CN107025323A - A kind of transformer station's fast modeling method based on ATL - Google Patents
A kind of transformer station's fast modeling method based on ATL Download PDFInfo
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Abstract
The invention discloses a kind of transformer station's fast modeling method based on ATL, comprise the following steps：Substation information cloud data is obtained using three-dimensional laser scanner；Point cloud model is obtained through data prediction；The equipment refined model and three-dimensional terrain model represented with CAD model is constructed by fine modeling, through textures and management system fibroplasia model storehouse；Transformer station's integral layout is created, repetitive structure detection is carried out, obtains and extract the pattern chief subgraph of transformer station；Model library based on establishment, using Similar Shape Retrieval, template fitting, the output CAD model maximum with point cloud model similarity are carried out by point cloud model CAD model corresponding with model library；By registration and invocation pattern, quick rebuild is realized；Fusion device refined model and three-dimensional terrain model, obtain the three dimensional solid model of transformer station.Beneficial effect：The quick reconstruction of transformer station model is realized, while model accuracy is ensured, the efficiency of modeling is substantially increased.
Description
Technical field
The present invention relates to a kind of modeling method, more particularly to a kind of transformer station's fast modeling method based on ATL,
Belong to intelligent grid construction technique field.
Background technology
In existing development strategy and planning, building for high standard is proposed to the further intellectuality that grid equipment is run
If target and substantial construction content.Under intelligent grid construction background, data visualization, integration, intellectuality, assistant analysis
Ability represents the key character and developing direction of new type management system.With continuing to develop for smart machine theory, intelligence electricity
Theoretical constantly improve is netted, virtual reality technology has deeply been applied to numerous aspects of operation of power networks.Virtual reality skill
Art has visuality, intuitive, authenticity and real-time interactivity, can be provided intuitively for design, training, O＆M and decision-making section
With reference to.
However, virtual reality technology is there are still some obstacles, key one of which is exactly the quick establishment of threedimensional model.
When operation of power networks is applied to, the quick reconstruction of transformer station's threedimensional model has become key.Traditional transformer station's three-dimensional is built
The inferior position that mould mode workload is big, precision is low is fairly obvious.Though the three-dimensional laser scanning technique risen in recent years solves number
The problem of according to picking rate and modeling accuracy, but numerous and diverse data processing and purely manual interior industry modeling still need longer week
Phase.Therefore, such as how fast and accurate mode realizes that the Holistic modeling of transformer station is still the task of a spacing.
The content of the invention
It is a primary object of the present invention to overcoming deficiency of the prior art, there is provided a kind of transformer station based on ATL
Fast modeling method, realizes the quick reconstruction of transformer station model, while model accuracy is ensured, substantially increases modeling
Efficiency.
In order to achieve the above object, the technical solution adopted in the present invention is：
A kind of transformer station's fast modeling method based on ATL, comprises the following steps：
1) gathered data；
The external structure and internal unit of transformer station are scanned using three-dimensional laser scanner, obtained outside transformer station
The substation information cloud data of structure and internal unit；
2) data prediction；
The power line and ground data in substation information cloud data are removed, and each individual components in transformer station are split
Out, the cloud data of acquisition transformer station individual components after point cloud segmentation is completed；
Ground data in the cloud data of transformer station's individual components and substation information cloud data is carried out to cluster
To point cloud model, point cloud model includes individual components point cloud model and ground point cloud model；
3) model library is created；
Based on the cloud data of transformer station's individual components, construction unit or equipment monomer to transformer station are finely built
Mould, constructs the equipment refined model represented with CAD model；
Based on the ground data in substation information cloud data, fine modeling, structure are carried out to the ground scape unit of transformer station
Build out the three-dimensional terrain model represented with CAD model；
And textures are carried out to equipment refined model and three-dimensional terrain model, recycle corresponding management system that textures are good
Equipment refined model and three-dimensional terrain model are organized, and form model library；
4) creation mode；
Based on step 2) obtained point cloud model, create transformer station's integral layout；Transformer station's integral layout is repeated
Structure detection, obtains and extracts the pattern chief subgraph of transformer station, completes pattern and creates；
5) template is fitted；
Extract and input step 2) obtained point cloud model or according to step 1) to step 2) and obtain through rescaning simultaneously
Processing renewal transformer station point cloud model, based on step 3) create model library, using Similar Shape Retrieval, by point cloud model
CAD model corresponding with model library carries out template fitting, the output CAD model maximum with point cloud model similarity；
By the CAD model of output and registering, the invocation step 4 of point cloud model progress) pattern that is created, quickly rebuild
Obtain whole transformer station independence and accurate equipment refined model and three-dimensional terrain model；
6) three dimensional solid model of transformer station is obtained；
Fusion device refined model and three-dimensional terrain model, obtain the three dimensional solid model of transformer station.
The present invention is further arranged to：The step 1) in transformer station external structure include transformer, disconnecting switch,
Grounding switch, breaker, earth arrester, current transformer, voltage transformer, coupled capacitor device, fuse, power capacitor
With device profile, specification and the positional information of reactor.
The present invention is further arranged to：The step 1) in transformer station internal unit include stabilization control device, electricity
Hold the specification of equipment and positional information of compensation device and integrated protection automation equipment.
The present invention is further arranged to：The step 2) in remove substation information cloud data in power line and ground
Face data, include the removal and the removal of ground data of power line；The removal of the power line is using height filtering and space
The method that density filtering is combined carries out preextraction and obtains the side that power line is alternative, recycles Hough transformation and Euclidean distance to cluster
Method removes power line after obtaining independent power line.
The present invention is further arranged to：The removal of the ground data is by substation information point cloud number along X-Y plane
According to the connected region for being divided into n block non-overlapping copies, the point using the method for region segmentation by every piece of region between threshold distance
Ground is identified as, it is to complete to remove to delete every piece of region recognition for the point on ground.
The present invention is further arranged to：The step 2) in split each individual components in transformer station be to use area
The method that domain increases.
The present invention is further arranged to：The step 3) in fine modeling be with reference to substation equipment image data and
Design standard is built by 3ds Max, and textures are to carry out carrying for color and texture according to the image data of substation equipment
Take and color and texture are attached on corresponding model by 3ds Max.
The present invention is further arranged to：The step 4) in repetitive structure detection, specifically,
4-1) by the point cloud model after cluster along Z axis to rectangular projection on X-Y plane, and create each single component two
Bounding box on dimensional plane；
Each bounding box 4-2) is considered as a node, adjacent node of each node in setting neighborhood is searched for, according to
The relation of distance connects adjacent node, builds bounding box topological diagram；
Energy equation 4-3) is defined according to the constraint of geometric error, regular and complexity, cut using based on iteration diagram
The α expansion algorithms of technology minimize energy equation, realize the node for extracting and repeating from bounding box topological diagram, that is, extracting has
The pattern chief subgraph of corresponding repetitive structure, each subgraph contains a large amount of figure summits with model identical.
The present invention is further arranged to：The step 5) in Similar Shape Retrieval, specifically,
The bounding box of the point cloud model of input 5-1) is calculated, a characteristic vector B containing three elements is constructedf, BfDescription
The global shape of bounding box；
Bounding box 5-2) is equably divided into 12 parts along X-axis, each partial dot cloud quantity x is calculated respectivelyi(i
=0,1 ..., 11) account in bounding box and put cloud total amount N ratio Xf,Equally, along Y-axis, Z axis point
Not Gou Zao 12 elements composition characteristic vector, i.e.,
5-3) by step 5-1) and step 5-2) obtained four characteristic vector Bf、Xf、Yf、ZfCombine, obtain a cloud
The Feature Descriptor D of modelf；
Corresponding CAD model in model library 5-4) is separated into by point cloud model, root using the sample variance method based on curvature
According to step 5-1) to step 5-3) character description method, corresponding CAD model in Definition Model storehouse obtains the spy of CAD model
Levy the sub- M of descriptionf；
The space length between all CAD models in the point cloud model and model library of input 5-5) is calculated, is drawn between model
Similarity, return to the CAD model maximum with point cloud model similarity.
The present invention is further arranged to：The step 5) in registration, be that output and point cloud model similarity is maximum
The center of CAD model and the center superposition of point cloud model and obtain just registration result, then minimize using ICP algorithm a cloud
The distance between model and CAD model, the essence registration of implementation model.
Compared with prior art, the invention has the advantages that：
The external structure and internal unit of transformer station are scanned using three-dimensional laser scanner to realize data acquisition,
Not only collecting efficiency is high, and data precision is high；The shape and positional information of three-dimensional point cloud model are taken full advantage of, by creating
Model library, is matched CAD model with point cloud model based on ATL, significantly reduces the complexity modeled manually, is shown
The efficiency and precision for improving modeling are write, especially for large-scale power station model, efficiency is rebuild and becomes apparent；In addition, can
To be applied to the digitization modeling of various the old and new transformer stations, model library can be with real-time update, so as to make up version deficiency, chi
Very little situation about differing, with good pervasive row and validity.
The above is only the general introduction of technical solution of the present invention, in order to be better understood upon the technological means of the present invention, under
With reference to accompanying drawing, the invention will be further described in face.
Brief description of the drawings
Fig. 1 is the method flow diagram of the embodiment of the present invention；
Fig. 2 is to scan obtained transformer station's point cloud chart using three-dimensional laser scanner in the embodiment of the present invention；
Fig. 3 is that Fig. 2 transformer station point cloud chart is carried out into the schematic diagram obtained after data prediction in the embodiment of the present invention；
Fig. 4 is the overall mould of three-dimensional for the transformer station for not merging three-dimensional terrain model that rapid modeling of the embodiment of the present invention is obtained
Type figure；
Fig. 5 is the overall mould of three-dimensional for the transformer station for having merged three-dimensional terrain model that rapid modeling of the embodiment of the present invention is obtained
Type figure.
Embodiment
With reference to Figure of description, the present invention is further illustrated.
The present invention provides a kind of transformer station's fast modeling method based on ATL, as shown in figure 1, comprising the following steps：
1) gathered data；
Reconnoitre transformer station's scene and carry out path planning and website arrangement, utilize three-dimensional laser scanner ScanStation
P20 is scanned to the external structure and internal unit of transformer station, and resolution of scanner uses 6.3mm@10m, obtains transformer station
The substation information cloud data of external structure and internal unit.
Wherein, the external structure of transformer station include transformer, disconnecting switch, grounding switch, breaker, earth arrester,
The construction units such as current transformer, voltage transformer, coupled capacitor device, fuse, power capacitor and reactor or tables of equipment
Device profile, specification and the positional information of body.
Wherein, the internal unit of transformer station is disguised automatically including stabilization control device, Electric capacity compensation device and integrated protection
The specification of equipment and positional information of construction unit or equipment monomer such as put.
2) data prediction；
The power line and ground data in substation information cloud data are removed, and uses the method that region increases by power transformation
Each individual components are split in standing, and complete to obtain the cloud data of transformer station's individual components after point cloud segmentation；
Ground data in the cloud data of transformer station's individual components and substation information cloud data is carried out to cluster
To point cloud model, point cloud model includes individual components point cloud model and ground point cloud model.
Wherein, the removal of power line is to carry out preextraction using the method highly filtered and space density filtering is combined to obtain
It is alternative to power line, recycle the method for Hough transformation and Euclidean distance cluster to remove power line after obtaining independent power line
Remove.
Wherein, the removal of ground data is that substation information cloud data is divided into n block non-overlapping copies along X-Y plane
Connected region, point of the every piece of region between threshold distance is identified as ground using the method for region segmentation, every piece is deleted
Region recognition is to complete to remove for the point on ground.
3) model library is created；
Based on the cloud data of transformer station's individual components, construction unit or equipment monomer to transformer station are finely built
Mould, constructs the equipment refined model represented with CAD model；
Based on the ground data in substation information cloud data, fine modeling, structure are carried out to the ground scape unit of transformer station
Build out the three-dimensional terrain model represented with CAD model；
And textures are carried out to equipment refined model and three-dimensional terrain model, recycle corresponding management system that textures are good
Equipment refined model and three-dimensional terrain model are organized, and form model library.
Wherein, fine modeling is that the image data and design standard for referring to substation equipment are built by 3ds Max,
Textures are the extractions according to the image data of substation equipment progress color and texture and by 3dsMax that color and texture is attached
Onto corresponding model.
4) creation mode；
Based on step 2) obtained point cloud model, create transformer station's integral layout；Transformer station's integral layout is repeated
Structure detection, obtains and extracts the pattern chief subgraph of transformer station, completes pattern and creates.
Repetitive structure is detected, is to use a kind of repetitive structure detection algorithm based on two dimensional surface bounding box topological structure,
The repetitive structure detection of planar point cloud is converted into the repetitive structure detection to bounding box, and realized according to the derivation of energy equation
The extraction of pattern chief subgraph, specifically,
4-1) by the point cloud model after cluster along Z axis to rectangular projection on X-Y plane, and create each single component two
Bounding box on dimensional plane；
Each bounding box 4-2) is considered as a node, adjacent node of each node in setting neighborhood is searched for, according to
The relation of distance connects adjacent node, builds bounding box topological diagram；
Energy equation 4-3) is defined according to the constraint of geometric error, regular and complexity, cut using based on iteration diagram
The α expansion algorithms of technology minimize energy equation, realize the node for extracting and repeating from bounding box topological diagram, that is, extracting has
The pattern chief subgraph of corresponding repetitive structure, each subgraph contains a large amount of figure summits with model identical.
Wherein, energy equation is
Section 1 in energy equationMeasure node θi(equipment monomer bounding box) and pattern fiBetween
Geometric error, it is thereinAnd geometric error d (θi,fi) represented by two：One is figure
Summit θiWith pattern fiBetween difference on surface；Two be figure summit θiWith pattern fiArrangement regulation degree, can be formulated
Section 2 in energy equationR(fm,fn) it is the figure top for belonging to Θ based on any two
Point θmAnd θnPattern definition, it makes use of Potts models, if fi≠fk, then R () is 1, is otherwise 0.Weighting function w
(θm,θn) further assess θmAnd θnArrangement regulation.Make discovery from observation, two figure tops arranged in parallel or vertical arrangement
Point more likely belongs to same pattern.Then, weighting function can be formulated
Section 3 β in energy equation | Φ (f) |, it is possible to reduce the quantity of pattern, so as to reduce the extraction of pattern chief subgraph
Complexity.
5) template is fitted；
Extract and input step 2) obtained point cloud model or according to step 1) to step 2) and obtain through rescaning simultaneously
Processing renewal transformer station point cloud model, based on step 3) create model library, using Similar Shape Retrieval, by point cloud model
CAD model corresponding with model library carries out template fitting, the output CAD model maximum with point cloud model similarity；
By the CAD model of output and registering, the invocation step 4 of point cloud model progress) pattern that is created, quickly rebuild
Obtain whole transformer station independence and accurate equipment refined model and three-dimensional terrain model.
Similar Shape Retrieval therein, specifically,
The bounding box of the point cloud model of input 5-1) is calculated, a characteristic vector B containing three elements is constructedf, BfDescription
The global shape of bounding box；
Bounding box 5-2) is equably divided into 12 parts along X-axis, each partial dot cloud quantity x is calculated respectivelyi(i
=0,1 ..., 11) account in bounding box and put cloud total amount N ratio Xf,Equally, along Y-axis, Z axis point
Not Gou Zao 12 elements composition characteristic vector, i.e.,
5-3) by step 5-1) and step 5-2) obtained four characteristic vector Bf、Xf、Yf、ZfCombine, obtain a cloud
The Feature Descriptor D of modelf；
Corresponding CAD model in model library 5-4) is separated into by point cloud model, root using the sample variance method based on curvature
According to step 5-1) to step 5-3) character description method, corresponding CAD model in Definition Model storehouse obtains the spy of CAD model
Levy the sub- M of descriptionf；
The space length between all CAD models in the point cloud model and model library of input 5-5) is calculated, is drawn between model
Similarity, return to the CAD model maximum with point cloud model similarity.
Registration therein, is by the center of the CAD model maximum with point cloud model similarity of output and point cloud model
Center superposition and obtain just registration result, then minimize using ICP algorithm the distance between point cloud model and CAD model, reality
The essence registration of existing model.
6) three dimensional solid model of transformer station is obtained；
Fusion device refined model and three-dimensional terrain model, obtain the three dimensional solid model of transformer station.
The innovative point of the present invention is, on the basis of data acquisition and pretreatment, is constructed by fine modeling and uses CAD
Equipment refined model and three-dimensional terrain model that model is represented, through textures and management system fibroplasia model storehouse；Create power transformation
Stand integral layout, detected with repetitive structure, obtain and extract the pattern chief subgraph of transformer station；Model based on establishment again
Storehouse, using Similar Shape Retrieval, template fitting, output and point cloud are carried out by point cloud model CAD model corresponding with model library
The maximum CAD model of distortion；Finally by registration and invocation pattern, realize that the quick three-dimensional for reconstructing transformer station is overall
Model.Efficiency high is not only rebuild, and model accuracy is high.
General principle, principal character and the advantage of the present invention has been shown and described above.The technical staff of the industry should
Understand, the present invention is not limited to the above embodiments, the original for simply illustrating the present invention described in above-described embodiment and specification
Reason, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, these changes and improvements
It all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent circle
It is fixed.
Claims (10)
1. a kind of transformer station's fast modeling method based on ATL, it is characterised in that comprise the following steps：
1) gathered data；
The external structure and internal unit of transformer station are scanned using three-dimensional laser scanner, transformer station's external structure is obtained
With the substation information cloud data of internal unit；
2) data prediction；
The power line and ground data in substation information cloud data are removed, and each individual components in transformer station are partitioned into
Come, complete to obtain the cloud data of transformer station's individual components after point cloud segmentation；
Ground data in the cloud data of transformer station's individual components and substation information cloud data cluster to obtain a little
Cloud model, point cloud model includes individual components point cloud model and ground point cloud model；
3) model library is created；
Based on the cloud data of transformer station's individual components, construction unit or equipment monomer to transformer station carry out fine modeling, structure
Build out the equipment refined model represented with CAD model；
Based on the ground data in substation information cloud data, fine modeling is carried out to the ground scape unit of transformer station, constructed
The three-dimensional terrain model represented with CAD model；
And textures are carried out to equipment refined model and three-dimensional terrain model, corresponding management system is recycled by the good equipment of textures
Refined model and three-dimensional terrain model are organized, and form model library；
4) creation mode；
Based on step 2) obtained point cloud model, create transformer station's integral layout；Repetitive structure is carried out to transformer station's integral layout
Detection, obtains and extracts the pattern chief subgraph of transformer station, completes pattern and creates；
5) template is fitted；
Extract and input step 2) obtained point cloud model or according to step 1) to step 2) and obtain through rescaning and handling
Renewal transformer station point cloud model, based on step 3) create model library, using Similar Shape Retrieval, by point cloud model and mould
Corresponding CAD model carries out template fitting, the output CAD model maximum with point cloud model similarity in type storehouse；
By the CAD model of output and registering, the invocation step 4 of point cloud model progress) pattern that is created, carry out quick rebuild and obtain
The independence of whole transformer station and accurate equipment refined model and three-dimensional terrain model；
6) three dimensional solid model of transformer station is obtained；
Fusion device refined model and three-dimensional terrain model, obtain the three dimensional solid model of transformer station.
2. a kind of transformer station's fast modeling method based on ATL according to claim 1, it is characterised in that：The step
It is rapid 1) in the external structure of transformer station to include transformer, disconnecting switch, grounding switch, breaker, earth arrester, electric current mutual
Sensor, voltage transformer, coupled capacitor device, fuse, the device profile of power capacitor and reactor, specification and position letter
Breath.
3. a kind of transformer station's fast modeling method based on ATL according to claim 1, it is characterised in that：The step
It is rapid 1) in the internal unit of transformer station include stabilization control device, Electric capacity compensation device and integrated protection automation equipment and setting
Standby specification and positional information.
4. a kind of transformer station's fast modeling method based on ATL according to claim 1, it is characterised in that：The step
It is rapid 2) in remove substation information cloud data in power line and ground data, include removal and the ground data of power line
Removal；
The removal of the power line is to carry out preextraction using the method highly filtered and space density filtering is combined to obtain electricity
The line of force is alternative, recycles the method for Hough transformation and Euclidean distance cluster to remove power line after obtaining independent power line.
5. a kind of transformer station's fast modeling method based on ATL according to claim 4, it is characterised in that：Describedly
The removal of face data is the connected region that substation information cloud data is divided into n block non-overlapping copies along X-Y plane, is utilized
Point of the every piece of region between threshold distance is identified as ground by the method for region segmentation, and it is ground to delete every piece of region recognition
Point completes to remove.
6. a kind of transformer station's fast modeling method based on ATL according to claim 1, it is characterised in that：The step
It is rapid 2) in each individual components in transformer station are split be using region increase method.
7. a kind of transformer station's fast modeling method based on ATL according to claim 1, it is characterised in that：The step
It is rapid 3) in fine modeling be with reference to substation equipment image data and design standard built by 3ds Max, textures
It is that the extraction of color and texture is carried out according to the image data of substation equipment and color and texture is attached to by 3ds Max
On corresponding model.
8. a kind of transformer station's fast modeling method based on ATL according to claim 1, it is characterised in that：The step
It is rapid 4) in repetitive structure detection, specifically,
4-1) by the point cloud model after cluster along Z axis to rectangular projection on X-Y plane, and it is flat to create each single component two dimension
Bounding box on face；
Each bounding box 4-2) is considered as a node, adjacent node of each node in setting neighborhood is searched for, according to distance
Relation adjacent node is connected, build bounding box topological diagram；
Energy equation 4-3) is defined according to the constraint of geometric error, regular and complexity, technology is cut using based on iteration diagram
α expansion algorithms minimize energy equation, realize the node for extracting and repeating from bounding box topological diagram, that is, extract with corresponding
Repetitive structure pattern chief subgraph, each subgraph contains a large amount of figure summits with model identical.
9. a kind of transformer station's fast modeling method based on ATL according to claim 1, it is characterised in that：The step
It is rapid 5) in Similar Shape Retrieval, specifically,
The bounding box of the point cloud model of input 5-1) is calculated, a characteristic vector B containing three elements is constructedf, BfDescribe bag
Enclose the global shape of box；
Bounding box 5-2) is equably divided into 12 parts along X-axis, each partial dot cloud quantity x is calculated respectivelyi(i=0,
1 ..., 11) account in bounding box and put cloud total amount N ratio Xf,Equally, structure is distinguished along Y-axis, Z axis
The characteristic vector of 12 element compositions is made, i.e.,
5-3) by step 5-1) and step 5-2) obtained four characteristic vector Bf、Xf、Yf、ZfCombine, obtain point cloud model
Feature Descriptor Df；
Corresponding CAD model in model library 5-4) is separated into by point cloud model using the sample variance method based on curvature, according to step
Rapid 5-1) to step 5-3) character description method, corresponding CAD model in Definition Model storehouse, the feature for obtaining CAD model retouches
State sub- Mf；
The space length between all CAD models in the point cloud model and model library of input 5-5) is calculated, the phase between model is drawn
Like spending, the CAD model maximum with point cloud model similarity is returned.
10. a kind of transformer station's fast modeling method based on ATL according to claim 1, it is characterised in that：It is described
Step 5) in registration, be by the center and the center of point cloud model of the output CAD model maximum with point cloud model similarity
Overlap and obtain just registration result, then the distance between point cloud model and CAD model are minimized using ICP algorithm, realize mould
The essence registration of type.
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