Method, device and equipment for establishing three-dimensional digital substation and storage medium

Abstract

The invention discloses an establishment method, device and equipment of a three-dimensional digital transformer substation and a storage medium, and the method comprises the steps: collecting equipment and buildings of the transformer substation through a three-dimensional laser scanner, obtaining point cloud data, splicing and filtering the point cloud data, obtaining denoised point cloud data, extracting the contour features of the equipment and the structural features of the buildings, and obtaining the contour features of the equipment and the structural features of the buildings; and determining the connection modes between the devices and between the devices and the building, and carrying out three-dimensional modeling to obtain the three-dimensional digital substation. Therefore, the three-dimensional laser scanner can accurately perform data acquisition on each device and building of the transformer substation to obtain comprehensive point cloud data, human errors are reduced, the establishment of the three-dimensional digital transformer substation meets the requirements of intelligent power grid construction on refined, intelligent and visual operation and maintenance management of the transformer substation, the operation and maintenance cost is reduced, and the operation and maintenance efficiency is improved. The power supply reliability is improved, and powerful support is provided for full-life-cycle operation and maintenance management of the transformer substation.

Description

Technical Field

[0001] The present application relates to the technical field of three-dimensional modeling, and more specifically, to a method, device, equipment and storage medium for establishing a three-dimensional digital substation. Background Art

[0002] In modern power systems, substations are key hubs for power transmission and distribution. Their safe, stable and efficient operation is crucial to ensuring the normal power supply for social production and life. With the rapid development of the power industry, the scale of the power grid continues to expand, the number of substations continues to increase, the equipment types are becoming increasingly complex, and the building structures are becoming more diverse.

[0003] Traditional substation operation and management mainly rely on two-dimensional drawings, text records and the experience of operation and maintenance personnel. However, two-dimensional drawings cannot fully and intuitively display the spatial location, structural details and interrelationships between equipment. When faced with complex equipment layout and building structure, it is difficult for operation and maintenance personnel to quickly and accurately understand and grasp relevant information, which can easily lead to misjudgment and missed inspections during equipment inspection, troubleshooting, maintenance and other work, affecting work efficiency and quality.

[0004] At the same time, with the advancement of intelligent power grid construction, the requirements for the refinement, intelligence and visualization of substation operation and maintenance management are getting higher and higher. In order to achieve all-round and full-life cycle operation and management of substation equipment and buildings, improve operation and maintenance efficiency, reduce operation and maintenance costs, and improve power supply reliability, a more advanced, intuitive and efficient technical means is needed.

[0005] Based on this, how to perform three-dimensional modeling of substation equipment and buildings, present the overall picture of the substation in a three-dimensional and realistic way, and provide a virtual environment for operation and maintenance personnel so that they can understand the location, status and operating parameters of the equipment more clearly, and realize visual operation and maintenance management of the substation, is an issue that needs attention. Summary of the invention

[0006] In view of the above problems, the present application provides a method, device, equipment and storage medium for establishing a three-dimensional digital substation to facilitate the operation, maintenance and management of various equipment and buildings in the substation.

[0007] In order to achieve the above objectives, the specific plan is proposed as follows:

[0008] A method for establishing a three-dimensional digital substation, comprising:

[0009] Use 3D laser scanners to collect data from each device and building in the substation to obtain point cloud data;

[0010] All point cloud data are spliced ​​together to obtain substation cloud data;

[0011] Remove the noise points from the substation point cloud data through a filtering algorithm to obtain denoised point cloud data;

[0012] Extract the contour features of substation equipment and the architectural structure features of the substation from the denoised point cloud data, and determine the connection methods between equipment and between equipment and buildings based on the denoised point cloud data;

[0013] Perform 3D modeling based on the substation equipment contour features, the substation architectural structure features, and the connection methods to obtain a 3D digital substation.

[0014] Optionally, the method further includes:

[0015] Take pictures of the substation terrain by a drone to obtain substation terrain information;

[0016] Perform modeling based on the substation equipment contour features, the substation architectural structure features, the connection methods, and the substation terrain information to obtain a 3D digital substation.

[0017] Optionally, the method further includes:

[0018] After performing 3D modeling based on the substation equipment contour features, the substation architectural structure features, and the connection methods to obtain a 3D digital substation, obtain the texture color matching images of each device of the substation and the texture color matching images of each building of the substation;

[0019] For each device model in the 3D digital substation, load the texture color matching image of the corresponding device onto the device model;

[0020] For each building model in the 3D digital substation, load the texture color matching image of the corresponding building onto the building model.

[0021] Optionally, performing 3D modeling based on the substation equipment contour features, the substation architectural structure features, and the connection methods to obtain a 3D digital substation includes:

[0022] Construct device models of each device of the substation according to the substation equipment contour features;

[0023] Construct building models of each building of the substation according to the substation architectural structure features;

[0024] Construct a 3D topology between each device and each building of the substation according to the connection methods;

[0025] Form a 3D digital substation based on the device models, the building models, and the 3D topology.

[0026] Optionally, the complexity of the contour features of the substation equipment is greater than a preset complexity;

[0027] According to the contour features of the substation equipment, device models of each device in the substation are constructed, including:

[0028] Using the NURBS surface modeling algorithm, a device housing model of the contour features of the substation equipment is constructed;

[0029] On the device housing model, based on the denoised point cloud data, device models of each device in the substation are generated.

[0030] Optionally, the method further includes:

[0031] After removing the noise points of the substation point cloud data through the filtering algorithm to obtain the denoised point cloud data, the denoised point cloud data is thinned to obtain the thinned denoised point cloud data.

[0032] A device for establishing a three-dimensional digital substation includes:

[0033] A point cloud data acquisition unit, configured to acquire point cloud data of each device and each building in the substation through a three-dimensional laser scanner;

[0034] A point cloud data splicing unit, configured to splice all the point cloud data to obtain substation point cloud data;

[0035] A denoising unit, configured to remove the noise points of the substation point cloud data through a filtering algorithm to obtain denoised point cloud data;

[0036] A feature extraction unit, configured to extract the contour features of the substation equipment and the building structure features of the substation from the denoised point cloud data, and determine the connection modes between devices and between devices and buildings based on the denoised point cloud data;

[0037] A three-dimensional modeling first unit, configured to perform three-dimensional modeling according to the contour features of the substation equipment, the building structure features of the substation, and the connection modes to obtain a three-dimensional digital substation.

[0038] Optionally, the device further includes:

[0039] An unmanned aerial vehicle shooting unit, configured to shoot the substation terrain through an unmanned aerial vehicle to obtain substation terrain information;

[0040] A three-dimensional modeling second unit, configured to perform modeling according to the contour features of the substation equipment, the building structure features of the substation, the connection modes, and the substation terrain information to obtain a three-dimensional digital substation.

[0041] Optionally, the device further includes:

[0042] A texture color matching image acquisition unit, configured to, after performing 3D modeling according to the substation equipment contour features, the substation building structure features, and the connection method to obtain a 3D digital substation, acquire the texture color matching images of each device of the substation and the texture color matching images of each building of the substation;

[0043] A device texture color matching loading unit, configured to, for each device model in the 3D digital substation, load the texture color matching image of the corresponding device onto the device model;

[0044] A building texture color matching loading unit, configured to, for each building model in the 3D digital substation, load the texture color matching image of the corresponding building onto the building model.

[0045] Optionally, the first 3D modeling unit includes:

[0046] A device model construction unit, configured to construct device models of each device of the substation according to the substation equipment contour features;

[0047] A building model construction unit, configured to construct building models of each building of the substation according to the substation building structure features;

[0048] A 3D topology construction unit, configured to construct a 3D topology between each device and each building of the substation according to the connection method;

[0049] A 3D digital substation assembly unit, configured to assemble a 3D digital substation based on the device models, the building models, and the 3D topology.

[0050] Optionally, the complexity of the substation equipment contour features is greater than a preset complexity;

[0051] The device texture color matching loading unit includes:

[0052] A first device texture color matching loading subunit, configured to construct device models of each device of the substation according to the substation equipment contour features, including:

[0053] A second device texture color matching loading subunit, configured to construct a device housing model of the substation equipment contour features by using a NURBS surface modeling algorithm;

[0054] A third device texture color matching loading subunit, configured to generate device models of each device of the substation on the device housing model based on the denoised point cloud data.

[0055] Optionally, the device further includes:

[0056] A simplification element, configured to perform a simplification process on the denoised point cloud data after removing the noise points of the substation point cloud data through a filtering algorithm, so as to obtain the denoised point cloud data after the simplification process.

[0057] An establishment device for a three-dimensional digital substation, including a memory and a processor;

[0058] The memory is used to store programs;

[0059] The processor is configured to execute the program to implement each step of the method for establishing a three-dimensional digital substation as described above.

[0060] A storage medium, on which a computer program is stored, characterized in that when the computer program is executed by a processor, each step of the method for establishing a three-dimensional digital substation as described above is implemented.

[0061] With the above technical solutions, in this application, each device and each building of the substation are collected through a three-dimensional laser scanner to obtain point cloud data. All the point cloud data are spliced to obtain the substation point cloud data. The noise points of the substation point cloud data are removed through a filtering algorithm to obtain the denoised point cloud data. The contour features of substation equipment and the structural features of substation buildings are extracted from the denoised point cloud data, and based on the denoised point cloud data, the connection methods between devices and between devices and buildings are determined. Three-dimensional modeling is performed according to the contour features of substation equipment, the structural features of substation buildings, and the connection methods to obtain a three-dimensional digital substation. It can be seen that the three-dimensional laser scanner can accurately collect data for each device and building of the substation and obtain comprehensive point cloud data. Compared with the traditional method that relies on manual measurement and two-dimensional drawing records, the human error is greatly reduced. The establishment of a three-dimensional digital substation meets the requirements of the intelligent power grid construction for the refinement, intelligence, and visualization of substation operation and maintenance management. Operation and maintenance personnel can simulate various operation and maintenance scenarios in a virtual environment, formulate maintenance plans in advance, predict potential problems, reduce operation and maintenance costs, improve power supply reliability, and provide strong support for the whole-life cycle operation and maintenance management of the substation. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] By reading the detailed description of the preferred embodiments below, various other advantages and benefits will become clear to those of ordinary skill in the art. The drawings are only for the purpose of showing the preferred embodiments and are not considered to be a limitation of the present application. Moreover, throughout the drawings, the same reference numerals are used to represent the same components. In the drawings:

[0063] Figure 1A schematic flowchart for implementing the establishment of a 3D digital substation provided by an embodiment of this application;

[0064] Figure 2 A schematic structural diagram of a device for implementing the establishment of a 3D digital substation provided by an embodiment of this application;

[0065] Figure 3 A schematic structural diagram of a device for implementing the establishment of a 3D digital substation provided by an embodiment of this application. Detailed implementation manners

[0066] Next, the technical solutions in the embodiments of this application will be clearly and completely described with reference to the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in this application without creative efforts shall fall within the protection scope of this application.

[0067] The solution of this application can be implemented based on a terminal with data processing capabilities, and this terminal can be a computer, the cloud, a server, etc.

[0068] Next, in combination with Figure 1 As described above, the method for establishing the 3D digital substation of this application may include the following steps:

[0069] Step S110: Collect each device and each building in the substation through a 3D laser scanner to obtain point cloud data.

[0070] It can be understood that by using a 3D laser scanner to perform high-precision data collection on each device and building in the substation, the 3D point cloud data of all object surfaces in the substation can be quickly obtained. These point cloud data can be recorded in the form of millions or even billions of points, and each point contains accurate spatial coordinate information (X, Y, Z). Some devices can also collect color information (RGB) and reflection intensity values simultaneously. The point cloud data can also be integrated with BIM models, GIS systems, etc. to further improve the intelligent management level of the substation.

[0071] Specifically, the scanning methods of the 3D laser scanner can include circumferential scanning, zonal scanning, and a combination of circumferential scanning and zonal scanning. For the main equipment in the substation (such as transformers, circuit breakers, etc.), key scanning can be carried out by multiple stations around the equipment to ensure the integrity of the point cloud data on the equipment surface. At the same time, zonal scanning is performed on the building structure, brackets, etc. of the substation to obtain data from different angles and reduce data occlusion. During the scanning process, an appropriate scanning resolution should be set. If the resolution is too high, the data volume will be too large, and if it is too low, detailed information will be lost. In terms of control point setting, a sufficient number of control points are set around and inside the substation. The control points can be landmark points with known coordinates, and their precise 3D coordinates are obtained through surveying equipment such as total stations. These control points are used for subsequent stitching and coordinate transformation of the point cloud data to ensure that the point cloud data is in a unified coordinate system.

[0072] Among them, the requirements during the point cloud acquisition process can be as follows:

[0073] a) Support color laser point cloud scanning and material collection for all station equipment, auxiliary facilities, buildings, roads, security facilities, etc. The point cloud density is ≥100 points per square meter, the accuracy is 1mm - 10mm, the ghosting of the point cloud file does not exceed 2cm, the planar accuracy deviation per 50 meters is not greater than 10 cm, the elevation accuracy deviation per 50 meters is not greater than 5 cm, and the relative accuracy is not less than ±5cm.

[0074] b) The point cloud scanning range includes, but is not limited to: the surrounding environment, in-station buildings, primary equipment, auxiliary equipment, station control equipment, etc.

[0075] c) The information collected for transformers, circuit breakers, current transformers, voltage transformers, reactors, capacitors, insulators, conductors and suspension points, leads, busbar structures, lightning rods, main control buildings, etc. in the point cloud model needs to meet the requirements of completeness, continuity, and clarity.

[0076] d) Support zonal collection of high-definition pictures of the whole station to ensure that the equipment meters and nameplates are clearly photographed and 360-degree panoramic pictures are output.

[0077] e) Support processing of the las raw data of point cloud scanning, cutting according to the equal proportion size of the area, and separately cutting key equipment. The size of the separately cut file ≤4G; for model making, the point cloud scanning and on-site collected photos can be compared for production.

[0078] f) Support outputting las and max models for refined model making.

[0079] g) The single echo point frequency of the laser scanning equipment is not less than 240,000 points per second.

[0080] h) When calculated at a reflectivity of 10%, the ranging of the laser scanning device is not less than 190 m, and the horizontal field of view angle is not less than 70 degrees.

[0081] i) The laser emitted by the laser scanning device complies with the human health and safety standards.

[0082] j) The RTK positioning accuracy always remains at the centimeter level during the operation process.

[0083] Step S120: Stitch all the point cloud data to obtain the substation point cloud data.

[0084] Specifically, the position and attitude information of the scanner recorded during the scanning process, as well as the coordinates of the control points, can be used to merge multiple point cloud data sets into a complete substation point cloud data through software algorithms (such as algorithms based on homologous point matching, ICP algorithm, etc.). During the stitching process, the stitching accuracy can be checked, and parts with large stitching errors can be reprocessed or adjusted.

[0085] Step S130: Remove the noise points from the substation point cloud data through a filtering algorithm to obtain the denoised point cloud data.

[0086] It can be understood that during the 3D laser scanning of the substation, due to factors such as environmental interference, equipment reflection, and dust, the original point cloud data will inevitably contain a large number of noise points. To obtain point cloud data with higher accuracy, the noise points can be removed through a filtering algorithm. The filtering algorithms include outlier removal algorithms based on statistics, density-based spatial filtering algorithms, distance-based threshold filtering algorithms, etc. These algorithms can effectively identify and remove discrete noise points, floating points, and abnormal points that do not conform to the actual spatial distribution. After filtering, the obtained denoised point cloud data is cleaner and more accurate, and can truly reflect the actual shapes of substation equipment and buildings. The denoised point cloud data not only improves the accuracy of subsequent modeling and analysis, but also provides a reliable data basis for applications such as digital management of substations, equipment status assessment, and safety distance detection. At the same time, the denoising process also creates conditions for the compression and optimized storage of point cloud data, which is beneficial to improving the data processing efficiency.

[0087] Step S140: Extract the contour features of substation equipment and the structural features of substation buildings from the denoised point cloud data, and determine the connection methods between equipment and between equipment and buildings based on the denoised point cloud data.

[0088] Among them, for the contour extraction of substation equipment, the edge points of the equipment can be identified through geometric analysis algorithms of point clouds, such as edge detection algorithms, and these edge points can be connected to form the contour of the substation equipment. For equipment with regular geometric shapes (such as cylindrical transformers), the geometric shape parameters (such as the radius and height of the cylinder) can be fitted according to the distribution of the point cloud.

[0089] For the structural characteristics of substation buildings, structural characteristics such as beams and columns can be extracted. Specifically, by analyzing the spatial distribution and geometric relationship of the point cloud, information such as the key nodes of the structure and the directions and dimensions of components can be identified. For example, the position of the column can be determined by detecting the abrupt change of the point cloud in the vertical direction, and the position and length of the beam can be determined by the linear distribution in the horizontal direction.

[0090] For the connection method, by analyzing the intersection part of the equipment and the structure in the point cloud data, the position and connection method of the connection points can be determined. For example, through the point cloud data, it can be determined how the cable is connected to the equipment and how the equipment is fixed to the bracket.

[0091] Step S150: Perform 3D modeling based on the contour characteristics of substation equipment, the structural characteristics of substation buildings, and the connection method to obtain a 3D digital substation.

[0092] Specifically, models can be constructed for each substation equipment and each substation building first, and then the constructed models of each equipment and structure can be integrated into a complete 3D substation model. During the integration process, the models can be assembled according to the previously determined connection relationships, and the integrity and accuracy of the models can be checked. At the same time, the models can be optimized, such as reducing the number of patches of the models and adjusting the hierarchical structure of the models, to improve the performance and visualization effect of the models.

[0093] Among them, the 3D digital substation model can meet the following standard requirements:

[0094] a) Carry out refined 3D modeling based on the full-site point cloud data model. The model information such as transformers, circuit breakers, current transformers, voltage transformers, reactors, capacitors, insulators, ground wires and hanging points, leads, busbar structures, lightning rods, main control buildings, etc. in the model needs to meet the requirements of completeness, continuity, and clarity.

[0095] b) Conduct 3D scene modeling according to the real substation environment, perform texture real-scene processing, and the color matching is consistent with the substation site. Truly restore the equipment and the environment around the equipment, including other equipment, facilities, surrounding buildings, etc. related to the equipment.

[0096] c) Support highlighting of each area, equipment, system, building, etc. in the full-site 3D model, and support the positioning of primary equipment in the whole station.

[0097] d) Have the ability to accurately set the geographical coordinate data of the 3D scene based on the GIS map. The 3D digital substation model supports the access of IoT (Internet of Things) data, such as on-site measurement point data, cameras (infrared), etc.

[0098] e) Support accurate point-to-point distance measurement and area measurement in 3D space.

[0099] f) Support the presentation of hierarchical information by region: realize the linkage between multiple systems and the 3D scene, and view the operation status at different levels and dimensions, such as the whole station, region, sub-region, etc.

[0100] g) The 3D modeling software has the 3D digital modeling function with an accuracy of centimeter level or above, and can output the point cloud model in LAS file format and the real scene model in OSGB file format.

[0101] h) Keep the coordinate system used for data calculation and acquisition consistent during 3D modeling.

[0102] i) The model information of transformers, circuit breakers, current transformers, voltage transformers, reactors, capacitors, insulators, conductors and hanging points, bus structures, lightning rods, main control buildings, etc. in the real scene model data shall meet the requirements of completeness, continuity and clarity.

[0103] j) The root mean square error of the absolute accuracy of the real scene model data shall not exceed ±10 cm.

[0104] k) The ground sampling distance (GSD) of the real scene model data is not higher than 3 cm / pix.

[0105] l) The real scene model data file is in OSGB format.

[0106] Furthermore, after establishing the 3D digital substation model, the model can be verified and its accuracy evaluated.

[0107] Specifically, in the model verification stage, the constructed 3D digital substation model can be compared and verified with the actual substation. For example, on-site measured data (such as the size and position coordinates of equipment) can be compared with the corresponding parameters in the model. Another example is that a total station can be used to actually measure the positions of key equipment in the substation, and then compared with the equipment positions in the 3D digital substation model to check for any deviations. In the accuracy evaluation stage, the modeling accuracy can be evaluated by calculating the error between the 3D digital substation model and the actual substation. Commonly used accuracy evaluation indicators include root mean square error (RMSE), etc. According to the purpose of substation modeling (such as design, operation and maintenance, etc.), reasonable accuracy requirements are determined. If the accuracy does not meet the requirements, the modeling process needs to be checked and adjusted, such as re-acquiring data, optimizing the feature extraction algorithm, etc.

[0108] The method for establishing a 3D digital substation provided in this embodiment collects each device and each building in the substation through a 3D laser scanner to obtain point cloud data, splices all the point cloud data to obtain substation point cloud data, removes the noise points in the substation point cloud data through a filtering algorithm to obtain denoised point cloud data, extracts the contour features of substation devices and the structural features of substation buildings from the denoised point cloud data, and determines the connection methods between devices and between devices and buildings based on the denoised point cloud data. 3D modeling is performed according to the substation device contour features, substation building structural features, and connection methods to obtain a 3D digital substation. It can be seen that the 3D laser scanner can accurately collect data for each device and building in the substation, obtain comprehensive point cloud data, and greatly reduce human errors compared with the traditional method that relies on manual measurement and two-dimensional drawing records. The establishment of the 3D digital substation meets the requirements of the intelligent power grid construction for the refined, intelligent, and visual operation and maintenance management of substations. Operation and maintenance personnel can simulate various operation and maintenance scenarios in a virtual environment, formulate maintenance plans in advance, predict potential problems, reduce operation and maintenance costs, improve power supply reliability, and provide strong support for the whole-life cycle operation and maintenance management of substations.

[0109] In some embodiments of the present application, the method for establishing a 3D digital substation mentioned in the above embodiment is further introduced. The method may further include:

[0110] S1. Photograph the terrain of the substation through a drone to obtain substation terrain information.

[0111] It can be understood that the cost of point cloud is relatively high and is suitable for application on substation devices with high precision. The information around the substation has a wide range and low precision requirements, and it is suitable to use a drone for rapid aerial flight to obtain information and output orthophotos and terrain data for restoring the terrain and landforms around the substation. This collection method is faster and more cost-saving.

[0112] During the collection by the drone, the following requirements can be met:

[0113] a) The drone has a real-time kinematic (RTK) function, and the positioning accuracy always remains at the centimeter level during the operation process. The endurance time is not less than 25 minutes, and the wheelbase is not greater than 1000 mm.

[0114] b) The pixel of the mapping camera lens is not less than 20 million, and the maximum shutter speed is not less than 1 / 1000 s.

[0115] c) The photographing range covers all the equipment and facilities within the substation fence, and can be extended to areas such as the slope protection outside the substation, outgoing line towers, and surrounding potential hazard points according to actual needs.

[0116] S2. Model according to the substation equipment contour features, the substation building structure features, the connection method, and the substation terrain information to obtain a three-dimensional digital substation.

[0117] In some embodiments of the present application, texture color matching is performed on the three-dimensional digital substation obtained by establishing the foregoing embodiments. Specifically, after the above step S150, three-dimensional modeling is performed according to the substation equipment contour features, the substation building structure features, and the connection method to obtain a three-dimensional digital substation, it may include:

[0118] S1. Obtain the texture color matching images of each device of the substation and the texture color matching images of each building of the substation.

[0119] S2. For each device model in the three-dimensional digital substation, load the texture color matching image of the corresponding device onto the device model.

[0120] S3. For each building model in the three-dimensional digital substation, load the texture color matching image of the corresponding building onto the building model.

[0121] It can be understood that after loading the corresponding texture color matching images onto the device models and building models in the three-dimensional digital substation model, the realism and visualization effect of the model can be improved, making the model more intuitive visually and facilitating personnel to understand and use. It can enhance the recognition and readability of the model. Through color coding and texture differences, users can quickly identify the key components in the model, improving work efficiency.

[0122] In some embodiments of the present application, the process of the above step S150, performing three-dimensional modeling according to the substation equipment contour features, the substation building structure features, and the connection method to obtain a three-dimensional digital substation, is introduced. This process may include:

[0123] S1. Construct device models of each device of the substation according to the substation equipment contour features.

[0124] Specifically, the substation equipment contour features may be relatively complex. When the complexity of the substation equipment contour features is greater than the preset complexity, the NURBS surface modeling algorithm can be first used to construct the device shell model of the substation equipment contour features, and then on the device shell model, based on the denoised point cloud data, generate the device models of each device of the substation.

[0125] S2. Construct building models of each building of the substation according to the substation building structure features.

[0126] It can be understood that compared with substation equipment, the geometric structure of substation buildings is relatively simple, and the building dimension parameters can be directly extracted for modeling.

[0127] S3. Construct a three-dimensional topology between each device and each building in the substation according to the connection method.

[0128] Specifically, the three-dimensional topology includes the connection methods between devices and between devices and buildings.

[0129] S4. Based on the device model, building model, and three-dimensional topology, form a three-dimensional digital substation.

[0130] Considering that the amount of point cloud data collected is large and there may be duplicate or invalid point cloud data, in some embodiments of the present application, the denoised point cloud data mentioned in the foregoing embodiments can be thinned. Specifically, after removing the noise points of the substation point cloud data through a filtering algorithm to obtain the denoised point cloud data, the denoised point cloud data can be thinned to obtain the thinned denoised point cloud data.

[0131] Specifically, methods such as random sampling, uniform sampling, or curvature-based sampling can be used. For example, uniform sampling with a larger interval is used in relatively flat areas such as the substation ground, and more points are retained in areas with large curvature changes such as the edges of devices to ensure the geometric features of the devices.

[0132] The device for implementing the establishment of a three-dimensional digital substation provided in the embodiments of the present application will be described below. The device for implementing the establishment of a three-dimensional digital substation described below can be correspondingly referred to the method for implementing the establishment of a three-dimensional digital substation described above.

[0133] See Figure 2 , Figure 2 which is a schematic structural diagram of a device for implementing the establishment of a three-dimensional digital substation disclosed in the embodiments of the present application.

[0134] As Figure 2 shown, the device may include:

[0135] A point cloud data acquisition unit 11, configured to acquire point cloud data by using a three-dimensional laser scanner for each device and each building in the substation;

[0136] A point cloud data splicing unit 12, configured to splice all the point cloud data to obtain substation point cloud data;

[0137] A denoising unit 13, configured to remove the noise points of the substation point cloud data through a filtering algorithm to obtain denoised point cloud data;

[0138] A feature extraction unit 14, configured to extract the contour features of substation equipment and the architectural structure features of the substation from the denoised point cloud data, and determine the connection manners between equipment and between equipment and the building based on the denoised point cloud data;

[0139] A first 3D modeling unit 15, configured to perform 3D modeling according to the contour features of substation equipment, the architectural structure features of the substation, and the connection manners to obtain a 3D digital substation.

[0140] Optionally, the apparatus further includes:

[0141] An unmanned aerial vehicle (UAV) shooting unit, configured to shoot the terrain of the substation by using a UAV to obtain terrain information of the substation;

[0142] A second 3D modeling unit, configured to perform modeling according to the contour features of substation equipment, the architectural structure features of the substation, the connection manners, and the terrain information of the substation to obtain a 3D digital substation.

[0143] Optionally, the apparatus further includes:

[0144] A texture color matching image acquisition unit, configured to, after performing 3D modeling according to the contour features of substation equipment, the architectural structure features of the substation, and the connection manners to obtain a 3D digital substation, acquire the texture color matching images of each piece of equipment of the substation and the texture color matching images of each building of the substation;

[0145] An equipment texture color matching loading unit, configured to load the texture color matching image of the corresponding equipment for each equipment model in the 3D digital substation;

[0146] A building texture color matching loading unit, configured to load the texture color matching image of the corresponding building for each building model in the 3D digital substation.

[0147] Optionally, the first 3D modeling unit includes:

[0148] An equipment model construction unit, configured to construct equipment models of each piece of equipment of the substation according to the contour features of substation equipment;

[0149] A building model construction unit, configured to construct building models of each building of the substation according to the architectural structure features of the substation;

[0150] A 3D topology construction unit, configured to construct a 3D topology between each piece of equipment and each building of the substation according to the connection manners;

[0151] A three-dimensional digital substation building unit is used to build a three-dimensional digital substation based on the device model, the building model, and the three-dimensional topology.

[0152] Optionally, the complexity of the contour features of the substation equipment is greater than a preset complexity;

[0153] The device texture color matching loading unit includes:

[0154] The first device texture color matching loading subunit is used to construct device models of each device in the substation according to the contour features of the substation equipment, including:

[0155] The second device texture color matching loading subunit is used to construct a device housing model of the contour features of the substation equipment by using the NURBS surface modeling algorithm;

[0156] The third device texture color matching loading subunit is used to generate device models of each device in the substation on the device housing model based on the denoised point cloud data.

[0157] Optionally, the device further includes:

[0158] A simplification unit is used to perform a simplification process on the denoised point cloud data after removing the noise points in the substation point cloud data through a filtering algorithm to obtain the simplified denoised point cloud data.

[0159] The three-dimensional digital substation building device provided in the embodiments of the present application can be applied to three-dimensional digital substation building equipment, such as terminals: mobile phones, computers, etc. Optionally, Figure 3 shows a hardware structure block diagram of the three-dimensional digital substation building equipment. Referring to Figure 3 , the hardware structure of the three-dimensional digital substation building equipment may include: at least one processor 1, at least one communication interface 2, at least one memory 3, and at least one communication bus 4;

[0160] In the embodiments of the present application, the number of the processor 1, the communication interface 2, the memory 3, and the communication bus 4 is at least one, and the processor 1, the communication interface 2, and the memory 3 complete mutual communication through the communication bus 4;

[0161] The processor 1 may be a central processing unit CPU, or a specific integrated circuit ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of the present invention, etc.;

[0162] The memory 3 may include high-speed RAM memory and may also include non-volatile memory, etc., such as at least one disk memory;

[0163] Wherein, the memory stores a program, and the processor can call the program stored in the memory, and the program is used for:

[0164] Collect each device and each building in the substation through a three-dimensional laser scanner to obtain point cloud data;

[0165] Stitch all the point cloud data to obtain substation point cloud data;

[0166] Remove the noise points of the substation point cloud data through a filtering algorithm to obtain denoised point cloud data;

[0167] Extract the substation equipment contour features and substation building structure features from the denoised point cloud data, and based on the denoised point cloud data, determine the connection methods between devices and between devices and buildings;

[0168] Perform three-dimensional modeling according to the substation equipment contour features, the substation building structure features and the connection methods to obtain a three-dimensional digital substation.

[0169] Optionally, the refinement function and expansion function of the program can refer to the above description.

[0170] The embodiment of the present application also provides a storage medium, which can store a program suitable for a processor to execute, and the program is used for:

[0171] Collect each device and each building in the substation through a three-dimensional laser scanner to obtain point cloud data;

[0172] Stitch all the point cloud data to obtain substation point cloud data;

[0173] Remove the noise points of the substation point cloud data through a filtering algorithm to obtain denoised point cloud data;

[0174] Extract the substation equipment contour features and substation building structure features from the denoised point cloud data, and based on the denoised point cloud data, determine the connection methods between devices and between devices and buildings;

[0175] Perform three-dimensional modeling according to the substation equipment contour features, the substation building structure features and the connection methods to obtain a three-dimensional digital substation.

[0176] Optionally, the refinement function and expansion function of the program can refer to the above description.

[0177] Finally, it should also be noted that in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements not only includes those elements but also includes other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or device comprising said element.

[0178] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The embodiments can be combined as needed, and the same or similar parts can be referred to each other.

[0179] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but rather to the broadest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for establishing a three-dimensional digital substation, characterized in that: include: Use 3D laser scanners to collect data from each device and building in the substation to obtain point cloud data; All point cloud data are spliced ​​together to obtain substation cloud data; Removing noise points from the substation cloud data by a filtering algorithm to obtain denoised cloud data; Extracting substation equipment contour features and substation building structure features from the de-noised point cloud data, and determining connection modes between devices and between devices and buildings based on the de-noised point cloud data; Three-dimensional modeling is performed according to the outline features of the substation equipment, the structural features of the substation building and the connection mode to obtain a three-dimensional digital substation.

2. The method according to claim 1, characterized in that: Also includes: Use drones to photograph the substation terrain and obtain substation terrain information; Modeling is performed according to the substation equipment outline features, the substation building structure features, the connection mode and the substation terrain information to obtain a three-dimensional digital substation.

3. The method according to claim 1, characterized in that After three-dimensional modeling is performed according to the substation equipment outline features, the substation building structure features and the connection mode to obtain a three-dimensional digital substation, the method further includes: Acquire a texture color matching image of each device of the substation and a texture color matching image of each building of the substation; For each device model in the three-dimensional digital substation, loading a texture color matching image of the corresponding device into the device model; For each building model in the three-dimensional digital substation, a texture color matching image of the corresponding building is loaded into the building model.

4. The method according to claim 1, characterized in that According to the substation equipment outline features, the substation building structure features and the connection mode, three-dimensional modeling is performed to obtain a three-dimensional digital substation, including: Constructing equipment models of various equipment of the substation according to the equipment profile features of the substation; Constructing architectural models of various buildings of the substation according to the architectural structural features of the substation; According to the connection mode, construct a three-dimensional topology between each device and each building of the substation; A three-dimensional digital substation is constructed based on the equipment model, the building model and the three-dimensional topology.

5. The method according to claim 4, characterized in that The complexity of the substation equipment profile feature is greater than a preset complexity; According to the substation equipment profile features, constructing equipment models of various equipment of the substation, including: Use NURBS surface modeling algorithm to build the equipment shell model of substation equipment contour features; On the equipment housing model, based on the denoised point cloud data, equipment models of various equipment of the substation are generated.

6. The method according to any one of claims 1 to 5, characterized in that: After removing the noise points of the substation cloud data by the filtering algorithm to obtain the de-noised cloud data, the method further includes: The denoised point cloud data is streamlined to obtain streamlined denoised point cloud data.

7. A device for establishing a three-dimensional digital substation, characterized in that: include: A point cloud data acquisition unit is used to acquire point cloud data from each device and each building in the substation through a 3D laser scanner; A point cloud data splicing unit is used to splice all point cloud data to obtain substation cloud data; A denoising unit, used to remove noise points of the substation cloud data by filtering algorithm to obtain denoised cloud data; A feature extraction unit, used to extract substation equipment contour features and substation building structure features from the de-noised point cloud data, and determine the connection mode between devices and between devices and buildings based on the de-noised point cloud data; The first three-dimensional modeling unit is used to perform three-dimensional modeling according to the outline features of the substation equipment, the structural features of the substation building and the connection method to obtain a three-dimensional digital substation.

8. The device according to claim 7, characterized in that Also includes: A drone photography unit is used to photograph the substation terrain through a drone to obtain substation terrain information; The second three-dimensional modeling unit is used to model according to the substation equipment outline features, the substation building structure features, the connection mode and the substation terrain information to obtain a three-dimensional digital substation.

9. A three-dimensional digital substation construction device, characterized in that: including memory and processor; The memory is used to store programs; The processor is used to execute the program to implement each step of the method for establishing a three-dimensional digital substation as described in any one of claims 1-6.

10. A storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, each step of the method for establishing a three-dimensional digital substation as described in any one of claims 1 to 6 is implemented.

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