Simplified model construction method, positioning method, equipment and medium

Abstract

The invention discloses a simplified model construction method. The method comprises the steps of obtaining point cloud data of related substation equipment; constructing a simplified model in a cuboid form, and initializing the minimum and maximum coordinate points of the simplified model in three dimensions of the three-dimensional coordinate system into extreme values; and traversing the point cloud data, dynamically updating coordinate boundaries of the simplified model in three dimensions of the three-dimensional coordinate system according to coordinates of each point in the obtained point cloud data, and obtaining a minimum circumscribed cuboid which is matched with the point cloud data and used for transformer substation equipment positioning in a three-dimensional space. According to the method, the minimum external cuboid of the adaptive equipment in the three-dimensional space is generated by analyzing the point cloud data of the substation equipment, the cuboid is used as the equipment model, the equipment model can be directly used for positioning the equipment, the size of the cuboid is matched with the equipment, accurate modeling of the equipment is not needed, and the equipment positioning efficiency is improved. The modeling cost and the calculation amount can be greatly reduced, and the efficiency of positioning the substation equipment is improved.

Description

Technical Field

[0001] The present application relates to the technical field of modeling and positioning, and more specifically, to a simplified model construction method, a positioning method, a device, and a medium. Background Art

[0002] As a key link in power transmission and distribution, a substation has a wide variety of internal equipment and a complex layout. To ensure the safe operation and timely maintenance of the equipment, accurate positioning of the equipment is required.

[0003] Currently, the method of positioning substation equipment through modeling mainly uses three-dimensional visualization modeling technology. Using three-dimensional scanning technologies such as three-dimensional laser scanners and unmanned aerial vehicle oblique photography, the substation is scanned and photographed comprehensively to obtain detailed shape data of the substation. Then, through three-dimensional digital modeling technology, these data are processed and spliced to form a seamlessly integrated three-dimensional digital model. In the three-dimensional model, the positions of various equipment in the substation can be clearly seen. Through digital twin technology, the operation status of the substation can be monitored and analyzed in real time, improving the operation and maintenance efficiency and the level of safety prevention. Operation and maintenance personnel can quickly locate and handle equipment problems through the three-dimensional visualization interface.

[0004] However, in the process of three-dimensional modeling, a large amount of data needs to be processed, including point cloud data, image data, etc. The processing of these data may consume a large amount of time and computing resources, increasing the complexity and cost of modeling, and resulting in a greater impact on the speed of positioning substation equipment. Summary of the Invention

[0005] In view of at least one defect or improvement requirement of the prior art, the present application provides a simplified model construction method, a positioning method, a device, and a medium, which are used to reduce the cost and computing amount of modeling and improve the efficiency of positioning substation equipment.

[0006] To achieve the above object, in a first aspect, the present application provides a simplified model construction method, including:

[0007] Obtain point cloud data related to substation equipment;

[0008] Construct a simplified model in the shape of a cuboid, and initialize the minimum and maximum coordinate points of the simplified model in the three dimensions of the three-dimensional coordinate system to extreme values;

[0009] Traverse the point cloud data, and dynamically update the coordinate boundaries of the simplified model in the three dimensions of the three-dimensional coordinate system according to the coordinates of each point in the obtained point cloud data, so as to obtain the minimum circumscribed cuboid in three-dimensional space that is adapted to the point cloud data and is used for positioning substation equipment.

[0010] Further, when obtaining the point cloud data of substation equipment, it also includes a data preprocessing process, and this data preprocessing process includes:

[0011] Filter out the noise points in the point cloud data through a filtering algorithm;

[0012] Reduce the number of points in the point cloud data whose distribution density exceeds the preset density threshold.

[0013] Further, the reducing the number of points in the point cloud data whose distribution density exceeds the preset density threshold includes:

[0014] Input the point cloud data, and each point includes three-dimensional coordinates;

[0015] Select a voxel with a suitable size;

[0016] According to the size of the voxel, divide the three-dimensional space where the point cloud data is located into multiple voxel grids;

[0017] Traverse each of the voxel grids and find all the points that fall within the voxel;

[0018] For each of the voxel grids, select a representative point to approximately represent all the points within the voxel;

[0019] Collect all the representative points to construct a new point cloud data set.

[0020] Further, initializing the minimum and maximum coordinate points of the simplified model in the three dimensions of the three-dimensional coordinate system to extreme values includes:

[0021] Initialize the minimum coordinate points of the simplified model in the three dimensions of the three-dimensional coordinate system to positive infinity;

[0022] Initialize the maximum coordinate points of the simplified model in the three dimensions of the three-dimensional coordinate system to negative infinity.

[0023] Further, the dynamically updating the coordinate boundaries of the simplified model in the three dimensions of the three-dimensional coordinate system according to the coordinates of each point in the obtained point cloud data includes:

[0024] If the coordinate of the point in the nth dimension is less than the minimum nth dimension coordinate of the current simplified model, then update the minimum nth dimension coordinate to the coordinate of the point in the nth dimension;

[0025] If the coordinate of the point in the mth dimension is greater than the maximum mth dimension coordinate of the current simplified model, then update the maximum mth dimension coordinate to the coordinate of the point in the mth dimension;

[0026] The nth dimension and the mth dimension are each one of the three dimensions of the three-dimensional coordinate system.

[0027] Furthermore, the coordinate boundary values of the minimum bounding cuboid are adjusted to the closest integers by rounding.

[0028] Furthermore, the specific step of selecting a voxel with a suitable size includes:

[0029] Dividing the average spacing of the point cloud by a preset appropriate scale factor to obtain the suitable size of the voxel.

[0030] In a second aspect, the present application provides a positioning method, including:

[0031] According to the rendering environment, set the rendering parameters of the minimum bounding cuboid described in any of the foregoing items, and use a three-dimensional graphics rendering engine to render the minimum bounding cuboid onto the screen;

[0032] Perform the positioning of substation equipment based on the rendered minimum bounding cuboid.

[0033] In a third aspect, the present application provides an electronic device, including at least one processing unit and at least one storage unit. Among them, the storage unit stores a computer program, and when the computer program is executed by the processing unit, the processing unit can execute the steps of the simplified model construction method described in any of the foregoing items and / or can execute the steps of the foregoing positioning method.

[0034] In a fourth aspect, the present application provides a storage medium, which stores a computer program executable by an access authentication device. When the computer program runs on the access authentication device, the access authentication device can execute the steps of the simplified model construction method described in any of the foregoing items and / or can execute the steps of the foregoing positioning method.

[0035] Generally speaking, compared with the prior art through the above technical solutions conceived by the present application, the following beneficial effects can be achieved:

[0036] By analyzing the point cloud data of substation equipment, the present application generates a minimum bounding cuboid in three-dimensional space that adapts to the equipment, and uses this cuboid as the equipment model, which can be directly used for positioning the equipment. Moreover, the size of this cuboid matches the equipment, eliminating the need for precise modeling of the equipment, which can significantly reduce the modeling cost and calculation amount, and improve the efficiency of positioning substation equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0038] Figure 1 This is the core flowchart of a simplified model construction method provided by an embodiment of the present application;

[0039] Figure 2 This is a block diagram of an electronic device suitable for implementing the simplified model construction method and / or positioning method described above provided by an embodiment of the present application. Detailed implementation manners

[0040] In order to make the objectives, technical solutions and advantages of the present application more clear and understandable, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application. In addition, the technical features involved in the various embodiments of the present application described below can be combined with each other as long as they do not conflict with each other.

[0041] The terms "including" or "having" and any variations thereof in the specification, claims or drawings of the present application are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally further include steps or units not listed, or may optionally further include other steps or units inherent to these processes, methods, products or devices.

[0042] As described in the background art section of the specification, existing 3D modeling requires processing a large amount of data, including point cloud data, image data, etc. The processing of this data may consume a large amount of time and computing resources, increasing the complexity and cost of modeling, and resulting in a greater impact on the speed of substation equipment positioning. In view of this, the present application provides a simplified model construction method, a positioning method, a device and a medium for reducing the cost and computing amount of modeling and improving the efficiency of positioning substation equipment.

[0043] Refer to Figure 1 , an embodiment of the present application provides a simplified model construction method, which mainly includes the following steps.

[0044] Step 1: Obtain point cloud data of substation equipment.

[0045] Specifically, read the point cloud data of substation equipment from a data source, and the point cloud data is a set of points containing three-dimensional coordinates (x, y, z).

[0046] When reading the point cloud data of the equipment from the data source, data preprocessing is also included, and the specific process is as follows:

[0047] Filter out noise points through a filtering algorithm to improve the quality of the point cloud data.

[0048] In some embodiments, a statistical filtering algorithm is adopted. The basic idea of statistical filtering is to determine whether a point is a noise point based on the average distance from each point to the points within its neighborhood. If the average distance from a certain point to the points within its neighborhood is greater than a certain threshold, then this point is considered a noise point and is filtered out.

[0049] Then, analyze the distribution of the point cloud data. For the point cloud data with a relatively dense distribution, reduce the number of points to reduce the complexity of subsequent calculations. The specific process of reducing the number of points includes:

[0050] Input the point cloud data, and each point includes three-dimensional coordinates.

[0051] Select a suitable voxel size (dimension). Specifically, divide the average spacing of the point cloud by a scaling factor to obtain a suitable voxel size.

[0052] According to the voxel size, divide the three-dimensional space where the point cloud data is located into multiple voxel grids.

[0053] Traverse each voxel grid and find all the points that fall within that voxel.

[0054] For each voxel grid, select a representative point to approximately represent all the points within that voxel.

[0055] Collect all the representative points to construct a new point cloud data set. The selection of the representative point is to randomly select within the voxel.

[0056] Step 2: Construct a simplified model in the shape of a cuboid, and initialize the minimum and maximum coordinate points of the simplified model in the three dimensions of the three-dimensional coordinate system to extreme values.

[0057] The simplified model in the shape of a cuboid contains six boundary values: min x, min y, min z, max x, max y, and max z, that is, the maximum and minimum values in the x, y, and z three dimensions (directions) respectively. Initialize the minimum coordinate point values (boundary values) in the x, y, and z three directions to positive infinity, and initialize the maximum coordinate point values to negative infinity.

[0058] Step 3: Traverse the point cloud data, and dynamically update the coordinate boundaries of the simplified model in the three dimensions of the three-dimensional coordinate system according to the coordinates of each point obtained in the point cloud data, so as to obtain the minimum circumscribed cuboid in the three-dimensional space that is adapted to the point cloud data and is used for the positioning of substation equipment.

[0059] Dynamically updating the coordinate boundaries of the simplified model in the three dimensions of the three-dimensional coordinate system according to the coordinates of each point obtained in the point cloud data specifically includes:

[0060] If the x - coordinate of the point is less than the minimum x - coordinate x of the current simplified model min , then update this minimum x - coordinate x min to the x - coordinate of this point.

[0061] If the x - coordinate of the point is greater than the maximum x - coordinate x of the current simplified model max , then update this maximum x - coordinate x max to the x - coordinate of this point.

[0062] Perform the same operations on the y - coordinate and z - coordinate as on the x - coordinate.

[0063] In a three - dimensional visualization system, the minimum bounding cuboid can be represented by its vertices and edges. In some embodiments, to simplify the rendering process, the center point, size, and orientation of the minimum bounding cuboid can be used to construct its geometric representation. The relevant calculation formulas are as follows:

[0064] Center point:

[0065] x center =(x min +x max ) / 2;

[0066] y center =(y min +y max ) / 2;

[0067] z center =(z min +z max ) / 2;

[0068] Size:

[0069] Width: width = x max -x min ;

[0070] Height: height = y max -y min ;

[0071] Depth: depth = z max -z min .

[0072] When the traversal of the point cloud is completed, it also includes adjusting the boundary values of the minimum bounding cuboid. The boundary values are adjusted to the closest integer by rounding to reduce storage and computational amounts.

[0073] Thus, through the above three steps, the minimum bounding cuboid for substation equipment positioning in three - dimensional space that is adapted to the point cloud data of relevant substation equipment can be obtained, and the construction of the simplified model is completed.

[0074] Another embodiment of the present application further provides a positioning method, which may specifically include:

[0075] Step 41: Set the rendering parameters of the minimum bounding cuboid described in any of the foregoing according to the rendering environment, and use a 3D graphics rendering engine to render the minimum bounding cuboid onto the screen.

[0076] Since the minimum bounding cuboid is relatively simple, when rendering, the most basic graphics drawing commands (such as drawing quadrilaterals) can be used to render its six faces, specifically including:

[0077] Step 411: Set the rendering state, including color and material.

[0078] Step 412: Traverse each face of the minimum bounding cuboid and draw a quadrilateral using the corresponding vertex coordinates.

[0079] Step 413: Render the minimum bounding cuboid onto the screen.

[0080] When using a 3D graphics rendering engine to render the minimum bounding cuboid onto the screen, it also includes applying the corresponding lighting model and shading algorithm to generate a realistic 3D visualization effect.

[0081] Step 42: Finally, perform positioning of substation equipment based on the rendered minimum bounding cuboid.

[0082] The present application generates a minimum bounding cuboid in 3D space that adapts to the equipment by analyzing the point cloud data of substation equipment, and uses this minimum bounding cuboid as the equipment model, which can be directly used for positioning substation equipment. Moreover, the size of the minimum bounding cuboid matches that of the substation equipment, eliminating the need for precise modeling of the substation equipment, which can significantly reduce the modeling cost and calculation amount, and improve the efficiency of positioning substation equipment.

[0083] Figure 2 A block diagram of an electronic device suitable for implementing the simplified model construction method and / or positioning method described above according to an embodiment of the present application is schematically shown. Figure 2 The electronic device shown is only an example and should not impose any limitation on the functions and usage scope of the embodiments of the present application.

[0084] Such as Figure 2As shown, the electronic device 1000 described in this embodiment includes: a processor 1001, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 1002 or the program loaded from the storage section 1008 into the random access memory (RAM) 1003. The processor 1001 can include, for example, a general microprocessor (such as a CPU), an instruction set processor, and / or a related chipset, and / or a dedicated microprocessor (such as an application specific integrated circuit (ASIC)), and so on. The processor 1001 can also include on-board memory for caching purposes. The processor 1001 can include a single processing unit or multiple processing units for performing different actions of the simplified model building method and / or the positioning method flow according to the embodiments of the present application.

[0085] In the RAM 1003, various programs and data required for the operation of the electronic device 1000 are stored. The processor 1001, the ROM 1002, and the RAM 1003 are connected to each other via a bus 1004. The processor 1001 performs various operations of the simplified model building method and / or the positioning method flow according to the embodiments of the present application by executing the programs in the ROM 1002 and / or the RAM 1003. It should be noted that the program can also be stored in one or more memories other than the ROM 1002 and the RAM 1003. The processor 1001 can also perform various operations of the simplified model building method and / or the positioning method flow according to the embodiments of the present application by executing the programs stored in the one or more memories.

[0086] According to an embodiment of the present application, the electronic device 1000 may further include an input / output (I / O) interface 1005, and the input / output (I / O) interface 1005 is also connected to the bus 1004. The electronic device 1000 may further include one or more of the following components connected to the I / O interface 1005: an input section 1006 including a keyboard, a mouse, etc.; an output section 1007 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 1008 including a hard disk, etc.; and a communication section 1009 including a network interface card such as a LAN card, a modem, etc. The communication section 1009 performs communication processing via a network such as the Internet. A drive 1010 is also connected to the I / O interface 1005 as needed. A removable medium 1011, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 1010 as needed so that a computer program read from it can be installed into the storage section 1008 as needed.

[0087] The method for constructing a simplified model and / or the positioning method process according to an embodiment of the present application can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer-readable storage medium, and the computer program includes program codes for executing the method for constructing a simplified model and / or the positioning method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through the communication part 1009 and / or installed from the removable medium 1011. When the computer program is executed by the processor 1001, the above functions defined in the system of the embodiment of the present application are executed. According to an embodiment of the present application, the above-described system, device, apparatus, module, and / or unit, etc. can be implemented by computer program modules.

[0088] An embodiment of the present application also provides a computer-readable storage medium, which may be included in the device / device / system described in the above embodiment, or may exist separately without being assembled into the device / device / system. The above computer-readable storage medium carries one or more programs, and when the above one or more programs are executed, the steps of the method for constructing a simplified model and / or the positioning method according to an embodiment of the present application can be implemented.

[0089] According to an embodiment of the present application, the computer-readable storage medium may be a non-volatile computer-readable storage medium, for example, it may include but is not limited to: portable computer disks, hard disks, random access memories (RAMs), read-only memories (ROMs), erasable programmable read-only memories (EPROMs or flash memories), portable compact disk read-only memories (CD-ROMs), optical storage devices, magnetic storage devices, or any suitable combination of the above. In an embodiment of the present application, the computer-readable storage medium may be any tangible medium that contains or stores a program, and the program can be used by or combined with an instruction execution system, device, or device. For example, according to an embodiment of the present application, the computer-readable storage medium may include one or more memories other than the above-described ROM 1002 and / or RAM 1003.

[0090] It should be noted that in each embodiment of the present application, the functional modules can be integrated into one processing module, or each module can exist physically alone, or two or more modules can be integrated into one module. The above integrated modules can be implemented in the form of hardware or in the form of software functional modules. When the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or all or part of this technical solution, can be embodied in the form of a software product.

[0091] The flowcharts and / or block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart and / or block diagram may represent a module, a program segment, or a part of code, and the above module, program segment, or part of code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than marked in the accompanying drawings. It should also be noted that each block in the block diagram or flowchart, as well as the combination of blocks in the block diagram or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions.

[0092] Those skilled in the art can understand that the features described in the various embodiments and / or claims of the present application can be combined and / or combined in various ways, even if such combinations or combinations are not explicitly described in the present application. In particular, without departing from the spirit and teachings of the present application, the technical features described in the various embodiments and / or claims of the present application can be combined and / or combined in various ways, and all such combinations and / or combinations fall within the scope of the present application.

[0093] Although the present application has been shown and described with reference to specific exemplary embodiments of the present application, those skilled in the art should understand that various changes in form and detail can be made to the present application without departing from the spirit and scope of the present application as defined by the appended claims and their equivalents. Therefore, the scope of the present application should not be limited to the above embodiments, but should be determined not only by the appended claims but also by the equivalents of the appended claims.

Claims

1. A simplified model construction method, characterized in that: include: Obtain point cloud data about substation equipment; Constructing a simplified model of a rectangular parallelepiped, and initializing the minimum and maximum coordinate points of the simplified model in three dimensions of a three-dimensional coordinate system to extreme values; The point cloud data is traversed, and the coordinate boundaries of the simplified model in three dimensions of the three-dimensional coordinate system are dynamically updated according to the coordinates of each point in the point cloud data, so as to obtain the minimum circumscribed cuboid for substation equipment positioning in three-dimensional space that is adapted to the point cloud data.

2. The simplified model construction method according to claim 1, characterized in that: When acquiring point cloud data about substation equipment, a data preprocessing process is also included, which includes: Filter out noise points in the point cloud data by using a filtering algorithm; Reduce the number of points in the point cloud data whose distribution density exceeds a preset density threshold.

3. The simplified model construction method according to claim 2, characterized in that: The reducing the number of points in the point cloud data having a distribution density exceeding a preset density threshold comprises: Input the point cloud data, each point including three-dimensional coordinates; Choose a voxel of appropriate size; Dividing the three-dimensional space where the point cloud data is located into a plurality of voxel grids according to the size of the voxels; Traversing each of the voxel grids, finding all points that fall within the voxel; For each of the voxel grids, selecting a representative point to approximately represent all points within the voxel; All the representative points are collected to construct a new point cloud dataset.

4. The simplified model construction method according to claim 1, characterized in that: Initializing the minimum and maximum coordinate points of the simplified model in three dimensions of the three-dimensional coordinate system to extreme values ​​includes: Initializing the minimum values ​​of the coordinate points of the simplified model in three dimensions of the three-dimensional coordinate system to positive infinity; The maximum values ​​of the coordinate points of the simplified model in three dimensions of the three-dimensional coordinate system are initialized to negative infinity.

5. The simplified model construction method according to claim 1, characterized in that: The dynamically updating the coordinate boundaries of the simplified model in three dimensions of the three-dimensional coordinate system according to the coordinates of each point in the acquired point cloud data comprises: If the coordinate of the point in the nth dimension is less than the coordinate of the minimum nth dimension of the current simplified model, the coordinate of the minimum nth dimension is updated to the coordinate of the point in the nth dimension; If the coordinate of the point in the mth dimension is greater than the coordinate of the maximum mth dimension of the current simplified model, the coordinate of the maximum mth dimension is updated to the coordinate of the point in the mth dimension; The nth dimension and the mth dimension are respectively one of the three dimensions of the three-dimensional coordinate system.

6. The simplified model construction method according to claim 1, characterized in that: The coordinate boundary values ​​of the minimum circumscribed cuboid are adjusted to the nearest integer by rounding.

7. The simplified model construction method according to claim 3, characterized in that: The step of selecting a voxel of a suitable size specifically includes: The average spacing of the point cloud is divided by a preset appropriate scale factor to obtain the appropriate size of the voxel.

8. A positioning method, characterized in that: include: According to the rendering environment, setting rendering parameters of the minimum circumscribed cuboid according to any one of claims 1 to 7, and rendering the minimum circumscribed cuboid onto the screen using a three-dimensional graphics rendering engine; The substation equipment is located based on the rendered minimum circumscribed cuboid.

9. An electronic device, characterized in that: It comprises at least one processing unit and at least one storage unit, wherein the storage unit stores a computer program, and when the computer program is executed by the processing unit, the processing unit is enabled to execute the steps of the simplified model building method described in any one of claims 1 to 7 and / or to execute the steps of the positioning method described in claim 8.

10. A storage medium, characterized in that: It stores a computer program executable by an access authentication device. When the computer program runs on the access authentication device, the access authentication device can execute the steps of the simplified model building method described in any one of claims 1 to 7 and / or can execute the steps of the positioning method described in claim 8.

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