CN106780586B - A kind of solar energy potential evaluation method based on ground laser point cloud - Google Patents
A kind of solar energy potential evaluation method based on ground laser point cloud Download PDFInfo
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Abstract
The invention discloses a kind of solar energy potential evaluation methods based on ground laser point cloud comprising following steps: S1, vacuating to original point cloud；S2, the extraction that area-of-interest ground point set R is carried out to the point cloud P after vacuating,S3, setting light source deviation pilot angle；S4, position and the number that basic point is quickly calculated using farthest point Greedy strategy；S5, basic point position of sun is calculated；S6, algorithm, that is, GHPR algorithm is removed using broad sense hidden place, carries out the sheltering analysis of three-dimensional point cloud scene, calculated to carry out sunshine simulation；S7, binaryzation shade drafting is carried out to sheltering analysis result；S8, solar radiation calculating is carried out to cloud scene.Appraisal procedure of the invention is capable of providing fast and efficiently solar energy resources automation assessment, and the three-dimensional solar resource map of survey area any time period can be provided for user.
Description
Technical field
The present invention relates to field of Computer Graphics, and in particular to a kind of to carry out solar energy resources assessment using laser point cloud
Method.
Background technique
Traditional solar energy Potential Evaluation is mainly the method that artificial subjective estimation is used in installation, however
Solar radiation distribution depend on simultaneously the time, in weather and investigation environment object spatial relation, it is simple investigate with
Reckoning is difficult to cope with investigation environment complicated and changeable, such as city, forest land, the intensive traffic section.For traditional-handwork measurement method,
Analysis efficiency is lower, and data acquisition and subsequent processing link are detached from, it is difficult to meet demand, therefore, when having there is an urgent need to one kind
Space-variant changes the Accurate Analysis method of inverting ability.
In recent years, LiDAR (Light Detection and Ranging) technology develops rapidly, because of the scene of height
Reproduction and be suitable for sunshine sheltering analysis.Laser scanner can be quick, efficiently, accurately acquires three in survey area
Information is tieed up, obtained data are three-dimensional laser point cloud data.Currently, carrying out the work of solar energy Potential Evaluation using point cloud data
Airborne cloud is concentrated on, and is in conceptual phase mostly.Its process flow mainly generates digital table by original point cloud data
Surface model (DSM), then carries out shade calculating directly on DSM grid, and this method is mainly used for the sun of City-level scale
It can Potential Evaluation.And under microcosmic investigation scale (such as single building roof), it is still necessary to carry out polygon to data and build
Mould ensures to analyze quality, and the reducing degree of building target depends on reserving degree of the CONSTRUCTED SPECIFICATION in modeling process.It is more
Side shape model needs the geometrical model and parameter of a large amount of manual operations or priori, and the complexity of urban environment is this method band
Come very big workload and challenge, miscellaneous Municipal Component (trees, power line, bridge and enclosure wall etc.) requires to be placed into
In model library.As can be seen that the application scenarios in solar energy Potential Evaluation are also more single for point cloud data
One, focus primarily upon city.It is also less for the solar energy resources enquiry based work in suburb and forest zone, the complexity of vegetation modeling
Property also restrict the development of this aspect research simultaneously.
Class method is modeled for airborne cloud.Firstly, airborne cloud is difficult to obtain building due to scanning visual angle
Side and concave structure cause cloud to form a hierarchical structure, there are a large amount of gaps between each layer, are unfavorable for carrying out accurate sunshine
Analysis.Airborne cloud resolution ratio is generally at 1 meter or so, and data acquisition and planning need to take a significant amount of time.Secondly, existing
Modeling method be based primarily upon surface model and carry out shade calculating, be easy the error propagation during surface modeling to blocking point
Among analysis.And interactive operation is then more depended on to the specific modeling of building target, not only need the geometric parameters of priori
Several or sufficient sample pattern libraries, and to vegetation, means of transportation, the selectivity that massif rock etc. is difficult to model target is ignored equally
Error is generated when being easy to cause inverting.
Method for being directly facing a cloud, sheltering analysis process are too simple extensive.The method for being directly facing a cloud
All main foundation height value ignores the structure and shape of object itself as judgment basis.Such as vegetation, tree crown exists
High-altitude has outside ductility, and the shaded area that will lead to the generation of such method is excessive, it is difficult to adapt to complicated scene.
Summary of the invention
It is an object of the invention to overcome above-mentioned the deficiencies in the prior art, a kind of sun based on ground laser point cloud is provided
It can potential evaluation method.
The present invention specifically uses following technical scheme:
A kind of solar energy potential evaluation method based on ground laser point cloud, includes the following steps:
S1, original point cloud is vacuated；
S2, the extraction that the ground point set R in area-of-interest is carried out to the point cloud P after vacuating,
S3, setting light source deviation pilot angle；
S4, using farthest point Greedy strategy (farthest-first traversal) come quickly calculate basic point position and
Number；
S5, basic point position of sun is calculated；
S6, algorithm, that is, GHPR (Generalized Hidden Point Removal) algorithm is removed using broad sense hidden place
The sheltering analysis of three-dimensional point cloud scene is carried out, is calculated to carry out sunshine simulation；
S7, binaryzation shade drafting is carried out to sheltering analysis result；
S8, solar radiation calculating is carried out to cloud scene.
Further, specific step is as follows by S1:
Input three-dimensional ground laser point cloud Praw, it is arranged one first and vacuates distance Ls, method is then vacuated using voxel；
It is L that voxel, which vacuates method and a cloud is first divided into side length,sRegular cube voxel, then by point set in voxel central point as new
Data point, these new point sets form the point cloud P after vacuating.
Further, specific step is as follows by S2:
S21, firstly, extracting ground point using based on the method for voxel elevation growth filtering, most based on entire point cloud
A threshold level t is arranged in low height valuez, which is usually 3 meters of height on area-of-interest height value.If one
The center elevation of a voxel and the relative altitude of minimum point are higher than threshold level tz, then it is assumed that it is unlikely to be ground point, this
Outside, if one is lower than threshold level tzVoxel can grow into threshold level tz, then it is assumed that it is the one of wall or vertical object
Part is also non-ground points, to extract all ground point sets；
S22, then carries out Euclidean distance cluster to ground point collection, to the clustering cluster marking serial numbers of acquisition；
S23, finally, calculate the average density value of each class cluster, select density highest one as area-of-interest
(respondent) returns to the point cloud after vacuating, the data point r of area-of-interest is marked according to each point index valuei, ri∈R。
Further, specific step is as follows by S3:
The maximum allowable offset angle θ of simulation light deviation directional light is set, while sun distance d is set, so as to true
Maximum distance l between fixed two basic points, has:
L=d/tan (pi/2-θ).
Further, specific step is as follows by S4:
S41, firstly, farthest point Greedy strategy randomly choose an area-of-interest point as initial basic point o1, construct base
Point sequence O={ o1}；
S42, then calculates point farthest with the sequence on area-of-interest point set, i.e.,And it will
It is added in O, is O={ o1,o2, until any point ri, ri∈ R, meets
S43, O={ o after basic point sequence is obtainedk| k ∈ [1, n] }, for each of area-of-interest point concentration point ri, seek
Its nearest neighbor point on basic point collection, the area-of-interest point for belonging to a basic point constitute a deviation control area Gk。
Further, specific step is as follows by S5:
S51, for each basic point ok, by a set of position of sun solving model, to calculate its corresponding position of sun sk,
Each basic point is additionally switched into a latitude and longitude coordinates from WGS84 coordinate, there is [oΨ,oΦ,oh]=T ([ox,oy,oz]), wherein T
For coordinate transform, [oΨ,oΦ] be basic point latitude and longitude value, ohBase is then obtained according to position of sun model for height above sea level angle value
Position of sun s, the s=[o of point oΨ+fd(y),oΦ-fd(x),oh+z]T, fdFor the function that length is turned to degree, sat in longitude and latitude
It can be calculated as follows under mark:
X=dsin (90 ° of-α) cos (ψ)
Y=dsin (90 ° of-α) sin (ψ)
Z=dcos (90 ° of-α)
S52, longitude and latitude and height coordinate are gone back to WGS84 coordinate, obtains phase of the sun in cloud scene three-dimensional space
To position, s=T ' (s), T ' are the inverse transformation of T.
Further, specific step is as follows by S6:
S61, firstly, traversal sun point set S, for each position of sun si, and investigate point cloud P, P after scene vacuates
={ pi| i ∈ [1, m] }, wherein m is each cardinality in a cloud P, radial geometric transformation F is executed, is had:
Wherein, if pi=s, thenTransformed point set is And fkIt is transformation
Kernel function.
S62, then to point setIt does a convex closure to calculate, and retaining the point in convex closure is shade point set W.
Further, specific step is as follows by S7:
S71, for each position of sun sk, calculate a Wk；
S72, then, takes WkWith responsible region GkIntersection be each corresponding region in shadow spots.It, will be each after having traversed
Shadow result in region takes union, to obtain the illumination result of entire area-of-interest；
S73, finally by illumination result binaryzation, if fi(ri) it is binaryzation function for indicating point riBlock situation,
0 is labeled as to the shadow spots in area-of-interest, is denoted as fi(ri)=0, rather than shadow spots are labeled as 1, are denoted as fi(ri)=1.
Further, specific step is as follows by S8:
When S81, the interpretation of result for carrying out sheltering analysis and shade drafting using Hottel model, the first input sun, meter
Calculate this day extraatmospheric solar irradiance Io, then input calculation of longitude & latitude this area direct solar radiation transmitance τb, then calculate tiltedly
Face modifying factor ε first seeks the angle between sun beam incident optical and inclined-plane normal vector for modifying factor, rear using building
Each area-of-interest point r is obtained with covariance matrix is decomposediNormal vectorThen, the connection sun and current traversal point structure
Being built into directive amount is s-ri, correction factor ε can pass through the angle between incident vector and normal vector more than revolve calculate:
It is wherein vector dot, and s is position of sun corresponding to the point correlation basic point；
S82, every bit r in area-of-interest is and then calculatediThe sun instantaneously directly radiate Ib(KWh/m2) are as follows:
Wherein, fi(ri) it is that the instantaneous of the point blocks situation, α is solar elevation at that time, then, calculates scattering radiation
Transmitance τd, to calculate solar scattered radiation Id(KWh/m2).It calculates as follows:
Id=Iocosατd
S83, finally, calculating the instantaneous Globalradiation I of the pointg(KWh/m2), there is Ig=Ib+Id, for any time period
Single-point riSolar energy global radiation can be by being obtained to horal total radiation is cumulative, it may be assumed that
Wherein, tbeginAnd tendFor solar energy simulation starting and deadline, and by calculated result visualization display in
Family interface.
After adopting the above technical scheme, compared with the background technology, the present invention, having the advantages that
1, present invention employs GHPR algorithm, the three-dimensional information of a cloud is taken full advantage of, for prolonging for building or plant
Malleability structure has good adaptability, therefore is suitable for the investigation scene of environment complexity；Compared with using the method for modeling,
The present invention is directly based upon a cloud operation, avoids the data distortion in man-machine interactively operation and model modeling, has effectively facilitated money
The automation of source estimation flow, standardization；Compared with Traditional measurements method, the present invention can provide intuitively for user, quantitative, entirely
The solar energy resources distribution results of office, this method is easy to save and repeatable simulation；
2, the present invention is calculated using global shade and computer capacity is limited in area-of-interest, to accelerate calculating
Speed is conducive to implement live solar energy resources assessment, and secondary object (such as window, railing etc.) loss in modeling process is avoided to draw
The error risen, can provide the analysis result settled at one go for the solar energy resources fieldworker of different industries；
3, the invention proposes the light source Deviation Control Methods in a kind of cloud scene, for constraining and controlling different light sources
Between the shade deviation that generates, and using the approximate solution of farthest point Greedy strategy quick obtaining sun number of views and position, not only
Deviation is reduced, and improves efficiency.
Detailed description of the invention
Fig. 1 is the flow diagram of the embodiment of the present invention；
Fig. 2 (a) is original point cloud data of the embodiment of the present invention；It (b) is the extraction result of area-of-interest point set；(c) it is
Embodiment deviation control result；
Fig. 3 is position of sun of embodiment of the present invention calculated result；
Fig. 4 is that embodiment sunshine blocks analog result: (a) being the result of this method simulation；(b) for analog result with it is corresponding
The truth of time compares (standard results)；
Fig. 5 is embodiment global radiation analog result: (a) being single cropping degree analog result (embodiment is autumn)；It (b) is whole year
Analog result.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that described herein, specific examples are only used to explain the present invention, not
For limiting the present invention.
Embodiment
The visible Fig. 1 of the flow diagram of the present embodiment, specific operation process are as follows:
1. survey area point set extracts
Known three-dimensional ground laser point cloud PrawOriginal point cloud data such as Fig. 2 (a) shown in, a down-sampling first is carried out to cloud
(vacuating) reduces the quantity of data point in point cloud.Under normal conditions, the data precision of ground laser point cloud is for illumination calculation
Excessively redundancy.Therefore, it is necessary to first be arranged one to vacuate distance Ls, so that the point cloud spacing after vacuating may remain in LsLeft and right and
Point cloud structure remains unchanged.This method uses the voxel with partial structurtes retentivity to vacuate method, and this method will put cloud first
Being divided into side length is LsRegular cube voxel, then by point set in voxel central point as new data point, these new points
Collection forms the point cloud P after vacuating.
Then, the extraction of area-of-interest R is carried out to the point cloud P after vacuating,The purpose of region of interesting extraction is
The data point set in survey area is obtained, what this method was mainly extracted is the ground point in region, for dividing solar energy resources
Cloth result is drawn on ground point, to form solar energy resources distribution map.Therefore, it is necessary to filter elimination point cloud using ground point
In non-ground target.For different scenes, such as building balcony or road, their ground point morphologically still has
There is general character, i.e. ground point region inside gradient variation is relatively gentle, and step inviolent in vertical direction, therefore this method
Ground point is extracted using based on the method for voxel elevation growth filtering.
Firstly, will put cloud by the fixed side length thick division of horizontal plane is a series of square net regions, and record entirely point cloud
Elevation minimum point.Primary three-dimensional subdivision is carried out to the point set of each horizontal grid again, i.e., the point set in grid is pressed into fixed edge
It is long to be divided into cube element, record the center height value of each voxel.Lowest elevation value z based on entire point cloudminSetting one
Threshold level tz, this, can also be according to the substantially high of different respondents highly depending on the height above sea level of area-of-interest
Degree is to be arranged elevation threshold value tz.Usual laser scanner is set up on survey area, so this can highly pass through scanner
Height value in the scene adds 3 meters of acquisitions.If the center elevation of voxel and the relative altitude of minimum point are higher than the threshold value
Height tz, then it is assumed that its is excessively high, it is impossible to be ground point.If a voxel lower than threshold value can grow into threshold level tz,
Then it is considered a part of wall or vertical object, is also non-ground points.Growing strategy is nine neighborhood bodies of the upper surface of its voxel
There are non-emptys for element, and whether upper nine neighboring voxels of iterative query non-empty voxel have non-empty voxel, until the non-hollow body of certain inquiry
Element is higher than threshold level tz.Finally, retaining the data point in the voxel of ground, ground point set is formed.
Then, ground point collection is clustered, i.e., discrete point set is clustered into a series of objects.This method using it is European away from
From cluster, to the clustering cluster marking serial numbers of acquisition.Then, the average density value of each class cluster is calculated.Its theoretical foundation be by
What the operation mode of terrestrial Laser scanner determined, i.e., sector scanning density close from laser scanner is very big, usually can be with
Reach 10 times or more of distant object density.Average density value is each point of such cluster certain neighborhood (0.2 in original point cloud
Rice) in point quantity mean value.Finally, class cluster is sorted by density value, density highest one is selected (to adjust as area-of-interest
Check as).The point cloud after vacuating is returned, the data point r of area-of-interest is marked according to each point index valuei, ri∈R.Wherein, feel
Interest region ground point collection extracts shown in result such as Fig. 2 (b).
2. basic point calculates and deviation control
The method that the present invention uses point light source simulated solar irradiation, it is therefore desirable to carry out light source deviation control, i.e. control is parallel
Shade deviation between light and point light source.In addition, needing given basic point before carrying out position of sun calculating, that is, being based on certain point
Calculate the position of the sun.For save after area-of-interest point set R, it is proposed that Deviation Control Method thought be selection sense
Some points in interest region o as basic point, each basic point calculates a position of sun, by the calculated sun position of each basic point
It sets also by the sun reference position of neighborhood point set in a certain range as basic point, thus deviation when reducing shade drafting.Therefore,
If basic point point set is O, ok∈ O, position of sun point set are S, wherein S={ sk| k ∈ [1, n] }, each skCorresponding subvolume of interest
Region point set is Gk, meet ∪K ∈ [1, n]Gk=R and ∩k∈[1,n]Gk=φ.
The angle of deviation size θ of constraint is set first, that is, simulates the maximum allowable angle of light deviation directional light, so as to
It determines the maximum distance l between two basic points, also thus the area-of-interest of extraction will be divided for foundation.In addition, also
Need to be arranged sun distance d, the sun distance in this method is the position of sun s in cloud scenekFrom area-of-interest phase
Answer basic point okDistance, have | | ok-sk| |=d.Both of the above relationship is as follows:
L=d/tan (pi/2-θ).
In usual scene, remote object is to the influence very little blocked, therefore θ is usually arranged 2 °, and d is arranged 600 meters.Under
One step carries out the number of basic point o and the calculating of position.This method proposes quickly to calculate basic point using farthest point Greedy strategy
Position and number, the target of the subprogram are within the limited time, as much as possible with least basic point number nminSo that entire base
The sphere of action of point set covers point set interested, i.e.,Each of ensure in area-of-interest point riIn the presence of
One basic point okIt is set to meet condition | | ri-ok||≤l.For each division region Gk, there is Gk={ ri∈R|||ok-ri||≤
||ot-ri| |, k ≠ t and t ∈ [1, n], i ∈ [1, nR]}。nRFor the gesture of point set R.
Farthest point Greedy strategy randomly chooses an area-of-interest point as initial basic point o1, then construct basic point sequence
O={ o1}.Then point farthest with the sequence on area-of-interest point set is calculated, i.e.,And added
It is added in O, is O={ o1,o2}.Until any point ri, ri∈ R, meetsO=after acquisition basic point sequence
{ok| k ∈ [1, n] }, for each of area-of-interest point concentration point ri, its nearest neighbor point on basic point collection is sought, is belonged to
The area-of-interest point of one basic point constitutes a deviation control area Gk.Fig. 2 (c) is the deviation control result of the present embodiment,
Wherein parameter is set as d=400, θ=2 °, and pore indicates basic point, respectively corresponds three responsible regions of basic point division.
3. position of the sun in cloud scene calculates
For each basic point ok, we are by a set of position of sun solving model, to calculate its corresponding position of sun sk。
When the input of the model is the longitude and latitude and the local sun of the basic point.Therefore, first step is to obtain the latitude and longitude coordinates of basic point,
Each basic point is additionally switched to a latitude and longitude coordinates from WGS84 coordinate first by this method, there is [oΨ,oΦ,oh]=T ([ox,oy,
oz]).Wherein, T is coordinate transform, [oΨ,oΦ] be basic point latitude and longitude value, ohFor height above sea level angle value.Then, when the sun is set
Between, declination angle is calculated according to the date:
δ=23.45 ° sin (360 (nd-80)/365)
Wherein, ndNumber of days in the whole year where Query Dates.It is calculated too further according to the specific time (Hour Minute Second) of setting
Positive hour angle:
ω=15 ° (12-T)
Wherein T is the specific time of inquiry, it should be noted that for the local sun time.To obtain solar azimuth ψ and height
Angle α is spent, is had:
Sin α=sin δ sinoΦ+cosδcosoΦcosω
Then, it is based on solar azimuth ψ, solar elevation α and the sun distance d being arranged before us, then basic point o is too
Positive position s, s=[oΨ+fd(y),oΦ-fd(x),oh+z]T, fdIt, can under latitude and longitude coordinates for the function that length is turned to degree
To calculate as follows:
X=dsin (90 ° of-α) cos (ψ)
Y=dsin (90 ° of-α) sin (ψ)
Z=dcos (90 ° of-α)
Finally, longitude and latitude and height coordinate are converted WGS84 coordinate by us, the sun is obtained in cloud scene three-dimensional space
Relative position, s=T ' (s), T ' be T inverse transformation.For each basic point ok, we calculate a sk, constitute sun point
Collection, S={ sk| k ∈ [1, n] }, spatially form sun dot matrix.Fig. 3 is the present embodiment position of sun calculated result, is indicated
The present embodiment simulate winter solstice in 2017 (December 22) point cloud scene overhead apparent motion of the sun track (bead color from it is bright to
The dark position of sun for from 6 points to 18 point).
4. sheltering analysis and shade drafting
We draw sunshine shade using GHPR algorithm, calculate to carry out sunshine simulation.Firstly, traversal sun point set S,
For each position of sun si, and investigate point cloud P, the P={ p after scene vacuatesi| i ∈ [1, m] }, wherein m is each in a cloud P
A cardinality executes radial geometric transformation F, has:
Wherein, if pi=s, thenTransformed point set is And fkIt is transformation
Kernel function:
fk(||pi- s | |)=2 λ maxpi∈P||pi-s||-||pi-s||
Wherein λ is path length amplifying parameters, there is λ >=1.Then to point setIt does a convex closure to calculate, and retains convex closure
Interior point is shade point set W.
During traversal, for each position of sun sk, we calculate a Wk.Then, we take WkWith responsible area
Domain GkIntersection be each corresponding region in shadow spots.After having traversed, the shadow result in each region is taken union by us,
To obtain the illumination result of entire area-of-interest.
Final step is shadow spots to be labeled as 0, are denoted as f illumination result binaryzationi(ri)=0, rather than shadow spots
Labeled as 1, it is denoted as fi(ri)=1, because the shade of label exists only in area-of-interest, region of interest is overseas to be calculated,
Same zero setting, to reduce the intersection operation time.The present embodiment sunshine blocks analog result as shown in figure 4, wherein Fig. 4 (a) is
This method simulation as a result, Fig. 4 (b) is the truth comparison (standard results) of analog result and corresponding time.
5. solar radiation model calculates
Since territorial laser scanning point cloud itself is in Primary Stage Data acquisition phase, can be obtained by positioning devices such as GPS
Geodetic coordinates WGS84, therefore can directly execute solar radiation estimation.Solar radiation assessment needs to establish in solar energy spoke
It penetrates on the basis of model and sheltering analysis result.For solar radiation model, Hottel model is mainly used herein.Input is too
When positive, the extraatmospheric solar irradiance in any one day can be obtained by the following formula:
Io=Is[1+0.033cos(360°n/365)]
Wherein, IsFor solar constant, i.e., the received solar irradiance of institute, there is I when exoatmosphere is vertical with radiation directions=
1353W/m2.It then puts area-of-interest point in cloud scene and concentrates certain point riThe sun instantaneously directly radiate Ib(KWh/m2) are as follows:
Wherein, τbFor direct solar radiation transmitance, ε is inclined-plane modifying factor, fi(ri) it is that the instantaneous of the point blocks situation.This
Outside, there is also solar scattered radiation Id(KWh/m2).Its relational expression is as follows:
Id=Iocosατd
Wherein τdTo scatter Radiation Transmittance.The calculating of direct solar radiation and scattering Radiation Transmittance is as follows:
τb=a0+a1e-k/cosα
τd=0.2710-0.293 τb
It wherein, can be by calculating as follows for the parameter of τ b:
a0=(0.4327-0.00821 (oh-6)2)r0
a1=(0.5055+0.00595 (oh-6.5)2)r1
K=(0.2711+0.01858 (oh-2.5)2)rk
Wherein, [r0,r1,rk] corrected for the weather in location, which can be by establishing the inquiry of longitude and latitude weather
Table automatically obtains.For example, three of them parameter is respectively r by taking the subtropical zone of Xiamen as an example0=0.95, r1=0.98, rk=
1.02。
Then, the instantaneous ramp modifying factor of direct solar radiation is calculated, the step is firstly the need of the incident inclined-plane of consideration
Slope considers that Tilt factor just can make result closer to true situation in solar energy resources assessment.Therefore, we seek too
Angle between positive beam incident optical and inclined-plane normal vector, to carry out Tilt factor amendment.Firstly, be to obtain normal vector, this
Step can be after extracting area-of-interest with regard to carrying out.We traverse the point of each area-of-interest, often traverse one it is interested
Region point ri, its neighborhood just is searched for kd-tree, to construct neighborhood point set R', R'={ ri'|i∈[1,Kr]}.This point
On the basis of collection, the center of gravity of neighborhood point set is first calculatedCovariance matrix M is constructed again.
Then matrix decomposition is carried out to covariance matrix, obtains the feature vector and eigenvalue matrix of covariance matrix.It mentions
Taking the corresponding unit vector of smallest real eigenvalue is normal vectorThe normal vectorIt is exactly the normal vector of local surface.
Then, it is s-r that the connection sun and current traversal point, which are built into directive amount,i.Correction factor ε can pass through incident vector
It revolves and calculates more than angle between normal vector, relational expression calculates as follows:
It is wherein vector dot, and s is position of sun corresponding to the point correlation basic point.
Then, the instantaneous Globalradiation I of the point is calculatedg(KWh/m2), there is Ig=Ib+Id, then for the list of any time period
Point solar energy global radiation can be by obtaining to horal total radiation is cumulative, it may be assumed that
Wherein, tbeginAnd tendStarting and deadline for solar energy simulation, can be a few hours, a couple of days is very on demand
To the several years.
Finally, calculated result visualization display is shown between each point in user interface by different color rendering
Radiation value difference, to provide the solar energy Potential Evaluation result of visualization, quantification, globalization for user.Fig. 5 is this reality
A global radiation analog result is applied, wherein Fig. 5 (a) is single cropping degree analog result (autumn), and Fig. 5 (b) is annual analog result, data
Point color is from shallowly to the radiation value shown in solar energy resources distribution results from minimum value to greatest measure is deeply felt, big figure is to overlook
Angle of field, the small figure in the black surround of the upper right corner is side view angle of field, and the colour gamut column on right side shows radiation value (KWh/m2) variation
Range.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by anyone skilled in the art,
It should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with scope of protection of the claims
Subject to.
Claims (6)
1. a kind of solar energy potential evaluation method based on ground laser point cloud, it is characterised in that: the following steps are included:
S1, original point cloud is vacuated；
S2, the extraction that the ground point set R in area-of-interest is carried out to the point cloud P after vacuating,
S3, setting light source deviation pilot angle；
S4, position and the number that basic point is calculated using farthest point Greedy strategy；
S5, basic point position of sun is calculated；
S6, algorithm, that is, GHPR algorithm is removed using broad sense hidden place, the sheltering analysis of three-dimensional point cloud scene is carried out, to carry out day
It is calculated according to simulation；
S7, binaryzation shade drafting is carried out to sheltering analysis result；
S8, solar radiation calculating is carried out to cloud scene.
2. a kind of solar energy potential evaluation method based on ground laser point cloud according to claim 1, it is characterised in that:
Specific step is as follows by the S1:
Input three-dimensional ground laser point cloud Praw, it is arranged one first and vacuates distance Ls, method is then vacuated using voxel；Voxel is taken out
It is L that a cloud is first divided into side length by dilute methodsRegular cube voxel, then by point set in voxel central point as new data
Point, these new point sets form the point cloud P after vacuating.
3. a kind of solar energy potential evaluation method based on ground laser point cloud according to claim 1, it is characterised in that:
Specific step is as follows by the S2:
S21, firstly, extract ground point using based on the method for voxel elevation growth filtering, the minimum height based on entire point cloud
A threshold level t is arranged in journey valuezIf the center elevation of voxel and the relative altitude of minimum point are higher than the threshold level
tz, then it is assumed that it is unlikely to be ground point, in addition, if one is lower than threshold level tzVoxel can grow into the threshold level
tz, then it is assumed that it is a part of wall or vertical object, is also non-ground points, to extracts all ground point sets；
S22, then carries out Euclidean distance cluster to ground point collection, to the clustering cluster marking serial numbers of acquisition；
S23, finally, calculate the average density value of each class cluster, select density highest one as area-of-interest, return
Point cloud after vacuating marks the data point r of area-of-interest according to each point index valuei, ri∈R。
4. a kind of solar energy potential evaluation method based on ground laser point cloud according to claim 3, it is characterised in that:
Specific step is as follows by S3:
The maximum allowable offset angle θ of simulation light deviation directional light is set, while sun distance d is set, may thereby determine that two
Maximum distance l between a basic point, has:
L=d/tan (pi/2-θ).
5. a kind of solar energy potential evaluation method based on ground laser point cloud according to claim 4, it is characterised in that:
Specific step is as follows by S4:
S41, firstly, farthest point Greedy strategy randomly choose an area-of-interest point as initial basic point o1, construct basic point sequence
O={ o1}；
S42, then calculates point farthest with the sequence on area-of-interest point set, i.e.,And added
It is added in O, is O={ o1,o2, until any point ri, ri∈ R, meets
S43, O={ o after basic point sequence is obtainedk| k ∈ [1, n] }, for each of area-of-interest point concentration point ri, seek its
Nearest neighbor point on basic point collection, the area-of-interest point for belonging to a basic point constitute a deviation control area Gk。
6. a kind of solar energy potential evaluation method based on ground laser point cloud according to claim 1, it is characterised in that:
Specific step is as follows by S6:
S61, firstly, traversal sun point set S, for each position of sun si, and investigate point cloud P, the P={ p after scene vacuatesi
| i ∈ [1, m] }, wherein m is a gesture of cloud P, radial geometric transformation F is executed, is had:
Wherein, if pi=s, thenTransformed point set is And fkIt is the core letter of transformation
Number；
S62, then to point setIt does a convex closure to calculate, and retaining the point in convex closure is shade point set W.
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