CN112432641A - Transformer substation operation ticket execution method based on point cloud digital twinning technology - Google Patents
Transformer substation operation ticket execution method based on point cloud digital twinning technology Download PDFInfo
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Abstract
The invention discloses a transformer substation operation ticket execution method based on a point cloud digital twinning technology, which comprises the following steps of: constructing a three-dimensional point cloud map of a target scene and pre-storing the three-dimensional point cloud map to a mobile terminal; an operator wears an intelligent vest, wherein the intelligent vest comprises a vest body and a positioning module arranged on the vest body; an operator selects an operation ticket needing to be operated on the mobile terminal and determines a task anchor point; the positioning module is matched with the mobile terminal to obtain the positioning information of the operator in real time and display the positioning information on the three-dimensional point cloud map; the mobile terminal plans a three-dimensional navigation path according to the target anchor point and the current positioning information; and after the operator arrives at the operation site according to the three-dimensional navigation path, the mobile terminal judges whether the current positioning information enters the corresponding operation range of the target anchor point, and if so, the operation order is executed. The method has the advantages of realizing high precision and timeliness of the positioning method and avoiding the problem of misoperation of operators caused by positioning errors.
Description
Technical Field
The invention relates to the technical field of substation operation ticket execution. More specifically, the invention relates to a transformer substation operation ticket execution method based on a point cloud digital twinning technology.
Background
For electric power systems, especially large-scale substations, which have great strategic significance to national economy, safety production has been very active since long, with equipment operation being the most risky part. The operation ticket is an important link for solving the forced operation step and avoiding misoperation. Many accidents are also well documented as even minor operational errors can result in significant personal or equipment accidents. However, many misoperation events still occur in actual public countries in the year, one reason for the generation of the comprehensive analysis is that due to the fact that substation equipment is dense and close in distance, most of the equipment looks close to or even the same in appearance, misoperation is caused by inaccurate positioning when an operator executes an operation ticket.
Disclosure of Invention
An object of the present invention is to solve at least the above problems and to provide at least the advantages described later.
The invention also aims to provide a transformer substation operation ticket execution method based on the point cloud digital twin technology, wherein in the positioning process, a GPS sensor is adopted for rough positioning, then precise matching is carried out near the rough positioning of the GPS sensor by combining a laser radar, the absolute positioning timeliness is improved, further, the high precision of the positioning method is realized by fusing the relative positioning technology and the absolute positioning technology, and the problem of misoperation of operators caused by positioning errors is avoided.
To achieve these objects and other advantages in accordance with the present invention, there is provided a substation operation ticket execution method based on a point cloud digital twinning technique, comprising:
s1, pre-storing a three-dimensional point cloud map of the target scene to the mobile terminal;
s2, an operator wears an intelligent vest, the intelligent vest comprises a vest body and a positioning module arranged on the vest body, wherein the positioning module comprises a GPS sensor, a laser radar and a VIO odometer which are respectively connected with a mobile terminal;
s3, selecting an operation ticket needing to be operated on the mobile terminal by an operator, and updating the operation ticket by the mobile terminal to display a task anchor point corresponding to the operation ticket on the three-dimensional point cloud map;
s4, the mobile terminal sends an activation command to the intelligent vest, and the intelligent vest receives the activation command to activate the positioning module;
s5, the positioning module is matched with the mobile terminal to obtain the positioning information of the operator in real time and display the positioning information on the three-dimensional point cloud map;
s6, the mobile terminal plans a three-dimensional navigation path according to the target anchor point and the current positioning information;
s7, after the operator arrives at the operation site according to the three-dimensional navigation path, the mobile terminal judges whether the current positioning information enters the corresponding operation range of the target anchor point, if so, the operation order is executed;
wherein, S5 specifically includes:
s51, acquiring image information of a real scene through a laser radar;
s52, the GPS sensor acquires the position coordinate of the operator at the current moment;
s53, matching and calculating the image information of the real scene and the image information of the data twin scene simulation map near the position coordinate to obtain the observation absolute pose of the current moment;
s54, acquiring data of the VIO odometer, and calculating to obtain the relative pose of the current moment relative to the previous moment;
s55, calculating to obtain a predicted absolute pose of the current moment based on the actual absolute pose of the previous moment and by combining the relative pose of the current moment relative to the previous moment;
and S56, fusing the observed absolute pose and the predicted absolute pose at the current moment in a nonlinear optimization mode to obtain the actual absolute pose at the current moment, wherein the actual absolute position is positioning information.
Preferably, the intelligent vest further comprises a mode selection module, in the step S2, the operator determines that the intelligent vest is in a working mode through the function selection module, the guardian wears the intelligent vest, and determines that the intelligent vest is in a monitoring mode through the function selection module, wherein the VIO odometer comprises a camera and an IMU sensor, the guardian camera shoots towards the operator, and at least records the operation flow of the operator;
the mobile terminal in step S3 further includes an identity authentication module, after the operator and the guardian pass identity authentication, a communication connection between the mobile terminal and the corresponding intelligent vest is established, and the operator further logs in an operating system on the mobile terminal to select an operation ticket to be operated.
Preferably, step S53 is specifically:
determining the position information of the data twin scene simulation map near the position coordinate, and acquiring the image information of each position information under each posture information through traversing the posture information to obtain an image information set;
and matching and calculating scores of the image information of the real scene and the image information in the image information set, wherein the pose information corresponding to the image information with the highest score is the observation absolute pose of the current moment.
Preferably, the data of the VIO odometer acquired in step S54 is specifically: relative pose of last moment relative to initial momentoPk-1Relative pose of current time relative to initial timeoPkThe relative pose of the current time relative to the previous timek-1Pk＝(oPk-1)-1·oPk。
Preferably, the calculation of the predicted absolute pose at the current time specifically includes:wRk＝wRk-1·k-1RkwhereinwRkThe predicted absolute pose for the current time is,wRk-1is the actual absolute pose at the last moment,k-1Rkrelative to the current timeRelative pose at the last moment.
Preferably, step S1 is to construct a three-dimensional point cloud map of the target scene by using a scanning device, where the scanning device includes an IMU sensor for acquiring a current pose and an acceleration of the scanning vehicle, a GPS sensor for acquiring a geographic position of the scanning device, a dual laser radar for acquiring three-dimensional point cloud data of the target scene, and a camera for acquiring video data of the target scene;
the method specifically comprises the following steps:
sa, subregion division: dividing a target scene into a plurality of sub-regions by adopting a snake-shaped propelling mode, overlapping partial regions of any two adjacent sub-regions in the propelling direction, and enabling the starting point of the overlapping region to be located in the middle of the previous sub-region;
sb, scanning sub-regions:
scanning of the sub-regions is completed in a snake-shaped propelling mode, and the scanning of two adjacent regions along the scanning direction is as follows:
respectively placing mark drawing boards at the start, the middle section and the tail end of the previous subregion, placing scanning equipment in front of the mark drawing board at the start position, aligning a camera with the mark drawing boards, starting a scanning program after keeping static, starting movement, enabling a scanning track to cover the whole region by adopting a loop-back mode, and finally returning to the start mark drawing board, wherein the mark drawing boards are aligned and kept in a static state for more than 5 seconds at each mark drawing board position, and the scanning result comprises laser radar data, IMU data and video data;
removing the marking chart board at the initial position of the previous sub-area, placing another marking chart board at the tail end of the next sub-area, and finishing the scanning of the next sub-area from the middle position of the previous sub-area;
sc, establishing a graph:
the Sc1 is used for mapping each sub-area according to the scanning data, and outputting point cloud charts, track point coordinates and mark point relative pose information of each sub-area;
sc2, recording mark point relative pose information of a mark chart board in the middle section of a first sub-region by using a region loopback scanning method and taking a point cloud chart of the first sub-region as a starting point;
sc3, obtaining the relative pose information of the mark point of the starting mark chart board of the next sub-region;
sc4, obtaining a relative coordinate transformation relation between two adjacent sub-regions by combining the mark point relative pose information of the mark chart board of the segment in the previous sub-region and the mark point relative pose information of the starting mark chart board of the next sub-region, and performing coarse matching on the two adjacent sub-regions;
and Sc5, adding the point cloud picture and the track point coordinates of the next sub-area into the global optimization picture, and carrying out fine matching on the global point cloud picture through ICP (inductively coupled plasma) to obtain a three-dimensional point cloud map of the target scene.
The invention at least comprises the following beneficial effects:
in the first positioning process, a GPS sensor is adopted for rough positioning, then precise matching is carried out near the rough positioning of the GPS sensor by combining a laser radar, the timeliness of absolute positioning is improved, further, the high precision of the positioning method is realized by fusing relative positioning and absolute positioning technologies, and the problem of misoperation of an operator caused by positioning errors is avoided;
secondly, in the operation process of the transformer substation, any irregular operation can possibly influence the safe and stable operation of the power grid, even major accidents are caused, and through the arrangement of the intelligent vest, the operator and the guardian can work in a matched mode, so that the whole process of executing the operation order and the execution state of the operation order can be effectively monitored in real time.
Thirdly, in the process of constructing the three-dimensional point cloud map of the target place, the relative coordinate transformation relation between two obtained sub-areas is identified by using the poses of the overlapped marker map plates, the efficiency and the precision of overall map construction are effectively improved, the problems that the efficiency of the whole splicing process is low and the threshold is high due to the fact that various parameters to be configured in the manual splicing process are complicated and the requirement on the capability of users is high are solved, the effect of reconstructing the three-dimensional point cloud map of a large scene without depending on manual splicing is achieved, visual mark points are fused, a regional iterative scanning mode is adopted in the map construction scanning process, and the precision and the efficiency of three-dimensional map construction of the large and complex industrial scene are greatly improved.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.
Drawings
FIG. 1 is a schematic diagram of the sub-area division according to one embodiment of the present invention;
fig. 2 is an effect diagram of displaying a task ticket target anchor point on a mobile terminal according to one technical solution of the present invention.
Detailed Description
The present invention is further described in detail below with reference to examples so that those skilled in the art can practice the invention with reference to the description.
As shown in fig. 1-2, the present invention provides a method for executing a substation operation ticket based on a point cloud digital twinning technique, comprising:
s1, pre-storing a three-dimensional point cloud map of the target scene to the mobile terminal;
s2, an operator wears an intelligent vest, the intelligent vest comprises a vest body and a positioning module arranged on the vest body, wherein the positioning module comprises a GPS sensor, a laser radar and a VIO odometer which are respectively connected with a mobile terminal;
s3, selecting an operation ticket needing to be operated on the mobile terminal by an operator, and updating the operation ticket by the mobile terminal to display a task anchor point corresponding to the operation ticket on the three-dimensional point cloud map;
s4, the mobile terminal sends an activation command to the intelligent vest, the intelligent vest receives the activation command to activate the positioning module, namely after the mobile terminal updates related tasks, the connection between the mobile terminal and the related intelligent vest is established, and the corresponding related module of the intelligent vest is started to work;
s5, the positioning module cooperates with the mobile terminal to obtain the positioning information of the operator in real time and display the information on the three-dimensional point cloud map, and the method specifically comprises the following steps:
s5a, acquiring image information of a real scene, specifically point cloud data, through a laser radar;
s5b, the GPS sensor acquires the position coordinate of the operator at the current moment;
s5c, matching and calculating image information of a real scene and image information of a data twin scene simulation map near the position coordinates (the near range is determined according to the error range of the GPS sensor, and the determined range is used for preventing errors), and obtaining the observation absolute pose of the current moment;
s5d, acquiring data of the VIO odometer, and calculating to obtain the relative pose of the current moment relative to the previous moment;
s5e, obtaining a predicted absolute pose of the current moment through pre-integral calculation based on the actual absolute pose of the previous moment and the relative pose of the current moment relative to the previous moment;
s5f, fusing the observed absolute pose and the predicted absolute pose at the current moment in a nonlinear optimization mode to obtain the actual absolute pose at the current moment, wherein the actual absolute position is positioning information;
s6, planning a three-dimensional navigation path by the mobile terminal according to the current positioning information of the target anchor point and the operator by adopting a path planning algorithm;
s7, after the operator arrives at the operation site according to the three-dimensional navigation path, the mobile terminal judges whether the current positioning information enters the corresponding operation range of the target anchor point, if so, the operation order is executed, wherein the operation order state information is changed into the execution state, if not, the operation order state information is not executed, and after the task is confirmed to be executed, the operation order state information is updated to the end;
in the technical scheme, the running path information of an operator is recorded in real time and fed back, in the using process, the task states in the mobile terminal system are divided into three types, the tasks are not executed, are executed and are finished, the operator needs to enter an operation area (an operation range corresponding to an anchor point) of the tasks according to the indication of a navigation path, the anchor point state is changed into the execution state, meanwhile, the task details at the anchor point can be automatically displayed in the mobile terminal, otherwise, the task state is always kept as the non-execution state, so that the correctness of the operation position of the operator can be ensured, and the occurrence of the operation at the interval of wrong walking is prevented; by adopting the technical scheme, in the positioning process, the GPS sensor is adopted for coarse positioning, then the laser radar is combined to perform accurate matching near the coarse positioning of the GPS sensor, so that the timeliness of absolute positioning is improved, further, the high accuracy of the positioning method is realized by fusing the relative positioning technology and the absolute positioning technology, the problem of misoperation of an operator caused by positioning errors is avoided, namely, firstly, the GPS is adopted for estimating an initial position, so that the initialization efficiency is greatly improved, then, the laser radar is used for performing loop detection global matching near the position, and in order to improve the matching accuracy, a Normal Distribution Transform (NDT) method is adopted, so that the high accuracy and high density of a map are fully utilized; secondly, after the relocation is successful, in order to improve the calculation efficiency, a multithreading mode is adopted to carry out relative positioning and absolute positioning respectively, the relative positioning makes full use of the VIO odometer sensor to carry out rapid positioning in a short time, and the thread runs in real time at a high frequency; and the absolute positioning is realized by matching the information of the relative positioning with a global point cloud map, and the thread runs at a lower frequency, so that the high-precision global positioning is finally realized.
In another technical solution, the intelligent vest further comprises a mode selection module, in the execution process of the operation ticket, a guardian is required to cooperate with the operator to complete the execution, the operator and the guardian both wear the intelligent vest, in step S2, the operator determines the intelligent vest to be in a working mode through the function selection module, and after wearing the intelligent vest, the guardian determines the intelligent vest to be in a monitoring mode through the function selection module, wherein the VIO odometer comprises a camera and an IMU sensor, the guardian camera shoots towards the operator and at least records the operation flow of the operator, in the operation process of the operator, the camera at the shoulder position of the intelligent vest worn by the guardian can record the operation flow of the operator in real time, the operator operates in an illegal manner, and the mobile terminal can automatically prompt and record illegal behaviors, but not interfere with the task. After the task is confirmed to be executed, anchor point state information on the mobile terminal can be automatically updated to be finished, after all tasks in the operation ticket are executed, the operation ticket is submitted to a system by an operator and a guardian needing to write signatures by hand, and meanwhile, all operation processes of the operator recorded by a camera of the guardian can be submitted to a background analysis and evaluation system to check the operation specifications of the operator.
The mobile terminal in step S3 further includes an identity authentication module, after passing through identity authentication, the operator and the guardian construct a communication connection between the mobile terminal and the corresponding intelligent vest, and further the operator logs in the operating system on the mobile terminal to select an operation ticket that needs to be operated, where the identity authentication module is specifically one of fingerprint authentication and face recognition, and when the identity authentication module is face recognition, the implementation steps are as follows:
collecting photos and name information of workers in substation
The method comprises the steps of collecting face photos of each worker by using a monocular camera, recording names of the workers, and using the names as labels, wherein each worker collects three images, converting the data into a format required by training after collection is completed, dividing all the data into a test set, a verification set and a training set, calculating an image mean value in order to improve the training speed and precision, training each image in the training set after the mean value is subtracted, testing each model by using the test set after the training is completed, selecting the model with the highest accuracy and the best effect as a final model, and loading the model into an online system of a mobile terminal on line to realize face recognition. The intelligent vest further comprises an AI module and a vital sign monitoring module which are arranged on the vest body, and the AI module and the vital sign monitoring module are synchronously activated in the step S4. By adopting the scheme, through the setting of the mode selection module, the operating personnel and the monitoring personnel can select the corresponding working modes according to the requirements, so that the vest is synchronously suitable for the operating personnel and the monitoring personnel, the applicability of the vest is improved, and the misoperation is avoided through the setting of the identity authentication module.
In another technical solution, step S5c is specifically:
determining the position information of the data twin scene simulation map near the position coordinate, and acquiring the image information of each position information under each posture information through traversing the posture information to obtain an image information set;
and matching and calculating scores of the image information of the real scene and the image information in the image information set, wherein the pose information corresponding to the image information with the highest score is the observation absolute pose of the current moment. By adopting the scheme, the image information of the data twin scene simulation map under each attitude information is obtained by traversing the attitude information, wherein the attitude information is the attitude angle, and because the attitude angle takes values in the range of 360 degrees, a series of attitude angles can be tried one by one in the form of arithmetic progression, such as 5 degrees, 10 degrees and 15 degrees … … 360 degrees.
In another technical solution, the step S5d of obtaining data of the VIO odometer includes: relative pose of last moment relative to initial momentoPk-1Relative pose of current time relative to initial timeoPkThe relative pose of the current time relative to the previous timek-1Pk＝(oPk-1)-1·oPk。
In another technical scheme, the obtaining of the predicted absolute pose at the current moment through pre-integral calculation specifically comprises:wRk＝wRk-1·k-1RkwhereinwRkThe predicted absolute pose for the current time is,wRk-1is the actual absolute pose at the last moment,k-1Rkthe relative pose of the current moment relative to the last moment is obtained.
In another technical solution, step S1 is to construct a three-dimensional point cloud map of a target scene by using a scanning device, where the scanning device includes an IMU sensor for acquiring a current pose and an acceleration of a scanning vehicle, a GPS sensor for acquiring a geographic position of the scanning device, a dual laser radar for acquiring three-dimensional point cloud data of the target scene, and a camera for acquiring video data of the target scene;
the method specifically comprises the following steps:
sa, subregion division: dividing a target scene into a plurality of sub-regions by adopting a cyclic iteration and snake-shaped propulsion mode, overlapping partial regions of any two adjacent sub-regions in the propulsion direction, and positioning the starting point of the overlapped region in the middle of the previous sub-region; specifically, as shown in fig. 1: firstly, dividing the whole target mapping region into a plurality of approximately equal-size rectangular sub-regions, wherein the length of each region is not more than 30 meters, and the width of each region is not more than 20 meters. If the target scene is irregular in shape, the actual number of rows and columns can be divided according to the actual situation, if the target scene is regular in shape as shown in fig. 1, the target scene can be regularly divided into M rows × N columns of sub-regions, in the same row, the regions with 1/2 in adjacent rectangular regions are overlapped, in two regions scanned end to end in adjacent columns, the first region of the next scanning line is in an L shape, and the lower half part of the first region is overlapped with the half region of the previous scanning line.
Sb, scanning sub-regions:
the scanning direction is as shown by an arrow in fig. 1 in a serpentine scanning manner, the first row of the whole region sequentially scans all the sub-regions in the row from left to right, after the last region in the row is scanned, the adjacent sub-region in the second row, that is, the rightmost sub-region in the second row, is scanned sequentially from right to left, and so on, until the whole target region is scanned, wherein the numbering sequence of the sub-regions is consistent with the scanning sequence.
The specific scanning of two adjacent sub-areas is as follows:
printing Apriltag two-dimensional codes to manufacture a hard marking drawing board;
preparing three tripods, and selecting three marking chart boards to be respectively installed on the three tripods;
the three tripods (specifically, three solid triangles shown in fig. 1) are respectively placed at the start, the middle section and the end of the previous sub-region, so that the mark drawing boards (the aprilat two-dimensional codes on the three mark drawing boards are different) are respectively placed at the start, the middle section and the end of the previous sub-region, and the start, the middle section and the end of the current sub-region are respectively formed;
placing a scanning device in front of a mark drawing board at an initial position, aligning a camera with the mark drawing board, keeping the camera static, starting a scanning program, starting to move, covering the whole area by adopting a loopback mode to enable a scanning track to finally return to the position of the initial mark drawing board, wherein the scanning track is aligned and kept in a static state for more than 5 seconds at each mark drawing board position, and a scanning result comprises laser radar data, IMU data (pose and acceleration) and video data;
removing the tripod at the initial position of the previous subregion, replacing the marking chart board on the tripod, placing the tripod with the changed marking chart board at the tail end of the next subregion, and finishing the scanning of the next subregion from the middle section position (the initial section of the subregion) of the previous subregion in the same scanning mode as the previous subregion;
sc, map building
Sc1, creating a sub-region map: after the area scanning process is finished, drawing each sub-area according to the scanning data, and outputting the point cloud picture, the track point coordinates and the mark point relative pose information of each sub-area, which specifically comprises the following steps:
performing frame-by-frame local scanning Matching (Scan Matching) on the laser radar data by using pose information in IMU data to obtain local poses of adjacent frame scanning equipment in a sub-region map, and obtain point cloud pictures and track point coordinates of the sub-region;
judging whether the equipment is in a static state currently according to acceleration information in IMU data, if so, starting a detection process of a marking chart board, analyzing the video data of the first frame after the equipment by a drawing program, identifying whether a marking pattern exists, if so, calculating to obtain a pose relation between the marking point pattern and a camera, judging whether the pose relation meets certain distance and visual angle conditions (preset according to actual conditions), and if so, considering that the marking position is effective;
calculating the pose data of the effective mark points by using the camera and the reference coordinates of the scanning equipment which are obtained by calibration in advance, and then exiting the mark pattern detection process to obtain the pose data of the mark points, wherein each mark point corresponds to an ID (identity) number;
sc2, global map building:
a region loopback scanning method is adopted, a point cloud picture of a first sub-region is taken as a starting point, and the relative pose information of the mark points of the mark picture board in the middle section of the sub-region is recorded;
sc3, obtaining the relative pose information of the mark point of the starting mark chart board of the next sub-region;
sc4, obtaining a relative coordinate transformation relation between two adjacent sub-regions by combining the mark point relative pose information of the mark chart board of the segment in the previous sub-region and the mark point relative pose information of the starting mark chart board of the next sub-region, and performing coarse matching on the two adjacent sub-regions;
and Sc5, adding the point cloud picture and the track point coordinates of the next sub-area into the global optimization picture, and carrying out fine matching on the global point cloud picture through ICP (inductively coupled plasma) to obtain a three-dimensional point cloud map of the target scene. By adopting the scheme, in the process of carrying out region division on the region to be scanned, a repeated region exists between two adjacent sub-regions, and further in the scanning process, because two overlapped marking chart boards exist in the adjacent sub-regions, the relative coordinate transformation relation between the two sub-regions which can be obtained can be identified by using the poses of the overlapped marking chart boards, the efficiency and the precision of global map construction are effectively improved, the problems that various parameters to be configured in the manual splicing process are relatively complicated, the requirement on the capability of a user is high, the efficiency of the whole splicing process is low, and the threshold is high are solved, the effect of reconstructing a three-dimensional point cloud map of a large scene without depending on manual picture splicing is realized, visual marking points are fused, a region iterative scanning mode is adopted in the picture construction scanning process, the precision and the efficiency of the three-dimensional map construction of the large and complex industrial scene are greatly improved, and a conventional 500kV transformer substation (200m x 200m) is taken as, and the digital twin model of the real scene can be obtained by performing on-site scanning for about 2 hours and performing three-dimensional real scene post-processing for about 4 hours, wherein the total time is 6 hours.
< example 1>
A transformer substation operation ticket execution method based on a point cloud digital twinning technology comprises the following steps:
s1, utilizing a scanning device (scanning vehicle) to construct a three-dimensional point cloud map of a target scene, and pre-storing the three-dimensional point cloud map to a mobile terminal, wherein the scanning device is provided with an IMU sensor for acquiring the current pose and acceleration of the scanning vehicle, a GPS sensor for acquiring the geographic position of the scanning device, a dual laser radar for acquiring three-dimensional point cloud data of the target scene, and a camera for acquiring video data of the target scene, the scanning vehicle is provided with a set of complete digital twin scene mapping scheme, and the mapping scheme is utilized to construct the three-dimensional point cloud map of the target scene, and the method specifically comprises the following steps:
sa, subregion division: dividing a target scene into a plurality of sub-regions by adopting a cyclic iteration and snake-shaped propulsion mode, overlapping partial regions of any two adjacent sub-regions in the propulsion direction, and positioning the starting point of the overlapped region in the middle of the previous sub-region;
sb, scanning sub-regions:
scanning a whole target area in a snake-shaped scanning mode, wherein the specific scanning of two adjacent sub-areas is as follows:
printing Apriltag two-dimensional codes to manufacture a hard marking drawing board;
preparing three tripods, and selecting three marking chart boards to be respectively installed on the three tripods;
the three tripods (specifically, three solid triangles shown in fig. 1) are respectively placed at the start, the middle section and the end of the previous sub-region, so that the mark drawing boards (the aprilat two-dimensional codes on the three mark drawing boards are different) are respectively placed at the start, the middle section and the end of the previous sub-region, and the start, the middle section and the end of the current sub-region are respectively formed;
placing a scanning device in front of a mark drawing board at an initial position, aligning a camera with the mark drawing board, keeping the camera static, starting a scanning program, starting to move, covering the whole area by adopting a loopback mode to enable a scanning track to finally return to the position of the initial mark drawing board, wherein the scanning track is aligned and kept in a static state for more than 5 seconds at each mark drawing board position, and a scanning result comprises laser radar data, IMU data (pose and acceleration) and video data;
removing the tripod at the initial position of the previous subregion, replacing the marking chart board on the tripod, placing the tripod with the changed marking chart board at the tail end of the next subregion, and finishing the scanning of the next subregion from the middle section position (the initial section of the subregion) of the previous subregion in the same scanning mode as the previous subregion;
sc, map building
Sc1, creating a sub-region map: after the area scanning process is finished, drawing each sub-area according to the scanning data, and outputting the point cloud picture, the track point coordinates and the mark point relative pose information of each sub-area, which specifically comprises the following steps:
performing frame-by-frame local scanning Matching (Scan Matching) on the laser radar data by using pose information in IMU data to obtain local poses of adjacent frame scanning equipment in a sub-region map, and obtain point cloud pictures and track point coordinates of the sub-region;
judging whether the equipment is in a static state currently according to acceleration information in IMU data, if so, starting a detection process of a marking chart board, analyzing the video data of the first frame after the equipment by a drawing program, identifying whether a marking pattern exists, if so, calculating to obtain a pose relation between the marking point pattern and a camera, judging whether the pose relation meets certain distance and visual angle conditions (preset according to actual conditions), and if so, considering that the marking position is effective;
calculating the pose data of the effective mark points by using the camera and the reference coordinates of the scanning equipment which are obtained by calibration in advance, and then exiting the mark pattern detection process to obtain the pose data of the mark points, wherein each mark point corresponds to an ID (identity) number;
sc2, global map building:
a region loopback scanning method is adopted, a point cloud picture of a first sub-region is taken as a starting point, and the relative pose information of the mark points of the mark picture board in the middle section of the sub-region is recorded;
sc3, obtaining the relative pose information of the mark point of the starting mark chart board of the next sub-region;
sc4, obtaining a relative coordinate transformation relation between two adjacent sub-regions by combining the mark point relative pose information of the mark chart board of the segment in the previous sub-region and the mark point relative pose information of the starting mark chart board of the next sub-region, and performing coarse matching on the two adjacent sub-regions;
sc5, adding the point cloud picture and the track point coordinates of the next sub-area into the global optimization picture, and carrying out fine matching on the global point cloud picture through ICP (inductively coupled plasma) to obtain a three-dimensional point cloud map of the target scene;
s2, an operator and a guardian wear an intelligent vest, the intelligent vest comprises a vest body, a positioning module, a mode selection module, an identity authentication module, a vital sign monitoring module and the like, the positioning module, the mode selection module, the identity authentication module and the vital sign monitoring module are arranged on the vest body, the operator determines that the intelligent vest is in a working mode through the function selection module, and the guardian determines that the intelligent vest is in a monitoring mode through the function selection module after wearing the intelligent vest, wherein the positioning module comprises a GPS sensor, a laser radar and a VIO odometer which are respectively connected with a mobile terminal, and the VIO odometer comprises a camera and an IMU sensor;
s3, after passing identity authentication, an operator and a guardian construct a communication connection between a mobile terminal and a corresponding intelligent vest, the operator selects an operation ticket needing to be operated on the mobile terminal, the mobile terminal updates the operation ticket to display a task anchor point corresponding to the operation ticket on a three-dimensional point cloud map (specifically, according to an execution process, the anchor point corresponding to a task needs to be supported currently), wherein the identity authentication is face recognition, each operation ticket possibly corresponds to a plurality of tasks, and task states are divided into three types: not executed, in execution, finished. The operator must enter the operation area of the task according to the instruction of the system navigation, the anchor point state in the twin system is changed into the execution state, and meanwhile, the task details at the anchor point are automatically displayed in the twin system. Otherwise, the task state is kept as unexecuted all the time, so that the correctness of the operation position of a worker can be ensured, and the phenomenon that the worker operates at intervals by mistake is prevented. As shown in fig. 2, it is a switching operation ticket of a substation, which includes 6 operation items, which are sequentially numbered as 1-6, and can be distinguished by colors (not shown in the figure) according to the current status, in this embodiment, 1 and 2 are green to represent that execution is performed, 3 is yellow to represent that execution is in progress, and 4-6 are gray to represent that execution is not performed;
s4, the mobile terminal sends an activation command to the intelligent vests of the operators and the guardians, and the intelligent vests receive the activation command to activate and start working;
s5, the positioning module cooperates with the mobile terminal to obtain the positioning information of the operator and the guardian in real time and display the information on the three-dimensional point cloud map, which specifically comprises the following steps:
s5a, acquiring image information of a real scene, specifically point cloud data, through a laser radar;
s5b, the GPS sensor acquires the position coordinates of the corresponding personnel at the current moment;
s5c, matching and calculating image information of a real scene and image information of a data twin scene simulation map near the position coordinates (the near range is determined according to the error range of the GPS sensor, and the determined range is used for preventing errors), and obtaining the observation absolute pose of the current moment, wherein the image information of the real scene and the image information of the data twin scene simulation map are specifically as follows:
determining position information of the data twin scene simulation map near the position coordinate, and acquiring image information of the data twin scene simulation map under each posture information by traversing the posture information to obtain an image information set, wherein the image information of the data twin scene simulation map under each posture information is acquired by traversing the posture information, namely a posture angle, and because the posture angle is taken within a range of 360 degrees, a series of posture angles can be calculated in an arithmetic progression mode, such as trial at 360 degrees of 5 degrees, 10 degrees and 15 degrees … … 360 one by one;
matching and calculating scores of the image information of the real scene and the image information in the image information set, wherein the pose information corresponding to the image information with the highest score is the observation absolute pose of the current moment, and the matching and calculating scores are specifically calculated by adopting a Normal Distribution Transform (NDT) method;
s5d, acquiring data of the VIO odometer (including the relative pose of the last moment relative to the initial moment)oPk-1Relative pose of current time relative to initial timeoPk) And calculating to obtain the relative pose of the current moment relative to the previous momentk-1Pk＝(oPk-1)-1·oPk；
S5e actual absolute pose based on last momentwRk-1Combining the relative pose of the current moment relative to the previous momentk-1RkCalculating to obtain the prediction of the current timeAbsolute posewRk＝wRk-1·k-1Rk；
S5f, fusing the observed absolute pose and the predicted absolute pose at the current moment in a nonlinear optimization mode to obtain the actual absolute pose at the current moment, wherein the actual absolute position is positioning information;
s6, planning a three-dimensional navigation path by the mobile terminal according to the current positioning information of the target anchor point and the operator by adopting a path planning algorithm;
s7, after an operator arrives at an operation site according to the three-dimensional navigation path under the monitoring effect of a monitor, the mobile terminal judges whether the current positioning information enters the corresponding operation range of the target anchor point, if so, the operation ticket is executed, the state information of the operation ticket (one corresponding task) is changed into the execution state, if not, the state information of the operation ticket is not executed, and after the task is confirmed to be executed, the state information of the operation ticket is changed into the finished state;
after all tasks in the operation order are executed, the operation order needs to be handwritten and signed by operators and guardians, the operation order is submitted to the system, meanwhile, all operation processes of the operators, recorded by the cameras of the guardians, can also be submitted to a background analysis and evaluation system, and operation specifications of the operators are checked.
< example 2>
In 7 months in 2018, a simple backpack experiment is performed in a teaching substation of technical institute of network technology in the country of the Jinnan City, and the size of the scene is 200m by 100 m. In the experimental process, firstly, a digital twin environment (three-dimensional point cloud map) of the teaching transformer substation is established; then, acquiring face data, acquiring face photos of each worker in the station by using a camera of the law enforcement instrument, and training a face recognition model; and then the operator and the guardian execute the task on the electronic operation ticket, and the task is safely executed according to expectation.
While embodiments of the invention have been described above, it is not limited to the applications set forth in the description and the embodiments, which are fully applicable in various fields of endeavor to which the invention pertains, and further modifications may readily be made by those skilled in the art, it being understood that the invention is not limited to the details shown and described herein without departing from the general concept defined by the appended claims and their equivalents.
Claims (6)
1. A transformer substation operation ticket execution method based on a point cloud digital twinning technology is characterized by comprising the following steps:
s1, pre-storing a three-dimensional point cloud map of the target scene to the mobile terminal;
s2, an operator wears an intelligent vest, the intelligent vest comprises a vest body and a positioning module arranged on the vest body, wherein the positioning module comprises a GPS sensor, a laser radar and a VIO odometer which are respectively connected with a mobile terminal;
s3, selecting an operation ticket needing to be operated on the mobile terminal by an operator, and updating the operation ticket by the mobile terminal to display a task anchor point corresponding to the operation ticket on the three-dimensional point cloud map;
s4, the mobile terminal sends an activation command to the intelligent vest, and the intelligent vest receives the activation command to activate the positioning module;
s5, the positioning module is matched with the mobile terminal to obtain the positioning information of the operator in real time and display the positioning information on the three-dimensional point cloud map;
s6, the mobile terminal plans a three-dimensional navigation path according to the target anchor point and the current positioning information;
s7, after the operator arrives at the operation site according to the three-dimensional navigation path, the mobile terminal judges whether the current positioning information enters the corresponding operation range of the target anchor point, if so, the operation order is executed;
wherein, S5 specifically includes:
s51, acquiring image information of a real scene through a laser radar;
s52, the GPS sensor acquires the position coordinate of the operator at the current moment;
s53, matching and calculating the image information of the real scene and the image information of the data twin scene simulation map near the position coordinate to obtain the observation absolute pose of the current moment;
s54, acquiring data of the VIO odometer, and calculating to obtain the relative pose of the current moment relative to the previous moment;
s55, calculating to obtain a predicted absolute pose of the current moment based on the actual absolute pose of the previous moment and by combining the relative pose of the current moment relative to the previous moment;
and S56, fusing the observed absolute pose and the predicted absolute pose at the current moment in a nonlinear optimization mode to obtain the actual absolute pose at the current moment, wherein the actual absolute position is positioning information.
2. The method for executing the substation operation ticket based on the point cloud digital twin technology according to claim 1, wherein the intelligent vest further comprises a mode selection module, in step S2, the operator determines that the intelligent vest is in the working mode through the function selection module, the guardian wears the intelligent vest, and determines that the intelligent vest is in the monitoring mode through the function selection module, wherein the VIO odometer comprises a camera and an IMU sensor, the guardian camera shoots towards the operator, and at least records the operation flow of the operator;
the mobile terminal in step S3 further includes an identity authentication module, after the operator and the guardian pass identity authentication, a communication connection between the mobile terminal and the corresponding intelligent vest is established, and the operator further logs in an operating system on the mobile terminal to select an operation ticket to be operated.
3. The method for executing the substation operation ticket based on the point cloud digital twin technology according to claim 1, wherein the step S53 specifically comprises:
determining the position information of the data twin scene simulation map near the position coordinate, and acquiring the image information of each position information under each posture information through traversing the posture information to obtain an image information set;
and matching and calculating scores of the image information of the real scene and the image information in the image information set, wherein the pose information corresponding to the image information with the highest score is the observation absolute pose of the current moment.
4. The method for executing the substation operation ticket based on the point cloud digital twin technology according to claim 1, wherein the step S54 of obtaining data of the VIO odometer includes: relative pose of last moment relative to initial momentoPk-1Relative pose of current time relative to initial timeoPkThe relative pose of the current time relative to the previous timek-1Pk＝(oPk-1)-1·oPk。
5. The method for executing the substation operation ticket based on the point cloud digital twin technology according to claim 1, wherein the calculation of the predicted absolute pose at the current moment specifically comprises:wRk＝wRk-1·k-1RkwhereinwRkThe predicted absolute pose for the current time is,wRk-1is the actual absolute pose at the last moment,k-1Rkthe relative pose of the current moment relative to the last moment is obtained.
6. The method for executing the substation operation ticket based on the point cloud digital twin technology of claim 1, wherein step S1 is to construct a three-dimensional point cloud map of a target scene by using a scanning device, wherein the scanning device comprises an IMU sensor for acquiring the current pose and acceleration of a scanning vehicle, a GPS sensor for acquiring the geographic position of the scanning device, a dual laser radar for acquiring three-dimensional point cloud data of the target scene, and a camera for acquiring video data of the target scene;
the method specifically comprises the following steps:
sa, subregion division: dividing a target scene into a plurality of sub-regions by adopting a snake-shaped propelling mode, overlapping partial regions of any two adjacent sub-regions in the propelling direction, and enabling the starting point of the overlapping region to be located in the middle of the previous sub-region;
sb, scanning sub-regions:
scanning of the sub-regions is completed in a snake-shaped propelling mode, and the scanning of two adjacent regions along the scanning direction is as follows:
respectively placing mark drawing boards at the start, the middle section and the tail end of the previous subregion, placing scanning equipment in front of the mark drawing board at the start position, aligning a camera with the mark drawing boards, starting a scanning program after keeping static, starting movement, enabling a scanning track to cover the whole region by adopting a loop-back mode, and finally returning to the start mark drawing board, wherein the mark drawing boards are aligned and kept in a static state for more than 5 seconds at each mark drawing board position, and the scanning result comprises laser radar data, IMU data and video data;
removing the marking chart board at the initial position of the previous sub-area, placing another marking chart board at the tail end of the next sub-area, and finishing the scanning of the next sub-area from the middle position of the previous sub-area;
sc, establishing a graph:
the Sc1 is used for mapping each sub-area according to the scanning data, and outputting point cloud charts, track point coordinates and mark point relative pose information of each sub-area;
sc2, recording mark point relative pose information of a mark chart board in the middle section of a first sub-region by using a region loopback scanning method and taking a point cloud chart of the first sub-region as a starting point;
sc3, obtaining the relative pose information of the mark point of the starting mark chart board of the next sub-region;
sc4, obtaining a relative coordinate transformation relation between two adjacent sub-regions by combining the mark point relative pose information of the mark chart board of the segment in the previous sub-region and the mark point relative pose information of the starting mark chart board of the next sub-region, and performing coarse matching on the two adjacent sub-regions;
and Sc5, adding the point cloud picture and the track point coordinates of the next sub-area into the global optimization picture, and carrying out fine matching on the global point cloud picture through ICP (inductively coupled plasma) to obtain a three-dimensional point cloud map of the target scene.
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