CN104268939A - Transformer substation virtual-reality management system based on three-dimensional panoramic view and implementation method of transformer substation virtual-reality management system based on three-dimensional panoramic view - Google Patents
Transformer substation virtual-reality management system based on three-dimensional panoramic view and implementation method of transformer substation virtual-reality management system based on three-dimensional panoramic view Download PDFInfo
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Abstract
The invention discloses a transformer substation virtual-reality management system based on a three-dimensional panoramic view and an implementation method of the transformer substation virtual-reality management system based on the three-dimensional panoramic view. The management system comprises an image collecting and splicing module and a three-dimensional reconstruction image pasting module, wherein the image collecting and splicing module is used for fusing collected images into the complete panoramic view, and the three-dimensional reconstruction image pasting module is connected with the image collecting and splicing module and further connected with a hot point database used for recording coordinates of hot point positions in scenes and performance parameters of corresponding transformer substation devices. The implementation method includes the steps that firstly, the field images are collected and fused into the complete large panoramic view through the image collecting and splicing module; then the positions and the parameters of the devices are recorded and edited through the hot point database; finally, the panoramic view is restored through the three-dimensional reconstruction image pasting module into the spherical three-dimensional panoramic view with the adjustable view angle and the editable surface hot point information. By means of the transformer substation virtual-reality management system and the implementation method, the information of the devices can be added and edited at any time, a maintenance person can visibly learn the reality positions and the technical information of the devices accordingly, and the device maintenance efficiency can be improved.
Description
Technical field
The invention belongs to the inspection and maintenance field of transformer station, be specifically related to a kind of transformer station's virtual reality management system based on three-dimensional panorama view and its implementation.
Background technology
Along with the development of computer virtual reality technology, in the management and utilization work of transformer station, to digitizing, the intellectuality of transformer station, the management system scheme of spatial visualization and equipment control robotization and the research and development of technology are also deepening continuously, and the rare researchist of thinking virtual reality technology being applied in substation equipment management attempts.
Substation management maintenance is an important step of electrical production.Need to come into contacts with various electrical equipment, so need the basal conditions of frequent query facility technical parameter and equipment in the process that transformer station produces.Meanwhile, substation operation manages and is the mode management equipment by the clear data such as hand-kept or Excel document or pure form in production run, cannot to the particular location of equipment, and concrete spatial scene has a visual impression.When equipment needs to safeguard, maintenance of equipment personnel can not treat the essential information of maintenance of equipment, the overall impression of environment of position and the equipment that needs repairing is done one and understood fast and accurately, can not meet the demand of carrying out fault restoration in the work of transformer substation environment of complexity in time.Therefore set up digitizing, intellectuality, spatial visualization equipment management system just more can adapt to the objective demand of future substation management development.
Virtual reality (Virtual Reality, be called for short VR, be translated into again and face border, spirit border etc.) concept propose in 1989 at the J.Lainer of U.S. VPL Research Inc., typically refer to a kind of computer software and hardware environment that the series of new such as Helmet Mounted Display and sensor glove interactive device constructs, people pass through these facilities with natural technical ability (as the rotation of head, the motion etc. of health) send various order to computing machine, and obtain the vision of computing machine to user, the feedback of the multiple sense organ such as the sense of hearing and sense of touch, its object is exactly to utilize advanced hardware technology and Software tool, creation one exactly likes objective environment and surmounts again objective space-time, the harmonious man-machine environment wherein can controlled again wherein can be immersed, namely a kind of by multidimensional information form can operating space.Its most important target is exactly experience and facilitate natural man-machine interaction really, and the system that can reach or partly reach such target is just referred to as virtual reality system.In concept, any one virtual reality system can describe its characteristic with three " I ", and Here it is " immersing (Immersion) ", " mutual (Interaction) " and " imagining (Imagination) ".
The realization of virtual reality has two kinds of methods, uses three-dimensional graphics method to carry out modeling and drafting traditionally, the modeling work that this needs are loaded down with trivial details and expensive special drawing hardware, and is difficult to true representation natural landscape with three-dimensional model.IBR (Image Based Rendering, based on image rendering) technology is the another kind of method realizing virtual reality system, its strong sense of reality, the drafting time is short, effect is clear, the complexity of drafting time and required memory size and scene has nothing to do, only relevant with image size, and these advantages are applicable to the needs of transformer station's virtual reality management system of three-dimensional panorama very much.
The gordian technique of IBR obtains panoramic picture, and its acquisition mode can be divided into planimetric map collection and fish-eye image collection according to camera lens difference.Fish eye lens advantage is: greatly visible angle can make collector can complete the splicing of panorama sketch by less number of pictures, but fish-eye edge distortion distortion is relatively more serious and camera lens cost is higher.Adopting during planimetric map uses general civil camera to coordinate tripod also well can complete collection, but needs the number of pictures of collection more.
Summary of the invention
The object of the invention is to for above-mentioned the problems of the prior art, provide a kind of maintainer can be made intuitively to recognize position in the reality of equipment place and technical information the transformer station's virtual reality management system based on three-dimensional panorama view and its implementation.
To achieve these goals, the transformer station's virtual reality management system that the present invention is based on three-dimensional panorama view comprises for the picture group collected being merged the image acquisition concatenation module becoming complete panoramic picture, and the three-dimensional reconstruction pinup picture module to be connected with image acquisition concatenation module, three-dimensional reconstruction pinup picture module is also connected with the hotspot database for recording all hotspot location coordinate informations and corresponding substation equipment performance parameter in each scene.
Described three-dimensional reconstruction pinup picture module comprises the two-dimensional layer being responsible for display hot spot parameters information and the three-dimension layer being responsible for display panoramic picture Sphere Measurement Model; Described hotspot database comprises three-dimensional localization point and two-dimentional tracking point, three-dimensional localization point is attached to panoramic picture Sphere Measurement Model surface for preserving focus sequence number and spatial coordinated information, and the technical parameter information of two-dimentional tracking point record focus also can be followed the tracks of the two-dimensional coordinate correspondence that three anchor points projections generate and shows.
Described hotspot database is the file group of XML format, and record the pinup picture address of corresponding scene and the coordinate of all focuses and technical parameter information in each XML format file, each focus is stored as a unit according to number order.
Described image acquisition concatenation module comprises camera for gathering image or The Cloud Terrace.
The fusion of described image acquisition concatenation module image adopts OpenCV shape library.
Described three-dimensional reconstruction pinup picture module is carried out showing based on Flash Player and is adopted Away3D engine to set up scene; The storage data acquisition XML format of hotspot database, realizes display and editor in FLASH inside.
The present invention is based on transformer station's virtual reality management system implementation method of three-dimensional panorama view:
Multiple local pictures be collected by image acquisition concatenation module collection site photo, and are fused to the large figure of complete panorama by the first step, are then portion three-dimensional picture pasting input three-dimensional reconstruction pinup picture module by large for complete panorama figure cutting;
Second step, by hotspot database, typing and editor are carried out to the position of equipment and parameter, hotspot database comprises three anchor points and two-dimentional tracking point, three anchor points are attached to three-dimensional sphere model surface for preserving focus sequence number and spatial coordinated information, the technical parameter information of two dimension tracking point record focus also can be followed the tracks of the two-dimensional coordinate correspondence that three anchor points projections generate and shows, hot spot data after process is by XML format input three-dimensional reconstruction pinup picture module, the pinup picture address of corresponding scene and the coordinate of all focuses and technical parameter information is recorded in each XML format file,
3rd step, by the three-dimensional reconstruction pinup picture module based on Flash Player, Away3D engine is adopted to set up scene, the portion three-dimensional picture pasting that large for panorama figure segments is reduced to spherical three-dimensional panorama view, and the virtual video camera at visual angle can be adjusted in the erection of ball interior central authorities, hot spot data directly carries out editing and being presented in the scene of virtual reality by Flash Player; When focus is positioned at the rectilinear direction of virtual video camera, need obtain virtual video camera point to each focus spherical surface position law vector and and the visual field, current virtual video camera dead ahead vector and calculating both vector dot product, illustrate that when result is negative vector angle is greater than 90 °, judge this rear at virtual video camera, and this point is hidden; Hot information sequence after having edited to be kept under assigned catalogue for reading in the future according to XML format, obtains visual angle thus and can carry out adjusting and the spherical three-dimensional panorama view that can edit of surface heat dot information.
Described image acquisition concatenation module is by camera or The Cloud Terrace collection site photo.
Described image acquisition concatenation module adopts OpenCV shape library to carry out the fusion of image.
Described hot spot data editor comprises and first on spherical three-dimensional panorama view, determines target, then a newly-built three-dimensional localization point by coordinate information pushed data storehouse, two-dimentional tracking point completes focus location and opening technology parameter editor simultaneously, after finally inputting corresponding technical parameter, all properties is saved as a data cell and pushes in XML data storehouse.
Compared with prior art, the present invention is based on transformer station's virtual reality management system of three-dimensional panorama view, by image acquisition concatenation module device context photo is fused to the large figure of complete panorama and cutting is portion three-dimensional picture pasting, and then the spherical three-dimensional panorama view that can carry out adjusting in visual angle is reduced to by three-dimensional reconstruction pinup picture module, because three-dimensional reconstruction pinup picture module is also connected with the hotspot database for recording all hotspot location coordinate informations and corresponding substation equipment performance parameter in each scene, staff can add the information of equipment at any time and edit, make maintainer can locate the position of all devices in reality and technical information very intuitively, improve the efficiency of plant maintenance.
Further, the fusion that the present invention is based on transformer station's virtual reality management system image of three-dimensional panorama view adopts OpenCV shape library, first the picture collected carries out normalized rename, and Feature point recognition coupling is carried out to adjacent image, finally be mapped as the complete panorama pinup picture being applicable to sphere pinup picture, automatically reconstruction can be completed by the three-dimensional reconstruction pinup picture module based on Flash Player, without the need to artificial setting, easy to operate.
The present invention is based on transformer station's virtual reality management system implementation method of three-dimensional panorama view, first the large figure of complete panorama is fused to by the collection of photo site with splicing, then in the portion three-dimensional picture pasting input three-dimensional reconstruction pinup picture module large for panorama figure is cut into, by hotspot database, typing and editor are carried out to the position of equipment and parameter again, and by the hot spot data after process by XML format input three-dimensional reconstruction pinup picture module, three-dimensional reconstruction pinup picture module finally based on Flash Player adopts Away 3D engine to set up scene, the portion three-dimensional picture pasting that large for panorama figure segments is reduced to visual angle can carry out adjusting and the spherical three-dimensional panorama view that can edit of surface heat dot information.In order to make full use of the intuitive of location and the technical indicator hot spot data added can be undertaken adding and editing by computing machine at any time according to the facility information in concrete scene, even if therefore maintainer joins, the staff of catcher also intuitively clearly can be familiar with device distribution and the performance condition in current transformer substation region, improves the efficiency of plant maintenance.
Accompanying drawing explanation
Fig. 1 one-piece construction module of the present invention block diagram;
Fig. 2 workflow schematic diagram of the present invention;
Fig. 3 focus of the present invention is positioned at the displaying principle schematic diagram of screen prjection rectilinear direction;
In accompanying drawing: 1. image acquisition concatenation module; 2. three-dimensional reconstruction pinup picture module; 3. hotspot database; 4. computing machine; 5. camera; 6. virtual video camera.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in further detail.
See Fig. 1, the present invention is based on transformer station's virtual reality management system of three-dimensional panorama view, comprise by camera 5 or The Cloud Terrace collection image and the planar picture collected merged the image acquisition concatenation module 1 becoming complete panoramic picture by OpenCV shape library, and the three-dimensional reconstruction pinup picture module 2 to be connected with image acquisition concatenation module 1, three-dimensional reconstruction pinup picture module 2 connects outside display and internet/LAN, three-dimensional reconstruction pinup picture module 2 is also connected with the hotspot database 3 for recording all hotspot location coordinate informations and corresponding substation equipment performance parameter in each scene, three-dimensional reconstruction pinup picture module 2 is carried out showing based on Flash Player and is adopted Away 3D engine to set up scene, the storage data acquisition XML format of hotspot database 3, display and editor is realized in FLASH inside, the panoramic picture that image acquisition concatenation module 1 exports is reduced to visual angle by three-dimensional reconstruction pinup picture module 2 and can carries out adjusting and the spherical three-dimensional panorama view that can edit of surface heat dot information.
See Fig. 2, the transformer station's virtual reality management system implementation method that the present invention is based on three-dimensional panorama view comprises:
The first step, the camera 5 collection site photo of tripod is had by collocation, and multiple the local pictures computers 4 be collected are fused to the large figure of complete panorama by OpenCV shape library, be portion three-dimensional picture pasting input three-dimensional reconstruction pinup picture module 2 by large for complete panorama figure cutting;
Second step, carries out typing and editor by the position of hotspot database 3 pairs of equipment and parameter, and the hot spot data after process is by XML format input three-dimensional reconstruction pinup picture module 2;
3rd step, the portion three-dimensional picture pasting that large for panorama figure segments is input to the pinup picture as Sphere Measurement Model in three-dimensional stage by the three-dimensional reconstruction pinup picture module 2 based on Flash Player, Away 3D engine is adopted to set up scene, and the virtual video camera 6 at visual angle can be adjusted in the erection of ball interior central authorities, hot spot data directly carries out editing and being presented in the scene of virtual reality by Flash Player, and the hot information sequence after having edited supplies to read under being kept at assigned catalogue according to XML format in the future.
Image acquisition concatenation module of the present invention for input image and have no special requirements, usual employing tripod coordinates the digital camera of more than 5,000,000 pixels namely can meet the demands, without the need to additionally purchasing the equipment such as professional slr camera, fish eye lens or pan and tilt head, reduce the use cost of system.
Three-dimensional reconstruction pinup picture module 2 of the present invention is divided into two-layer display.Upper strata is two-dimensional layer, is responsible for the two-dimensional object such as display focus, button, parameter information; Lower floor is three-dimension layer, is responsible for the Sphere Measurement Model of display panoramic picture.Same, focus is divided into three-dimensional localization point and two-dimentional tracking point two parts, and wherein three-dimensional localization point is an invisible point, is attached to the surface of three-dimensional sphere model, saves sequence number and the spatial coordinated information of focus; After start up system, the coordinate of each three-dimensional coordinate point will project to screen coordinate and generate a two-dimensional coordinate, the coordinate that the three-dimensional localization point that two dimension tracking point will follow the tracks of corresponding sequence number projects also shows a two-dimensional object at correspondence position, two dimension tracking point have recorded the technical parameter information of focus, and these information can be shown in list mode when mouse moves to focus.See Fig. 3, when focus is positioned at the rectilinear direction of screen prjection, but physical location mistake can show the actual two-dimentional tracking point at user's sight line rear when virtual video camera 6 behind, therefore need obtain virtual video camera 6 point to each focus spherical surface position law vector and and the visual field, current virtual video camera 6 dead ahead vector and calculating both vector dot product, illustrate that when result is negative vector angle is greater than 90 °, judge this rear at virtual video camera 6, and this point is hidden.List for display technique parameter is a rectangle two-dimensional object, is hidden state under conventional sense, only reads this focus attribute when mouse is near focus and refreshes text display by focus.
When newly-increased focus, first require that user rests on required target with mouse on sphere, by a newly-built three-dimensional localization point and by coordinate information pushed data storehouse after determining, two-dimentional tracking point completes the screen coordinate location also opening technology parameter editor of focus simultaneously, and after inputting corresponding technical parameter, all properties saves as a data cell and pushes in XML data storehouse.
Hotspot database 3 of the present invention is the file of one group of XML format, each scene has a corresponding XML data list, wherein have recorded coordinate and the technical parameter information of pinup picture address that this scene uses and all focuses, each focus is stored as a unit according to number order, in the initialization procedure that three-dimensional reconstruction pinup picture module 2 is opened, first read pinup picture information, then read in hotspot location and parameter successively according to number order and show.Coordinate and the corresponding Word message of focus of the present invention all can be edited repeatedly, when native system is used for the maintenance of substation equipment, the contents such as model, brand, responsible official, maintenance dates manually can be carried out typing and upgraded according to actual conditions in the future, the spherical three-dimensional panorama view built is equipped with mouse can realize the interactive operations such as dragging, Scalable, focus is suspended in three-dimensional scenic with the form of two-dimensional button, directly at the other generating window of focus, and corresponding informance will be shown when mouse-over.
Staff of the present invention can add the information of equipment at any time and edit, the operation such as interpolation, deletion, reorientation, information editing of focus all directly can be carried out in the Flash Player of responsible display and interaction, make maintainer can locate the position of all devices in reality and technical information very intuitively, improve the efficiency of plant maintenance.
Claims (10)
1. the transformer station's virtual reality management system based on three-dimensional panorama view, it is characterized in that: comprise for the picture group collected being merged the image acquisition concatenation module (1) becoming complete panoramic picture, and the three-dimensional reconstruction pinup picture module (2) to be connected with image acquisition concatenation module (1), three-dimensional reconstruction pinup picture module (2) is also connected with the hotspot database (3) for recording all hotspot location coordinate informations and corresponding substation equipment performance parameter in each scene.
2. the transformer station's virtual reality management system based on three-dimensional panorama view according to claim 1, is characterized in that: described three-dimensional reconstruction pinup picture module (2) comprises the two-dimensional layer being responsible for display hot spot parameters information and the three-dimension layer being responsible for display panoramic picture Sphere Measurement Model; Described hotspot database (3) comprises three-dimensional localization point and two-dimentional tracking point, three-dimensional localization point is attached to panoramic picture Sphere Measurement Model surface for preserving focus sequence number and spatial coordinated information, and the technical parameter information of two-dimentional tracking point record focus also can be followed the tracks of the two-dimensional coordinate correspondence that three anchor points projections generate and shows.
3. the transformer station's virtual reality management system based on three-dimensional panorama view according to claim 1 and 2, it is characterized in that: the file group that described hotspot database (3) is XML format, record the pinup picture address of corresponding scene and the coordinate of all focuses and technical parameter information in each XML format file, each focus is stored as a unit according to number order.
4. the transformer station's virtual reality management system based on three-dimensional panorama view according to claim 1, is characterized in that: described image acquisition concatenation module (1) comprises camera (5) for gathering image or The Cloud Terrace.
5. the transformer station's virtual reality management system based on three-dimensional panorama view according to claim 1 or 4, is characterized in that: the fusion of described image acquisition concatenation module (1) image adopts OpenCV shape library.
6. the transformer station's virtual reality management system based on three-dimensional panorama view according to claim 1, is characterized in that: described three-dimensional reconstruction pinup picture module (2) is carried out showing based on Flash Player and adopted Away3D engine to set up scene; The storage data acquisition XML format of hotspot database (3), realizes display and editor in FLASH inside.
7., based on transformer station's virtual reality management system implementation method of three-dimensional panorama view, it is characterized in that:
The first step, by image acquisition concatenation module (1) collection site photo, and multiple local pictures be collected are fused to the large figure of complete panorama, be then portion three-dimensional picture pasting input three-dimensional reconstruction pinup picture module (2) by large for complete panorama figure cutting;
Second step, by hotspot database (3), typing and editor are carried out to the position of equipment and parameter, hotspot database (3) comprises three anchor points and two-dimentional tracking point, three anchor points are attached to three-dimensional sphere model surface for preserving focus sequence number and spatial coordinated information, the technical parameter information of two dimension tracking point record focus also can be followed the tracks of the two-dimensional coordinate correspondence that three anchor points projections generate and shows, hot spot data after process is by XML format input three-dimensional reconstruction pinup picture module (2), the pinup picture address of corresponding scene and the coordinate of all focuses and technical parameter information is recorded in each XML format file,
3rd step, by the three-dimensional reconstruction pinup picture module (2) based on Flash Player, Away3D engine is adopted to set up scene, the portion three-dimensional picture pasting that large for panorama figure segments is reduced to spherical three-dimensional panorama view, and the virtual video camera (6) at visual angle can be adjusted in the erection of ball interior central authorities, hot spot data directly carries out editing and being presented in the scene of virtual reality by Flash Player; When focus is positioned at the rectilinear direction of virtual video camera (6), need obtain virtual video camera (6) point to each focus spherical surface position law vector and and current virtual video camera (6) visual field, dead ahead vector and calculating both vector dot product, illustrate that when result is negative vector angle is greater than 90 °, judge that this point is at the rear of virtual video camera (6), and this point is hidden; Hot information sequence after having edited to be kept under assigned catalogue for reading in the future according to XML format, obtains visual angle thus and can carry out adjusting and the spherical three-dimensional panorama view that can edit of surface heat dot information.
8. the transformer station's virtual reality management system implementation method based on three-dimensional panorama view according to claim 7, is characterized in that: described image acquisition concatenation module (1) is by camera (5) or The Cloud Terrace collection site photo.
9. the transformer station's virtual reality management system implementation method based on three-dimensional panorama view according to claim 7, is characterized in that: described image acquisition concatenation module (1) adopts OpenCV shape library to carry out the fusion of image.
10. the transformer station's virtual reality management system implementation method based on three-dimensional panorama view according to claim 7, it is characterized in that: described hot spot data editor comprises and first on spherical three-dimensional panorama view, determines target, then a newly-built three-dimensional localization point by coordinate information pushed data storehouse, two-dimentional tracking point completes focus location and opening technology parameter editor simultaneously, after finally inputting corresponding technical parameter, all properties is saved as a data cell and pushes in XML data storehouse.
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