CN112258491A - Three-dimensional simulation method for defects of power equipment - Google Patents
Three-dimensional simulation method for defects of power equipment Download PDFInfo
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Abstract
The invention provides a three-dimensional simulation method for defects of electric power equipment, which belongs to the technical field of artificial intelligence and comprises the following steps: 1) building a power equipment defect simulation sample, and obtaining a three-dimensional material of the power equipment defect simulation sample; 2) establishing a three-dimensional model of a power equipment defect simulation sample, and repairing, mapping, correcting and optimizing the three-dimensional model; 3) exporting the optimized three-dimensional model in a universal format OBJ or FBX, then importing the optimized three-dimensional model into a Unity 3D editor, integrating the scenes and adjusting the effect, and after all the scenes are integrated, performing secondary optimization on the whole scene; 4) and outputting the defective images in batches. The method has the characteristics of safety, high efficiency, low cost and small operation difficulty, is not limited by weather factors, and can quickly collect a large number of samples in a short time.
Description
Technical Field
The invention belongs to the technical field of artificial intelligence, and particularly relates to a three-dimensional simulation method for defects of electric power equipment.
Background
In order to better adapt to the needs of power transmission and transformation operation and maintenance, the values of the inspection image data to the operation and maintenance and the auxiliary decision making are improved, the service mode is optimized, the service resources are integrated, a comprehensive and diversified visual defect database of the equipment is formed based on a three-dimensional simulation technology and an artificial intelligence technology, the value maximization of the image data resources in the operation and maintenance auxiliary decision making is realized, and the whole operation and maintenance efficiency and level of a power grid are improved. The three-dimensional simulation technology is used for creating a three-dimensional virtual environment which reflects the change and interaction of an entity object in real time for a user in a simulation mode, and providing a three-dimensional interface for the user to observe the interaction with the virtual world through auxiliary sensing equipment such as a helmet-mounted display (HMD) and data gloves, so that the user can directly participate in and explore the action and the change of the simulation object in the environment.
Public (announcement) number CN108320346A is based on the interconnected electric wire netting of unmanned aerial vehicle and VR and patrols and examines control platform, combines "internet +", "unmanned aerial vehicle +", and "VR +"'s brand-new ecological mode of patrolling and examining. This platform develops based on the micro service framework, combines to patrol and examine unmanned aerial vehicle, patrols and examines equipment and software such as remote controller, patrols and examines VR, patrols and examines picture biography numerical control center, and real-time high-efficient convenient realization electric wire netting is patrolled and examined, its characterized in that, the method passes through, reappears on-the-spot real scene by VR, unmanned aerial vehicle terminal acquisition data filters, picture biography numerical control center send and receive information, the discovery of patrolling and examining equipment defect/hidden danger, handles, generates and patrols and examines the report, defect hidden danger processing method and report collect the processing flow such as the statistical analysis of the intelligent bag knowledge base, the task of patrolling and examining is accomplished to the. The invention is used as a brand-new inspection mode, and has the advantages of rapidness, high working efficiency, no influence of regions, high inspection quality, high safety, labor saving, real scene and the like. The defect identification is carried out by using an unmanned aerial vehicle, and the defect of the tower bottle mouth and the positions above the tower bottle mouth, which is difficult to be found by manpower, accounts for about 75 percent. Efficiency and quality are showing and are improving to greatly reduced intensity of labour, promoted and patrolled and examined efficiency, ensured the operation maintenance ability to the power equipment state. A public (announcement) number CN110880258A relates to the field of simulation training methods, in particular to an intelligent inspection practical operation simulation training system for an unmanned aerial vehicle of a power line, which comprises: the unmanned aerial vehicle carries electronic equipment and navigates according to the specified inspection area to obtain an inspection line; the control end is in communication connection with the unmanned aerial vehicle and is used for performing flight control on the unmanned aerial vehicle, receiving a flight path and a photo shot by the unmanned aerial vehicle, analyzing and processing the flight path to obtain a flight path, and feeding the flight path back to the unmanned aerial vehicle to implement closed-loop autonomous obstacle avoidance control; and the VR equipment is connected with a serial port of the control end or in wireless communication and is used for handling major faults by an operator according to the set checkpoint exercise. The invention simulates a real environment, obtains a high-precision line patrol track by actually testing and patrolling a line, establishes a model on the basis, arranges defect points in the system, trains the control and patrolling requirements of a user unmanned aerial vehicle, and consolidates and improves the control and patrolling level of the personnel. In the model process of establishing, unmanned aerial vehicle can shoot or obtain more accurate picture or hot feeling picture, improves the quality of examining the operation, and guarantees normal flying height to the track of patrolling and examining that obtains is comparatively accurate, can improve training authenticity and accuracy.
The unmanned aerial vehicle is used for defect identification, so that labor and material cost are saved, manual and helicopter routing inspection is replaced, but the existing unmanned aerial vehicle routing inspection mainly adopts three modes of camera shooting, infrared light detection and shooting, sampling, amplifying and analyzing to acquire data, the data acquired by the three modes lack comprehensive means, and the probability of finding problems is reduced; this method is not conducive to fine problem detection; and the method is not beneficial to timely transmission of fault information.
Disclosure of Invention
In view of this, the technical problem to be solved by the present invention is to provide a method for three-dimensional simulation of defects of power equipment, which combines three-dimensional modeling and VR simulation techniques to perform defect simulation, and finally realizes autonomous photographing of various defects and batch output of defect images, and is safe, efficient, low in cost, and small in operation difficulty.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows: a three-dimensional simulation method for defects of electric power equipment comprises the following steps:
1) building a power equipment defect simulation sample, and obtaining a three-dimensional material of the power equipment defect simulation sample;
2) establishing a three-dimensional model of a power equipment defect simulation sample, and repairing, mapping, correcting and optimizing the three-dimensional model;
3) exporting the optimized three-dimensional model in a universal format OBJ or FBX, then importing the optimized three-dimensional model into a Unity 3D editor, integrating the scenes and adjusting the effect, and after all the scenes are integrated, performing secondary optimization on the whole scene;
4) and outputting the defective images in batches.
Preferably, the power equipment defect simulation sample is an insulator pollution simulation sample, a hardware fitting corrosion simulation sample or a wire clamp corrosion simulation sample, and the construction method comprises the following steps:
a1. performing secondary protection on a predetermined defect simulation position;
b1. tightening the lead by using a lever block;
c1. replacing a predetermined hardware by using an insulator pollution simulation sample, a hardware corrosion simulation sample and a wire clamp corrosion simulation sample;
d1. and (5) loosening the lead, dismantling the tool and completing construction.
Preferably, the power equipment defect simulation sample is a suspension clamp skew simulation sample, and the construction method comprises the following steps:
a2. performing secondary protection on a predetermined defect simulation position;
b2. tightening the lead by using a lever block;
c2. the wire clamp is disassembled, and the wire clamp is moved to one side for a certain distance;
d2. mounting an insulator;
e2. and (5) rechecking the installation quality, dismantling the installation tool and completing construction.
Preferably, the specific method for establishing the three-dimensional model of the power equipment defect simulation sample in the step 2) includes the following steps:
1.1) acquiring original point cloud and holographic image data of a power equipment defect simulation sample through a three-dimensional laser scanner, and managing the output point cloud and holographic image data in an engineering mode;
1.2) preprocessing the original point cloud and outputting the preprocessed point cloud data;
1.3) associating the preprocessed three-dimensional point cloud with the holographic image and automatically registering and mapping, and outputting image point cloud data;
1.4) three-dimensional modeling is carried out based on image point cloud data, and the method comprises the following steps:
1.4.1) quickly drawing a contour line of a horizontal section of a defect simulation sample of the power equipment by using a point cloud tangent plane on a three-dimensional point cloud top view, automatically calculating the height of the sample by using the point cloud, stretching the contour, and constructing a sample model;
1.4.2) for the constructed sample model, texture extraction is supported through fusion with a holographic image, and a mapping texture corresponding to the texture is displayed in the three-dimensional model;
1.4.3) carrying out batch three-dimensional modeling processing on the road surface, the upright stanchion and the street tree.
Preferably, the preprocessing of the original point cloud at least comprises splicing, denoising, classifying and filtering.
Preferably, the three-dimensional material comprises geometric data, texture data and attribute data, the acquired content of the geometric data comprises the geometric appearance frame size and the internal component size data of the sample, the acquired content of the texture data comprises complete image information, local image information and material visual color information of the outer facade or surface of the power equipment facility, and the acquired content of the attribute data comprises the equipment number, name, voltage level, model and material of the power equipment.
Preferably, the acquisition mode of the geometric data includes drawing data extraction, close-range shooting measurement, three-dimensional laser scanning and total station measurement, the acquisition mode of the texture data includes photography and computer simulation, and the acquisition mode of the attribute data includes power equipment delivery data, drawing data, production management information and field investigation.
Preferably, the repairing in the step 2) is to export the three-dimensional model into an OBJ or FBX format, then import the three-dimensional model into Autodesk Meshmixer software for hole-breaking repairing, and intelligently fill the hole-breaking model, so as to complete repairing of the three-dimensional model;
the chartlet correction is to introduce a three-dimensional model into substance pointer software, endow a chartlet to the model, observe a part with problems of a surface texture chartlet by virtue of an illumination system of the software, introduce a real object image shot by a high-definition camera into the software, and correct the surface texture chartlet by virtue of a texture mapping tool;
the optimization processing is to introduce the three-dimensional model into 3DMAX and reduce the number of models and/or the number of model surfaces of the three-dimensional model.
Preferably, the manner of outputting the defect image in step 4) includes outputting an image and outputting a random defect image according to a user configuration requirement.
Preferably, the method for three-dimensional simulation of defects of electrical equipment further includes: judging the quality of the defect image, wherein the judging method comprises the following steps:
4.1) constructing a training data sample set of image quality according to the requirements of different types of defect sample characteristics;
4.2) extracting the spatial domain and transform domain characteristics of the sample;
4.3) constructing an SVR regression model, judging the image quality, and when the judgment value is lower than a set threshold value, indicating that the sample is not the defect data which is in accordance with the scene target, thereby carrying out the elimination operation of the data; when the judgment value is higher than the set threshold value, the sample is indicated to be in accordance with the requirement.
In the conventional operation and maintenance work of the power transmission line, the simulation work of the defect sample is mainly carried out based on a defect simulation mode under the real power transmission line, although the mode can directly sample the defect, the simulation cost is high, the consumed time is long, the difficulty of defect design and management is high, the future weather factors need to be considered, meanwhile, a great safety risk also exists, and particularly, when the defect simulation is carried out on high-altitude equipment, safety accidents can be caused by carelessness. Although the defect collection of high latitude in the present stage can rely on unmanned aerial vehicle to take photo by plane, this needs professional flight hand and the unmanned aerial vehicle that possesses high definition camera lens, and simultaneously, unmanned aerial vehicle continuation of the journey problem has greatly restricted the efficiency of defect collection.
Although the VR three-dimensional simulation technology starts earlier, the technology just steps into a mature stage in recent years, and technical feasibility is provided for defect simulation by utilizing the VR technology. Meanwhile, an imaging technology based on the three-dimensional laser scanner is the basis of quick imaging of a basic model of a VR three-dimensional simulation technology, and the scanning precision of the three-dimensional laser scanner is continuously improved, so that point cloud collection through the three-dimensional laser scanner is possible.
The first idea of performing the power equipment defect simulation by a person of ordinary skill is to perform physical simulation on a real line or generate a defect picture by means of image data enhancement, and the conventional technology in the art also generally adopts the method. The invention initiatively adopts the point cloud data collected based on the three-dimensional laser scanner to carry out the defect simulation by combining two advanced technologies of a rapid modeling method and a VR simulation technology. The point cloud data generation method based on three-dimensional laser scanner collection relies on a real physical equipment defect environment, and the inventor relies on a national grid power transmission line galloping prevention and control technology laboratory, accumulates certain equipment defects, and is convenient for collecting equipment defect point clouds.
Compared with the prior art, the invention has the following beneficial effects:
based on the technical scheme, the invention provides a three-dimensional simulation method for defects of electric power equipment, which is characterized in that an overhead line inspection scene is manufactured in a three-dimensional virtual environment, natural factors such as wind and light are added, and various defects to be acquired are added into the electric power equipment, so that autonomous photographing of various equipment defects and batch output of defect images are realized.
Drawings
The present invention will be described in further detail with reference to the accompanying drawings.
FIG. 1: the invention discloses a flow diagram of a three-dimensional simulation method for defects of electric power equipment;
FIG. 2: the invention discloses a flow schematic diagram of another three-dimensional simulation method for defects of electric power equipment.
Detailed Description
In order to better understand the present invention, the following examples are further provided to clearly illustrate the contents of the present invention, but the contents of the present invention are not limited to the following examples. In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details.
Referring to fig. 1-2, a method for three-dimensionally simulating defects of an electrical device includes the following steps:
1) building a power equipment defect simulation sample, and obtaining a three-dimensional material of the power equipment defect simulation sample;
2) establishing a three-dimensional model of a power equipment defect simulation sample, and repairing, mapping, correcting and optimizing the three-dimensional model;
3) exporting the optimized three-dimensional model in a universal format OBJ or FBX, then importing the optimized three-dimensional model into a Unity 3D editor, integrating the scenes and adjusting the effect, and after all the scenes are integrated, performing secondary optimization on the whole scene;
4) and outputting the defective images in batches.
As a preferred embodiment of the invention, representative defect types such as insulator contamination, hardware fitting, wire clamp corrosion and suspension clamp skew are selected as samples to be simulated, and conventionally understood defect samples can also be broken strands/scattered strands, foreign matter suspension, insulator fragment explosion, discharge point burning, hammer corrosion and damage prevention, hammer slippage prevention, suspension clamp skew, wire clamp corrosion and the like.
When the power equipment defect simulation sample is an insulator pollution simulation sample, a hardware fitting corrosion simulation sample or a wire clamp corrosion simulation sample, the construction method of the simulation sample specifically comprises the following steps:
a1. performing secondary protection on a predetermined defect simulation position;
b1. tightening the lead by using a lever block;
c1. replacing a predetermined hardware by using an insulator pollution simulation sample, a hardware corrosion simulation sample and a wire clamp corrosion simulation sample;
d1. and (5) loosening the lead, dismantling the tool and completing construction.
Further, the invention also provides a power equipment defect simulation sample which is a suspension clamp deflection simulation sample, and the building method of the simulation sample specifically comprises the following steps:
a2. performing secondary protection on a predetermined defect simulation position;
b2. tightening the lead by using a lever block;
c2. the wire clamp is disassembled, and the wire clamp is moved to one side for a certain distance;
d2. mounting an insulator;
e2. and (5) rechecking the installation quality, dismantling the installation tool and completing construction.
Wherein in step c2 the distance to shift to one side is determined according to the analogue line voltage class, e.g. 500kV shift 20mm ± 0.5 mm.
In addition, the invention also provides a broken strand/loose strand defect simulation sample construction method, which comprises the following steps:
a. jumper for manufacturing broken strand/loose strand
The jumper length is typically determined using field measurement methods. The specific operation is that firstly, one end of a jumper wire is pressed for drainage, then the end is hung on a strain clamp at one side of the strain tower, the required length of the jumper wire is actually measured according to the design required value, another ー end is pressed after the jumper wire is printed and broken, and then the jumper wire is connected on the strain clamp at the other side
b. Installation jumper wire
And fixing two ends of the manufactured jumper on the drainage plate respectively, and fixing firmly by using bolts.
c. Post-installation inspection
The jumper wire is in a naturally drooping arc shape after being installed, and the defects of distortion, hard bending and the like are avoided. The tightening of the pressure plate connecting bolt at the jumper end is in accordance with the requirement, and the torque value of the bolt is in accordance with the requirement.
As a preferred embodiment of the present invention, the specific method for establishing the three-dimensional model of the power equipment defect simulation sample in step 2) includes the following steps:
1.1) acquiring original point cloud and holographic image data of a power equipment defect simulation sample through a three-dimensional laser scanner, and managing the output point cloud and holographic image data in an engineering mode;
1.2) preprocessing the original point cloud and outputting the preprocessed point cloud data;
1.3) associating the preprocessed three-dimensional point cloud with the holographic image and automatically registering and mapping, and outputting image point cloud data;
1.4) three-dimensional modeling is carried out based on image point cloud data, and the method comprises the following steps:
1.4.1) quickly drawing a contour line of a horizontal section of a defect simulation sample of the power equipment by using a point cloud tangent plane on a three-dimensional point cloud top view, automatically calculating the height of the sample by using the point cloud, stretching the contour, and constructing a sample model;
1.4.2) for the constructed sample model, texture extraction is supported through fusion with a holographic image, and a mapping texture corresponding to the texture is displayed in the three-dimensional model;
1.4.3) carrying out batch three-dimensional modeling processing on the road surface, the upright stanchion and the street tree.
The preprocessing of the original point cloud at least comprises splicing, denoising, classifying and filtering, wherein the splicing, denoising, classifying and filtering are conventional technologies in the field. For the point cloud preprocessing, in the scanning process of the three-dimensional laser scanner, due to the blocking and shielding of scanning targets by external environmental factors, such as the shielding of moving vehicles, pedestrians and trees, and the uneven reflection characteristics of an entity, point clouds need to be filtered, and unstable points and error points contained in point cloud data are eliminated. In practice, it is necessary to select a suitable filtering algorithm to be automatically performed in cooperation with the process. For point cloud splicing, collected data can be automatically spliced according to coordinate points when being imported into software, but due to the errors of manual operation and angle frames, joints of some point clouds are not ideal, manual splicing is needed at the moment, and splicing of some coordinate-free scanning surfaces is also processed manually. During manual splicing, the point cloud is properly compressed, and the characteristic points with protrusions, sharp corners and different planes are selected to reduce operation errors. If 1cm laser is adopted for scanning at intervals, the error after splicing is preferably less than 3 mm.
For point cloud registration in the step 1.3), registering the point cloud under a control network coordinate system by using control point registration; and searching a same-name point pair by using a public area for pairwise registration of the point cloud with the missing target, and using a manual registration method when the same-name point pair cannot be found. The latter two methods are pairwise registration, and in order to convert all point clouds into a uniform control network coordinate system and match the point clouds obtained by the control point registration method, one station needs to be the point clouds matched with the control network coordinate system when the point clouds are pairwise registered.
Due to the discreteness of the point cloud, the model has certain defects, and an accurate real digital model can be obtained only after operations such as repairing, adjusting and the like are carried out on the model in a polygon stage. Because the shapes of the defect models are complex and various, the current grid repairing is difficult to realize full automation. Two methods are mainly adopted for bug repairing of point cloud data of the three-dimensional laser scanner: when the hole appears in a plane area, such as a hole on a window or a wall surface, the hole data can be filled by adopting a linear interpolation method; when the hole appears in a non-planar area, such as a hole appearing on a cylinder, a quadric surface interpolation method can be adopted.
In the present invention, the three-dimensional material includes geometric data, texture data, and attribute data.
The acquisition content of the geometric data comprises the geometric appearance frame size and the internal part size data of the sample, and specifically comprises the height, the length, the base shape and size, the facade shape and size, the top surface shape and size, the section size and the like of the main equipment of the ultra-high voltage substation.
The collected content of the texture data comprises complete image information, local image information and material visual color information of the outer facade or surface of the power equipment facility.
The collected content of the attribute data comprises the equipment number, name, voltage level, model and material of the electric power equipment, and the collected content is inherent content required by the modeling of the electric power equipment facility.
As for the above-mentioned manner of collecting the three-dimensional materials, in the present invention, as a preferred embodiment, the manner of collecting the geometric data includes drawing data extraction, close-range shooting measurement, three-dimensional laser scanning and total station measurement, and of course, it should be understood by those skilled in the art that any manner of collecting the geometric data in the three-dimensional materials can be used in the present invention.
As a preferred embodiment of the invention, the texture data acquisition mode comprises shooting and computer simulation, specifically, the image and video data acquired by shooting are the main modes of texture data in a three-dimensional model and are also the most real and effective texture acquisition modes, simple model textures can be acquired by computer simulation, and the method has the characteristics of convenience and quickness.
The following should be noted when photographing to obtain texture:
shadow should be avoided, glare eliminated; the time when the weather is relatively clear is selected as much as possible, so that the phenomenon of over-exposure or under-exposure of light is avoided. The exposure time, the aperture size and the light sensitivity are preferably set manually, and automatic exposure can be selected under the condition that the texture quality can be guaranteed. The weather with soft and uniform light rays is selected for shooting, and the optimal shooting angle (the shooting is performed by keeping 90 degrees as far as possible when conditions allow) is selected, so that the backlight shooting is avoided. For indoor photography, it is desirable to set light sources at different positions to make the illumination of the object uniform. The details of the photo to be expressed should be determined according to different precision and expression requirements. The shots should be taken to produce a representative surface image through the texture. Preferably, the surface image of the power equipment is included to ensure no omission. For the surface of the repeating unit, the local part is preferably shot; for the surface that does not have the repetitive unit, should shoot complete surface, for the surface that the structure is complicated or can't be looked forward and shoot, should carry out multi-angle and shoot.
As a preferred embodiment of the present invention, the collection manner of the attribute data includes factory information, drawing information, production management information, and field investigation of the electrical equipment, and of course, the collection manner is not exhaustive, and it should be understood by those skilled in the art that any collection manner capable of obtaining the attribute data in the three-dimensional material may be used in the present invention.
As a preferred embodiment of the present invention, the repairing in step 2) is to export the three-dimensional model into an OBJ or FBX format, then import the three-dimensional model into Autodesk meshimixer software to perform hole-breaking repairing, and perform intelligent filling on the hole-breaking model, thereby completing repairing of the three-dimensional model;
the chartlet correction is to introduce a three-dimensional model into substance pointer software, endow a chartlet to the model, observe a part with problems of a surface texture chartlet by virtue of an illumination system of the software, introduce a real object image shot by a high-definition camera into the software, and correct the surface texture chartlet by virtue of a texture mapping tool;
the optimization processing is to introduce the three-dimensional model into 3DMAX and reduce the number of models and/or the number of model surfaces of the three-dimensional model.
And 3) performing secondary optimization on the whole scene in the step 3), including Draw Call Batching, drawing number reduction, map optimization, illumination optimization, GPU optimization, LOD, Per-Layer Cull Distances and Occlusion Culling, so that the software runs at the optimal frame rate through the optimization, and the 3D simulation effect is more real and optimal in running state.
As a preferred embodiment of the present invention, the manner of outputting the defect image in step 4) includes performing image output and random defect image output according to user configuration requirements.
The three-dimensional simulation method for the defects of the power equipment further comprises the following steps: judging the quality of the defect image, wherein the judging method comprises the following steps:
4.1) constructing a training data sample set of image quality according to the requirements of different types of defect sample characteristics;
4.2) extracting the spatial domain and transform domain characteristics of the sample;
4.3) constructing an SVR regression model, judging the image quality, and when the judgment value is lower than a set threshold value, indicating that the sample is not the defect data which is in accordance with the scene target, thereby carrying out the elimination operation of the data; when the judgment value is higher than the set threshold value, the sample is indicated to be in accordance with the requirement.
A power equipment defect three-dimensional simulation system comprises:
simulating a power equipment defect sample;
the equipment defect acquisition module is used for acquiring a three-dimensional material of a power equipment defect simulation sample;
the three-dimensional model making module is used for establishing a three-dimensional model of the power equipment defect simulation sample, and repairing, mapping, correcting and optimizing the three-dimensional model;
the three-dimensional model integration processing module is used for guiding the optimized three-dimensional model into a Unity 3D editor, integrating the scenes and adjusting the effect, and performing secondary optimization on the whole scene after all the scenes are integrated;
and the image output module is used for outputting the defect images in batches.
A three-dimensional simulation system for defects of electric power equipment further comprises: and the image quality judging module is used for constructing corresponding regression models according to different scene targets and judging the quality of the defect image.
The utility model provides an electric power equipment defect three-dimensional simulation collection system is applied to unmanned aerial vehicle electric power and patrols and examines operation VR simulation training platform, unmanned aerial vehicle electric power patrols and examines operation VR simulation training platform includes signal connection's electric power equipment defect three-dimensional simulation system, computer, information input and output device and controlgear. The control device may be an airplane model controller.
Examples of the invention
The insulator defect model acquisition steps are as follows:
obtaining model by adopting 3D scanning defective insulator
The insulator defect is subjected to multi-angle original data acquisition through 3D scanning equipment, Artec Studio records the original data in the scanning process and displays the original data in software in real time, a scanner cannot move too fast in the data acquisition process to prevent data loss, and the insulator defect is observed through screen software until the insulator integral scanning is completed.
The method comprises the steps that Artec Studio starts to automatically calculate acquired point cloud data after scanning is finished, a plurality of noise points and data which are not needed by us exist in the acquired scanning original data after calculation is finished, at the moment, editing and erasing operations are carried out on the two stations of original data scanned by us in own software Artec Studio of us, after the point erasing is finished, the data scanned by the two stations need to be spliced and fitted, namely, the data acquired from multiple angles are finally aligned, at the moment, the model is still in a point cloud stage and is not a real editable model, then sharpening fusion can be selected, the point cloud data are packaged into grid patch data, and due to the fact that texture acquisition of a scanned object is finished while scanning is carried out, texture mapping can be carried out along with the data after data processing is finished, and acquisition of an insulator defect model is finished.
Repair of a model
Because the number of corners of the insulator is large, the scanning mode of the 3D scanner is linear, and therefore the shielded part can not be shot, the model needs to be repaired, the model is exported to be in a general OBJ or FBX format, at the moment, the exported insulator defect model needs to be imported into Autodesk Meshmixer software for hole repairing, when the edge of a hole is dually hit, the software can automatically calculate and guess the position where data needs to be repaired, and after the application, the software can intelligently fill the hole model by using surrounding grids so as to complete the repairing of the model.
Correction of a map
After the insulator defect model is scanned, problems of stretching, missing, uneven color and the like of textures may exist or exist, at the moment, a real object image shot by a high-definition camera is used while scanning is needed, a PBR material drawing software of a Substance Pointer (SP) is used for correcting a mapping problem, the software is opened to introduce the insulator defect model, the mapping is given to the model, a position with a problem in a surface texture mapping is observed by an SP lighting system, a high-definition image shot before is introduced into the software, the surface texture mapping is corrected by a texture mapping tool, and then the corrected mapping is led out.
Model optimization
The export of the VR scene and the opening speed of the VR scene can be directly influenced by the excessive number of the models in the VR scene, if the number of the models in the current VR scene is excessive, a computer can not calculate, so that part of objects can not be loaded, and finally the obtained VR scene models are incomplete and have model loss phenomena; if the computer loads all models in the VR scene, the running speed of the computer is very slow, and in order to avoid the problems, the solution is as follows: the model is imported into 3DMAX, and then the materials of a plurality of objects are combined to reduce the number of models.
The optimization of the model needs to reduce the number of the models and the number of the surfaces of the models, and both the two data are elements influencing the final running speed of the VR program, so that the optimization operation is necessary and important, and at the moment, the model needs to be led into 3Dmax to reduce the number of the surfaces so as to achieve the most vivid effect by using the simplest number of the surfaces, thereby saving system resources.
After the collection, the making and the repair of the model textures are finished, the models are led out of a universal format OBJ or FBX available to Unity through 3DMAX, then the models are led into a Unity 3D editor, scenes are integrated and the effect is adjusted through the Unity, after all scenes are integrated to achieve the ideal effect, the Unity carries out secondary optimization on the whole scene, so that the program resource consumption is saved to the maximum extent, the operation frame rate is improved, the optimization processes are relatively complicated, and the following description is provided for the optimization means mainly used in the invention:
(ii) vertex optimization
Optimized geometry
When a scene, a tower and an insulator defect model are established, the number of vertexes of the model is greatly increased along with the increase of the number of the models, and a certain resource burden is caused to a GPU (graphics processing unit).
② LOD technique
LOD is to establish a model pyramid for models, and to select and use models with different precisions according to the distance between a camera and an object, so that the number of vertexes to be drawn can be greatly reduced when appropriate.
When the insulator defect model is scanned and stored, three models with different levels of high precision, medium precision and low precision are selected and generated, the models are named from high to low according to complexity, after the insulator defect models with different subdivision levels are led into a Unity scene, an empty object is defined, LOD Group components are added, the prepared insulator defect models with the three different precisions are respectively dragged to each level of the LOD Group components of the empty object, and therefore the Unity program can select the proper precision level of the insulator defect model according to the distance of a camera, and the program performance is effectively improved.
Thirdly, shielding and removing objects which are not seen by the camera
The Occlusion Culling technique means that when an object is occluded by other objects and is not visible to the current camera, it may not be rendered. The occlusion rejection is different from the viewing pyramid rejection (from Culling), the viewing pyramid rejection only does not render objects outside the viewing pyramid range of the camera, but is blocked by other objects, objects still within the viewing pyramid range can be rendered, and the viewing pyramid rejection is also effective when the occlusion rejection is used.
When a plurality of towers, insulators and buildings exist in a scene, the objects are baked by Occlusion Culling, after baking is completed, the objects can be seen by VR eyes in the range of the view cone of the camera, a model which is not in the range of the view cone and is shielded by another model can be removed, and a model which is shielded by another model can not be rendered, so that the resource consumption caused by drawing of the graph by a computer can be greatly saved.
Reduction of real-time illumination and shadows
After a scene and a tower model are led into Unity, adding and adjusting of an illumination system are carried out, the scene and the tower model are realized through GI real-time light, namely, the illumination system can carry out illumination calculation on the scene once when a visual angle is switched once, the GI real-time light consumes a frame rate, and basically, a plurality of DC values are added to each model.
Reduce Drawcall
The draw call is used for calling a bottom graphics interface by the CPU, for example, there are many defective insulators, rendering of each defective insulator requires calling the bottom graphics interface once, and each calling of the CPU requires much work, so that the CPU is inevitably burdened. However, the workload of graphics processing is the same for the GPU, so the optimization of DrawCall is mainly to release the overhead of the CPU on invoking the graphics interface as much as possible, and therefore the main idea for DrawCall is to reduce the number of rendering times for each object as much as possible, and preferably to render multiple objects together.
According to the method, a Draw Call Batching technology is used, objects which can be combined in a scene are combined and optimized, and meanwhile, texture maps of a plurality of towers or insulators are combined into one through later-stage arrangement, so that the towers or the insulators are rendered through one drawing Call, drawing of a CPU is reduced, and program performance is improved.
After the defect model based on the three-dimensional simulation technology is manufactured, the system can provide autonomous photographing and image output for various equipment defects:
a. outputting images according to the configuration requirements of users;
the system automatically photographs and outputs images of the equipment defects according to the defect types, the image quantity, the environmental effect, the photographing distance and angle and the image quantity configured by a user.
b. Outputting a random defect image;
the user only needs to select the defect type and the image quantity, and the system can output the device defect self-determination picture and the image according to the random environment effect, the shooting angle and the specified distance range.
The method is implemented by performing quality analysis on defect samples of different power transmission equipment in different scenes, and comprises the following steps:
constructing a training data sample set of image quality according to the requirements of different types of defect sample characteristics;
extracting the spatial domain and transform domain characteristics of the sample;
and constructing an SVR regression model based on the characteristics, and predicting the picture quality.
Constructing corresponding regression models according to different scene targets, judging the image quality, and when the judgment value is lower than a set threshold value, indicating that the sample is not the defect data which is in accordance with the scene target, thereby carrying out the elimination operation of the data; above a set threshold value indicates that the sample is satisfactory.
Finally, the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting, and other modifications or equivalent substitutions made by the technical solutions of the present invention by those of ordinary skill in the art should be covered within the scope of the claims of the present invention as long as they do not depart from the spirit and scope of the technical solutions of the present invention.
Claims (10)
1. A three-dimensional simulation method for defects of electric power equipment is characterized by comprising the following steps:
1) building a power equipment defect simulation sample, and obtaining a three-dimensional material of the power equipment defect simulation sample;
2) establishing a three-dimensional model of a power equipment defect simulation sample, and repairing, mapping, correcting and optimizing the three-dimensional model;
3) exporting the optimized three-dimensional model in a universal format OBJ or FBX, then importing the optimized three-dimensional model into a Unity 3D editor, integrating the scenes and adjusting the effect, and after all the scenes are integrated, performing secondary optimization on the whole scene;
4) and outputting the defective images in batches.
2. The three-dimensional simulation method for the defects of the power equipment, according to claim 1, is characterized in that: the electric power equipment defect simulation sample is an insulator pollution simulation sample, a hardware fitting corrosion simulation sample or a wire clamp corrosion simulation sample, and the construction method comprises the following steps:
a1. performing secondary protection on a predetermined defect simulation position;
b1. tightening the lead by using a lever block;
c1. replacing a predetermined hardware by using an insulator pollution simulation sample, a hardware corrosion simulation sample and a wire clamp corrosion simulation sample;
d1. and (5) loosening the lead, dismantling the tool and completing construction.
3. The three-dimensional simulation method for the defects of the power equipment, according to claim 1, is characterized in that: the electric power equipment defect simulation sample is a suspension clamp deflection simulation sample, and the construction method comprises the following steps:
a2. performing secondary protection on a predetermined defect simulation position;
b2. tightening the lead by using a lever block;
c2. the wire clamp is disassembled, and the wire clamp is moved to one side for a certain distance;
d2. mounting an insulator;
e2. and (5) rechecking the installation quality, dismantling the installation tool and completing construction.
4. The three-dimensional simulation method for the defects of the power equipment, according to claim 1, is characterized in that: the specific method for establishing the three-dimensional model of the power equipment defect simulation sample in the step 2) comprises the following steps:
1.1) acquiring original point cloud and holographic image data of a power equipment defect simulation sample through a three-dimensional laser scanner, and managing the output point cloud and holographic image data in an engineering mode;
1.2) preprocessing the original point cloud and outputting the preprocessed point cloud data;
1.3) associating the preprocessed three-dimensional point cloud with the holographic image and automatically registering and mapping, and outputting image point cloud data;
1.4) three-dimensional modeling is carried out based on image point cloud data, and the method comprises the following steps:
1.4.1) quickly drawing a contour line of a horizontal section of a defect simulation sample of the power equipment by using a point cloud tangent plane on a three-dimensional point cloud top view, automatically calculating the height of the sample by using the point cloud, stretching the contour, and constructing a sample model;
1.4.2) for the constructed sample model, texture extraction is supported through fusion with a holographic image, and a mapping texture corresponding to the texture is displayed in the three-dimensional model;
1.4.3) carrying out batch three-dimensional modeling processing on the road surface, the upright stanchion and the street tree.
5. The three-dimensional simulation method for the defects of the power equipment as claimed in claim 4, wherein the method comprises the following steps: the preprocessing of the original point cloud at least comprises splicing, denoising, classifying and filtering.
6. The three-dimensional simulation method for the defects of the power equipment, according to claim 1, is characterized in that: the three-dimensional material comprises geometric data, texture data and attribute data, the acquisition content of the geometric data comprises the geometric appearance frame size and the internal part size data of a sample, the acquisition content of the texture data comprises complete image information, local image information and material visual color information of the outer facade or surface of the power equipment facility, and the acquisition content of the attribute data comprises the equipment number, name, voltage grade, model and material of the power equipment.
7. The three-dimensional simulation method for the defects of the power equipment as claimed in claim 6, wherein the method comprises the following steps: the acquisition mode of the geometric data comprises drawing data extraction, close-range shooting measurement, three-dimensional laser scanning and total station measurement, the acquisition mode of the texture data comprises photography and computer simulation, and the acquisition mode of the attribute data comprises power equipment delivery data, drawing data, production management information and field investigation.
8. The three-dimensional simulation method for the defects of the power equipment as claimed in claim 7, wherein the method comprises the following steps: in the step 2), the repairing is to export the three-dimensional model into an OBJ or FBX format, then import the three-dimensional model into Autodesk Meshmixer software for hole repairing, and intelligently fill the hole model, so as to complete the repairing of the three-dimensional model;
the chartlet correction is to introduce a three-dimensional model into substance pointer software, endow a chartlet to the model, observe a part with problems of a surface texture chartlet by virtue of an illumination system of the software, introduce a real object image shot by a high-definition camera into the software, and correct the surface texture chartlet by virtue of a texture mapping tool;
the optimization processing is to introduce the three-dimensional model into 3DMAX and reduce the number of models and/or the number of model surfaces of the three-dimensional model.
9. The three-dimensional simulation method for the defects of the power equipment as claimed in claim 8, wherein the method comprises the following steps: the mode of outputting the defect image in the step 4) comprises image output and random defect image output according to the configuration requirement of a user.
10. The three-dimensional simulation method for the defects of the power equipment as claimed in claim 9, wherein the method comprises the following steps: further comprising: judging the quality of the defect image, wherein the judging method comprises the following steps:
4.1) constructing a training data sample set of image quality according to the requirements of different types of defect sample characteristics;
4.2) extracting the spatial domain and transform domain characteristics of the sample;
4.3) constructing an SVR regression model, judging the image quality, and when the judgment value is lower than a set threshold value, indicating that the sample is not the defect data which is in accordance with the scene target, thereby carrying out the elimination operation of the data; when the judgment value is higher than the set threshold value, the sample is indicated to be in accordance with the requirement.
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