CN111024087A - Substation inspection navigation system and navigation method - Google Patents
Substation inspection navigation system and navigation method Download PDFInfo
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- CN111024087A CN111024087A CN201911366443.1A CN201911366443A CN111024087A CN 111024087 A CN111024087 A CN 111024087A CN 201911366443 A CN201911366443 A CN 201911366443A CN 111024087 A CN111024087 A CN 111024087A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
- Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
- Y04S10/00—Systems supporting electrical power generation, transmission or distribution
- Y04S10/50—Systems or methods supporting the power network operation or management, involving a certain degree of interaction with the load-side end user applications
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Abstract
A transformer substation inspection navigation system and a navigation method are provided, the navigation system comprises a background server and an intelligent terminal which are communicated with each other, and a plurality of positioners arranged in a transformer substation, a positioning module in the background server obtains the real-time position of the intelligent terminal in the transformer substation, an electronic map module in the background server displays an electronic map, an AR-based live-action navigation module in the background server obtains a navigation path from a starting point to an end point input by the intelligent terminal by using an electronic map topological relation diagram, and an AR augmented reality technology is adopted to display a live-action diagram of the real-time position of the intelligent terminal in the transformer substation in real time. The method effectively shortens the time consumed by operation and maintenance personnel for searching the specific position of the indoor transformer substation, is beneficial to shortening the working time of inspection personnel, enhances the navigation presentation effect by using the AR technology, can extract a large amount of useful information from the AR panoramic map, effectively improves the working efficiency, ensures the personal safety, and realizes intelligent and rapid management.
Description
Technical Field
The invention relates to a transformer substation inspection navigation system and a transformer substation inspection navigation method.
Background
The outdoor navigation technology is relatively mature, and enterprises which can provide the technical service at home and abroad are not competent, but the indoor navigation system is just like a new seedling just broken, and in the initial stage of development, the indoor navigation software which can be used is relatively few, and is accepted by users much, because the outdoor navigation technology is mature but cannot be simply transversely expanded to the indoor positioning service system.
In the electric power industry, along with the development in city, 35kV transformer substation and user's switch station increase, and this part website part is located the shopping mall, basement, office building, and the topography is comparatively complicated, if unfamiliar with topography and position in the station, fortune dimension personnel's the time of patrolling the station can increase, and work efficiency can reduce to be difficult to ensure personal safety.
Disclosure of Invention
The invention provides a transformer substation inspection navigation system and a navigation method, which effectively shorten the time consumed by operation and maintenance personnel for searching for the specific position of an indoor transformer substation, are beneficial to shortening the working time of the inspection personnel, enhance the navigation presentation effect by using an AR technology, extract a large amount of useful information from an AR panoramic map, effectively improve the working efficiency, ensure the personal safety and realize intelligent and rapid management.
In order to achieve the purpose, the invention provides a transformer substation inspection navigation system which comprises a background server, at least one intelligent terminal and a plurality of locators, wherein the intelligent terminal is communicated with the background server;
the background server further comprises: the system comprises a positioning module, an electronic map module, an AR-based live-action navigation module, a plan view and panorama preview module;
the positioning module acquires the corresponding relation between the coordinates and the signal intensity values of all positioners arranged in the transformer substation and the distances to form a positioner information database and stores the positioner information database in the positioning module in advance, and the positioning module compares the positioner information database with the positioner information database according to the intensity values of signals transmitted by the positioners received by the intelligent terminal connected to the background server to obtain the real-time position of the intelligent terminal in the transformer substation and displays the real-time position on an electronic map;
the electronic map module is used for displaying an electronic map of each floor in the transformer substation, the real-time position and the navigation path of the intelligent terminal to the intelligent terminal and realizing the operation of the electronic map according to the input instruction of the intelligent terminal;
the AR-based live-action navigation module obtains a navigation path from a starting point to an end point input by the intelligent terminal through a path planning algorithm by utilizing an electronic map topological relation diagram, and displays a live-action diagram of the real-time position of the intelligent terminal in the transformer substation to the intelligent terminal in real time by adopting an AR augmented reality technology;
the plan view and panorama preview module is used for displaying a 180-degree plan view and a 360-degree panorama of key nodes on the electronic map to the intelligent terminal.
The intelligent terminal and the background server carry out information interaction through a network, wherein the network is a WiFi network, a cellular network or a Bluetooth network.
The electronic map module comprises:
the map display module displays lines, positioning marks, navigation paths and other marking elements of the electronic map in an image mode;
the map operation module is used for realizing the operations of zooming, selecting floors, searching and previewing of the electronic map;
the map topological structure module describes a topological structure of the relation between each floor of the indoor environment of the transformer substation and the key node through a directed graph to form an electronic map topological relation graph.
The AR-based live-action navigation module comprises:
the near point searching module is used for selecting a key node closest to the real-time position of the intelligent terminal in the electronic map topological relation graph as a starting point and selecting a key node closest to a target point determined by the intelligent terminal in the electronic map topological relation graph as an end point for navigation;
the floor selection module is used for switching the electronic maps of the corresponding floors in real time according to the change of the real-time position of the intelligent terminal and matching the positioning and navigation data matched with the electronic map of each floor;
and the navigation path planning module is used for carrying out indoor navigation cross-floor calculation by utilizing the topological relation graph of the electronic map to obtain a most convenient and rapid navigation path between the starting point and the end point, and the navigation path planning module is displayed on the electronic map.
And the AR live-action navigation module is used for displaying the AR augmented reality technology live-action picture of the real-time position of the intelligent terminal in the transformer substation in real time.
The invention also provides a transformer substation inspection navigation method, which is applied to a background server and comprises the following steps:
the positioning module collects the corresponding relation between the coordinates and the signal intensity values of all the positioners arranged in the transformer substation and the distances, and a positioner information database is formed and is prestored in the positioning module;
the electronic map module establishes an electronic map;
the positioning module compares the intensity value of a signal transmitted by a locator and received by the intelligent terminal accessed to the background server with the locator information database, calculates the real-time position of the intelligent terminal in the transformer substation through a positioning algorithm, and displays the real-time position on an electronic map;
the AR-based live-action navigation module obtains a navigation path from a starting point to an end point input by the intelligent terminal through a path planning algorithm by utilizing an electronic map topological relation graph;
in the navigation process, the AR live-action navigation module displays an AR augmented live-action map of the real-time position of the intelligent terminal in the transformer substation to the intelligent terminal by adopting an AR augmented reality technology, and the plan view and panorama preview module displays a 180-degree plan view and a 360-degree panorama of a key node selected by the intelligent terminal on an electronic map to the intelligent terminal.
The method for establishing the electronic map by the electronic map module comprises the following steps:
the map display module displays lines, positioning marks, navigation paths and other marking elements of the electronic map in an image mode, describes a topological structure of the relation between each floor and key nodes of the indoor environment of the transformer substation through a directed graph, forms an electronic map topological relation graph, stores the electronic map topological relation graph in the map topological structure module, and the map operation module realizes operation on the electronic map.
The method for obtaining the navigation path comprises the following steps:
according to the real-time position of the intelligent terminal in the transformer substation, which is obtained by the positioning module, the near point searching module selects a key node which is closest to the real-time position of the intelligent terminal in the electronic map topological relation graph as a starting point, and selects a key node which is closest to a target point determined by the intelligent terminal in the electronic map topological relation graph as a terminal point, the navigation path planning module performs indoor navigation cross-floor calculation by using the electronic map topological relation graph to obtain a most convenient and rapid navigation path between the starting point and the terminal point, and the navigation path is displayed on the electronic map, and the floor selection module switches the electronic map of the corresponding floor in real time according to the change of the real-time position of the intelligent terminal and matches positioning and navigation data matched with the electronic map of each floor.
The method effectively shortens the time consumed by operation and maintenance personnel for searching the specific position of the indoor transformer substation, is beneficial to shortening the working time of inspection personnel, enhances the navigation presentation effect by using the AR technology, can extract a large amount of useful information from the AR panoramic map, effectively improves the working efficiency, ensures the personal safety, and realizes intelligent and rapid management.
Drawings
Fig. 1 is a schematic diagram of a substation inspection navigation system provided by the invention.
Fig. 2 is a schematic diagram of an electronic map module.
FIG. 3 is a schematic diagram of an AR-based live-action navigation module.
Detailed Description
The preferred embodiment of the present invention will be described in detail below with reference to fig. 1 to 3.
As shown in fig. 1, in an embodiment of the present invention, a substation inspection navigation system is provided, including a background server 1, at least one intelligent terminal 2 communicating with the background server 1, and a plurality of locators 3 arranged in a substation, where the background server 1 further includes: a positioning module 4, an electronic map module 5, an AR-based live-action navigation module 6, and a plan view and panorama preview module 7.
The intelligent terminal 2 can adopt a smart phone, a tablet computer or other intelligent equipment. The intelligent terminal 2 is connected with the background server 1 through a WiFi network, or through a cellular network, or through a Bluetooth network. The intelligent terminal 2 can perform information interaction with the background server 1 through a network.
In an embodiment of the invention, in a private network environment, a WiFi of an intelligent terminal 2 is adopted in a service area to connect with an information transmitter deployed in a background server 1 station. The mutual independence with an external network is realized in a physical isolation mode, the threat of information security is relieved, physical isolation is realized with other networks, logical isolation measures are implemented between different areas according to needs, access control is carried out on users, user names and operation passwords which are different from each other should be provided, the uniqueness of identities is ensured, the special purpose of a private network is realized, and the security of information is ensured.
In another embodiment of the present invention, in a public network environment, the smart terminal 2 uses a built-in SIM card to link with the public network, uses the E locator-SIM/E locator-AKA standard recommended by IETF as a WLAN terminal access authentication mechanism, uses the SIM card as a carrier for authentication key distribution, and provides high security for the smart terminal user to connect with the WLAN network without manually inputting authentication information and automatically complete authentication through the SIM card.
Under the condition that the accessed hardware equipment is lost, the intelligent terminal 2 can perform declaration processing, and the background server 1 can immediately lock and delete the authentication information and data under the intelligent terminal user, so that greater information loss is avoided.
The locator 3 is arranged in a substation, and in one embodiment of the invention, the locator 3 adopts a bluetooth transmitter and can transmit bluetooth signals.
The positioning module 4 is a very core module in the indoor navigation system, which is the premise and the basis of the whole system, and the subsequent navigation module can provide guidance for the user only when the data of the positioning module 4 is ensured. Because of the uniqueness of the indoor environment and the numerous barriers and signal shelters, the clear determination of the pedestrian position in the room becomes extremely precious, and an effective positioning module becomes a necessary of a complete and practical indoor navigation system. The positioning module 4 collects the coordinates of all the positioners 3 arranged in the transformer substation and the corresponding relation between the signal intensity value and the distance to form a positioner information database which is prestored in the positioning module 4, and the positioning module 4 compares the signal intensity value of the positioner 3 transmitted by the intelligent terminal 2 connected to the background server 1 with the positioner information database to obtain the real-time position of the intelligent terminal 2 in the transformer substation and displays the real-time position on an electronic map.
The electronic map module 5 is used for displaying an electronic map of each floor in the transformer substation, realizing the operation of the electronic map and displaying a navigation path.
The electronic map module 5 not only can realize the operation of the electronic map, but also leaves interfaces for the positioning module 4, the AR-based live-action navigation module 6 and the plan view and panorama preview module 7 so as to facilitate the timely feedback and interaction of other module data. The electronic map module 5 is a module with the most information storage, and is one of the most direct ways for the background to interact with the user.
As shown in fig. 2, the electronic map module 5 further includes:
a map display module 51 for displaying lines, positioning marks, navigation paths and other marking elements of the electronic map in an image mode; the map display module 51 mainly displays various information to the user in the most direct image manner, and in one embodiment of the present invention, the displayed information mainly includes: the method comprises the following steps of (1) drawing a rectangular plane map, positioning results of dot-shaped marks and square buttons, wherein lines, positioning marks, navigation paths and other marking elements (such as straight lines, distances, arrows, shop marks and the like) of the map are drawn through reference of a Drawable Resources resource file in an Android development tool and calling of a self-contained drawing pen.
The map operation module 52 implements operations on the electronic map, which include but are not limited to: amplifying, shrinking, moving left and right, selecting floors, clicking POI points (which are abbreviations of 'Point of Interest', Chinese can be translated into 'Interest points'), searching the POI points and the like in a geographic information system, wherein one POI can be a house, a shop, a mailbox, a bus station and the like; the map operation module 52 mainly responds to operations performed by an intelligent terminal user in an interaction process, in an embodiment of the present invention, a user can preview a 180 ° out-of-plane view and a 360 ° panoramic view of a site through a site hotspot on an electronic map, when the site needs to be searched, the user can search through a text search box at the top of the screen, or can directly select the site and perform navigation or other operations through a mark point on the electronic map, wherein a floor switching button can be switched by the user selecting any floor, the corresponding electronic map is also switched, and the user can perform operations of enlarging and reducing the electronic map through gesture zooming on the screen and clicking of the zooming button.
The map topological structure module 53 describes a topological structure of a relationship between each floor of the substation indoor environment and a key node (the key node generally refers to a place where a section starts, such as a starting point, a corner, a stair going upstairs and downstairs) through a directed graph, and forms an electronic map topological relation graph; the map topology module 53 mainly serves to provide technical support for the operation of the whole system, in particular the AR-based live-action navigation module 6, in one embodiment of the present invention, the map topology module 53 describes the topology of the relationships between the floors of the indoor environment and the stores primarily through a directed graph, the method comprises the steps of connecting key nodes such as a station, an elevator, a gate and the like according to the needs of an indoor environment, classifying the key nodes according to planes, heights and barrier types, storing data of the key nodes of all floors and waypoints on a navigation path in the indoor environment through TXT files, establishing an electronic map which is the most basic module in an indoor navigation system, is the most direct module interacted with a user and is a carrier for displaying a positioning and navigation module, and easily using and using the electronic map are the most direct influence factors fed back by the user.
The AR-based live-action navigation module 6 obtains a navigation path from a starting point to an end point through a path planning algorithm by utilizing an electronic map topological relation diagram, and displays a live-action diagram of the real-time position of the intelligent terminal 2 in the transformer substation in real time by adopting an AR augmented reality technology. The AR-based live-action navigation module 6 is the core of the invention, and particularly, a traditional navigation module is added with a recently used high-frequency AR (augmented reality technology) to add a live-action picture in an indoor environment into a navigation mode, so that the AR-based live-action navigation module 6 is closer to a user, and a level is improved for the user navigation experience. The AR-based live-action navigation module 6 mainly utilizes a topological relation graph among nodes of an indoor electronic map, a navigation path from a positioning point to a target point is obtained through a path planning algorithm, the movement of the positioning point of the traditional navigation is improved into a live-action graph on the basis, the live-action graph is displayed in a segmented mode according to the position of the positioning point, an AR (augmented reality technology) is added on the basis of the display of the live-action graph, the distance of a few meters from a terminal point and the guidance of an arrow on the ground of the live-action graph are added on the live-action graph, the movement of the positioning point along with the movement of a user in the traditional floor map navigation is reserved at the lower left corner, and therefore the substitution feeling and the experience feeling in.
As shown in fig. 3, the AR-based real-scene navigation module 6 further includes:
the near point searching module 61 is configured to select a key node closest to the real-time position of the intelligent terminal 2 in the electronic map topological relation graph as a starting point, and select a key node closest to a target point determined by the intelligent terminal 2 in the electronic map topological relation graph as an end point for navigation;
the floor selection module 62 is used for switching the electronic maps of the corresponding floors in real time according to the change of the real-time position of the intelligent terminal 2, and matching the positioning and navigation data matched with the electronic map of each floor;
the navigation path planning module 63 is used for performing indoor navigation cross-floor calculation by utilizing the topological relation diagram of the electronic map to obtain a most convenient and rapid navigation path between a starting point and an end point, and the navigation path is displayed on the electronic map;
and the AR live-action navigation module 64 is used for displaying the AR augmented reality technology live-action picture of the real-time position of the intelligent terminal 2 in the transformer substation in real time.
The plan view and panorama preview module 7 is used for displaying a 180-degree plan view and a 360-degree panorama of key nodes on the electronic map.
In an embodiment of the present invention, a substation inspection navigation method based on the substation inspection navigation system is further provided, including the following steps:
step S1, the positioning module 4 collects coordinates of all the locators 3 arranged in the substation and a corresponding relationship between a signal intensity value transmitted by the locators 3 and a distance, and forms a locator information database to be prestored in the positioning module 4.
In one embodiment of the invention, each locator 3 locator has its own name and coordinates of where it is located. And recording RSSI (RSSI is a received signal strength indication value) values corresponding to the distance test of the locators in the signal transmission range of each locator, and finally forming an RSSI fingerprint database.
Step S2, the electronic map module 5 builds an electronic map.
The map display module 51 displays lines, positioning marks, navigation paths and other marking elements of the electronic map in an image mode, describes a topological structure of the relation between each floor and key nodes of the indoor environment of the transformer substation through a directed graph, forms an electronic map topological relation graph, stores the electronic map topological relation graph in the map topological structure module 53, and the map operation module 52 realizes operation on the electronic map.
The establishment of the electronic map mainly comprises the following steps:
the method comprises the steps of laying out an electronic map according to indoor navigation design requirements and targets, packaging lines, positioning marks, navigation paths, other marking elements and other information in the electronic map floor map in a map display module 51 through an Android programming environment, analyzing a node topological structure under the indoor environment, particularly the topological structure of the relation between each floor and key nodes of the indoor environment of the transformer substation through a directed graph, and forming an electronic map topological relation map.
In one embodiment of the invention, a vector indoor map is made, which entities should be represented on the map are firstly determined through conceptual modeling, and which geometric types (points, multiple lines, polygons and the like) are used for representation, then the original structure data format of the indoor environment is converted into the vector map format to facilitate the later extraction and processing of navigation data, and finally the vector map is sliced through the data tile map technology to support effective access to the required map.
Step S3, comparing the intensity value of the signal transmitted by the locator 3 received by the intelligent terminal 2 connected to the background server 1 with the locator information database by the locating module 4, calculating the real-time position of the intelligent terminal 2 in the transformer substation by a locating algorithm, and displaying the real-time position of the intelligent terminal 2 on the electronic map.
In an embodiment of the invention, each post in a substation room is a WiFi hotspot (hereinafter referred to as a locator), each WiFi is a locator 3, each locator has its own name and coordinates of its position, the name of each locator is firstly collected, the coordinates of each locator are prepared, then the distance between the intelligent terminal 2 and each locator (the distance between the intelligent terminal 2 and the post is determined), and finally the position coordinates of the intelligent terminal 2 are calculated through the coordinates of the locator and the distance between the intelligent terminal 2 and the locator.
Step S4, the AR-based live-action navigation module 6 obtains the navigation path from the start point to the end point input by the intelligent terminal 2 through a path planning algorithm by using the electronic map topological relation diagram.
Specifically, according to the real-time position of the intelligent terminal 2 in the substation obtained by the positioning module 4, the near point searching module 61 selects a key node closest to the real-time position of the intelligent terminal 2 in the electronic map topological relation graph as a starting point, and selects a key node closest to a target point determined by the intelligent terminal 2 in the electronic map topological relation graph as an end point, and the navigation path planning module performs indoor navigation cross-floor calculation by using the electronic map topological relation graph to obtain a most convenient and rapid navigation path between the starting point and the end point, and displays the most convenient and rapid navigation path on the electronic map. The floor selection module 62 switches the electronic map of the corresponding floor in real time according to the change of the real-time position of the intelligent terminal 2, and matches the positioning and navigation data (XYZ axis position, navigation distance, acquisition point information) matched with the electronic map of each floor.
Because the topological relation graph of the electronic map among the key nodes such as stops, stairs, elevators, gates and the like stored in the electronic map is relatively fixed, the user of the intelligent terminal 2 is not necessarily located on the key nodes at the current position, and therefore, in the point selection process of the user navigation, the key node closest to the topological relation graph of the electronic map needs to be selected, and navigation is performed by taking the key node as a starting point or an end point.
The indoor environment is relatively complex, more floors are one of the factors, when more floors exist, the electronic map display also needs to switch the corresponding floor electronic map according to the difference of the user positions and the browsing needs, and the positioning and navigation data of each floor of electronic map also needs to be changed in time according to the switching of the floors for matching.
Step S5, in the navigation process, the AR live-action navigation module 64 displays an AR augmented live-action map of the real-time position of the intelligent terminal 2 in the transformer substation by adopting an AR augmented reality technology, and the plan view and panorama preview module 7 displays a 180-degree plan view and a 360-degree panorama view of the key node selected by the intelligent terminal 2 on the electronic map.
The AR live-action navigation is characterized in that an augmented reality technology and live-action pictures are added on the basis of navigation path planning, navigation is started through a navigation button after an intelligent terminal user searches for a nearby point and selects a starting point and a terminal point by a floor selection part, the corresponding live-action pictures are displayed by receiving a return value of data through the intelligent terminal along with the continuous movement of the position of the intelligent terminal in the navigation process, the displayed live-action pictures are indoor environment pictures seen by the intelligent terminal user in the current position, the displayed live-action pictures are both corresponding to each other, and the live-action pictures are also continuously changed along with the movement of the position of the intelligent terminal user. On the other hand, factors such as navigation arrows and distance estimation information on navigation paths are added to continuously-replaced live-action pictures by using an augmented reality technology, the movement of positioning points on a traditional floor plan is reserved, the navigation paths on the electronic map which needs to walk can be seen under the condition of seeing the guide of the arrows on live-action navigation and distance perception, and the problems that an intelligent terminal user cannot find the paths and does not know the paths are solved.
The plan view and panorama preview module 7 stores a 180-degree plan view and a 360-degree panorama of key nodes such as a shop hotspot, an elevator and a stair on an electronic map, an intelligent terminal user can pop up a corresponding dialog box under a screen by clicking the shop hotspot, and the dialog box comprises a 180-degree out-of-plane view of the shop and a panorama clicking button. Because the panorama control needs to be displayed full screen and jump to another interface. The addition of the 180-degree plan view function and the 360-degree panoramic view function provides a good remote browsing function for the intelligent terminal user, and an immersive browsing experience can be provided for the intelligent terminal user before the intelligent terminal user enters an unfamiliar indoor environment.
In order to improve the experience degree of the user in indoor navigation, the invention adds the AR (augmented reality technology) with high heat in the prior art on the basis of the monotonous positioning point movement of the plane electronic map of the traditional navigation system, and combines the high reducibility of the real scene map to convert the traditional navigation system into a virtual-real combined high-interaction and high-experience navigation system.
The Shanghai power is at the head of the ranking list of the total value produced in China in various cities for years, the Shanghai power grid is an important component of the power grid in east China and is the load center with the highest load density in China, and the transformer substation inspection navigation system and the transformer substation inspection navigation method provided by the invention are beneficial to shortening the working time of inspection personnel, greatly improve the working efficiency and realize intelligent and rapid management in the future. The indoor positioning navigation system has positioning accuracy of 2-3 m and uses AR technology to enhance the navigation presentation effect.
In recent years, with the increase of 35kV transformer substations and user switch stations, the stations are partially located in superstores, basements and office buildings, and the terrain is complex. The invention can effectively shorten the station patrol time of operation and maintenance personnel, effectively shorten the time consumed by the operation and maintenance personnel for searching the specific position of the indoor transformer station, particularly the basement transformer station of a part of large-scale shopping malls and the transformer station which is just built in a large-scale place, quickly reach the designated working place through AR live-action display, the indoor live-action map can be displayed in an AR panoramic form, a large amount of useful information can be extracted from the AR panoramic map, such as a wiring and laying circuit diagram in the station, an optical cable station-entering routing diagram, the position which is easy to hit and the like, the invention is suitable for the complex information communication base station environment, effectively improves the working efficiency and ensures the personal safety.
While the present invention has been described in detail with reference to the preferred embodiments, it should be understood that the above description should not be taken as limiting the invention. Various modifications and alterations to this invention will become apparent to those skilled in the art upon reading the foregoing description. Accordingly, the scope of the invention should be determined from the following claims.
Claims (7)
1. A transformer substation inspection navigation system is characterized by comprising a background server, at least one intelligent terminal which is communicated with the background server, and a plurality of positioners which are arranged in a transformer substation;
the background server comprises: the system comprises a positioning module, an electronic map module, an AR-based live-action navigation module, a plan view and panorama preview module;
the positioning module acquires the corresponding relation between the coordinates and the signal intensity values of all positioners arranged in the transformer substation and the distances to form a positioner information database and stores the positioner information database in the positioning module in advance, and the positioning module compares the positioner information database with the positioner information database according to the intensity values of signals transmitted by the positioners received by the intelligent terminal connected to the background server to obtain the real-time position of the intelligent terminal in the transformer substation and displays the real-time position on an electronic map;
the electronic map module is used for displaying an electronic map of each floor in the transformer substation, the real-time position and the navigation path of the intelligent terminal to the intelligent terminal and realizing the operation of the electronic map according to the input instruction of the intelligent terminal;
the AR-based live-action navigation module obtains a navigation path from a starting point to an end point input by the intelligent terminal through a path planning algorithm by utilizing an electronic map topological relation diagram, and displays a live-action diagram of the real-time position of the intelligent terminal in the transformer substation to the intelligent terminal in real time by adopting an AR augmented reality technology;
the plan view and panorama preview module is used for displaying a 180-degree plan view and a 360-degree panorama of key nodes on the electronic map to the intelligent terminal.
2. The substation inspection tour navigation system according to claim 1, wherein the intelligent terminal and the background server perform information interaction through a network, and the network is a WiFi network, a cellular network, or a bluetooth network.
3. The substation inspection tour navigation system of claim 1, wherein the electronic map module includes:
the map display module displays lines, positioning marks and navigation paths of the electronic map in an image mode;
the map operation module is used for realizing the operations of zooming, selecting floors, searching and previewing of the electronic map;
the map topological structure module describes a topological structure of the relation between each floor of the indoor environment of the transformer substation and the key node through a directed graph to form an electronic map topological relation graph.
4. The substation inspection tour navigation system of claim 1, wherein the AR based live action navigation module includes:
the near point searching module is used for selecting a key node closest to the real-time position of the intelligent terminal in the electronic map topological relation graph as a starting point and selecting a key node closest to a target point determined by the intelligent terminal in the electronic map topological relation graph as an end point for navigation;
the floor selection module is used for switching the electronic maps of the corresponding floors in real time according to the change of the real-time position of the intelligent terminal and matching the positioning and navigation data matched with the electronic map of each floor;
the navigation path planning module is used for carrying out indoor navigation cross-floor calculation by utilizing an electronic map topological relation graph to obtain a most convenient and rapid navigation path between a starting point and a terminal point, and the navigation path planning module is displayed on the electronic map;
and the AR live-action navigation module is used for displaying the AR augmented reality technology live-action picture of the real-time position of the intelligent terminal in the transformer substation in real time.
5. A substation inspection navigation method based on the substation inspection navigation system of any one of claims 1-4, wherein the method is applied to a background server, and the method comprises the following steps:
the positioning module collects the corresponding relation between the coordinates and the signal intensity values of all the positioners arranged in the transformer substation and the distances, and a positioner information database is formed and is prestored in the positioning module;
the electronic map module establishes an electronic map;
the positioning module compares the intensity value of a signal transmitted by a locator and received by the intelligent terminal accessed to the background server with the locator information database, calculates the real-time position of the intelligent terminal in the transformer substation through a positioning algorithm, and displays the real-time position on an electronic map;
the AR-based live-action navigation module obtains a navigation path from a starting point to an end point input by the intelligent terminal through a path planning algorithm by utilizing an electronic map topological relation graph;
in the navigation process, the AR live-action navigation module displays an AR augmented live-action map of the real-time position of the intelligent terminal in the transformer substation to the intelligent terminal by adopting an AR augmented reality technology, and the plan view and panorama preview module displays a 180-degree plan view and a 360-degree panorama of a key node selected by the intelligent terminal on an electronic map to the intelligent terminal.
6. The substation inspection tour navigation method according to claim 5, wherein the method for establishing the electronic map by the electronic map module includes:
the map display module displays lines, positioning marks and navigation paths of the electronic map in an image mode, describes a topological structure of the relation between each floor and key nodes of the indoor environment of the transformer substation through a directed graph, forms an electronic map topological relation graph, stores the electronic map topological relation graph in the map topological structure module, and the map operation module realizes operation on the electronic map.
7. The substation inspection tour navigation method according to claim 5, wherein the method for obtaining the navigation path includes:
according to the real-time position of the intelligent terminal in the transformer substation, which is obtained by the positioning module, the near point searching module selects a key node which is closest to the real-time position of the intelligent terminal in the electronic map topological relation graph as a starting point, and selects a key node which is closest to a target point determined by the intelligent terminal in the electronic map topological relation graph as a terminal point, the navigation path planning module performs indoor navigation cross-floor calculation by using the electronic map topological relation graph to obtain a most convenient and rapid navigation path between the starting point and the terminal point, and the navigation path is displayed on the electronic map, and the floor selection module switches the electronic map of the corresponding floor in real time according to the change of the real-time position of the intelligent terminal and matches positioning and navigation data matched with the electronic map of each floor.
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