CN110135049B

CN110135049B - Distributed photovoltaic power station automatic configuration design method based on three-dimensional point cloud

Info

Publication number: CN110135049B
Application number: CN201910387530.9A
Authority: CN
Inventors: 杨扬; 刘宽; 胡心怡; 毛舒颖
Original assignee: Shanghai Boonray Intelligent Technology Co Ltd
Current assignee: Shanghai Boonray Intelligent Technology Co Ltd
Priority date: 2019-05-10
Filing date: 2019-05-10
Publication date: 2023-03-21
Anticipated expiration: 2039-05-10
Also published as: CN110135049A

Abstract

The invention relates to a distributed photovoltaic power station automatic configuration design method based on three-dimensional point cloud, which comprises the following steps: step (1): processing a point cloud model; step (2): searching a roof; and (3): searching a ridge line; and (4): dividing the north and south roofs; and (5): photovoltaic arrangement on the south and north roofs; and (6): the invention discloses a method for rendering and displaying photovoltaic row pavements, which can conveniently acquire moving images of multiple visual angles of a building by using an unmanned aerial vehicle technology, and model image data by using a three-dimensional modeling (Structure from motion) technology to obtain three-dimensional point cloud data, and solves the following problems: aiming at point clouds such as roofs, industrial plants and the like, automatic searching and measuring are carried out; the size and the area of the roof are accurately calculated, and errors caused by manual work are avoided; the parameterization arrangement method can flexibly meet various arrangement requirements; the product has low cost and is easy to commercialize and market popularization.

Description

Distributed photovoltaic power station automatic configuration design method based on three-dimensional point cloud

Technical Field

The invention relates to the technical field of photovoltaic arrangement, in particular to a distributed photovoltaic power station automatic arrangement design method based on three-dimensional point cloud.

Background

At present, the photovoltaic arrangement scheme has many methods based on CAD software, and manual participation and design are needed. For the roofs of a large number of buildings such as civil houses and industrial plants, no automatic photovoltaic arrangement scheme is available on the market at present. The use of the conventional method has the following main disadvantages: the cost of the arrangement design is high, and great time and labor cost are required to be invested; the measurement is not accurate, and manual deviation is easily brought in, so that the laying is not accurate enough; functions are difficult to expand and customize by depending on CAD software; the method cannot adapt to commercialization, and a large number of laying scenes need to be processed automatically and intelligently in commercial application.

At present, with the rapid development of the artificial intelligence industry, intelligent terminals such as unmanned aerial vehicles and Kinects are easy to acquire image and video data, and the development of various three-dimensional modeling technologies makes the three-dimensional point cloud processing technology have more and more application value. Aiming at the requirement of photovoltaic enterprises on omnibearing automatic management of civil roofs, industrial plants and the like, an important requirement is a photovoltaic automatic arrangement scheme; for example: the application number is 201610837314.6, the name is a mountain land photovoltaic power station arrangement platform and an arrangement method, and the unmanned aerial vehicle is used for taking off according to mountain land path planning and photographing mountain land terrain; automatically identifying contour line and elevation point information in a contour topographic map by using three-dimensional photovoltaic software PDP to generate a three-dimensional photovoltaic power station geographic model; shadow shielding information is automatically calculated according to the three-dimensional power station geographic model, the arrangeable area is analyzed, photovoltaic array arrangement design, support foundation design and electrical connection design are carried out on the arrangeable area, and the mountain photovoltaic power station simulation design model is automatically converted.

Disclosure of Invention

The invention aims to provide a distributed photovoltaic power station automatic configuration design method based on three-dimensional point cloud, which can conveniently acquire moving images of multiple visual angles of a building by using an unmanned aerial vehicle technology, and model image data by using a three-dimensional modeling (Structure from motion) technology to obtain three-dimensional point cloud data, and solves the following problems: aiming at point clouds such as roofs, industrial plants and the like, automatic searching and measuring are carried out; the size and the area of the roof are accurately calculated, and errors caused by manual work are avoided; the parameterized arrangement method can flexibly meet various arrangement requirements; the product has low cost, and is easy for commercialization and market popularization; accurately calculating a roof plane, a roof ridge, a roof slope and the like according to a point cloud processing algorithm; according to the photovoltaic row-laying requirements, the roof plane is laid automatically, and the photovoltaic equipment arranged and laid is displayed in a three-dimensional mode.

In the invention, the conventional mountain photovoltaic power station mentions certain photovoltaic arrangement ideas, specifically, the application number is 201610837314.6, the name is a mountain photovoltaic power station arrangement platform and arrangement method, and the disclosed technology and the scheme designed by the invention are greatly different in application field and use method. The mountain land photovoltaic power station technology is mainly different in that: 1. the method is applied to mountains, and a reliable method is not provided for civil roofs and industrial plants; 2. the method uses PDP software to identify shadow shielding areas, and does not provide reliable identification of civil house roofs and industrial plants; 3. the method is applied to the simulation field and is not suitable for the requirement of commercial arrangement and paving; 4. the method does not develop a point cloud processing algorithm for the roof, and does not adopt an automatic and intelligent algorithm.

In order to achieve the purpose, the invention provides the following technical scheme: 1. a distributed photovoltaic power station automatic arrangement design method based on three-dimensional point cloud is characterized by comprising the following steps: the method comprises the following steps:

step (1): processing a point cloud model;

step (2): searching a roof;

and (3): searching a ridge line;

and (4): dividing the north and south roofs;

and (5): photovoltaic arrangement on the south and north roofs;

and (6): and rendering and displaying the photovoltaic row.

Preferably, the step (1) specifically comprises:

step (1.1): point cloud obtaining;

step (1.2): and (4) performing point cloud thinning.

Preferably, the step (2) specifically comprises:

step (2.1): establishing a model for filtering the ground according to the height relation between the roof and the ground;

step (2.2): and performing region growing segmentation on the roof model according to the normal vector and the curvature.

Preferably, the step (3) specifically includes:

step (3.1): projecting the height of the roof model;

step (3.2): and determining the ridge position.

Preferably, the step (4) specifically includes:

step (4.1): and according to the position of the ridge line, performing left roof slope/right roof slope division.

Preferably, the step (5) specifically comprises: according to the slope of the roof, calculating the normal direction of the plane, generating a roof coordinate system, and projecting the roof coordinate system; and arranging and paving the roof slope according to the requirements of the size and the installation angle of the photovoltaic panel.

Preferably, the step (6) specifically comprises: and (5) converting the points on the xoy plane from the roof coordinate system to the world coordinate system to obtain three-dimensional data.

Compared with the prior art, the invention has the following beneficial effects: 1. the data source is very easy to obtain, the unmanned aerial vehicle and modeling software are integrated, and model data can be easily obtained. Only the unmanned aerial vehicle flies around the building to shoot pictures of a plurality of visual angles, and model data can be obtained by using modeling software. 2. The point cloud processing algorithm is advanced and practical, and a roof model, a ridge line and a left and right inclined planes of a roof in the model can be accurately obtained. 3. The arrangement algorithm is flexible, and various rows of pavements can be carried out below the roof according to the requirements at present, for example: tiling and obliquely tiling the photovoltaic panel; laying photovoltaic panels in double rows and laying photovoltaic panels in single rows; and other paving requirements. 4. And 3, vivid rendering display, namely rendering display of the model on a globe according to a laying algorithm, so that laying results can be directly experienced.

Drawings

FIG. 1 is a flow chart of the algorithm of the present invention;

FIG. 2 is a model of the sampling involved in step (1) of the present invention;

FIGS. 3a and 3b are a model of the filtering floor and a roof model, respectively, involved in step (2) of the present invention;

FIGS. 4a and 4b are a depth map and a ridge position, respectively, involved in step (3) of the present invention;

FIGS. 5a and 5b are views of the left and right roof slopes, respectively, involved in step (4) of the present invention;

fig. 6a, 6b, 6c and 6d are the left roofing projection, the right roofing projection, the left roofing row and the right roofing row, respectively, involved in step (5) of the present invention.

Fig. 7 is a schematic rendering and displaying diagram involved in step (6) of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.

Referring to fig. 1-7, the method for designing the automatic arrangement of the distributed photovoltaic power station based on the three-dimensional point cloud includes the following steps:

step (1): point cloud model processing, specifically point cloud acquisition: and acquiring a building picture set by an unmanned aerial vehicle, and then using modeling software to obtain a point cloud model. Point cloud thinning: the data volume of the point cloud model is large, and generally more than 100w of points exist. In order to reduce the amount of computation, the thinning process needs to be performed. Currently, a voxel rarefying algorithm is used, which provides 0.1m precision and processes point clouds. A downsampled model is then obtained.

Step (2): searching a roof, specifically, filtering the ground according to the height relation between the roof and the ground, and calculating the average height of the ground as avgH, the sum of the heights of all point clouds is Hsum, and the number of the point clouds is Count;

then avgH = Hsm/Count

If the ground height is Hg, then Hg < avgH is ground.

If the height of the roof is Hr, hr > avgH is the roof surface.

And filtering the model of the ground according to the height relation. According to the normal vector and the curvature, a region growing and dividing roof model is carried out, and the method specifically comprises the following steps: taking 50 neighboring points around each point, calculating the average normal vector and the plane curvature. And clustering the point cloud according to the normal vector and the curvature threshold value. Here, a normal vector threshold of 0.05 and a curvature threshold of 0.8 are set.

And (3): searching a ridge line, specifically a height projection of a roof model; and according to the model of the roof, projecting on an xoy plane to obtain a depth map, and searching for a segmentation line with the maximum brightness, namely a roof ridge position (the position of the line) along the parallel direction of w according to the height h and the width w.h of a rectangle.

And (4): and (4) dividing the north-south roof, specifically, dividing the left roof slope/the right roof slope according to the position of the ridge line. And calculating the direction of each point in the plane of the roof ridge surface, and segmenting.

And (5): paving photovoltaic rows on the north and south roofs, specifically, calculating the normal direction of a plane according to the inclined plane of the roof, generating a roof coordinate system, and projecting the projection of the roof coordinate system; and arranging and paving the roof slope according to the requirements of the size, the installation angle and the like of the photovoltaic panel.

And (6): and rendering and displaying the photovoltaic row pavements, specifically, according to a row pave method, converting points on the xoy plane from a roof coordinate system to a world coordinate system to obtain three-dimensional data.

Compared with the prior art, the technical scheme of the invention mainly has the following creative progress: the data source is very easy to obtain, the unmanned aerial vehicle and modeling software are integrated, and model data can be easily obtained. Only the unmanned aerial vehicle flies around the building to shoot pictures of a plurality of visual angles, and model data can be obtained by using modeling software. The point cloud processing algorithm is advanced and practical, and the algorithm developed by the company can accurately acquire a roof model, a ridge line and left and right inclined planes of a roof in the model. The arrangement algorithm is flexible, and various rows of pavements can be carried out below the roof according to the requirements at present, for example: tiling and obliquely tiling the photovoltaic panel; laying photovoltaic panels in a double row and laying photovoltaic panels in a single row; and other paving requirements. And 3, vivid rendering display, namely rendering display of the model on a globe according to a laying algorithm, so that laying results can be directly experienced.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The distributed photovoltaic power station automatic configuration design method based on the three-dimensional point cloud is characterized by comprising the following steps: the method comprises the following steps: step (1): processing a point cloud model; step (2): searching a roof; and (3): searching a ridge line; and (4): dividing the north and south roofs; and (5): photovoltaic arrangement on the south and north roofs; and (6): rendering and displaying the photovoltaic row, wherein the step (1) specifically comprises the following steps: step (1.1): point cloud obtaining; step (1.2): point cloud rarefying, wherein the step (2) specifically comprises the following steps: step (2.1): establishing a model for filtering the ground according to the height relation between the roof and the ground; step (2.2): performing region growing segmentation on the roof model according to the normal vector and the curvature, wherein the step (3) specifically comprises the following steps: step (3.1): projecting the height of the roof model; step (3.2): determining a ridge position, wherein the step (4) specifically comprises: step (4.1): and (4) according to the position of the ridge line, performing left roof slope/right roof slope segmentation, wherein the step (5) specifically comprises the following steps: according to the slope of the roof, calculating the normal direction of the plane, generating a roof coordinate system, and projecting the roof coordinate system; laying the roof slope according to the size and the installation angle of the photovoltaic panel, wherein the step (6) specifically comprises the following steps: and (5) converting the points on the xoy plane from the roof coordinate system to the world coordinate system to obtain three-dimensional data.