Hot-line work scheme rehearsal method based on UE + BIM

Abstract

The invention discloses a UE + BIM-based hot-line work scheme rehearsal method, which comprises the following steps: step 1, an unmanned aerial vehicle collects three-dimensional point cloud data of power equipment in a hot-line work area, and meanwhile, the unmanned aerial vehicle performs oblique photography on the work area; step 2, constructing a BIM model corresponding to the hot-line work area; step 3, creating a virtual environment consistent with the hot-line work area in the UE virtual environment, and then embedding the BIM model with the hot-line work area into the UE virtual environment; step 4, performing spatial positioning on the BIM model with the hot-line work area, and determining the spatial position and angle of the BIM model embedded in the UE virtual environment; step 5, measuring the minimum space distance between each point location of the operator and the electrified body and the grounding body, wherein the sum of the two distances is a combined gap value; and step 6, comparing the combined gap value with an operation specification standard value. Field exploration and field tests are not needed, and a large amount of time and labor cost are saved.

Description

Technical Field

[0001] The present invention relates to the technical field of live working, and in particular to a live working scheme preview method based on UE+BIM. Background Art

[0002] The live working method includes the equipotential working method, which means that the worker is at the same potential as the charged body and wears shielding equipment to perform live working. However, when the human body enters the equipotential state, a short transient process will occur, and a large transient current will appear in this process. Therefore, when working at the equipotential state, the worker should move quickly to enter and leave the equipotential state, and the human body should always maintain the equipotential state with the charged body during the working process.

[0003] Before the current live work is implemented, the person in charge of the work usually determines the size and specifications of the key work points and related equipment, such as the number of insulator strings and the thickness of a single piece, based on the drawings of the tower and power equipment, and then plans the personnel movement path in and out of the equipotential according to the location of the maintenance target. On this basis, the combined gap values ​​of each or several key points on the movement path are calculated, and the theoretical combined gap values ​​of the work plan are compared with the reference value of the work standard. If the combined gap values ​​of each location are greater than the reference value, the work plan is safe and feasible; otherwise, there are safety hazards.

[0004] In the prior art, the equipotential operation method requires on-site investigation, work environment inspection, and checking the specifications and dimensions of the maintenance object according to the drawings before determining the entry and exit equipotential paths and verifying the combined gap values ​​one by one. The overall steps are many, and manual calculations are prone to errors. Moreover, the verification of safety distances and combined gaps is based on plane drawings, which is limited to two-dimensional distance calculations and lacks the calculation of three-dimensional space distances, which is somewhat different from the actual operation situation. Summary of the invention

[0005] The purpose of the present invention is to overcome the shortcomings of the equipotential working method in the prior art, that the error in calculating the combined gap value is large, and the safety distance verification is generally through manual estimation, lacks verification of the spatial position in all directions, and has certain differences from the actual working situation, and to provide a live working plan preview method based on UE+BIM.

[0006] The purpose of the present invention is achieved through the following technical solutions: A live working scheme preview method based on UE+BIM includes the following steps: Step 1: The drone collects three-dimensional point cloud data of the power equipment in the live working area, and at the same time, the drone performs oblique photography of the working area to obtain an oblique photography image of the live working area; Step 2: construct a BIM model corresponding to the live working area based on the 3D point cloud data and oblique photography images; Step 3, creating a virtual environment consistent with the live working area in the UE virtual environment, and then embedding the BIM model with the live working area into the UE virtual environment; Step 4: spatially locate the BIM model with the live working area, and determine the spatial position and angle of the BIM model embedded in the UE virtual environment; Step 5: simulate and measure the minimum spatial distance between each point of the operator and the live body and the grounding body according to the in-and-out equipotential movement path in the live working plan, and the sum of the distances between the two is the combined gap value; Step 6, compare the combined gap value with the standard value of the operation specification. If the combined gap value is greater than or equal to the standard value, the safety distance verification passes; if the combined gap value is less than the standard value, the safety distance verification fails, and there are safety hazards in the live working plan.

[0007] Create a live transmission line operation scene that is consistent with reality in the UE (Unreal Engine) virtual environment to achieve large-scale visualization of transmission facilities that support the digital twin system of the power grid. Reconstruct the three-dimensional models of key live power equipment such as power towers, conductors, tension insulator strings, suspension insulator strings, shielding rings, and voltage-grading rings with the help of BIM (Building Information Modeling), and combine and place them in the realistic three-dimensional space created by UE. By measuring the spatial distance, it is possible to evaluate whether the spatial distance between two points meets the constraints of the safe distance for operation, and then simulate and rehearse the live operation guidance plans in various high-risk scenarios, and evaluate the feasibility of the live operation plan in advance.

[0008] Preferably, in step 1, the drone collects three-dimensional point cloud data of power equipment in the live working area by carrying a three-dimensional lidar on the drone, and performs laser scanning and detection on the power equipment in the live working area to obtain three-dimensional point cloud data; the drone performs oblique photography of the working area by carrying an oblique photography camera on the drone, and performs multi-angle image acquisition of the working area to obtain an oblique photography image, which includes a vertical angle photography image and four oblique angle photography images.

[0009] Preferably, the step 2 is to construct a BIM model corresponding to the live working area based on the three-dimensional point cloud data and the oblique photography image, specifically: Step 2a, preprocessing the three-dimensional point cloud data, performing denoising and filtering steps; preprocessing the tilted image, performing error correction and uniform light and color steps; Step 2b, using the pre-processed 3D point cloud data to create a 3D model of the live working area through BIM modeling software; Step 2c, registering and mapping the oblique photography image with the 3D model surface to complete the 3D geometry and texture information of the BIM model; Step 2d, adding attribute information of the electrical equipment in the energized area, including material, size, location and voltage level.

[0010] Preferably, the power equipment includes a pole tower, a conductor, an insulator string, a grading ring and a shielding ring.

[0011] Preferably, in step 2, the BIM model is also optimized, the BIM model and the three-dimensional point cloud data are superimposed and displayed and aligned, and the local position, shape and size are fine-tuned until the BIM model coincides with the three-dimensional point cloud data.

[0012] Preferably, in step 6, when checking the safety distance, the spatial position of the operator and the movement mode when entering and exiting the equipotential are displayed in the UE virtual environment through a three-dimensional animation simulation of the operator.

[0013] Preferably, in step 5, the combined gap value is also optimized by obtaining the real-time wind conditions when the UAV is working, and the combined gap value is corrected according to the wind conditions. The greater the wind force, the higher the correction amplitude of the combined gap value, and the smaller the wind force, the smaller the correction amplitude of the combined gap value.

[0014] The beneficial effects of the present invention are as follows: the present invention collects three-dimensional point cloud data and oblique photography images through drones, constructs a BIM model, and performs a preview in a UE virtual environment, without the need for field surveys and on-site tests, thus saving a lot of time and labor costs; through simulation in a virtual environment, the live working plan can be quickly adjusted and optimized to improve working efficiency; in the UE virtual environment, the operating personnel's entry and exit equipotential movement paths and movement modes can be simulated to help the operating personnel become familiar with the working environment and operating procedures in advance and reduce working risks. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a flow chart of the present invention; Figure 2 It is a BIM model rendering in a UE virtual environment of the present invention; Figure 3 It is a rendering of a BIM model and a point cloud superimposed on each other in a UE virtual environment of the present invention; Figure 4 It is a schematic diagram of measuring a safe distance of the present invention. DETAILED DESCRIPTION

[0016] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in a variety of forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this application will be more comprehensive and complete and fully convey the concept of the example embodiments to those skilled in the art.

[0017] In addition, described feature, structure or characteristic can be combined in one or more embodiments in any suitable manner. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present application. However, those skilled in the art will appreciate that the technical scheme of the present application can be put into practice without one or more of the specific details, or other methods, components, devices, steps, etc. can be adopted. In other cases, known methods, devices, realizations or operations are not shown or described in detail to avoid blurring the various aspects of the application.

[0018] The flowcharts shown in the accompanying drawings are only exemplary and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps can be decomposed, and some operations / steps can be combined or partially combined, so the actual execution order may change according to actual conditions.

[0019] Example: A live working scheme preview method based on UE+BIM, such as Figure 1 As shown, the following steps are included: Step 1: The drone collects three-dimensional point cloud data of the power equipment in the live working area, and at the same time, the drone performs oblique photography of the working area to obtain an oblique photography image of the live working area; Step 2: construct a BIM model corresponding to the live working area based on the 3D point cloud data and oblique photography images; Step 3, creating a virtual environment consistent with the live working area in the UE virtual environment, and then embedding the BIM model with the live working area into the UE virtual environment; Step 4: spatially locate the BIM model with the live working area, and determine the spatial position and angle of the BIM model embedded in the UE virtual environment; Step 5: simulate and measure the minimum spatial distance between each point of the operator and the live body and the grounding body according to the in-and-out equipotential movement path in the live working plan, and the sum of the distances between the two is the combined gap value; Step 6, compare the combined gap value with the standard value of the operation specification. If the combined gap value is greater than or equal to the standard value, the safety distance verification passes; if the combined gap value is less than the standard value, the safety distance verification fails, and there are safety hazards in the live working plan.

[0020] Create a live transmission line operation scene that is consistent with reality in the UE (Unreal Engine) virtual environment to achieve large-scale visualization of transmission facilities that support the digital twin system of the power grid. Reconstruct the three-dimensional models of key live power equipment such as power towers, conductors, tension insulator strings, suspension insulator strings, shielding rings, and voltage-grading rings with the help of BIM (Building Information Modeling), and combine and place them in the realistic three-dimensional space created by UE. By measuring the spatial distance, it is possible to evaluate whether the spatial distance between two points meets the constraints of the safe distance for operation, and then simulate and rehearse the live operation guidance plans in various high-risk scenarios, and evaluate the feasibility of the live operation plan in advance.

[0021] The purpose of using oblique photography images is to obtain all-round information: oblique photography technology can break through the limitations of traditional orthophotos and collect images from multiple angles through platforms such as drones, including one vertical angle and four oblique angles, so as to obtain all-round information about the ground objects, especially side information, and provide rich data support for 3D modeling. Improve modeling efficiency and authenticity: oblique photography technology can quickly realize 3D reconstruction of large-scale areas, and use real images as model maps, making the 3D model closer to the real world and improving modeling efficiency and authenticity.

[0022] In the step 1, the drone collects three-dimensional point cloud data of the power equipment in the live working area by carrying a three-dimensional laser radar on the drone, and performs laser scanning and detection on the power equipment in the live working area to obtain three-dimensional point cloud data; the drone performs oblique photography of the working area by carrying an oblique photography camera on the drone, and performs multi-angle image acquisition of the working area to obtain an oblique photography image, which includes a vertical angle photography image and four oblique angle photography images.

[0023] The step 2 is to construct a BIM model corresponding to the live working area based on the three-dimensional point cloud data and the oblique photography image, specifically: Step 2a, preprocessing the three-dimensional point cloud data, performing denoising and filtering steps; preprocessing the tilted image, performing error correction and uniform light and color steps; In this embodiment, the denoising process is: using the PCL (Point Cloud Library) point cloud database, and controlling the denoising effect by setting the denoising algorithm parameters (filter radius, threshold). The error correction process is: geometrically correcting the image to eliminate errors caused by factors such as camera lens distortion and shooting angle. The correction process may involve calibration of camera intrinsic and extrinsic parameters, including focal length, distortion coefficient, etc. The process of uniform light and color is: adjusting the brightness and color of the image so that the image as a whole looks more uniform and consistent. This usually involves adjusting parameters such as image contrast and saturation, and the parameter settings depend on the specific image processing software and algorithm.

[0024] Step 2b, using the pre-processed 3D point cloud data to create a 3D model of the live working area through BIM modeling software; In this embodiment, the BIM modeling software used may be Revit or AutoCAD. The preprocessed three-dimensional point cloud data is imported, and a three-dimensional model of the live working area is created through the modeling tools provided by the software (such as stretching, rotation, lofting, etc.).

[0025] Step 2c, register and map the oblique photography image with the three-dimensional model surface to complete the three-dimensional geometry and texture information of the BIM model; register the oblique photography image with the three-dimensional model surface, that is, determine the correspondence between the pixels in the image and the model surface. The registration method may include feature point-based registration, grid-based registration, etc., and the parameter setting includes the parameters of the registration algorithm (such as the number of iterations, convergence conditions, etc.) and the spatial transformation parameters between the image and the model (such as rotation matrix, translation vector, etc.). Map the texture information in the image to the three-dimensional model surface to complete the three-dimensional geometry and texture information of the BIM model. The mapping process may involve steps such as the calculation of texture coordinates and the generation of texture maps, and the parameter settings include texture resolution, mapping method, etc.

[0026] Step 2d, adding attribute information of the electrical equipment in the energized area, including material, size, location and voltage level.

[0027] The electric power equipment comprises a pole tower, a conductor, an insulator string, a grading ring and a shielding ring.

[0028] In the step 2, the BIM model is also optimized, the BIM model and the three-dimensional point cloud data are superimposed and displayed and aligned, and the local position, shape and size are fine-tuned until the BIM model coincides with the three-dimensional point cloud data.

[0029] The density of the original point cloud is not high enough, and it is relatively sparse when viewed from close up. Some details of the BIM model components do not have enough reference basis. The main components are manually created during BIM modeling, and point clouds need to be superimposed for comparison and confirmation when setting the component size. Therefore, the size and edge position of some components may deviate from the point cloud. Therefore, it is necessary to align the BIM model with the 3D point cloud data. Specifically, the GIS field software can be used to overlay and align the BIM model with the 3D point cloud data. The alignment steps are as follows: 1. Load data: Open the rvt file in ArcGIS Pro to view the BIM data. After loading, two layer groups will be displayed.

[0030] 2. Enter the offset coordinates: Use the GO TO XY function under the Map menu to determine the location to which the BIM data should be moved.

[0031] Enter the coordinates and click the Pan To Location icon to move the view to the specified location.

[0032] 3. Georeferencing: Select a specific layer and use its coordinate system as the basis for georeferencing. If the BIM data does not have a coordinate system, you will be prompted and confirmed to use the current map coordinates.

[0033] Fine-tune using the Move, Scale, and Rotate tools.

[0034] After adjusting, click Save.

[0035] 4. Turn off georeferencing: Select Close Georeference and all layers will be updated to the new location, completing the registration.

[0036] In the step 6, when the safety distance is checked, the spatial position of the operator and the movement mode when entering and exiting the equipotential are displayed in the UE virtual environment through a three-dimensional animation simulation of the operator.

[0037] In the step 5, the combined gap value is also optimized to obtain the real-time wind conditions when the drone is working, and the combined gap value is corrected according to the wind conditions. The greater the wind force, the higher the correction amplitude of the combined gap value, and the smaller the wind force, the smaller the correction amplitude of the combined gap value. Wind force may cause the operator to deviate from the predetermined path and increase the risk of contact with the charged body or the grounded body. By considering the wind force factor and correcting the combined gap value, it can be ensured that a sufficient safety distance can be maintained under adverse conditions. Wind force will also affect the positional stability of the charged body and the grounded body, which may cause the actual spatial distance to differ from the simulation results. By correcting the combined gap value in real time, the accuracy of the simulation results can be improved.

[0038] In this embodiment, first, it is necessary to obtain the real-time wind conditions when the drone is working. This can be achieved by installing sensors such as anemometers on the drone, or it can be estimated using data provided by the meteorological department. According to the size and direction of the wind, evaluate its impact on the movement path of the operators and the spatial distance between the live body and the grounded body. Based on the results of the wind impact assessment, the combined gap value is corrected. The magnitude of the correction can be adjusted according to the strength of the wind. The greater the wind, the higher the correction amplitude; the smaller the wind, the smaller the correction amplitude. After correcting the combined gap value, re-check the safety distance to ensure the safety of the live working plan.

[0039] In this embodiment, Figure 2 This is the BIM model rendering in the UE virtual environment. Figure 3 To display the effect diagram of BIM model and point cloud overlay in UE virtual environment, Figure 4 It is a schematic diagram showing the calculation results of the minimum spatial distance of a pole tower. It can be seen that through the BIM model in the UE virtual environment, it can be intuitively displayed that the minimum spatial distance is 3.3 meters. Then, the combined gap value can be compared with the standard value of the operating specification to determine whether there are safety hazards in the live working plan.

[0040] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the embodiments disclosed herein. The present application is intended to cover any variations, uses or adaptations of the present application, which follow the general principles of the present application and include common knowledge or customary technical means in the art that are not disclosed in the present application.

[0041] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A live working scheme preview method based on UE+BIM, characterized in that: The following steps are involved: Step 1: The drone collects three-dimensional point cloud data of the power equipment in the live working area, and at the same time, the drone performs oblique photography of the working area to obtain an oblique photography image of the live working area; Step 2: construct a BIM model corresponding to the live working area based on the 3D point cloud data and oblique photography images; Step 3, creating a virtual environment consistent with the live working area in the UE virtual environment, and then embedding the BIM model with the live working area into the UE virtual environment; Step 4: spatially locate the BIM model with the live working area, and determine the spatial position and angle of the BIM model embedded in the UE virtual environment; Step 5: simulate and measure the minimum spatial distance between each point of the operator and the live body and the grounding body according to the in-and-out equipotential movement path in the live working plan, and the sum of the distances between the two is the combined gap value; Step 6, compare the combined gap value with the standard value of the operation specification. If the combined gap value is greater than or equal to the standard value, the safety distance verification passes; if the combined gap value is less than the standard value, the safety distance verification fails, and there are safety hazards in the live working plan.

2. According to the method of live working scheme preview based on UE+BIM in claim 1, it is characterized by: In the step 1, the drone collects three-dimensional point cloud data of the power equipment in the live working area by carrying a three-dimensional laser radar on the drone, and performs laser scanning and detection on the power equipment in the live working area to obtain three-dimensional point cloud data; the drone performs oblique photography of the working area by carrying an oblique photography camera on the drone, and performs multi-angle image acquisition of the working area to obtain an oblique photography image, which includes a vertical angle photography image and four oblique angle photography images.

3. According to the method of live working scheme preview based on UE+BIM in claim 1, it is characterized in that: The step 2 is to construct a BIM model corresponding to the live working area based on the three-dimensional point cloud data and the oblique photography image, specifically: Step 2a, preprocessing the three-dimensional point cloud data, performing denoising and filtering steps; preprocessing the tilted image, performing error correction and uniform light and color steps; Step 2b, using the pre-processed 3D point cloud data to create a 3D model of the live working area through BIM modeling software; Step 2c, registering and mapping the oblique photography image with the 3D model surface to complete the 3D geometry and texture information of the BIM model; Step 2d, adding attribute information of the electrical equipment in the energized area, including material, size, location and voltage level.

4. According to the method of live working scheme preview based on UE+BIM in claim 3, it is characterized in that: The electric power equipment comprises a pole tower, a conductor, an insulator string, a grading ring and a shielding ring.

5. According to the method of live working scheme preview based on UE+BIM in claim 1, it is characterized in that: In the step 2, the BIM model is also optimized, the BIM model and the three-dimensional point cloud data are superimposed and displayed and aligned, and the local position, shape and size are fine-tuned until the BIM model coincides with the three-dimensional point cloud data.

6. The method for rehearsing live working scheme based on UE+BIM according to claim 1 is characterized in that: In the step 6, when the safety distance is checked, the spatial position of the operator and the movement mode when entering and exiting the equipotential are displayed in the UE virtual environment through a three-dimensional animation simulation of the operator.

7. The method for rehearsing live working scheme based on UE+BIM according to claim 1 is characterized in that: In the step 5, the combined gap value is also optimized to obtain the real-time wind conditions when the drone is working, and the combined gap value is corrected according to the wind conditions. The greater the wind force, the higher the correction amplitude of the combined gap value, and the smaller the wind force, the smaller the correction amplitude of the combined gap value.

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