Virtual substation modeling system and method based on three-dimensional model

Abstract

The invention relates to the technical field of three-dimensional modeling, in particular to a virtual substation modeling system and method based on a three-dimensional model, and the method comprises the steps: obtaining non-electrical equipment data and electrical equipment data of a substation; determining the number of laser scanning times of the single virtual substation modeling area according to the position distribution density of the electrical equipment in the divided single virtual substation modeling area and the number of the electrical equipment with complex shapes; determining a laser scanning interval angle of the single virtual transformer substation modeling area based on the laser scanning times of the single virtual transformer substation modeling area and the laser scanning interference area proportion in the single virtual transformer substation modeling area; performing clustering analysis on the point cloud data to determine and mark an abnormal area or remove abnormal point cloud data; according to the invention, the accuracy of three-dimensional modeling is improved by improving the accuracy of point cloud data acquired by laser scanning when three-dimensional modeling is carried out on the virtual transformer substation.

Description

Technical Field

[0001] The present invention relates to the technical field of three-dimensional modeling, and particularly to a virtual substation modeling system and method based on a three-dimensional model. Background Art

[0002] In the current era of the rapid development of smart grids, virtual substation modeling, as a key technology for the digital transformation of power systems, has become increasingly important. Traditional substation operation and maintenance management mainly rely on manual inspections and experience-based judgments. In the face of complex equipment layouts and diverse operating conditions, the efficiency is low and the accuracy is difficult to guarantee. The application of three-dimensional modeling technology in the industrial field has gradually matured, providing strong technical support for virtual substation modeling. By constructing a virtual substation model, it is possible to achieve a comprehensive display of substation equipment, real-time monitoring of operating states, and simulation analysis of faults, greatly improving the operation and maintenance management level of substations. However, the current virtual substation modeling methods still have the problem that in the data collection process, due to the variety of equipment types and complex layouts in substations, it is difficult for traditional data collection methods to comprehensively and accurately obtain equipment information. Especially for electrical equipment with complex shapes and dense position distributions, the difficulty of data collection is even greater.

[0003] Chinese Patent Publication No.: CN114741768B discloses a three-dimensional modeling method for intelligent substations, including the following steps: substation surveying and mapping, formulating a modeling sampling route and setting multiple sampling points Kr; using a CCD camera to take pictures of nearby primary equipment and auxiliary equipment at the sampling point Kr, obtaining the corresponding image Prt and recording the included angle αrt between the direction of the image Prt when taken and the modeling sampling route at the sampling point Kr; obtaining three-dimensional point cloud data through non-contact active scanning by laser point cloud; fusing the image Prt with the three-dimensional point cloud data through the F-PoirtRet algorithm to obtain colored point cloud data, constructing three-dimensional spatial geometric graphics through the OpenGL graphics algorithm and rendering through a shader, and then using a WebGL graphics acceleration renderer to generate a WebGL-based digital twin graphics library to obtain a three-dimensional substation model. This invention can obtain a high-precision digital twin model of the substation by presetting a modeling sampling route, sampling points, single-point multi-angle shooting, and fusing with non-contact laser scanning point cloud through the F-PoirtRet algorithm.

[0004] However, the prior art has the problem that the analysis of the process of obtaining point cloud data by laser scanning is not accurate enough, resulting in inaccurate obtained point cloud data and the need for frequent multiple laser scans. Summary of the Invention

[0005] To this end, the present invention provides a virtual substation modeling system and method based on a three-dimensional model to overcome the problem in the prior art that the acquisition of point cloud data by laser scanning is inaccurate due to inaccurate analysis of the process of obtaining point cloud data by laser scanning, resulting in the need for frequent multiple laser scans.

[0006] To achieve the above object, on the one hand, the present invention provides a virtual substation modeling method based on a three-dimensional model, including:

[0007] Obtain non-electrical equipment data and electrical equipment data of the substation, where the electrical equipment data includes electrical equipment physical parameter data and electrical equipment operating parameter data;

[0008] Divide the virtual substation modeling area based on the voltage level of the electrical equipment, and determine the number of laser scans for the single virtual substation modeling area according to the position distribution density of the electrical equipment within the single virtual substation modeling area after division and the number of electrical equipment with complex shapes within the single virtual substation modeling area;

[0009] Determine the laser scan interval angle for the single virtual substation modeling area based on the number of laser scans for the single virtual substation modeling area and the proportion of the laser scan interference area within the single virtual substation modeling area;

[0010] Obtain the point cloud data collected at different laser scan interval angles within the single virtual substation modeling area, and perform clustering analysis on the point cloud data to mark abnormal areas or remove abnormal point cloud data;

[0011] Based on whether the point cloud density data of the abnormal area is missing, adjust the laser power and scanning resolution or avoid obstacles when performing secondary laser scanning on the abnormal area;

[0012] Wherein, the laser scan interference area is the area of the highly reflective surface of the electrical equipment within the single virtual substation modeling area.

[0013] Further, determining the number of laser scans for the single virtual substation modeling area includes:

[0014] If the position distribution density of the electrical equipment within the single virtual substation modeling area is greater than the maximum value of the preset distribution density range and the number of electrical equipment with complex shapes within the single virtual substation modeling area is greater than the maximum value of the preset number range, the number of laser scans for the single virtual substation modeling area is the sum of the basic laser scan number, the first additional scan number, and the second additional scan number;

[0015] If the position distribution density of electrical equipment within a single virtual substation modeling area is within a preset distribution density range and the number of electrical equipment with complex shapes within the single virtual substation modeling area is within a preset number range, the number of laser scans for the single virtual substation modeling area is the basic number of laser scans;

[0016] If the position distribution density of electrical equipment within a single virtual substation modeling area is less than the minimum value of the preset distribution density range and the number of electrical equipment with complex shapes within the single virtual substation modeling area is less than the minimum value of the preset number range, the number of laser scans for the single virtual substation modeling area is the absolute value of the difference between the basic number of laser scans and the third additional number of scans.

[0017] Further, determining the laser scan interval angle for a single virtual substation modeling area includes:

[0018] If the proportion of the laser scan interference area within a single virtual substation modeling area is less than or equal to the preset proportion, the laser scan interval angle for the single virtual substation modeling area is the basic interval angle;

[0019] If the proportion of the laser scan interference area within a single virtual substation modeling area is greater than the preset proportion, the laser scan interval angle for the laser scan interference area within the single virtual substation modeling area is four-fifths of the basic interval angle;

[0020] Wherein, the proportion of the laser scan interference area is the ratio of the highly reflective surface area of the electrical equipment within the single virtual substation modeling area to the surface area of the electrical equipment within the single virtual substation modeling area.

[0021] Further, performing clustering analysis on the point cloud data to determine the marked abnormal area or remove abnormal point cloud data includes:

[0022] Performing clustering analysis on the point cloud data at different scan angles;

[0023] Dividing the point cloud into different clusters according to spatial position and feature similarity;

[0024] Checking the stability of each cluster at different scan angles;

[0025] If a certain cluster exhibits abnormal features at multiple scan angles and the spatial region corresponding to this cluster is the same, then determine to mark the spatial region as an abnormal area.

[0026] Further, determining the adjustment of the laser power and scan resolution or avoiding obstacles during the secondary laser scan of the abnormal area includes:

[0027] If the point cloud density data of the abnormal area is not missing, determine the laser power and scanning resolution for the secondary laser scanning of the abnormal area;

[0028] If the point cloud density data of the abnormal area is missing, determine to avoid obstacles during the secondary laser scanning of the abnormal area.

[0029] Further, the position distribution density of the electrical equipment in the single virtual substation modeling area is the ratio of the floor area of the electrical equipment in the single virtual substation modeling area to the area of the single virtual substation modeling area.

[0030] Further, the number of electrical equipment with complex shapes in the single virtual substation modeling area is the number of electrical equipment with the number of curved surfaces greater than the preset number of curved surfaces.

[0031] Further, the division of the virtual substation modeling area based on the voltage level of the electrical equipment includes dividing the electrical equipment with the same voltage level into the same virtual substation modeling area, and the number of electrical equipment in a single virtual substation modeling area does not exceed one-tenth of the total number of electrical equipment in the virtual substation.

[0032] Further, the basic number of laser scans is determined according to the average value of the number of laser scans when several position distribution densities and the number of complex-shaped equipment are within a preset range.

[0033] On the other hand, the present invention also provides a virtual substation modeling system based on a three-dimensional model, including:

[0034] A data acquisition module, which is used to obtain non-electrical equipment data and electrical equipment data of the substation, including physical parameter data and working parameter data of the electrical equipment, and is equipped with a three-dimensional laser scanner for collecting point cloud data in the substation;

[0035] A modeling area division module, which is connected to the data acquisition module and is used to divide the virtual substation modeling area based on the voltage level of the electrical equipment;

[0036] A laser scan parameter adjustment module, which is connected to the modeling area division module and is used to determine the number of laser scans according to the equipment distribution density and the number of complex-shaped equipment in the modeling area, and adjust the laser scan interval angle according to the proportion of the laser scan interference area;

[0037] A point cloud data processing module, which is connected to the laser scan parameter adjustment module and is used to perform clustering analysis on the collected point cloud data, mark abnormal areas or remove abnormal point cloud data, and adjust the laser power and scanning resolution of the secondary laser scan, or avoid obstacles according to whether the point cloud density data of the abnormal area is missing.

[0038] Compared with the prior art, the beneficial effects of the present invention are as follows. The electrical equipment of the same voltage level is divided into the same virtual substation modeling area, and the number of electrical equipment in a single area is restricted to not exceed one-tenth of the total number. This division method can avoid the mutual interference of equipment of different voltage levels and reduce the modeling complexity. The scanning times are determined based on the equipment position distribution density and the number of complex-shaped equipment, and the scanning strategy can be flexibly adjusted according to the actual situation of different areas. When the equipment is densely distributed and there are many complex-shaped equipment, increasing the scanning times can ensure comprehensive and accurate data acquisition, avoiding data omission caused by factors such as occlusion and complex structures. On the contrary, when the equipment is sparsely distributed and there are few complex equipment, reducing the scanning times can improve the scanning efficiency, saving time and cost. For example, in the area of high-voltage switchgear with dense equipment, increasing the scanning times can clearly obtain the equipment details; in the area of independent poles with sparse equipment, reducing the scanning times can also meet the modeling requirements. Through the above method, the accuracy of the process analysis of obtaining point cloud data by laser scanning is improved, and thus accurate point cloud data is obtained.

[0039] Furthermore, the present invention dynamically adjusts the scanning interval angle according to the proportion of the laser scanning interference area. When the proportion of the interference area is small, the basic interval angle is adopted to ensure the scanning efficiency while meeting the basic modeling requirements; when the proportion of the interference is large, the scanning interval angle is reduced, which can more effectively avoid the interference area, obtain accurate point cloud data, and improve the modeling accuracy. For example, in an area with less interference, scanning according to the basic interval angle can quickly complete data acquisition; in an area with more interference, reducing the scanning interval angle can reduce the influence of interference on the data and ensure the accuracy of the model. Adopting a special scanning interval angle setting for the laser scanning interference area helps to reduce data deviation and missing caused by interference factors such as highly reflective surfaces. Through denser scanning coverage, the scanning blind area and data anomalies caused by interference are reduced, making the collected point cloud data more complete and accurate, providing a high-quality data basis for subsequent point cloud data processing and virtual substation model construction. Through the above method, the accuracy of the process analysis of obtaining point cloud data by laser scanning is improved, and thus accurate point cloud data is obtained.

[0040] Furthermore, the present invention identifies and processes abnormal point cloud data through cluster analysis, which can effectively eliminate noise points and abnormal data, greatly improving the accuracy and reliability of point cloud data. After removing the abnormal point cloud, the data for subsequent modeling is more real and reliable, accurately reflecting the actual situation of substation equipment, avoiding model deviation caused by abnormal data. Clusters that exhibit abnormal features at multiple scanning angles and have the same spatial region are marked as abnormal regions. This method can accurately locate areas in the substation with potential problems or special situations. For example, after marking the abnormal region in the corner of the switch cabinet, more detailed inspection and analysis can be carried out on this region. Through the above method, the accuracy of the process of analyzing point cloud data obtained by laser scanning is improved, and accurate point cloud data is obtained.

[0041] Furthermore, the present invention determines whether to adjust the laser power and scanning resolution or avoid obstacles based on whether the point cloud density data in the abnormal region is missing, which can accurately solve different types of scanning problems. When the point cloud density data is not missing, it indicates that the scanning path may be affected by factors such as signal interference. At this time, adjusting the laser power and resolution can enhance the signal strength and improve the data acquisition accuracy, thereby obtaining more accurate point cloud data. When the point cloud density data is missing, it is very likely that there are obstacles blocking the laser propagation. Avoiding obstacles can effectively solve the problem of data unavailability and ensure the effectiveness of secondary scanning. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 is the flowchart of the working process of the virtual substation modeling method based on a three-dimensional model of the present invention;

[0043] Figure 2 is the flowchart of the working process of performing cluster analysis on point cloud data in the virtual substation modeling method based on a three-dimensional model of the present invention;

[0044] Figure 3 is the structural schematic diagram of the system applied to the virtual substation modeling method based on a three-dimensional model of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0045] In order to make the objectives and advantages of the present invention clearer, the present invention will be further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0046] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present invention and do not limit the protection scope of the present invention.

[0047] It should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the term "connected" should be understood in a broad sense. For example, it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those skilled in the art, the specific meaning of the above terms in the present invention can be understood according to specific situations.

[0048] Please refer to Figure 1 - Figure 2 as shown in Figure 1 which is the workflow diagram of the virtual substation modeling method based on a 3D model of the present invention; Figure 2 which is the workflow diagram of the clustering analysis of point cloud data in the virtual substation modeling method based on a 3D model of the present invention.

[0049] The virtual substation modeling method based on a 3D model in the embodiments of the present invention includes:

[0050] Step S1: Obtain the non-electrical equipment data and electrical equipment data of the substation. The electrical equipment data includes electrical equipment physical parameter data and electrical equipment operating parameter data;

[0051] Step S2: Divide the virtual substation modeling area based on the voltage levels of the electrical equipment, and determine the number of laser scans for the individual virtual substation modeling area according to the position distribution density of the electrical equipment and the number of electrical equipment with complex shapes in the individual virtual substation modeling area after division;

[0052] Step S3: Determine the laser scan interval angle for the individual virtual substation modeling area based on the number of laser scans for the individual virtual substation modeling area and the proportion of the laser scan interference area in the individual virtual substation modeling area;

[0053] Step S4: Obtain the point cloud data collected at different laser scan interval angles in the individual virtual substation modeling area, and perform clustering analysis on the point cloud data to determine the marked abnormal area or remove the abnormal point cloud data;

[0054] Step S5: Determine whether to adjust the laser power and scan resolution or avoid obstacles during the secondary laser scan of the abnormal area based on whether the point cloud density data of the abnormal area is missing;

[0055] Among them, the laser scan interference area is the highly reflective surface area of the electrical equipment in the individual virtual substation modeling area.

[0056] In the embodiments of the present invention, the non - electrical equipment data includes, but is not limited to, "building - related data, site facility data, and auxiliary equipment data". The physical parameter data of the electrical equipment includes, but is not limited to, "geometric dimension parameters, material property parameters, and physical characteristic parameters". The operating parameter data of the electrical equipment includes, but is not limited to, "operating power of the electrical equipment, operating current of the electrical equipment, and operating temperature of the electrical equipment".

[0057] Specifically, in step S2, the virtual substation modeling area divided based on the voltage level of the electrical equipment includes dividing the electrical equipment with the same voltage level into the same virtual substation modeling area, and the number of electrical equipment in a single virtual substation modeling area does not exceed one - tenth of the total number of electrical equipment in the virtual substation.

[0058] Specifically, in step S2, when determining the number of laser scans for a single virtual substation modeling area, the number of laser scans for the single virtual substation modeling area is determined according to the position distribution density of the electrical equipment in the single virtual substation modeling area after division and the number of electrical equipment with complex shapes in the single virtual substation modeling area;

[0059] When the position distribution density of the electrical equipment in a single virtual substation modeling area is greater than the maximum value of the preset distribution density range and the number of electrical equipment with complex shapes in the single virtual substation modeling area is greater than the maximum value of the preset quantity range, the number of laser scans for the single virtual substation modeling area is the sum of the basic laser scan times, the first additional scan times, and the second additional scan times;

[0060] When the position distribution density of the electrical equipment in a single virtual substation modeling area is within the preset distribution density range and the number of electrical equipment with complex shapes in the single virtual substation modeling area is within the preset quantity range, the number of laser scans for the single virtual substation modeling area is the basic laser scan times;

[0061] When the position distribution density of the electrical equipment in a single virtual substation modeling area is less than the minimum value of the preset distribution density range and the number of electrical equipment with complex shapes in the single virtual substation modeling area is less than the minimum value of the preset quantity range, the number of laser scans for the single virtual substation modeling area is the absolute value of the difference between the basic laser scan times and the third additional scan times.

[0062] In the embodiments of the present invention, the number of electrical equipment with complex shapes in a single virtual substation modeling area is the number of electrical equipment with the number of curved surfaces greater than the preset number of curved surfaces. The preset number of curved surfaces is the average number of curved surfaces of a single electrical equipment in several substations of the same scale, but the above values are not limited to this, and those skilled in the art can also adjust this value according to actual needs.

[0063] In the embodiment of the present invention, the position distribution density of electrical equipment in a single virtual substation modeling area is greater than the sum of the basic scanning times corresponding to the maximum value of the preset distribution density range, and the number of electrical equipment with complex shapes in a single virtual substation modeling area is greater than the sum of the basic scanning times corresponding to the maximum value of the preset quantity range. When both occur, only the basic scanning times need to be calculated once. The position distribution density of electrical equipment in a single virtual substation modeling area is less than the absolute value of the difference between the basic scanning times and the first additional scanning times corresponding to the minimum value of the preset distribution density range. The number of electrical equipment with complex shapes in a single virtual substation modeling area is less than the absolute value of the difference between the basic scanning times and the second additional scanning times corresponding to the minimum value of the preset quantity range. The third additional scanning times is the average value of the sum of the first additional scanning times and the second additional scanning times. If the finally calculated laser scanning times is a decimal, the integer part is taken and then plus one. For example, if the calculated laser scanning times is 5.1, the laser scanning times is 6 times. In the embodiment of the present invention, the preset distribution density range is four-fifths to six-fifths of the average number of electrical equipment of the corresponding voltage level in a single area in several substations of the same scale. The preset quantity range is four-fifths to six-fifths of the average number of electrical equipment with the same position distribution density in a single area in several substations of the same scale. The basic laser scanning times is the average value of the laser scanning times when the position distribution density and the number of complex-shaped equipment are within the preset range. The first additional scanning times is the average value of the laser scanning times of the same position distribution density in a single virtual substation modeling area in several substations of the same scale. The second additional scanning times is the average value of the laser scanning times of the same number of electrical equipment with complex shapes in a single virtual substation modeling area in several substations of the same scale. However, the above values are not limited to this, and those skilled in the art can also adjust the values according to actual needs.

[0064] The present invention divides electrical equipment of the same voltage level into the same virtual substation modeling areas, and limits the number of electrical equipment in a single area to no more than one-tenth of the total number. This division method can avoid interference between equipment of different voltage levels and reduce the modeling complexity. The scanning times are determined based on the equipment location distribution density and the number of complex-shaped equipment, and the scanning strategy can be flexibly adjusted according to the actual situation of different areas. When the equipment is densely distributed and there are many complex-shaped equipment, increasing the scanning times can ensure comprehensive and accurate data acquisition, avoiding data omission caused by factors such as occlusion and complex structures. On the contrary, when the equipment is sparsely distributed and there are few complex equipment, reducing the scanning times can improve the scanning efficiency and save time and costs. For example, in the area of high-voltage switchgear with dense equipment, increasing the scanning times can clearly obtain equipment details; in the area of independent transmission towers with sparse equipment, reducing the scanning times can also meet the modeling requirements. Through the above method, the accuracy of the process analysis of obtaining point cloud data by laser scanning is improved, and accurate point cloud data is obtained.

[0065] Specifically, in step S3, when determining the laser scanning interval angle of a single virtual substation modeling area, the laser scanning interval angle of the single virtual substation modeling area is determined according to the laser scanning times of the single virtual substation modeling area and the proportion of the laser scanning interference area in the single virtual substation modeling area;

[0066] When the proportion of the laser scanning interference area in the single virtual substation modeling area is less than or equal to the preset proportion, the laser scanning interval angle of the single virtual substation modeling area is the basic interval angle;

[0067] When the proportion of the laser scanning interference area in the single virtual substation modeling area is greater than the preset proportion, the scanning interval angle of the laser scanning interference area in the single virtual substation modeling area is four-fifths of the basic interval angle;

[0068] Wherein, the proportion of the laser scanning interference area is the ratio of the highly reflective surface area of the electrical equipment in the single virtual substation modeling area to the surface area of the electrical equipment in the single virtual substation modeling area.

[0069] In the embodiment of the present invention, the preset proportion can be determined by analyzing multiple previous substation modeling projects, sorting out the correlation data between the proportion of laser scanning interference area and the quality of scanning data in different projects, analyzing whether the scanning data meets the modeling requirements under different proportions of interference area, and the proportion of data anomalies. For example, after analyzing 15 past projects, it is found that when the proportion of interference area is less than 20%, the scanning data can basically meet the modeling accuracy requirements, and the data anomaly rate is less than 5%; when the proportion of interference area is greater than 20%, the data anomaly rate increases significantly, reaching more than 15%. Based on these data, the preset proportion is determined to be 20% to ensure the reliability of the scanning data and the smooth progress of modeling.

[0070] In the embodiment of the present invention, assume a virtual modeling area of an 110 kV substation. After measurement and calculation, the following data are obtained. According to the position distribution density of electrical equipment and the number of electrical equipment with complex shapes in this area, the number of laser scans is determined to be 20 times; by setting different illumination angles and intensities in the optical simulation software, the actual illumination environment during laser scanning is simulated, and the average value is taken after multiple simulations to determine that the highly reflective surface area of electrical equipment in this area is 20 square meters, while the surface area of electrical equipment in this area is calculated to be 100 square meters. Therefore, the proportion of laser scanning interference area is 20÷100 = 20%. Assume that the preset proportion is 15%. Since the proportion of laser scanning interference area in this area, 20%, is greater than the preset proportion of 15%, it is necessary to adjust the scanning interval angle. Based on the performance parameters of the scanning device, reference to historical scanning data and experience, as well as simulation testing and optimization, the basic interval angle is determined to be 60°. According to the rule, when the proportion of interference area is greater than the preset proportion, the scanning interval angle of the interference area is four-fifths of the basic interval angle, that is, 60°×4 / 5 = 48°. During the actual scanning process, for the laser scanning interference area in this virtual modeling area, the scanning device will scan at a scanning interval angle of 48° to avoid the interference caused by the highly reflective surface and obtain more accurate point cloud data; for the non-interference area, it can be scanned at the basic interval angle of 60°.

[0071] In the embodiments of the present invention, the basic interval angle is the average value of the scanning interval angles when the interference area ratio is less than or equal to the preset ratio under several identical laser scanning times. The laser scanning interference area is a highly reflective surface area, and the highly reflective surface is a reflective surface with a reflectivity greater than the preset reflectivity. The preset reflectivity is set to 0.6, but the above value is not limited thereto, and those skilled in the art can also adjust this value according to actual needs. The highly reflective surface area can be determined by the following method. In the optical simulation software, different illumination angles and intensities are set to simulate the actual illumination environment during laser scanning. Through multiple simulations, the range and area change of the highly reflective surface under different conditions are determined, and the average value is taken as the final highly reflective surface area. For example, the illumination angles are set to 0°, 30°, 60°, and 90° respectively, and the illumination intensities are at different levels. Multiple simulations are carried out, the area of the highly reflective surface in each simulation is statistically analyzed, and the average value is calculated. Suppose after 4 simulations, the highly reflective surface areas are 10 square meters, 10.5 square meters, 9.8 square meters, and 10.2 square meters respectively, then the final highly reflective surface area is (10 + 10.5 + 9.8 + 10.2) ÷ 4 = 10.125 square meters.

[0072] The present invention dynamically adjusts the scanning interval angle according to the laser scanning interference area ratio. When the interference area ratio is small, the basic interval angle is adopted to ensure the scanning efficiency while meeting the basic requirements of modeling. When the interference ratio is large, the scanning interval angle is reduced, which can more effectively avoid the interference area and obtain accurate point cloud data, improving the modeling accuracy. For example, in an area with less interference, data collection can be quickly completed by scanning at the basic interval angle; in an area with more interference, reducing the scanning interval angle can reduce the influence of interference on the data and ensure the accuracy of the model. Adopting a special scanning interval angle setting for the laser scanning interference area helps to reduce data deviation and loss caused by interference factors such as highly reflective surfaces. Through denser scanning coverage, the scanning blind area and data anomalies caused by interference are reduced, making the collected point cloud data more complete and accurate, providing a high-quality data basis for subsequent point cloud data processing and virtual substation model construction. Through the above method, the accuracy of the process analysis of obtaining point cloud data by laser scanning is improved, and thus accurate point cloud data is obtained.

[0073] Specifically, in step S4, the steps of performing clustering analysis on the point cloud data to determine the marked abnormal area or removing abnormal point cloud data include:

[0074] Step S4401, performing clustering analysis on the point cloud data at different scanning angles;

[0075] Step S4402, dividing the point cloud into different clusters according to the spatial position and feature similarity;

[0076] Step S4403: Check the stability of each cluster at different scanning angles;

[0077] Step S4404: If an abnormal feature appears in a certain cluster at multiple scanning angles and the spatial regions corresponding to this cluster are the same, then determine to mark the said spatial region as an abnormal region.

[0078] In the embodiment of the present invention, if an abnormal feature appears in a certain cluster at multiple scanning angles and the spatial regions corresponding to this cluster are different, then determine to remove the abnormal point cloud data, and the abnormal features include but are not limited to "missing point cloud data, abnormal point cloud density, and abnormal point cloud distribution".

[0079] In the embodiment of the present invention, a clustering algorithm can be used to process the point cloud data at different scanning angles. The DBSCAN algorithm can cluster according to the density of data points, divide the data points with connected densities into the same cluster, and can identify noise points (i.e., abnormal point clouds). After clustering analysis, the point cloud data is divided into multiple clusters according to spatial position and feature similarity. For example, we obtain cluster A, cluster B, and cluster C. Cluster A may contain most of the point cloud on the front of the switch cabinet, cluster B contains some point cloud on the side of the switch cabinet, and cluster C contains some point cloud on the top of the switch cabinet. Check the stability of each cluster at different scanning angles. We find that cluster A has stable performance at scanning angles 1, 3, and 5, and there are no obvious changes in the distribution and features of its point cloud. However, abnormal features appear in cluster B at scanning angles 2 and 4. At scanning angle 2, some point cloud in cluster B shows obvious deviation, with a large difference in the position of the point cloud in cluster B compared with other scanning angles; at scanning angle 4, the point cloud density in cluster B decreases significantly and its shape also changes. For cluster B, since abnormal features appear in it at multiple scanning angles and the spatial regions corresponding to these abnormal features are different (the spatial positions and distributions of the point cloud at scanning angles 2 and 4 are different), it is determined to remove the abnormal point cloud data in cluster B. By removing these abnormal point clouds, the quality of the point cloud data can be improved, making the subsequent modeling more accurate. For other clusters that have abnormal features at multiple scanning angles and the corresponding spatial regions are the same, for example, assuming there is cluster D, which has abnormal point cloud positions at scanning angles 3, 6, and 7 and all are concentrated in the same corner area of the switch cabinet, then it is determined to mark this spatial region as an abnormal region.

[0080] The present invention identifies and processes abnormal point cloud data through clustering analysis, which can effectively eliminate noise points and abnormal data, greatly improving the accuracy and reliability of point cloud data. After removing the abnormal point cloud, the data on which subsequent modeling is based is more real and reliable, can accurately reflect the actual situation of substation equipment, and avoid model deviation caused by abnormal data. Clusters that exhibit abnormal features at multiple scanning angles and have the same spatial region are marked as abnormal regions. This method can accurately locate areas in the substation where potential problems or special situations exist. For example, after marking the abnormal region in the corner of the switch cabinet, more detailed detection and analysis can be carried out on this region. Through the above method, the accuracy of the process of analyzing the point cloud data obtained by laser scanning is improved, and accurate point cloud data is obtained.

[0081] Specifically, in step S5, when it is determined to adjust the laser power and scanning resolution or avoid obstacles during the secondary laser scanning of the abnormal region, it is determined whether to adjust the laser power and scanning resolution or avoid obstacles during the secondary laser scanning of the abnormal region according to whether the point cloud density data of the abnormal region is missing;

[0082] When the point cloud density data of the abnormal region is not missing, it is determined to adjust the laser power and scanning resolution during the secondary laser scanning of the abnormal region;

[0083] When the point cloud density data of the abnormal region is missing, it is determined to avoid obstacles during the secondary laser scanning of the abnormal region.

[0084] Specifically, in step S5, when it is determined to adjust the laser power and scanning resolution during the secondary laser scanning of the abnormal region, it is determined to adjust the laser power and scanning resolution with an adjustment coefficient.

[0085] In the embodiment of the present invention, the value range of the adjustment coefficient is set to 1.04 - 1.19, and the preferred value of the adjustment coefficient is 1.1. However, the above values are not limited to this, and those skilled in the art can also adjust the values according to actual needs.

[0086] The present invention determines whether to adopt the strategy of adjusting the laser power and scanning resolution or avoiding obstacles according to whether the point cloud density data of the abnormal region is missing, which can accurately solve different types of scanning problems. When the point cloud density data is not missing, it indicates that the scanning path may be affected by factors such as signal interference. At this time, adjusting the laser power and resolution can enhance the signal strength and improve the data acquisition accuracy, so as to obtain more accurate point cloud data. When the point cloud density data is missing, it is very likely that there are obstacles blocking the laser propagation. Avoiding obstacles can effectively solve the problem of data unavailability and ensure the effectiveness of the secondary scanning.

[0087] Please refer to Figure 3 as shownFigure 3 This is a schematic structural diagram of a system applied to the virtual substation modeling method based on a three-dimensional model in the present invention.

[0088] Specifically, a system applied to the virtual substation modeling method based on the three-dimensional model includes:

[0089] A data acquisition module, which is used to obtain non-electrical equipment data and electrical equipment data of the substation, including physical parameter data and working parameter data of the electrical equipment, and is equipped with a three-dimensional laser scanner for collecting point cloud data within the substation;

[0090] A modeling area division module, which is connected to the data acquisition module and is used to divide the virtual substation modeling area based on the voltage level of the electrical equipment;

[0091] A laser scanning parameter adjustment module, which is connected to the modeling area division module and is used to determine the number of laser scans according to the equipment distribution density and the number of complex-shaped equipment within the modeling area, and adjust the laser scanning interval angle according to the proportion of the laser scanning interference area;

[0092] A point cloud data processing module, which is connected to the laser scanning parameter adjustment module and is used to perform clustering analysis on the collected point cloud data, mark abnormal areas or remove abnormal point cloud data, and adjust the laser power and scanning resolution of the secondary laser scan or avoid obstacles according to whether the point cloud density data of the abnormal area is missing.

[0093] So far, the technical solution of the present invention has been described in conjunction with the preferred embodiments shown in the drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

Claims

1. A virtual substation modeling method based on a three-dimensional model, characterized in that: include: Acquire non-electrical equipment data and electrical equipment data of the substation, wherein the electrical equipment data includes physical parameter data of the electrical equipment and working parameter data of the electrical equipment; Divide the virtual substation modeling area based on the voltage level of the electrical equipment, and determine the number of laser scans of the single virtual substation modeling area according to the location distribution density of the electrical equipment in the divided single virtual substation modeling area and the number of electrical equipment with complex shapes in the single virtual substation modeling area; Determine the laser scanning interval angle of the single virtual substation modeling area based on the number of laser scanning times of the single virtual substation modeling area and the laser scanning interference area ratio in the single virtual substation modeling area; Acquire point cloud data collected at different laser scanning interval angles within a single virtual substation modeling area, and perform cluster analysis on the point cloud data to mark abnormal areas or remove abnormal point cloud data; Based on whether the point cloud density data of the abnormal area is missing, it is determined to adjust the laser power and the scanning resolution when performing a secondary laser scan on the abnormal area, or to avoid obstacles; The laser scanning interference area is the high-reflective surface area of ​​electrical equipment within the modeling area of ​​a single virtual substation.

2. The virtual substation modeling method based on the three-dimensional model according to claim 1 is characterized in that: The number of laser scans to determine the modeling area for a single virtual substation includes: If the location distribution density of electrical equipment in a single virtual substation modeling area is greater than the maximum value of a preset distribution density range and the number of electrical equipment with complex shapes in a single virtual substation modeling area is greater than the maximum value of a preset number range, the number of laser scans in the single virtual substation modeling area is the sum of the basic laser scan number, the first additional scan number and the second additional scan number; If the location distribution density of electrical equipment in a single virtual substation modeling area is within a preset distribution density range and the number of electrical equipment with complex shapes in a single virtual substation modeling area is within a preset number range, the number of laser scans in the single virtual substation modeling area is the basic number of laser scans; If the location distribution density of electrical equipment within a single virtual substation modeling area is less than the minimum value of a preset distribution density range and the number of electrical equipment with complex shapes within a single virtual substation modeling area is less than the minimum value of a preset number range, the number of laser scans for the single virtual substation modeling area is the absolute value of the difference between the basic laser scan number and the third additional scan number.

3. The virtual substation modeling method based on the three-dimensional model according to claim 2 is characterized in that: The laser scanning interval angles for determining the modeling area of ​​a single virtual substation include: If the laser scanning interference area ratio in the single virtual substation modeling area is less than or equal to the preset ratio, the laser scanning interval angle in the single virtual substation modeling area is the basic interval angle; If the laser scanning interference area ratio within the single virtual substation modeling area is greater than the preset ratio, the laser scanning interval angle of the laser scanning interference area within the single virtual substation modeling area is four fifths of the basic interval angle; The laser scanning interference area ratio is the ratio of the high-reflective surface area of ​​the electrical equipment within the single virtual substation modeling area to the surface area of ​​the electrical equipment within the single virtual substation modeling area.

4. The virtual substation modeling method based on the three-dimensional model according to claim 3 is characterized in that: Performing cluster analysis on the point cloud data to determine and mark abnormal areas or remove abnormal point cloud data includes: Perform cluster analysis on point cloud data at different scanning angles; Divide the point cloud into different clusters according to spatial position and feature similarity; Check the stability of each cluster at different scanning angles; If a cluster has abnormal features under multiple scanning angles and the spatial regions corresponding to the cluster are the same, it is determined that the spatial region is marked as an abnormal region.

5. The virtual substation modeling method based on the three-dimensional model according to claim 4 is characterized in that: Determine the adjustment of laser power and scanning resolution or avoidance of obstacles when performing a secondary laser scan on an abnormal area, including: If the point cloud density data of the abnormal area is not missing, determine to adjust the laser power and scanning resolution when performing a second laser scan on the abnormal area; If the point cloud density data of the abnormal area is missing, it is determined to avoid obstacles when performing a secondary laser scan on the abnormal area.

6. The virtual substation modeling method based on a three-dimensional model according to claim 2 is characterized in that: The location distribution density of the electrical equipment in the single virtual substation modeling area is the ratio of the floor space occupied by the electrical equipment in the single virtual substation modeling area to the area of ​​the single virtual substation modeling area.

7. The virtual substation modeling method based on a three-dimensional model according to claim 2 is characterized in that: The number of electrical equipment with complex shapes in the modeling area of ​​the single virtual substation is the number of electrical equipment with a number of curved surfaces greater than a preset number of curved surfaces.

8. The virtual substation modeling method based on a three-dimensional model according to claim 1 is characterized in that: The method of dividing the virtual substation modeling area based on the voltage level of the electrical equipment includes dividing the electrical equipment of the same voltage level into the same virtual substation modeling area, and the number of electrical equipment in a single virtual substation modeling area does not exceed one tenth of the total number of electrical equipment in the virtual substation.

9. The virtual substation modeling method based on a three-dimensional model according to claim 2 is characterized in that: The basic laser scanning times are determined based on the average value of the laser scanning times when the location distribution density and the number of complex-shaped devices are within a preset range.

10. A system applied to the virtual substation modeling method based on a three-dimensional model according to any one of claims 1 to 9, characterized in that: include: The data acquisition module is used to obtain the non-electrical equipment data and electrical equipment data of the substation, including the physical parameter data and working parameter data of the electrical equipment, and is equipped with a 3D laser scanner to collect point cloud data in the substation; A modeling area division module, which is connected to the data acquisition module and is used to divide the virtual substation modeling area based on the voltage level of the electrical equipment; A laser scanning parameter adjustment module, which is connected to the modeling area division module, is used to determine the number of laser scans according to the equipment distribution density and the number of complex-shaped equipment in the modeling area, and adjust the laser scanning interval angle according to the laser scanning interference area ratio; The point cloud data processing module is connected to the laser scanning parameter adjustment module to perform cluster analysis on the collected point cloud data, mark abnormal areas or remove abnormal point cloud data, and adjust the laser power and scanning resolution of the secondary laser scanning according to whether the point cloud density data of the abnormal area is missing, or avoid obstacles.

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