Method and system for calculating minimum combination gap based on three-dimensional model of power transmission tower

Abstract

The invention discloses a minimum combination gap calculation method and system based on a three-dimensional model of a power transmission tower, and relates to the technical field of power transmission lines. Comprising the steps of obtaining point cloud data of a transmission tower, and constructing a three-dimensional model; analyzing an electrified body, a grounding body and an intermediate potential in the three-dimensional model, and marking after division is completed; and performing collision detection on the marked object, simulating the collision condition between the person and the object, calculating the nearest point, counting the minimum distance between the person and each object, and storing the calculation result. By arranging the three-dimensional model establishing module, the dividing and marking module and the counting module, the distance between the grounding personnel and the electrified body part and the grounding body part in the transmission tower can be automatically calculated, the phenomenon of misjudgment can be avoided, and the safety can be improved to a certain extent.

Description

Technical Field

[0001] The invention relates to the technical field of power transmission lines, and in particular to a method and system for calculating a minimum combined clearance based on a three-dimensional model of a power transmission tower. Background Art

[0002] A notable feature of current live transmission line work is the use of equipotential work, that is, workers enter the high-voltage conductor through insulating tools and are at the same potential as it. The key to equipotential work is to choose the appropriate entry path and method, and to ensure the personal safety of workers when entering and exiting the equipotential.

[0003] Currently, when workers enter high-voltage wires using insulating tools, if they encounter a narrow passage, they need to judge whether they can pass through the passage without coming into contact with a charged object, a grounded object, or an intermediate potential. At this time, misjudgment may occur, which in turn may pose certain safety hazards. Summary of the invention

[0004] In view of the problems existing in the above background technology, the present invention is proposed.

[0005] Therefore, the problem to be solved by the present invention is how to automatically calculate the distance between the grounding personnel and the charged body part and the grounded body part in the transmission tower to avoid misjudgment.

[0006] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0007] In the first aspect, an embodiment of the present invention provides a method for calculating the minimum combined gap based on a three-dimensional model of a transmission tower, which includes obtaining point cloud data of the transmission tower and constructing a three-dimensional model; analyzing the charged body, grounded body and intermediate potential in the three-dimensional model, and marking them after completing the division; performing collision detection on the marked objects, simulating the collision between people and objects, calculating the nearest point and counting the minimum distance between people and each object, and storing the calculation results.

[0008] As a preferred solution of the method for calculating the minimum combined gap based on the three-dimensional model of the transmission tower described in the present invention, the construction of the three-dimensional model includes: preprocessing the point cloud data; performing surface reconstruction; and optimizing the three-dimensional model.

[0009] As a preferred solution of the method for calculating the minimum combined gap based on the three-dimensional model of the transmission tower described in the present invention, the preprocessing includes denoising, filtering and sampling.

[0010] As a preferred solution of the method for calculating the minimum combined gap based on the three-dimensional model of the transmission tower described in the present invention, the optimization of the three-dimensional model includes smoothing, hole filling and feature extraction.

[0011] As a preferred solution of the method for calculating the minimum combined gap based on the three-dimensional model of the transmission tower described in the present invention, the collision detection of the marked objects includes: the mesh collider module uses the mesh collider in Unity3D to take the mesh shape of the marked object as the collision body, and simulates the collision between the person and the marked object; the calculation of the nearest point and the statistics of the minimum distance between the person and each object includes the calculation of the nearest point from the point to the line segment and the calculation of the nearest point from the point to the circle.

[0012] As a preferred solution of the method for calculating the minimum combined gap based on the three-dimensional model of the transmission tower described in the present invention, the calculation of the nearest point from the point to the line segment includes: calculating the vertical distance from the point to the straight line where the line segment is located; and determining whether the foot of the perpendicular is on the line segment.

[0013] In the second aspect, an embodiment of the present invention provides a minimum combined gap calculation system based on a three-dimensional model of a transmission tower, which includes a three-dimensional model building module for constructing a three-dimensional model of a transmission tower according to point cloud data of the transmission tower; a division and labeling module for dividing and labeling charged bodies, grounded bodies and intermediate potentials; and a statistical module for counting the distances between personnel and charged bodies, grounded bodies and intermediate potentials.

[0014] As a preferred solution of the minimum combined gap calculation system based on the three-dimensional model of the transmission tower described in the present invention, the three-dimensional model establishment module includes a point cloud data acquisition submodule for acquiring point cloud data of the transmission tower; a three-dimensional model construction submodule for constructing a three-dimensional model according to the data acquired by the point cloud data acquisition module; the division and annotation module includes a charged body analysis submodule for analyzing the charged body in the three-dimensional model; a grounding body analysis submodule for analyzing the grounding body in the three-dimensional model; an intermediate potential analysis submodule for analyzing the intermediate potential in the three-dimensional model; and a division submodule for analyzing the charged body in the three-dimensional model. The analyzed charged body, grounded body and intermediate potential are divided in the three-dimensional model; the annotation submodule is used to annotate the divided charged body, grounded body and intermediate potential in the three-dimensional model; the statistical module includes a mesh collider submodule, which is used to use the mesh collider in Unity3D to take the mesh shape of the marked object as a collision body; a simulation submodule is used to simulate the collision between a person and the marked object; a calculation submodule is used to calculate the nearest point between the person and the object based on the collision detection between the objects and using its own common point class function; a storage submodule is used to store the data calculated by the calculation module.

[0015] In a third aspect, an embodiment of the present invention provides a computer device, comprising a memory and a processor, wherein the memory stores a computer program, wherein: when the computer program instructions are executed by the processor, the steps of the minimum combined gap calculation method based on the three-dimensional model of the transmission tower as described in the first aspect of the present invention are implemented.

[0016] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein: when the computer program instructions are executed by a processor, the steps of the method for calculating the minimum combined gap based on the three-dimensional model of the transmission tower as described in the first aspect of the present invention are implemented.

[0017] The beneficial effects of the present invention are as follows: by setting up a three-dimensional model building module, a division and marking module and a statistical module, the present invention has the ability to automatically calculate the distance between the grounded personnel and the live part and the grounded part of the transmission tower, thereby avoiding the phenomenon of misjudgment, thereby improving safety to a certain extent. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0019] Figure 1 This is a structural diagram of the minimum combined gap calculation system based on the three-dimensional model of the transmission tower. DETAILED DESCRIPTION

[0020] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0021] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0022] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive with other embodiments.

[0023] Example 1

[0024] Reference Figure 1 , which is the first embodiment of the present invention, provides a method for calculating the minimum combined gap based on a three-dimensional model of a transmission tower, comprising:

[0025] S1: Obtain point cloud data of transmission towers and construct a 3D model.

[0026] Preferably, the construction of the three-dimensional model includes:

[0027] Before building a 3D model, the point cloud data needs to be preprocessed, including denoising, filtering, sampling and other operations to improve the efficiency and accuracy of subsequent processing;

[0028] Surface reconstruction is the core step in building a 3D model. Commonly used algorithms include:

[0029] Delaunay triangulation: Connect the points in the point cloud data into a triangular mesh to approximate the surface of the original object.

[0030] Alpha Shape algorithm: identifies the core area in the point cloud by defining a shape parameter α and constructs a surface model of the area.

[0031] Moving Least Squares (MLS): Smooths point cloud data by locally fitting planes or surfaces and constructs a smoother surface model.

[0032] After surface reconstruction, the model needs to be optimized, including smoothing, hole filling, feature extraction and other operations to improve the quality and usability of the model.

[0033] S2: Analyze the charged bodies, grounded bodies and intermediate potentials in the three-dimensional model, and mark them after the division is completed.

[0034] Preferably, the charged body in the three-dimensional model is analyzed by the charged body analysis module, the grounded body in the three-dimensional model is analyzed by the grounded body analysis module, and the intermediate potential in the three-dimensional model is analyzed by the intermediate potential analysis module. After the analysis, the analyzed charged body, grounded body and intermediate potential are divided in the three-dimensional model by the division module. After the division, the divided charged body, grounded body and intermediate potential are labeled in the three-dimensional model by the labeling module.

[0035] S3: Perform collision detection on the marked objects, simulate the collision between people and objects, calculate the closest point and count the minimum distance between people and each object, and store the calculation results.

[0036] Specifically, the mesh collider module adopts the mesh collider in Unity3D to use the mesh shape of the marked object as a collision body, and simulates the collision between the personnel and the marked object through the simulation module to enable accurate collision detection and measurement. The calculation module detects collisions between objects and uses its own common point class function ClosestPoint to calculate the closest point between the personnel and the object, and counts the distances between the personnel and the charged body, the grounded body and the intermediate potential. After statistics, the data calculated by the calculation module are stored through the storage module.

[0037] The public point class function ClosestPoint includes the calculation of the closest point from a point to a line segment and the calculation of the closest point from a point to a circle.

[0038] Furthermore, the calculation process of the closest point from a point to a line segment is as follows:

[0039] Calculate the vertical distance from a point to the line where the line segment is located: Calculate the distance from a point to the line where the line segment is located;

[0040] If the foot of the perpendicular is on the line segment, then the foot of the perpendicular is the closest point to the line segment. If the foot of the perpendicular is not on the line segment, then it is necessary to calculate the distance from the point to the two endpoints of the line segment and take the minimum value as the closest distance from the point to the line segment. At this time, the corresponding endpoint of the line segment is the closest point.

[0041] Furthermore, the calculation process of the closest point to the circle is as follows:

[0042] Calculate the distance from the center of the circle to a given point;

[0043] If the point is inside the circle, then the closest point is the center of the circle. If the point is outside the circle, then the closest point is the point that connects the center of the circle and the point and intersects the circle. This point can be found by scaling the vector from the center of the circle to the point.

[0044] Furthermore, this embodiment also provides a minimum combined gap calculation system based on a three-dimensional model of a transmission tower, such as Figure 1 As shown, including,

[0045] A three-dimensional model building module, used to build a three-dimensional model of the transmission tower according to the point cloud data of the transmission tower, wherein the three-dimensional model building module includes a point cloud data acquisition submodule, used to acquire the point cloud data of the transmission tower; a three-dimensional model construction submodule, used to build a three-dimensional model according to the data acquired by the point cloud data acquisition module, wherein the point cloud data acquisition module is connected to the three-dimensional model construction module;

[0046] Division and marking module, used to divide and mark charged bodies, grounded bodies and intermediate potentials;

[0047] The division and annotation module includes a charged body analysis submodule for analyzing the charged body in the three-dimensional model; a grounded body analysis submodule for analyzing the grounded body in the three-dimensional model; an intermediate potential analysis submodule for analyzing the intermediate potential in the three-dimensional model; a division submodule for dividing the analyzed charged body, grounded body and intermediate potential in the three-dimensional model, and an annotation submodule for annotating the divided charged body, grounded body and intermediate potential in the three-dimensional model.

[0048] The three-dimensional model construction submodule is connected to the charged body analysis submodule, the three-dimensional model construction submodule is connected to the grounded body analysis submodule, the three-dimensional model construction submodule is connected to the intermediate potential analysis submodule, the charged body analysis submodule is connected to the division submodule, the grounded body analysis submodule is connected to the division submodule, the intermediate potential analysis submodule is connected to the division submodule, and the division submodule is connected to the annotation submodule.

[0049] The statistical module is used to count the distances between personnel and charged bodies, grounded bodies and intermediate potentials; the statistical module includes: a mesh collider submodule, which uses the mesh collider in Unity3D to use the mesh shape of the marked object as a collider; a simulation submodule, which is used to simulate the collision between personnel and the marked objects so as to perform accurate collision detection and measurement; a calculation submodule, which is used to calculate the closest point between personnel and objects based on collision detection between objects and using its own common point class function ClosestPoint; a storage submodule, which is used to store the data calculated by the calculation module; the annotation submodule is connected to the mesh collider submodule, the mesh collider submodule is connected to the simulation submodule, the simulation module is connected to the calculation submodule, and the calculation submodule is connected to the storage submodule.

[0050] The three-dimensional model building module is connected with the division and marking module, and the division and marking module is connected with the statistics module.

[0051] This embodiment also provides a computer device, which is applicable to the case of a minimum combined gap calculation method based on a three-dimensional model of a transmission tower, and includes a memory and a processor; the memory is used to store computer-executable instructions, and the processor is used to execute the computer-executable instructions to implement the minimum combined gap calculation method based on a three-dimensional model of a transmission tower as proposed in the above embodiment.

[0052] The computer device may be a terminal, and the computer device includes a processor, a memory, a communication interface, a display screen and an input device connected via a system bus. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be achieved through WIFI, an operator network, NFC (near field communication) or other technologies. The display screen of the computer device may be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device may be a touch layer covering the display screen, or a key, trackball or touchpad provided on the housing of the computer device, or an external keyboard, touchpad or mouse, etc.

[0053] This embodiment also provides a storage medium on which a computer program is stored. When the program is executed by a processor, the method for calculating the minimum combined gap based on the three-dimensional model of the transmission tower as proposed in the above embodiment is implemented.

[0054] In summary, the present invention, by setting up a three-dimensional model building module, a division and marking module and a statistical module, can automatically calculate the distance between the grounded personnel and the live part and the grounded part of the transmission tower, thereby avoiding the phenomenon of misjudgment, thereby improving safety to a certain extent.

[0055] Example 2

[0056] Referring to Table 1 and Table 2, which are the second embodiment of the present invention, this embodiment provides a method for calculating the minimum combined gap based on a three-dimensional model of a transmission tower. In order to verify the beneficial effects of the present invention, a scientific demonstration is carried out through simulation experiments.

[0057] This embodiment analyzes the point cloud data of a transmission tower, aiming to accurately construct a three-dimensional model and divide the charged body, grounded body and intermediate potential, and finally calculate the minimum safe distance between each component and personnel to ensure the safety of personnel during maintenance.

[0058] This example records in detail the process from data collection to model building, collision detection and data recording. The specific process is as follows:

[0059] High-precision LiDAR equipment is used to collect point cloud data of transmission towers, including the elevation and lateral position of the tower structure. The collected raw point cloud data has noise and redundant points. De-noising, filtering, sampling and other pre-processing techniques are used to remove outliers and reduce the amount of data to improve the efficiency and accuracy of subsequent processing.

[0060] In order to improve the accuracy of 3D model construction, the moving least squares (MLS) method is further used to smooth the point cloud data.

[0061] The 3D model is constructed by combining the Delaunay triangulation method and the Alpha Shape algorithm:

[0062] First, the point cloud data is divided into triangular meshes through Delaunay triangulation to establish a preliminary model;

[0063] Use the Alpha Shape algorithm to optimize the model structure, and set the shape parameter α to filter the core area and reduce model redundancy;

[0064] After construction, optimization operations such as smoothing, hole filling, and feature extraction are performed to ensure the integrity and accuracy of the model.

[0065] The three-dimensional model is analyzed using the charged body, grounded body and intermediate potential analysis modules in the system, and the various parts in the model are divided according to parameters such as current distribution and material type.

[0066] After the division is completed, the labeling module is used to label the charged body, grounded body and intermediate potential respectively, so as to analyze the safety distance of each part in the subsequent collision detection.

[0067] The mesh collider in Unity3D is used for collision detection to simulate the maintenance operation of personnel, and the minimum distance between personnel and each charged object, grounded object and intermediate potential is calculated through the ClosestPoint function.

[0068] The ClosestPoint function automatically determines the closest point location based on the geometric relationship between the point and the line segment and the point and the circle, thereby ensuring that personnel at different locations can obtain the minimum safe distance data. After collision detection, the system records and saves the minimum distance data between personnel and various parts of the transmission tower for subsequent analysis and safety assessment.

[0069] The following is part of the experimental data, including point cloud processing results, 3D model reconstruction data, live body / grounded body / intermediate potential annotation and personnel safety distance data:

[0070] Table 1 Point cloud and 3D model construction records

[0071]

[0072]

[0073] Table 2 Collision detection and minimum safety distance records

[0074]

[0075] As can be seen from Table 1, the present invention effectively improves the quality of point cloud data through denoising, filtering and smoothing, so that the average triangle side length of the three-dimensional model is maintained between 7.5 and 8.8 cm, and the hole filling rate is above 88%, indicating that the model construction is highly complete and has strong applicability. By setting a reasonable α shape parameter (0.7-0.9), the combination of Delaunay triangulation and Alpha Shape algorithm ensures the accuracy of the model and greatly reduces the error rate.

[0076] The collision detection data in Data Table 2 show that the minimum safe distances of charged bodies, grounded bodies and intermediate potentials are distributed between 65-110 cm, while traditional technologies usually have large deviations in the prediction of the minimum safe distance due to point cloud noise and inaccurate models. The distance calculation method based on ClosestPoint in the present invention ensures the accurate acquisition of the closest point position, so that the minimum distance of each detection point can truly reflect the minimum safe distance between personnel and bodies with different potentials. In addition, the charged body and intermediate potential marking of the present invention are automated with the help of multi-module division of labor, which reduces the dependence on safe distance calculation in manual operations and improves accuracy.

[0077] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A method for calculating the minimum combined clearance based on a three-dimensional model of a transmission tower, characterized in that: include, Obtain point cloud data of transmission towers and build a 3D model; Analyze the charged body, grounded body and intermediate potential in the 3D model, and mark them after division; Perform collision detection on marked objects, simulate the collision between people and objects, calculate the closest point and count the minimum distance between people and each object, and store the calculation results.

2. The method for calculating the minimum combined gap based on the three-dimensional model of the transmission tower according to claim 1, characterized in that: The constructing of the three-dimensional model comprises: Preprocess the point cloud data; Perform surface reconstruction; The three-dimensional model is optimized.

3. The method for calculating the minimum combined gap based on the three-dimensional model of the transmission tower according to claim 2, characterized in that: The preprocessing includes denoising, filtering and sampling.

4. The method for calculating the minimum combined gap based on the three-dimensional model of the transmission tower according to claim 3, characterized in that: Optimizing the three-dimensional model includes smoothing, hole filling and feature extraction.

5. The method for calculating the minimum combined gap based on the three-dimensional model of the transmission tower according to claim 3, characterized in that: The collision detection of the marked object comprises: The mesh collider module uses the mesh collider in Unity3D to take the mesh shape of the marked object as the collision body, and simulates the collision between the person and the marked object; The calculation of the nearest point and counting the minimum distance between the person and each object includes the calculation of the nearest point from a point to a line segment and the calculation of the nearest point from a point to a circle.

6. The method for calculating the minimum combined gap based on the three-dimensional model of the transmission tower according to claim 5, characterized in that: The calculation of the closest point from the point to the line segment includes: Calculate the vertical distance from the point to the line where the line segment lies; And determine whether the foot of the perpendicular is on the line segment.

7. A minimum combined gap calculation system based on a three-dimensional model of a transmission tower, based on the minimum combined gap calculation method based on a three-dimensional model of a transmission tower according to any one of claims 1 to 6, characterized in that: Also includes, A three-dimensional model building module is used to build a three-dimensional model of the transmission tower according to the point cloud data of the transmission tower; Division and marking module, used to divide and mark charged bodies, grounded bodies and intermediate potentials; The statistical module is used to count the distance between personnel and charged objects, grounded objects and intermediate potentials.

8. The minimum combined gap calculation system based on the three-dimensional model of the transmission tower according to claim 7, characterized in that: The three-dimensional model building module includes a point cloud data acquisition submodule for acquiring point cloud data of the transmission tower; a three-dimensional model construction submodule for constructing a three-dimensional model based on the data acquired by the point cloud data acquisition module; The division and annotation module includes a charged body analysis submodule for analyzing the charged body in the three-dimensional model; a grounded body analysis submodule for analyzing the grounded body in the three-dimensional model; an intermediate potential analysis submodule for analyzing the intermediate potential in the three-dimensional model; a division submodule for dividing the analyzed charged body, grounded body and intermediate potential in the three-dimensional model; and an annotation submodule for annotating the divided charged body, grounded body and intermediate potential in the three-dimensional model; The statistics module includes a mesh collider submodule for using the mesh collider in Unity3D to use the mesh shape of the marked object as a collision body; The simulation submodule is used to simulate the collision between people and the marked objects; The calculation submodule is used to detect collisions between objects and calculate the closest point between a person and an object using its own common point class function; The storage submodule is used to store the data calculated by the calculation module.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method for calculating the minimum combined gap based on the three-dimensional model of the transmission tower as described in any one of claims 1 to 6 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method for calculating the minimum combined gap based on the three-dimensional model of the transmission tower as described in any one of claims 1 to 6 are implemented.

Images