Pumped storage power station construction process simulation modeling method, device and equipment

Abstract

The application provides a pumped storage power station construction process simulation modeling method, device and equipment, and belongs to the technical field of three-dimensional modeling. The method comprises the following steps: obtaining digital elevation model data and digital orthographic image data of a target area, and generating a terrain model; obtaining three-dimensional point cloud data of a target water conservancy hub building, and generating a three-dimensional contour model; obtaining a texture image and mapping the texture image to the surface of the contour model, and generating a three-dimensional real scene model; and fusing the terrain model and the three-dimensional real scene model to obtain a three-dimensional simulation model. The application improves the modeling precision and model fusion consistency of the three-dimensional simulation of the pumped storage power station construction process.

Description

Technical Field

[0001] This invention relates to the field of 3D modeling technology, specifically to a simulation modeling method, device, and equipment for the construction process of a pumped storage power station. Background Technology

[0002] Pumped storage power stations are typically built in mountainous areas with significant elevation differences. The construction process involves numerous hydraulic engineering structures, including upper and lower reservoirs, underground powerhouses, access tunnels, ventilation tunnels, construction adits, and water diversion tunnels. Constructing a 3D simulation model of the entire power station construction process provides visualized decision support for design review, construction simulation, progress control, and operation and maintenance management, and has become an important means of improving the intelligence level of power station construction. In existing technologies, 3D modeling of pumped storage power stations is typically achieved as follows: using UAV aerial photography to acquire topographic images and generate digital elevation models and digital orthophotos to construct a surface topographic model; using a 3D laser scanner to acquire point cloud data to construct 3D models of hydraulic structures; and merging the topographic model and structure models to form a 3D visualization scene of the power station.

[0003] In the process of developing this invention, the inventors discovered that existing methods have at least the following drawbacks: First, existing UAV aerial photography solutions lack a systematic approach to aerial photography parameter design, ground control point deployment, and aerial triangulation processing, making it difficult to balance the modeling accuracy and efficiency of large-scale mountainous terrain. Second, underground powerhouses and other hydraulic structures are characterized by limited space, complex structures, and severe obstruction. Existing 3D laser scanning solutions are mostly designed for single structures or surface buildings, lacking multi-station stitching, control measurement, and point cloud processing procedures for complex underground spaces, resulting in insufficient model accuracy and completeness for key components such as underground cavern groups. Third, terrain models and building / structure models are constructed independently, lacking a unified technical approach from data acquisition to model generation, making it difficult to guarantee the integrity and consistency of the 3D scene. Fourth, existing solutions lack standardized panoramic image acquisition and synthesis processes, making it difficult to achieve periodic panoramic recording and comparative analysis of key construction areas.

[0004] Therefore, how to construct a high-precision 3D simulation model covering complex mountainous terrain and underground cavern groups through the collaborative use of multi-source data acquisition methods during the construction of pumped storage power stations, and how to achieve efficient model fusion and dynamic panoramic recording of the construction process, so as to improve modeling accuracy, data integrity and model fusion consistency, is a technical problem that urgently needs to be solved in this field. Summary of the Invention

[0005] In view of this, it is necessary to provide a simulation modeling method, device and electronic equipment for the construction process of pumped storage power stations, so as to solve the technical problems of unsystematic multi-source data acquisition, insufficient modeling accuracy and poor model fusion consistency in the existing methods.

[0006] To address the aforementioned technical problems, in a first aspect, the present invention provides a simulation modeling method for the construction process of a pumped storage power station, comprising: Acquire surface topographic data of the target area, including digital elevation model data and digital orthophoto data; A terrain model of the target area is generated based on the digital elevation model data and the digital orthophoto data; Acquire the three-dimensional point cloud data of the target hydraulic engineering structure, and generate a three-dimensional contour model of the target hydraulic engineering structure based on the three-dimensional point cloud data; The texture image of the target hydraulic engineering structure is obtained and mapped onto the surface of the three-dimensional contour model to generate a three-dimensional real-scene model of the target hydraulic engineering structure. The terrain model is fused with the three-dimensional reality model to obtain the three-dimensional simulation model of the pumped storage power station.

[0007] Optionally, acquiring the surface topography data of the target area includes: using an unmanned aerial vehicle (UAV) aerial photography system to conduct aerial photography of the target area and acquire aerial images; Aerial triangulation encryption processing is performed on the aerial photographs to obtain the aerial triangulation encryption results. Based on the aerial triangulation results, the digital elevation model data and the digital orthophoto data are generated.

[0008] Optionally, the aerial photography of the target area using an unmanned aerial vehicle (UAV) system includes: The target area is divided into an aerial survey area, and a relative flight altitude is set. The drone aerial photography system is controlled to take pictures along a preset route within a preset time period to acquire the aerial images. The preset time period is the period during which daytime sunlight meets the requirements for aerial photography.

[0009] Optionally, before performing aerial triangulation encryption processing based on the aerial imagery, the method further includes: Obtain preset horizontal and vertical image control points within the target area, each preset horizontal and vertical image control point including horizontal coordinates and vertical coordinates; The aerial triangulation encryption process based on the aerial imagery includes: Based on the aerial photographs and the planar and elevation coordinates of the level and elevation image control points, aerial triangulation is densified using bundle adjustment of the regional network.

[0010] Optionally, generating a terrain model of the target area based on the digital elevation model data and the digital orthophoto data includes: importing the digital elevation model data and the digital orthophoto data into a terrain creation tool; Using the terrain creation tool, the digital orthophoto data is overlaid onto the digital elevation model data to generate a terrain model file, and the terrain model file is exported in a format supported by the game engine. The exported terrain model file is imported into the game engine, where textures are added and lighting is adjusted to obtain the terrain model.

[0011] Optionally, acquiring the three-dimensional point cloud data of the target hydraulic engineering structure includes: Multiple scanning stations were deployed around the target hydraulic engineering structure. A 3D laser scanner is used to scan at each of the scanning sites to obtain point cloud data for each site; Obtain the planar coordinates and elevation coordinates of each of the scanning stations; Based on the planar and elevation coordinates of each scanning station, the point cloud data of each station are stitched together to obtain the three-dimensional point cloud data.

[0012] Optionally, generating a three-dimensional outline model of the target hydraulic engineering structure based on the three-dimensional point cloud data includes: Using 3D reverse modeling software, a triangular model of the outer contour of the target hydraulic hub structure is generated based on the 3D point cloud data; A standard model of the target hydraulic engineering structure was established using 3D modeling software based on the triangular facet model.

[0013] Optionally, acquiring the texture image of the target hydraulic structure includes: The facade of the target hydraulic engineering structure was photographed on-site using a digital camera to obtain facade texture images; Obtain surface texture images from the digital orthophoto data; Obtain the top texture image of the target hydraulic engineering structure from the aerial photograph.

[0014] On the other hand, the present invention also provides a simulation modeling device for the construction process of a pumped storage power station, comprising: The terrain data acquisition module is used to acquire surface terrain data of the target area, including digital elevation model data and digital orthophoto data. The terrain model generation module is used to generate a terrain model of the target area based on the digital elevation model data and the digital orthophoto data. The contour model generation module is used to acquire the three-dimensional point cloud data of the target hydraulic hub structure and generate a three-dimensional contour model of the target hydraulic hub structure based on the three-dimensional point cloud data. The texture acquisition and mapping module is used to acquire the texture image of the target hydraulic hub structure and map the texture image onto the surface of the three-dimensional contour model to generate a three-dimensional real-scene model of the target hydraulic hub structure. The model fusion module is used to fuse the terrain model with the three-dimensional reality model to obtain a three-dimensional simulation model of the pumped storage power station.

[0015] Thirdly, the present invention also provides an electronic device, including a UAV aerial photography interface, a laser scanning interface, a camera interface, a memory, and a processor; The UAV aerial photography interface is used to communicate with the UAV aerial photography system and receive aerial images acquired by the UAV aerial photography system when it conducts aerial photography of the target area. The laser scanning interface is used to communicate with a 3D laser scanner and receive 3D point cloud data obtained by the 3D laser scanner from scanning the target hydraulic structure. The camera interface is used to communicate with a digital camera and receive texture images obtained by the digital camera from taking pictures of the target hydraulic structure. The memory is used to store programs; The processor, coupled to the memory, is used to execute the program stored in the memory to implement the steps in the simulation modeling method for the construction process of a pumped storage power station as described in any of the above implementations.

[0016] The beneficial effects of this invention are as follows: The simulation modeling method for the construction process of pumped storage power stations provided by this invention acquires digital elevation model data and digital orthophoto data of the target area and generates a terrain model accordingly, providing a standardized terrain base for the subsequent integration of terrain and structures; it uses 3D laser point cloud data to generate 3D contour models of structures, and then combines texture mapping to generate 3D reality models, ensuring the geometric accuracy and surface realism of complex underground spatial structures; by integrating the terrain model and the 3D reality model, a unified 3D simulation model is obtained, realizing the systematic integration of terrain data and structure data. By adopting the above technical solutions, the modeling accuracy and model fusion consistency of the 3D simulation of the construction process of pumped storage power stations are improved. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 A schematic flowchart of an embodiment of the simulation modeling method for the construction process of a pumped storage power station provided by the present invention; Figure 2 For the present invention Figure 1 A schematic diagram of an embodiment of S101; Figure 3 For the present invention Figure 2 A schematic diagram of an embodiment of S201; Figure 4 For the present invention Figure 1 A schematic diagram of another embodiment of S102; Figure 5 For the present invention Figure 1 A schematic diagram of an embodiment of S103; Figure 6 For the present invention Figure 1 A schematic diagram of another embodiment of S103; Figure 7 A schematic diagram of an embodiment of the simulation modeling device for the construction process of a pumped storage power station provided by the present invention; Figure 8 A schematic diagram of an embodiment of the electronic device provided by the present invention. Detailed Implementation

[0019] In the description of the embodiments of the present invention, unless otherwise stated, "multiple" means two or more. "And / or" describes the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone.

[0020] The terms "first," "second," etc., used in the embodiments of this invention are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a technical feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature.

[0021] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0022] This invention provides a simulation modeling method, apparatus, and electronic equipment for the construction process of a pumped storage power station. The technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0023] Figure 1 A schematic flowchart of an embodiment of the simulation modeling method for the construction process of a pumped storage power station provided by the present invention is shown below. Figure 1 As shown, the simulation modeling method for the construction process of a pumped storage power station includes: In some embodiments of the present invention, such as Figure 1 As shown, the simulation modeling method for the construction process of a pumped storage power station includes the following steps.

[0024] S101. Obtain surface topographic data of the target area, including digital elevation model data and digital orthophoto data.

[0025] Specifically, the target area is the mountainous region where the pumped-storage power station is located, an area typically characterized by significant elevation differences and complex terrain features. A Digital Elevation Model (DEM) is a dataset that expresses ground elevation information in the form of a regular grid, used to describe the undulating shape of the terrain. A Digital Orthophoto Map (DOM) is image data generated by orthorectifying aerial photographs; it possesses the geometric characteristics of orthophoto projection and can serve as the texture base for the terrain model.

[0026] S102. Generate a terrain model of the target area based on digital elevation model data and digital orthophoto data.

[0027] Specifically, DEM data and DOM data are spatially overlaid, so that each pixel of the orthophoto corresponds to a corresponding position on the DEM grid, thereby generating a 3D terrain surface model with realistic texture. This terrain model reflects the topographic relief and surface cover characteristics of the target area and serves as the terrain base for subsequent fusion with the building model.

[0028] S103. Obtain the three-dimensional point cloud data of the target hydraulic engineering structure, and generate a three-dimensional contour model of the target hydraulic engineering structure based on the three-dimensional point cloud data.

[0029] Specifically, the target hydraulic engineering structure includes at least one of the following: traffic tunnel, ventilation tunnel, construction adit, upper reservoir, lower reservoir, powerhouse system, water diversion adit, tailrace adit, and connecting roads between the upper and lower reservoirs.

[0030] Three-dimensional point cloud data consists of a large number of discrete points with three-dimensional spatial coordinates. These points are densely distributed on the surface of the object being measured and can accurately describe the geometric shape of the structure. The process of generating a three-dimensional contour model from point cloud data is essentially converting discrete point cloud data into a continuous geometric surface model.

[0031] S104. Obtain the texture image of the target hydraulic engineering structure and map the texture image onto the surface of the three-dimensional contour model to generate a three-dimensional real-scene model of the target hydraulic engineering structure.

[0032] Specifically, texture images reflect the color, material, and detailed features of a building's surface. Mapping a texture image onto the surface of a 3D contour model means establishing a correspondence between the pixel coordinates of the texture image and the 3D coordinates of the model surface, so that the texture image is attached to the model surface, thereby generating a 3D reality model with a realistic visual appearance.

[0033] S105. The terrain model is fused with the 3D reality model to obtain a 3D simulation model of the pumped storage power station.

[0034] Specifically, fusion refers to combining the terrain model and the 3D reality models of various buildings and structures within a unified spatial coordinate system, allowing the building and structure models to be precisely placed in their corresponding positions on the terrain model. The resulting 3D simulation model fully presents the terrain environment and spatial layout of the pumped storage power station's hydraulic engineering structures.

[0035] It should be noted that each building model in the 3D simulation model has attribute data, including model number and equipment code, which matches the code in the equipment ledger. This attribute data design method enables data association between the 3D visualization model and the equipment management system, facilitating equipment information retrieval and traceability in subsequent operation and maintenance management.

[0036] This embodiment generates a terrain model by acquiring DEM and DOM data of the target area, and generates a 3D outline model of the building structure by using 3D point cloud data and superimposing textures to form a real scene model. Then, the terrain model and the real scene model are merged into a unified 3D simulation model, realizing the systematic integration of terrain data and building structure data. This is beneficial to improving the modeling accuracy and model fusion consistency of 3D simulation in the construction process of pumped storage power stations.

[0037] In some embodiments of the present invention, such as Figure 2 As shown, step S101 involves acquiring surface terrain data of the target area, including the following steps.

[0038] S201. Use an unmanned aerial vehicle (UAV) aerial photography system to conduct aerial photography of the target area and acquire aerial images.

[0039] Specifically, the drone aerial photography system is equipped with a digital camera and photographs the target area according to a pre-planned flight path, acquiring aerial images covering the entire target area. Aerial photography records the true spectral information and texture features of the ground surface, serving as the fundamental data source for generating DEMs and DOMs.

[0040] S202. Based on the aerial photographs, aerial triangulation is performed to obtain the aerial triangulation encryption results.

[0041] Specifically, aerial triangulation (aerial triangulation densification) is a process that utilizes the overlapping relationships between aerial images to measure the coordinates of image points and calculate the ground coordinates of densification points and the exterior orientation elements of the images. The results of aerial triangulation densification include the exterior orientation elements (position and attitude parameters) of the images and the three-dimensional coordinates of the densification points. These results provide accurate orientation parameters for the subsequent generation of DEM and DOM.

[0042] S203. Based on the results of aerial triangulation, generate digital elevation model data and digital orthophoto image data.

[0043] Specifically, using the orientation parameters provided by aerial triangulation, a disparity map is generated through dense image matching technology. Then, the elevation value corresponding to each pixel is calculated based on the disparity map to form digital elevation model data. At the same time, the digital elevation model data is used to perform digital differential correction on the original aerial imagery to eliminate projection distortion caused by terrain undulations, generating digital orthophoto imagery data.

[0044] In a specific example, this embodiment uses the modern aerial triangulation software MAP-AT 3.2 for aerial triangulation refinement. This software supports fully automatic extraction of corresponding image points and performs overall solution through bundle adjustment. The processing flow includes image input, interior orientation, automatic generation of tie points, control point relocation, and network adjustment calculations, ultimately outputting the aerial triangulation refinement results and control point residuals.

[0045] This embodiment acquires aerial images using an unmanned aerial vehicle (UAV) aerial photography system, and then performs aerial triangulation encryption and DEM / DOM generation sequentially. This enables the efficient acquisition of high-precision surface topographic data for large-scale mountainous terrain, which is beneficial to improving the efficiency and accuracy of terrain data acquisition.

[0046] In some embodiments of the present invention, such as Figure 3 As shown, step S201 involves using an unmanned aerial vehicle (UAV) aerial photography system to conduct aerial photography of the target area, including the following steps.

[0047] S301. Divide the target area into an aerial survey area and set the relative flight altitude.

[0048] Specifically, based on the shape and area of ​​the target region, the entire survey area is planned as a unified aerial photography area. Relative flight altitude refers to the flight altitude of the UAV relative to the takeoff point or the average elevation surface of the survey area. The setting of relative flight altitude determines the ground resolution and coverage of the aerial photographs.

[0049] S302. Control the UAV aerial photography system to take pictures along a preset route within a preset time period and acquire aerial images; wherein, the preset time period is the period when the daytime light meets the requirements for aerial photography.

[0050] Specifically, the preset time period is selected during the daytime when there is sufficient sunlight and a large solar altitude angle to reduce the impact of terrain shadows on image quality. The preset flight path is a flight path planned based on the shape of the target area and aerial photography parameters to ensure that the aerial images have the specified overlap and coverage.

[0051] As a preferred method, aerial photography flights are typically scheduled between 11:00 AM and 3:00 PM local time, when the sun's altitude angle is higher, effectively reducing shadows caused by elevation differences. Ground winds should be less than level 2 during takeoff and landing, and less than level 3 during flight, to ensure flight stability and image quality. Good visibility is also crucial; when visibility is poor, the ISO should be increased appropriately to ensure image clarity.

[0052] This embodiment divides the target area into an aerial photography area and sets a relative flight altitude. By taking pictures according to a preset flight path during a preset time period with sufficient light, it is possible to obtain aerial images with complete coverage and good quality, which helps to improve the standardization of aerial photography operations and the consistency of image data.

[0053] In some embodiments of the present invention, before performing aerial triangulation densification processing based on aerial photographs, the method further includes: acquiring preset horizontal and vertical control points within the target area, each preset horizontal and vertical control point including horizontal coordinates and vertical coordinates. Aerial triangulation densification processing based on aerial photographs includes: performing aerial triangulation densification processing using bundle adjustment based on the aerial photographs, the horizontal coordinates and vertical coordinates of the horizontal and vertical control points.

[0054] Specifically, ground control points (GCPs) are ground markers with precise planar and elevation coordinates deployed within the target area. The planar and elevation coordinates of the GCPs are measured with an accuracy no lower than that of the control points on the map. Before aerial triangulation, the image positions of each GCP need to be accurately located on the aerial photographs and marked with swivels, and the ground coordinates of the GCPs are then incorporated into the aerial triangulation calculation.

[0055] Bundle adjustment is a method for solving regional networks that uses bundles of individual images as adjustment units and establishes an error model through collinearity equations. This method treats each aerial image as a bundle, with all bundles intersecting at ground points in space. Least squares adjustment is used to simultaneously solve for the exterior orientation elements of each image and the ground coordinates of densification points. Bundle adjustment has a rigorous theoretical basis and facilitates the inclusion of non-photogrammetric observations such as image control points in the adjustment calculations.

[0056] Preferably, in this embodiment, approximately 20 horizontal and vertical control points are deployed within the target area. This increases the accuracy and reliability of the aerial triangulation calculation by adding redundant observations. The horizontal and vertical coordinates of the control points are measured with an accuracy no lower than that of the control points. The aerial triangulation refinement process employs bundle adjustment, incorporating control point coordinates, camera parameters, POS data, and distortion-corrected image data into the adjustment calculation to obtain high-precision aerial triangulation refinement results.

[0057] This embodiment improves the accuracy and reliability of aerial triangulation by setting up horizontal and vertical control points within the target area and obtaining their precise coordinates, and then using bundle adjustment for aerial triangulation refinement. This is beneficial for improving the quality of subsequent DEM and DOM generation.

[0058] In some embodiments of the present invention, such as Figure 4 As shown, step S102 generates a terrain model of the target area based on digital elevation model data and digital orthophoto data, including the following steps.

[0059] S401. Import digital elevation model data and digital orthophoto data into the terrain creation tool.

[0060] Specifically, terrain creation tools are software specifically designed for terrain generation and editing. They can import DEM and image data in various formats and provide a wealth of terrain editing functions.

[0061] S402. Using terrain creation tools, digital orthophoto data is overlaid onto digital elevation model data to generate terrain model files, which are then exported in a format supported by the game engine.

[0062] Specifically, in the terrain creation tool, the DOM is overlaid as a texture layer onto the 3D terrain surface constructed by the DEM, giving the terrain surface both geometric undulations and realistic image textures. The generated terrain model file is exported in a format supported by the game engine for later import into the game engine for rendering and interaction.

[0063] S403. Import the exported terrain model file into the game engine, add textures and adjust lighting to obtain the terrain model.

[0064] Specifically, the game engine provides rendering, interaction, and logic control functions for 3D scenes. After importing terrain model files into the game engine, texture details can be added, lighting parameters and shadow effects can be adjusted as needed, making the terrain model more visually realistic and natural.

[0065] Preferably, this embodiment uses World Creator as the terrain creation tool and Unity 3D as the game engine. World Creator is a real-time terrain creation tool specifically designed for terrain generation, supporting the export of terrain data in various formats, including OBJ, FBX, GLTF, TIFF, PNG, RAW (16-bit or 32-bit), and EXR (32-bit). World Creator also provides a bridging tool with Unity 3D, allowing users to seamlessly transfer terrain from World Creator to Unity 3D simply by clicking the sync button. In Unity 3D, the imported terrain data is carried by a Terrain object, and post-processing operations such as texture addition and lighting adjustment are performed as needed to enhance the visual effect of the terrain.

[0066] This embodiment generates a terrain model by importing the DEM and DOM into a terrain creation tool and overlaying them, and then exporting them to a game engine for post-processing. This method can efficiently generate terrain models with realistic textures and good visual effects, which helps to improve the efficiency and quality of terrain model production.

[0067] In some embodiments of the present invention, such as Figure 5 As shown, step S103 involves acquiring the three-dimensional point cloud data of the target hydraulic engineering structure, including the following steps.

[0068] S501. Deploy multiple scanning stations around the target hydraulic engineering structure.

[0069] Specifically, a scanning station is the location where a 3D laser scanner is set up to collect data. Due to the complex structure and severe obstruction of hydraulic engineering structures, a single scanning station cannot obtain complete 3D spatial information. Therefore, multiple scanning stations need to be set up around the structures to scan from different angles and positions to ensure coverage of all facades of the modeled objects.

[0070] S502. A 3D laser scanner is used to scan at each scanning station to obtain point cloud data for each station.

[0071] Specifically, a 3D laser scanner emits a laser beam and receives the signal reflected from the surface of an object. By measuring the time of flight or phase difference of the laser beam, it calculates the distance from the scanner to various points on the surface of the object. Combining this with the horizontal and vertical angles of the scanner, it calculates the 3D coordinates of each point. The point cloud data for each station is a collection of local point clouds acquired at different scanning locations.

[0072] S503. Obtain the planar coordinates and elevation coordinates of each scanning station.

[0073] Specifically, the planar and elevation coordinates of each scanning station are measured using the precision of control points. Existing graded control points can be used for measurement to improve accuracy. The coordinates of the scanning stations are used to unify the point cloud data of each station into the same spatial reference system.

[0074] S504. Based on the planar and elevation coordinates of each scanning station, the point cloud data of each station are stitched together to obtain three-dimensional point cloud data.

[0075] Specifically, stitching is the process of registering and merging point cloud data from multiple stations in a unified coordinate system. Based on the coordinates of each scanning station and the common characteristics between the cloud data from each station, the rotation and translation parameters between adjacent station cloud data are calculated, and each local point cloud is transformed into the same coordinate system to form a complete 3D point cloud data.

[0076] The scanned data must cover all facades of the modeled object, leaving no blind spots. Scanning stations should be deployed according to the site conditions. Additional scanning stations should be added for complex structures and indoor equipment to ensure that the 3D laser point cloud data covers the entire object being measured. For areas with severe occlusion, additional scanning stations should be added to ensure they are scanned.

[0077] As a preferred method, the randomized software RiScanPro was used for data processing and stitching. The coordinates of the scanning stations were input, and the stitching orientation was determined based on the common characteristics between the point clouds at each station. After stitching, the accuracy of the stitching adjustment was checked. Useless point clouds such as water vapor were deleted, color information was assigned to the point clouds, and then the point clouds were exported in blocks. The stitched point cloud data achieved centimeter-level accuracy relative to neighboring control points, with a point cloud density of no less than 20 points / square meter.

[0078] This embodiment uses multiple scanning stations around the structure to acquire point cloud data from each station using a 3D laser scanner, and then stitches the data together based on the coordinates of the scanning stations. This allows for the complete acquisition of the 3D spatial information of complex hydraulic structures, which helps improve the integrity and stitching accuracy of the point cloud data.

[0079] In some embodiments of the present invention, such as Figure 6 As shown, step S103 generates a three-dimensional outline model of the target hydraulic hub structure based on the three-dimensional point cloud data, including the following steps.

[0080] S601. Using 3D reverse modeling software, a triangular model of the outer contour of the target hydraulic engineering hub structure is generated based on 3D point cloud data.

[0081] Specifically, 3D reverse modeling refers to reconstructing the geometric model of an object's surface from point cloud data using algorithms. A triangular facet model is a surface model of an object expressed in the form of a triangular mesh, composed of a large number of interconnected triangular facets, which can accurately approximate the object's geometry. The process of generating a triangular facet model from 3D point cloud data includes point cloud filtering, surface reconstruction, and mesh optimization.

[0082] S602. Using 3D modeling software, a standard model of the target hydraulic engineering structure is established based on the triangular face model.

[0083] Specifically, 3D modeling software provides more refined model editing and optimization tools. Based on the triangular facet model, by removing redundant vertices, optimizing the mesh structure, and repairing model defects, a standard model with a standardized geometric structure and a reasonable number of faces can be established.

[0084] Due to the complex structure and geometry of hydraulic engineering projects, it is necessary to synthesize and select appropriate coordinates and elevations when extracting model feature points from point cloud data. The accuracy of model feature points extracted from point cloud data can reach the centimeter level.

[0085] It should be noted that, in order to reduce data volume and improve system speed, the number of geometric faces and texture resolution of building models should be minimized while meeting visual requirements. Repeated textures can be used for regular patterns. The base shape, size, facade geometry, and building height of all models should be accurate, and texture transitions should be natural. Textures should accurately reflect the characteristics of building materials such as wood, stone, glass, and metal.

[0086] As a preferred method, the general rules for model creation in this embodiment are as follows: the base shape is determined based on a 1:500 DLG topographic map; the base elevation is taken as the average value of ground elevation annotation points when the ground is flat, and as the elevation of the lowest elevation annotation point when the ground is sloping; height and facade data are obtained from 3D scanned point clouds, and parts of large buildings that cannot be scanned and their interiors can be obtained from design drawings; variations in facade protrusion and concavity greater than 1m are represented; structures with a depth greater than 1m are represented; and attachments with length, width, and height all greater than 1m are represented (attachments include fences, stairs, large billboards, etc.). The spatial data of the model facade is mainly obtained from high-precision point cloud data from 3D laser scanning, and some parts can be measured using a handheld rangefinder or obtained from design documents.

[0087] This embodiment uses 3D reverse modeling software to generate a triangular face model from point cloud data, and then uses 3D modeling software to establish a standard model, which can generate a high-precision 3D outline model of the building. At the same time, reasonable model simplification measures are used to control the amount of data, which helps to improve the system's operating efficiency while ensuring model accuracy.

[0088] In some embodiments of the present invention, the texture image of the target hydraulic hub structure is obtained in the following ways.

[0089] Digital cameras were used to photograph the facades of the target hydraulic engineering structures on-site, obtaining images of the facade textures. Specifically, high-resolution digital cameras or video cameras were used to take photographs of the facades. When taking photos, the camera should be positioned as directly as possible relative to the subject to minimize perspective distortion. After taking the photos, annotations were made on the topographic map for easy reference. Before pasting the photos, preprocessing was performed, including cropping, color correction, removal of interfering images, and stitching. When multiple photos of the same facade were used, attention should be paid to visual harmony and unity.

[0090] Surface texture images are obtained from digital orthophoto data. Specifically, digital orthophoto data covers the surface area of ​​the target region and includes texture information of ground features such as roads, sites, and green spaces around buildings, which can be directly used as a source of surface texture.

[0091] The texture image of the top of the target hydraulic engineering structure is obtained from aerial photography. Specifically, the aerial photography includes a top-down view of the top of the structure, which, after cropping and color correction, can be used as the source of the texture of the top of the structure.

[0092] Texture photos should be taken facing forward as much as possible, and marked on the topographic map for easy location. After processing such as cropping, color matching, and stitching, the photos are pasted onto the facade of the building frame model to form a realistic and beautiful three-dimensional model.

[0093] This embodiment acquires facade textures by taking photos on-site with a digital camera, ground textures by obtaining them from the DOM (Domain of Deposition), and top textures by obtaining them from aerial photography. This forms a layered texture acquisition scheme, which can provide complete and realistic texture data for building models and improve the visual realism of 3D real-scene models.

[0094] In some embodiments of the present invention, the simulation modeling method for the construction process of the pumped storage power station also includes the acquisition and synthesis of 360° panoramic images.

[0095] At predetermined locations within the target area, drones will hover at predetermined altitudes. Specifically, these locations include key areas such as upper and lower reservoirs and underground power plants, with predetermined altitudes ranging from 60 to 120 meters, determined based on the height of the buildings on site.

[0096] The gimbal controlling the drone is positioned sequentially at three angles: a first angle, a second angle, and a third angle. The drone then orbits the ground at each angle, capturing multiple orbital images. The first angle is 0° (horizontal), the second angle is 30°, and the third angle is 60°. Eight to sixteen orbital images are captured at each angle, with an overlap of 25% to 40% between adjacent images.

[0097] The drone's gimbal is positioned at a vertical top-down angle, rotating to capture multiple top-down images. Specifically, it rotates to capture four ground photos from a vertical top-down angle, each photo rotating 90°.

[0098] A 360° panoramic image at a preset location is synthesized based on the surround and top-down images. Specifically, the surround and top-down images are loaded into panoramic image generation software, which automatically aligns the loaded images, generates a panoramic image based on the aligned images, and then exports it.

[0099] In a specific example, the DJI Mavic 3E (M3E) drone was used for panoramic image acquisition. The DJI M3E is equipped with a 4 / 3 CMOS 20-megapixel mechanical shutter wide-angle camera, a 56x zoom camera, and an RTK module, supporting high-precision and efficient surveying and inspection operations. The mechanical shutter effectively avoids the rolling shutter effect and enables continuous shooting at intervals as fast as 0.7 seconds. The 3.3μm large pixel size and intelligent low-light mode improve imaging performance in low-light environments, which helps extend the effective working time during the day.

[0100] Panoramic image compositing is performed using panoramic image generation software. The operation process is as follows: Load the captured images into the panoramic image generation software; click "Auto Align," and the software will automatically analyze the loaded images and perform automatic alignment; after alignment, generate a preview of the effect; after checking for errors, create the panoramic image; export the panoramic image.

[0101] This embodiment acquires images by using drones to take multi-angle panoramic and vertical overhead shots from preset locations, and then synthesizes 360° panoramic images using panoramic image generation software. This establishes a standardized panoramic image acquisition and synthesis process, which is beneficial for enabling periodic panoramic recording and comparative analysis of key areas in power plant construction.

[0102] To better implement the simulation modeling method for the construction process of pumped storage power stations in this embodiment of the invention, based on the simulation modeling method for the construction process of pumped storage power stations, the corresponding method is as follows: Figure 6 As shown, this embodiment of the invention also provides a simulation modeling device for the construction process of a pumped storage power station. The simulation modeling device 700 for the construction process of a pumped storage power station includes: The terrain data acquisition module 701 is used to acquire surface terrain data of the target area, the surface terrain data including digital elevation model data and digital orthophoto data; The terrain model generation module 702 is used to generate a terrain model of the target area based on the digital elevation model data and the digital orthophoto data. The contour model generation module 703 is used to acquire three-dimensional point cloud data of the target hydraulic hub structure and generate a three-dimensional contour model of the target hydraulic hub structure based on the three-dimensional point cloud data. The texture acquisition and mapping module 704 is used to acquire the texture image of the target hydraulic hub structure and map the texture image onto the surface of the three-dimensional contour model to generate a three-dimensional real-scene model of the target hydraulic hub structure. The model fusion module 705 is used to fuse the terrain model with the three-dimensional real scene model to obtain a three-dimensional simulation model of the pumped storage power station.

[0103] The pumped storage power station construction process simulation modeling device 700 provided in the above embodiments can realize the technical solutions described in the above embodiments of the pumped storage power station construction process simulation modeling method. The specific implementation principles of each module or unit can be found in the corresponding content in the above embodiments of the pumped storage power station construction process simulation modeling method, which will not be repeated here.

[0104] The present invention also provides an electronic device 800. For example... Figure 8 As shown, the electronic device 800 includes a drone aerial photography interface 801, a laser scanning interface 802, a camera interface 803, a memory 804, and a processor 805. Figure 8 Only some components of the electronic device 800 are shown, but it should be understood that it is not required to implement all of the components shown, and more or fewer components may be implemented instead.

[0105] The UAV aerial photography interface 801 is used to communicate with the UAV aerial photography system and receive aerial images acquired by the UAV aerial photography system during aerial photography of the target area. In some embodiments, the UAV aerial photography interface 801 can be a wireless communication interface (such as a Wi-Fi module, Bluetooth module, 4G / 5G communication module) or a wired communication interface (such as a USB interface, Ethernet interface). The UAV aerial photography system is equipped with a digital camera and performs aerial photography of the target area according to a preset flight path and preset time period to acquire aerial images covering the target area. The UAV aerial photography interface 801 transmits the acquired aerial images to the processor 805 for further processing.

[0106] The laser scanning interface 802 is used to communicate with a 3D laser scanner and receive 3D point cloud data acquired by the 3D laser scanner from scanning the target hydraulic structure. In some embodiments, the laser scanning interface 802 can be a USB interface, a serial communication interface, an Ethernet interface, or a wireless communication interface. The 3D laser scanner scans at multiple scanning stations around the target hydraulic structure, acquiring point cloud data at each station. The laser scanning interface 802 transmits the acquired 3D point cloud data and its associated scanning station coordinates to the processor 805 for further processing.

[0107] The camera interface 803 is used to communicate with a digital camera and receive texture images acquired by the digital camera from photographs of the target hydraulic engineering structure. In some embodiments, the camera interface 803 may be a USB interface, an SD card reader interface, or a wireless communication interface. The digital camera takes on-site photographs of the facade of the target hydraulic engineering structure to acquire facade texture images. The camera interface 803 transmits the acquired texture images to the processor 805 for further processing.

[0108] The memory 804, in some embodiments, can be an internal storage unit of the electronic device 800, such as a hard disk or memory of the electronic device 800. In other embodiments, the memory 804 can also be an external storage device of the electronic device 800, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the electronic device 800. Furthermore, the memory 804 can include both internal storage units and external storage devices of the electronic device 800. The memory 804 is used to store program code and related data executed by the processor 805, such as cached aerial image data, 3D point cloud data, texture images, digital elevation model data, digital orthophoto image data, and generated 3D simulation model data.

[0109] The processor 805 is coupled to the UAV aerial photography interface 801, the laser scanning interface 802, the camera interface 803, and the memory 804, and is used to execute programs stored in the memory 804. In some embodiments, the processor 805 may be a central processing unit (CPU), a microprocessor, or other data processing chip, used to run program code stored in the memory 804 or process data, such as the simulation modeling method for the construction process of a pumped storage power station in this invention. In some embodiments, the processor 805 may be a single server or a group of servers, which may be centralized or distributed. In some embodiments, the processor 805 may be local or remote.

[0110] In some embodiments, the processor 805 may be implemented on a cloud platform, which may include private cloud, public cloud, hybrid cloud, community cloud, distributed cloud, internal cloud, multi-cloud, or any combination thereof.

[0111] The processor 805 performs the following functions by executing the program stored in the memory 804: Aerial images are acquired through the UAV aerial photography interface 801. Aerial triangulation is performed on the aerial images to obtain aerial triangulation densification results. Digital elevation model data and digital orthophoto image data are generated based on the aerial triangulation densification results. A terrain model of the target area is generated based on the digital elevation model data and digital orthophoto image data. Three-dimensional point cloud data is acquired through the laser scanning interface 802, and a three-dimensional outline model of the target hydraulic hub structure is generated based on the three-dimensional point cloud data. The texture image is acquired through the camera interface 803, and the texture image is mapped onto the surface of the 3D contour model to generate a 3D real-scene model of the target hydraulic hub structure. By fusing the terrain model with the 3D reality model, a 3D simulation model of the pumped storage power station is obtained.

[0112] In some embodiments, the processor 805 is also used to perform other steps or sub-steps in the above method embodiments, which will not be described in detail here.

[0113] In some embodiments, the electronic device 800 further includes a display. In some embodiments, the display may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, or an OLED (Organic Light-Emitting Diode) touchscreen, etc. The display is used to display information from the electronic device 800 and to display a visual user interface, such as a generated terrain model, a 3D reality model, and a fused 3D simulation model.

[0114] Accordingly, this application also provides a computer-readable storage medium for storing computer-readable programs or instructions. When the programs or instructions are executed by a processor, they can implement the steps or functions in the simulation modeling method for the construction process of pumped storage power stations provided in the above-described method embodiments.

[0115] Those skilled in the art will understand that all or part of the processes of the methods described in the above embodiments can be implemented by a computer program instructing related hardware (such as a processor, controller, etc.), and the computer program can be stored in a computer-readable storage medium. The computer-readable storage medium may be a disk, optical disk, read-only memory, or random access memory, etc.

[0116] The above provides a detailed description of the simulation modeling method, device, and electronic equipment for the construction process of pumped storage power stations provided by this invention. Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this invention. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. A simulation modeling method for the construction process of a pumped storage power station, characterized in that, include: Acquire surface topographic data of the target area, including digital elevation model data and digital orthophoto data; A terrain model of the target area is generated based on the digital elevation model data and the digital orthophoto data; Acquire the three-dimensional point cloud data of the target hydraulic engineering structure, and generate a three-dimensional contour model of the target hydraulic engineering structure based on the three-dimensional point cloud data; The texture image of the target hydraulic engineering structure is obtained and mapped onto the surface of the three-dimensional contour model to generate a three-dimensional real-scene model of the target hydraulic engineering structure. The terrain model is fused with the three-dimensional reality model to obtain the three-dimensional simulation model of the pumped storage power station.

2. The simulation modeling method for the construction process of a pumped storage power station according to claim 1, characterized in that, The acquisition of surface topography data of the target area includes: The target area was photographed using an unmanned aerial vehicle (UAV) aerial photography system to obtain aerial images. Aerial triangulation encryption processing is performed on the aerial photographs to obtain the aerial triangulation encryption results. Based on the aerial triangulation results, the digital elevation model data and the digital orthophoto data are generated.

3. The simulation modeling method for the construction process of a pumped storage power station according to claim 2, characterized in that, The use of an unmanned aerial vehicle (UAV) aerial photography system to conduct aerial photography of the target area includes: The target area is divided into an aerial survey area, and a relative flight altitude is set. The drone aerial photography system is controlled to take pictures along a preset route within a preset time period to acquire the aerial images. The preset time period is the period during which daytime sunlight meets the requirements for aerial photography.

4. The simulation modeling method for the construction process of a pumped storage power station according to claim 2, characterized in that, Before performing aerial triangulation encryption processing based on the aerial imagery, the method further includes: Obtain preset horizontal and vertical image control points within the target area, each preset horizontal and vertical image control point including horizontal coordinates and vertical coordinates; The aerial triangulation encryption process based on the aerial imagery includes: Based on the aerial photographs and the planar and elevation coordinates of the level and elevation image control points, aerial triangulation is densified using bundle adjustment of the regional network.

5. The simulation modeling method for the construction process of a pumped storage power station according to claim 1, characterized in that, The step of generating a terrain model of the target area based on the digital elevation model data and the digital orthophoto data includes: Import the digital elevation model data and the digital orthophoto data into the terrain creation tool; Using the terrain creation tool, the digital orthophoto data is overlaid onto the digital elevation model data to generate a terrain model file, and the terrain model file is exported in a format supported by the game engine. The exported terrain model file is imported into the game engine, where textures are added and lighting is adjusted to obtain the terrain model.

6. The simulation modeling method for the construction process of a pumped storage power station according to claim 1, characterized in that, The acquisition of the three-dimensional point cloud data of the target hydraulic engineering structure includes: Multiple scanning stations were deployed around the target hydraulic engineering structure. A 3D laser scanner is used to scan at each of the scanning sites to obtain point cloud data for each site; Obtain the planar coordinates and elevation coordinates of each of the scanning stations; Based on the planar and elevation coordinates of each scanning station, the point cloud data of each station are stitched together to obtain the three-dimensional point cloud data.

7. The simulation modeling method for the construction process of a pumped storage power station according to claim 1, characterized in that, The step of generating a three-dimensional outline model of the target hydraulic engineering structure based on the three-dimensional point cloud data includes: Using 3D reverse modeling software, a triangular model of the outer contour of the target hydraulic hub structure is generated based on the 3D point cloud data; A standard model of the target hydraulic engineering structure was established using 3D modeling software based on the triangular facet model.

8. The simulation modeling method for the construction process of a pumped storage power station according to claim 2, characterized in that, The process of acquiring the texture image of the target hydraulic engineering structure includes: The facade of the target hydraulic engineering hub was photographed on-site using a digital camera to obtain facade texture images; Obtain surface texture images from the digital orthophoto data; Obtain the top texture image of the target hydraulic engineering structure from the aerial photograph.

9. A simulation modeling device for the construction process of a pumped storage power station, characterized in that, include: The terrain data acquisition module is used to acquire surface terrain data of the target area, including digital elevation model data and digital orthophoto data. The terrain model generation module is used to generate a terrain model of the target area based on the digital elevation model data and the digital orthophoto data. The contour model generation module is used to acquire the three-dimensional point cloud data of the target hydraulic hub structure and generate a three-dimensional contour model of the target hydraulic hub structure based on the three-dimensional point cloud data. The texture acquisition and mapping module is used to acquire the texture image of the target hydraulic hub structure and map the texture image onto the surface of the three-dimensional contour model to generate a three-dimensional real-scene model of the target hydraulic hub structure. The model fusion module is used to fuse the terrain model with the three-dimensional reality model to obtain a three-dimensional simulation model of the pumped storage power station.

10. An electronic device, characterized in that, This includes the UAV aerial photography interface, laser scanning interface, camera interface, memory, and processor; The UAV aerial photography interface is used to communicate with the UAV aerial photography system and receive aerial images acquired by the UAV aerial photography system when it conducts aerial photography of the target area. The laser scanning interface is used to communicate with a 3D laser scanner and receive 3D point cloud data obtained by the 3D laser scanner from scanning the target hydraulic structure. The camera interface is used to communicate with a digital camera and receive texture images obtained by the digital camera from taking pictures of the target hydraulic structure. The memory is used to store programs; The processor, coupled to the memory, is used to execute the program stored in the memory to implement the steps in the simulation modeling method for the construction process of a pumped storage power station as described in any one of claims 1 to 8.

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