Augmented reality based substation equipment installation and wiring guidance system

Abstract

The application relates to the technical field of power transformation installation, and relates to a power transformation station equipment installation and wiring guiding system based on augmented reality, which comprises a three-dimensional scene reconstruction module, a visual inertial positioning module, a space registration module, an installation guiding module and a wiring path guiding module. Three-dimensional point cloud data of a target power transformation station scene is subjected to point cloud fusion reconstruction to obtain a three-dimensional space model. An environment image and motion data of the target power transformation station scene are collected through a wearable augmented reality device, feature points are matched and optimized to obtain a real-time space pose of the equipment, coordinate registration is completed, and a virtual-real fusion space is constructed. A three-dimensional model of equipment to be installed is superimposed on a corresponding physical position, an installation-in-place signal is generated when the spatial coincidence degree meets preset conditions, a three-dimensional wiring path is generated according to terminal definition and is projected to guide wiring operation. The application can improve the efficiency of power transformation station equipment installation and wiring.

Description

Technical Field

[0001] This invention relates to the field of substation installation technology, and in particular to an augmented reality-based substation equipment installation and wiring guidance system. Background Technology

[0002] Substation equipment installation and wiring are core components of substation engineering construction, demanding stringent requirements for operational accuracy and on-site standardization. Current operational methods heavily rely on the professional experience of operators, requiring manual review of paper or electronic drawings for on-site location marking and operational guidance. However, the information in the drawings cannot be matched with the physical environment in real time, easily leading to positioning deviations and making it difficult to consistently guarantee the spatial alignment accuracy of equipment installation.

[0003] Traditional equipment wiring operations lack intuitive spatial path guidance, requiring manual sorting of terminal connection relationships and manual planning of wiring paths. This not only significantly increases the labor costs of on-site operations but also easily leads to wiring errors due to human judgment mistakes. Furthermore, the lack of effective linkage between equipment installation and wiring processes results in poor workflow coordination and cumbersome overall operation steps, directly leading to low overall quality and efficiency of on-site operations. Therefore, how to improve the efficiency of substation equipment installation and wiring has become an urgent problem to be solved. Summary of the Invention

[0004] To achieve the above objectives, the present invention provides an augmented reality-based substation equipment installation and wiring guidance system. The system includes a 3D scene reconstruction module, a visual-inertial positioning module, a spatial registration module, an installation and positioning guidance module, and a wiring path guidance module, wherein: The 3D scene reconstruction module performs point cloud fusion reconstruction on the 3D point cloud data of the target substation scene to obtain a 3D spatial model corresponding to the target substation scene. The visual inertial positioning module collects environmental images and motion data of the target substation scene through a wearable augmented reality device. It matches visual feature points in the environmental images with corresponding feature points in the three-dimensional spatial model. Based on the initial pose parameters and motion data obtained from the matching, it collaboratively optimizes the pose of the wearable augmented reality device to obtain the real-time spatial pose of the wearable augmented reality device. The spatial registration module, based on real-time spatial pose, spatially registers the display coordinate system of the wearable augmented reality device with the three-dimensional coordinate system of the three-dimensional spatial model to construct a virtual-real fusion space of the target substation scene; The installation and positioning guidance module, based on the installation location coordinates of the equipment to be installed, overlays the 3D model of the equipment to be installed on the corresponding physical location in the virtual-real fusion space. When the spatial overlap between the 3D model of the equipment and the corresponding physical location meets the preset overlap conditions, the installation and positioning signal of the equipment to be installed is generated. The wiring path guidance module, in response to the equipment installation and positioning signal, generates a three-dimensional spatial guidance path from the current terminal to be wired to the target connection terminal according to the equipment wiring terminal definition of the equipment to be installed, and continuously projects and displays the three-dimensional spatial guidance path in the virtual-real fusion space to guide the operator to perform wiring operations.

[0005] In a preferred embodiment, when the 3D scene reconstruction module performs point cloud fusion reconstruction on the 3D point cloud data of the target substation scene to obtain a 3D spatial model corresponding to the target substation scene, it is specifically used for: Acquire multi-view 3D point cloud data of the target substation scene, and remove outliers and noise points from the multi-view 3D point cloud data to obtain preprocessed point cloud data of the target substation scene; Geometric feature points are extracted from the preprocessed point cloud data, and feature matching is performed on the point cloud data from different viewpoints based on the spatial positional relationship between the geometric feature points to determine the spatial transformation relationship between point cloud data from adjacent viewpoints. Based on the spatial transformation relationship, the point cloud data from different perspectives are normalized to obtain the fused point cloud data of the target substation scene. The fused point cloud data is reconstructed in three dimensions to obtain a three-dimensional spatial model corresponding to the target substation scene.

[0006] In a preferred embodiment, when the visual-inertial positioning module performs the following steps: acquiring environmental images and motion data of the target substation scene through a wearable augmented reality device, matching visual feature points in the environmental images with corresponding feature points in the three-dimensional spatial model, and co-optimizing the pose of the wearable augmented reality device based on the initial pose parameters and motion data obtained from the matching, to obtain the real-time spatial pose of the wearable augmented reality device, the module is specifically used for: The environmental images of the target substation scene are acquired using the image acquisition components of a wearable augmented reality device. The visual feature points in the environmental image are matched with the three-dimensional feature points in the three-dimensional spatial model, and the pose calculation is performed on the successfully matched feature point pairs to obtain the initial pose parameters of the wearable augmented reality device. The angular velocity and acceleration data of the wearable augmented reality device are acquired synchronously through the inertial measurement unit of the wearable augmented reality device to obtain the motion dataset of the target substation scene; The initial pose parameters are coupled and bound to the motion dataset to construct a fusion constraint relationship between the initial pose parameters and the motion dataset; Based on the fusion constraints, the spatial position and spatial pose of the wearable augmented reality device are iteratively updated to obtain the real-time spatial pose of the wearable augmented reality device.

[0007] In a preferred embodiment, the initial pose parameters are calculated using the following formula: ; In the formula, These are the initial pose parameters. For rotation matrix, It is a translation vector. To obtain the first from the three-dimensional spatial model The coordinates of the successfully matched 3D feature points These are the coordinates of two-dimensional feature points in the environmental image that correspond to the coordinates of the three-dimensional feature points. This is the preset intrinsic parameter matrix for the image acquisition component. This is a function for solving the perspective function for n points.

[0008] In a preferred embodiment, when the spatial registration module performs spatial registration based on real-time spatial pose to connect the display coordinate system of the wearable augmented reality device with the three-dimensional coordinate system of the three-dimensional spatial model, and constructs a virtual-real fusion space for the target substation scene, it is specifically used for: Based on the real-time spatial pose, determine the correspondence between the origin position and coordinate axis direction in the display coordinate system of the wearable augmented reality device and the three-dimensional coordinate system of the three-dimensional spatial model; By performing coordinate mapping deduction on the corresponding relationship, the coordinate transformation mapping relationship from the display coordinate system to the three-dimensional coordinate system is obtained; Based on the coordinate transformation mapping relationship, the virtual content to be displayed is transformed to obtain the projection position of the virtual content in the three-dimensional coordinate system; The virtual content after coordinate transformation is overlaid and rendered onto the display interface of the wearable augmented reality device to construct a virtual-real fusion space for the target substation scene.

[0009] In a preferred embodiment, when the installation positioning guidance module generates an installation positioning signal for the equipment to be installed, it performs the following: Based on the installation location coordinates of the equipment to be installed, it overlays a 3D model of the equipment to be installed onto the corresponding physical location in the virtual-real fusion space. The signal is displayed on the corresponding physical location of the equipment. Specifically, this is used to: Extract the 3D model of the equipment and the coordinates of its installation location from the equipment information of the equipment to be installed, and determine the theoretical installation area of ​​the equipment to be installed in the virtual-real fusion space based on the coordinates of its installation location. The equipment 3D model is superimposed on the theoretical installation area in a semi-transparent outline form, and the real-time position of the equipment 3D model is displayed in a semi-transparent fill form, so as to obtain a visual guide for the comparison between the real-time position outline of the equipment 3D model and the outline of the theoretical installation area. During the visually guided display process, the real-time position contour of the device's 3D model is continuously acquired in the virtual-real fusion space, and the contour boundary point cloud of the theoretical installation area is also acquired in the virtual-real fusion space. The pose of the real-time position contour boundary point cloud and the theoretical installation area contour contour boundary point cloud are compared to determine the spatial offset and attitude deviation between the real-time position contour and the theoretical installation area contour. Based on the spatial offset and attitude deviation states, the display color of the device's 3D model is dynamically adjusted. When both the spatial offset and attitude deviation states meet the preset overlap conditions, the display color is switched to the pass color to generate a device installation and positioning signal for the device to be installed.

[0010] In a preferred embodiment, the installation positioning guidance module, when dynamically adjusting the display color of the device's 3D model based on spatial offset and attitude deviation states, and switching the display color to a pass color to generate a device installation positioning signal for the device to be installed when both spatial offset and attitude deviation states meet preset overlap conditions, is specifically used for: The spatial offset state is decomposed into directional components to obtain the offset components of the equipment's 3D model in the horizontal, vertical, and depth directions. Based on the offset components of the device's 3D model in the horizontal, vertical, and depth directions, offset weights are assigned to the red, green, and blue components of the displayed color to obtain the offset weights of each component of the displayed color. The attitude deviation state is decomposed into rotational components to obtain the rotational components of the equipment's three-dimensional model in the pitch, roll, and yaw directions. Based on the rotational components of the device's 3D model in the pitch, roll, and yaw directions, the rotational adjustment values ​​are assigned to the red, green, and blue components of the displayed color, respectively, to obtain the rotational adjustment values ​​for each component of the displayed color. Based on the offset weights and rotation adjustments of each component, the display colors are dynamically rendered to obtain the dynamic color distribution of the device's 3D model. When both the spatial offset state and the attitude deviation state reach the preset coincidence condition, the dynamic color distribution is switched to a uniform passing color to generate the equipment installation and positioning signal for the equipment to be installed.

[0011] In a preferred embodiment, when the wiring path guidance module responds to a device installation signal, generates a three-dimensional spatial guidance path from the current terminal to be wired to the target connection terminal based on the device wiring terminal definition of the device to be installed, and continuously projects and displays the three-dimensional spatial guidance path in a virtual-real fusion space to guide the operator in wiring operations, it is specifically used for: In response to the equipment installation and positioning signal, the equipment terminal definition is extracted from the equipment information of the equipment to be installed, and the first terminal coordinates of the current terminal to be connected in the three-dimensional space model and the second terminal coordinates of the target connection terminal in the three-dimensional space model are obtained according to the equipment terminal definition. By performing spatial pathfinding on the coordinates of the first and second terminals and the obstacle information in the device's 3D model and 3D spatial model, a 3D spatial guidance path from the current terminal to be connected to the target terminal is obtained. Visual enhancement rendering is applied to the 3D spatial guide path to obtain a dynamic guide line for the 3D spatial guide path; Based on the real-time spatial pose, the dynamic guide line is projected into the virtual-real fusion space, so that the dynamic guide line and the physical space of the target substation scene maintain a fixed relative position. As the operator performs wiring operations along the dynamic guide line, the projected position of the dynamic guide line is continuously updated to guide the operator in completing the wiring operation.

[0012] In a preferred embodiment, when the wiring path guidance module performs spatial pathfinding by comparing the coordinates of the first terminal and the second terminal with obstacle information in the device's three-dimensional model and three-dimensional space model to obtain a three-dimensional spatial guidance path from the current terminal to be wired to the target connection terminal, it is specifically used for: A spatial pathfinding task is established in a three-dimensional spatial model, with the first terminal coordinate as the path start point and the second terminal coordinate as the path end point. The outline boundary of the equipment to be installed in the 3D model of the equipment is integrated and refined with the outline boundary of the existing equipment and the outline boundary of the structural column in the target substation scene in the 3D spatial model to obtain the obstacle constraint conditions for the spatial pathfinding task. Based on the obstacle constraints, the passage area is defined in the three-dimensional space model to obtain the free space area of ​​the equipment to be installed. Trajectory planning is performed within the free space region to obtain candidate spatial curves between the path start and path end points; The shortest curve is selected from the candidate spatial curves and used as the three-dimensional spatial guide path from the current terminal to be connected to the target terminal.

[0013] Compared with the prior art, the present invention has the following beneficial effects: 1. This invention relies on 3D scene reconstruction and visual inertial positioning technology to achieve accurate acquisition of the real-time spatial pose of wearable AR devices. Through the virtual-real fusion space constructed by spatial registration, the 3D model of the device to be installed can be accurately matched with the physical location on site. With the help of quantitative judgment of spatial overlap and dynamic visual guidance, the device installation can be accurately aligned, which greatly improves the spatial positioning accuracy of the device installation and makes the judgment of installation position more objective and standardized, thus ensuring the accuracy and standardization of the device installation operation from a technical point of view.

[0014] 2. This invention can automatically trigger the wiring path guidance function after the equipment is installed in place. It generates the optimal three-dimensional spatial wiring path based on the equipment's terminal definitions and provides intuitive guidance for wiring operations through visually enhanced dynamic guide lines. This eliminates the need for manual sorting of terminal relationships and path planning, simplifying the wiring operation process. At the same time, it achieves seamless linkage between installation and wiring, making the overall work process smoother, effectively improving the accuracy of wiring operations, and significantly improving the overall work efficiency of substation equipment installation and wiring, while reducing the probability of operational errors during operations. Attached Figure Description

[0015] Figure 1 A system architecture diagram of an augmented reality-based substation equipment installation and wiring guidance system provided in an embodiment of the present invention; The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0016] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments belong to some, but not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0017] The terminology used in the embodiments of this invention is for the purpose of describing particular embodiments only and is not intended to limit the invention. The singular forms “said” and “the” as used in the embodiments of this invention and the appended claims are also intended to include the plural forms, and “multiple” generally includes at least two unless the context clearly indicates otherwise.

[0018] Depending on the context, the word "if" or "if" as used here can be interpreted as "when," "when," "in response to determination," or "in response to detection." Similarly, depending on the context, the phrase "if determination" or "if detection (of the stated condition or event)" can be interpreted as "when determination," "in response to determination," "when detection (of the stated condition or event)," or "in response to detection (of the stated condition or event)."

[0019] Furthermore, the timing of the steps in the following method embodiments is merely an example and not a strict limitation.

[0020] In practice, the server-side equipment deployed in the augmented reality-based substation equipment installation and wiring guidance system may consist of one or more devices. This augmented reality-based substation equipment installation and wiring guidance system can be implemented as: a business instance, a virtual machine, or hardware devices. For example, this augmented reality-based substation equipment installation and wiring guidance system can be implemented as a business instance deployed on one or more devices in a cloud node. Simply put, this augmented reality-based substation equipment installation and wiring guidance system can be understood as software deployed on a cloud node, used to provide augmented reality-based substation equipment installation and wiring guidance to various user terminals. Alternatively, this augmented reality-based substation equipment installation and wiring guidance system can also be implemented as a virtual machine deployed on one or more devices in a cloud node. This virtual machine contains application software for managing various user terminals. Alternatively, this augmented reality-based substation equipment installation and wiring guidance system can also be implemented as a server composed of numerous identical or different types of hardware devices, with one or more hardware devices configured to provide augmented reality-based substation equipment installation and wiring guidance to various user terminals.

[0021] In terms of implementation, the augmented reality-based substation equipment installation and wiring guidance system and the user terminal are mutually compatible. That is, if the augmented reality-based substation equipment installation and wiring guidance system is implemented as an application installed on a cloud service platform, then the user terminal is a client that establishes a communication connection with the application; or if the augmented reality-based substation equipment installation and wiring guidance system is implemented as a website, then the user terminal is implemented as a webpage; or if the augmented reality-based substation equipment installation and wiring guidance system is implemented as a cloud service platform, then the user terminal is implemented as a mini-program in an instant messaging application.

[0022] like Figure 1 The figure shown is a system architecture diagram of a substation equipment installation and wiring guidance system based on augmented reality provided in an embodiment of the present invention.

[0023] The augmented reality-based substation equipment installation and wiring guidance system 100 described in this invention can be located on a cloud server. In terms of implementation, it can function as one or more service devices, or as an application installed on the cloud (e.g., a mobile service operator's server, server cluster, etc.), or it can be developed as a website. Depending on the functions implemented, the augmented reality-based substation equipment installation and wiring guidance system 100 may include a 3D scene reconstruction module 101, a visual-inertial positioning module 102, a spatial registration module 103, an installation and positioning guidance module 104, and a wiring path guidance module 105. The module described in this invention can also be called a unit, referring to a series of computer program segments that can be executed by an electronic device's processor and perform a fixed function, stored in the electronic device's memory.

[0024] In this embodiment of the invention, in the augmented reality-based substation equipment installation and wiring guidance system, each of the above modules can be implemented independently and can be called upon with other modules. This "calling" can be understood as one module connecting to multiple modules of another type and providing corresponding services to those connected modules. The augmented reality-based substation equipment installation and wiring guidance system provided in this embodiment of the invention allows for adjustments to the system's architecture and applicability without modifying the program code. This is achieved by adding modules and directly calling them, enabling cluster-based horizontal expansion and flexibly expanding the system. In practical applications, these modules can be located in the same or different devices, or in virtual devices, such as service instances on a cloud server.

[0025] The following describes the components and workflow of the augmented reality-based substation equipment installation and wiring guidance system, using specific embodiments as examples: The 3D scene reconstruction module 101 performs point cloud fusion reconstruction on the 3D point cloud data of the target substation scene to obtain a 3D spatial model corresponding to the target substation scene. In this embodiment of the invention, when the three-dimensional scene reconstruction module performs point cloud fusion reconstruction on the three-dimensional point cloud data of the target substation scene to obtain a three-dimensional spatial model corresponding to the target substation scene, it is specifically used for: Acquire multi-view 3D point cloud data of the target substation scene, and remove outliers and noise points from the multi-view 3D point cloud data to obtain preprocessed point cloud data of the target substation scene; Geometric feature points are extracted from the preprocessed point cloud data, and feature matching is performed on the point cloud data from different viewpoints based on the spatial positional relationship between the geometric feature points to determine the spatial transformation relationship between point cloud data from adjacent viewpoints. Based on the spatial transformation relationship, the point cloud data from different perspectives are normalized to obtain the fused point cloud data of the target substation scene. The fused point cloud data is reconstructed in three dimensions to obtain a three-dimensional spatial model corresponding to the target substation scene.

[0026] Point cloud data was collected at preset collection points in the target substation scene using a 3D laser scanner. Each collection point was scanned within a preset horizontal scanning angle of 360 degrees and a vertical scanning angle of 180 degrees. After scanning all preset collection points, the data was aggregated to form multi-view 3D point cloud data of the target substation scene. The statistical filtering method was used to calculate the average Euclidean distance from each point cloud data point to its 50 nearest neighbors. This average distance was compared with a preset distance threshold of 5 cm. Point cloud data points exceeding this threshold were identified as outliers and directly removed. Then, the Gaussian filtering method was used to select 30 nearest neighbors centered on each point cloud data point to form a filtering window. The mean coordinates of all points within the window were calculated and used as the new coordinates of the original center point to complete the noise point smoothing. After removing outliers and noise points, the preprocessed point cloud data of the target substation scene was obtained.

[0027] The surface curvature of the preprocessed point cloud data is calculated point by point. Point cloud data points with curvature values ​​reaching a preset curvature threshold of 0.05 are marked as geometric feature points. All geometric feature points in the preprocessed point cloud data are extracted. After extracting the geometric feature points for point cloud data from different viewpoints, the three-dimensional coordinate values ​​of the geometric feature points are used as the sole criterion for matching. Geometric feature points with completely consistent coordinate values ​​from different viewpoints are paired to complete feature matching. Based on the spatial positional relationship of the successfully paired geometric feature points, the positional and orientational relationships of point cloud data from adjacent viewpoints in three-dimensional space are analyzed. The spatial transformation relationship between point cloud data from adjacent viewpoints is determined by the quantitative analysis of the positional and orientational relationships.

[0028] A fixed reference point at the corner of the main control room of the target substation is selected as the origin of the three-dimensional coordinate system. Based on this origin, a unified three-dimensional global coordinate system including the X-axis, Y-axis, and Z-axis is established. The spatial transformation relationship between the point cloud data of adjacent viewpoints is used as the basis for coordinate transformation. The point cloud data of each viewpoint is transformed from its own local coordinate system to the three-dimensional global coordinate system in turn. After the coordinate system transformation of the point cloud data of all viewpoints is completed, the point cloud data of each viewpoint in the same three-dimensional global coordinate system is integrated. During integration, point cloud data points with completely overlapping coordinates are merged and only a single data point is retained. After coordinate system transformation and data integration, the fused point cloud data of the target substation scene is obtained.

[0029] Triangulation is performed on the fused point cloud data. Using each point cloud data point as a vertex, continuous and non-overlapping triangular patches are constructed according to the spatial connection relationship between adjacent point cloud data points. All constructed triangular patches are seamlessly stitched together to form a three-dimensional surface model covering the overall space of the target substation scene. The actual environmental texture information of the target substation scene is used to perform texture mapping on the three-dimensional surface model. The contour breaks caused by missing point cloud data are continuously connected to complete the contour completion process. After the three-dimensional reconstruction operations of triangulation, texture mapping and contour completion, a three-dimensional spatial model corresponding to the target substation scene is obtained.

[0030] The beneficial effects include: standardized point cloud data acquisition rules ensure comprehensive coverage of the target substation scene by multi-view 3D point cloud data; filtering methods with clearly defined thresholds remove outliers and noise points, ensuring high integrity and accuracy of the preprocessed point cloud data; geometric feature points are extracted based on curvature thresholds and feature matching is performed using coordinate values ​​as a reference, making the determination of spatial transformation relationships between adjacent viewpoint point cloud data more objective and accurate; a unified 3D global coordinate system is established based on fixed reference points, and coordinate system normalization of multi-view point cloud data is completed, achieving seamless fusion of point cloud data with no redundancy or missing data; and standardized 3D reconstruction operations such as triangulation, texture mapping, and contour completion allow the generated 3D spatial model to fully restore the physical spatial characteristics and actual environmental characteristics of the target substation scene. This 3D spatial model provides a high-precision 3D scene foundation for subsequent module operations such as feature point matching in the visual inertial positioning module and coordinate registration in the spatial registration module, ensuring the spatial positioning accuracy and scene matching consistency of all subsequent operations of the entire system from the source.

[0031] The visual inertial positioning module 102 collects environmental images and motion data of the target substation scene through a wearable augmented reality device, matches the visual feature points in the environmental images with the corresponding feature points in the three-dimensional spatial model, and performs collaborative optimization of the pose of the wearable augmented reality device based on the initial pose parameters and motion data obtained from the matching to obtain the real-time spatial pose of the wearable augmented reality device. In this embodiment of the invention, when the visual-inertial positioning module performs the following steps: acquiring environmental images and motion data of the target substation scene via a wearable augmented reality device; matching visual feature points in the environmental images with corresponding feature points in the three-dimensional spatial model; and co-optimizing the pose of the wearable augmented reality device based on the initial pose parameters and motion data obtained from the matching to obtain the real-time spatial pose of the wearable augmented reality device, the module is specifically used for: The environmental images of the target substation scene are acquired using the image acquisition components of a wearable augmented reality device. The visual feature points in the environmental image are matched with the three-dimensional feature points in the three-dimensional spatial model, and the pose calculation is performed on the successfully matched feature point pairs to obtain the initial pose parameters of the wearable augmented reality device. The angular velocity and acceleration data of the wearable augmented reality device are acquired synchronously through the inertial measurement unit of the wearable augmented reality device to obtain the motion dataset of the target substation scene; The initial pose parameters are coupled and bound to the motion dataset to construct a fusion constraint relationship between the initial pose parameters and the motion dataset; Based on the fusion constraints, the spatial position and spatial pose of the wearable augmented reality device are iteratively updated to obtain the real-time spatial pose of the wearable augmented reality device.

[0032] The formula for calculating the initial pose parameters is as follows: ; In the formula, These are the initial pose parameters. For rotation matrix, It is a translation vector. To obtain the first from the three-dimensional spatial model The coordinates of the successfully matched 3D feature points These are the coordinates of two-dimensional feature points in the environmental image that correspond to the coordinates of the three-dimensional feature points. This is the preset intrinsic parameter matrix for the image acquisition component. This is a function for solving the perspective function for n points.

[0033] The image acquisition component of the wearable augmented reality device uses a high-definition industrial camera to capture images of the target substation scene. The camera is pre-set with an acquisition resolution of 1920×1080 and a frame rate of 30 frames per second. Throughout the entire process of the device wearer moving and working within the target substation scene, the camera maintains a continuous and uninterrupted image acquisition state. During the acquisition process, it is strictly ensured that the camera's field of view completely covers the entire physical scene of the current work area, without any image cropping or missing field of view. Each complete visual image obtained after acquisition serves as an environmental image of the target substation scene.

[0034] Pixel-level corner and edge feature extraction is performed on the acquired environmental images. Feature recognition and filtering are conducted for each pixel in the image, and the extracted corner and edge feature points each possess unique feature dimension information. These feature points are the visual feature points in the environmental image. Simultaneously, from the 3D spatial model corresponding to the target substation scene obtained after point cloud fusion reconstruction by the 3D scene reconstruction module, 3D spatial feature points that match the actual corners and edges of the substation's physical scene are extracted. These feature points are the 3D feature points. Using the feature dimension information of the feature points as the sole matching criterion, visual feature points in the environmental image that have completely consistent feature dimension information with the 3D spatial model are paired one-to-one with the 3D feature points. Feature point pairs that show no feature dimension deviation after pairing are considered successfully matched feature point pairs.

[0035] Based on successfully matched feature point pairs, the initial pose parameters of the wearable augmented reality device are calculated using a perspective n-point solving function. This function takes the spatial coordinates of the successfully matched 3D feature points, the coordinates of the corresponding 2D feature points, and the preset intrinsic parameter matrix of the image acquisition component as core input data. First, based on the geometric principle of perspective projection, the perspective projection geometric relationship from the 3D feature points to the 2D feature points is established. Then, a comprehensive numerical deduction is performed on this geometric relationship to calculate the spatial transformation relationship that minimizes the projection matching error between the 3D feature points and the corresponding 2D feature points. This spatial transformation relationship is the initial pose parameter. The initial pose parameters include a rotation matrix and a translation vector. The rotation matrix reflects the spatial attitude change of the equipment relative to the three-dimensional spatial model, and the translation vector reflects the spatial position offset of the equipment relative to the three-dimensional spatial model. The spatial coordinates of the successfully matched three-dimensional feature points are extracted from the three-dimensional spatial model after the point cloud of the target substation scene is fused and reconstructed by the three-dimensional scene reconstruction module. The coordinates of the two-dimensional feature points are extracted from the paired visual feature points in the environmental image. The preset intrinsic parameter matrix of the image acquisition component is composed of inherent hardware parameters such as the focal length of the camera and the principal point coordinates of the pixels. This matrix completes all parameter measurements through a standardized hardware calibration process before the equipment leaves the factory and is directly preset into the control program of the image acquisition component, which is a fixed calibration parameter matrix. This perspective n-point solution formula is the core calculation basis for solving the initial pose parameters. It can transform the matching results of visual feature points and three-dimensional feature points into quantified initial pose parameters, realizing the transformation from visual matching of image features and three-dimensional features to numerical expression of device spatial pose. It provides accurate basic pose values ​​for subsequent coupling and binding of initial pose parameters with motion datasets. It is a key calculation step connecting the visual feature point matching link and the pose co-optimization link of wearable augmented reality devices.

[0036] The inertial measurement unit (IMU) of wearable augmented reality devices consists of a gyroscope and an accelerometer. The gyroscope continuously collects rotational velocity data of the device around the X, Y, and Z axes in three-dimensional space with a measurement accuracy of 0.01 rad / s; this data is known as angular velocity data. The accelerometer measures angular velocity at 0.01 m / s². 2 To ensure measurement accuracy, the device continuously acquires motion acceleration data along the X, Y, and Z axes in three-dimensional space; this data is known as acceleration data. The acquisition frequency of the gyroscope and accelerometer is fully synchronized with the 30 frames per second acquisition frame rate of the image acquisition component. Angular velocity and acceleration data acquired at the same time point are paired one by one, and then arranged in chronological order. The resulting complete and ordered data set is the motion dataset of the target substation scene.

[0037] Using a unified time reference as the core constraint, the coupling and binding of initial pose parameters and motion datasets are carried out. A fixed numerical correlation is established between the spatial position values ​​in the initial pose parameters and the time accumulation of acceleration data in the motion dataset, and a fixed numerical correlation is established between the attitude values ​​in the initial pose parameters and the time accumulation of angular velocity data in the motion dataset. At the same time, fixed correlation coefficients between spatial position and acceleration, and between attitude and angular velocity are pre-defined. These two types of correlation coefficients strictly limit the numerical range of pose parameters as they change with motion data. Finally, the correspondence in the time dimension and the range constraints of numerical changes are integrated as a whole. The complete correlation constraint system formed after integration is the fusion constraint relationship between the initial pose parameters and the motion dataset.

[0038] Using the calculated initial pose parameters as the base values, and following the fixed numerical association rules set in the fusion constraint relationship, the real-time angular velocity data and real-time acceleration data from the motion dataset are substituted into the rules to complete the first update of the device's spatial position and spatial attitude values. Immediately after the update, it is determined whether the new position and attitude values ​​are within the actual coordinate range of the target substation's physical space. If the values ​​conform to this coordinate range, they are used as temporary pose values. If the values ​​do not conform to this coordinate range, they are corrected according to the association rules of the fusion constraint relationship. The coordinate range determination is then performed again until a temporary pose value conforming to the actual coordinate range of the substation's physical space is obtained. Subsequently, this temporary pose value is used as the new base value, and the next set of real-time acquired angular velocity and acceleration data is substituted to complete the next update of spatial position and attitude values ​​and coordinate range determination. This value update and coordinate range determination operation will be continuously cyclically performed in chronological order. Each time during the cycle, the integrated set of spatial position and attitude values ​​conforming to the actual range of the substation's physical space is considered the real-time spatial pose of the wearable augmented reality device.

[0039] The beneficial effects are as follows: By setting standardized acquisition parameters for the image acquisition component, the environmental image acquisition process has a unified execution standard, ensuring the integrity and data consistency of the environmental images capturing the substation scene; the feature point matching method, using feature dimension information as the sole benchmark, ensures that the pairing process between visual feature points and 3D feature points is error-free; when calculating the initial pose parameters using the perspective n-point solution formula, combined with the substation physical space reference and precise multi-dimensional input parameters, the calculated initial pose parameters have high accuracy corresponding to the actual scene, enabling the visual inertial positioning module to accurately obtain the initial spatial pose of the equipment based on the visually acquired environmental image data. The inertial measurement component synchronously acquires motion data with fixed high-precision indicators, ensuring that the constructed motion dataset and the environmental image are highly consistent in the time dimension, eliminating parameter errors caused by time differences; the fusion constraint relationship constructed through a unified time benchmark and fixed correlation coefficient constraints ensures that the association between the initial pose parameters and the motion dataset has clear and fixed rules, avoiding subjective adjustments during the association process. Based on the initial pose and combined with the fusion constraint relationship, iterative updates and spatial range determination enable the real-time spatial pose to be dynamically and continuously updated following the movement of the device wearer. Moreover, the pose value after each update is consistent with the actual physical space of the substation, providing accurate and dynamic spatial position basis for the coordinate system registration of the subsequent spatial registration module. This fundamentally ensures the real-time performance, accuracy and stability of the virtual-real fusion space construction, and also lays a solid and quantitative parameter foundation for the pose collaborative optimization of the entire visual inertial positioning module.

[0040] The spatial registration module 103, based on real-time spatial pose, spatially registers the display coordinate system of the wearable augmented reality device with the three-dimensional coordinate system of the three-dimensional spatial model to construct a virtual-real fusion space of the target substation scene; In this embodiment of the invention, when the spatial registration module performs spatial registration based on real-time spatial pose to connect the display coordinate system of the wearable augmented reality device with the three-dimensional coordinate system of the three-dimensional spatial model, and constructs a virtual-real fusion space for the target substation scene, it is specifically used for: Based on the real-time spatial pose, determine the correspondence between the origin position and coordinate axis direction in the display coordinate system of the wearable augmented reality device and the three-dimensional coordinate system of the three-dimensional spatial model; By performing coordinate mapping deduction on the corresponding relationship, the coordinate transformation mapping relationship from the display coordinate system to the three-dimensional coordinate system is obtained; Based on the coordinate transformation mapping relationship, the virtual content to be displayed is transformed to obtain the projection position of the virtual content in the three-dimensional coordinate system; The virtual content after coordinate transformation is overlaid and rendered onto the display interface of the wearable augmented reality device to construct a virtual-real fusion space for the target substation scene.

[0041] Based on the actual physical dimensions of the target substation scenario, a closed coordinate range of the substation's physical space is pre-defined in the three-dimensional coordinate system of the three-dimensional spatial model. This range includes the minimum and maximum coordinate values ​​corresponding to the X, Y, and Z axes. The three axis values ​​together define a unique substation physical space coordinate region. The spatial position coordinates of the wearable augmented reality device in the real-time spatial pose are extracted, and the X, Y, and Z axis values ​​of these coordinates are compared one by one with the preset minimum and maximum coordinate values ​​of the corresponding axes. If all three axis values ​​are between the minimum and maximum coordinate values ​​of the corresponding axes, the real-time spatial pose is determined to be within the substation's physical space coordinate range. If any axis value exceeds the minimum or maximum coordinate value of the corresponding axis, the real-time spatial pose is determined to be outside the substation's physical space coordinate range.

[0042] The spatial position coordinates and spatial attitude information of the wearable augmented reality device are extracted from the real-time spatial pose. The spatial position coordinates are used as the corresponding position of the origin of the wearable augmented reality device's display coordinate system in the three-dimensional spatial model's three-dimensional coordinate system. Based on the device's orientation, pitch, and other attitude characteristics in the spatial attitude information, the X, Y, and Z axes of the display coordinate system are respectively calibrated to correspond to the axis directions in the three-dimensional coordinate system. During the calibration process, the axis directions of the three-dimensional coordinate system are used as a reference. The spatial angle between each coordinate axis of the display coordinate system and the corresponding coordinate axis of the three-dimensional coordinate system is 0 degrees. For different directions, their orientation in the three-dimensional coordinate system is clearly calibrated. Finally, the unique spatial correspondence between the origin position of the display coordinate system and the coordinate axis directions in the three-dimensional coordinate system is determined.

[0043] Based on the established correspondence between the origin and coordinate axis directions of the display coordinate system in the three-dimensional coordinate system, a logical deduction of spatial mapping is performed on the position representation of any point in the display coordinate system. During the deduction process, the spatial measurement standard of the three-dimensional coordinate system is used as a unified basis to establish a fixed spatial mapping relationship between the position coordinates of points in the display coordinate system and the position coordinates of points in the three-dimensional coordinate system. During the association process, the actual physical measurement unit corresponding to each coordinate unit in the display coordinate system in the three-dimensional coordinate system is clearly defined. At the same time, the spatial position offset and axis direction correlation between the display coordinate system and the three-dimensional coordinate system are fixed, and finally a complete and unique coordinate transformation mapping relationship is formed that can transform any coordinate point in the display coordinate system to the corresponding coordinate point in the three-dimensional coordinate system.

[0044] Extract the overall spatial coordinate information of the virtual content to be displayed. This information includes the specific positions of all key coordinate points, such as the outline feature points and center point of the virtual content, in the display coordinate system. According to the obtained coordinate transformation mapping relationship, the position coordinates of each key coordinate point of the virtual content in the display coordinate system are converted one by one into position coordinates in the three-dimensional coordinate system. During the conversion process, the measurement unit correspondence rules and spatial association rules in the coordinate transformation mapping relationship are strictly followed, without any coordinate transformation deviation. After the conversion of all key coordinate points is completed, all the converted three-dimensional coordinate system coordinate points are integrated to form a complete spatial position expression of the virtual content in the three-dimensional coordinate system. This spatial position expression is the projection position of the virtual content in the three-dimensional coordinate system.

[0045] Based on the projection position of the virtual content in the three-dimensional coordinate system, and according to the actual visual perspective effect of the substation physical scene, the virtual content after coordinate transformation is rendered in layers. During the rendering process, the clear outline and feature marks of the virtual content are preserved. At the same time, the display transparency of the virtual content is set to 50% to avoid obscuring the real-time image of the substation physical scene captured by the wearable augmented reality device. The rendered virtual content is accurately superimposed onto the physical scene image area in the display interface corresponding to the projection position. During the superposition process, it is ensured that the projection position of the virtual content corresponds completely with the actual spatial position of the substation physical scene, without spatial misalignment or offset. Finally, a visual space in which the virtual content and the physical scene image are seamlessly integrated is formed in the display interface of the wearable augmented reality device. This visual space is the virtual-real fusion space of the target substation scene.

[0046] The beneficial effects are as follows: The correspondence between the display coordinate system and the 3D coordinate system is determined based on real-time spatial pose. The calibration process uses the 3D coordinate system as a unified reference and has clear orientation judgment standards, ensuring the uniqueness and accuracy of the correspondence. Based on this correspondence, a coordinate transformation mapping relationship is derived, establishing a fixed measurement and positional association between the two coordinate systems. This ensures the regularity and reproducibility of coordinate transformation. The virtual content coordinate transformation completed according to the mapping relationship ensures that the projection position of the virtual content precisely corresponds to the 3D coordinate system. During overlay rendering, a fixed display transparency is set and the actual visual perspective effect is followed, achieving seamless overlay of virtual content and physical scene images. The constructed virtual-real fusion space allows the virtual content and the substation physical scene to be completely matched in spatial position without misalignment or offset. This provides a precise and intuitive virtual-real fusion visual foundation for the subsequent equipment installation and positioning guidance module's 3D model overlay display and the wiring path guidance module's 3D spatial guidance path projection. From a spatial matching perspective, it ensures the intuitiveness, accuracy, and spatial consistency of the subsequent module operation guidance.

[0047] The installation and positioning guidance module 104, based on the installation location coordinates of the equipment to be installed, overlays the 3D model of the equipment to be installed on the corresponding physical location in the target substation scene in the virtual-real fusion space. When the spatial overlap between the 3D model of the equipment and the corresponding physical location meets the preset overlap conditions, it generates the equipment installation and positioning signal of the equipment to be installed. In this embodiment of the invention, the installation positioning guidance module, when performing the following steps: based on the installation location coordinates of the equipment to be installed, superimposes and displays the 3D model of the equipment to be installed on the corresponding physical location in the target substation scene in a virtual-real fusion space; and when the spatial overlap between the 3D model of the equipment and the corresponding physical location meets a preset overlap condition, generates an installation positioning signal for the equipment to be installed, specifically for: Extract the 3D model of the equipment and the coordinates of its installation location from the equipment information of the equipment to be installed, and determine the theoretical installation area of ​​the equipment to be installed in the virtual-real fusion space based on the coordinates of its installation location. The equipment 3D model is superimposed on the theoretical installation area in a semi-transparent outline form, and the real-time position of the equipment 3D model is displayed in a semi-transparent fill form, so as to obtain a visual guide for the comparison between the real-time position outline of the equipment 3D model and the outline of the theoretical installation area. During the visually guided display process, the real-time position contour of the device's 3D model is continuously acquired in the virtual-real fusion space, and the contour boundary point cloud of the theoretical installation area is also acquired in the virtual-real fusion space. The pose of the real-time position contour boundary point cloud and the theoretical installation area contour contour boundary point cloud are compared to determine the spatial offset and attitude deviation between the real-time position contour and the theoretical installation area contour. Based on the spatial offset and attitude deviation states, the display color of the device's 3D model is dynamically adjusted. When both the spatial offset and attitude deviation states meet the preset overlap conditions, the display color is switched to the pass color to generate a device installation and positioning signal for the device to be installed.

[0048] The installation and positioning guidance module, when dynamically adjusting the display color of the device's 3D model based on spatial offset and attitude deviation, and switching the display color to a pass color to generate an installation and positioning signal for the device to be installed when both spatial offset and attitude deviation meet preset overlap conditions, is specifically used for: The spatial offset state is decomposed into directional components to obtain the offset components of the equipment's 3D model in the horizontal, vertical, and depth directions. Based on the offset components of the device's 3D model in the horizontal, vertical, and depth directions, offset weights are assigned to the red, green, and blue components of the displayed color to obtain the offset weights of each component of the displayed color. The attitude deviation state is decomposed into rotational components to obtain the rotational components of the equipment's three-dimensional model in the pitch, roll, and yaw directions. Based on the rotational components of the device's 3D model in the pitch, roll, and yaw directions, the rotational adjustment values ​​are assigned to the red, green, and blue components of the displayed color, respectively, to obtain the rotational adjustment values ​​for each component of the displayed color. Based on the offset weights and rotation adjustments of each component, the display colors are dynamically rendered to obtain the dynamic color distribution of the device's 3D model. When both the spatial offset state and the attitude deviation state reach the preset coincidence condition, the dynamic color distribution is switched to a uniform passing color to generate the equipment installation and positioning signal for the equipment to be installed.

[0049] From the pre-stored structured equipment information of the equipment to be installed, a three-dimensional model of the equipment that is completely consistent with the actual size and shape of the equipment is accurately extracted. At the same time, the three-dimensional installation position coordinates of the equipment, which are calibrated by the substation engineering design, are extracted. Using the installation position coordinates as the three-dimensional center point, and combined with the length, width, and height of the equipment's three-dimensional model, a three-dimensional closed space region that matches the equipment installation requirements is delineated in the virtual-real fusion space. The three-dimensional dimensions of this region are completely consistent with the external dimensions of the equipment's three-dimensional model. This three-dimensional closed space region is the theoretical installation area of ​​the equipment to be installed.

[0050] The 3D model of the equipment is precisely overlaid on the theoretical installation area in the virtual-real fusion space in the form of a white outline with a preset 60% transparency. At the same time, based on the real-time physical position of the equipment during the actual installation process, the real-time position of the 3D model of the equipment is simultaneously calibrated in the virtual-real fusion space and displayed in the form of a fill with a preset 40% transparency. This allows the real-time position outline of the 3D model of the equipment to form an intuitive spatial position and shape outline comparison with the outline of the theoretical installation area in the same virtual-real fusion space. This visual comparison serves as a visual guide between the real-time position outline of the 3D model of the equipment and the outline of the theoretical installation area.

[0051] Throughout the entire process of visually guided continuous display, a fixed point cloud acquisition density of 5 points per square centimeter is used to collect 3D spatial points point by point on the edge of the real-time position contour of the device's 3D model. The collected point cloud contains the 3D coordinate information of each point in the virtual-real fusion space, forming the contour boundary point cloud of the real-time position contour of the device's 3D model in the virtual-real fusion space. At the same time, according to the same point cloud acquisition density, the edge of the theoretical installation area contour is collected point by point on the same standard in 3D spatial points, resulting in the contour boundary point cloud of the theoretical installation area contour in the virtual-real fusion space.

[0052] The contour boundary point cloud of the real-time position contour is paired one-to-one with the contour boundary point cloud of the theoretical installation area contour. Using the contour boundary point cloud of the theoretical installation area contour as a reference, the difference in the three-dimensional coordinates of each pair of corresponding points in the virtual-real fusion space is compared to comprehensively determine the overall spatial position offset of the real-time position contour relative to the theoretical installation area contour. At the same time, the overall spatial attitude formed by the two contour boundary point clouds is compared to analyze the rotation of the real-time position contour relative to the theoretical installation area contour around the three-dimensional coordinate axis. Based on the above judgment and analysis results, the spatial offset state and attitude deviation state between the real-time position contour and the theoretical installation area contour are obtained.

[0053] Based on the three-dimensional spatial orientation of the theoretical installation area, the overall offset of the real-time position contour relative to the contour of the theoretical installation area in the spatial offset state is independently decomposed according to the three-dimensional orthogonal directions of horizontal, vertical, and depth. Only the specific offset value in each direction is calculated, and there is no superposition calculation of offsets in different directions. Finally, the independent offset components of the equipment three-dimensional model in the horizontal, vertical and depth directions are obtained.

[0054] The red component of the display color is uniquely associated with the horizontal offset component of the device's 3D model, the green component with the vertical offset component, and the blue component with the depth offset component. Based on the actual value of each offset component, an offset weight is assigned to the corresponding color component according to the magnitude of the value. When the offset component value is 0, the offset weight of the corresponding color component is 0. When the offset component value reaches the preset maximum offset threshold for device installation, the offset weight of the corresponding color component is 1. The offset component values ​​between 0 and the maximum offset threshold are assigned weight values ​​in a linear proportion to the corresponding interval, thus obtaining the offset weights of the red, green, and blue components of the display color.

[0055] Based on the spatial attitude of the theoretical installation area, the overall rotation of the real-time position contour relative to the theoretical installation area contour in the attitude deviation state is independently decomposed according to the three-dimensional rotation directions of pitch up and down, roll left and right, and yaw forward and backward. Only the specific rotation angle in each rotation direction is calculated, without superposition calculation of angles in different rotation directions. Finally, the independent rotation components of the equipment three-dimensional model in the pitch, roll and yaw directions are obtained.

[0056] The red component of the display color is uniquely associated with the pitch rotation component of the device's 3D model, the green component with the roll rotation component, and the blue component with the yaw rotation component. Based on the actual angle value of each rotation component, a rotation adjustment amount is assigned to the corresponding color component according to the angle. When the rotation component angle is 0, the rotation adjustment amount of the corresponding color component is 0. When the rotation component angle reaches the preset maximum rotation threshold for device installation, the rotation adjustment amount of the corresponding color component is 255. The rotation component angles between 0 and the maximum rotation threshold are assigned adjustment amounts in the corresponding range according to a linear ratio, thus obtaining the rotation adjustment amounts of the red, green, and blue components of the display color.

[0057] The offset weight of each color component and the corresponding rotation adjustment amount are linearly fused and calculated. Based on the calculation results, the final display value of each red, green and blue component is determined, with the value range limited to 0 to 255. During the installation process, as the real-time position of the device's 3D model changes, the offset weight and rotation adjustment amount of each component are updated synchronously, thereby adjusting the final display value of each color component in real time. This allows different areas of the device's 3D model to present corresponding color changes according to different pose deviations, ultimately resulting in a dynamic color distribution of the device's 3D model that changes dynamically with real-time pose.

[0058] The default conditions for device installation overlap are that the offset components of the device's 3D model in the horizontal, vertical, and depth directions are all 0, and the rotation component angles in the pitch, roll, and yaw directions are all 0. When the spatial offset and attitude deviation conditions are simultaneously met, the dynamic color distribution of the device's 3D model is immediately switched to a uniform pass color, which is set to pure green with a value of 255. At the same time, the system's signal generation command is triggered. The electrical signal generated by the system according to the command is the device installation and positioning signal of the device to be installed. This signal is synchronously transmitted to the system backend and displayed visually on the wearable augmented reality device's display interface.

[0059] The beneficial effects include providing a precise design basis for delineating the theoretical installation area by extracting the equipment's 3D model and installation location coordinates from the equipment's structured information. The delineated theoretical installation area perfectly matches the equipment installation requirements. The differentiated display of semi-transparent contours and fills allows for intuitive spatial comparison through visual guidance. Fixed-density point cloud acquisition ensures consistency in acquisition standards between the real-time position contour and the theoretical installation area contour, providing accurate basic data for pose determination. The independent decomposition of spatial offset and attitude deviation in three dimensions allows for quantified standards for determining offset and rotation components, with color component weights corresponding one-to-one by direction. Reassignment and adjustment values ​​allow for the visual representation of equipment installation positional deviations through color. Dynamically rendered color distribution enables operators to perceive installation deviations in real time. Clear and quantifiable preset overlap conditions provide a unified standard for determining equipment installation placement. Switching between color-based and signal-based installation placement signals achieves both visual and signal-based feedback for placement determination. The entire implementation process has clear operational standards and quantifiable indicators, ensuring the accuracy and standardization of equipment installation alignment, reducing human error, and improving the efficiency and accuracy of placement determination. This lays a precise foundation for subsequent wiring operations.

[0060] The wiring path guidance module 105, in response to the equipment installation and positioning signal, generates a three-dimensional spatial guidance path from the current terminal to be wired to the target connection terminal according to the equipment wiring terminal definition of the equipment to be installed, and continuously projects and displays the three-dimensional spatial guidance path in the virtual and real fusion space to guide the operator to perform wiring operations.

[0061] In this embodiment of the invention, the wiring path guidance module, in response to a device installation signal, generates a three-dimensional spatial guidance path from the current terminal to be wired to the target connection terminal based on the device wiring terminal definition of the device to be installed, and continuously projects and displays the three-dimensional spatial guidance path in a virtual-real fusion space to guide the operator in wiring operations. Specifically, it is used for: In response to the equipment installation and positioning signal, the equipment terminal definition is extracted from the equipment information of the equipment to be installed, and the first terminal coordinates of the current terminal to be connected in the three-dimensional space model and the second terminal coordinates of the target connection terminal in the three-dimensional space model are obtained according to the equipment terminal definition. By performing spatial pathfinding on the coordinates of the first and second terminals and the obstacle information in the device's 3D model and 3D spatial model, a 3D spatial guidance path from the current terminal to be connected to the target terminal is obtained. Visual enhancement rendering is applied to the 3D spatial guide path to obtain a dynamic guide line for the 3D spatial guide path; Based on the real-time spatial pose, the dynamic guide line is projected into the virtual-real fusion space, so that the dynamic guide line and the physical space of the target substation scene maintain a fixed relative position. As the operator performs wiring operations along the dynamic guide line, the projected position of the dynamic guide line is continuously updated to guide the operator in completing the wiring operation.

[0062] When the wiring path guidance module performs spatial pathfinding by comparing the coordinates of the first terminal and the second terminal with obstacle information in the device's 3D model and 3D spatial model to obtain a 3D spatial guidance path from the current terminal to be wired to the target connection terminal, it is specifically used for: A spatial pathfinding task is established in a three-dimensional spatial model, with the first terminal coordinate as the path start point and the second terminal coordinate as the path end point. The outline boundary of the equipment to be installed in the 3D model of the equipment is integrated and refined with the outline boundary of the existing equipment and the outline boundary of the structural column in the target substation scene in the 3D spatial model to obtain the obstacle constraint conditions for the spatial pathfinding task. Based on the obstacle constraints, the passage area is defined in the three-dimensional space model to obtain the free space area of ​​the equipment to be installed. Trajectory planning is performed within the free space region to obtain candidate spatial curves between the path start and path end points; The shortest curve is selected from the candidate spatial curves and used as the three-dimensional spatial guide path from the current terminal to be connected to the target terminal.

[0063] After receiving the equipment installation signal from the device to be installed, the system accurately extracts the device wiring terminal definition, which includes terminal number, terminal function, and terminal three-dimensional coordinate association information, from the pre-stored structured equipment information of the device to be installed. Based on the coordinate binding relationship between the terminal and the three-dimensional space model in the definition, the system directly retrieves the three-dimensional space coordinates that the current terminal to be connected uniquely corresponds to in the three-dimensional space model as the first terminal coordinates. At the same time, the system retrieves the three-dimensional space coordinates that the target connection terminal uniquely corresponds to in the three-dimensional space model as the second terminal coordinates. The coordinate extraction process is completely consistent with the coordinate measurement standard of the three-dimensional space model.

[0064] Using the extracted coordinates of the first terminal as the unique starting point of the spatial path and the coordinates of the second terminal as the unique ending point of the spatial path, a three-dimensional path finding range is defined in the constructed three-dimensional spatial model of the target substation scenario, with the path starting point and the path ending point as the core and extending outward to the preset wiring operation space size. The core requirement of planning an unobstructed connecting path for path finding is clarified. Based on this defined range and core requirements, a complete spatial path finding task is established. The coordinate information of the path starting point and the ending point, as well as the spatial range definition standard of path finding are solidified in the task.

[0065] The precise calibrated set of 3D coordinates of the outer edge of the equipment to be installed is extracted from the 3D model of the equipment to be installed, serving as the contour boundary of the equipment to be installed. At the same time, the calibrated set of 3D coordinates of the outer edge of all existing equipment and the calibrated set of 3D coordinates of the outer edge of all structural columns are extracted from the 3D spatial model of the target substation scene, serving as the contour boundaries of existing equipment and structural columns, respectively. The 3D coordinate sets of the three types of contour boundaries are comprehensively summarized, and duplicate coordinate points appearing in the summarization process are eliminated. The complete 3D spatial occupancy range of all obstacles in the 3D spatial model is accurately extracted. This occupancy range is set as the area where the path is prohibited from crossing during the spatial pathfinding process. The standard for defining this prohibited area is the obstacle constraint condition for the spatial pathfinding task.

[0066] Using the three-dimensional pathfinding range defined by the spatial pathfinding task as the overall boundary, and based on the clearly defined prohibited traversal areas under obstacle constraints, the area within the pathfinding range is judged block by block in the three-dimensional spatial model. All spatial parts belonging to the prohibited traversal areas are eliminated, and the remaining three-dimensional spatial areas with freely plannable paths and no obstacles occupying them are retained. The three-dimensional closed boundary of the plannable path area is accurately marked. The complete passable three-dimensional spatial area after marking is the free space area of ​​the equipment to be installed.

[0067] Using the coordinates of the first terminal at the starting point of the path and the coordinates of the second terminal at the ending point of the path as fixed start and end points, multiple continuous spatial curves are planned within the marked free space area according to different spatial directions. All planned spatial curves are smooth, continuous curves without bends, and all points along the curve are within the marked boundaries of the free space area, with no points crossing prohibited crossing areas defined by obstacle constraints. All spatial curves that meet the planning requirements are summarized to form candidate spatial curves between the starting point and the ending point of the path.

[0068] Using the physical measurement units adopted by the three-dimensional spatial model as a unified benchmark, the actual length of each candidate spatial curve is measured in three-dimensional space. The complete length value of each candidate spatial curve is recorded one by one. The length values ​​of all candidate spatial curves are sorted in ascending order, and the candidate spatial curve with the smallest length value in the sorting results is selected. This curve is the three-dimensional spatial guide path from the current terminal to be connected to the target connection terminal.

[0069] Visual enhancement rendering is performed on the selected three-dimensional spatial guide path. A preset fixed value is set for the basic display width of the guide line. A preset main color with high contrast to the physical scene of the substation is used to complete the basic coloring of the guide line. At the same time, a dynamic flowing light effect is added to the guide line. The movement direction of the flowing light is set to be completely consistent with the direction of the wiring operation from the current terminal to be connected to the target terminal. A fixed flashing frequency is set for the flowing light. The guide line with dynamic visual effects formed after the above series of visual enhancement rendering processes is the dynamic guide line of the three-dimensional spatial guide path.

[0070] The coordinate transformation mapping relationship from the display coordinate system to the three-dimensional coordinate system corresponding to the real-time spatial pose of the wearable augmented reality device is extracted. According to this mapping relationship, all three-dimensional coordinate points of the dynamic guide line are converted into projected coordinates in the virtual-real fusion space one by one. The conversion process strictly follows the rules of coordinate mapping without any coordinate deviation. The coordinate-transformed dynamic guide line is accurately superimposed onto the corresponding projection position in the virtual-real fusion space. During the superposition process, the physical space of the target substation scene is used as a fixed reference to ensure that the spatial position of the dynamic guide line and the actual position of the terminals and obstacles in the physical space of the substation maintain a fixed relative position relationship.

[0071] Throughout the entire wiring process, the latest real-time spatial pose of the wearable augmented reality device is acquired at a preset high-frequency acquisition frequency. Based on the latest real-time spatial pose, the coordinate transformation mapping relationship from the display coordinate system to the three-dimensional coordinate system is updated synchronously. Then, based on the updated mapping relationship, all the projected coordinates of the dynamic guide line in the virtual-real fusion space are recalculated, and the projection display position of the dynamic guide line in the virtual-real fusion space is adjusted synchronously. This ensures that the operator can clearly see the complete and unoffset dynamic guide line from any angle or position during the wiring operation, and always complete the wiring operation according to the direction of the guide line.

[0072] The beneficial effects include: extracting terminal definitions based on equipment installation and positioning signals as trigger conditions, ensuring the matching of wiring path planning initiation timing with equipment installation status; accurately extracting the coordinates of the first and second terminals, providing fixed and accurate start and end points for spatial pathfinding; defining a clear pathfinding range when establishing spatial pathfinding tasks, giving path planning clear boundary constraints; integrating and refining obstacle constraints obtained from three types of contour boundaries, comprehensively covering all obstacle occupancy in the substation scenario, ensuring the comprehensiveness of obstacle avoidance in path planning; and providing a safe and compliant planning range for trajectory planning based on the free space area defined by the constraint conditions. All planned candidate spatial curves meet the core requirement of obstacle-free operation. The system selects the shortest curve as the 3D spatial guide path to optimize the wiring operation distance, effectively reducing the operation travel distance. Visual enhancement rendering adds dynamic flowing light effects to the guide lines, improving their visual recognizability. Combined with real-time spatial pose projection, the dynamic guide lines maintain a fixed relative position with the physical space, and the projection position is continuously updated during the wiring process, ensuring that operators receive accurate and intuitive path guidance throughout. The entire process makes the planning and display of wiring paths highly accurate and practical, significantly reducing the probability of errors in manual wiring path planning, improving the efficiency and accuracy of wiring operations, and making the wiring guidance highly consistent with the actual on-site operation scenario.

[0073] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention.

[0074] This application embodiment can acquire and process relevant data based on artificial intelligence technology. Artificial intelligence is the theory, method, technology, and application system that uses digital computers or machines controlled by digital computers to simulate, extend, and expand human intelligence, perceive the environment, acquire knowledge, and use that knowledge to obtain optimal results.

[0075] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.

Claims

1. An augmented reality-based substation equipment installation and wiring guidance system, characterized in that, The system includes a 3D scene reconstruction module, a visual-inertial positioning module, a spatial registration module, an installation and positioning guidance module, and a wiring path guidance module, wherein: The 3D scene reconstruction module performs point cloud fusion reconstruction on the 3D point cloud data of the target substation scene to obtain a 3D spatial model corresponding to the target substation scene. The visual inertial positioning module collects environmental images and motion data of the target substation scene through a wearable augmented reality device. It matches visual feature points in the environmental images with corresponding feature points in the three-dimensional spatial model. Based on the initial pose parameters and motion data obtained from the matching, it collaboratively optimizes the pose of the wearable augmented reality device to obtain the real-time spatial pose of the wearable augmented reality device. The spatial registration module, based on real-time spatial pose, spatially registers the display coordinate system of the wearable augmented reality device with the three-dimensional coordinate system of the three-dimensional spatial model to construct a virtual-real fusion space of the target substation scene; The installation and positioning guidance module, based on the installation location coordinates of the equipment to be installed, overlays the 3D model of the equipment to be installed on the corresponding physical location in the virtual-real fusion space. When the spatial overlap between the 3D model of the equipment and the corresponding physical location meets the preset overlap conditions, the installation and positioning signal of the equipment to be installed is generated. The wiring path guidance module, in response to the equipment installation and positioning signal, generates a three-dimensional spatial guidance path from the current terminal to be wired to the target connection terminal according to the equipment wiring terminal definition of the equipment to be installed, and continuously projects and displays the three-dimensional spatial guidance path in the virtual-real fusion space to guide the operator to perform wiring operations.

2. The augmented reality-based substation equipment installation and wiring guidance system as described in claim 1, characterized in that, When the 3D scene reconstruction module performs point cloud fusion reconstruction on the 3D point cloud data of the target substation scene to obtain a 3D spatial model corresponding to the target substation scene, it is specifically used for: Acquire multi-view 3D point cloud data of the target substation scene, and remove outliers and noise points from the multi-view 3D point cloud data to obtain preprocessed point cloud data of the target substation scene; Geometric feature points are extracted from the preprocessed point cloud data, and feature matching is performed on the point cloud data from different viewpoints based on the spatial positional relationship between the geometric feature points to determine the spatial transformation relationship between point cloud data from adjacent viewpoints. Based on the spatial transformation relationship, the point cloud data from different perspectives are normalized to obtain the fused point cloud data of the target substation scene. The fused point cloud data is reconstructed in three dimensions to obtain a three-dimensional spatial model corresponding to the target substation scene.

3. The augmented reality-based substation equipment installation and wiring guidance system as described in claim 1, characterized in that, The visual-inertial positioning module, when performing tasks such as acquiring environmental images and motion data of the target substation scene through a wearable augmented reality device, matching visual feature points in the environmental images with corresponding feature points in the 3D spatial model, and co-optimizing the pose of the wearable augmented reality device based on the initial pose parameters and motion data obtained from the matching, specifically uses the following functions to obtain the real-time spatial pose of the wearable augmented reality device: The environmental images of the target substation scene are acquired using the image acquisition components of a wearable augmented reality device. The visual feature points in the environmental image are matched with the three-dimensional feature points in the three-dimensional spatial model, and the pose calculation is performed on the successfully matched feature point pairs to obtain the initial pose parameters of the wearable augmented reality device. The angular velocity and acceleration data of the wearable augmented reality device are acquired synchronously through the inertial measurement unit of the wearable augmented reality device to obtain the motion dataset of the target substation scene; The initial pose parameters are coupled and bound to the motion dataset to construct a fusion constraint relationship between the initial pose parameters and the motion dataset; Based on the fusion constraints, the spatial position and spatial pose of the wearable augmented reality device are iteratively updated to obtain the real-time spatial pose of the wearable augmented reality device.

4. The augmented reality-based substation equipment installation and wiring guidance system as described in claim 3, characterized in that, The formula for calculating the initial pose parameters is as follows: ； In the formula, These are the initial pose parameters. Let be a rotation matrix. It is a translation vector. To obtain the first from the three-dimensional spatial model The coordinates of the successfully matched 3D feature points These are the coordinates of two-dimensional feature points in the environmental image that correspond to the coordinates of the three-dimensional feature points. This is the preset intrinsic parameter matrix for the image acquisition component. This is a function for solving the perspective function for n points.

5. The augmented reality-based substation equipment installation and wiring guidance system as described in claim 1, characterized in that, The spatial registration module, when performing spatial registration based on real-time spatial pose to establish a virtual-real fusion space for the target substation scene, is specifically used for: Based on the real-time spatial pose, determine the correspondence between the origin position and coordinate axis direction in the display coordinate system of the wearable augmented reality device and the three-dimensional coordinate system of the three-dimensional spatial model; By performing coordinate mapping deduction on the corresponding relationship, the coordinate transformation mapping relationship from the display coordinate system to the three-dimensional coordinate system is obtained; Based on the coordinate transformation mapping relationship, the virtual content to be displayed is transformed to obtain the projection position of the virtual content in the three-dimensional coordinate system; The virtual content after coordinate transformation is overlaid and rendered onto the display interface of the wearable augmented reality device to construct a virtual-real fusion space for the target substation scene.

6. The augmented reality-based substation equipment installation and wiring guidance system as described in claim 1, characterized in that, The installation positioning guidance module, when executing the process of overlaying a 3D model of the equipment to be installed onto the corresponding physical location in the target substation scene based on the installation location coordinates of the equipment, generates an installation positioning signal for the equipment to be installed in a virtual-real fusion space. Specifically, this is used for: Extract the 3D model of the equipment and the coordinates of its installation location from the equipment information of the equipment to be installed, and determine the theoretical installation area of ​​the equipment to be installed in the virtual-real fusion space based on the coordinates of its installation location. The equipment 3D model is superimposed on the theoretical installation area in a semi-transparent outline form, and the real-time position of the equipment 3D model is displayed in a semi-transparent fill form, so as to obtain a visual guide for the comparison between the real-time position outline of the equipment 3D model and the outline of the theoretical installation area. During the visually guided display process, the real-time position contour of the device's 3D model is continuously acquired in the virtual-real fusion space, and the contour boundary point cloud of the theoretical installation area is also acquired in the virtual-real fusion space. The pose of the real-time position contour boundary point cloud and the theoretical installation area contour contour boundary point cloud are compared to determine the spatial offset and attitude deviation between the real-time position contour and the theoretical installation area contour. Based on the spatial offset and attitude deviation states, the display color of the device's 3D model is dynamically adjusted. When both the spatial offset and attitude deviation states meet the preset overlap conditions, the display color is switched to the pass color to generate a device installation and positioning signal for the device to be installed.

7. The augmented reality-based substation equipment installation and wiring guidance system as described in claim 6, characterized in that, The installation and positioning guidance module, when dynamically adjusting the display color of the device's 3D model based on spatial offset and attitude deviation, and switching the display color to a pass color to generate an installation and positioning signal for the device to be installed when both spatial offset and attitude deviation meet preset overlap conditions, is specifically used for: The spatial offset state is decomposed into directional components to obtain the offset components of the equipment's 3D model in the horizontal, vertical, and depth directions. Based on the offset components of the device's 3D model in the horizontal, vertical, and depth directions, offset weights are assigned to the red, green, and blue components of the displayed color to obtain the offset weights of each component of the displayed color. The attitude deviation state is decomposed into rotational components to obtain the rotational components of the equipment's three-dimensional model in the pitch, roll, and yaw directions. Based on the rotational components of the device's 3D model in the pitch, roll, and yaw directions, the rotational adjustment values ​​are assigned to the red, green, and blue components of the displayed color, respectively, to obtain the rotational adjustment values ​​for each component of the displayed color. Based on the offset weights and rotation adjustments of each component, the display colors are dynamically rendered to obtain the dynamic color distribution of the device's 3D model. When both the spatial offset state and the attitude deviation state reach the preset coincidence condition, the dynamic color distribution is switched to a uniform passing color to generate the equipment installation and positioning signal for the equipment to be installed.

8. The augmented reality-based substation equipment installation and wiring guidance system as described in claim 1, characterized in that, When the wiring path guidance module responds to the equipment installation and positioning signal, generates a three-dimensional spatial guidance path from the current terminal to be wired to the target connection terminal based on the equipment wiring terminal definition of the equipment to be installed, and continuously projects and displays the three-dimensional spatial guidance path in a virtual-real fusion space to guide the operator in wiring operations, it is specifically used for: In response to the equipment installation and positioning signal, the equipment terminal definition is extracted from the equipment information of the equipment to be installed, and the first terminal coordinates of the current terminal to be connected in the three-dimensional space model and the second terminal coordinates of the target connection terminal in the three-dimensional space model are obtained according to the equipment terminal definition. By performing spatial pathfinding on the coordinates of the first and second terminals and the obstacle information in the device's 3D model and 3D spatial model, a 3D spatial guidance path from the current terminal to be connected to the target terminal is obtained. Visual enhancement rendering is applied to the 3D spatial guide path to obtain a dynamic guide line for the 3D spatial guide path; Based on the real-time spatial pose, the dynamic guide line is projected into the virtual-real fusion space, so that the dynamic guide line and the physical space of the target substation scene maintain a fixed relative position. As the operator performs wiring operations along the dynamic guide line, the projected position of the dynamic guide line is continuously updated to guide the operator in completing the wiring operation.

9. The augmented reality-based substation equipment installation and wiring guidance system as described in claim 8, characterized in that, When the wiring path guidance module performs spatial pathfinding by comparing the coordinates of the first terminal and the second terminal with obstacle information in the device's 3D model and 3D spatial model to obtain a 3D spatial guidance path from the current terminal to be wired to the target connection terminal, it is specifically used for: A spatial pathfinding task is established in a three-dimensional spatial model, with the first terminal coordinate as the path start point and the second terminal coordinate as the path end point. The outline boundary of the equipment to be installed in the 3D model of the equipment is integrated and refined with the outline boundary of the existing equipment and the outline boundary of the structural column in the target substation scene in the 3D spatial model to obtain the obstacle constraint conditions for the spatial pathfinding task. Based on the obstacle constraints, the passage area is defined in the three-dimensional space model to obtain the free space area of ​​the equipment to be installed. Trajectory planning is performed within the free space region to obtain candidate spatial curves between the path start and path end points; The shortest curve is selected from the candidate spatial curves and used as the three-dimensional spatial guide path from the current terminal to be connected to the target terminal.

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