GIS equipment intelligent transportation and arrangement system and method based on digital twinning

Abstract

The invention provides a GIS equipment intelligent transportation and arrangement system and method based on digital twinning, and relates to the technical field of power equipment installation. The system comprises an equipment cleaning module, an equipment transportation and arrangement module, a digital model module, a data acquisition module, a data transmission module and a remote monitoring module. Wherein the equipment transportation module is composed of a GIS equipment transportation vehicle, a transportation track and a GIS indoor bridge crane, and is used for carrying GIS equipment; the data transmission module establishes data interaction among the functional modules and is responsible for remote distribution; the data acquisition module carries out fusion calculation on sensor, control and position information; and the remote monitoring module is used for visual display and interaction of the digital twinning. The expandability and the flexibility of the system are improved by adopting a modular design; and by combining high-precision RTK positioning, multi-sensor fusion and virtual simulation synchronization technologies, the precision, efficiency and safety of the GIS equipment in the indoor carrying and arrangement process of the transformer substation can be remarkably improved.

Description

A GIS-based intelligent transportation and deployment system and method for digital twin-based equipment Technical Field

[0001] This invention relates to the field of power equipment installation and operation and maintenance technology, specifically to an intelligent transportation and layout system and method for GIS (Gas Insulated Metal Enclosed Switchgear) in substations, covering two major tasks: equipment cleaning and drying and transportation and layout, and falling within the application scope of intelligent installation of power equipment and digital twin technology. Background Technology

[0002] During substation construction and power equipment installation, the transportation and placement of GIS (Gas Insulated Metal Enclosed Switchgear) primarily rely on manual labor combined with traditional lifting equipment (such as overhead cranes). Due to the large size and weight of GIS equipment (typically ranging from 1 to 10 tons), and the fact that GIS rooms often have large spans and long distances (up to hundreds of meters in length), relying on manual operation of overhead cranes for handling and precise positioning within such a large indoor space is not only inefficient but also fails to meet installation requirements, easily leading to component misalignment and affecting the equipment's operational stability and lifespan. Simultaneously, in the pre-treatment stage before GIS equipment installation, traditional cleaning and drying operations also rely on manual labor, resulting in difficulties in ensuring cleanliness and low drying efficiency. The automated cleaning module, through a spray system and automatic detergent mixing device, can thoroughly clean the surface and crevices of GIS equipment; the intelligent drying module, through temperature and humidity sensors and a circulating hot air system, achieves rapid and uniform drying of the equipment, ensuring the cleanliness and dryness requirements before installation. Manual handling of heavy GIS equipment poses significant safety risks, including collisions and tipping accidents, which threaten the safety of both personnel and equipment. Furthermore, traditional transportation methods lack effective intelligent monitoring and data management, and impacts and vibrations during handling can easily damage the outer casing or internal components, increasing subsequent maintenance costs. Automated cleaning and drying processes not only significantly improve pre-treatment efficiency but also reduce operational risks by minimizing manual intervention.

[0003] With the development of sensor technology, automatic control technology, and digital twin technology, intelligent transportation and layout systems have been applied in logistics, manufacturing, and other fields. However, in the power industry, especially in the indoor transportation and installation of GIS equipment, there is still a lack of a complete intelligent solution integrating automated transportation, intelligent cleaning and drying, and precise positioning and installation. This makes it difficult to achieve high-precision monitoring and automated management of the entire transportation, layout, and pre-treatment process. Therefore, developing an intelligent transportation and layout system that integrates high-precision positioning, multi-sensor information processing, automated cleaning and drying, and virtual simulation technology, and can meet the needs of large-area, long-distance precise positioning in GIS rooms, has become an urgent need to improve construction efficiency, ensure construction safety, and enhance equipment reliability. Summary of the Invention

[0004] To address the aforementioned problems, the present invention aims to provide a digital twin-based intelligent transportation and deployment system and method for GIS equipment, solving the problems of low efficiency, poor positioning accuracy, high safety risks, and lack of intelligent monitoring in the existing indoor transportation and deployment of GIS equipment. To achieve the above-mentioned technical features, the present invention achieves its objective as follows: A digital twin-based intelligent transportation and deployment system for GIS equipment includes: a physical module for performing cleaning, drying, transportation, and hoisting and deployment operations of GIS equipment; a digital model module for constructing a digital model of the operating environment, completing path planning and dynamic simulation based on positioning information, and providing a three-dimensional visualization scene; a data acquisition module for acquiring sensor data, control data, and coordinate data, and processing the acquired data; a data transmission module for establishing communication links between the physical module, digital model module, data acquisition module, and remote monitoring module to achieve data interaction and remote distribution; and a remote monitoring module for providing a digital twin visualization display interface and a user interaction interface to monitor and interact with the entire process of GIS equipment transportation and deployment.

[0005] Preferably, the physical module includes an equipment cleaning module and an equipment transportation and layout module; the equipment cleaning module includes a GIS equipment cleaning room and a GIS equipment drying room, which are used for cleaning and drying of GIS equipment, respectively; the equipment transportation and layout module includes a GIS equipment transport vehicle, a transport track and a GIS indoor bridge crane, the GIS equipment transport vehicle runs along the transport track to realize the transportation of GIS equipment, and the GIS indoor bridge crane is used for hoisting and arranging GIS equipment.

[0006] Preferably, the equipment cleaning module further includes an automated cleaning module and an intelligent drying module; the automated cleaning module includes a spray system and an automatic detergent mixing device, the automatic detergent mixing device is used to mix detergent and water in a preset ratio, and the spray system is used to spray the mixture onto the surface and crevices of the GIS equipment to achieve cleaning; the intelligent drying module includes a temperature and humidity sensor, a circulating hot air system and a control unit, the temperature and humidity sensor is used to monitor the temperature and humidity of the drying environment, and the control unit adjusts the heating power and wind speed of the circulating hot air system according to the temperature and humidity monitoring results to achieve rapid and uniform drying of the GIS equipment.

[0007] Preferably, the equipment transportation and deployment module further includes a sensor unit, a video monitoring device, an RTK high-precision positioning device, and an electrical control unit; the sensor unit is used to collect real-time operating position data of the GIS equipment transport vehicle and the working status parameters of the GIS indoor bridge crane; the video monitoring device is used to monitor the entire operation process of the GIS equipment transport vehicle and the GIS indoor bridge crane; the RTK high-precision positioning device is used to obtain the precise coordinate information of the GIS equipment transport vehicle and the GIS indoor bridge crane at the working point; the electrical control unit is used to send motion control commands to the GIS equipment transport vehicle and the GIS indoor bridge crane to realize automated scheduling of equipment transportation and hoisting.

[0008] Preferably, each H-shaped wheel of the GIS equipment transport vehicle is equipped with a drive motor, and a control board is provided at the bottom of the GIS equipment transport vehicle. The control board is electrically connected to the drive motor and is used to control the start, stop and running speed of the GIS equipment transport vehicle. The front of the GIS equipment transport vehicle is equipped with a depth camera and a first RTK positioning device. The depth camera is used to identify the travel path, and the first RTK positioning device is used to achieve high-precision positioning of the GIS equipment transport vehicle.

[0009] Preferably, the GIS equipment cleaning chamber is equipped with a cleaning chamber laser sensor, and the GIS equipment drying chamber is equipped with a drying chamber laser sensor. The cleaning chamber laser sensor is used to detect whether the GIS equipment has reached the cleaning station and send a detection signal to the control board. The drying chamber laser sensor is used to detect whether the GIS equipment has reached the drying station and send a detection signal to the control board. The control board controls the start and stop of the GIS equipment transport vehicle according to the detection signals. The GIS equipment cleaning chamber is equipped with a cleaning chamber video monitoring camera, the GIS equipment drying chamber is equipped with a drying chamber video monitoring camera, and the GIS room is equipped with a GIS room video monitoring camera to achieve multi-view full-process monitoring.

[0010] Preferably, the GIS indoor bridge crane is equipped with a load sensor, a height sensor, and a second RTK positioning device. The load sensor is used to collect lifting weight data, the height sensor is used to collect hook lifting height data, and the second RTK positioning device is used to collect spatial position data of the GIS indoor bridge crane. The crossbeam and crossbeam frame of the GIS indoor bridge crane are equipped with a first three-dimensional LiDAR and a second three-dimensional LiDAR. The first three-dimensional LiDAR and the second three-dimensional LiDAR are used for GIS indoor environment scanning, three-dimensional point cloud map construction, and dynamic obstacle detection during the lifting process.

[0011] Preferably, the data processing of the data acquisition module includes: updating the location data of the GIS equipment transport vehicle, updating the model data of the GIS indoor bridge crane, preprocessing and modeling the point cloud data of the first and second 3D LiDAR, coordinate transformation of the differential positioning data acquired by the first and second RTK positioning devices, and generation and optimization of simulation path data; the interactive interface of the remote monitoring module has the following functions: real-time location monitoring of the GIS equipment transport vehicle, remote control of the GIS indoor bridge crane, equipment operation status monitoring, comparison and display of virtual simulation results and actual operation status, and display of real-time location information of the work point.

[0012] Another aspect of this invention provides a method for intelligent transportation and deployment of GIS equipment based on digital twins, applied to the aforementioned intelligent transportation and deployment system for GIS equipment based on digital twins, comprising the following steps: S1: Hardware deployment and sensor installation, completing the installation and deployment of GIS equipment transport vehicles, transport tracks, GIS equipment cleaning rooms, GIS equipment drying rooms, GIS indoor bridge cranes, and various sensors and monitoring equipment; S2: Data acquisition and transmission, constructing a virtual model of GIS equipment transportation, and wirelessly transmitting multi-source information acquired by the physical module to the data acquisition module through the data transmission module; S3: Data analysis and processing, performing comprehensive processing of the acquired multi-source data including preprocessing, coordinate transformation, and analysis, and sending the processed result data to the digital model module; S4: Digital mapping and modeling, establishing a scene coordinate system, uniformly mapping the virtual model, point cloud environment model, and RTK positioning data to this coordinate system, performing dynamic path planning simulation based on real-time positioning information, and sending the simulation results to the PLC control unit; S5: Remote monitoring, realizing unified reception, analysis, and scheduling management of multi-source data through the remote monitoring module, comparing and displaying the virtual simulation results and actual operating status in real time, and providing remote interactive control functions.

[0013] Preferably, in step S1, the first and second 3D LiDARs perform multi-view, full-coverage scanning of the GIS indoor area through spatial pose calibration and data synchronization. After point cloud registration and fusion algorithm processing, a high-precision GIS indoor 3D point cloud map is constructed. An RTK positioning reference station is set up in an open area near the GIS indoor area to ensure positioning accuracy throughout the process. In step S2, a unified robot description file is generated based on the assembly model of the transport track, GIS equipment transport vehicle, and GIS indoor bridge crane to construct a virtual model of GIS equipment transportation. The multi-source information includes sensor-collected data, point cloud information from the first and second 3D LiDARs, and positioning results from the first and second RTK positioning devices. In step S3, the data processing includes transferring the differential positioning data output by the first and second RTK positioning devices from WGS- The 84 coordinate system is converted to a local Cartesian coordinate system; in step S4, the PLC control unit sends operation instructions to the GIS indoor bridge crane according to the simulation results to guide the actual operation of the GIS indoor bridge crane; in step S5, the remote monitoring module uses the Moveit platform as a visualization simulation engine, and receives multiple video monitoring signals, environmental data and equipment status data from the video monitoring cameras in the cleaning room, drying room and GIS room through a high-speed communication link to achieve intelligent monitoring and management of the entire process; in step S4, during the hoisting of GIS equipment, the first three-dimensional lidar and the second three-dimensional lidar continuously perform real-time three-dimensional scanning of the area below the hook and the working area, and identify obstacles through point cloud segmentation, clustering and recognition algorithms. If a potential collision risk is detected, an emergency stop or avoidance instruction is immediately sent to the GIS indoor bridge crane.

[0014] The present invention has the following beneficial effects: 1. The present invention significantly improves transportation and layout efficiency: through the coordinated operation of transport vehicles, tracks and bridge cranes, combined with automated path planning and scheduling, the indoor transportation and layout time of GIS equipment can be shortened by at least 50%, effectively accelerating the construction progress of substations.

[0015] 2. This invention achieves high-precision positioning and installation: It adopts RTK positioning, multi-sensor fusion and three-dimensional lidar point cloud processing technology to ensure that the installation position deviation of GIS equipment is controlled within the millimeter range, which meets the strict requirements of GIS equipment for high-precision installation and improves operational reliability.

[0016] 3. This invention reduces safety risks: By automating transportation and remote visual monitoring, it reduces the number of manual interventions in the handling of heavy equipment; at the same time, it uses sensors and video surveillance to achieve full-process monitoring, significantly reducing the probability of safety accidents such as equipment collisions and personnel injuries.

[0017] 4. This invention effectively protects equipment: The transport vehicle and crane adopt shock-absorbing and anti-collision design, and the operating status is monitored in real time by sensors, which can effectively reduce the impact and vibration generated during transportation and hoisting, reduce the equipment damage rate, and extend the service life of the equipment.

[0018] 5. This invention enables intelligent monitoring and management: The system provides a visual interface and remote interaction capabilities through digital twin and virtual simulation functions, enabling real-time monitoring, data storage, and anomaly warning of the entire transportation and deployment process, thereby improving the scientific and refined management level of the construction process. Attached Figure Description

[0019] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0020] Figure 1 is a schematic diagram of the indoor intelligent transportation and layout of the GIS equipment of the present invention.

[0021] Figure 2 is a schematic diagram of the GIS equipment transport vehicle of the present invention.

[0022] Figure 3 is a schematic diagram of the GIS equipment cleaning chamber of the present invention.

[0023] Figure 4 is a schematic diagram of the drying chamber of the GIS equipment of the present invention.

[0024] Figure 5 is a schematic diagram of the indoor GIS of the present invention.

[0025] In the diagram: GIS equipment transport vehicle 10, GIS equipment cleaning room 20, GIS equipment drying room 30, GIS indoor unit 40, transport track 50; depth camera 101, first RTK positioning device 102, GIS equipment 103, drive motor 104, control board 105; cleaning room laser sensor 201, cleaning room video monitoring camera 202; drying room laser sensor 301, drying room video monitoring camera 302; GIS indoor bridge crane 401, load sensor 402, height sensor 403, second RTK positioning device 404, first three-dimensional lidar 405, GIS indoor video monitoring camera 406, second three-dimensional lidar 407. Detailed Implementation

[0026] The embodiments of the present invention will be further described below with reference to the accompanying drawings.

[0027] Example 1: As shown in Figures 1-5, a GIS equipment intelligent transportation and deployment system based on digital twins is characterized by comprising: a physical module for performing cleaning, drying, transportation, and hoisting and deployment operations of GIS equipment 103; a digital model module for constructing a digital model of the operating environment, completing path planning and dynamic simulation based on positioning information, and providing a three-dimensional visualization scene; a data acquisition module for acquiring sensor data, control data, and coordinate data, and processing the acquired data; a data transmission module for establishing a communication link between the physical module, digital model module, data acquisition module, and remote monitoring module to realize data interaction and remote distribution; and a remote monitoring module for providing a digital twin visualization display interface and a user interaction interface to monitor and interact with the entire process of transportation and deployment of GIS equipment 103.

[0028] Furthermore, the physical module includes an equipment cleaning module and an equipment transportation and layout module; the equipment cleaning module includes a GIS equipment cleaning chamber 20 and a GIS equipment drying chamber 30, which are used for cleaning and drying of the GIS equipment 103, respectively; the equipment transportation and layout module includes a GIS equipment transport vehicle 10, a transport track 50, and a GIS indoor bridge crane 401. The GIS equipment transport vehicle 10 runs along the transport track 50 to realize the transportation of the GIS equipment 103, and the GIS indoor bridge crane 401 is used for hoisting and arranging the GIS equipment 103.

[0029] Furthermore, the equipment cleaning module also includes an automated cleaning module and an intelligent drying module; the automated cleaning module includes a spray system and an automatic detergent mixing device, the automatic detergent mixing device is used to mix detergent and water in a preset ratio, and the spray system is used to spray the mixture onto the surface and crevices of the GIS equipment 103 to achieve cleaning; the intelligent drying module includes a temperature and humidity sensor, a circulating hot air system and a control unit, the temperature and humidity sensor is used to monitor the temperature and humidity of the drying environment, and the control unit adjusts the heating power and wind speed of the circulating hot air system according to the temperature and humidity monitoring results to achieve rapid and uniform drying of the GIS equipment 103.

[0030] Furthermore, the equipment transportation and deployment module also includes a sensor unit, a video monitoring device, an RTK high-precision positioning device, and an electrical control unit; the sensor unit is used to collect real-time operating position data of the GIS equipment transport vehicle 10 and the working status parameters of the GIS indoor bridge crane 401; the video monitoring device is used to monitor the entire operation process of the GIS equipment transport vehicle 10 and the working process of the GIS indoor bridge crane 401; the RTK high-precision positioning device is used to obtain the precise coordinate information of the GIS equipment transport vehicle 10 and the GIS indoor bridge crane 401 at the working point; the electrical control unit is used to send motion control commands to the GIS equipment transport vehicle 10 and the GIS indoor bridge crane 401 to realize the automated scheduling of equipment transportation and hoisting.

[0031] Furthermore, each H-shaped wheel of the GIS equipment transport vehicle 10 is equipped with a drive motor 104, and a control board 105 is provided at the bottom of the GIS equipment transport vehicle 10. The control board 105 is electrically connected to the drive motor 104 and is used to control the start, stop and running speed of the GIS equipment transport vehicle 10. The front of the GIS equipment transport vehicle 10 is equipped with a depth camera 101 and a first RTK positioning device 102. The depth camera 101 is used to identify the travel path, and the first RTK positioning device 102 is used to achieve high-precision positioning of the GIS equipment transport vehicle 10.

[0032] Furthermore, the GIS equipment cleaning chamber 20 is equipped with a cleaning chamber laser sensor 201, and the GIS equipment drying chamber 30 is equipped with a drying chamber laser sensor 301. The cleaning chamber laser sensor 201 is used to detect whether the GIS equipment 103 has reached the cleaning station and send a detection signal to the control board 105. The drying chamber laser sensor 301 is used to detect whether the GIS equipment 103 has reached the drying station and send a detection signal to the control board 105. The control board 105 controls the GIS equipment transport vehicle 10 to start and stop according to the detection signals. The GIS equipment cleaning chamber 20 is equipped with a cleaning chamber video monitoring camera 202, the GIS equipment drying chamber 30 is equipped with a drying chamber video monitoring camera 302, and the GIS room 40 is equipped with a GIS room video monitoring camera 406, for realizing multi-view full-process monitoring.

[0033] Furthermore, the GIS indoor bridge crane 401 is equipped with a load sensor 402, a height sensor 403, and a second RTK positioning device 404. The load sensor 402 is used to collect lifting weight data, the height sensor 403 is used to collect hook lifting height data, and the second RTK positioning device 404 is used to collect spatial position data of the GIS indoor bridge crane 401. The crossbeam and crossbeam frame of the GIS indoor bridge crane 401 are equipped with a first three-dimensional LiDAR 405 and a second three-dimensional LiDAR 407. The first three-dimensional LiDAR 405 and the second three-dimensional LiDAR 407 are used for GIS indoor environment scanning, three-dimensional point cloud map construction, and dynamic obstacle detection during the lifting process.

[0034] Furthermore, the data processing of the data acquisition module includes: updating the location data of the GIS equipment transport vehicle 10, updating the model data of the GIS indoor bridge crane 401, preprocessing and modeling the point cloud data of the first three-dimensional lidar 405 and the second three-dimensional lidar 407, coordinate transformation of the differential positioning data acquired by the first RTK positioning device 102 and the second RTK positioning device 404, and generating and optimizing the simulation path data; the interactive interface of the remote monitoring module has the following functions: real-time location monitoring of the GIS equipment transport vehicle 10, remote control of the GIS indoor bridge crane 401, equipment operation status monitoring, comparison and display of virtual simulation results and actual operation status, and display of real-time positioning information of the work point.

[0035] Example 2: A method for intelligent transportation and deployment of GIS equipment based on digital twins, comprising the following steps: S1: Hardware deployment and sensor installation, completing the installation and deployment of GIS equipment transport vehicle 10, transport track 50, GIS equipment cleaning room 20, GIS equipment drying room 30, GIS indoor bridge crane 401, and various sensors and monitoring equipment; S2: Data acquisition and transmission, constructing a virtual transportation model of GIS equipment 103, and wirelessly transmitting multi-source information acquired by the physical module to the data acquisition module through the data transmission module; S3: Data analysis and processing, performing preprocessing, coordinate transformation, and parsing of the acquired multi-source data, and sending the processed result data to the digital model module; S4: Digital mapping and modeling, establishing a scene coordinate system, uniformly mapping the virtual model, point cloud environment model, and RTK positioning data to this coordinate system, performing dynamic path planning simulation based on real-time positioning information, and sending the simulation results to the PLC control unit; S5: Remote monitoring, realizing unified reception, parsing, and scheduling management of multi-source data through the remote monitoring module, comparing and displaying the virtual simulation results and actual operating status in real time, and providing remote interactive control functions.

[0036] Further, in step S1, the first 3D LiDAR 405 and the second 3D LiDAR 407 perform multi-view, full-coverage scanning of the GIS indoor 40 through spatial pose calibration and data synchronization. After point cloud registration and fusion algorithm processing, a high-precision 3D point cloud map of the GIS indoor 40 is constructed. An RTK positioning reference station is set up in an open area near the GIS indoor 40 to ensure positioning accuracy throughout the process. Further, in step S2, a unified robot description file is generated based on the assembly model of the transport track 50, the GIS equipment transport vehicle 10, and the GIS indoor bridge crane 401 to construct a virtual model for the transportation of the GIS equipment 103. The multi-source information includes sensor data, point cloud information of the first 3D LiDAR 405 and the second 3D LiDAR 407, and positioning results of the first RTK positioning device 102 and the second RTK positioning device 404. Further, in step S3, the data processing includes processing the differential positioning data output by the first RTK positioning device 102 and the second RTK positioning device 404. The coordinate system is converted from WGS-84 to a local Cartesian coordinate system. Further, in step S4, the PLC control unit sends an operation command to the GIS indoor bridge crane 401 based on the simulation results, guiding the actual operation of the GIS indoor bridge crane 401. Further, in step S5, the remote monitoring module uses the Moveit platform as a visualization simulation engine, receiving multiple video monitoring signals, environmental data, and equipment status data from the cleaning room video monitoring camera 202, the drying room video monitoring camera 302, and the GIS room video monitoring camera 406 via a high-speed communication link, achieving intelligent monitoring and management throughout the entire process. Further, in step S4, during the hoisting process of the GIS equipment 103, the first three-dimensional LiDAR 405 and the second three-dimensional LiDAR 407 continuously perform real-time three-dimensional scanning of the area below the hook and the work area, identifying obstacles through point cloud segmentation, clustering, and recognition algorithms. If a potential collision risk is detected, an emergency stop or avoidance command is immediately sent to the GIS indoor bridge crane 401.

[0037] Example 3: A GIS equipment intelligent transportation and layout system based on digital twins, comprising: a physical module: consisting of an equipment cleaning module and an equipment transportation and layout module. The equipment cleaning module consists of a GIS equipment cleaning chamber 20 and a GIS equipment drying chamber 30, used for cleaning and drying GIS equipment 103. The equipment transportation and layout module consists of a GIS equipment transport vehicle 10, a transport track 50, and a GIS indoor bridge crane 401, serving as the foundation of the system.

[0038] Digital Model Module: Used to construct a digital model of the operating environment of GIS equipment transport vehicle 10 and GIS indoor bridge crane 401, and to realize path planning and dynamic simulation based on the work point coordinate information collected by the first RTK positioning device 102 and the second RTK positioning device 404 in the equipment transport module, thereby providing a three-dimensional visualization scene for the remote monitoring terminal and supporting operators to conduct path pre-play and operation simulation in a virtual environment.

[0039] Data acquisition module: used to process sensor data, control data and coordinate data, specifically including updating the location data of GIS equipment transport vehicle 10, updating the model data of GIS indoor bridge crane 401, processing and modeling the point cloud data of the first three-dimensional lidar 405 and the second three-dimensional lidar 407, coordinate transformation of the differential positioning data acquired by the first RTK positioning device 102 and the second RTK positioning device 404, and generating and optimizing simulation path data.

[0040] Data transmission module: Establishes a communication link between the data acquisition module, hardware device module, digital model module and remote monitoring module to complete data interaction and remote distribution, and ensure information synchronization and linkage between the modules.

[0041] Remote monitoring module: used to present a visual display interface for digital twins and provide a user interaction interface, including real-time location monitoring display of GIS equipment transport vehicle 10, remote control function panel of GIS indoor bridge crane 401, monitoring of operating status, comparison of virtual simulation results with actual operating status, and display of real-time location information of work points.

[0042] Furthermore, the GIS equipment transportation module includes a GIS equipment transportation vehicle 10, a main structure of a GIS indoor bridge crane 401, several sensor units, a video monitoring device, an RTK high-precision positioning device, and an electrical control unit. The sensor units are used to collect real-time operating position data of the GIS equipment transportation vehicle 10 and working status parameters of the GIS indoor bridge crane 401. The video monitoring device is used to monitor the entire operation process of the GIS equipment transportation vehicle 10 and the GIS indoor bridge crane 401. The first RTK positioning device 102 and the second RTK positioning device 404 are used to obtain the precise coordinate information of the GIS equipment transportation vehicle 10 and the GIS indoor bridge crane 401 at the working point, and transmit the information to the data acquisition module for coordinate transformation and processing. The electrical control unit is used to execute control commands on the movement of the GIS equipment transportation vehicle 10 and the GIS indoor bridge crane 401 to realize the automated scheduling of equipment transportation and hoisting processes.

[0043] A method for constructing a digital twin-based intelligent transportation and deployment system for GIS equipment includes the following steps: Step 1, hardware deployment and sensor installation: Due to the large weight of the GIS equipment 103, typically 1 to 10 tons, and the inability of a crane to directly lift the GIS equipment 103 into the GIS indoor unit 40, a transport track 50 is laid on the ground, and a GIS equipment transport vehicle 10 is used for equipment transportation. Each H-shaped wheel of the GIS equipment transport vehicle 10 is equipped with a drive motor 104, and a control board 105 is mounted on the underside of the vehicle for controlling the start, stop, and operation of the GIS equipment transport vehicle 10. During the cleaning and transportation of GIS equipment 103, the GIS equipment transport vehicle 10, GIS equipment cleaning chamber 20, GIS equipment drying chamber 30, and GIS indoor chamber 40 are all equipped with various sensors and monitoring devices: the GIS equipment transport vehicle 10 is equipped with a depth camera 101 and a first RTK positioning device 102 at the front, used to identify the travel path and achieve high-precision positioning; the GIS equipment cleaning chamber 20 is equipped with a cleaning chamber laser sensor 201, used to detect whether the GIS equipment 103 has reached the cleaning point, and transmits the detection signal to the control board 105 of the GIS equipment transport vehicle 10 to control the start and stop of the GIS equipment transport vehicle 10 to complete the equipment cleaning; the GIS equipment cleaning chamber 20 is equipped with an automated cleaning module, including a spray system and an automatic detergent mixing device. The spray system is equipped with several adjustable nozzles, which are connected to the automatic detergent mixing device through pipelines. The automatic detergent mixing device can automatically control the mixing ratio of detergent and water according to preset ratios and different cleaning stages, and precisely adjust the spray pressure and flow rate through control valves to achieve high-pressure spray cleaning of the outer surface and structural gaps of the GIS equipment 103. Subsequently, the GIS equipment transport vehicle 10 transports the cleaned GIS equipment 103 to the GIS equipment drying chamber 30. The GIS equipment drying chamber 30 is equipped with a drying chamber laser sensor 301, which is also used to detect whether the GIS equipment 103 has reached the drying position and feeds back to the control board 105 to ensure the smooth progress of the drying operation. The GIS equipment drying chamber 30 is equipped with an intelligent drying module, including a temperature and humidity sensor, a circulating hot air system, and a control unit. The temperature and humidity sensor is used to monitor the environmental parameters inside the drying chamber in real time. The control unit dynamically adjusts the heating power and wind speed of the circulating hot air system according to the detection results of the temperature and humidity sensor. The circulating hot air system includes a heater and multiple sets of circulating air ducts, which form a stable hot air flow field to perform all-round drying treatment on the GIS equipment 103. This module can achieve rapid and uniform drying of equipment in a short time, preventing local overheating or residual moisture, and ensuring that the equipment meets the predetermined cleanliness and dryness standards before installation, thereby completing the automated cleaning of the equipment and improving the efficiency of cleaning work.Subsequently, the GIS equipment transport vehicle 10 transports the GIS equipment 103 along the transport track 50 to the entrance of the GIS indoor 40, where the GIS indoor bridge crane 401 completes the hoisting and installation operations. The GIS indoor bridge crane 401 is equipped with a load sensor 402, a height sensor 403, and a second RTK positioning device 404 for real-time acquisition of crane operating status and spatial position data. A first three-dimensional LiDAR 405 and a second three-dimensional LiDAR 407 are installed on the crossbeam and frame of the GIS indoor bridge crane 401. Before the intelligent transport and deployment of the GIS equipment, the operator controls the crane to complete one reciprocating movement along the track. The two radars, through spatial pose calibration and data synchronization, achieve multi-view, full-coverage scanning of the large-scale environment of the GIS indoor 40. After point cloud registration and fusion algorithm processing, the multi-source point cloud data is integrated into a unified coordinate system to construct a complete, high-precision three-dimensional point cloud map of the GIS indoor 40, providing an accurate environmental model for subsequent virtual simulation and path planning. During the hoisting of GIS equipment 103, the first 3D LiDAR 405 and the second 3D LiDAR 407 operate continuously, performing real-time 3D scanning and dynamic obstacle detection under the hook and in the work area. The system uses point cloud segmentation, clustering, and recognition algorithms to identify personnel, equipment, and other obstacles in real time. Once a potential collision risk is detected, an emergency stop or avoidance command is immediately sent to the GIS indoor bridge crane 401 to prevent personnel injury or equipment damage during the falling or movement of heavy objects, thus significantly improving the safety of transportation and installation. Simultaneously, multi-angle monitoring is achieved through video surveillance cameras 202 in the cleaning room, 302 in the drying room, and 406 in the GIS room. Combined with the first RTK positioning device 102 and the second RTK positioning device 404, precise positioning of the GIS equipment transport vehicle 10 and GIS equipment 103 at each workstation is achieved. The RTK positioning reference station is set up in an open area near the GIS indoor 40 to ensure high-precision positioning throughout the entire process.

[0044] Step 2, Data Acquisition and Transmission: Based on the assembly models of the transport track 50, the GIS equipment transport vehicle 10, and the GIS indoor bridge crane 401, a unified robot description file is generated to construct a virtual model for the transportation of GIS equipment 103. Simultaneously, multi-source information acquired by the physical module, including sensor data, point cloud information from the first 3D LiDAR 405 and the second 3D LiDAR 407, and positioning results from the first RTK positioning device 102 and the second RTK positioning device 404, is wirelessly transmitted to the data acquisition module via the data transmission module, providing input support for subsequent data analysis and processing. Step 3, Data Analysis and Processing: The data acquisition module is used to comprehensively process the acquired data. The steps include analyzing the data from the first 3D LiDAR 405 and... The point cloud information of the second 3D LiDAR 407 is preprocessed, the data under different coordinate systems are transformed, and the differential positioning data output by the first RTK positioning device 102 and the second RTK positioning device 404 are read and parsed. After the above processing is completed, the generated result data is sent to the digital model module for subsequent simulation modeling and path planning. Step 4, GIS equipment transportation digital mapping and modeling: Based on the actual operating conditions of the GIS indoor bridge crane 401, a corresponding scene coordinate system is established, and the virtual model and point cloud environment model of the transport track 50, the GIS equipment transport vehicle 10 and the GIS indoor bridge crane 401, as well as the positioning data of the first RTK positioning device 102 and the second RTK positioning device 404 are uniformly mapped to this coordinate system. Subsequently, dynamic path planning simulation is performed based on the real-time collected positioning information, and the generated simulation results are transmitted to the PLC control unit to provide operating instructions and control basis for the actual operation process of the GIS indoor bridge crane 401; Step 5: Remote monitoring of GIS equipment transportation: An integrated remote monitoring module is built at the remote end. This module serves as the core of human-computer interaction and centralized management of the digital twin system. The Moveit platform is used as the visualization simulation engine to realize intelligent monitoring and management of the entire transportation process of GIS equipment 103. First, a multi-source data fusion processing center is established to uniformly receive, parse, and schedule real-time positioning information from physical modules: coordinate data of the first RTK positioning device 102 and the second RTK positioning device 404, operating status parameters of various sensors: including load, height, laser ranging, etc., simulation control instructions, and dynamic path planning data. Meanwhile, the module transmits in real time, via a high-speed communication link, multiple video monitoring signals from the cleaning room video monitoring camera 202, the drying room video monitoring camera 302, and the GIS indoor video monitoring camera 406 deployed in the GIS equipment cleaning room 20, the GIS equipment drying room 30, and the GIS indoor room 40, as well as environmental data and equipment status data collected by other sensors, to the integrated control interface.Based on this, the three-dimensional visualization environment provided by the digital model module enables real-time comparison and synchronous mapping display of virtual simulation results and actual operating status. Operators can fully grasp the on-site dynamics and supervise and intervene in the automated operation process through the real-time location monitoring window of the GIS equipment transport vehicle 10, the remote control function panel of the GIS indoor bridge crane 401, the operation status monitoring instrument panel, and the real-time positioning information display unit of the work point in the interactive interface.

Claims

1. A GIS equipment intelligent transportation and deployment system based on digital twins, characterized in that, include: The physical module is used to perform cleaning, drying, transportation and hoisting operations of GIS equipment (103); The digital model module is used to build a digital model of the operating environment, complete path planning and dynamic simulation based on positioning information, and provide a 3D visualization scene; the data acquisition module is used to collect sensor data, control data and coordinate data, and process the collected data. The data transmission module is used to establish a communication link between the physical module, digital model module, data acquisition module and remote monitoring module to realize data interaction and remote distribution; the remote monitoring module is used to provide a digital twin visualization display interface and user interaction interface to monitor and interact with the entire process of transportation and deployment of GIS equipment (103).

2. The intelligent transportation and deployment system for GIS equipment based on digital twins according to claim 1, characterized in that, The physical module includes an equipment cleaning module and an equipment transportation and layout module; the equipment cleaning module includes a GIS equipment cleaning room (20) and a GIS equipment drying room (30), which are used for cleaning and drying of GIS equipment (103) respectively; the equipment transportation and layout module includes a GIS equipment transport vehicle (10), a transport track (50) and a GIS indoor bridge crane (401), the GIS equipment transport vehicle (10) runs along the transport track (50) to realize the transportation of GIS equipment (103), and the GIS indoor bridge crane (401) is used for hoisting and arranging GIS equipment (103).

3. The intelligent transportation and deployment system for GIS equipment based on digital twins according to claim 2, characterized in that, The equipment cleaning module also includes an automated cleaning module and an intelligent drying module; the automated cleaning module includes a spray system and an automatic detergent mixing device. The automatic detergent mixing device is used to mix detergent and water in a preset ratio. The spray system is used to spray the mixture onto the surface and crevices of the GIS equipment (103) to achieve cleaning. The intelligent drying module includes a temperature and humidity sensor, a circulating hot air system and a control unit. The temperature and humidity sensor is used to monitor the temperature and humidity of the drying environment. The control unit adjusts the heating power and wind speed of the circulating hot air system according to the temperature and humidity monitoring results to achieve rapid and uniform drying of the GIS equipment (103).

4. The intelligent transportation and deployment system for GIS equipment based on digital twins according to claim 2, characterized in that, The equipment transportation and layout module also includes a sensor unit, a video monitoring device, an RTK high-precision positioning device, and an electrical control unit. The sensor unit is used to collect the running position data of the GIS equipment transport vehicle (10) and the working status parameters of the GIS indoor bridge crane (401) in real time. The video monitoring device is used to monitor the entire process of the GIS equipment transport vehicle (10) and the operation process of the GIS indoor bridge crane (401). The RTK high-precision positioning device is used to obtain the precise coordinate information of the GIS equipment transport vehicle (10) and the GIS indoor bridge crane (401) at the working point. The electrical control unit is used to send motion control commands to the GIS equipment transport vehicle (10) and the GIS indoor bridge crane (401) to realize the automated scheduling of equipment transportation and hoisting.

5. The intelligent transportation and deployment system for GIS equipment based on digital twins according to claim 2, characterized in that, Each H-shaped wheel of the GIS equipment transport vehicle (10) is equipped with a drive motor (104). The bottom of the GIS equipment transport vehicle (10) is provided with a control board (105). The control board (105) is electrically connected to the drive motor (104) and is used to control the start, stop and running speed of the GIS equipment transport vehicle (10). The front of the GIS equipment transport vehicle (10) is provided with a depth camera (101) and a first RTK positioning device (102). The depth camera (101) is used to identify the travel path, and the first RTK positioning device (102) is used to realize the high-precision positioning of the GIS equipment transport vehicle (10).

6. The intelligent transportation and deployment system for GIS equipment based on digital twins according to claim 2, characterized in that, The GIS equipment cleaning room (20) is equipped with a cleaning room laser sensor (201), and the GIS equipment drying room (30) is equipped with a drying room laser sensor (301). The cleaning room laser sensor (201) is used to detect whether the GIS equipment (103) has reached the cleaning station and send a detection signal to the control board (105). The drying room laser sensor (301) is used to detect whether the GIS equipment (103) has reached the drying station and send a detection signal to the control board (105). The control board (105) controls the GIS equipment transport vehicle (10) to start and stop according to the detection signal. The GIS equipment cleaning room (20) is equipped with a cleaning room video monitoring camera (202), the GIS equipment drying room (30) is equipped with a drying room video monitoring camera (302), and the GIS room (40) is equipped with a GIS room video monitoring camera (406) to realize multi-view full-process monitoring.

7. The intelligent transportation and deployment system for GIS equipment based on digital twins according to claim 2, characterized in that, The GIS indoor bridge crane (401) is equipped with a load sensor (402), a height sensor (403), and a second RTK positioning device (404). The load sensor (402) is used to collect lifting weight data, the height sensor (403) is used to collect hook lifting height data, and the second RTK positioning device (404) is used to collect spatial position data of the GIS indoor bridge crane (401). The crossbeam and crossbeam frame of the GIS indoor bridge crane (401) are equipped with a first three-dimensional laser radar (405) and a second three-dimensional laser radar (407). The first three-dimensional laser radar (405) and the second three-dimensional laser radar (407) are used for GIS indoor (40) environment scanning, three-dimensional point cloud map construction, and dynamic obstacle detection during the lifting process.

8. The intelligent transportation and deployment system for GIS equipment based on digital twins according to claim 2, characterized in that, The data processing of the data acquisition module includes: updating the location data of the GIS equipment transport vehicle (10), updating the model data of the GIS indoor bridge crane (401), preprocessing and modeling the point cloud data of the first three-dimensional laser radar (405) and the second three-dimensional laser radar (407), coordinate transformation of the differential positioning data obtained by the first RTK positioning device (102) and the second RTK positioning device (404), and generation and optimization of simulation path data; the interactive interface of the remote monitoring module has the following functions: real-time location monitoring of the GIS equipment transport vehicle (10), remote control of the GIS indoor bridge crane (401), equipment operation status monitoring, comparison and display of virtual simulation results and actual operation status, and display of real-time positioning information of the work point.

9. A method for intelligent transportation and deployment of GIS equipment based on digital twins, characterized in that, The intelligent transportation and deployment system for GIS equipment based on digital twins, as described in any one of claims 2-8, includes the following steps: S1: Hardware deployment and sensor installation, completing the installation and deployment of the GIS equipment transport vehicle (10), transport track (50), GIS equipment cleaning room (20), GIS equipment drying room (30), GIS indoor bridge crane (401), and various sensors and monitoring equipment; S2: Data acquisition and transmission, constructing a virtual model of GIS equipment (103) transportation, and wirelessly transmitting the multi-source information acquired by the physical module to the data acquisition module through the data transmission module; S3: Data acquisition and transmission. According to the analysis and processing, the collected multi-source data undergoes comprehensive processing including preprocessing, coordinate transformation, and parsing, and the processed results are sent to the digital model module; S4: Digital mapping and modeling, establishing a scene coordinate system, mapping the virtual model, point cloud environment model, and RTK positioning data to this coordinate system, performing dynamic path planning simulation based on real-time positioning information, and sending the simulation results to the PLC control unit; S5: Remote monitoring, realizing unified reception, parsing, and scheduling management of multi-source data through the remote monitoring module, comparing and displaying the virtual simulation results with the actual operating status in real time, and providing remote interactive control functions.

10. The intelligent transportation and deployment method for GIS equipment based on digital twins according to claim 10, characterized in that, In step S1, the first three-dimensional lidar (405) and the second three-dimensional lidar (407) perform multi-view, full-coverage scanning of the GIS indoor (40) through spatial pose calibration and data synchronization. After point cloud registration and fusion algorithm processing, a high-precision GIS indoor (40) three-dimensional point cloud map is constructed. An RTK positioning reference station is set up in an open area near the GIS indoor (40) to ensure the positioning accuracy of the whole process. In step S2, a unified robot description file is generated based on the assembly model of the transport track (50), the GIS equipment transport vehicle (10), and the GIS indoor bridge crane (401) to construct a virtual model of GIS equipment (103) transportation. The multi-source information includes sensor data, point cloud information of the first three-dimensional lidar (405) and the second three-dimensional lidar (407), and positioning results of the first RTK positioning device (102) and the second RTK positioning device (404). In step S3, the data processing includes processing the output of the first RTK positioning device (102) and the second RTK positioning device (404). Differential positioning data is converted from WGS-84 coordinate system to local Cartesian coordinate system; in step S4, the PLC control unit sends operation instructions to GIS indoor bridge crane (401) according to simulation results to guide the actual operation of GIS indoor bridge crane (401); in step S5, the remote monitoring module uses the moveit platform as a visualization simulation engine, and receives multiple video monitoring signals, environmental data and equipment status data from the cleaning room video monitoring camera (202), drying room video monitoring camera (302) and GIS room video monitoring camera (406) through high-speed communication link to realize intelligent monitoring and management of the whole process; in step S4, during the hoisting process of GIS equipment (103), the first three-dimensional laser radar (405) and the second three-dimensional laser radar (407) continuously perform real-time three-dimensional scanning of the area below the hook and the working area, and identify obstacles through point cloud segmentation, clustering and recognition algorithms. If a potential collision risk is detected, an emergency stop or avoidance instruction is immediately sent to GIS indoor bridge crane (401).

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