Method and system for modeling and simulation of digital twin of substation based on three-dimensional real scene

Abstract

The application relates to the technical field of digital twin three-dimensional modeling, and discloses a power substation digital twin modeling and simulation method and system based on three-dimensional real scenes. According to the spatial position data of the power substation modeling object, the spatial point cloud data of the power substation modeling object is efficiently collected in all directions by cooperating with a point cloud camera carried by a drone, and the spatial point cloud data is accurately pretreated by combining a point cloud data noise reduction algorithm, so that the point cloud data of the power substation digital twin modeling equipment is obtained based on a real scene and is of high quality. Based on the spatial point cloud pretreatment data of the power substation modeling object, text matching and a standard spatial point cloud modeling algorithm program data of the spatial feature type of the power substation modeling object established based on big data are combined to finely match the spatial point cloud modeling algorithm of the power substation modeling object, so that the spatial feature of the power substation digital twin modeling equipment is accurately selected based on the power substation digital twin modeling equipment.

Description

Technical Field

[0001] This invention relates to the technical field of digital twin 3D modeling, specifically to a method and system for digital twin modeling and simulation of substations based on 3D real-world scenes. Background Technology

[0002] Digital twin modeling and simulation technology for substations is the core of building high-fidelity virtual substations and realizing real-time interaction and mapping between physical entities and digital space. Its background technologies mainly rely on multi-source data fusion, high-precision 3D modeling and simulation, the Internet of Things (IoT), and big data analysis. Specifically, it acquires precise geometric and attribute information of equipment, buildings, and the environment within the substation through laser scanning, oblique photogrammetry, and BIM technology, constructing a semantic 3D model with detailed component levels. Simultaneously, it integrates real-time and historical data from SCADA, online monitoring, and video surveillance, synchronously mapping the operating status, electrical parameters, and environmental information of physical equipment to the virtual model based on a unified spatiotemporal framework. Utilizing a physics engine and multiphysics coupling simulation technology, it can simulate normal operation, abnormal states, and fault evolution processes of equipment in digital space, achieving situational awareness, intelligent early warning, and simulation deduction, providing full lifecycle digital decision support for substation planning, construction, operation, maintenance, and training. Existing digital twin modeling and simulation processes for substations cannot achieve intelligent classification of substation modeling objects based on spatial characteristics, nor can they perform differentiated modeling and simulation based on the spatial characteristics of substation modeling objects, thus reducing the quality of substation digital twin modeling and simulation.

[0003] Chinese invention patent application CN104750905A, published on July 1, 2015, discloses a computer-implemented method for designing 3D modeling objects. The method involves: providing the 3D modeling object in a 3D scene; displaying a graphical tool for defining a planar shape of the current work plane; pointing to and activating the graphical tool with the planar shape using a pointing element; hovering a portion of the 3D modeling object without releasing the pointing element; selecting the portion of the 3D modeling object when the pointing element is released; extracting a work plane from the selected object at the current position of the pointing element and defining the plane as the current work plane represented by the graphical tool with the planar shape; and performing design operations within the current work plane. However, this technical solution cannot differentiate the modeling based on the spatial characteristics of the 3D modeling object, thus reducing the quality of the 3D modeling. Summary of the Invention

[0004] (a) Technical problems to be solved

[0005] To address the shortcomings of existing digital twin modeling and simulation processes for substations, which fail to achieve intelligent classification of substation modeling objects based on spatial features or differentiated modeling and simulation based on the spatial features of substation modeling objects, thus reducing the quality of substation digital twin modeling and simulation, this paper aims to achieve the following: intelligent classification of spatial feature types of substation modeling objects; autonomous positioning of the spatial location of substation modeling objects; high-quality acquisition of spatial point cloud data of substation modeling objects; differentiated selection of spatial point cloud modeling algorithms based on spatial features; complete and realistic construction of 3D features of substation modeling objects; and improved quality of substation digital twin modeling and simulation.

[0006] (II) Technical Solution

[0007] This invention is achieved through the following technical solution: a digital twin modeling and simulation method for substations based on three-dimensional real-world scenes, the method comprising the following steps:

[0008] The process involves: acquiring spatial feature image data of the substation modeling object; classifying the spatial feature types of the substation modeling object to obtain spatial feature type classification information; locating the spatial position of the substation modeling object to obtain spatial position data; acquiring and processing the spatial point cloud data of the substation modeling object based on the spatial position information to obtain spatial point cloud data; preprocessing the acquired spatial point cloud data to obtain preprocessed spatial point cloud data; selecting a modeling algorithm for the spatial point cloud of the substation modeling object to obtain modeling algorithm selection information; and finally, constructing the basic data for substation digital twin modeling and simulation and executing the substation digital twin modeling and simulation operation.

[0009] Preferably, the process of acquiring spatial feature image data of the substation modeling object, classifying the spatial feature types of the substation modeling object to obtain spatial feature type classification information, and locating the spatial position of the substation modeling object to obtain spatial position data includes the following steps:

[0010] By using a drone equipped with a cloud camera, panoramic images of the external spatial features of the power equipment modeling objects in the target substation site are captured and processed, generating a set of spatial feature image data of the substation modeling objects. ,in Indicates the number of collections Spatial feature image data of substation modeling objects corresponding to each substation modeling object; wherein the substation modeling objects include transformers, reactors, circuit breakers, disconnectors, switchgear, insulator strings, capacitor banks, power lines, busbars, towers, and structures; the spatial feature image data of the substation modeling objects represents the spatial feature image information of the substation modeling objects;

[0011] Based on the set of spatial feature image data of substation modeling objects and the standard spatial feature image data matrix of substation modeling objects spatial feature types, spatial feature type classification processing of substation modeling objects is performed to obtain a set of spatial feature type classification information for substation modeling objects.

[0012] Based on the set of spatial feature image data of the substation modeling object, spatial location positioning processing of the substation modeling object is performed to obtain the set of spatial location data of the substation modeling object.

[0013] Preferably, the process of classifying the spatial feature types of substation modeling objects based on the set of spatial feature image data of substation modeling objects and the standard spatial feature image data matrix of substation modeling objects to obtain a set of spatial feature type classification information for substation modeling objects includes the following steps:

[0014] Establish a standard spatial feature image data matrix for the spatial feature types of substation modeling objects. ,in Indicates the first This document describes standard spatial feature image data corresponding to different spatial feature types of substation modeling objects. These types include irregular spatial feature power equipment, regular spatial feature power equipment, repetitive spatial feature power equipment, linear spatial feature power equipment, and large-scale support structure spatial feature power equipment. Irregular spatial feature power equipment includes transformers and reactors; regular spatial feature power equipment includes circuit breakers, disconnectors, and switchgear; repetitive spatial feature power equipment includes insulator strings and capacitor banks; linear spatial feature power equipment includes power lines and busbars; and large-scale support structure spatial feature power equipment includes poles and structures. The standard spatial feature image data represents the spatial feature image information of standard substation modeling objects set for different substation modeling object spatial feature types.

[0015] The set of spatial feature image data of the substation modeling object Spatial feature image data of the substation modeling object described in the document The substation modeling object number is ordered according to the standard spatial feature image data matrix of the substation modeling object spatial feature type. The substation modeling object spatial feature type standard spatial feature image data described in the document Image feature matching is performed to search for spatial feature image data that matches the substation modeling object. Matching standard spatial feature image data of the spatial feature type of the substation modeling object The corresponding textual information of the spatial feature types of substation modeling objects is used to generate a set of classification information for the spatial feature types of substation modeling objects. The substation modeling object spatial feature type classification information set is executed. The specific operating steps are as follows:

[0016] Step 1221: Initialization, set the maximum number of iterations T;

[0017] Step 1222: After initialization, perform a spatial feature type search, selecting the moth and flame, and then use the standard spatial feature image data matrix of the modeling object in the substation. Initial generation in the solution space Search for spatial feature types of moths and A flame, and = In the substation modeling object spatial feature type standard spatial feature image data matrix Search the search space to find spatial feature image data of the substation modeling object. Matching standard spatial feature image data of the spatial feature type of the substation modeling object Spatial feature type search: Moths will fly around the selected flame. Search for spatial feature types of moths and The flames are sorted by quality, and the sorted flames are... The flame moved to a better position. At each location, the search moths of each spatial feature type select different flames. As the number of iterations increases, the number of flames decreases. The formula for calculating the number of flames is as follows: ,in Indicates the first The next iteration is based on the standard spatial feature image data matrix of the substation modeling object spatial feature type. The number of flames in the search space. This represents a random function that takes values ​​between 0 and 1. This represents the standard spatial feature image data matrix representing the spatial feature type of the object being modeled in the substation. The total number of flames initially generated in the search space, where T represents the maximum number of iterations;

[0018] Step 1223: Spatial Feature Type Search Moths. After selecting a flame, spatial feature type search moths fly around the flame. For the spatial feature type search moths in the substation modeling object, the spatial feature type standard spatial feature image data matrix is ​​used. Location in the search space Spatial feature type search for moths surrounding a flame in the substation modeling object spatial feature type standard spatial feature image data matrix Location in the search space And spatial feature type search: after a moth flies around a flame, the modeling object in the substation is spatial feature type, standard spatial feature image data matrix. New location in the search space The formula for calculating the new position is as follows: ,in Indicates spatial feature type search for moths With flames The standard spatial feature image data matrix of the object spatial feature type in the substation modeling The distance value in the search space, Represents an exponential function. Let be the current iteration number, where The coefficient is set to 2. Represents the base of the exponential function. Represents angle value The corresponding cosine value, Represents pi;

[0019] Step 1224: Spatial Feature Type Search - Moth Modeling Object Spatial Feature Type Standard Spatial Feature Image Data Matrix in the Substation Fly and move the flames to the appropriate location within the search space. Only spatial feature type search for moths in the substation modeling object spatial feature type standard spatial feature image data matrix In the search space After a fireball flies, update to A new location, calculate this The new location describes the spatial feature type of the substation modeling object, standard spatial feature image data. Spatial feature image data of the substation modeling object The fitness value, will this A new location and A flame based on + The positions are sorted by priority, and the positions with the best priority are... The position is used as the flame position in the next round, in the standard spatial feature image data matrix of the substation modeling object spatial feature type. Search the search space to find spatial feature image data of the substation modeling object. The most matching standard spatial feature image data of the substation modeling object spatial feature type. ;

[0020] Step 1225: When the maximum number of iterations T is satisfied, output the spatial feature image data of the substation modeling object. Matching standard spatial feature image data of the spatial feature type of the substation modeling object ;

[0021] Step 1226: Convert the spatial feature image data of the substation modeling object output in step 1225 into... Matching standard spatial feature image data of the spatial feature type of the substation modeling object The corresponding textual information of the spatial feature type of the substation modeling object is used to generate a set of classification information for the spatial feature type of the substation modeling object after data identification. ,in Indicates the first Classification information of spatial feature types of substation modeling objects corresponding to each substation modeling object.

[0022] Preferably, the process of spatially locating the substation modeling object based on the spatial feature image data set of the substation modeling object to obtain the spatial location data set of the substation modeling object includes the following steps:

[0023] Based on the spatial feature image data set of the substation modeling object using a GIS system Spatial feature image data of the substation modeling object described in the document The spatial coordinates of the target substation modeling objects are collected and processed in an orderly manner according to their substation modeling object numbers, and a set of spatial location data of the substation modeling objects is generated. ,in Indicates the first The spatial location data of the substation modeling object corresponding to each substation modeling object, wherein the spatial location data of the substation modeling object represents the longitude, latitude and altitude of the substation modeling object.

[0024] Preferably, the process of collecting and processing spatial point cloud data of the substation modeling object based on its spatial location information to obtain spatial point cloud data of the substation modeling object; preprocessing the collected spatial point cloud data of the substation modeling object to obtain preprocessed spatial point cloud data of the substation modeling object; and selecting a spatial point cloud modeling algorithm for the substation modeling object to obtain selection information for the spatial point cloud modeling algorithm of the substation modeling object includes the following steps:

[0025] Based on the spatial location data set of the substation modeling object, spatial point cloud data of the substation modeling object is collected and processed to obtain a spatial point cloud data set of the substation modeling object; based on the spatial point cloud data set of the substation modeling object, the collected spatial point cloud data of the substation modeling object is preprocessed to obtain a preprocessed spatial point cloud data set of the substation modeling object.

[0026] Based on the preprocessed data set of spatial point cloud of the substation modeling object and the standard spatial point cloud modeling algorithm program data matrix of spatial feature type of the substation modeling object, the spatial point cloud modeling algorithm selection process of the substation modeling object is performed to obtain the spatial point cloud modeling algorithm selection information set of the substation modeling object.

[0027] Preferably, the process of acquiring and processing spatial point cloud data of the substation modeling object based on the spatial location data set of the substation modeling object to obtain a spatial point cloud data set of the substation modeling object; and the process of preprocessing the acquired spatial point cloud data of the substation modeling object based on the spatial point cloud data set of the substation modeling object to obtain a preprocessed spatial point cloud data set of the substation modeling object includes the following steps:

[0028] The spatial location data of the substation modeling object was obtained by using a drone equipped with a point cloud camera. Spatial location data of substation modeling objects described in the document The point cloud data of the spatial features of the target substation modeling objects are collected and processed in an orderly manner according to their substation modeling object numbers, and a spatial point cloud data set of the substation modeling objects is generated. ,in Indicates the first The spatial point cloud data of the substation modeling object corresponding to the substation modeling object, wherein the spatial point cloud data of the substation modeling object represents the spatial feature point cloud data of the overall external structure of the target substation modeling object.

[0029] The Laplace filter algorithm is used to model the spatial point cloud data set of the substation. Spatial point cloud data of the substation modeling object described in the document Denoising preprocessing of spatial point cloud data is performed, and a preprocessed spatial point cloud dataset of substation modeling objects is generated. ,in Indicates the first Preprocessed spatial point cloud data corresponding to each substation modeling object.

[0030] Preferably, the process of selecting a spatial point cloud modeling algorithm for the substation modeling object based on the preprocessed data set of the substation modeling object's spatial point cloud and the standard spatial point cloud modeling algorithm program data matrix of the substation modeling object's spatial feature type includes the following steps:

[0031] Establish standard spatial point cloud modeling algorithm program data matrix for substation modeling object spatial feature types ,in Indicates the first The standard spatial point cloud modeling algorithm program data for different spatial feature types of substation modeling objects corresponds to various substation modeling object spatial feature types. This standard spatial point cloud modeling algorithm program data represents the running program data of the optimal substation modeling object spatial point cloud modeling algorithm set for different substation modeling object spatial feature types. The substation modeling object spatial point cloud modeling algorithms include Poisson surface reconstruction spatial point cloud modeling algorithm, model library matching + ICP registration spatial point cloud modeling algorithm, intensity value filtering + local entropy simplification method + improved SAC-IA spatial point cloud modeling algorithm, catenary model spatial point cloud modeling algorithm, and hybrid driving spatial point cloud modeling algorithm. Specifically, the Poisson surface reconstruction spatial point cloud modeling algorithm is for power equipment with irregular spatial features; the model library matching + ICP registration spatial point cloud modeling algorithm is for power equipment with regular spatial features; the intensity value filtering + local entropy simplification method + improved SAC-IA spatial point cloud modeling algorithm is for power equipment with repetitive spatial features; the catenary model spatial point cloud modeling algorithm is for power equipment with linear spatial features; and the hybrid driving spatial point cloud modeling algorithm is for power equipment with large support structure spatial features.

[0032] The substation modeling object spatial feature type classification information set Classification information of spatial feature types of substation modeling objects described in the document The substation modeling object spatial feature type standard spatial point cloud modeling algorithm program data matrix The substation modeling object spatial feature type standard spatial point cloud modeling algorithm program data described in the document The spatial feature type keyword matching of the substation modeling objects is performed in an orderly manner according to their object numbers to retrieve the classification information of the spatial feature types of the substation modeling objects. The corresponding standard spatial point cloud modeling algorithm program data for the spatial feature type of the substation modeling object. And construct a set of information for selecting spatial point cloud modeling algorithms for substation modeling objects. ,in Indicates the first The substation modeling object spatial point cloud modeling algorithm selection information corresponds to a substation modeling object. The substation modeling object spatial point cloud modeling algorithm selection information represents the running program data of the optimal substation modeling object spatial point cloud modeling algorithm selected for the target substation modeling object.

[0033] Preferably, constructing the basic data for substation digital twin modeling and simulation and executing substation digital twin modeling and simulation tasks includes the following steps:

[0034] The preprocessed data set of the spatial point cloud of the substation modeling object The information set selected by the substation modeling object spatial point cloud modeling algorithm The basic data for digital twin modeling and simulation of substations is constructed through data combination and identification;

[0035] Based on the spatial point cloud data of the substation modeling objects in the substation digital twin modeling and simulation foundation data, and the spatial point cloud modeling algorithm program, the digital twin modeling and simulation work of the three-dimensional spatial structure of the substation modeling objects is executed in an orderly manner according to the substation modeling object number, and a set of three-dimensional model data of the substation modeling objects is generated. ,in Indicates the first The three-dimensional model data of the substation modeling object corresponding to each substation modeling object.

[0036] A digital twin modeling and simulation system for substations based on 3D reality is provided to implement the digital twin modeling and simulation method for substations based on 3D reality as described in the claims. The system includes a substation modeling object classification and positioning module, a substation modeling object data acquisition and algorithm matching module, and a substation digital twin modeling and simulation module.

[0037] The substation modeling object classification and positioning module includes a substation modeling object spatial feature image acquisition unit, a substation modeling object spatial feature type standard spatial feature image storage unit, a substation modeling object spatial feature classification unit, and a substation modeling object spatial location positioning unit.

[0038] The substation modeling object spatial feature image acquisition unit acquires spatial feature image data of the substation modeling object using a drone equipped with a cloud camera; the substation modeling object spatial feature type standard spatial feature image storage unit stores the substation modeling object spatial feature type standard spatial feature image data; the substation modeling object spatial feature classification unit performs spatial feature type classification processing on the substation modeling object based on the substation modeling object spatial feature image data and the substation modeling object spatial feature type standard spatial feature image data to obtain substation modeling object spatial feature type classification information; the substation modeling object spatial location positioning unit performs spatial location positioning processing on the substation modeling object based on the substation modeling object spatial feature image data and in conjunction with the GIS system to obtain substation modeling object spatial location data.

[0039] The substation modeling object data acquisition and algorithm matching module includes a substation modeling object spatial point cloud acquisition unit, a substation modeling object spatial point cloud processing unit, a substation modeling object spatial feature type standard spatial point cloud modeling algorithm storage unit, and a substation modeling object spatial point cloud modeling algorithm selection unit.

[0040] The substation modeling object spatial point cloud acquisition unit acquires and processes spatial point cloud data of the substation modeling object based on its spatial location data and in conjunction with a point cloud camera mounted on a UAV, to obtain spatial point cloud data of the substation modeling object. The substation modeling object spatial point cloud processing unit preprocesses the acquired spatial point cloud data of the substation modeling object based on the spatial point cloud data of the substation modeling object, to obtain preprocessed spatial point cloud data of the substation modeling object. The substation modeling object spatial feature type standard spatial point cloud modeling algorithm storage unit stores the substation modeling object spatial feature type standard spatial point cloud modeling algorithm program data. The substation modeling object spatial point cloud modeling algorithm selection unit selects a spatial point cloud modeling algorithm for the substation modeling object based on the preprocessed spatial point cloud data of the substation modeling object and the substation modeling object spatial feature type standard spatial point cloud modeling algorithm program data, to obtain substation modeling object spatial point cloud modeling algorithm selection information.

[0041] The substation digital twin modeling and simulation module includes a substation digital twin modeling and simulation basic data acquisition unit and a substation digital twin modeling and simulation operation execution unit.

[0042] The substation digital twin modeling and simulation basic data acquisition unit constructs substation digital twin modeling and simulation basic data based on the preprocessed spatial point cloud data of the substation modeling object and the selection information of the spatial point cloud modeling algorithm of the substation modeling object, combined with data processing. The substation digital twin modeling and simulation job execution unit executes the substation digital twin modeling and simulation job based on the spatial point cloud data of the substation modeling object in the substation digital twin modeling and simulation basic data and the spatial point cloud modeling algorithm running program.

[0043] (III) Beneficial Effects

[0044] This invention provides a method and system for digital twin modeling and simulation of substations based on 3D reality. It has the following beneficial effects:

[0045] I. Using drones equipped with cloud lenses, we autonomously and efficiently acquire spatial feature images of substation modeling objects, providing real data support for accurate analysis of the spatial feature types of substation digital twin modeling equipment. Based on the spatial feature image data of substation modeling objects, combined with intelligent recognition algorithms and standard spatial feature image data of substation modeling objects stored in standard form, we perform intelligent analysis of the spatial feature types of substation modeling objects, achieving refined classification of the spatial features of substation digital twin modeling equipment and improving the scientific rigor of substation digital twin modeling simulation. Furthermore, based on the spatial feature image data of substation modeling objects and in conjunction with a GIS system, we perform high-precision positioning of the spatial location information of substation digital twin modeling equipment, achieving image-based visual digital positioning of the substation digital twin modeling equipment's location information and improving the quality of substation digital twin modeling simulation.

[0046] Second, based on the spatial location data of the substation modeling object and in conjunction with a point cloud camera mounted on a UAV, comprehensive and efficient spatial point cloud data of the substation modeling object is collected. Accurate preprocessing of the spatial point cloud data is then performed using point cloud data denoising algorithms, achieving high-quality acquisition of point cloud data from the substation digital twin modeling equipment based on real-world scenarios. Based on the preprocessed spatial point cloud data of the substation modeling object, combined with text matching and standard spatial point cloud modeling algorithm program data based on big data-driven spatial feature types of the substation modeling object, refined matching of the spatial point cloud modeling algorithm for the substation modeling object is achieved. This enables precise selection of the spatial point cloud modeling algorithm for the substation digital twin modeling equipment based on its spatial feature differences, improving the accuracy of substation digital twin modeling simulation.

[0047] Third, based on the preprocessed spatial point cloud data of the substation modeling object and the selection information of the spatial point cloud modeling algorithm for the substation modeling object, and combined with data processing, the basic data for substation digital twin modeling and simulation is independently and standardizedly constructed. At the same time, based on the spatial point cloud data of the substation modeling object in the basic data for substation digital twin modeling and simulation, and the spatial point cloud modeling algorithm running program, the substation digital twin modeling and simulation operation is executed efficiently and accurately, realizing the efficient and reliable generation of the three-dimensional model of the substation digital twin modeling equipment, and improving the efficiency of substation digital twin modeling and simulation. Attached Figure Description

[0048] Figure 1 A schematic diagram of the modules of the digital twin modeling and simulation system for substations based on three-dimensional reality provided by the present invention;

[0049] Figure 2 The flowchart shows the digital twin modeling and simulation method for substations based on three-dimensional reality provided by this invention. Detailed Implementation

[0050] 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.

[0051] An example of the digital twin modeling and simulation method and system for substations based on 3D reality is as follows:

[0052] Example 1:

[0053] Please see Figures 1-2 A method for digital twin modeling and simulation of substations based on 3D reality, the method includes the following steps:

[0054] Step 1: Collect spatial feature image data of the substation modeling object, classify the spatial feature types of the substation modeling object to obtain classification information of the spatial feature types of the substation modeling object; locate the spatial position of the substation modeling object to obtain spatial position data of the substation modeling object; Step 2: Collect and process the spatial point cloud data of the substation modeling object based on the spatial position information of the substation modeling object to obtain spatial point cloud data of the substation modeling object; preprocess the collected spatial point cloud data of the substation modeling object to obtain preprocessed spatial point cloud data of the substation modeling object; select a spatial point cloud modeling algorithm for the substation modeling object to obtain selection information of the spatial point cloud modeling algorithm for the substation modeling object; Step 3: Construct the basic data for substation digital twin modeling and simulation and execute the substation digital twin modeling and simulation operation.

[0055] For further details, please refer to Figures 1-2 The process involves collecting spatial feature image data of substation modeling objects, classifying the spatial feature types of these objects to obtain classification information, and locating the spatial positions of the substation modeling objects to obtain spatial position data. This includes the following steps:

[0056] Step 11: Using a drone equipped with a cloud camera, capture and process panoramic images of the external spatial features of the power equipment modeling objects in the target substation site, and generate a set of spatial feature image data of the substation modeling objects. ,in Indicates the number of collections The spatial feature image data of each substation modeling object corresponds to a substation modeling object; the substation modeling objects include transformers, reactors, circuit breakers, disconnectors, switchgear, insulator strings, capacitor banks, power lines, busbars, towers, and structures; the spatial feature image data of the substation modeling objects represents the spatial feature image information of the substation modeling objects;

[0057] Step 12: Based on the spatial feature image data set of substation modeling objects and the standard spatial feature image data matrix of substation modeling objects, perform spatial feature type classification processing of substation modeling objects to obtain a set of spatial feature type classification information for substation modeling objects;

[0058] Step 13: Perform spatial location processing on the substation modeling object based on the spatial feature image data set of the substation modeling object to obtain the spatial location data set of the substation modeling object.

[0059] For further details, please refer to Figures 1-2 Based on the spatial feature image data set of substation modeling objects and the standard spatial feature image data matrix of substation modeling object spatial feature types, the spatial feature type classification processing of substation modeling objects is performed to obtain the substation modeling object spatial feature type classification information set, including the following steps:

[0060] Step 121: Establish a standard spatial feature image data matrix for the spatial feature types of substation modeling objects. ,in Indicates the first This document provides standard spatial feature image data for different spatial feature types of substation modeling objects. These types include irregular spatial feature power equipment, regular spatial feature power equipment, repetitive spatial feature power equipment, linear spatial feature power equipment, and large-scale support structure spatial feature power equipment. Irregular spatial feature power equipment includes transformers and reactors; regular spatial feature power equipment includes circuit breakers, disconnectors, and switchgear; repetitive spatial feature power equipment includes insulator strings and capacitor banks; linear spatial feature power equipment includes power lines and busbars; and large-scale support structure spatial feature power equipment includes poles and structures. The standard spatial feature image data represents the spatial feature image information of standard substation modeling objects set for different spatial feature types.

[0061] Step 122: Collect spatial feature image data of the substation modeling object. Spatial feature image data of medium substation modeling objects According to the substation modeling object numbering and the standard spatial feature image data matrix of the substation modeling object spatial feature type. Medium substation modeling object spatial feature types standard spatial feature image data Perform image feature matching to search for spatial feature image data of the substation modeling object. Matching substation modeling object spatial feature type standard spatial feature image data The corresponding textual information of the spatial feature types of substation modeling objects is used to generate a set of classification information for the spatial feature types of substation modeling objects. Execute the set of spatial feature type classification information for substation modeling objects. The specific operating steps are as follows:

[0062] Step 1221: Initialization, set the maximum number of iterations T;

[0063] Step 1222: After initialization, perform a spatial feature type search, selecting the flame moth, and modeling the standard spatial feature image data matrix of the object in the substation. Initial generation in the solution space Search for spatial feature types of moths and A flame, and = In substation modeling, the spatial feature type of the object is a standard spatial feature image data matrix. Search the search space to find spatial feature image data of the substation modeling object. Matching substation modeling object spatial feature type standard spatial feature image data Spatial feature type search: Moths will fly around the selected flame. Search for spatial feature types of moths and The flames are sorted by quality, and the sorted flames are... The flame moved to a better position. At each location, the search moths of each spatial feature type select different flames. As the number of iterations increases, the number of flames decreases. The formula for calculating the number of flames is as follows: ,in Indicates the first The next iteration focuses on the standard spatial feature image data matrix of the object space feature type in the substation modeling. The number of flames in the search space. This represents a random function that takes values ​​between 0 and 1. This represents the standard spatial feature image data matrix representing the spatial feature type of the object being modeled in the substation. The total number of flames initially generated in the search space, where T represents the maximum number of iterations;

[0064] Step 1223: Spatial Feature Type Search Moths. After selecting a flame, spatial feature type search moths fly around the flame. For spatial feature type search moths in the substation modeling object spatial feature type standard spatial feature image data matrix. Location in the search space Spatial feature type search for moths circling a flame in a substation modeling object spatial feature type standard spatial feature image data matrix Location in the search space And spatial feature type search: after a moth flies around a flame, it models the spatial feature type of the object in the substation. Standard spatial feature image data matrix. New location in the search space The formula for calculating the new position is as follows: ,in Indicates spatial feature type search for moths With flames In substation modeling, the spatial feature type of the object space feature image data matrix is ​​used to define the standard spatial feature image data matrix. The distance value in the search space, Represents an exponential function. Let be the current iteration number, where The coefficient is set to 2. Represents the base of the exponential function. Represents angle value The corresponding cosine value, Represents pi;

[0065] Step 1224: Spatial Feature Type Search - Moth Modeling Object Spatial Feature Type Standard Spatial Feature Image Data Matrix Fly and move the flames to the appropriate location within the search space. Spatial feature type search for moths in substation modeling object spatial feature type standard spatial feature image data matrix In the search space After a fireball flies, update to A new location, calculate this A new location substation modeling object spatial feature type standard spatial feature image data Spatial feature image data of substation modeling objects The fitness value, will this A new location and A flame based on + The positions are sorted by priority, and the positions with the best priority are... The location is used as the position of the flame in the next round, in the standard spatial feature image data matrix of the substation modeling object spatial feature type. Search the search space to find spatial feature image data of the substation modeling object. The most matching substation modeling object spatial feature type standard spatial feature image data ;

[0066] Step 1225: When the maximum number of iterations T is satisfied, output the spatial feature image data of the substation modeling object. Matching substation modeling object spatial feature type standard spatial feature image data ;

[0067] Step 1226: Convert the spatial feature image data of the substation modeling object output in Step 1225 into... Matching substation modeling object spatial feature type standard spatial feature image data The corresponding textual information of the spatial feature type of the substation modeling object is used to generate a set of classification information for the spatial feature type of the substation modeling object after data identification. ,in Indicates the first Classification information of spatial feature types of substation modeling objects corresponding to each substation modeling object.

[0068] The process of spatial location processing of substation modeling objects based on the spatial feature image data set of substation modeling objects to obtain the spatial location data set of substation modeling objects includes the following steps:

[0069] Step 131: Using a GIS system to collect spatial feature image data sets of substation modeling objects. Spatial feature image data of medium substation modeling objects The spatial coordinates of the target substation modeling objects are collected and processed in an orderly manner according to their substation modeling object numbers, and a set of spatial location data of the substation modeling objects is generated. ,in Indicates the first The spatial location data of each substation modeling object represents the longitude, latitude, and altitude of the substation modeling object.

[0070] By autonomously and efficiently acquiring spatial feature images of substation modeling objects using drones equipped with cloud lenses, real data support is provided for the accurate analysis of the spatial feature types of substation digital twin modeling equipment. Based on the spatial feature image data of substation modeling objects, combined with intelligent recognition algorithms and standard spatial feature image data of substation modeling objects stored in standard form, intelligent analysis of the spatial feature types of substation modeling objects is performed. This enables refined classification of the spatial features of substation digital twin modeling equipment, improving the scientific rigor of substation digital twin modeling simulation. Furthermore, based on the spatial feature image data of substation modeling objects and in conjunction with a GIS system, high-precision positioning of the spatial location information of substation digital twin modeling equipment is achieved, realizing image-based visual digital positioning of the substation digital twin modeling equipment's location information and improving the quality of substation digital twin modeling simulation.

[0071] For further details, please refer to Figures 1-2 The process involves collecting and processing spatial point cloud data of the substation modeling object based on its spatial location information to obtain spatial point cloud data of the substation modeling object; preprocessing the collected spatial point cloud data of the substation modeling object to obtain preprocessed spatial point cloud data of the substation modeling object; and selecting a spatial point cloud modeling algorithm for the substation modeling object to obtain selection information for the spatial point cloud modeling algorithm of the substation modeling object. This process includes the following steps:

[0072] Step 21: Collect and process the spatial point cloud data of the substation modeling object based on the spatial location data set of the substation modeling object to obtain the spatial point cloud data set of the substation modeling object; preprocess the collected spatial point cloud data of the substation modeling object based on the spatial point cloud data set of the substation modeling object to obtain the preprocessed spatial point cloud data set of the substation modeling object.

[0073] Step 22: Based on the preprocessed data set of spatial point cloud of substation modeling object and the standard spatial point cloud modeling algorithm program data matrix of spatial feature type of substation modeling object, perform spatial point cloud modeling algorithm selection processing for substation modeling object to obtain spatial point cloud modeling algorithm selection information set for substation modeling object.

[0074] Based on the spatial location data set of the substation modeling objects, spatial point cloud data of the substation modeling objects is collected and processed to obtain a spatial point cloud data set of the substation modeling objects. Preprocessing of the collected spatial point cloud data of the substation modeling objects based on this spatial point cloud data set to obtain a preprocessed spatial point cloud data set of the substation modeling objects includes the following steps:

[0075] Step 211: Using a drone equipped with a point cloud camera, model the spatial location data set of objects in the substation. Spatial location data of substation modeling objects The point cloud data of the spatial features of the target substation modeling objects are collected and processed in an orderly manner according to their substation modeling object numbers, and a spatial point cloud data set of the substation modeling objects is generated. ,in Indicates the first The spatial point cloud data of the substation modeling object corresponds to the substation modeling object. The spatial point cloud data of the substation modeling object represents the spatial feature point cloud data of the overall external structure of the target substation modeling object.

[0076] Step 212: Apply the Laplace filter algorithm to the spatial point cloud data set of the substation modeling object. Spatial point cloud data of medium substation modeling objects Denoising preprocessing of spatial point cloud data is performed, and a preprocessed spatial point cloud dataset of substation modeling objects is generated. ,in Indicates the first Preprocessed spatial point cloud data corresponding to each substation modeling object.

[0077] Based on the preprocessed spatial point cloud data set of substation modeling objects and the standard spatial point cloud modeling algorithm program data matrix of spatial feature types of substation modeling objects, the selection of spatial point cloud modeling algorithms for substation modeling objects is performed, resulting in the following steps:

[0078] Step 221: Establish the standard spatial point cloud modeling algorithm program data matrix for the spatial feature types of substation modeling objects. ,in Indicates the first This document contains standard spatial point cloud modeling algorithm program data for various spatial feature types of substation modeling objects. The standard spatial point cloud modeling algorithm program data represents the running program data of the optimal spatial point cloud modeling algorithm for different spatial feature types of substation modeling objects. These algorithms include Poisson surface reconstruction spatial point cloud modeling algorithm, model library matching + ICP registration spatial point cloud modeling algorithm, intensity value filtering + local entropy simplification + improved SAC-IA spatial point cloud modeling algorithm, catenary model spatial point cloud modeling algorithm, and hybrid-driven spatial point cloud modeling algorithm. Specifically, the Poisson surface reconstruction spatial point cloud modeling algorithm is for power equipment with irregular spatial features; the model library matching + ICP registration spatial point cloud modeling algorithm is for power equipment with regular spatial features; the intensity value filtering + local entropy simplification + improved SAC-IA spatial point cloud modeling algorithm is for power equipment with repetitive spatial features; the catenary model spatial point cloud modeling algorithm is for power equipment with linear spatial features; and the hybrid-driven spatial point cloud modeling algorithm is for power equipment with large support structure spatial features.

[0079] Step 222: Collect the spatial feature type classification information of the substation modeling object. Classification information of spatial feature types of objects in medium substation modeling Standard spatial point cloud modeling algorithm program data matrix and spatial feature types of substation modeling objects Medium substation modeling object spatial feature types standard spatial point cloud modeling algorithm program data The spatial feature type keyword matching of substation modeling objects is performed in an orderly manner according to their object numbers to retrieve the classification information of their spatial feature types. Corresponding substation modeling object spatial feature type standard spatial point cloud modeling algorithm program data And construct a set of information for selecting spatial point cloud modeling algorithms for substation modeling objects. ,in Indicates the first The substation modeling object spatial point cloud modeling algorithm selection information corresponds to each substation modeling object. The substation modeling object spatial point cloud modeling algorithm selection information represents the running program data of the optimal substation modeling object spatial point cloud modeling algorithm selected for the target substation modeling object.

[0080] Based on the spatial location data of the substation modeling object and in conjunction with a point cloud camera mounted on a UAV, comprehensive and efficient spatial point cloud data of the substation modeling object is collected. Accurate preprocessing of the spatial point cloud data is then performed using point cloud data denoising algorithms, achieving high-quality acquisition of point cloud data from the substation digital twin modeling equipment based on real-world scenarios. Furthermore, based on the preprocessed spatial point cloud data of the substation modeling object, combined with text matching and standard spatial point cloud modeling algorithm program data established based on big data for the spatial feature types of the substation modeling object, refined matching of the spatial point cloud modeling algorithm for the substation modeling object is achieved. This enables precise selection of the spatial point cloud modeling algorithm for the substation digital twin modeling equipment based on its spatial feature differences, improving the accuracy of substation digital twin modeling simulation.

[0081] For further details, please refer to Figures 1-2 The process of constructing the basic data for digital twin modeling and simulation of substations and executing digital twin modeling and simulation tasks for substations includes the following steps:

[0082] Step 31: Preprocess the spatial point cloud data set of the substation modeling object. Selection of Information Set for Substation Modeling Object Spatial Point Cloud Modeling Algorithm The basic data for digital twin modeling and simulation of substations is constructed through data combination and identification;

[0083] Step 32: Based on the spatial point cloud data of the substation modeling objects in the substation digital twin modeling and simulation basic data, and the spatial point cloud modeling algorithm running program, the digital twin modeling and simulation work of the three-dimensional spatial structure of the substation modeling objects is executed in an orderly manner according to the substation modeling object number, and a three-dimensional model data set of the substation modeling objects is generated. ,in Indicates the first The three-dimensional model data of the substation modeling object corresponding to each substation modeling object.

[0084] Based on the preprocessed spatial point cloud data of substation modeling objects and the selection information of spatial point cloud modeling algorithms for substation modeling objects, and combined with data processing, a basic data for substation digital twin modeling and simulation is independently and standardizedly constructed. At the same time, based on the spatial point cloud data of substation modeling objects in the basic data for substation digital twin modeling and simulation, and the spatial point cloud modeling algorithm running program, the substation digital twin modeling and simulation operation is executed efficiently and accurately, realizing the efficient and reliable generation of 3D models of substation digital twin modeling equipment, and improving the efficiency of substation digital twin modeling and simulation.

[0085] Example 2:

[0086] Please see Figures 1-2A digital twin modeling and simulation system for substations based on 3D reality is used to implement the digital twin modeling and simulation method for substations based on 3D reality as claimed in the claims. The system includes a substation modeling object classification and positioning module, a substation modeling object data acquisition and algorithm matching module, and a substation digital twin modeling and simulation module.

[0087] The substation modeling object classification and positioning module includes a substation modeling object spatial feature image acquisition unit, a substation modeling object spatial feature type standard spatial feature image storage unit, a substation modeling object spatial feature classification unit, and a substation modeling object spatial location positioning unit.

[0088] The system comprises: a substation modeling object spatial feature image acquisition unit, which acquires spatial feature image data of the substation modeling object using a drone equipped with a cloud camera; a substation modeling object spatial feature type standard spatial feature image storage unit, which stores the substation modeling object spatial feature type standard spatial feature image data; a substation modeling object spatial feature classification unit, which performs spatial feature type classification processing on the substation modeling object based on the substation modeling object spatial feature image data and the substation modeling object spatial feature type standard spatial feature image data, to obtain substation modeling object spatial feature type classification information; and a substation modeling object spatial location positioning unit, which performs spatial location positioning processing on the substation modeling object based on the substation modeling object spatial feature image data and in conjunction with the GIS system, to obtain substation modeling object spatial location data.

[0089] The data acquisition and algorithm matching module for substation modeling objects includes a spatial point cloud acquisition unit for substation modeling objects, a spatial point cloud processing unit for substation modeling objects, a standard spatial point cloud modeling algorithm storage unit for spatial feature types of substation modeling objects, and a spatial point cloud modeling algorithm selection unit for substation modeling objects.

[0090] The system comprises the following components: a substation modeling object spatial point cloud acquisition unit, which acquires and processes spatial point cloud data of the substation modeling object based on its spatial location data and in conjunction with a point cloud camera mounted on a UAV; a substation modeling object spatial point cloud processing unit, which preprocesses the acquired spatial point cloud data of the substation modeling object based on the spatial point cloud data of the substation modeling object to obtain preprocessed spatial point cloud data; a substation modeling object spatial feature type standard spatial point cloud modeling algorithm storage unit, which stores the program data of the standard spatial point cloud modeling algorithm for the spatial feature type of the substation modeling object; and a substation modeling object spatial point cloud modeling algorithm selection unit, which selects the spatial point cloud modeling algorithm for the substation modeling object based on the preprocessed spatial point cloud data and the program data of the standard spatial point cloud modeling algorithm for the spatial feature type of the substation modeling object to obtain the selection information of the spatial point cloud modeling algorithm.

[0091] The substation digital twin modeling and simulation module includes a substation digital twin modeling and simulation basic data acquisition unit and a substation digital twin modeling and simulation operation execution unit;

[0092] The substation digital twin modeling and simulation basic data acquisition unit constructs the substation digital twin modeling and simulation basic data based on the preprocessed spatial point cloud data of the substation modeling object and the selection information of the spatial point cloud modeling algorithm of the substation modeling object, combined with data processing. The substation digital twin modeling and simulation operation execution unit executes the substation digital twin modeling and simulation operation based on the spatial point cloud data of the substation modeling object in the substation digital twin modeling and simulation basic data and the spatial point cloud modeling algorithm running program.

[0093] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A method for digital twin modeling and simulation of substations based on 3D reality, characterized in that, The method includes the following steps: Collect spatial feature image data of substation modeling objects, classify the spatial feature types of substation modeling objects to obtain classification information of spatial feature types of substation modeling objects; perform spatial location processing on the spatial location of substation modeling objects to obtain spatial location data of substation modeling objects; The spatial point cloud data of the substation modeling object is collected and processed based on the spatial location information of the substation modeling object to obtain the spatial point cloud data of the substation modeling object. The collected spatial point cloud data of the substation modeling object is preprocessed to obtain the preprocessed spatial point cloud data of the substation modeling object; the spatial point cloud modeling algorithm of the substation modeling object is selected to obtain the selection information of the spatial point cloud modeling algorithm of the substation modeling object. The basic data for digital twin modeling and simulation of substations are constructed, and the digital twin modeling and simulation of substations is executed.

2. The method for digital twin modeling and simulation of substations based on three-dimensional reality as described in claim 1, characterized in that: Collect spatial feature image data of substation modeling objects, classify the spatial feature types of substation modeling objects, and obtain classification information of spatial feature types of substation modeling objects. The spatial location processing of substation modeling objects to obtain spatial location data includes the following steps: By using a drone equipped with a cloud camera, panoramic images of the external spatial features of the power equipment modeling objects in the target substation site are captured and processed, generating a set of spatial feature image data of the substation modeling objects. The include ;in Indicates the number of collections Spatial feature image data of each substation modeling object; Based on the set of spatial feature image data of substation modeling objects and the standard spatial feature image data matrix of substation modeling objects spatial feature types, spatial feature type classification processing of substation modeling objects is performed to obtain a set of spatial feature type classification information for substation modeling objects. Based on the set of spatial feature image data of the substation modeling object, spatial location positioning processing of the substation modeling object is performed to obtain the set of spatial location data of the substation modeling object.

3. The method for digital twin modeling and simulation of substations based on three-dimensional reality as described in claim 2, characterized in that: Based on the spatial feature image data set of the substation modeling object and the standard spatial feature image data matrix of the substation modeling object spatial feature type, the spatial feature type classification processing of the substation modeling object is performed to obtain the substation modeling object spatial feature type classification information set, including the following steps: Establish a standard spatial feature image data matrix for the spatial feature types of substation modeling objects. The include ;in Indicates the first Standard spatial feature image data of substation modeling object spatial feature types corresponding to various substation modeling object spatial feature types; The The above According to the substation modeling object number, and in order with the above The above Perform image feature matching to search for images that match the given information. The matching The corresponding textual information of the spatial feature types of substation modeling objects is used to generate a set of classification information for the spatial feature types of substation modeling objects. The substation modeling object spatial feature type classification information set is executed. The specific operating steps are as follows: Step 1221: Initialization, set the maximum number of iterations T; Step 1222: After initialization, perform a spatial feature type search for moths to select flames. Initial generation in the solution space Search for spatial feature types of moths and A flame, and = In the Search the search space for the match with the The matching Spatial feature type search: Moths will fly around the selected flame. Search for spatial feature types of moths and The flames are sorted by quality, and the sorted flames are... The flame moved to a better position. At each location, the search moths of each spatial feature type select different flames, and the number of flames decreases as the number of iterations increases; Step 1223: Spatial Feature Type Search Moths. After selecting a flame, spatial feature type search moths fly around the flame. For spatial feature type search moths in the... Location in the search space Spatial feature type search moths around the flame in the Location in the search space And spatial feature type search moth flying around the flame after in the New location in the search space ; Step 1224: Spatial Feature Type Search for Moths in the... Fly and move the flames to the appropriate location within the search space. Only spatial feature type search for moths in the above In the search space After a fireball flies, update to A new location, calculate this The new location described With the The fitness value, will this A new location and A flame based on + The positions are sorted by priority, and the positions with the best priority are... The position is used as the position of the flame in the next round, in the... Search the search space for the match with the The most matching ; Step 1225: When the maximum number of iterations T is satisfied, output the result as described above. The matching ; Step 1226: The output from step 1225 The matching The corresponding textual information of the spatial feature type of the substation modeling object is used to generate a set of classification information for the spatial feature type of the substation modeling object after data identification. The include ;in Indicates the first Classification information of spatial feature types of substation modeling objects corresponding to each substation modeling object.

4. The method for digital twin modeling and simulation of substations based on three-dimensional reality as described in claim 3, characterized in that: The process of spatially locating the substation modeling object based on the spatial feature image data set of the substation modeling object to obtain the spatial location data set of the substation modeling object includes the following steps: Based on the GIS system The above The spatial coordinates of the target substation modeling objects are collected and processed in an orderly manner according to their substation modeling object numbers, and a set of spatial location data of the substation modeling objects is generated. The include ;in Indicates the first Spatial location data of each substation modeling object.

5. The method for digital twin modeling and simulation of substations based on three-dimensional reality as described in claim 4, characterized in that: The spatial point cloud data of the substation modeling object is collected and processed based on its spatial location information to obtain the substation modeling object's spatial point cloud data. The collected spatial point cloud data is then preprocessed to obtain preprocessed spatial point cloud data. Finally, a modeling algorithm selection process is performed on the substation modeling object's spatial point cloud data to obtain the substation modeling object's spatial point cloud modeling algorithm selection information. This process includes the following steps: Based on the spatial location data set of the substation modeling object, spatial point cloud data of the substation modeling object is collected and processed to obtain a spatial point cloud data set of the substation modeling object; based on the spatial point cloud data set of the substation modeling object, the collected spatial point cloud data of the substation modeling object is preprocessed to obtain a preprocessed spatial point cloud data set of the substation modeling object. Based on the preprocessed data set of spatial point cloud of the substation modeling object and the standard spatial point cloud modeling algorithm program data matrix of spatial feature type of the substation modeling object, the spatial point cloud modeling algorithm selection process of the substation modeling object is performed to obtain the spatial point cloud modeling algorithm selection information set of the substation modeling object.

6. The method for digital twin modeling and simulation of substations based on three-dimensional reality as described in claim 5, characterized in that: Based on the spatial location data set of the substation modeling object, spatial point cloud data of the substation modeling object is collected and processed to obtain the spatial point cloud data set of the substation modeling object. The preprocessing of the spatial point cloud data of the substation modeling object, based on the aforementioned spatial point cloud data set, to obtain the preprocessed spatial point cloud data set of the substation modeling object includes the following steps: Based on the point cloud camera mounted on a drone... The above The point cloud data of the spatial features of the target substation modeling objects are collected and processed in an orderly manner according to their substation modeling object numbers, and a spatial point cloud data set of the substation modeling objects is generated. The include ;in Indicates the first Spatial point cloud data of each substation modeling object; The Laplace filter algorithm is used for the above. The above Denoising preprocessing of spatial point cloud data is performed, and a preprocessed spatial point cloud dataset of substation modeling objects is generated. The include ;in Indicates the first Preprocessed spatial point cloud data corresponding to each substation modeling object.

7. The method for digital twin modeling and simulation of substations based on three-dimensional reality as described in claim 6, characterized in that: Based on the preprocessed spatial point cloud data set of the substation modeling object and the standard spatial point cloud modeling algorithm program data matrix of the spatial feature type of the substation modeling object, the selection of spatial point cloud modeling algorithm for the substation modeling object is performed to obtain the selection information set of spatial point cloud modeling algorithm for the substation modeling object, including the following steps: Establish standard spatial point cloud modeling algorithm program data matrix for substation modeling object spatial feature types The include ;in Indicates the first Standard spatial point cloud modeling algorithm program data for substation modeling object spatial feature types corresponding to various substation modeling object spatial feature types; The The above With the The above The substation modeling object spatial feature type keyword matching is performed in an orderly manner according to the substation modeling object number to search for the... The corresponding And construct a set of information for selecting spatial point cloud modeling algorithms for substation modeling objects. The include ;in Indicates the first Information on the selection of spatial point cloud modeling algorithms for each substation modeling object.

8. The method for digital twin modeling and simulation of substations based on three-dimensional reality as described in claim 7, characterized in that: The steps involved in constructing the basic data for substation digital twin modeling and simulation and executing substation digital twin modeling and simulation tasks are as follows: The and stated The basic data for digital twin modeling and simulation of substations is constructed through data combination and identification; Based on the spatial point cloud data of the substation modeling objects in the substation digital twin modeling and simulation foundation data, and the spatial point cloud modeling algorithm program, the digital twin modeling and simulation work of the three-dimensional spatial structure of the substation modeling objects is executed in an orderly manner according to the substation modeling object number, and a set of three-dimensional model data of the substation modeling objects is generated. The include ;in Indicates the first The three-dimensional model data of the substation modeling object corresponding to each substation modeling object.

9. A digital twin modeling and simulation system for substations based on 3D reality, used to implement the digital twin modeling and simulation method for substations based on 3D reality as described in any one of claims 1-8, characterized in that: The system includes a substation modeling object classification and positioning module, a substation modeling object data acquisition and algorithm matching module, and a substation digital twin modeling and simulation module. The substation modeling object classification and positioning module is used to collect spatial feature image data of substation modeling objects, classify the spatial feature types of substation modeling objects to obtain classification information of spatial feature types of substation modeling objects, and locate the spatial position of substation modeling objects to obtain spatial position data of substation modeling objects. The substation modeling object data acquisition and algorithm matching module acquires and processes the spatial point cloud data of the substation modeling object based on the spatial location information of the substation modeling object to obtain the spatial point cloud data of the substation modeling object; performs data preprocessing on the acquired spatial point cloud data of the substation modeling object to obtain the preprocessed spatial point cloud data of the substation modeling object; and selects the spatial point cloud modeling algorithm of the substation modeling object to obtain the selection information of the spatial point cloud modeling algorithm of the substation modeling object. The substation digital twin modeling and simulation module is used to construct the basic data for substation digital twin modeling and simulation and to execute substation digital twin modeling and simulation operations.

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