data of the high-voltage cable equipment to achieve panoramic display; and the equipment positioning and state sensing module is associated with the machine account information of the high-voltage cable equipment through comparison. According to the invention, organic fusion of the laser point cloud and the panoramic image can be realized, a digital twinning scene of the cable tunnel is constructed, and panoramic display and patrol virtual display of the high-voltage cable tunnel are realized.

Description

Technical Field

[0001] The invention belongs to the technical field of electric power systems, and in particular relates to a high-voltage cable digital panoramic system. Background Art

[0002] In recent years, underground pipe corridors have been increasingly used for cable laying in urban construction. The health status of large-scale cable lines has an increasingly prominent impact on the safe and stable operation of urban power grids. The underground transmission channel of high-voltage cables has limited and closed space, and the operating conditions and years are diverse. It is impossible to directly observe its operating status. The internal environment of the cable tunnel is complex, and the safety risk of cable operation and maintenance is high. At the same time, due to the complex underground environment and few spatial position references, it is difficult to locate the equipment-level fault point. Therefore, the traditional manual operation and inspection method has many problems such as high work intensity, long maintenance cycle, high cost, and great safety hazards. It is urgent to introduce new technical means to intelligently upgrade and optimize the operation and maintenance capabilities of underground cables, improve operation and maintenance efficiency and safety, and reduce the labor intensity of front-line personnel.

[0003] Some manufacturers use acoustic wave monitoring to monitor the loop information of above-ground power cables and underground power cables, and process the loop information to obtain power data. However, power cables mainly supply electricity to residential areas or industrial production areas. The noise generated in these places has a certain degree of signal-to-noise ratio, which has a strong interference on the loop information.

[0004] In response to the above problems, this project has carried out the development of a high-voltage cable digital panoramic system. By developing a high-voltage cable digital panoramic system, the organic integration of laser point cloud and panoramic images is realized, a digital twin scene of the cable tunnel is constructed, and monitoring data is connected and integrated with video surveillance data to achieve a panoramic display and virtual presentation of patrols in high-voltage cable tunnels, and to effectively control cable equipment. This project will improve the operating efficiency and safety of the power system and promote the digital transformation and intelligent upgrading of the power industry. Summary of the invention

[0005] The purpose of the present invention is to provide a high-voltage cable digital panoramic system, which can realize the organic integration of laser point cloud and panoramic image, construct a digital twin scene of the cable tunnel, and realize the panoramic display and patrol virtual presentation of the high-voltage cable tunnel.

[0006] The technical solution adopted by the present invention is as follows:

[0007] A high-voltage cable digital panoramic system includes an IOT channel, a model fusion module, an equipment panoramic display module, and an equipment positioning and status perception module, wherein:

[0008] The model fusion module manually collects the panoramic model and the laser point cloud model, and after processing the panoramic model and the laser point cloud model, realizes the fusion of the panoramic model and the laser point cloud data;

[0009] The equipment panoramic display module transforms the three-dimensional platform on the basis of the model fusion module to realize the loading and display of the model fusion results, and integrates the status data of the high-voltage cable equipment to achieve panoramic display;

[0010] The equipment positioning and status perception module is used for accurate positioning of high-voltage cable equipment by comparing and associating with the high-voltage cable equipment inventory information. The equipment positioning and status perception module is connected to the equipment panoramic display module through IOT channel signals.

[0011] The data of the panoramic model and the laser point cloud model are compressed in the following steps:

[0012] S1. Geometric error: Set the geometric error to ensure that the point cloud data reflects the appearance and collective outline of the device;

[0013] S2, bounding volume: using the minimum bounding box data;

[0014] S3, display distance: according to the size of the object, differentiated viewing distance settings are performed;

[0015] S4, Image compression: Analyze the image resolution and use intelligent compression to reduce the image data volume.

[0016] The model fusion module includes:

[0017] A panoramic model and laser point model parsing unit is used to parse the data of the panoramic model and the laser point cloud model, and the parsing results are stored in a binary structure;

[0018] The feature point selection unit selects feature points from the stored binary structure and uses them as anchor points for registration and fusion;

[0019] The spatial posture comparison unit compares the difference between two obvious spatial position postures and finds the difference between the two spatial positions;

[0020] The spatial position information adjustment, correction and registration unit transforms the spatial positions of the two models through spatial position matrix registration conversion, and finally realizes the registration fusion of the two models, thereby obtaining the registration fusion result.

[0021] The registration method of the panoramic image and the laser point cloud used in the key point registration is as follows:

[0022] M1: Construct spatial position reference points;

[0023] M2: At the reference point, the image position and rotation angle are acquired, 360° panoramic image matching and 360° panoramic image stitching are performed;

[0024] Alternatively, the position and rotation angle of the laser scanner are acquired, the laser point cloud is registered, and the laser point cloud is stitched;

[0025] M3: Match 360° panoramic view and point cloud data to obtain 360° panoramic view and point cloud fusion results.

[0026] The status data of the high-voltage cable equipment includes parameters of the Internet of Things sensing device and parameters of the online monitoring device.

[0027] The panoramic model and laser point model parsing unit includes a panoramic picture mapping block, a geodesic 2000 coordinate system and a wgs84 coordinate system conversion block, and a Cesium camera posture conversion block.

[0028] The row transformation process of the three-dimensional platform is an arbitrary rotation of the coordinate system in space, which is equivalent to the superposition of rotations around the three coordinate axes in sequence, and the rotation matrices of the three axes X, Y, and Z are set respectively, as follows:

[0029] First, the coordinate rotation matrix around the X-axis is:

[0030]

[0031] Second, the coordinate rotation matrix around the Y axis is:

[0032]

[0033] Third, the coordinate rotation matrix rotating around the Z axis is:

[0034]

[0035] At the same time, assuming that the spatial posture of an object is P, nCb1 represents that point P rotates only around the X-axis, and can only get the X-axis coordinate of the new P', nCb2 represents that point P rotates only around the Y-axis, and can only get the Y-axis coordinate of the new P', nCb3 represents that point P rotates only around the Z-axis, and can only get the Z-axis coordinate of P'. The three rotation matrices are synthesized and superimposed to obtain the total corresponding relationship of the P→P′ coordinate transformation, as follows:

[0036]

[0037] in, It is the coordinate rotation matrix from coordinate system n to coordinate system b.

[0038] The equipment positioning and status perception module also uses twin simulation technology to build a remote dynamic patrol function to achieve remote replacement of high-voltage cable equipment status patrol tasks.

[0039] Also includes:

[0040] The service layer is used to provide service support, including panoramic model analysis service, laser point cloud analysis service, model fusion registration service, model publishing and loading service, data integration service, and patrol support service;

[0041] The application layer is used for user interaction. The application layer includes a device panoramic display module and a device positioning and patrol module. The device panoramic display module is used for device scene display and device status information fusion, and the device positioning and patrol module is used for device positioning and information query and device status patrol.

[0042] The technical effects achieved by the present invention are:

[0043] A high-voltage cable digital panoramic system of the present invention, through the development of a high-voltage cable digital panoramic system, realizes the organic fusion of laser point cloud and panoramic images, constructs a digital twin scene of the cable tunnel, and connects and integrates monitoring data with video surveillance and other data, and integrates the characteristics of high panoramic scene restoration and good visualization effect with the characteristics of high spatial position accuracy of the laser point cloud model, to achieve panoramic display and patrol virtual presentation of high-voltage cable tunnels, high-fidelity restoration of high-voltage cable scenes, and effective control of cable equipment.

[0044] A high-voltage cable digital panoramic system of the present invention is integrated with cable tunnel online monitoring, IoT sensing and other systems to achieve data penetration and obtain tunnel equipment status in real time.

[0045] A high-voltage cable digital panoramic system of the present invention realizes the integration of high-voltage cable twin scenes and on-site monitoring data, constructs a dynamic and static combined panoramic management and control capability, and through visual display, can intuitively understand the operating status of the cable tunnel, providing support for the operation and management of high-voltage cable equipment.

[0046] The high-voltage cable digital panoramic system of the present invention builds the equipment status inspection replacement capability of the high-voltage cable tunnel on the basis of scene panoramic fusion, realizes the remote inspection of equipment in the virtual environment in a virtual simulation way, improves the efficiency of equipment inspection, and reduces the economic and time cost of inspection work. Through the development of the system, it supports cable operation and inspection personnel to clearly and comprehensively understand the cable tunnel environment, realizes remote perception and three-dimensional presentation of cable equipment status, and assists in the daily operation and maintenance of high-voltage cables. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 This is a system block diagram of a high-voltage cable digital panoramic system according to the first embodiment of the present invention;

[0048] Figure 2 is a schematic diagram of a model fusion module according to the first embodiment of the present invention;

[0049] Figure 3 is a schematic diagram of a panoramic model and laser point model parsing unit according to a first embodiment of the present invention;

[0050] Figure 4 It is a flow chart of a method for registering a panoramic image and a laser point cloud using key point registration in the first embodiment of the present invention;

[0051] Figure 5 It is a schematic diagram of a high-voltage cable digital panoramic system according to the second embodiment of the present invention. DETAILED DESCRIPTION

[0052] In order to make the purpose and advantages of the present invention more clearly understood, the present invention is specifically described below in conjunction with embodiments. It should be understood that the following text is only used to describe one or several specific embodiments of the present invention, and does not strictly limit the scope of protection of the specific claims of the present invention.

[0053] Embodiment 1:

[0054] In recent years, high-voltage cables have been continuously constructed, and the scale of high-voltage cable equipment has continued to expand. In order to realize the digital panoramic display of cables, it is necessary to provide a digital modeling method that adapts to the characteristics of high-voltage cable equipment. In terms of modeling, there are a series of modeling technologies that have been applied in the power industry, such as high-precision three-dimensional data modeling based on point cloud data, parametric modeling based on design drawings, 360-degree panoramic modeling, and oblique photography modeling.

[0055] like Figure 1-Figure 5 As shown, a high-voltage cable digital panoramic system includes a model fusion module, an equipment panoramic display module, and an equipment positioning and status perception module, as shown below:

[0056] Model fusion module: manually collect panoramic models and laser point cloud models, and realize the fusion of panoramic and laser point cloud data through a series of operations such as key point registration and coordinate system matrix space conversion;

[0057] Equipment panoramic display module: Based on the model fusion module, the three-dimensional platform is transformed to adapt to the model fusion results, and the loading and display of the model fusion results are realized. At the same time, the IoT perception, online monitoring and other equipment status data of high-voltage cable equipment are integrated, and dynamic data is refreshed at a certain frequency to realize the fusion of static models and dynamic data, so as to achieve the effect of panoramic display. It is integrated with the cable tunnel online monitoring, IoT perception and other systems to realize data penetration and obtain the tunnel equipment status in real time;

[0058] Equipment positioning and status perception module: By comparing and associating with the high-voltage cable equipment ledger information, the IoT sensing device is used to achieve the precise positioning of the high-voltage cable equipment. At the same time, the twin simulation technology is used to build a remote dynamic patrol function to achieve remote replacement of the high-voltage cable equipment status patrol task. The equipment positioning and status perception modules are connected to the equipment panoramic display module through the IOT channel signal;

[0059] It realizes the fusion of panoramic data and point cloud data, integrates the high degree of panoramic scene restoration and good visualization effect with the high spatial position accuracy of the laser point cloud model, and realizes high-fidelity restoration of high-voltage cable scenes.

[0060] Among them, the data of the panoramic model and the laser point cloud model, due to their large data volume, cause great loading pressure on the three-dimensional platform and affect the user experience. Therefore, it is necessary to preprocess the data of the panoramic model and the laser point cloud model to compress the data volume as much as possible without affecting the display effect.

[0061] Data cleaning is achieved based on manual technology, intelligent optimization of dense elements, intelligent elimination of redundant sub-objects, and intelligent recalculation of normals based on weights. The overall data volume is compressed by at least one quarter compared to the original model data volume, and the following strategies are mainly used to carry out data volume compression:

[0062] 1) Geometric Error: Set a reasonable geometric error to ensure that the point cloud data can clearly reflect the appearance and collective outline of the device;

[0063] 2) Bounding volumes: To reduce the amount of data, the smallest bounding box data should be used as much as possible;

[0064] 3) Display distance (According distance): In order to imitate the visual effect of the human eye to the greatest extent, it is necessary to set the visual distance differently according to the size of the object;

[0065] 4) Image compression: Analyze the image resolution. If the resolution is too high or the pixel color value is single, use intelligent image resolution compression to reduce the amount of image data.

[0066] like Figure 2 As shown, the model fusion module includes:

[0067] A panoramic model and laser point model parsing unit is used to parse the data of the panoramic model and the laser point cloud model, and the parsing results are stored in a binary structure;

[0068] The feature point selection unit selects feature points from the stored binary structure and uses them as anchor points for registration and fusion;

[0069] The spatial posture comparison unit compares the difference between two obvious spatial position postures and finds the difference between the two spatial positions;

[0070] The spatial position information adjustment, correction and registration unit transforms the spatial positions of the two models through spatial position matrix registration conversion, and finally realizes the registration fusion of the two models, thereby obtaining the registration fusion result.

[0071] like Figure 3 As shown, there are three main technical solutions available for the panoramic model and laser point model analysis unit, as follows:

[0072] A) Panoramic image tiles

[0073] Panoramic image mapping is a technique that projects a panoramic image onto a stereo cylinder and uses it as a map in a 3D scene. It has the following steps:

[0074] First, the panoramic image needs to be projected so that it is mapped onto a stereo cylindrical surface; this is usually done using a so-called "stereo cylindrical projection"; this projection converts the panoramic image into a stereo cylindrical image, where the left and right ends of the image are distorted and stretched to the ends of the stereo cylindrical surface;

[0075] The stereo cylindrical image is then used as a texture map in the three-dimensional scene;

[0076] When applied to a stereo cylinder, the stereo cylindrical image will be correctly mapped onto the surface of the stereo cylinder; this means that in a 3D scene, the viewer can move along the surface of the stereo cylinder and see the correct perspective and depth of field in the panoramic image;

[0077] B) Geodetic 2000 coordinate system and wgs84 coordinate system conversion block

[0078] The Geodetic 2000 coordinate system and the WGS84 coordinate system are both commonly used geographic coordinate systems. The conversion between them usually uses the seven-parameter conversion method. The principle of the conversion between the Geodetic 2000 coordinate system and the WGS84 coordinate system is:

[0079] First, convert the longitude and latitude coordinates in the WGS84 coordinate system to the longitude and latitude coordinates in the Geodetic 2000 coordinate system;

[0080] Then, the longitude and latitude coordinates in the Geodetic 2000 coordinate system are converted into the geodetic coordinates in the Geodetic coordinate system, and the conversion between the coordinate systems is realized by the seven-parameter conversion method;

[0081] Seven-parameter conversion method: Since there is a certain offset between the WGS84 coordinate system and the Geodetic 2000 coordinate system, the seven-parameter conversion method is needed for coordinate conversion. This method realizes the conversion of coordinate system by translating, rotating and scaling the point coordinates in the Geodetic 2000 coordinate system.

[0082] Among them, the seven parameters include three translation parameters, three rotation parameters and a scale factor;

[0083] C) Cesium's camera pose conversion block

[0084] Cesium's camera is a view for observing the earth and other three-dimensional objects. It has features such as free viewing angle, inertial sliding, earth surface projection, camera mode and time dynamics, which can help users better understand and display three-dimensional spatial data. It has the following features:

[0085] 11) Free viewing angle: The camera can be freely rotated, translated and zoomed, so that users can observe different angles and positions of the earth or other three-dimensional objects;

[0086] 12) Inertial sliding: When the user pans or zooms the camera, the camera will have an inertial sliding effect to simulate movement in the physical world;

[0087] 13) Earth surface projection: The camera in Cesium can use flat or curved projection to present the earth's surface to meet different application requirements;

[0088] 14) Camera mode: Cesium provides a variety of camera modes, including first-person, third-person, and flight modes, to meet the needs of different users;

[0089] 15) Time dynamics: The camera in Cesium can automatically roam and update over time to show how the earth and other three-dimensional objects change over time.

[0090] As shown in Figure X, the panoramic model is a 360-degree model that can realize virtual reality on the platform based on static images. The 360-degree panorama consists of two parts: panoramic photography and virtual panorama. Panoramic photography refers to a set of photos taken by the camera around 360 degrees through seamless processing to form a panoramic image, while a panoramic image refers to a photo that is larger than the normal effective viewing angle of both eyes (approximately 90 degrees horizontally and 70 degrees vertically) or the peripheral vision of both eyes (approximately 180 degrees horizontally and 90 degrees vertically), or even a 360-degree complete scene range.

[0091] There are generally two methods for aligning traditional panoramic images and laser point clouds:

[0092] a. Point-based matching: Project the points in the laser point cloud onto the panoramic image, and then use the image matching algorithm to match the projected position of the points with the feature points in the panoramic image. The disadvantage of this method is that it has high requirements for point cloud density and is sensitive to noise and occlusion.

[0093] b. Feature-based matching: Extract feature points from the panoramic image and laser point cloud, and align the two data sources by matching the feature points. This method is insensitive to point cloud density and noise, but requires accurate extraction and matching of feature points.

[0094] After the registration is completed, the panoramic and laser point cloud data can be fused to obtain richer three-dimensional information, such as the height and depth information of objects in the panoramic image, and the color information in the laser point cloud.

[0095] like Figure 4 As shown in the figure, the registration method of the panoramic image and laser point cloud used for key point registration is as follows:

[0096] M1: Construct spatial position reference points;

[0097] M2: At the reference point, the image position and rotation angle are acquired, 360° panoramic image matching and 360° panoramic image stitching are performed;

[0098] Alternatively, the position and rotation angle of the laser scanner are acquired, the laser point cloud is registered, and the laser point cloud is stitched;

[0099] M3: Match 360° panoramic and point cloud data to obtain 360° panoramic and point cloud fusion results;

[0100] Realize the integration of high-voltage cable twin scenes and on-site monitoring data, build a dynamic and static panoramic management and control capability, and through visualization, intuitively understand the operating status of the cable tunnel, providing support for the operation and management of high-voltage cable equipment.

[0101] The row transformation processing of the three-dimensional platform is an arbitrary rotation of the coordinate system in space, which is equivalent to the superposition of rotations around the three coordinate axes in sequence. The rotation matrices of the X, Y, and Z axes are set separately, as follows:

[0102] First, the coordinate rotation matrix around the X-axis is:

[0103]

[0104] Second, the coordinate rotation matrix around the Y axis is:

[0105]

[0106] Third, the coordinate rotation matrix rotating around the Z axis is:

[0107]

[0108] At the same time, assuming that the spatial posture of an object is P, nCb1 represents that point P rotates only around the X-axis, and can only get the X-axis coordinate of the new P', nCb2 represents that point P rotates only around the Y-axis, and can only get the Y-axis coordinate of the new P', nCb3 represents that point P rotates only around the Z-axis, and can only get the Z-axis coordinate of P'. The three rotation matrices are synthesized and superimposed to obtain the total corresponding relationship of the P→P′ coordinate transformation, as follows:

[0109]

[0110] in, It is the coordinate rotation matrix from coordinate system n to coordinate system b. This matrix completely describes the process of transforming point P in system n to point P in system b, as well as the correspondence between points in two different coordinate systems. We call this final matrix result: "direction cosine matrix" or "rotation matrix". Through this matrix, the object can be completely rotated to a new posture.

[0111] like Figure 1 As shown, the IOT channel can use APN, power wireless private network, power optical fiber and other methods for communication connection, and integrate with cable tunnel online monitoring, IoT perception and other systems to achieve data penetration and obtain tunnel equipment status in real time.

[0112] The configuration of the entire system is shown in Table 1. After adopting the following configuration, the system performance reaches the first loading response time ≤ 10 seconds, 3D rendering frame rate ≥ 20 frames / second; end-to-end delay < 3 seconds, concurrent access number ≥ 300; and it has the ability to support a prefecture-level company-level high-voltage cable real-life model.

[0113] Table 1 System configuration

[0114]

[0115]

[0116] The working principle of the present invention is to realize the fusion of panoramic data and point cloud data, integrate the characteristics of high panoramic scene restoration and good visualization effect with the characteristics of high spatial position accuracy of the laser point cloud model, and realize high-fidelity restoration of high-voltage cable scenes.

[0117] In summary, the development of the high-voltage cable digital panoramic system has the following significance:

[0118] 21) Realize the utilization of low-cost scene data. Panoramic data and laser point cloud data have the characteristics of low production cost and short cycle due to their fast acquisition speed and relatively mature technology. The development of the system in this project can better integrate and display the two types of data, realize the low-cost and rapid construction of high-voltage cable tunnel scenes, and facilitate their promotion and application on a larger scale in the future.

[0119] 22) High-fidelity reproduction of high-voltage cable scenes. Based on scene construction, panoramic data and laser point cloud data are integrated to achieve fusion and registration of the two, giving full play to the advantages of good panoramic visualization and rich spatial position information of laser point cloud, and realizing high-fidelity reproduction of high-voltage cables in a new scene, effectively improving user experience.

[0120] 23) The high-voltage cable digital panoramic system can effectively improve the panoramic control capabilities of high-voltage cable tunnels, provide greater support for daily operation and maintenance work such as equipment status inspections, equipment positioning and information query, effectively alleviate the work pressure of front-line teams, and improve the efficiency of equipment operation and maintenance.

[0121] Embodiment 2:

[0122] like Figure 5 As shown in the figure, the high-voltage cable digital panoramic system can also be divided into four levels, namely, service layer, application layer, perception layer and network layer, among which:

[0123] The perception layer and network layer are the basic environment, providing the necessary equipment status data for the high-voltage cable system. The high-voltage cable digital panoramic system mainly integrates data and services with it;

[0124] The service layer provides service support for the high-voltage cable digital panoramic system, including panoramic model analysis service, laser point cloud analysis service, model fusion registration service, model publishing and loading service, data integration service, and patrol support service;

[0125] The application layer is the function provided by the high-voltage cable digital panoramic system to the outside world, including two functional modules: equipment panoramic display and equipment positioning and patrol. The equipment panoramic display includes two functional points: equipment scene display and equipment status information fusion. Equipment positioning and patrol includes two functional points: equipment positioning and information query, and equipment status patrol.

[0126] On the basis of panoramic scene fusion, the equipment status inspection replacement capability of high-voltage cable tunnels is constructed, and the remote inspection of equipment in virtual environment is realized in the form of virtual simulation, which improves the efficiency of equipment inspection and reduces the economic and time cost of inspection work. Through the development of the system, cable operation and inspection personnel can have a clear and comprehensive understanding of the cable tunnel environment, realize remote perception and three-dimensional presentation of cable equipment status, and assist in the daily operation and maintenance of high-voltage cables.

[0127] In summary, this technical solution brings economic and social benefits, as follows:

[0128] 1. Economic Benefits

[0129] By adopting the high-voltage cable digital panoramic system in the present invention, the panoramic data and point cloud data are fused and registered to achieve low-cost scene construction, which significantly reduces the modeling cost of scene construction. It is preliminarily estimated that 40% of the cost can be saved; a variety of cable monitoring data are integrated to achieve digital panoramic display of high-voltage cables, enhance the cable equipment operation and maintenance management personnel's cognition and understanding of the equipment, improve the cable equipment positioning and fault hidden danger defect troubleshooting and resolution capabilities, and significantly improve the cable equipment operation and maintenance work efficiency; integrate station sensing equipment and monitoring data to achieve remote inspection of equipment status, reduce the inspection data processing cycle, reduce the frequency and workload of data collection, strengthen the status control of cable equipment, greatly improve the cable equipment inspection efficiency, reduce the work intensity of front-line personnel, and reduce inspection costs.

[0130] 2. Social Benefits

[0131] The present invention integrates the data results of two scenario models with the characteristics of low cost and fast collection speed, integrates equipment status data such as IoT perception and online monitoring, builds a digital high-voltage cable digital scene, and constructs a digital support base for cable operation and inspection. It can effectively improve the cable operation and inspection personnel's understanding and cognition of the equipment, strengthen the equipment status perception and control capabilities, and at the same time, the construction of equipment positioning and remote patrol capabilities has solved the problems of difficulty and high cost in cable equipment operation and maintenance to a certain extent. While reducing the labor intensity of the front-line teams, it uses digital means to enhance the reliability of power grid operation, improve the safe and stable operation level of the power system, and effectively guarantee the electricity consumption for social production and life. It is an important exploration for the digital transformation of power grids and the promotion of optimization and improvement of equipment management methods.

[0132] The above is only a preferred embodiment of the present invention. It should be noted that, for those skilled in the art, several improvements and modifications can be made without departing from the principles of the present invention, and these improvements and modifications should also be considered as the protection scope of the present invention. The structures, devices and operating methods not specifically described and explained in the present invention shall be implemented according to the conventional means in the art unless otherwise specified and limited.

Claims

1. A high-voltage cable digital panoramic system, including an IOT channel, characterized in that: It also includes model fusion module, equipment panoramic display module, equipment positioning and status perception module, among which: The model fusion module manually collects the panoramic model and the laser point cloud model, and after processing the panoramic model and the laser point cloud model, realizes the fusion of the panoramic model and the laser point cloud data; The equipment panoramic display module transforms the three-dimensional platform on the basis of the model fusion module to realize the loading and display of the model fusion results, and integrates the status data of the high-voltage cable equipment to achieve panoramic display; The equipment positioning and status perception module is used for accurate positioning of high-voltage cable equipment by comparing and associating with the high-voltage cable equipment inventory information. The equipment positioning and status perception module is connected to the equipment panoramic display module through IOT channel signals.

2. A high-voltage cable digital panoramic system according to claim 1, characterized in that: The data of the panoramic model and the laser point cloud model are compressed in the following steps: S1. Geometric error: Set the geometric error to ensure that the point cloud data reflects the appearance and collective outline of the device; S2, bounding volume: using the minimum bounding box data; S3, display distance: according to the size of the object, differentiated viewing distance settings are performed; S4, Image compression: Analyze the image resolution and use intelligent compression to reduce the image data volume.

3. A high-voltage cable digital panoramic system according to claim 1, characterized in that: The model fusion module includes: A panoramic model and laser point model parsing unit is used to parse the data of the panoramic model and the laser point cloud model, and the parsing results are stored in a binary structure; The feature point selection unit selects feature points from the stored binary structure and uses them as anchor points for registration and fusion; The spatial posture comparison unit compares the difference between two obvious spatial position postures and finds the difference between the two spatial positions; The spatial position information adjustment, correction and registration unit transforms the spatial positions of the two models through spatial position matrix registration conversion, and finally realizes the registration fusion of the two models, thereby obtaining the registration fusion result.

4. A high-voltage cable digital panoramic system according to claim 1, characterized in that: The registration method of the panoramic image and the laser point cloud used in the key point registration is as follows: M1: Construct spatial position reference points; M2: At the reference point, the image position and rotation angle are acquired, 360° panoramic image matching and 360° panoramic image stitching are performed; Alternatively, the position and rotation angle of the laser scanner are acquired, the laser point cloud is registered, and the laser point cloud is stitched; M3: Match 360° panoramic view and point cloud data to obtain 360° panoramic view and point cloud fusion results.

5. A high-voltage cable digital panoramic system according to claim 1, characterized in that: The status data of the high-voltage cable equipment includes parameters of the Internet of Things sensing device and parameters of the online monitoring device.

6. A high-voltage cable digital panoramic system according to claim 1, characterized in that: The panoramic model and laser point model parsing unit includes a panoramic picture mapping block, a geodesic 2000 coordinate system and a wgs84 coordinate system conversion block, and a Cesium camera posture conversion block.

7. A high-voltage cable digital panoramic system according to claim 1, characterized in that: The row transformation process of the three-dimensional platform is an arbitrary rotation of the coordinate system in space, which is equivalent to the superposition of rotations around the three coordinate axes in sequence, and the rotation matrices of the three axes X, Y, and Z are set respectively, as follows: First, the coordinate rotation matrix around the X-axis is: Second, the coordinate rotation matrix around the Y axis is: Third, the coordinate rotation matrix rotating around the Z axis is: At the same time, assuming that the spatial posture of an object is P, nCb1 represents that point P rotates only around the X-axis, and can only get the X-axis coordinate of the new P', nCb2 represents that point P rotates only around the Y-axis, and can only get the Y-axis coordinate of the new P', nCb3 represents that point P rotates only around the Z-axis, and can only get the Z-axis coordinate of P'. The three rotation matrices are synthesized and superimposed to obtain the total corresponding relationship of the P→P′ coordinate transformation, as follows: in, It is the coordinate rotation matrix from coordinate system n to coordinate system b.

8. A high-voltage cable digital panoramic system according to claim 1, characterized in that: The equipment positioning and status perception module also uses twin simulation technology to build a remote dynamic patrol function to achieve remote replacement of high-voltage cable equipment status patrol tasks.

9. A high-voltage cable digital panoramic system according to claim 1, characterized in that: Also includes: The service layer is used to provide service support, including panoramic model analysis service, laser point cloud analysis service, model fusion registration service, model publishing and loading service, data integration service, and patrol support service; The application layer is used for user interaction. The application layer includes a device panoramic display module and a device positioning and patrol module. The device panoramic display module is used for device scene display and device status information fusion, and the device positioning and patrol module is used for device positioning and information query and device status patrol.

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