CN111412833B - Alarming method, system and equipment for positioning safe distance of three-dimensional scene of transformer substation - Google Patents
Alarming method, system and equipment for positioning safe distance of three-dimensional scene of transformer substation Download PDFInfo
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- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- G06T2207/10028—Range image; Depth image; 3D point clouds
Abstract
The embodiment of the invention relates to a warning method, a system and equipment for positioning a safe distance of a three-dimensional scene of a transformer substation, which comprises the steps of acquiring first point cloud data in the three-dimensional scene of the transformer substation, establishing a data space and a space coordinate system of the three-dimensional scene with a transformer substation real-world model, dividing the data space into a plurality of unit blocks by adopting a division technology, establishing a local coordinate system corresponding to each unit block, thinning the first point cloud data in each unit block into second point cloud data, calculating the absolute value of the subtraction between the numerical value of a central coordinate in each unit block and the numerical value of a positioning object coordinate, if the absolute value is greater than the safe distance, sending a warning to enable a moving object in the transformer substation to automatically warn in an entering dangerous area, improving the safety control capability of the operation of the transformer substation, reducing the risk of the operation personnel of the transformer substation, and solving the problem that the safety risk control of the existing transformer substation operation is poor, the technical problem of high operation risk.
Description
Technical Field
The invention relates to the technical field of transformer substations, in particular to a method, a system and equipment for alarming a three-dimensional scene positioning safety distance of a transformer substation.
Background
The transformer substation is a place for converting voltage and current, receiving electric energy and distributing the electric energy in an electric power system; the substations in the power plant are step-up substations, which are used to boost up the electrical energy generated by the generator and feed it into the high-voltage network.
Due to the diversification of the operation environment of the transformer substation and the complexity and changeability of the equipment for operation in the transformer substation, the safety operation and inspection of the transformer substation are greatly challenged. If the traditional safety management process is adopted to carry out safety operation and detection on the transformer substation, great danger is brought to operators, and the variable operation environment enables the operators with different work duties to correspond to different operation areas, so that the risk of casualty accidents caused by misoperation exists; the complicated and variable personnel access change poses a great threat to the safety of equipment in the operation and inspection area, and thus challenges are brought to power safety management.
Disclosure of Invention
The embodiment of the invention provides a method, a system and equipment for alarming a positioning safety distance of a three-dimensional scene of a transformer substation, which are used for solving the technical problems of poor management and control of operation safety risks and high operation risks of the conventional transformer substation.
In order to achieve the above object, the embodiments of the present invention provide the following technical solutions:
a warning method for positioning a safe distance based on a three-dimensional scene of a transformer substation comprises the following steps:
acquiring a point cloud database of a three-dimensional scene of a transformer substation, and establishing a data space and a space coordinate system for all first point cloud data in the point cloud database;
dividing the data space according to the precision of the three-dimensional coordinates, dividing the data space into a plurality of unit blocks and establishing a local coordinate system corresponding to each unit block;
taking a point closest to the origin of the space coordinate system as the origin of the local coordinate system, and converting each first point cloud data coordinate in each unit block into a coordinate of the local coordinate system according to a coordinate conversion coefficient;
thinning all the first point cloud data in each unit block to obtain second point cloud data after thinning, and calculating a central coordinate in each unit block according to the second point cloud data;
and acquiring a coordinate of a positioning object, and giving an alarm if the absolute value of the corresponding subtraction of the three numerical values of the central coordinate of each unit block and the three numerical values of the coordinate of the positioning object is greater than a safe distance.
Preferably, the unit block is a cube, and the side length of the unit block is 0-65 m.
Preferably, the coordinate transformation coefficient is K, and the formula of K is as follows:
in the formula, Xa, Ya, Za are numerical values of coordinates of a point of each unit block closest to the origin of the space coordinate system, and X, Y, Z are three numerical values of coordinate conversion coefficients K corresponding to three-dimensional coordinates.
Preferably, the coordinate calculation formula of the local coordinate system of the first point cloud data in the unit block except for the origin is:
where Xm, Ym, Zm are values of coordinates of each first point cloud data in the spatial coordinate system, and X'm, Y'm, Z'm are coordinates of each first point cloud data in the local coordinate system.
Preferably, all the first point cloud data in each unit block are sparse by using an octree structure, and the sparse process includes:
coding each first point cloud data according to an octree, and establishing an array equal to the number of points;
sorting the data in the array with the equal number of points from small to large to obtain a sorted shaping array;
and traversing the shaping array to screen out point cloud data corresponding to unsigned shaping, namely the second point cloud data after sparse.
Preferably, calculating the center coordinates specifically includes: if the unit block contains n pieces of the second point cloud data, the coordinates are ((X)i，Yi，Zi) (i ═ 1, 2, 3.... n), and solving an average value of the coordinates of the n second point cloud data, namely the center coordinate (X) of the unit blockk，Yk，Zk) (ii) a The formula for solving the average is as follows:
preferably, the first point cloud data includes position information and color information.
The invention also provides an alarm system for positioning the safe distance based on the three-dimensional scene of the transformer substation, which comprises a data acquisition module, a data segmentation module, a coordinate conversion module, a data sparseness and calculation module and a warning module;
the data acquisition module is used for acquiring a point cloud database of a three-dimensional scene of the transformer substation and establishing a data space and a space coordinate system for all first point cloud data in the point cloud database;
the data dividing module is used for dividing the data space according to the precision of the three-dimensional coordinates, dividing the data space into a plurality of unit blocks and establishing a local coordinate system corresponding to each unit block;
the coordinate conversion module is used for taking a point closest to the origin of the space coordinate system as the origin of the local coordinate system and converting each first point cloud data coordinate in each unit block into a coordinate of the local coordinate system according to a coordinate conversion coefficient;
the data sparse and calculation module is used for performing sparse processing on all the first point cloud data in each unit block to obtain sparse second point cloud data, and calculating a central coordinate in each unit block according to the second point cloud data;
and the warning module is used for sending a warning if the absolute value of the subtraction between the three values of the central coordinate and the three values of the coordinate of the positioning object is greater than the safety distance.
Preferably, the data sparseness and calculation module comprises an encoding submodule, a sorting submodule and a screening submodule;
the encoding submodule is used for encoding each first point cloud data according to an octree and establishing an array equal to the number of points;
the sorting submodule is used for sorting the data in the array with the equal number of points from small to large to obtain a sorted shaping array;
and the screening submodule is used for traversing the shaping array to screen out point cloud data corresponding to unsigned shaping, namely the second point cloud data after sparse.
The invention also provides an apparatus comprising a memory and a processor;
the memory is used for storing program codes and transmitting the program codes to the processor;
the processor is used for executing the warning method based on the substation three-dimensional scene positioning safety distance according to the instruction in the program code.
According to the technical scheme, the embodiment of the invention has the following advantages:
1. the warning method based on the positioning safety distance of the three-dimensional scene of the transformer substation comprises the steps of establishing a data space and a space coordinate system of the three-dimensional scene with a real scene model of the transformer substation by acquiring first point cloud data in the three-dimensional scene of the transformer substation, dividing the data space into a plurality of unit blocks by adopting a dividing technology and establishing a local coordinate system corresponding to each unit block, and the first point cloud data in each unit block is thinned to form second point cloud data, the absolute value of the subtraction between the numerical value of the central coordinate in each unit block and the numerical value of the coordinate of the positioning object is calculated to be larger than the safe distance, an alarm is sent out, so that a moving object in the transformer substation automatically alarms in an entering dangerous area, the safety control capability of transformer substation operation is improved, the risk of transformer substation operation personnel is reduced, and the technical problems of poor safety risk control and high operation risk of the existing transformer substation operation are solved;
2. the warning system based on the positioning safety distance of the three-dimensional scene of the transformer substation acquires first point cloud data in the three-dimensional scene of the transformer substation through a data acquisition module, establishes a data space and a space coordinate system of the three-dimensional scene of a real scene model of the transformer substation, divides the data space into a plurality of unit blocks by adopting a division technology of a data division module, establishes a local coordinate system corresponding to each unit block by adopting a coordinate conversion module, thins the first point cloud data in each unit block into second point cloud data by adopting a data thinning and calculating module, sends a warning if an absolute value of a subtraction between a numerical value of a central coordinate in each unit block calculated by a warning module and a numerical value of a positioning object coordinate is greater than a safety distance, and automatically gives a warning in an entering dangerous area of a moving object in the transformer substation, thereby improving the safety control capability of transformer substation operation, the risk of transformer substation operation personnel is reduced, the technical problems that the management and control of the operation safety risk of the existing transformer substation are poor and the operation risk is high are solved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.
Fig. 1 is a flowchart illustrating steps of an alarm method for positioning a safe distance based on a three-dimensional scene of a transformer substation according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of a unit block segmented by the warning method for positioning the safe distance based on the three-dimensional scene of the transformer substation according to the embodiment of the invention.
Fig. 3 is a schematic diagram of a coordinate transformation coefficient of an alarm method for positioning a safe distance based on a three-dimensional scene of a transformer substation according to an embodiment of the present invention.
Fig. 4 is a flowchart of steps of a first point cloud data sparse process of the warning method based on the transformer substation three-dimensional scene positioning safety distance according to the embodiment of the invention.
Fig. 5 is a frame diagram of an alarm system for positioning a safe distance based on a three-dimensional scene of a transformer substation according to an embodiment of the present invention.
Detailed Description
In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the embodiments described below are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment of the application provides a warning method, a warning system and warning equipment for positioning a safe distance in a three-dimensional scene of a transformer substation, wherein the laser scanning transformer is adopted to generate point cloud data with high precision in the three-dimensional scene of the transformer substation, on the basis, accurate coordinates of the three-dimensional scene with a real scene model of the transformer substation are established, a dangerous area which cannot enter is set in the scene, corresponding safe distance collision detection is established by combining positioning data of operators, vehicles or equipment terminals of an access platform, and automatic warning is performed on positioning objects (personnel, vehicles, equipment and the like) exceeding the safe distance.
The first embodiment is as follows:
fig. 1 is a flowchart illustrating steps of an alarm method for positioning a safe distance based on a three-dimensional scene of a transformer substation according to an embodiment of the present invention.
As shown in fig. 1, an embodiment of the present invention provides an alarm method for positioning a safe distance based on a three-dimensional scene of a substation, including the following steps:
s1, acquiring a point cloud database of a three-dimensional scene of a transformer substation, and establishing a data space and a space coordinate system for all first point cloud data in the point cloud database;
s2, dividing a data space according to the precision of the three-dimensional coordinates, dividing the data space into a plurality of unit blocks and establishing a local coordinate system corresponding to each unit block;
s3, taking a point closest to the origin of the space coordinate system as the origin of the local coordinate system, and converting each first point cloud data coordinate in each unit block into a coordinate of the local coordinate system according to a coordinate conversion coefficient;
s4, thinning all the first point cloud data in each unit block to obtain second point cloud data after thinning, and calculating a center coordinate in each unit block according to the second point cloud data;
and S5, if the absolute value of the subtraction between the three values of the central coordinate of each unit block and the three values of the coordinate of the positioning object is greater than the safety distance, giving an alarm.
In step S1 of the embodiment of the present invention, the point cloud database includes a plurality of first point cloud data, the plurality of first point cloud data of the three-dimensional scene of the substation may be generated by using the laser scanning transformer surrounding environment, and the plurality of first point cloud data is established as the point cloud database. And establishing a data space for a plurality of first point cloud data in the point cloud database according to spatial distribution, and establishing a spatial coordinate system according to the data space.
It should be noted that the environment surrounding the substation includes a house, an electric power device, and the like. Each first point cloud data includes position information and color information, one position information includes three float coordinates of x, y, z of a space coordinate system, and the color information mainly requires 15 bytes (one float occupies 4 bytes) in total from RGB 888.
Fig. 2 is a schematic diagram of a unit block segmented by the warning method for positioning the safe distance based on the three-dimensional scene of the transformer substation according to the embodiment of the invention.
As shown in fig. 2, in step S2 of the embodiment of the present invention, the edge length of the unit block is determined according to the precision of the three-dimensional coordinates, and the data space is divided into a plurality of unit blocks, and an independent local coordinate system is established for each unit block. The unit block can be a cube, a cuboid or other shapes according to requirements.
It should be noted that the three-dimensional point cloud data of the transformer substation generated by laser scanning can be converted into a standard point cloud data format; determining the size of a unit block according to actual requirements, namely determining the precision of three-dimensional coordinates and the tolerable range of the minimum block: the three-dimensional coordinate is generally 0.001 meter in precision, and the side length of the unit block can be 0-65 m. The existing substation is generally a rectangle occupying 200-300 m of side length, so that the three-dimensional precision selected according to actual requirements is 0.001m, and the length, width and height of a unit block are 32m x 32 m.
In step S3 of the embodiment of the present invention, the origin of the local coordinate system of each unit block is the vertex of the block closest to the origin of coordinates of the spatial coordinate system, and an independent local coordinate system is created for each unit block. And the origin coordinate value of the local coordinate system of each unit block is greater than zero.
It should be noted that, an independent local coordinate system is created in each unit block, the point cloud data in each unit block is converted into coordinates under the coordinate system, that is, the first point cloud data in each unit block space is data-compressed, because each first point cloud data storage type float in the spatial coordinate system contains 4 bytes, and the first point cloud data storage type assigned short in the local coordinate system contains 2 bytes, and 12 bytes (4x3 ═ 12) of the position information in each first point cloud data in the spatial coordinate system are reduced to 6 bytes (2x3 ═ 6) of the position information in each first point cloud data in the independent coordinate system, and 15 bytes of the color information in each first point cloud data in the spatial coordinate system are reduced to 9 bytes of the color information in each first point cloud data in the independent coordinate system. Compared with the existing situation that data is not processed, when the point cloud database obtained by scanning contains 1 million first point cloud data, at least 143M memory is needed, and if the point cloud database contains 1 million first point cloud data, 1430M memory is needed; according to the warning method based on the transformer substation three-dimensional scene positioning safety distance, the storage bytes of the position information and the color information in the first point cloud data are reduced by block compression, and the compression rate is 60%. Therefore, the aims of reducing the expenses of memory and video memory, improving the loading speed and reducing the data storage capacity are fulfilled.
In step S4 of the embodiment of the present invention, too much first point cloud data in a unit block results in dense unit block data, and if the dense first point cloud data in a unit block is not sparse, a large amount of data with the same result appears in calculating the center coordinates of a unit block, which wastes the calculation process, so an octree structure is adopted to perform sparse on all first point cloud data in each unit block.
In step S5 of the embodiment of the present invention, the method for alarming based on the positioning safety distance in the three-dimensional scene of the substation is mainly set to be a dangerous area according to the power specification so that the positioning object cannot approach or exceed the safety distance. Whether the positioning object enters a dangerous area is judged mainly according to the comparison of the absolute value of the subtraction of the central coordinate of the unit block and the coordinate value of the coordinate of the positioning object with the set safety distance, and if the absolute value of the subtraction of the three values of the central coordinate and the three values of the coordinate of the positioning object is larger than the safety distance, an alarm is given.
It should be noted that, the point of each second point cloud data after being thinned is taken as the center of a circle, and the radius is taken as a safe distance, and the safe distance may be set according to an operation standard or may be set manually.
The invention provides an alarming method based on positioning safety distance of a three-dimensional scene of a transformer substation, which comprises the steps of acquiring first point cloud data in the three-dimensional scene of the transformer substation, establishing a data space and a space coordinate system of the three-dimensional scene with a real-image model of the transformer substation, dividing the data space into a plurality of unit blocks by adopting a division technology, establishing a local coordinate system corresponding to each unit block, thinning the first point cloud data in each unit block into second point cloud data, calculating that the subtraction absolute value of the numerical value of a central coordinate in each unit block and the numerical value of a positioning object coordinate is greater than the safety distance, sending an alarm, automatically alarming a moving object in the transformer substation in an entering dangerous area, improving the safety control capability of transformer substation operation, reducing the risk of transformer substation operators, and solving the problem that the safety risk control of the existing transformer substation operation is poor, the technical problem of high operation risk.
It should be noted that the warning method based on the substation three-dimensional scene positioning safety distance can understand point cloud peripheral data of a dangerous area (a transformer is used as the dangerous area, and a plurality of first point cloud data of the substation three-dimensional scene are formed by objects such as houses and power equipment around the transformer), and an external enclosure is formed by adding the safety distance, so that the enclosure performs collision detection on a moving object (a positioning object), and when the moving object collides with the enclosure, the warning is automatically given (by giving a warning sound, or by giving a light prompt warning).
Fig. 3 is a schematic diagram of a coordinate transformation coefficient of an alarm method for positioning a safe distance based on a three-dimensional scene of a transformer substation according to an embodiment of the present invention.
In an embodiment of the present invention, the coordinate transformation coefficient is K, and the formula of K is as follows:
in the formula, Xa, Ya, Za are numerical values of coordinates of a point of each unit block closest to the origin of the space coordinate system, and X, Y, Z are three numerical values of coordinate conversion coefficients K corresponding to three-dimensional coordinates. The coordinate calculation formula of the local coordinate system of the first point cloud data in the unit block excluding the origin is:
where Xm, Ym, Zm are values of coordinates of each first point cloud data in the spatial coordinate system, and X'm, Y'm, Z'm are coordinates of each first point cloud data in the local coordinate system.
As shown in fig. 3, the coordinates of the origin O in the spatial coordinate system are (Xo is 0, Yo is 0, Zo is 0), and it is assumed that the point a is closest to the point O in the unit block; the coordinates of the point a in the spatial coordinate system are (Xa, Ya, Za), and the coordinates in the local coordinate system of the unit block are (Xa ' ═ 0, Ya ' ═ 0, Za ' ═ 0).
Fig. 4 is a flowchart of steps of a first point cloud data sparse process of the warning method based on the transformer substation three-dimensional scene positioning safety distance according to the embodiment of the invention.
As shown in fig. 4, in an embodiment of the present invention, an octree structure is adopted to perform thinning on all first point cloud data in each unit block, and the thinning process includes:
s41, encoding each first point cloud data according to an octree, and establishing an array equal to the number of points;
s42, sorting the data in the array with the equal point number from small to large to obtain a sorted shaping array;
and S43, traversing the shaping array to screen out point cloud data corresponding to unsigned shaping, namely sparse second point cloud data.
It should be noted that the octree corresponds to coding of spatial positions, and if the partition number of each subspace is 0 to 7, which is denoted by the symbol n, and the hierarchy is denoted by L (the highest hierarchy is 0, and the second hierarchy is added by 1), the cloud data at a certain first point in a unit block can be denoted by { n0, n1, … nL … } (L is 0 …), where n0 denotes the subspace with the number n0 of the highest hierarchy partition at that point, and n1 denotes the secondary subspace with the number n1 of the subspace partition with the number n 0. nL ranges from 0 to 7 and can be expressed as a 3bit unsigned number. Lmax may be 10, then { n0, n1, … nL … } may be represented by a 30-bit unsigned number, and specifically, to be practical, a 32-bit unsigned number (unsigned int) is used to represent spatial octree coding of certain first point cloud data of a unit block. A certain first point cloud data of a unit block has 1 32-bit unsigned space coding to form 1 point number equal array, and the array is an octree of the first point cloud data; and then sorting the data in the array with the equal number of the points from small to large, wherein the adjacent codes show that the corresponding points are also close together in space. Octrees are represented by unsigned shaping of 32 bits, with every 3 bits representing the location of the corresponding point in a level. Higher bits in unsigned shaping represent higher levels in the octree. A set of unsigned shapes corresponding to all corresponding points represents an octree of modified first point cloud data. After the unsigned shaping array is sorted according to size, points corresponding to unsigned shaping are screened out by traversing the array, and the points are sparse second point cloud data.
In an embodiment of the present invention, calculating the center coordinates specifically includes: if the unit block contains n pieces of the second point cloud data, the coordinates are ((X)i，Yi，Zi) (i ═ 1, 2, 3.... n), and solving an average value of the coordinates of the n second point cloud data, namely the center coordinate (X) of the unit blockk，Yk，Zk) (ii) a The formula for solving the average is as follows:
the length, width, and height of the rectangular parallelepiped bounding box in the risk region are set to L, W, H, L ═ Xmax-Xmin(Xmax、XminMaximum and minimum X values, respectively, of the bounding box coordinates); m ═ Ymax-Ymin(Ymax、YminMaximum Y value and minimum Y value, respectively, of bounding box coordinates); h ═ Zmax-Zmin(Zmax、ZminRespectively, the maximum Z value and the minimum Z value of the bounding box coordinates). And setting the side length of the basic unit box of the octree as cube size:
Xsize＝L/cubesize
Ysize＝W/cubesize
Zsize＝H/cubesize
Xsize，Ysize，Zsizerespectively, equal parts of the smallest bounding box in the direction X, Y, Z. And the coordinates of each second point cloud data are classified into corresponding unit bounding boxes, and the total number of the bounding boxes is as follows: xsize*Ysize*Zsize. Let n second point cloud data be included in each unit block, and the coordinates are (X) respectivelyi，Yi，Zi) (i ═ 1, 2.. n), the coordinates of the n second point cloud data in each unit block are averaged, that is, the center coordinate (X) of each unit block is obtainedk，Yk，Zk) (ii) a Suppose the coordinates of the located object are (X)d，Yd，Zd) And judging whether the safety distance R is exceeded: if | Xk-Xd|＞R；|Yk-Yd|＞R；|Zk-ZdIf > R, exceeding the safety distance and giving an alarm.
Example two:
fig. 5 is a frame diagram of an alarm system for positioning a safe distance based on a three-dimensional scene of a transformer substation according to an embodiment of the present invention.
As shown in fig. 5, an embodiment of the present invention further provides an alarm system based on a positioning safety distance of a three-dimensional scene of a transformer substation, including a data acquisition module 10, a data segmentation module 20, a coordinate conversion module 30, a data sparseness and calculation module 40, and an alarm module 50;
the data acquisition module 10 is used for acquiring a point cloud database of a three-dimensional scene of the transformer substation and establishing a data space and a space coordinate system for all first point cloud data in the point cloud database;
a data dividing module 20, configured to divide a data space according to the precision of the three-dimensional coordinates, divide the data space into a plurality of unit blocks, and establish a local coordinate system corresponding to each unit block;
the coordinate conversion module 30 is configured to use a point closest to an origin of the spatial coordinate system as the origin of the local coordinate system, and convert each first point cloud data coordinate in each unit block into a coordinate of the local coordinate system according to a coordinate conversion coefficient;
the data sparse and calculation module 40 is configured to perform sparse on all the first point cloud data in each unit block to obtain sparse second point cloud data, and calculate a central coordinate in each unit block according to the second point cloud data;
and the warning module 50 is configured to send a warning if the absolute value of the subtraction between the three values of the center coordinate and the three values of the coordinate of the positioning object is greater than the safety distance.
In the present embodiment, the data sparseness and calculation module 40 includes an encoding sub-module 41, an ordering sub-module 42, and a screening sub-module 43;
the encoding submodule 41 is used for encoding each first point cloud data according to the octree and establishing an array equal to the number of points;
the sorting submodule 42 is used for sorting the data in the array with the equal dot number from small to large to obtain a sorted shaping array;
and the screening submodule 43 is configured to traverse the shaping array to screen out point cloud data corresponding to unsigned shaping, that is, the second point cloud data after being sparse.
It should be noted that specific contents of each module in the warning system based on the positioning safety distance in the three-dimensional scene of the transformer substation are already described in the warning method based on the positioning safety distance in the three-dimensional scene of the transformer substation in the first embodiment one by one, and therefore are not described in this embodiment one by one.
The invention provides an alarm system for positioning a safe distance based on a three-dimensional scene of a transformer substation, which acquires first point cloud data in the three-dimensional scene of the transformer substation through a data acquisition module, establishes a data space and a space coordinate system of the three-dimensional scene with a real-image model of the transformer substation, divides the data space into a plurality of unit blocks by adopting a division technology of a data division module, establishes a local coordinate system corresponding to each unit block by adopting a coordinate conversion module, thins the first point cloud data in each unit block into second point cloud data by adopting a data thinning and calculating module, sends an alarm when an absolute value of a subtraction between a numerical value of a central coordinate in each unit block calculated by an alarm module and a numerical value of a positioning object coordinate is larger than the safe distance, automatically alarms in a dangerous area entered by a moving object in the transformer substation, and improves the safety control capability of transformer substation operation, the risk of transformer substation operation personnel is reduced, the technical problems that the management and control of the operation safety risk of the existing transformer substation are poor and the operation risk is high are solved.
Example three:
an embodiment of the present invention provides an apparatus, including a memory and a processor;
the memory is used for storing the program codes and transmitting the program codes to the processor;
the processor is used for executing the warning method based on the transformer substation three-dimensional scene positioning safety distance according to the instruction in the program code.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A warning method for positioning a safe distance based on a three-dimensional scene of a transformer substation is characterized by comprising the following steps:
acquiring a point cloud database of a three-dimensional scene of a transformer substation, and establishing a data space and a space coordinate system for all first point cloud data in the point cloud database;
dividing the data space according to the precision of the three-dimensional coordinates, dividing the data space into a plurality of unit blocks and establishing a local coordinate system corresponding to each unit block;
taking a point closest to the origin of the space coordinate system as the origin of the local coordinate system, and converting each first point cloud data coordinate in each unit block into a coordinate of the local coordinate system according to a coordinate conversion coefficient;
thinning all the first point cloud data in each unit block to obtain second point cloud data after thinning, and calculating a central coordinate in each unit block according to the second point cloud data;
and acquiring a coordinate of a positioning object, and giving an alarm if the absolute value of the corresponding subtraction of the three numerical values of the central coordinate of each unit block and the three numerical values of the coordinate of the positioning object is greater than a safe distance.
2. The warning method for positioning the safe distance based on the three-dimensional scene of the transformer substation according to claim 1, wherein the unit block is a cube, and the side length of the unit block is 0-65 m.
3. The warning method based on the substation three-dimensional scene positioning safety distance of claim 1, wherein the coordinate conversion coefficient is K, and the formula of K is as follows:
in the formula, Xa, Ya, Za are numerical values of coordinates of a point of each unit block closest to the origin of the space coordinate system, and X, Y, Z are three numerical values of coordinate conversion coefficients K corresponding to three-dimensional coordinates.
4. The warning method for positioning the safe distance based on the three-dimensional scene of the transformer substation according to claim 3, wherein the coordinate calculation formula of the local coordinate system of the cloud data of the first point in the unit block except the origin is as follows:
where Xm, Ym, Zm are values of coordinates of each first point cloud data in the spatial coordinate system, and X'm, Y'm, Z'm are coordinates of each first point cloud data in the local coordinate system.
5. The warning method for positioning the safe distance based on the three-dimensional scene of the transformer substation according to claim 1, wherein an octree structure is adopted to perform sparse processing on all the first point cloud data in each unit block, and the sparse processing comprises the following steps:
coding each first point cloud data according to an octree, and establishing an array equal to the number of points;
sorting the data in the array with the equal number of points from small to large to obtain a sorted shaping array;
and traversing the shaping array to screen out point cloud data corresponding to unsigned shaping, namely the second point cloud data after sparse.
6. The warning method for positioning the safe distance based on the three-dimensional scene of the substation according to claim 1, wherein calculating the center coordinate specifically comprises: if the unit block contains n pieces of the second point cloud data, the coordinates are ((X)i，Yi，Zi) (i ═ 1, 2, 3.... n), solving for n of the second point cloud dataThe average value of the coordinates is the center coordinate (X) of the unit blockk，Yk，Zk) (ii) a The formula for solving the average is as follows:
7. the warning method for positioning the safe distance based on the three-dimensional scene of the substation according to claim 1, wherein the first point cloud data comprises position information and color information.
8. A warning system for positioning a safe distance based on a three-dimensional scene of a transformer substation comprises a data acquisition module, a data segmentation module, a coordinate conversion module, a data sparseness and calculation module and a warning module;
the data acquisition module is used for acquiring a point cloud database of a three-dimensional scene of the transformer substation and establishing a data space and a space coordinate system for all first point cloud data in the point cloud database;
the data dividing module is used for dividing the data space according to the precision of the three-dimensional coordinates, dividing the data space into a plurality of unit blocks and establishing a local coordinate system corresponding to each unit block;
the coordinate conversion module is used for taking a point closest to the origin of the space coordinate system as the origin of the local coordinate system and converting each first point cloud data coordinate in each unit block into a coordinate of the local coordinate system according to a coordinate conversion coefficient;
the data sparse and calculation module is used for performing sparse processing on all the first point cloud data in each unit block to obtain sparse second point cloud data, and calculating a central coordinate in each unit block according to the second point cloud data;
and the warning module is used for sending a warning if the absolute value of the subtraction between the three values of the central coordinate and the three values of the coordinate of the positioning object is greater than the safety distance.
9. The substation three-dimensional scene positioning safety distance-based alarm system according to claim 8, wherein the data sparseness and calculation module comprises an encoding submodule, a sorting submodule and a screening submodule;
the encoding submodule is used for encoding each first point cloud data according to an octree and establishing an array equal to the number of points;
the sorting submodule is used for sorting the data in the array with the equal number of points from small to large to obtain a sorted shaping array;
and the screening submodule is used for traversing the shaping array to screen out point cloud data corresponding to unsigned shaping, namely the second point cloud data after sparse.
10. An apparatus comprising a memory and a processor;
the memory is used for storing program codes and transmitting the program codes to the processor;
the processor is used for executing the warning method based on the substation three-dimensional scene positioning safety distance according to any one of claims 1 to 7 according to instructions in the program code.
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