Photovoltaic power station operation and maintenance positioning method and system based on digital twinning

Abstract

The present application relates to the technical field of operation and maintenance positioning, in particular to a photovoltaic power station operation and maintenance positioning method and system based on digital twinning, comprising: acquiring a digital twinning model of a photovoltaic power station, and acquiring a field three-dimensional laser scanning point cloud of the photovoltaic power station; registering the field three-dimensional laser scanning point cloud with the digital twinning model to determine an initial position coordinate of an operation and maintenance personnel in the digital twinning model; and determining a 3D navigation grid unit in a preset range centered on the initial position coordinate according to the initial position coordinate and equipment layout information associated with the photovoltaic power station. The present application stores grid indexes and safety levels, obstacle occupation, passable areas, conflict levels and equipment interference risk labels in association, generates target navigation vectors using spatial topology data and navigation priority data, and simultaneously introduces real-time positions and path planning information of other operation and maintenance personnel for cross conflict detection, thereby achieving dynamic avoidance and path optimization under the cooperation of multiple operation and maintenance personnel.

Description

Technical Field

[0001] This invention relates to the field of operation and maintenance positioning technology, specifically to a method and system for operation and maintenance positioning of photovoltaic power plants based on digital twins. Background Technology

[0002] Currently, traditional methods mostly rely on static maps or fixed navigation routes, lacking integration with digital twin models, real-time laser point clouds, equipment status, and dynamic obstacle information. They cannot dynamically calculate safety levels and passage weights based on on-site equipment layout, passage width, equipment height, and real-time obstacle changes, resulting in poor path planning safety. This can easily lead maintenance personnel to accidentally enter narrow, restricted, or suddenly obstructed areas, increasing the risk of safety accidents.

[0003] In addition, traditional methods typically plan paths independently for a single operations and maintenance (O&M) personnel, lacking real-time location sharing, path cross-detection, and conflict level assessment mechanisms among multiple O&M personnel. This makes it impossible to achieve collaborative avoidance and dynamic path optimization, resulting in path overlap and frequent intersection point conflicts when multiple people are working, which seriously reduces O&M efficiency and increases the risk of collisions. Summary of the Invention

[0004] To achieve the above objectives, the present invention provides the following technical solution: a photovoltaic power plant operation and maintenance positioning method based on digital twins, comprising: A digital twin model of a photovoltaic power station is obtained, and a three-dimensional laser scanning point cloud of the photovoltaic power station is obtained on-site. The three-dimensional laser scanning point cloud on-site is registered with the digital twin model to determine the initial position coordinates of the operation and maintenance personnel in the digital twin model. Based on the initial location coordinates and the equipment layout information associated with the photovoltaic power station, determine the 3D navigation grid units within a preset range centered on the initial location coordinates; determine the equipment type and status of the maintenance equipment carried by the maintenance personnel, and determine the passage weight of each 3D navigation grid unit based on the equipment association relationship in the equipment layout information; Based on the physical obstacle distribution data in the digital twin model and the real-time obstacle location data collected by the mobile sensing device, the obstacle occupancy information of each 3D navigation grid unit is determined. Based on the passage weight and obstacle occupancy information of each 3D navigation grid unit, and combined with the maintenance channel width and equipment height restrictions in the equipment layout information, the safety level index of each 3D navigation grid unit is determined; based on the safety level index of each 3D navigation grid unit, and by integrating the passable area data in the equipment layout information, a set of candidate paths from the initial position coordinates to the target maintenance point is determined. Obtain the path planning information or real-time location information of at least one other operation and maintenance personnel in the photovoltaic power station. If it is determined that any path in the candidate path set intersects with the path planning information or real-time location of the other operation and maintenance personnel at the same 3D navigation grid cell, then determine the conflict level of the intersecting path according to the security level index of the intersecting grid cell and the equipment association relationship in the equipment layout information. Based on the security level index of each 3D navigation grid unit and the conflict level of each intersecting path, the current maintenance personnel are positioned using 3D navigation.

[0005] Preferably, 3D navigation positioning is performed on the current maintenance personnel based on the security level index of each 3D navigation grid unit and the conflict level of each intersecting path, including: Based on the security level index of each 3D navigation grid unit and combined with the operation and maintenance channel width parameter in the device layout information, the comprehensive passage cost of each candidate path is determined; wherein, the comprehensive passage cost characterizes the overall passage difficulty of the candidate path, and the operation and maintenance channel width parameter is used to increase the passage cost of narrow channels; The optimal navigation path is determined by weighting and merging the comprehensive travel costs of each candidate path and the conflict levels of each intersecting path, and by introducing preset path planning weights. Based on the optimal navigation path, 3D navigation and positioning are performed on the current maintenance personnel; The 3D navigation mesh unit is obtained by voxelizing the space within the preset range. The device layout information represents the relationship between each device. The 3D navigation mesh unit represents the smallest navigation unit within the preset range and includes the mapping relationship from the world coordinate system to the local navigation coordinate system.

[0006] Preferably, the method further includes: The grid index of each 3D navigation grid unit is associated with the security level index corresponding to that grid unit and stored together. The grid index of each 3D navigation grid unit is also associated with the obstacle occupancy information corresponding to that grid unit and the passable area data in the device layout information. The grid index represents the sorting number of the 3D navigation grid unit within a preset range, and the passable area data is stored as a supplementary attribute to the obstacle occupancy information.

[0007] Preferably, the method further includes: If it is determined that any path in the candidate path set intersects with the path of other maintenance personnel, the coordinates of the intersection point of the intersecting paths are determined according to the grid index of the 3D navigation grid unit traversed by the intersecting path and the device association relationship in the device layout information. The coordinates of the intersection point are associated with the corresponding conflict level and the equipment interference risk label in the equipment association relationship and stored together.

[0008] Preferably, 3D navigation positioning is performed on the current maintenance personnel based on the security level index of each 3D navigation grid unit and the conflict level of each intersecting path, including: Based on all security level indices and passable area data associated with the grid index, the path cost data of the grid index is determined; wherein, the path cost data represents the path planning reference value corresponding to the grid index, and the passable area data is used to correct the calculation of the path cost data; Based on the path cost data of each grid index and all obstacle occupancy information and equipment interference risk labels associated with each grid index, the candidate path set is filtered to obtain the navigation instructions for the 3D navigation and positioning.

[0009] Preferably, the path cost data of the grid index is determined based on all security level indexes and passable area data associated with the grid index, including: Determine the spatial topology data of the digital twin model; wherein the spatial topology data represents the connection relationship between each 3D navigation mesh unit, and the connection relationship is constructed based on the mapping relationship from the world coordinate system to the local navigation coordinate system; Based on all security level indices and passable area data associated with the grid index, the edges to be traversed in the spatial topology data are determined; wherein, the edges to be traversed represent the connecting edges selected from the graph structure of the spatial topology data, and the passable area data is used to filter out impassable edges; The data of the edges to be traversed are obtained from the spatial topology data and the device association weights in the device layout information are integrated to form the path cost data of the grid index.

[0010] Preferably, the candidate path set is filtered based on the path cost data of each grid index and all obstacle occupancy information and device interference risk labels associated with each grid index to obtain the navigation instructions for the 3D navigation and positioning, including: Identify all conflict levels and device interference risk labels associated with the grid index; Based on the path cost data of the grid index, all conflict levels associated with the grid index, device interference risk labels, and preset path planning weights, the navigation priority data of the grid index is determined; wherein, the navigation priority data represents the priority order of the grid index in path planning, and the device interference risk labels are used to reduce the navigation priority of high-risk areas; Based on the navigation priority data of each grid index and all security level indexes associated with each grid index, the candidate path set is filtered to obtain the navigation instructions for the 3D navigation positioning.

[0011] Preferably, the candidate path set is filtered based on the navigation priority data of each grid index and all security level indexes associated with each grid index to obtain the navigation instructions for the 3D navigation and positioning, including: For each grid index, based on all security level indices and passable area data associated with the grid index, the navigation priority data of the grid index is superimposed with the same preset empty navigation vector to obtain the target navigation vector of the digital twin model; wherein, the target navigation vector represents the complete navigation path from the initial position coordinates to the target operation and maintenance point in the photovoltaic power station, and the passable area data is used to constrain the spatial range of the target navigation vector; Based on the target navigation vector, the 3D navigation and positioning instructions are generated to determine the current travel route of the maintenance personnel.

[0012] Preferably, based on the initial position coordinates and the equipment layout information associated with the photovoltaic power station, a 3D navigation mesh unit within a preset range centered on the initial position coordinates is determined, including: Based on the initial position coordinates, a three-dimensional spatial region with a preset range centered on the initial position coordinates is divided in the digital twin model; wherein, the initial position coordinates are located at the geometric center of the three-dimensional spatial region, and the boundary of the three-dimensional spatial region is determined by the device distribution range in the device layout information; The three-dimensional spatial region is segmented into voxels, and the segmented voxels are transformed according to the mapping relationship from the world coordinate system to the local navigation coordinate system to obtain the 3D navigation mesh unit.

[0013] A photovoltaic power plant operation and maintenance positioning system based on digital twins, applicable to the aforementioned photovoltaic power plant operation and maintenance positioning method based on digital twins, including: The 3D registration module is configured to acquire a digital twin model of a photovoltaic power station and acquire a 3D laser scanning point cloud of the photovoltaic power station at the site, register the 3D laser scanning point cloud at the site with the digital twin model, and determine the initial position coordinates of the operation and maintenance personnel in the digital twin model. The weight determination module is configured to determine 3D navigation grid units within a preset range centered on the initial position coordinates based on the initial position coordinates and the equipment layout information associated with the photovoltaic power station; determine the equipment type and status of the maintenance equipment carried by the maintenance personnel; and determine the passage weight of each 3D navigation grid unit based on the equipment association relationship in the equipment layout information. The obstacle determination module is configured to determine the obstacle occupancy information of each 3D navigation grid cell based on the physical obstacle distribution data in the digital twin model and the real-time obstacle position data collected by the mobile sensing device. The path candidate module is configured to determine the safety level index of each 3D navigation grid unit based on the passage weight and obstacle occupancy information of each 3D navigation grid unit, and in combination with the maintenance channel width and equipment height restrictions in the equipment layout information; and to determine the candidate path set from the initial position coordinates to the target maintenance point based on the safety level index of each 3D navigation grid unit and by integrating the passable area data in the equipment layout information. The conflict determination module is configured to obtain the path planning information or real-time location information of at least one other operation and maintenance personnel in the photovoltaic power station. If it is determined that any path in the candidate path set intersects with the path planning information or real-time location of the other operation and maintenance personnel at the same 3D navigation grid cell, the conflict level of the intersecting path is determined according to the security level index of the intersecting grid cell and the equipment association relationship in the equipment layout information. The navigation and positioning module is configured to perform 3D navigation and positioning for the current maintenance personnel based on the security level index of each 3D navigation grid unit and the conflict level of each intersecting path.

[0014] Compared with the prior art, the beneficial effects of the present invention are: This invention determines the initial position by registering the on-site 3D laser scanning point cloud with a digital twin model. Then, it combines multi-dimensional information such as equipment layout information, equipment type and status, real-time obstacle data, channel width and equipment height restrictions to dynamically calculate the passage weight, safety level index and conflict level of each 3D navigation grid unit. Based on the weighted fusion of comprehensive passage cost and path planning weight, the optimal navigation path is selected, which significantly improves the safety, real-time performance and environmental adaptability of photovoltaic power plant operation and maintenance path planning, and effectively avoids safety accidents caused by equipment interference, narrow channels or sudden obstacles. This invention associates storage grid indexes with security levels, obstacle occupancy, passable areas, conflict levels, and equipment interference risk labels. It also generates target navigation vectors using spatial topology data and navigation priority data. Simultaneously, it incorporates the real-time location and path planning information of other maintenance personnel for cross-conflict detection. This enables dynamic avoidance and path optimization under the collaboration of multiple maintenance personnel, significantly reducing the risk of path overlap and conflict, and improving the overall efficiency and collaborative security of maintenance operations. Attached Figure Description

[0015] Figure 1 This is a schematic flowchart of the overall method in one embodiment of the present invention; Figure 2This is a schematic diagram of the overall system architecture in one embodiment of the present invention.

[0016] In the diagram: 1. 3D registration module; 2. Weight determination module; 3. Obstacle determination module; 4. Path candidate module; 5. Conflict determination module; 6. Navigation and positioning module. Detailed Implementation

[0017] 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 are only some embodiments of the present invention, and not all embodiments. 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.

[0018] Example 1, please refer to Figure 1 This invention provides a technical solution: a photovoltaic power plant operation and maintenance positioning method based on digital twins, comprising: S1. Obtain the digital twin model of the photovoltaic power station and the on-site 3D laser scanning point cloud of the photovoltaic power station. Register the on-site 3D laser scanning point cloud with the digital twin model to determine the initial position coordinates of the operation and maintenance personnel in the digital twin model. S2. Based on the initial location coordinates and the equipment layout information associated with the photovoltaic power station, determine the 3D navigation grid units within a preset range centered on the initial location coordinates; determine the equipment type and status of the maintenance equipment carried by the maintenance personnel, and determine the passage weight of each 3D navigation grid unit based on the equipment association relationship in the equipment layout information. S3. Based on the physical obstacle distribution data in the digital twin model and the real-time obstacle position data collected by the mobile sensing device, determine the obstacle occupancy information of each 3D navigation grid unit; S4. Based on the passage weight and obstacle occupancy information of each 3D navigation grid unit, and combined with the maintenance channel width and equipment height restrictions in the equipment layout information, determine the safety level index of each 3D navigation grid unit; based on the safety level index of each 3D navigation grid unit, and by integrating the passable area data in the equipment layout information, determine the candidate path set from the initial position coordinates to the target maintenance point. S5. Obtain the path planning information or real-time location information of at least one other operation and maintenance personnel in the photovoltaic power station. If it is determined that any path in the candidate path set intersects with the path planning information or real-time location of other operation and maintenance personnel at the same 3D navigation grid cell, then determine the conflict level of the intersecting path based on the safety level index of the intersecting grid cell and the equipment association relationship in the equipment layout information. S6. Based on the security level index of each 3D navigation grid unit and the conflict level of each intersecting path, perform 3D navigation positioning for the current maintenance personnel.

[0019] It should be noted that the digital twin model represents a three-dimensional virtual mapping of the photovoltaic power station; the initial position coordinates represent the starting position of the maintenance personnel in the photovoltaic power station; the passage weight represents the difficulty for maintenance personnel to carry maintenance equipment through the corresponding 3D navigation grid unit, and the equipment association is used to correct the calculation of the passage weight; the obstacle occupancy information represents the distribution of physical obstacles in the photovoltaic power station in each 3D navigation grid unit, and real-time obstacle location data is used to dynamically update the obstacle occupancy information; the safety level index represents the ranking and numbering of the 3D navigation grid unit for the safety passage of maintenance personnel, the width of the maintenance passage, and the equipment. Height constraints are used to limit the range of values ​​for the safety level index; the candidate path set represents all possible routes for the current maintenance personnel; the passable area data represents the allowable space range for each grid cell in the local navigation coordinate system based on the static determination of the equipment layout; the conflict level represents the severity of the intersection of the current maintenance personnel's path with other maintenance personnel's paths in the same grid cell; the equipment association relationship is used to assess the risk of equipment interference at the intersection; the conflict level of intersecting paths is used to dynamically adjust the path planning strategy during 3D navigation and positioning; the safety level index and the conflict level together represent the priority basis for navigation and positioning. A digital twin model of the photovoltaic power station is obtained, along with point cloud data obtained on-site through 3D laser scanning. The on-site point cloud and the digital twin model are spatially registered to determine the initial position coordinates of the operation and maintenance personnel in the digital twin model. Based on the initial location coordinates and the equipment layout information of the photovoltaic power station, a preset range is defined with the initial location as the center, and 3D navigation grid units are generated within this range. At the same time, the type and status of the maintenance equipment carried by the maintenance personnel are determined, and then a passage weight is calculated for each 3D navigation grid unit according to the relationship between the equipment recorded in the equipment layout information. The type and status of the equipment affect the passage weight. For example, when the detection equipment is small, the weight is low and it is easy to pass, while large maintenance equipment has a high weight or is restricted. From the physical obstacle distribution data in the digital twin model, and the obstacle location data collected in real time by mobile sensing devices, it is determined whether each 3D navigation grid cell is occupied by an obstacle, i.e. obstacle occupancy information. By combining the passage weight and obstacle occupancy information of each grid cell with the maintenance channel width and equipment height restrictions in the equipment layout information, a safety level index is assigned to each grid cell. The safety level index reflects the degree of safety that the cell is allowed to pass under the current conditions. Based on the safety level index of each grid cell and by integrating the passable area data in the equipment layout information, multiple candidate paths from the initial location coordinates to the target maintenance point are planned to form a candidate path set. Obtain the path planning information or real-time location information of at least one other operation and maintenance personnel in the photovoltaic power station; if it is found that a certain path in the candidate path set intersects with the path or real-time location of other operation and maintenance personnel at the same 3D navigation grid cell, then determine the conflict level of the intersecting path, such as mild conflict, moderate conflict or severe conflict, based on the safety level index of the intersecting grid cell and the equipment association relationship in the equipment layout information. Based on the security level index of each 3D navigation grid unit and the conflict level of each intersecting path, 3D navigation positioning is performed for the current operation and maintenance personnel. That is, a path with a high security level and a low conflict level is selected for guidance, or the current positioning is dynamically adjusted to avoid conflict. In this way, photovoltaic power plant operation and maintenance positioning based on digital twin is realized.

[0020] In an optional embodiment, 3D navigation positioning is performed for the current maintenance personnel based on the security level index of each 3D navigation grid cell and the conflict level of each intersecting path, including: Based on the safety level index of each 3D navigation grid unit and combined with the operation and maintenance channel width parameter in the device layout information, the comprehensive passage cost of each candidate path is determined; whereby the comprehensive passage cost characterizes the overall passage difficulty of the candidate path, and the operation and maintenance channel width parameter is used to increase the passage cost of narrow channels; The optimal navigation path is determined by weighting and fusion based on the comprehensive travel cost of each candidate path and the conflict level of each intersecting path, and by introducing preset path planning weights. Based on the optimal navigation path, 3D navigation and positioning are performed for the current maintenance personnel; Among them, the 3D navigation mesh unit is obtained by voxelizing the space within a preset range. The device layout information represents the relationship between each device. The 3D navigation mesh unit represents the smallest navigation unit within the preset range and includes the mapping relationship from the world coordinate system to the local navigation coordinate system.

[0021] It should be noted that, based on the security level index of each 3D navigation grid unit and combined with the maintenance channel width parameter in the device layout information, a comprehensive passage cost is calculated for each candidate path; the comprehensive passage cost reflects the overall passage difficulty of the path from the start point to the end point; the role of the channel width parameter is: when the path passes through a narrow channel, an additional passage cost will be added, because narrow areas are not conducive to the passage of maintenance equipment or pose safety hazards; For each candidate path, its comprehensive travel cost is combined with the conflict level of the intersecting paths on that path, and a preset path planning weight is introduced for weighted fusion. The path planning weight can be dynamically adjusted according to the current task requirements. For example, if safety is prioritized, the weight of the safety level index is increased, and if efficiency is prioritized, the weight of the conflict level is decreased. Through weighted fusion, each candidate path will obtain a final evaluation score. The optimal navigation path is selected from all candidate paths, based on the highest evaluation score (i.e., the lowest overall cost) and acceptable conflict. Based on this optimal navigation path, real-time 3D navigation and positioning are provided for the current operations and maintenance personnel. That is, the operations and maintenance personnel are guided to move along the path in the digital twin model by means of highlighting, arrows or voice prompts. The 3D navigation mesh unit is obtained by voxelizing the space within a preset range, that is, dividing the continuous three-dimensional space into small cubic meshes; each mesh unit is the smallest navigation unit and cannot be further divided; the device layout information records in detail the spatial association and functional relationship between each device; each 3D navigation mesh unit also contains the mapping relationship from the world coordinate system to the local navigation coordinate system, which enables path planning to be carried out under a unified global coordinate system, while facilitating local dynamic adjustments.

[0022] In an optional embodiment, the method further includes: The grid index of each 3D navigation grid unit is associated with the safety level index corresponding to that grid unit and stored together. The grid index of each 3D navigation grid unit is also associated with the passable area data in the obstacle occupancy information and equipment layout information corresponding to that grid unit. Among them, the grid index represents the sorting number of the 3D navigation grid unit within a preset range, and the passable area data is stored as a supplementary attribute to the obstacle occupancy information.

[0023] It should be noted that the grid index corresponding to each 3D navigation grid cell is stored in association with the security level index of that grid cell; the grid index is a unique sorting number used to quickly locate and retrieve a specific 3D navigation grid cell within a preset range; the security level index reflects the level of passage safety of that grid cell under the current conditions. After the two are associated, its security level can be directly obtained through the grid index. The grid index of each 3D navigation grid cell is associated with and stored in conjunction with the obstacle occupancy information and the passable area data in the device layout information. The passable area data is stored as a supplementary attribute to the obstacle occupancy information. The obstacle occupancy information mainly indicates whether the grid cell is occupied by physical obstacles, while the passable area data further explains whether the area is designed or defined as passable even if there are no obstacles. For example, some areas may be empty but belong to the safety isolation zone where passage is prohibited. Through this associated storage, the actual availability of the grid cell can be comprehensively judged during path planning.

[0024] In an optional embodiment, the method further includes: If it is determined that any path in the candidate path set intersects with the path of other maintenance personnel, the coordinates of the intersection point of the intersecting paths are determined based on the grid index of the 3D navigation grid cells traversed by the intersecting path and the device association relationship in the device layout information. The coordinates of the intersection point are associated with the corresponding conflict level and the equipment interference risk label in the equipment association relationship and stored together.

[0025] It should be noted that when it is determined that a certain path in the candidate path set intersects with the path of other maintenance personnel in space, the specific intersection point coordinates of the intersecting paths are calculated based on the grid index of the 3D navigation grid cells that these intersecting paths pass through, combined with the association relationship between devices recorded in the device layout information; these intersection point coordinates are the location points in three-dimensional space, representing the location where two or more paths meet. The coordinates of the intersection point are associated with the conflict level corresponding to this intersection point, as well as the equipment interference risk label related to the intersection point in the equipment association relationship and stored together. The equipment interference risk label is used to identify whether there is a risk of mutual interference between equipment operations near the intersection point. For example, two pieces of equipment may collide or affect operational safety if they are operating in the same area at the same time. Through this associated storage, high-risk intersection points can be quickly queried in subsequent path planning or real-time navigation, and avoidance or scheduling measures can be taken in advance.

[0026] In an optional embodiment, 3D navigation positioning is performed for the current maintenance personnel based on the security level index of each 3D navigation grid cell and the conflict level of each intersecting path, including: Based on all security level indices and passable area data associated with the grid index, the path cost data of the grid index is determined; whereby, the path cost data represents the path planning reference value corresponding to the grid index, and the passable area data is used to correct the calculation of the path cost data; Based on the path cost data of each grid index and all obstacle occupancy information and equipment interference risk labels associated with each grid index, the candidate path set is filtered to obtain navigation instructions for 3D navigation and positioning.

[0027] It should be noted that for each grid index, the path cost data corresponding to that grid index is determined by comprehensively querying all security level indexes and traversable area data in its associated storage. The path cost data is a numerical value representing the cost that should be considered when including the grid as part of the path planning. The traversable area data plays a corrective role here: if a grid has a high security level, but the traversable area data indicates that it belongs to a design-prohibited area, its path cost is increased; conversely, if the security level is slightly lower but it is actually traversable and has no other restrictions, the cost may be reduced. Through this correction, the path cost data is more closely aligned with actual operation and maintenance needs. The candidate path set is filtered by using the path cost data of each grid index, combined with all obstacle occupancy information associated with each grid index and equipment interference risk labels. Specifically, for each candidate path, the path cost data of the grids it passes through is accumulated, and it is checked whether there are obstacle occupancy or high equipment interference risk labels on the path. If a path contains grids occupied by obstacles, or passes through intersections with serious equipment interference risk labels, it is excluded or its priority is reduced. After filtering, the navigation instructions corresponding to the remaining optimal path are determined as the final 3D navigation and positioning instructions, which are used to guide maintenance personnel to reach the target point safely and efficiently.

[0028] In an optional embodiment, the path cost data of the grid index is determined based on all security level indices and passable area data associated with the grid index, including: Determine the spatial topology data of the digital twin model; wherein, the spatial topology data represents the connection relationship between each 3D navigation mesh unit, and the connection relationship is constructed based on the mapping relationship from the world coordinate system to the local navigation coordinate system; Based on all security level indices and passable area data associated with the grid index, determine the edges to be traversed in the spatial topology data; whereby the edges to be traversed represent the connecting edges selected from the graph structure of the spatial topology data, and the passable area data is used to filter out the edges that are not passable. The path cost data of the grid index is formed by extracting the edge data to be traversed from the spatial topology data and integrating the device association weights in the device layout information.

[0029] It should be noted that the spatial topology data of the digital twin model is determined; the spatial topology data represents the connection relationships between various 3D navigation grid cells, and these connection relationships are constructed based on the mapping relationship from the world coordinate system to the local navigation coordinate system; specifically, the spatial topology data is a graph structure, where nodes represent each grid cell and edges represent paths between adjacent or connected grid cells. Based on all security level indices associated with each grid index and the passable area data, we filter which edges in the spatial topology data can be used as edges to be traversed; edges to be traversed refer to those connecting edges selected from the graph structure to be used for path planning; passable area data is used here to filter out those edges that are not passable, for example, if a grid cell is marked as an inaccessible area, then the edges connected to it will not be selected into the set of edges to be traversed. The specific information of all edges to be traversed is obtained from the spatial topology data, and the device association weights in the device layout information are integrated into it. The device association weights reflect the additional cost caused by the interaction or dependency between devices when moving from one grid cell to another. For example, a safety weight needs to be added when moving close to high-voltage equipment. The original cost of the edges to be traversed is combined with these weights to form the path cost data corresponding to each grid index. This path cost data can be directly used in the subsequent shortest path or lowest cost algorithm to guide the generation of navigation instructions.

[0030] In an optional embodiment, the candidate path set is filtered based on the path cost data of each grid index and all obstacle occupancy information and device interference risk labels associated with each grid index to obtain navigation instructions for 3D navigation and positioning, including: Identify all conflict levels and device interference risk labels associated with the grid index; Based on the path cost data of the grid index, all conflict levels associated with the grid index, equipment interference risk labels, and preset path planning weights, the navigation priority data of the grid index is determined; among them, the navigation priority data represents the priority order of the grid index in path planning, and the equipment interference risk labels are used to reduce the navigation priority of high-risk areas. Based on the navigation priority data of each grid index and all security level indexes associated with each grid index, the candidate path set is filtered to obtain navigation instructions for 3D navigation and positioning.

[0031] It should be noted that for each grid index, all conflict levels and all device interference risk labels associated with it are determined; the conflict level reflects the degree of congestion or interference of the grid cell at path intersections, and the device interference risk label indicates whether there is a risk of mutual interference between the operation of devices near the grid. The navigation priority data for each grid index is calculated by combining information from three aspects: the first aspect is the path cost data of the grid index itself; the second aspect is all the conflict levels and equipment interference risk labels associated with the grid index; and the third aspect is the preset path planning weight. The navigation priority data is a numerical value that determines the order in which the grid is preferentially selected in the overall path planning. Among them, the role of the equipment interference risk label is to reduce the navigation priority of high-risk areas. That is, if a grid has a high equipment interference risk label, even if its path cost is small, it will be given a lower priority and thus be avoided as much as possible in path planning. Based on the navigation priority data of each grid index, and combined with all security level indexes associated with each grid index, the candidate path set is filtered. During the filtering process, paths composed of high-priority, high-security-level grid cells are selected first, while paths containing low-priority or low-security-level grid cells are eliminated. After filtering, one or more optimal feasible paths are finally obtained, and specific 3D navigation and positioning instructions are generated accordingly to guide maintenance personnel to move safely and efficiently.

[0032] In an optional embodiment, the candidate path set is filtered based on the navigation priority data of each grid index and all security level indices associated with each grid index to obtain navigation instructions for 3D navigation and positioning, including: For each grid index, based on all security level indexes and passable area data associated with the grid index, the navigation priority data of the grid index is superimposed with the same preset empty navigation vector to obtain the target navigation vector of the digital twin model; where the target navigation vector represents the complete navigation path from the initial position coordinates to the target operation and maintenance point in the photovoltaic power station, and the passable area data is used to constrain the spatial range of the target navigation vector; Based on the target navigation vector, 3D navigation and positioning instructions are generated to determine the current travel route of the maintenance personnel.

[0033] It should be noted that, for each grid index, all security level indices and passable area data associated with that grid index are retrieved; the navigation priority value of the grid index is then superimposed on a pre-defined empty navigation vector; the empty navigation vector is a vector initially set to zero or empty, representing a navigation framework that has not yet been filled with any path information; the superposition process refers to filling the corresponding positions of the empty navigation vector with navigation priority data as weights or values ​​according to the spatial location corresponding to the grid index; for each grid index processed, its priority data is superimposed on the vector, ultimately forming a complete target navigation vector of the digital twin model; the passable area data is used here to constrain the spatial range of the target navigation vector, that is, only grid indices within the passable area can participate in the superposition, and grid indices in the impassable area will be ignored or set to zero even if they have navigation priority data; the final target navigation vector completely represents the entire navigation path from the initial position coordinates to the target maintenance point, where the value of each position point reflects the priority of that point being selected as a component of the path; Based on this target navigation vector, the highest priority continuous sequence is extracted to generate specific 3D navigation and positioning instructions, thereby determining the route that the current maintenance personnel should take, including the direction of travel, turning positions, and key grid cells along the way.

[0034] In an optional embodiment, determining 3D navigation mesh cells within a preset range centered on the initial position coordinates, based on the initial position coordinates and equipment layout information associated with the photovoltaic power station, includes: Based on the initial position coordinates, a three-dimensional spatial region with the initial position coordinates as the center is defined in the digital twin model; wherein, the initial position coordinates are located at the geometric center of the three-dimensional spatial region, and the boundary of the three-dimensional spatial region is determined by the device distribution range in the device layout information; The three-dimensional spatial region is segmented into voxels, and the segmented voxels are transformed according to the mapping relationship from the world coordinate system to the local navigation coordinate system to obtain 3D navigation mesh units.

[0035] It should be noted that in the digital twin model, a three-dimensional spatial region is defined with the initial position coordinates as the center; the boundary of this region is not a fixed size, but is determined by the spatial distribution range of the devices in the device layout information; the initial position coordinates are located exactly at the geometric center of this three-dimensional spatial region, ensuring that the surrounding area is symmetrical and covers the main densely populated areas of devices; The three-dimensional spatial region is segmented into voxels, that is, the continuous three-dimensional space is divided into small cubes of equal size, each of which is called a voxel. Then, according to the mapping relationship from the world coordinate system to the local navigation coordinate system, the vertex coordinates of each voxel are transformed into local coordinates that are convenient for path planning and navigation calculation. Each voxel obtained after transformation becomes a 3D navigation mesh unit. These mesh units together cover a predetermined range centered on the initial position and are used for subsequent passage weight, obstacle occupancy and safety level assessment.

[0036] Example 2, please refer to Figure 2 This invention provides a technical solution: a photovoltaic power plant operation and maintenance positioning system based on digital twins, applicable to the aforementioned photovoltaic power plant operation and maintenance positioning method based on digital twins, comprising: The 3D registration module 1 is configured to acquire a digital twin model of the photovoltaic power station and acquire the on-site 3D laser scanning point cloud of the photovoltaic power station. The on-site 3D laser scanning point cloud is registered with the digital twin model to determine the initial position coordinates of the operation and maintenance personnel in the digital twin model. The weight determination module 2 is configured to determine the 3D navigation grid units within a preset range centered on the initial location coordinates based on the initial location coordinates and the equipment layout information associated with the photovoltaic power station; determine the equipment type and status of the maintenance equipment carried by the maintenance personnel; and determine the passage weight of each 3D navigation grid unit based on the equipment association relationship in the equipment layout information. The obstacle determination module 3 is configured to determine the obstacle occupancy information of each 3D navigation grid cell based on the physical obstacle distribution data in the digital twin model and the real-time obstacle position data collected by the mobile sensing device. The path candidate module 4 is configured to determine the safety level index of each 3D navigation grid unit based on the passage weight and obstacle occupancy information of each 3D navigation grid unit, and in combination with the maintenance channel width and equipment height restrictions in the equipment layout information; and to determine the candidate path set from the initial position coordinates to the target maintenance point based on the safety level index of each 3D navigation grid unit and the passable area data in the equipment layout information. The conflict determination module 5 is configured to obtain the path planning information or real-time location information of at least one other operation and maintenance personnel in the photovoltaic power station. If it is determined that any path in the candidate path set intersects with the path planning information or real-time location of other operation and maintenance personnel at the same 3D navigation grid cell, the conflict level of the intersecting path is determined according to the safety level index of the intersecting grid cell and the equipment association relationship in the equipment layout information. The navigation and positioning module 6 is configured to perform 3D navigation and positioning for the current maintenance personnel based on the security level index of each 3D navigation grid unit and the conflict level of each intersecting path.

[0037] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited thereto. Various changes can be made within the scope of knowledge possessed by those skilled in the art without departing from the spirit of the present invention.

Claims

1. A photovoltaic power plant operation and maintenance positioning method based on digital twins, characterized in that, include: A digital twin model of a photovoltaic power station is obtained, and a three-dimensional laser scanning point cloud of the photovoltaic power station is obtained on-site. The three-dimensional laser scanning point cloud on-site is registered with the digital twin model to determine the initial position coordinates of the operation and maintenance personnel in the digital twin model. Based on the initial position coordinates and the equipment layout information associated with the photovoltaic power station, determine the 3D navigation grid units within a preset range centered on the initial position coordinates; Determine the equipment type and status of the maintenance equipment carried by the maintenance personnel, and determine the passage weight of each 3D navigation grid unit based on the equipment association relationship in the equipment layout information; Based on the physical obstacle distribution data in the digital twin model and the real-time obstacle location data collected by the mobile sensing device, the obstacle occupancy information of each 3D navigation grid unit is determined. Based on the passage weight and obstacle occupancy information of each 3D navigation grid unit, and combined with the maintenance channel width and equipment height restrictions in the equipment layout information, the safety level index of each 3D navigation grid unit is determined; based on the safety level index of each 3D navigation grid unit, and by integrating the passable area data in the equipment layout information, a set of candidate paths from the initial position coordinates to the target maintenance point is determined. Obtain the path planning information or real-time location information of at least one other operation and maintenance personnel in the photovoltaic power station. If it is determined that any path in the candidate path set intersects with the path planning information or real-time location of the other operation and maintenance personnel at the same 3D navigation grid cell, then determine the conflict level of the intersecting path according to the security level index of the intersecting grid cell and the equipment association relationship in the equipment layout information. Based on the security level index of each 3D navigation grid unit and the conflict level of each intersecting path, 3D navigation positioning is performed for the current maintenance personnel. The method further includes: If it is determined that any path in the candidate path set intersects with the path of other maintenance personnel, the coordinates of the intersection point of the intersecting paths are determined according to the grid index of the 3D navigation grid unit traversed by the intersecting path and the device association relationship in the device layout information. The coordinates of the intersection point are associated and stored with the corresponding conflict level and the equipment interference risk label in the equipment association relationship; Specifically, based on all security level indices and passable area data associated with the grid index, the path cost data of the grid index is determined, including: Determine the spatial topology data of the digital twin model; wherein the spatial topology data represents the connection relationship between each 3D navigation mesh unit, and the connection relationship is constructed based on the mapping relationship from the world coordinate system to the local navigation coordinate system; Based on all security level indices and passable area data associated with the grid index, the edges to be traversed in the spatial topology data are determined; wherein, the edges to be traversed represent the connecting edges selected from the graph structure of the spatial topology data, and the passable area data is used to filter out impassable edges; The data of the edges to be traversed are obtained from the spatial topology data and the device association weights in the device layout information are integrated to form the path cost data of the grid index.

2. The photovoltaic power plant operation and maintenance positioning method based on digital twins according to claim 1, characterized in that, Based on the security level index of each 3D navigation grid unit and the conflict level of each intersecting path, 3D navigation positioning is performed for the current maintenance personnel, including: Based on the security level index of each 3D navigation grid unit and combined with the operation and maintenance channel width parameter in the device layout information, the comprehensive passage cost of each candidate path is determined; wherein, the comprehensive passage cost characterizes the overall passage difficulty of the candidate path, and the operation and maintenance channel width parameter is used to increase the passage cost of narrow channels; The optimal navigation path is determined by weighting and fusion based on the comprehensive travel cost of each candidate path and the conflict level of each intersecting path, and by introducing preset path planning weights. Based on the optimal navigation path, 3D navigation and positioning are performed on the current maintenance personnel; The 3D navigation mesh unit is obtained by voxelizing the space within the preset range. The device layout information represents the relationship between each device. The 3D navigation mesh unit represents the smallest navigation unit within the preset range and includes the mapping relationship from the world coordinate system to the local navigation coordinate system.

3. The photovoltaic power plant operation and maintenance positioning method based on digital twins according to claim 2, characterized in that, The method further includes: The grid index of each 3D navigation grid unit is associated with the security level index corresponding to that grid unit and stored together. The grid index of each 3D navigation grid unit is also associated with the obstacle occupancy information corresponding to that grid unit and the passable area data in the device layout information. The grid index represents the sorting number of the 3D navigation grid unit within a preset range, and the passable area data is stored as a supplementary attribute to the obstacle occupancy information.

4. The photovoltaic power plant operation and maintenance positioning method based on digital twins according to claim 3, characterized in that, Based on the security level index of each 3D navigation grid unit and the conflict level of each intersecting path, 3D navigation positioning is performed for the current maintenance personnel, including: Based on all security level indices and passable area data associated with the grid index, the path cost data of the grid index is determined; wherein, the path cost data represents the path planning reference value corresponding to the grid index, and the passable area data is used to correct the calculation of the path cost data; Based on the path cost data of each grid index and all obstacle occupancy information and equipment interference risk labels associated with each grid index, the candidate path set is filtered to obtain the navigation instructions for the 3D navigation and positioning.

5. The photovoltaic power plant operation and maintenance positioning method based on digital twins according to claim 4, characterized in that, Based on the path cost data of each grid index and all obstacle occupancy information and equipment interference risk labels associated with each grid index, the candidate path set is filtered to obtain the navigation instructions for the 3D navigation and positioning, including: Identify all conflict levels and device interference risk labels associated with the grid index; Based on the path cost data of the grid index, all conflict levels associated with the grid index, device interference risk labels, and preset path planning weights, the navigation priority data of the grid index is determined; wherein, the navigation priority data represents the priority order of the grid index in path planning, and the device interference risk labels are used to reduce the navigation priority of high-risk areas; Based on the navigation priority data of each grid index and all security level indexes associated with each grid index, the candidate path set is filtered to obtain the navigation instructions for the 3D navigation positioning.

6. The photovoltaic power plant operation and maintenance positioning method based on digital twins according to claim 5, characterized in that, Based on the navigation priority data of each grid index and all security level indices associated with each grid index, the candidate path set is filtered to obtain the navigation instructions for the 3D navigation and positioning, including: For each grid index, based on all security level indices and passable area data associated with the grid index, the navigation priority data of the grid index is superimposed with the same preset empty navigation vector to obtain the target navigation vector of the digital twin model; wherein, the target navigation vector represents the complete navigation path from the initial position coordinates to the target operation and maintenance point in the photovoltaic power station, and the passable area data is used to constrain the spatial range of the target navigation vector; Based on the target navigation vector, the 3D navigation and positioning instructions are generated to determine the current travel route of the maintenance personnel.

7. The photovoltaic power plant operation and maintenance positioning method based on digital twins according to claim 6, characterized in that, Based on the initial position coordinates and the equipment layout information associated with the photovoltaic power station, determine 3D navigation mesh units within a preset range centered on the initial position coordinates, including: Based on the initial position coordinates, a three-dimensional spatial region with a preset range centered on the initial position coordinates is divided in the digital twin model; wherein, the initial position coordinates are located at the geometric center of the three-dimensional spatial region, and the boundary of the three-dimensional spatial region is determined by the device distribution range in the device layout information; The three-dimensional spatial region is segmented into voxels, and the segmented voxels are transformed according to the mapping relationship from the world coordinate system to the local navigation coordinate system to obtain the 3D navigation mesh unit.

8. A photovoltaic power plant operation and maintenance positioning system based on digital twins, applicable to the photovoltaic power plant operation and maintenance positioning method based on digital twins as described in any one of claims 1-7, characterized in that, include: The 3D registration module is configured to acquire a digital twin model of a photovoltaic power station and acquire a 3D laser scanning point cloud of the photovoltaic power station at the site, register the 3D laser scanning point cloud at the site with the digital twin model, and determine the initial position coordinates of the operation and maintenance personnel in the digital twin model. The weight determination module is configured to determine 3D navigation grid cells within a preset range centered on the initial position coordinates based on the initial position coordinates and the equipment layout information associated with the photovoltaic power station. Determine the equipment type and status of the maintenance equipment carried by the maintenance personnel, and determine the passage weight of each 3D navigation grid unit based on the equipment association relationship in the equipment layout information; The obstacle determination module is configured to determine the obstacle occupancy information of each 3D navigation grid cell based on the physical obstacle distribution data in the digital twin model and the real-time obstacle position data collected by the mobile sensing device. The path candidate module is configured to determine the safety level index of each 3D navigation grid unit based on the passage weight and obstacle occupancy information of each 3D navigation grid unit, and in combination with the maintenance channel width and equipment height restrictions in the equipment layout information; and to determine the candidate path set from the initial position coordinates to the target maintenance point based on the safety level index of each 3D navigation grid unit and by integrating the passable area data in the equipment layout information. The conflict determination module is configured to obtain the path planning information or real-time location information of at least one other operation and maintenance personnel in the photovoltaic power station. If it is determined that any path in the candidate path set intersects with the path planning information or real-time location of the other operation and maintenance personnel at the same 3D navigation grid cell, the conflict level of the intersecting path is determined according to the security level index of the intersecting grid cell and the equipment association relationship in the equipment layout information. The navigation and positioning module is configured to perform 3D navigation and positioning for the current maintenance personnel based on the security level index of each 3D navigation grid unit and the conflict level of each intersecting path.

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