CN117371949A - Three-dimensional visual model-based power transmission line construction safety monitoring method and system - Google Patents
Three-dimensional visual model-based power transmission line construction safety monitoring method and system Download PDFInfo
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Abstract
The invention provides a three-dimensional visual model-based power transmission line construction safety monitoring method and a three-dimensional visual model-based power transmission line construction safety monitoring system, wherein the method comprises the following steps: acquiring a tower GIM model and three-dimensional measurement data of a power transmission line in a power transmission line construction project; carrying out multi-source data fusion and modeling on all three-dimensional measurement data of a plurality of construction measuring parties by adopting a data fusion algorithm to obtain a site three-dimensional model; carrying out model fusion on the line tower GIM model and the site three-dimensional model to obtain a three-dimensional visualized model; importing project construction plan data of a power transmission line construction project into the three-dimensional visual model; completing construction simulation of a power transmission line construction project through a three-dimensional visual model, monitoring a construction simulation process and generating safety risk information; and if the safety risk information is monitored, identifying the associated party of the safety risk information according to the project construction plan data, and sending the safety risk information to the associated party. The invention has the effect of comprehensively monitoring the construction potential safety hazard.
Description
Technical Field
The invention belongs to the technical field of construction monitoring, and particularly relates to a three-dimensional visual model-based power transmission line construction safety monitoring method and system.
Background
The electric power transmission line is taken as an important component of a power grid system and carries energy transportation pulse required by national production and life, and is called as a 'blood vessel' for power resource transmission. The construction and installation of the electric power transmission line comprises five working procedures of earth and stone, foundation, pole tower, overhead line, grounding device and the like, and any unexpected situation in the whole construction process is directly related to construction safety, cost, quality, period and the like. Therefore, the full investigation work is needed to be done before the construction, the construction retest confirmation is needed, the construction process and the technology are strictly controlled in the construction, and the construction is ensured to be carried out smoothly. The design unit performs site location according to the construction section diagram, and the construction unit performs site handover on the mileage pile, the pole position pile, the direction pile and the auxiliary pile which are defined by the line from site to site. Site pile extension personnel should conduct site investigation in order to understand site conditions for smooth construction.
In the existing construction process, technicians often judge obstacles around a construction site according to experience, and adopt an operation method of guiding construction through experience. However, as the construction scale and project complexity of the power transmission line project are increased, a large number of new large-scale towers, construction schemes and construction machines are used in the construction of the power transmission line, and the conditions of unreasonable construction positions and insufficient construction space of heavy construction equipment are easy to occur. And in the construction of the transmission line, complex construction operation schemes such as crossing frame erection, adjacent live line pole tower assembly, integral inverted tower construction and the like are mainly formulated by combining experience of technicians with a simple calculation mode, and hidden danger is easily brought to site construction. Therefore, the working method of the past experience guidance construction is gradually unable to adapt to the safety construction requirement of the power transmission and transformation line construction.
Disclosure of Invention
The invention provides a three-dimensional visual model-based power transmission line construction safety monitoring method and system, which aim to solve the problem that a manual supervision method is easy to bring construction safety hidden trouble.
In a first aspect, the invention provides a three-dimensional visual model-based power transmission line construction safety monitoring method, which comprises the following steps:
acquiring a tower GIM model of a power transmission line in a power transmission line construction project and three-dimensional measurement data of a plurality of construction measurement parties in the power transmission line construction project for measuring a construction site;
carrying out multi-source data fusion and modeling on all three-dimensional measurement data of a plurality of construction measurement parties by adopting a data fusion algorithm to obtain a site three-dimensional model;
performing model fusion on the tower GIM model and the site three-dimensional model to obtain a three-dimensional visualized model of the power transmission line construction project;
importing project construction plan data of the power transmission line construction project into the three-dimensional visual model;
completing construction simulation of the power transmission line construction project through the three-dimensional visual model, monitoring the construction simulation process and generating safety risk information;
And if the safety risk information is monitored, identifying an associated party of the safety risk information according to the project construction plan data, and sending the safety risk information to the associated party.
Optionally, the step of performing multi-source data fusion and modeling on all the three-dimensional measurement data of the construction measuring parties by using a data fusion algorithm to obtain a field three-dimensional model includes the following steps:
preprocessing all the three-dimensional measurement data;
respectively constructing different three-dimensional basic models based on the three-dimensional measurement data of a plurality of construction measuring parties and preset modeling standards;
generating model association nodes according to a plurality of the three-dimensional basic models;
carrying out model analysis on all the three-dimensional basic models to obtain model data with the same data format;
and carrying out multi-source data fusion on all the model data by adopting a data fusion algorithm, and reconstructing a model by combining the model association nodes and the fused data obtained by the multi-source data fusion to obtain a field three-dimensional model.
Optionally, the generating the model association node according to the plurality of three-dimensional basic models includes the following steps:
taking any one of the three-dimensional basic models as a target three-dimensional basic model, and traversing all target model point data in the target three-dimensional basic model;
Determining a plurality of basic association nodes and node coordinates of the basic association nodes according to the aggregation relation and the model point coordinates of all the target model point data;
marking similar associated nodes in all three-dimensional basic models except the target three-dimensional basic model based on the node coordinates;
taking the basic association node and the corresponding similar association nodes as centers, and respectively acquiring a basic polymerization degree and a plurality of similar polymerization degrees in the same coordinate range;
calculating the average value among a plurality of similar polymerization degrees to obtain the average similar polymerization degree;
judging whether the difference between the basic polymerization degree and the average similar polymerization degree exceeds a preset polymerization degree threshold value or not;
if the difference between the basic polymerization degree and the average similar polymerization degree exceeds the polymerization degree threshold, discarding the corresponding basic association node;
and if the difference between the basic aggregation degree and the average similarity aggregation degree does not exceed the aggregation degree threshold, taking the corresponding basic association node as a model association node.
Optionally, the step of performing multi-source data fusion on all the model data by using a data fusion algorithm, and reconstructing a model by combining the model association nodes and the fused data obtained by multi-source data fusion, so as to obtain a field three-dimensional model includes the following steps:
Data alignment is carried out on all the model data based on the model association nodes;
carrying out multi-source data fusion on all the model data after data alignment by utilizing a data fusion model and adopting a data fusion algorithm to obtain fusion data;
and reconstructing a model based on the fusion data to obtain a site three-dimensional model.
Optionally, the performing model fusion on the tower GIM model and the on-site three-dimensional model to obtain a three-dimensional visualized model of the power transmission line construction project includes the following steps:
extracting first model point cloud data of the tower GIM model, and extracting second model point cloud data of the site three-dimensional model;
performing point cloud matching on the first model point cloud data and the second model point cloud data to obtain a matching result;
adjusting the data coordinates of the second model point cloud data according to the matching result;
and performing texture mapping, attribute association and geometric fusion on the first model point cloud data and the second model point cloud data with the data coordinates adjusted to obtain a three-dimensional visual model of the power transmission line construction project.
Optionally, the step of completing the construction simulation of the power transmission line construction project through the three-dimensional visual model, and the step of monitoring the construction simulation process and generating the security risk information includes the following steps:
Extracting historical construction data of the same project category from a preset historical project database based on the project construction plan data;
setting a plurality of monitoring indexes by combining the project construction plan data and the historical construction data, wherein the monitoring indexes comprise equipment movement indexes, equipment work indexes, personnel work indexes and material consumption indexes;
completing construction simulation of the power transmission line construction project through the three-dimensional visual model, and monitoring whether simulation data exceeds the corresponding monitoring index in the construction simulation process;
if the simulation data do not exist and exceed the corresponding monitoring index, security risk information is not generated;
if the simulation data exceeds the corresponding monitoring index, generating a safety risk signal based on the target simulation data exceeding the monitoring index;
counting the data quantity of the target simulation data, wherein each target simulation data exceeds the exceeding range of the corresponding monitoring index;
generating a security risk level in combination with the out-of-range and the data volume;
and generating security risk information by combining the security risk signal and the security risk level.
Optionally, after the construction simulation of the power transmission line construction project is completed through the three-dimensional visual model, the construction simulation process is monitored and safety risk information is generated, the method further comprises the following steps:
storing a simulation record of the construction simulation;
acquiring project modification information and construction environment information, wherein the project modification information is used for modifying project construction plan data, and the construction environment information is site environment data acquired by a preset sensor in a construction site;
adjusting model parameters of a power transmission line model in the three-dimensional visual model based on the construction environment information;
and carrying out construction simulation again by combining the project modification information and the simulation record, and monitoring safety risk information in the construction simulation process.
Optionally, the step of obtaining project modification information and construction environment information includes the steps of:
acquiring construction environment information through a sensor preset in the construction site;
acquiring project modification information by monitoring construction party clients of all relevant construction parties in the power transmission line construction project;
obtaining core modification content of the item modification information by using a jieba part-of-speech method and a keyword retrieval method;
Comparing the core modified content with a preset item content grade table to determine the content grade of the core modified content;
reading client rights of the construction side client corresponding to the project modification information;
judging whether the content grade is lower than the client permission;
if the content grade is lower than the client permission, the corresponding item modification information is reserved;
and if the content grade is not lower than the client permission, returning the corresponding item modification information to the corresponding constructor client.
Optionally, the construction environment information includes wind force information, wind direction information and rainfall information, and the model parameters include material properties, stress direction and model coordinate positions of the power transmission line model.
In a second aspect, the present invention further provides a three-dimensional visualization model-based power transmission line construction safety monitoring system, which includes a memory, a processor, and a computer program stored in the memory and capable of running on the processor, where the processor implements the three-dimensional visualization model-based power transmission line construction safety monitoring method according to the first aspect when executing the computer program.
The beneficial effects of the invention are as follows:
by combining the three-dimensional modeling technology with multi-source three-dimensional data and taking building construction process simulation as a research object, the construction safety, construction quality parameters, construction steps, construction engineering quantity, construction equipment and facilities, construction tool use and the like of different construction key nodes are subjected to live-action and three-dimensional simulation, so that the construction potential safety hazard which is difficult to expect by manual supervision can be predicted, the safety of the whole construction process is greatly improved, and the scientific construction management level can also be improved. By utilizing a three-dimensional modeling technology to construct a three-dimensional construction simulation analysis management system of the power transmission line, the whole process construction level of the stages of civil engineering, tower erection, wire erection and the like of the foundation construction of the power transmission line is enhanced.
Drawings
Fig. 1 is a schematic flow chart of a three-dimensional visual model-based power transmission line construction safety monitoring method in the invention.
FIG. 2 is a schematic diagram of the construction and application flow of the three-dimensional visualization model according to the present invention.
FIG. 3 is an exemplary illustration of a data fusion model and data fusion algorithm in accordance with the present invention.
Detailed Description
The invention discloses a three-dimensional visual model-based power transmission line construction safety monitoring method.
Referring to fig. 1, the method for monitoring the construction safety of the power transmission line based on the three-dimensional visual model specifically comprises the following steps:
s101, acquiring a tower GIM model of the power transmission line in a power transmission line construction project and three-dimensional measurement data of a plurality of construction measurement parties in the power transmission line construction project for measuring a construction site.
The line tower GIM model is output through line design software, and the three-dimensional measurement data specifically comprises laser point cloud data, oblique photography data, BIM data and the like. Laser point cloud data can be obtained through an airborne laser radar system, the airborne laser radar system is used for carrying a LiDAR system to a flight platform, and ground object space information is obtained through laser scanning, so that high-density and high-precision three-dimensional space information of the ground object is rapidly extracted.
Oblique photographic data are acquired through a photographic measurement technology, and laser radars are often loaded on aircrafts such as unmanned planes, helicopters and the like, and images need to be shot in high-speed movement, so that a new technical problem is brought. In order to improve the definition of digital images, the main method is to improve the resolution of the images, namely automatically distinguishing environmental parameters to intelligently determine the wavelength under a standard digital mode, improving the number of scanning lines and expanding the field of view. In the process of the unmanned plane and the helicopter for inspection, the high-resolution digital camera can be utilized to shoot and collect aviation image data, and obtain the landform true color digital image information of the inspected area, and the color digital orthographic image can be formed through correction and mosaic, so that the target can be classified and identified, or used as a texture data source. The laser scanning system can directly generate a digital elevation model DEM by using a three-dimensional point cloud, and based on the obtained coordinate information of the inspection area, orthorectified content is used for generating a document object model DOM by adopting a photogrammetry technology, so that a digital orthographic image is obtained.
Where x, y are pixel coordinates, x0, y0 are principal points, a1, a2, …, c3 are rotation matrix parameters. X, Y, Z are ground coordinates, xs, ys, zs are photographing center coordinates.
BIM data is acquired through a building information model (Building Information Modeling, BIM), BIM technology is a datamation tool applied to engineering design, construction and management, and by integrating datamation and informatization models of buildings, sharing and transmitting are carried out in the whole life cycle process of project planning, operation and maintenance, so that engineering technicians can correctly understand and highly-effect various building information, a cooperative work foundation is provided for design teams and construction subjects of all parties including buildings and operation units, and important functions are played in terms of improving production efficiency, saving cost and shortening construction period. BIM technical application characteristics:
and (3) visualization: BIM visualization is a visualization capable of forming interactivity and feedback between components, and because the whole process is visualized, the visualized result can be displayed by using an effect diagram and generated by using a report, and more importantly, communication, discussion and decision making in the project design, construction and operation processes are performed in a visualized state.
Coordination: the BIM information model can coordinate collision problems of various professions in the early stage of building or structure construction, generate coordination data and provide the coordination data for project related party decisions.
Simulation: BIM simulation is not only a simulation of a designed building model. Things that cannot operate in the real world can also be simulated.
S102, carrying out multi-source data fusion and modeling on all three-dimensional measurement data of a plurality of construction measurement parties by adopting a data fusion algorithm to obtain a site three-dimensional model.
The multi-source data fusion can adopt various combination prediction model analysis, the combination prediction method aims at solving the same problem, and adopts various prediction methods, and the main purpose of combination is to comprehensively utilize information provided by various methods, so as to improve the prediction precision as much as possible, and support the predictability and accuracy of the data analysis prediction model caused by model change, time change and parameter change. After the fusion data of the multisource data fusion is obtained, modeling of the site three-dimensional model can be completed in a heterogeneous model modeling mode.
S103, carrying out model fusion on the tower GIM model and the site three-dimensional model to obtain a three-dimensional visualized model of the power transmission line construction project.
The point cloud registration is a key step of a model fusion processing flow, and the quality of the point cloud registration directly relates to the effect of the point cloud fusion processing, so that in order to improve the registration quality, the embodiment researches the content of a point cloud registration part in the point cloud fusion processing from two aspects of initial registration and fine registration respectively: coarse registration is performed by using an improved SAC-IA algorithm, the purpose of the coarse registration is to provide a better initial posture of the point cloud for fine registration, and fine registration processing of the point cloud is performed by using an improved ICP algorithm.
S104, importing project construction plan data of the power transmission line construction project into the three-dimensional visual model.
The project construction plan data comprise construction facilities, construction equipment, engineering design, construction schemes and the like.
S105, completing construction simulation of the power transmission line construction project through the three-dimensional visual model, monitoring the construction simulation process and generating safety risk information.
Referring to fig. 2, a three-dimensional visual model of a construction site of the power transmission line is constructed by analyzing and fusing laser point cloud data, oblique photography data, BIM data, geographical environment data and the like of a construction site, then a three-dimensional scene dynamic measurement technology is utilized by combining data such as construction facilities, construction equipment, engineering design, construction schemes and the like, simulation and simulation analysis are performed on key construction working conditions of the power transmission line engineering, safety distances, construction spaces and the like in construction are analyzed, key working procedures of line construction such as simulated erection of a crossing frame, assembly of adjacent live line towers and integral inverted towers are performed in a three-dimensional whole flow deduction and simulation, dynamic simulation of key working conditions of the power transmission line construction, ranging of construction space, automatic verification of the safety distances are realized, hidden dangers and safety risks of the key construction working procedures are found, and safety risk information is generated.
S106, if the safety risk information is monitored, identifying the associated party of the safety risk information according to project construction plan data, and sending the safety risk information to the associated party.
According to the data association relation in the project construction plan data, searching all the associated parties related to the security risk information, and sending the security risk information to the mobile terminals of all the responsible parties of the associated parties through the system server.
In the embodiment, by combining the three-dimensional modeling technology and multi-source three-dimensional data, the building construction process simulation is taken as a research object, and the construction safety, the construction quality parameters, the construction steps, the construction engineering quantity, the construction equipment facilities, the use of construction tools and the like are simulated in real view and three-dimensional mode for different construction key nodes, so that the construction potential safety hazards which are difficult to be expected by a manual supervision worker can be predicted, the safety of the whole construction process is greatly improved, and the scientific construction management level can also be improved. By utilizing a three-dimensional modeling technology to construct a three-dimensional construction simulation analysis management system of the power transmission line, the whole process construction level of the stages of civil engineering, tower erection, wire erection and the like of the foundation construction of the power transmission line is enhanced.
In one embodiment, the step S102 specifically includes the following steps:
Preprocessing all three-dimensional measurement data;
based on three-dimensional measurement data of a plurality of construction measuring parties and preset modeling standards, respectively constructing different three-dimensional basic models;
generating model association nodes according to the plurality of three-dimensional basic models;
carrying out model analysis on all the three-dimensional basic models to obtain model data with the same data format;
and carrying out multi-source data fusion on all the model data by adopting a data fusion algorithm, and reconstructing a model by combining the model association nodes and the fused data obtained by the multi-source data fusion to obtain the on-site three-dimensional model.
In this embodiment, the preprocessing step mainly includes data cleansing and data conversion. The data cleaning mainly removes invalid data, repeated data, abnormal data and the like, so that the data quality is ensured. The data conversion is mainly to convert the original data into a format which can be processed by a model, for example, to convert non-numerical data into numerical data, or to normalize the data, etc.
The three-dimensional basic model can be built by establishing a coordinate system and defining a data structure. First, a three-dimensional coordinate system needs to be established from the measurement data, and then a data structure such as a point, a line, a plane, etc. is defined in this coordinate system. Then, the basic model is constructed according to preset modeling standards, such as the precision, complexity and the like of the model. The model association nodes are mainly generated for establishing association among models, and can be completed by defining association rules. For example, a rule may be defined that if the coordinates of a point in the two models are the same, then that point is an associated node. In this way, model association nodes may be generated.
And (3) carrying out model analysis (traversing, analyzing and extracting) on all the three-dimensional basic models to obtain model data with the same data format (data structure, coordinate parameters and relative proportion), so that the follow-up data fusion is facilitated. The analysis process is to ensure the integrity of the model and the integrity of the attribute. And a model library of tools and instruments with attribute parameters, engineering bodies (towers, hardware fittings, insulator strings and ground wires) and crossing frames (carrier ropes and protective nets) is built in construction three-dimensional simulation software, so that basic three-dimensional physical space measurement data is provided for construction simulation and scheme optimization. Based on three-dimensional technology, regulation specifications and engineering experience, the core technology in the current crossing construction is researched and developed, the method comprises the automatic calculation of the position, the size and the bearing capacity of a crossing frame (holding pole, bearing rope and protective net), the change relation of traction force and sag, the calculation and the verification of the space distance between a wire and the protective net, the space distance between the protective net and an obstacle, the optimization of the model of a tool and the like, and a calculation book can be automatically generated on the basis of calculation and analysis.
And carrying out multi-source data fusion on all model data by adopting a data fusion algorithm, mainly fusing model data of different sources, and reconstructing a model according to the fused data and model association nodes. The data fusion may be accomplished by using data fusion algorithms, such as K-means clustering, decision trees, random forests, and the like. And reconstructing the model according to the fused data and the model association nodes to obtain the on-site three-dimensional model.
In one embodiment, the step of generating the model association node according to the plurality of three-dimensional basic models specifically includes the steps of:
taking any one of the plurality of three-dimensional basic models as a target three-dimensional basic model, and traversing all target model point data in the target three-dimensional basic model;
determining a plurality of basic association nodes and node coordinates of the plurality of basic association nodes according to the aggregation relation and the model point coordinates of all the target model point data;
marking similar associated nodes in all three-dimensional basic models except the target three-dimensional basic model based on the node coordinates;
taking the basic association node and a plurality of corresponding similar association nodes as centers, and respectively acquiring a basic polymerization degree and a plurality of similar polymerization degrees in the same coordinate range;
calculating an average value among the similar polymerization degrees to obtain an average similar polymerization degree;
judging whether the difference between the basic polymerization degree and the average polymerization degree exceeds a preset polymerization degree threshold value or not;
if the difference between the basic polymerization degree and the average polymerization degree exceeds the polymerization degree threshold value, discarding the corresponding basic association node;
and if the difference between the basic polymerization degree and the average polymerization degree does not exceed the polymerization degree threshold, taking the corresponding basic association node as a model association node.
In this embodiment, for example, assuming that there are three-dimensional basic models A, B and C, a three-dimensional basic model a is arbitrarily selected as a target three-dimensional basic model, all target model point data (a 1, a2, the..once, an) in the three-dimensional basic model a are traversed, distances between the respective target model point data are calculated, and whether the distances are smaller than a preset threshold value is determined, and if the distances between the two model points are smaller than the preset threshold value, an aggregation relationship is considered to exist. Counting the quantity of aggregation relations of all the target model point data, arranging the quantity of aggregation relations in a sequence from large to small, and selecting the target model point data corresponding to the first m quantity of aggregation relations as basic association nodes (A1, A2, am), wherein m is smaller than n.
The same coordinates or coordinates closest to the base associated node are found in the three-dimensional base models B and C, and the corresponding node is regarded as a similar associated node (B1, B2., bm), (C1, C2., cm). If the basic association node A1 is taken as the center, and the same coordinate range (e.g. 10 unit coordinates) is taken as the radius to generate an aggregation calculation range, the total aggregation relation of all the model point data (nodes) in the aggregation calculation range is counted, and the total aggregation relation is divided by the number of all the model point data in the aggregation calculation range to obtain the aggregation degree of the basic association node as the basic aggregation degree. And the similar associated nodes corresponding to the basic associated node A1 are B1 and C1, and the polymerization degrees of B1 and C1 are respectively calculated by adopting the same coordinate range and calculation mode as the similar polymerization degrees.
The average degree of similarity polymerization is calculated by the following formula: (B1-degree of similar polymerization+C1-degree of similar polymerization)/2. Judging whether the difference between the basic polymerization degree and the average polymerization degree exceeds a preset polymerization degree threshold value or not; if the difference between the basic polymerization degree and the average polymerization degree exceeds the polymerization degree threshold value, discarding the basic association node A1; and if the difference between the basic polymerization degree and the average polymerization degree does not exceed the polymerization degree threshold, taking the basic association node A1 as a model association node.
In one embodiment, the step of performing multi-source data fusion on all model data by adopting a data fusion algorithm, and reconstructing a model by combining the model association nodes and fused data obtained by multi-source data fusion, and obtaining a site three-dimensional model comprises the following steps:
data alignment is carried out on all model data based on the model association node;
carrying out multi-source data fusion on all model data after data alignment by utilizing a data fusion model and adopting a data fusion algorithm to obtain fusion data;
and reconstructing the model based on the fusion data to obtain the on-site three-dimensional model.
In this embodiment, since the model data formats provided by the data sources are not uniform, a data alignment operation is required to convert the model data of different data sources into a uniform format, so as to facilitate subsequent model fusion and joint modeling. The processing of multi-source data fusion is not completely unified with algorithms suitable for all scenes due to the data difference of the multi-source data, and on engineering application, the data processing of multi-source data fusion is required to be carried out by selecting a model and an algorithm which are suitable for different application scenes and specific data.
Referring to fig. 3, the data fusion model can be largely divided into an initial model class and an extended model class. The data fusion algorithm can be divided into three types of physical model types, parameter-based types and knowledge model types from the algorithm concept. The physical model class can be classified into simulation, syntax analysis, etc., for example, kalman filtering, maximum likelihood estimation, and least squares estimation are algorithms belonging to the physical model class. Dividing the parameter class based on the theory of a statistical method and an information theory, wherein the algorithm based on the statistical method comprises a classical reasoning theory, a D-S evidence theory and a Bayesian reasoning algorithm; algorithms based on information theory include classical network methods, entropy theory methods, voting methods and cluster analysis methods. The recognition model class comprises four kinds of fuzzy theory, logic templates, a knowledge system and a genetic algorithm.
And reconstructing the model by adopting a heterogeneous model modeling mode based on the fusion data to obtain the on-site three-dimensional model. Heterogeneous model modeling specifically adopts a mode of establishing a joint machine learning model. The heterogeneous model refers to a method that each platform uses own data structure design to realize a machine learning algorithm, namely, a three-dimensional space model provided by different data sources in the same three-dimensional environment is subjected to machine learning by a computer algorithm to secondarily construct space model data, partial geometric model reconstruction is performed, survey data extract data, and a model data point network is generated.
In one embodiment, the step S103 specifically includes the following steps:
extracting first model point cloud data of a line tower GIM model, and extracting second model point cloud data of a site three-dimensional model;
performing point cloud matching on the first model point cloud data and the second model point cloud data to obtain a matching result;
adjusting the data coordinates of the second model point cloud data according to the matching result;
and performing texture mapping, attribute association and geometric fusion on the first model point cloud data and the second model point cloud data with the data coordinates adjusted to obtain a three-dimensional visual model of the power transmission line construction project.
In this embodiment, the point cloud registration is a key step of the point cloud fusion processing flow, and the quality of the point cloud registration directly relates to the effect of the point cloud fusion processing, so, in order to improve the registration quality, in this embodiment, the content of the point cloud registration part in the point cloud fusion processing is studied from two aspects of initial registration and fine registration, respectively: coarse registration is performed by using an improved SAC-IA algorithm, the purpose of the coarse registration is to provide a better initial posture of the point cloud for fine registration, and fine registration processing of the point cloud is performed by using an improved ICP algorithm. The improved SAC-IA algorithm is carried out on the basis of the traditional SAC-IA algorithm, the basic principle is approximately the same as that of the SAC-IA algorithm, and the difference is that the improved SAC-IA algorithm firstly uses an LOF factor algorithm to carry out point cloud simplifying processing on initial point clouds which participate in rough registration, so that the data volume of the point clouds is simplified, the initial matching processing process of the SAC-IA algorithm is accelerated, and the rough registration processing efficiency of the point clouds is improved. The point cloud data is preprocessed before registration, so that the unnecessary point cloud data amount is reduced, but a method based on the whole compaction theory is generally adopted, and the compaction effect on the local overlapping area is poor, so that the point cloud data compaction is performed by adopting a LOF (Local Outlier Factor) factor compaction algorithm, the LOF factor algorithm compaction effect is obvious and visual, and the degree of overlapping of local fine point cloud data can be quantized specifically.
Three-dimensional model technology is widely used in any field where three-dimensional graphics is used, and the three-dimensional model itself is invisible and can be rendered at different levels of detail or shaded (shaded) in different ways according to a simple wireframe. However, many three-dimensional models are overlaid with textures, and the process of placing a texture arrangement on the three-dimensional model is called texture mapping. The texture is an image, but it can make the model finer and look more realistic. The attribute association mainly comprises the mutual association of the attribute parameters of various appliances such as tools, engineering bodies (towers, hardware fittings, insulator strings, ground wires), crossing frames (carrier ropes, protective nets) and the like and the topographic attribute parameters. The geometric fusion is the fusion between the position and the size of the devices such as the holding pole, the carrier rope, the protective net and the like and the bearing capacity and the topographic size, the position and the stress relation.
In one embodiment, the step S105 specifically includes the following steps:
extracting historical construction data of the same project category from a preset historical project database based on project construction plan data;
setting a plurality of monitoring indexes by combining project construction plan data and historical construction data, wherein the monitoring indexes comprise equipment movement indexes, equipment work indexes, personnel work indexes and material consumption indexes;
Completing construction simulation of a power transmission line construction project through a three-dimensional visual model, and monitoring whether simulation data exceeds corresponding monitoring indexes in the construction simulation process;
if the simulation data do not exist and exceed the corresponding monitoring index, security risk information is not generated;
if the simulation data exceeds the corresponding monitoring index, generating a safety risk signal based on the target simulation data exceeding the monitoring index;
counting the data quantity of the target simulation data, wherein each target simulation data exceeds the exceeding range of the corresponding monitoring index;
generating a security risk level by combining the out-of-range and the data volume;
and generating the security risk information by combining the security risk signal and the security risk level.
In the present embodiment, an example is illustrated: assuming that a power transmission line construction project is provided, according to project construction plan data, historical construction data of the same project category is extracted from a historical project database. And setting monitoring indexes such as equipment moving times, equipment working time, personnel working time and material consumption by combining project construction plan data and historical construction data. And (3) finishing construction simulation by using the three-dimensional visual model, and monitoring whether the data exceeds the monitoring index in the simulation process. And if the simulation data does not exceed the monitoring index, no safety risk information is generated. If some of the data exceeds the monitoring index, a corresponding security risk signal is generated based on the exceeded target simulation data. And counting the data quantity of the target simulation data, including the quantity and the exceeding range of the data. And determining the level of the security risk according to the out-of-range and the data volume. And finally, combining the security risk signal and the security risk level to generate detailed security risk information so that project management personnel can know and take corresponding measures in time to reduce the security risk.
In one embodiment, the method specifically further includes the following steps after step S105:
storing a simulation record of the construction simulation;
acquiring project modification information and construction environment information, wherein the project modification information is used for modifying project construction plan data, and the construction environment information is site environment data acquired by a preset sensor in a construction site;
model parameters of a power transmission line model in the three-dimensional visual model are adjusted based on construction environment information;
and carrying out construction simulation again by combining project modification information and simulation record, and monitoring safety risk information in the construction simulation process.
In the present embodiment, when performing the construction simulation, the results of the simulation are recorded, including information such as simulation data, simulation parameters, and simulation time. In the actual construction process, project modification may occur, such as adjustment of a construction plan. At this time, project modification information needs to be acquired, and project construction plan data needs to be modified accordingly according to the information. The preset sensor collects site environment data such as construction environment information including temperature, humidity and the like in a construction site, and according to the construction environment information, model parameters of a power transmission line model in the three-dimensional visual model such as thermal expansion coefficients of materials, resistances of wires and the like are adjusted. And according to the project modification information, correspondingly modifying project construction plan data. And carrying out construction simulation again by using the modified construction plan data and the simulation record stored before. In the construction simulation process, whether the simulation data exceeds a safety risk threshold value, such as equipment moving times, equipment working time and the like, is monitored. And if the safety risk information exceeding the threshold value exists, timely recording and alarming.
In one embodiment, the step of acquiring the project modification information and the construction environment information specifically includes the steps of:
acquiring construction environment information through a sensor preset in a construction site;
acquiring project modification information by monitoring construction party clients of all relevant construction parties in a power transmission line construction project;
obtaining core modification content of the item modification information by using a jieba part-of-speech method and a keyword retrieval method;
comparing the core modified content with a preset item content grade table to determine the content grade of the core modified content;
reading client rights of a constructor client corresponding to the project modification information;
judging whether the content grade is lower than the client permission;
if the content grade is lower than the client permission, the corresponding item modification information is reserved;
and if the content grade is not lower than the client permission, returning the corresponding project modification information to the corresponding constructor client.
In this embodiment, a sensor preset in a construction site may collect information of a construction environment, such as temperature, humidity, wind speed, etc., in real time. Through network connection, the construction side clients of all the relevant construction sides can be monitored in real time, and project modification information submitted by the construction side clients can be obtained. And (3) using a jieba word segmentation method to segment the item modification information, and then retrieving the core modification content through a keyword retrieval method. And determining the content grade of the core modified content according to a preset item content grade table. And reading the authority level of the client from the user information of the client of the constructor. Comparing the content grade of the core modified content with the client permission grade, if the content grade is lower than the client permission, indicating that the client has permission to carry out the modification, and retaining the item modification information. If the content grade is not lower than the authority of the client, the client is not authorized to make the modification, and the item modification information is returned.
Illustrating: suppose that constructor A submitted an item modification message, the content is "change Material B to Material C". The system firstly obtains the core modification content, namely 'material replacement', through a jieba part-of-speech method and a keyword retrieval method. Then, the core modified content is compared with a preset item content grade table to determine the content grade. Simultaneously, the system reads the client permission of the client of the constructor A. If the content level of "change material" is lower than the rights level of the constructor a client, the system will retain this item modification information. If the content level of "change material" is not below the authority level of the constructor A client, the system returns this item modification information to the constructor A client.
In one embodiment, the construction environment information includes wind force information, wind direction information and rainfall information, and the model parameters include material properties, stress direction and model coordinate positions of the transmission line model.
In this embodiment, the step of adjusting model parameters of the power transmission line model in the three-dimensional visual model based on the construction environment information specifically includes the steps of:
collecting construction environment information: first, wind information, wind direction information, and rainfall information need to be collected. This may be obtained by means of weather stations, weather forecast data, sensors, etc.
Determining model parameters: and determining model parameters of the power transmission line model to be adjusted according to the collected construction environment information. These parameters may include material properties of the transmission line (e.g., material, cross-sectional area, etc., of the wire), force direction (e.g., gravity, wind, etc.), and coordinate location of the model.
Adjusting model parameters: and adjusting the power transmission line model in the three-dimensional visual model according to the determined model parameters. The adjustments may be made using computer aided design software or specialized modeling tools. For example, the material properties of the wire may be modified, the force direction of the wire may be adjusted, or the coordinate position of the model may be changed.
Updating the visualization model: after the adjustment of the model parameters is completed, the adjusted model parameters need to be applied to the three-dimensional visualization model. This may be achieved by importing modified model files or updating the properties of the model.
By way of example, assume that a transmission line is being constructed alongside a tall building. According to the collected construction environment information, the wind power in the area is found to be large, the wind direction is changed frequently, and meanwhile, rainfall is high. In order to ensure the safety and stability of the power transmission line construction, the model parameters of the power transmission line model in the three-dimensional visual model need to be adjusted. Firstly, wind information and wind direction information are collected, and the current wind power is 5-level and the wind direction is southwest according to weather forecast data. Meanwhile, rainfall information is collected, and the current rainy day is known.
According to the construction environment information, model parameters of the power transmission line model need to be adjusted. Firstly, the stress direction of the wire can be adjusted according to wind power information. Because wind power comes from southwest direction, stress points and stress directions can be added for the wire, and the stress points are uniformly distributed to the whole wire, and the stress directions are the same as the wind directions. Second, due to rainfall, it may be necessary to adjust the material properties of the wires. And finally, updating the power transmission line model in the three-dimensional visual model according to the adjusted model parameters. By importing the modified model file or updating the attributes of the model, the transmission line model which is adjusted according to the construction environment information can be accurately displayed in the visual model, so that the performance of the transmission line under different construction environments can be intuitively observed, and a reference is provided for decision making in the construction process.
The invention also discloses a power transmission line construction safety monitoring system based on the three-dimensional visual model, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the power transmission line construction safety monitoring method based on the three-dimensional visual model described in any one of the embodiments is realized when the processor executes the computer program.
Those of ordinary skill in the art will appreciate that: the discussion of any of the embodiments above is merely exemplary and is not intended to imply that the scope of the present application is limited to such examples; the technical features of the above embodiments or in the different embodiments may also be combined under the idea of the present application, the steps may be implemented in any order, and there are many other variations of the different aspects of one or more embodiments in the present application as above, which are not provided in details for the sake of brevity.
One or more embodiments herein are intended to embrace all such alternatives, modifications and variations that fall within the broad scope of the present application. Any omissions, modifications, equivalents, improvements, and the like, which are within the spirit and principles of the one or more embodiments in the present application, are therefore intended to be included within the scope of the present application.
Claims (10)
1. The power transmission line construction safety monitoring method based on the three-dimensional visual model is characterized by comprising the following steps of:
acquiring a tower GIM model of a power transmission line in a power transmission line construction project and three-dimensional measurement data of a plurality of construction measurement parties in the power transmission line construction project for measuring a construction site;
Carrying out multi-source data fusion and modeling on all three-dimensional measurement data of a plurality of construction measurement parties by adopting a data fusion algorithm to obtain a site three-dimensional model;
performing model fusion on the tower GIM model and the site three-dimensional model to obtain a three-dimensional visualized model of the power transmission line construction project;
importing project construction plan data of the power transmission line construction project into the three-dimensional visual model;
completing construction simulation of the power transmission line construction project through the three-dimensional visual model, monitoring the construction simulation process and generating safety risk information;
and if the safety risk information is monitored, identifying an associated party of the safety risk information according to the project construction plan data, and sending the safety risk information to the associated party.
2. The method for monitoring the construction safety of the power transmission line based on the three-dimensional visual model according to claim 1, wherein the step of performing multi-source data fusion and modeling on all three-dimensional measurement data of a plurality of construction measuring parties by using a data fusion algorithm to obtain a field three-dimensional model comprises the following steps:
preprocessing all the three-dimensional measurement data;
Respectively constructing different three-dimensional basic models based on the three-dimensional measurement data of a plurality of construction measuring parties and preset modeling standards;
generating model association nodes according to a plurality of the three-dimensional basic models;
carrying out model analysis on all the three-dimensional basic models to obtain model data with the same data format;
and carrying out multi-source data fusion on all the model data by adopting a data fusion algorithm, and reconstructing a model by combining the model association nodes and the fused data obtained by the multi-source data fusion to obtain a field three-dimensional model.
3. The three-dimensional visualized model-based power transmission line construction safety monitoring method according to claim 2, wherein the generating model association nodes according to a plurality of the three-dimensional basic models comprises the steps of:
taking any one of the three-dimensional basic models as a target three-dimensional basic model, and traversing all target model point data in the target three-dimensional basic model;
determining a plurality of basic association nodes and node coordinates of the basic association nodes according to the aggregation relation and the model point coordinates of all the target model point data;
Marking similar associated nodes in all three-dimensional basic models except the target three-dimensional basic model based on the node coordinates;
taking the basic association node and the corresponding similar association nodes as centers, and respectively acquiring a basic polymerization degree and a plurality of similar polymerization degrees in the same coordinate range;
calculating the average value among a plurality of similar polymerization degrees to obtain the average similar polymerization degree;
judging whether the difference between the basic polymerization degree and the average similar polymerization degree exceeds a preset polymerization degree threshold value or not;
if the difference between the basic polymerization degree and the average similar polymerization degree exceeds the polymerization degree threshold, discarding the corresponding basic association node;
and if the difference between the basic aggregation degree and the average similarity aggregation degree does not exceed the aggregation degree threshold, taking the corresponding basic association node as a model association node.
4. The method for monitoring the construction safety of the power transmission line based on the three-dimensional visual model according to claim 2, wherein the method for carrying out multi-source data fusion on all the model data by adopting a data fusion algorithm and reconstructing the model by combining the model association nodes and the fused data obtained by multi-source data fusion comprises the following steps:
Data alignment is carried out on all the model data based on the model association nodes;
carrying out multi-source data fusion on all the model data after data alignment by utilizing a data fusion model and adopting a data fusion algorithm to obtain fusion data;
and reconstructing a model based on the fusion data to obtain a site three-dimensional model.
5. The three-dimensional visualized model-based power transmission line construction safety monitoring method according to claim 1, wherein the step of performing model fusion on the tower GIM model and the on-site three-dimensional model to obtain the three-dimensional visualized model of the power transmission line construction project comprises the following steps:
extracting first model point cloud data of the tower GIM model, and extracting second model point cloud data of the site three-dimensional model;
performing point cloud matching on the first model point cloud data and the second model point cloud data to obtain a matching result;
adjusting the data coordinates of the second model point cloud data according to the matching result;
and performing texture mapping, attribute association and geometric fusion on the first model point cloud data and the second model point cloud data with the data coordinates adjusted to obtain a three-dimensional visual model of the power transmission line construction project.
6. The three-dimensional visual model-based power transmission line construction safety monitoring method according to claim 1, wherein the completion of the construction simulation of the power transmission line construction project through the three-dimensional visual model, monitoring the construction simulation process and generating safety risk information comprises the steps of:
extracting historical construction data of the same project category from a preset historical project database based on the project construction plan data;
setting a plurality of monitoring indexes by combining the project construction plan data and the historical construction data, wherein the monitoring indexes comprise equipment movement indexes, equipment work indexes, personnel work indexes and material consumption indexes;
completing construction simulation of the power transmission line construction project through the three-dimensional visual model, and monitoring whether simulation data exceeds the corresponding monitoring index in the construction simulation process;
if the simulation data do not exist and exceed the corresponding monitoring index, security risk information is not generated;
if the simulation data exceeds the corresponding monitoring index, generating a safety risk signal based on the target simulation data exceeding the monitoring index;
Counting the data quantity of the target simulation data, wherein each target simulation data exceeds the exceeding range of the corresponding monitoring index;
generating a security risk level in combination with the out-of-range and the data volume;
and generating security risk information by combining the security risk signal and the security risk level.
7. The three-dimensional visual model-based power transmission line construction safety monitoring method according to claim 1, wherein after the completion of the construction simulation of the power transmission line construction project through the three-dimensional visual model, the steps of monitoring the construction simulation process and generating safety risk information are further included as follows:
storing a simulation record of the construction simulation;
acquiring project modification information and construction environment information, wherein the project modification information is used for modifying project construction plan data, and the construction environment information is site environment data acquired by a preset sensor in a construction site;
adjusting model parameters of a power transmission line model in the three-dimensional visual model based on the construction environment information;
and carrying out construction simulation again by combining the project modification information and the simulation record, and monitoring safety risk information in the construction simulation process.
8. The three-dimensional visual model-based power transmission line construction safety monitoring method according to claim 7, wherein the acquiring project modification information and construction environment information comprises the steps of:
acquiring construction environment information through a sensor preset in the construction site;
acquiring project modification information by monitoring construction party clients of all relevant construction parties in the power transmission line construction project;
obtaining core modification content of the item modification information by using a jieba part-of-speech method and a keyword retrieval method;
comparing the core modified content with a preset item content grade table to determine the content grade of the core modified content;
reading client rights of the construction side client corresponding to the project modification information;
judging whether the content grade is lower than the client permission;
if the content grade is lower than the client permission, the corresponding item modification information is reserved;
and if the content grade is not lower than the client permission, returning the corresponding item modification information to the corresponding constructor client.
9. The three-dimensional visualization model-based power transmission line construction safety monitoring method according to claim 1, wherein the construction environment information comprises wind power information, wind direction information and rainfall information, and the model parameters comprise material properties, stress directions and model coordinate positions of the power transmission line model.
10. A three-dimensional visual model-based transmission line construction safety monitoring system, comprising a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the three-dimensional visual model-based transmission line construction safety monitoring method according to any one of claims 1 to 9 is realized when the processor executes the computer program.
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