Three-dimensional model-based virtual substation modeling system and method

Abstract

The application relates to the technical field of three-dimensional modeling, in particular to a virtual transformer substation modeling system and method based on a three-dimensional model, which comprises the following steps: acquiring non-electrical equipment data and electrical equipment data of a transformer substation; determining the laser scanning times of a single virtual transformer substation modeling area according to the position distribution density of electrical equipment and the number of electrical equipment with complex shapes in the single virtual transformer substation modeling area; determining the 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; and performing clustering analysis on point cloud data to determine a marked abnormal area or remove abnormal point cloud data; the application improves the accuracy of laser scanning and point cloud data collection when a virtual transformer substation is three-dimensionally modeled, and further improves the accuracy of three-dimensional modeling.

Description

TECHNICAL FIELD

[0001] The present application 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. BACKGROUND

[0002] In today's era of rapid development of smart grids, virtual substation modeling, as a key technology for the digital transformation of power systems, is becoming increasingly important. Traditional substation operation and management mainly relies on manual inspection and experience-based judgment. In the face of complex device layout and diversified operating conditions, the efficiency is low and the accuracy is difficult to guarantee. Three-dimensional modeling technology has gradually matured in the industrial field, providing strong technical support for virtual substation modeling. By constructing a virtual substation model, it can realize the all-round display of substation equipment, real-time monitoring of operating conditions, and simulation analysis of faults, greatly improving the operation and management level of substations. However, the current virtual substation modeling method still has the problem that in the data collection process, due to the large number of types of equipment in the substation and the complex layout, the traditional data collection method is difficult to obtain accurate equipment information, especially for electrical equipment with complex shape and densely distributed position, the difficulty of data collection is greater.

[0003] Chinese patent publication number CN114741768B discloses a method for three-dimensional modeling of an intelligent substation, comprising the following steps: substation surveying, developing a modeling sampling route and setting multiple sampling points Kr; using a CCD camera to take pictures of the nearest primary equipment and auxiliary equipment at the sampling points Kr, obtaining corresponding images Prt and recording the angle αrt between the direction of image Prt shooting and the modeling sampling route at the sampling point Kr; obtaining three-dimensional point cloud data through laser point cloud non-contact active scanning; fusing the image Prt and the three-dimensional point cloud data through the F-PoirtRet algorithm to obtain color point cloud data, constructing three-dimensional space geometry through the OpenGL graphics algorithm and rendering through the shader, and then using the WebGL graphics acceleration renderer to generate a WebGL-based digital twin graphics library to obtain a substation three-dimensional model. The present application uses a pre-set modeling sampling route, sampling points and single-point multi-angle shooting, and fuses the non-contact laser scanning point cloud through the F-PoirtRet algorithm to obtain a high-precision substation digital twin model.

[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 point cloud data and the need for frequent multiple laser scanning. SUMMARY

[0005] To this end, the application provides a virtual substation modeling system and method based on a three-dimensional model to overcome the problem of inaccurate point cloud data caused by insufficient analysis of the process of obtaining point cloud data by laser scanning in the prior art, which requires frequent multiple laser scanning.

[0006] To achieve the above-mentioned purpose, in one aspect, the application provides a virtual substation modeling method based on a three-dimensional model, comprising:

[0007] Obtaining non-electrical equipment data and electrical equipment data of a substation, wherein the electrical equipment data comprises electrical equipment physical parameter data and electrical equipment working parameter data;

[0008] Dividing a virtual substation modeling area based on the voltage level of electrical equipment, and determining the number of laser scanning of the single virtual substation modeling area according to the position distribution density of electrical equipment in the single virtual substation modeling area and the number of complex-shaped electrical equipment in the single virtual substation modeling area;

[0009] Determining the laser scanning interval angle of the single virtual substation modeling area based on the number of laser scanning of the single virtual substation modeling area and the proportion of laser scanning interference area in the single virtual substation modeling area;

[0010] Obtaining point cloud data collected at different laser scanning interval angles in the single virtual substation modeling area, and performing clustering analysis on the point cloud data to mark abnormal areas or remove abnormal point cloud data;

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

[0012] The laser scanning interference area is the high-reflective surface area of the electrical equipment in the single virtual substation modeling area.

[0013] Further, determining the number of laser scanning of the single virtual substation modeling area comprises:

[0014] If the position distribution density of the electrical equipment in the single virtual substation modeling area is greater than the maximum value of the preset distribution density range and the number of complex-shaped electrical equipment in the single virtual substation modeling area is greater than the maximum value of the preset number range, the number of laser scanning of the single virtual substation modeling area is the sum of the basic laser scanning number, the first additional scanning number and the second additional scanning number;

[0015] if the position distribution density of the electrical equipment in the single virtual substation modeling area is within the preset distribution density range and the number of electrical equipment with complex shape in the single virtual substation modeling area is within the preset number range, the laser scanning times of the single virtual substation modeling area is the basic laser scanning times;

[0016] if the position distribution density of the electrical equipment in the 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 shape in the single virtual substation modeling area is less than the minimum value of the preset number range, the laser scanning times of the single virtual substation modeling area is the absolute value of the difference between the basic laser scanning times and the third additional scanning times.

[0017] Further, determining the laser scanning interval angle of the single virtual substation modeling area comprises:

[0018] if the laser scanning interference area proportion 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;

[0019] if the laser scanning interference area proportion in the single virtual substation modeling area is greater than the preset proportion, the laser scanning interval angle of the laser scanning interference area in the single virtual substation modeling area is four-fifths of the basic interval angle;

[0020] wherein, the laser scanning interference area proportion is the ratio of the high-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.

[0021] Further, the clustering analysis of the point cloud data to determine the marked abnormal area or remove the abnormal point cloud data comprises:

[0022] clustering analysis of point cloud data at different scanning angles;

[0023] dividing point clouds into different clusters according to spatial position and feature similarity;

[0024] checking the stability of each cluster at different scanning angles;

[0025] if a cluster has abnormal features at multiple scanning angles and the spatial area corresponding to the cluster is the same, it is determined that the spatial area is marked as an abnormal area.

[0026] Further, the adjustment of laser power and scanning resolution or the avoidance of obstacles when determining to perform secondary laser scanning on the abnormal area comprises:

[0027] If the point cloud density data of the abnormal area is not missing, it is determined to adjust the laser power and scanning resolution when the abnormal area is scanned again.

[0028] If the point cloud density data of the abnormal area is missing, it is determined to avoid obstacles when the abnormal area is scanned again.

[0029] Further, the position distribution density of the electrical equipment in the single virtual substation modeling area is the ratio of the land 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 shape 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 virtual substation modeling area is divided based on the voltage level of the electrical equipment, including 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 virtual substation electrical equipment.

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

[0033] In another aspect, the present application also provides a virtual substation modeling system based on a three-dimensional model, comprising:

[0034] A data acquisition module is used to acquire non-electrical equipment data and electrical equipment data of a substation, including physical parameter data and working parameter data of 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 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 scanning parameter adjustment module 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 shape equipment in the modeling area, and to adjust the laser scanning interval angle according to the laser scanning interference area ratio;

[0037] A point cloud data processing module 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 scanning according to whether the point cloud density data of the abnormal area is missing or avoid obstacles.

[0038] Compared with the prior art, the present application has the beneficial effects that the present application divides electrical equipment of the same voltage level into the same virtual substation modeling area, and limits the number of electrical equipment in a single area to no more than one-tenth of the total number, which can avoid mutual interference of different voltage level equipment, reduce modeling complexity, determine the scanning times according to the equipment location distribution density and the number of complex shape equipment, and can flexibly adjust the scanning strategy according to the actual situation of different areas. When the equipment is densely distributed and there are many complex shape equipment, increasing the scanning times can ensure that comprehensive and accurate data are obtained, and data omission caused by factors such as shielding and complex structure is avoided. On the contrary, when the equipment is sparsely distributed and there are few complex equipment, the scanning times are reduced, the scanning efficiency is improved, and time and cost are saved. For example, in the high-voltage switch cabinet area where equipment is dense, increasing the scanning times can clearly obtain equipment details; in the independent pole tower area where equipment is sparse, reducing the scanning times can also meet the modeling needs. The above method improves the accuracy of the analysis process of the laser scanning point cloud data acquisition process, and thus accurate point cloud data are obtained.

[0039] Further, the present application 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 used to ensure scanning efficiency while meeting basic modeling needs. 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, improve modeling accuracy, and reduce the influence of interference on data. For example, in areas with less interference, scanning according to the basic interval angle can quickly complete data acquisition; in areas with more interference, reducing the scanning interval angle can reduce the influence of interference on data and ensure the accuracy of the model. Special scanning interval angle settings are used for laser scanning interference areas, which helps to reduce data deviation and loss caused by high-reflectivity surfaces and other interference factors. Through denser scanning coverage, scanning blind spots and data abnormalities 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. The above method improves the accuracy of the analysis process of the laser scanning point cloud data acquisition process, and thus accurate point cloud data are obtained.

[0040] Further, the application identifies and processes abnormal point cloud data through cluster analysis, can effectively eliminate noise points and abnormal data, greatly improves the accuracy and reliability of the point cloud data, and after removing the abnormal point cloud, the data for subsequent modeling is more real and reliable, can accurately reflect the actual situation of the substation equipment, avoids model deviation caused by abnormal data, and marks the cluster as an abnormal region when the abnormal feature appears at multiple scanning angles and the spatial region is the same. This way can accurately locate the area with potential problems or special conditions in the substation, such as marking the abnormal area in the corner of the switch cabinet, and can perform more detailed detection and analysis on the area, thereby improving the accuracy of the analysis process of the point cloud data obtained by laser scanning and obtaining accurate point cloud data.

[0041] Further, the application determines whether to adjust the laser power and scanning resolution or avoid obstacles according to whether the point cloud density data of the abnormal region is missing, 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 signal interference and other factors, 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, and when the point cloud density data is missing, it is likely that there is an obstacle blocking the laser propagation, avoiding the obstacle can effectively solve the problem that the data cannot be obtained, and ensure the effectiveness of the secondary scanning. BRIEF DESCRIPTION OF DRAWINGS

[0042] Figure 1 The working flowchart of the virtual substation modeling method based on the three-dimensional model of the application;

[0043] Figure 2 The working flowchart of the cluster analysis of the point cloud data in the virtual substation modeling method based on the three-dimensional model of the application;

[0044] Figure 3 The structural schematic diagram of the system applied to the virtual substation modeling method based on the three-dimensional model of the application. DETAILED DESCRIPTION

[0045] In order to make the purpose and advantages of the application more clear and obvious, the application will be further described below in combination with examples; it should be understood that the specific examples described herein are only used to explain the application, and are not used to limit the protection scope of the application.

[0046] The preferred embodiments of the application 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 application, and are not used to limit the protection scope of the application.

[0047] It should be noted that in the description of the present application, unless otherwise explicitly specified and limited, the term "connected" should be understood broadly, for example, it can be directly connected, or indirectly connected through an intermediate medium, or the internal connection of two elements. For those skilled in the art, the specific meaning of the above-mentioned term in the present application can be understood according to the specific circumstances.

[0048] Please refer to Figures 1-2 As shown in the figure, Figure 1 The workflow diagram of the virtual substation modeling method based on the three-dimensional model of the present application; Figure 2 The workflow diagram of the clustering analysis of point cloud data in the virtual substation modeling method based on the three-dimensional model of the present application.

[0049] The virtual substation modeling method based on the three-dimensional model of the embodiment of the present application comprises:

[0050] Step S1, obtaining non-electrical equipment data and electrical equipment data of the substation, wherein the electrical equipment data comprises electrical equipment physical parameter data and electrical equipment working parameter data;

[0051] Step S2, dividing the virtual substation modeling area based on the voltage level of the electrical equipment, and determining the laser scanning times of the single virtual substation modeling area according to the position distribution density of the electrical equipment in the single virtual substation modeling area and the number of electrical equipment with complex shape in the single virtual substation modeling area;

[0052] Step S3, determining the laser scanning interval angle of the single virtual substation modeling area based on the laser scanning times of the single virtual substation modeling area and the laser scanning interference area proportion in the single virtual substation modeling area;

[0053] Step S4, obtaining the point cloud data collected at different laser scanning interval angles in the single virtual substation modeling area, and performing clustering analysis on the point cloud data to determine the marked abnormal area or remove the abnormal point cloud data;

[0054] Step S5, determining whether to adjust the laser power and scanning resolution when performing secondary laser scanning on the abnormal area based on whether the point cloud density data of the abnormal area is missing, or avoiding obstacles;

[0055] The laser scanning interference area is the high-reflective surface area of the electrical equipment in the single virtual substation modeling area.

[0056] The non-electric equipment data in the embodiment of the present application includes but is not limited to "building-related data, site facility data and auxiliary equipment data", the electric equipment physical parameter data includes but is not limited to "geometric size parameters, material attribute parameters and physical characteristic parameters", and the electric equipment working parameter data includes but is not limited to "electric equipment running power, electric equipment running current and electric equipment running temperature".

[0057] Specifically, in step S2, the virtual substation modeling area is divided based on the voltage level of the electric equipment, including dividing the electric equipment of the same voltage level into the same virtual substation modeling area, and the number of electric equipment in a single virtual substation modeling area is not more than one tenth of the total number of virtual substation electric equipment.

[0058] Specifically, in step S2, when determining the number of laser scans in a single virtual substation modeling area, the number of laser scans in the single virtual substation modeling area is determined according to the position distribution density of the electric equipment in the single virtual substation modeling area divided and the number of electric equipment with complex shape in the single virtual substation modeling area.

[0059] When the position distribution density of the electric equipment in the single virtual substation modeling area is greater than the maximum value of the preset distribution density range and the number of electric equipment with complex shape in the single virtual substation modeling area is greater than the maximum value of the 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.

[0060] When the position distribution density of the electric equipment in the single virtual substation modeling area is within the preset distribution density range and the number of electric equipment with complex shape in the single virtual substation modeling area is within the preset number range, the number of laser scans in the single virtual substation modeling area is the basic laser scan number.

[0061] When the position distribution density of the electric equipment in the single virtual substation modeling area is less than the minimum value of the preset distribution density range and the number of electric equipment with complex shape in the single virtual substation modeling area is less than the minimum value of the preset number range, the number of laser scans in 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.

[0062] The number of electric equipment with complex shape in the single virtual substation modeling area in the embodiment of the present application is the number of electric equipment with the number of curved surfaces greater than the preset number of curved surfaces, and the preset number of curved surfaces is the average number of curved surfaces of a single electric equipment in a plurality of substation of the same scale, but the above value is not limited thereto, and the above value can be adjusted according to actual needs by those skilled in the art.

[0063] The sum of the basic scanning times corresponding to the maximum value of the position distribution density of the electrical equipment in the single virtual substation modeling area greater than the maximum value of the preset distribution density range and the first additional scanning times, the sum of the basic scanning times corresponding to the maximum value of the number of the electrical equipment with complex shape in the single virtual substation modeling area greater than the maximum value of the preset number range and the second additional scanning times, only the basic scanning times need to be calculated once when both of them occur at the same time, the absolute value of the difference between the basic scanning times corresponding to the minimum value of the position distribution density of the electrical equipment in the single virtual substation modeling area less than the minimum value of the preset distribution density range and the first additional scanning times, the absolute value of the difference between the basic scanning times corresponding to the minimum value of the number of the electrical equipment with complex shape in the single virtual substation modeling area less than the minimum value of the preset number range and the second additional scanning times, the third additional scanning times is the average of the sum of the first additional scanning times and the second additional scanning times, if the final calculated laser scanning times is a decimal, the integer part plus one, for example, if the calculated laser scanning times is 5.1, the laser scanning times is 6 times. The preset distribution density range in the embodiment of the application is four fifths to six fifths of the average number of the electrical equipment of the corresponding voltage level in a single area in several substation of the same scale, the preset number range is four fifths to six fifths of the average number of the electrical equipment with the same position distribution density in a single area in several substation of the same scale, the basic laser scanning times is the average of the laser scanning times when the position distribution density and the number of the electrical equipment with complex shape are in the preset range, the first additional scanning times is the average of the laser scanning times of the electrical equipment with the same position distribution density in the single virtual substation modeling area in several substation of the same scale, the second additional scanning times is the average of the laser scanning times of the electrical equipment with the same number of complex shape in the single virtual substation modeling area in several substation of the same scale, but the above values are not limited to this, the person skilled in the art can also adjust the values according to the actual needs.

[0064] The same voltage level electrical equipment is divided into the same virtual substation modeling area, and the number of electrical equipment in a single area is limited to less than one-tenth of the total number, which can avoid mutual interference of different voltage level equipment, reduce modeling complexity, determine the scanning times according to the device location distribution density and the number of complex shape devices, and flexibly adjust the scanning strategy according to the actual situation of different areas. When the device distribution is dense and the number of complex shape devices is large, increasing the scanning times can ensure that comprehensive and accurate data are obtained, avoid data omission caused by factors such as shielding and complex structure, and vice versa. When the device distribution is sparse and the number of complex devices is small, the scanning times are reduced, the scanning efficiency is improved, and the time and cost are saved. For example, in the high-voltage switch cabinet area with dense equipment, the scanning times are increased to clearly obtain the equipment details. In the independent tower area with sparse equipment, reducing the scanning times can also meet the modeling requirements. The above method improves the accuracy of the analysis process of the laser scanning point cloud data acquisition process, and further obtains accurate point cloud data.

[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 laser scanning interference area ratio in the single virtual substation modeling area.

[0066] When 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 of the single virtual substation modeling area is the basic interval angle.

[0067] When the laser scanning interference area ratio in the single virtual substation modeling area is greater than the preset ratio, 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] The laser scanning interference area ratio is the ratio of the high-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] The preset proportion in the embodiment of the application can be obtained by analyzing a plurality of transformer substation modeling projects in the past, sorting the correlation data of the laser scanning interference area proportion and the scanning data quality in different projects, analyzing whether the scanning data meets the modeling requirements under different interference area proportions, and the proportion of data anomalies, for example, after analyzing 15 past projects, it is found that when the interference area proportion 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 interference area proportion 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 the modeling.

[0070] In the embodiment of the application, a virtual modeling area of a certain 110kV transformer substation is assumed, and the following data is obtained through measurement and calculation. According to the position distribution density of electrical equipment in the area and the number of electrical equipment with complex shape, the number of laser scanning is determined to be 20 times; by setting different light angles and intensities in the optical simulation software, the actual lighting environment during laser scanning is simulated, and the average value is taken after multiple simulations to determine that the high-reflective surface area of the electrical equipment in the area is 20 square meters, while the surface area of the electrical equipment in the area is calculated to be 100 square meters, so the laser scanning interference area proportion is 20÷100=20%, and the preset proportion is assumed to be 15%. Since the laser scanning interference area proportion of the area is 20% which is greater than the preset proportion of 15%, the scanning interval angle needs to be adjusted. Based on the performance parameters of the scanning equipment, reference to historical scanning data and experience, and simulation testing and optimization, the basic interval angle is determined to be 60°. According to the rule, when the interference area proportion is greater than the preset proportion, the scanning interval angle of the interference area is four-fifths of the basic interval angle, i.e. 60°×4 / 5=48°. In the actual scanning process, for the laser scanning interference area in the virtual modeling area, the scanning equipment will scan according to the scanning interval angle of 48° to avoid the interference caused by the high-reflective surface and obtain more accurate point cloud data; while for the non-interference area, the scanning can be performed according to the basic interval angle of 60°.

[0071] The basic interval angle in the embodiment of the present application is the average value of the scanning interval angle when the interference area ratio is less than or equal to the preset ratio under several same laser scanning times, the laser scanning interference area is a high-reflectivity surface area, the high-reflectivity surface is a reflective surface with a reflectivity greater than a preset reflectivity, the preset reflectivity is set to 0.6, but the above value is not limited thereto, and the value can be adjusted according to actual needs by those skilled in the art, and the high-reflectivity surface area can be determined by the following method: in optical simulation software, different illumination angles and intensities are set to simulate the actual illumination environment during laser scanning, the range and area change of the high-reflectivity surface under different conditions are determined through multiple simulations, and the average value is taken as the final high-reflectivity surface area. For example, the illumination angle is set to 0°, 30°, 60° and 90° respectively, and the illumination intensity is set to different levels, multiple simulations are performed, the area of the high-reflectivity surface in each simulation is counted, and the average value is calculated. Assuming that the high-reflectivity surface areas after 4 simulations are 10 square meters, 10.5 square meters, 9.8 square meters and 10.2 square meters, the final high-reflectivity surface area is (10+10.5+9.8+10.2) ÷ 4 = 10.125 square meters.

[0072] The present application 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 used to ensure the scanning efficiency while meeting the basic modeling requirements. 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, improve the modeling accuracy, for example, in the area with less interference, scanning according to the basic interval angle can quickly complete data acquisition; in the area with more interference, reducing the scanning interval angle can reduce the influence of interference on data and ensure the accuracy of the model. The special scanning interval angle setting for the laser scanning interference area helps to reduce the data deviation and loss caused by high-reflectivity surfaces and other interference factors, reduces the scanning blind area and data anomalies caused by interference through denser scanning coverage, makes the collected point cloud data more complete and accurate, provides a high-quality data basis for subsequent point cloud data processing and virtual substation model construction, and improves the accuracy of the analysis process of the point cloud data obtained by laser scanning, thereby obtaining accurate point cloud data.

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

[0074] Step S4401, clustering analysis is performed on the point cloud data of different scanning angles;

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

[0076] Step S4403, checking the stability of each cluster under different scanning angles;

[0077] Step S4404, if the abnormal features of a cluster appear under multiple scanning angles and the spatial regions corresponding to the cluster are the same, determining to mark the spatial region as an abnormal region.

[0078] In the embodiment of the present application, if the abnormal features of a cluster appear under multiple scanning angles and the spatial regions corresponding to the cluster are not the same, it is determined to remove the abnormal point cloud data, and the abnormal features include but are not limited to "point cloud data missing, point cloud data density abnormality, and point cloud data distribution abnormality".

[0079] In the embodiment of the present application, the clustering algorithm can be used to process the point cloud data under different scanning angles. The DBSCAN algorithm can cluster according to the density of data points, divide the data points with connected density into the same cluster, and identify noise points (i.e. abnormal point cloud). After clustering analysis, the point cloud data is divided into multiple clusters according to spatial position and feature similarity. For example, we get cluster A, cluster B, and cluster C. Cluster A may contain most of the point cloud of the front of the switch cabinet, cluster B contains part of the point cloud of the side of the switch cabinet, and cluster C contains some point cloud of the top of the switch cabinet. The stability of each cluster under different scanning angles is checked, and it is found that cluster A has stable performance under scanning angle 1, scanning angle 3, and scanning angle 5, and the distribution and features of the point cloud do not change significantly. Cluster B has abnormal features under scanning angle 2 and scanning angle 4. Under scanning angle 2, part of the point cloud of cluster B deviates significantly from the position of the point cloud under other scanning angles. Under scanning angle 4, the point cloud density of cluster B decreases significantly, and the shape also changes. For cluster B, since it has abnormal features under multiple scanning angles, and the spatial regions corresponding to these abnormal features are not the same (the spatial position and distribution of the point cloud under scanning angle 2 and scanning angle 4 are different), it is determined to remove the abnormal point cloud data in cluster B. By removing these abnormal point cloud data, the quality of the point cloud data can be improved, and the subsequent modeling is more accurate. For other clusters that have abnormal features under multiple scanning angles and have the same corresponding spatial regions, for example, assume that there is cluster D, which has point cloud position abnormalities under scanning angle 3, scanning angle 6, and scanning angle 7, and all of them are concentrated in the same corner region of the switch cabinet. Then it is determined to mark the spatial region as an abnormal region.

[0080] The application can effectively eliminate noise points and abnormal data by identifying and processing abnormal point cloud data through cluster analysis, greatly improving the accuracy and reliability of point cloud data. After removing abnormal point clouds, the data for subsequent modeling is more real and reliable, which can accurately reflect the actual situation of the substation equipment, avoid model deviation caused by abnormal data, and mark the cluster with abnormal characteristics and the same spatial region at multiple scanning angles as an abnormal region. This method can accurately locate the area with potential problems or special conditions in the substation, such as marking the abnormal area in the corner of the switch cabinet, and then performing more detailed detection and analysis on the area. The above method improves the accuracy of the analysis process of the point cloud data obtained by laser scanning, and thus obtains accurate point cloud data.

[0081] Specifically, in step S5, when it is determined to adjust the laser power and the scanning resolution or to avoid obstacles when performing secondary laser scanning on the abnormal region, it is determined whether to adjust the laser power and the scanning resolution or to avoid obstacles when performing secondary laser scanning on 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 the scanning resolution when performing secondary laser scanning on the abnormal region.

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

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

[0085] The value range of the adjustment coefficient in the embodiment of the application is set to 1.04-1.19, and the value of the adjustment coefficient is preferably 1.1, but the above value is not limited thereto, and the value can be adjusted according to actual needs by those skilled in the art.

[0086] The application determines whether to adjust the laser power and the scanning resolution or to avoid 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 which time the laser power and the resolution can be adjusted to enhance signal strength and improve data acquisition accuracy, thereby obtaining more accurate point cloud data. When the point cloud density data is missing, it is likely that there is an obstacle blocking the laser propagation, and avoiding obstacles can effectively solve the problem of data acquisition failure, ensuring the effectiveness of secondary scanning.

[0087] Please refer to Figure 3 as shown,Figure 3 A structural schematic diagram of a system applied to a three-dimensional model-based virtual substation modeling method in the application.

[0088] Specifically, a system applied to the three-dimensional model-based virtual substation modeling method comprises the following.

[0089] A data acquisition module is configured to acquire non-electric equipment data and electric equipment data of a substation, including physical parameter data and working parameter data of electric equipment, and is equipped with a three-dimensional laser scanner for collecting point cloud data in the substation.

[0090] A modeling area division module is connected to the data acquisition module and is configured to divide a virtual substation modeling area based on voltage levels of electric equipment.

[0091] A laser scanning parameter adjustment module is connected to the modeling area division module and is configured to determine a laser scanning frequency according to equipment distribution density and the number of shape-complex equipment in the modeling area, and to adjust a laser scanning interval angle according to a laser scanning interference area proportion.

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

[0093] The technical solutions of the application have been described in combination with the preferred embodiments shown in the drawings, but those skilled in the art can easily understand that the protection scope of the application is obviously not limited to these specific embodiments. Those skilled in the art can make equivalent changes or replacements to related technical features without departing from the principles of the application, and the technical solutions after the changes or replacements will all fall within the protection scope of the application.

Claims

1. A virtual substation modeling method based on a three-dimensional model, characterized by, The method comprises the following steps: acquiring non-electric equipment data and electric equipment data of a substation, the electric equipment data comprising electric equipment physical parameter data and electric equipment working parameter data; dividing a virtual substation modeling area based on voltage levels of electric equipment, and determining a laser scanning frequency of the single virtual substation modeling area according to a position distribution density of electric equipment in the single virtual substation modeling area and a number of electric equipment with complex shapes in the single virtual substation modeling area; determining a laser scanning interval angle of the single virtual substation modeling area based on the laser scanning frequency of the single virtual substation modeling area and a laser scanning interference area proportion in the single virtual substation modeling area; acquiring point cloud data collected at different laser scanning interval angles in the single virtual substation modeling area, and performing clustering analysis on the point cloud data to mark abnormal areas or remove abnormal point cloud data; determining whether to adjust laser power and scanning resolution when performing secondary laser scanning on the abnormal areas, or avoiding obstacles, based on whether point cloud density data of the abnormal areas is missing; wherein the laser scanning interference area is a high-reflective surface area of electric equipment in the single virtual substation modeling area; determining the laser scanning frequency of the single virtual substation modeling area comprises: if the position distribution density of electric equipment in the single virtual substation modeling area is greater than a maximum value of a preset distribution density range and the number of electric equipment with complex shapes in the single virtual substation modeling area is greater than a maximum value of a preset number range, the laser scanning frequency of the single virtual substation modeling area is a sum of a basic laser scanning frequency, a first additional scanning frequency and a second additional scanning frequency; if the position distribution density of electric equipment in the single virtual substation modeling area is within the preset distribution density range and the number of electric equipment with complex shapes in the single virtual substation modeling area is within the preset number range, the laser scanning frequency of the single virtual substation modeling area is the basic laser scanning frequency; if the position distribution density of electric equipment in the single virtual substation modeling area is less than a minimum value of the preset distribution density range and the number of electric equipment with complex shapes in the single virtual substation modeling area is less than a minimum value of the preset number range, the laser scanning frequency of the single virtual substation modeling area is an absolute value of a difference between the basic laser scanning frequency and a third additional scanning frequency; determining the laser scanning interval angle of the single virtual substation modeling area comprises: if the laser scanning interference area proportion in the single virtual substation modeling area is less than or equal to a preset proportion, the laser scanning interval angle of the single virtual substation modeling area is a basic interval angle; if the laser scanning interference area proportion in the single virtual substation modeling area is greater than the preset proportion, the laser scanning interval angle of the laser scanning interference area in the single virtual substation modeling area is four-fifths of the basic interval angle; wherein the laser scanning interference area proportion is a ratio of the high-reflective surface area of electric equipment in the single virtual substation modeling area to a surface area of electric equipment in the single virtual substation modeling area. The cluster analysis on the point cloud data is performed to determine a marked abnormal area or remove abnormal point cloud data, including: The cluster analysis is performed on point cloud data of different scanning angles; The point cloud is divided into different clusters according to spatial positions and feature similarities; The stability of each cluster under different scanning angles is checked; If a cluster has abnormal features under multiple scanning angles and the spatial area corresponding to the cluster is the same, it is determined that the spatial area is marked as an abnormal area; The adjustment of laser power and scanning resolution or avoidance of obstacles when performing secondary laser scanning on the abnormal area includes: If the point cloud density data of the abnormal area is not missing, it is determined that the laser power and scanning resolution are adjusted when performing secondary laser scanning on the abnormal area; If the point cloud density data of the abnormal area is missing, it is determined to avoid obstacles when performing secondary laser scanning on the abnormal area; The virtual substation modeling area is divided based on the voltage level of the electrical equipment, including 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 is not more than one tenth of the total number of virtual substation electrical equipment.

2. The virtual substation modeling method based on a three-dimensional model according to claim 1, characterized in that, The position distribution density of the electrical equipment in the single virtual substation modeling area is the ratio of the area of the electrical equipment in the single virtual substation modeling area to the area of the single virtual substation modeling area.

3. The virtual substation modeling method based on a three-dimensional model according to claim 1, characterized by, The number of electrical equipment with complex shape 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.

4. The virtual substation modeling method based on a three-dimensional model according to claim 1, characterized by, The basic laser scanning frequency is determined according to the average value of the laser scanning frequency when the position distribution density and the number of complex shape equipment are within the preset range.

5. A system for use in the three-dimensional model based virtual substation modeling method according to any one of claims 1 to 4, characterized in that, It includes: A data acquisition module is configured to acquire non-electrical equipment data and electrical equipment data of a substation, including physical parameter data and working parameter data of electrical equipment, and is equipped with a three-dimensional laser scanner for collecting point cloud data in the substation; A modeling area division module is connected to the data acquisition module and is configured to divide virtual substation modeling areas based on the voltage level of the electrical equipment; A laser scanning parameter adjustment module is connected to the modeling area division module and is configured to determine the laser scanning frequency according to the equipment distribution density and the number of complex shape equipment in the modeling area, and to adjust the laser scanning interval angle according to the laser scanning interference area ratio; A point cloud data processing module is connected to the laser scanning parameter adjustment module and is configured 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 secondary laser scanning according to whether the point cloud density data of the abnormal area is missing, or avoid obstacles.

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