CN112687012A - Island information fusion method based on three-dimensional visual management and control platform - Google Patents
Island information fusion method based on three-dimensional visual management and control platform Download PDFInfo
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Abstract
An island information fusion method based on a three-dimensional visual management and control platform is characterized by comprising the following steps: all equipment of the whole transformer substation is subjected to three-dimensional BIM modeling, then the three-dimensional BIM modeling is used as a carrier, account data, line monitoring data, video monitoring data, infrared image data of the inspection robot and real-time preview data of the inspection robot are respectively accessed to the 4A system and are associated with the three-dimensional BIM modeling, the BIM model and real video stream information are subjected to video information fusion and then output and displayed, the spatial three-dimensional form of the transformer substation is depicted, information intercommunication and sharing of transformer substation projects in the design, construction and operation processes are solved, various types of video information can be fused, a vivid and visual three-dimensional model is formed, and the three-dimensional model can be presented in a high-simulation form.
Description
Technical Field
The invention relates to a fusion method of video information, in particular to an island information fusion method based on a three-dimensional visual management and control platform, and belongs to the technical field of information processing.
Background
For a long time, in the construction process of an electric power engineering project, a plurality of small-scale specialized participants exist, but the design, construction and operation processes are basically isolated from each other, a common interaction platform is lacked, information cannot be integrated and shared, information loss and information transmission errors are caused, disordered flowing of the information is caused, and engineering construction is hindered. Meanwhile, the scale of the transformer substation of the power system in China is getting larger and larger, which causes disordered flow of information and hinders engineering construction. Meanwhile, the transformer substation of the power system in China is larger and larger in scale, more and more complex in structure and more advanced in equipment, and the traditional transformer substation construction management and operation and maintenance management mode faces huge challenges.
The building information technology (BIM) is widely applied in the field of foreign building design, and the core is a database formed by a three-dimensional model of a computer to restore the three-dimensional complex form of a real space, and a virtual reality technology is introduced to realize roaming in a virtual building and show the building growth process. The database information is dynamically changed and adjusted in the whole building process, and related data contained in the system database can be timely and accurately called, so that decision making progress is accelerated, decision making quality is improved, information sharing and management such as design, construction, operation and maintenance are realized, project quality is improved, and project cost is reduced.
A technical means which can digitize all physical existence forms of buildings, equipment, pipelines, water and electricity and the like related to a transformer substation in power engineering, and various related information, and fuse various video information to form a vivid and visual three-dimensional model to be presented in a high-simulation form is lacked.
Disclosure of Invention
The invention aims to solve the problems of defects and defects that the existing transformer substation projects are basically isolated from each other in the design, construction and operation processes, information cannot be integrated and shared, a vivid and visual three-dimensional model cannot be formed, and the transformer substation projects cannot be presented in a high-simulation mode.
In order to achieve the purpose, the technical solution of the invention is as follows: an island information fusion method based on a three-dimensional visual management and control platform is characterized by comprising the following steps:
a. firstly, performing three-dimensional BIM modeling on all equipment of the whole transformer substation, wherein the three-dimensional BIM modeling comprises the distribution conditions of primary equipment, secondary equipment, a direct current field and a current conversion zone;
b. then, three-dimensional BIM modeling is used as a carrier, and tie-down data of the transformer substation are accessed for correlation;
c. secondly, accessing online monitoring data and associating the online monitoring data with three-dimensional BIM modeling, acquiring the online monitoring data in a data interface mode, and visually displaying related data in a three-dimensional visual scene;
d. then accessing video monitoring data and associating the video monitoring data with three-dimensional BIM modeling, correspondingly arranging a plurality of camera models in a three-dimensional picture scene, carrying out data association between each camera model and a camera entity in a real scene, and clicking any one camera model to display a monitoring video picture corresponding to the camera in real time;
e. then, accessing infrared image data and real-time preview data of the inspection robot, accessing and displaying data acquired by the inspection robot on a three-dimensional visual control platform, and directly seeing accessed infrared pictures and data;
f. and finally, fusing the data of various island information uniformly through a three-dimensional model carrier, performing longitude and latitude adjustment on the point cloud data and the BIM model data, fusing through transformation of a projection matrix, and displaying the fused information through a three-dimensional visual control platform.
Further, the specific method for implementing the fusion of the island information in the step f is as follows: the method comprises the steps of carrying out BIM modeling on internal equipment of the transformer substation to form BIM model data, loading point cloud data through a WebGL technology and converting the point cloud data into WGS-84 coordinates, constructing a viewpoint coordinate system with eyes of an observer as a center, converting the WGS-84 coordinates into primary viewpoint coordinates through a view matrix conversion mode, loading BIM model data through the WebGL technology, converting the WGS-84 coordinates into final viewpoint coordinates through the view matrix conversion mode, and finally carrying out longitude and latitude adjustment on the point cloud data and the BIM model data and fusing through conversion of a projection matrix.
Further, a specific algorithm of view matrix transformation in the island information fusion method is as follows:
wherein the content of the first and second substances,
，
and obtaining the viewpoint coordinates through the transformation of the view matrix.
Further, a transformation formula of a projection matrix in the island information fusion method is as follows:
wherein the coordinates before transformation are A: (
,
,
) The transformed coordinates are B (
，
，
）。
The invention has the beneficial effects that:
1. the method carries out three-dimensional BIM modeling on all equipment of the whole transformer substation, and then takes the three-dimensional BIM modeling as a carrier, and is respectively accessed into account book data, line monitoring data, video monitoring data, infrared image data of the inspection robot and real-time preview data of the 4A system to be associated with the three-dimensional BIM modeling.
2. According to the invention, the BIM model and the real video stream information are subjected to video information fusion and then output and displayed, so that the spatial stereo form of the transformer substation is depicted, the information intercommunication and sharing of the transformer substation project in the design, construction and operation processes are solved, various video information can be fused to form a vivid and visual three-dimensional model, and the three-dimensional model can be presented in a high-simulation form.
Detailed Description
The present invention will be described in further detail with reference to specific embodiments.
The invention discloses an island information fusion method based on a three-dimensional visual management and control platform, which comprises the following steps of:
a. firstly, performing three-dimensional BIM modeling on all equipment of the whole transformer substation, wherein the three-dimensional BIM modeling comprises the distribution conditions of primary equipment, secondary equipment, a direct current field and a current conversion zone;
b. then, three-dimensional BIM modeling is used as a carrier, and tie-down data of the transformer substation are accessed for correlation;
c. secondly, accessing online monitoring data and associating the online monitoring data with three-dimensional BIM modeling, acquiring the online monitoring data in a data interface mode, and visually displaying related data in a three-dimensional visual scene;
d. then accessing video monitoring data and associating the video monitoring data with three-dimensional BIM modeling, correspondingly arranging a plurality of camera models in a three-dimensional picture scene, carrying out data association between each camera model and a camera entity in a real scene, and clicking any one camera model to display a monitoring video picture corresponding to the camera in real time;
e. then, accessing infrared image data and real-time preview data of the inspection robot, accessing and displaying data acquired by the inspection robot on a three-dimensional visual control platform, and directly seeing accessed infrared pictures and data;
f. and finally, fusing the data of various island information uniformly through a three-dimensional model carrier, performing longitude and latitude adjustment on the point cloud data and the BIM model data, fusing through transformation of a projection matrix, and displaying the fused information through a three-dimensional visual control platform.
The specific method for realizing the integration of the island information in the step f is as follows: the method comprises the steps of carrying out BIM modeling on internal equipment of the transformer substation to form BIM model data, loading point cloud data through a WebGL technology and converting the point cloud data into WGS-84 coordinates, constructing a viewpoint coordinate system with eyes of an observer as a center, converting the WGS-84 coordinates into primary viewpoint coordinates through a view matrix conversion mode, loading BIM model data through the WebGL technology, converting the WGS-84 coordinates into final viewpoint coordinates through the view matrix conversion mode, and finally carrying out longitude and latitude adjustment on the point cloud data and the BIM model data and fusing through conversion of a projection matrix.
The specific algorithm of view matrix transformation in the island information fusion method is as follows:
wherein the content of the first and second substances,
，
and obtaining the viewpoint coordinates through the transformation of the view matrix.
The transformation formula of the projection matrix in the island information fusion method is as follows:
wherein the coordinates before transformation are A: (
,
,
) The transformed coordinates are B (
，
，
）。
The invention firstly needs to acquire point cloud data, and the point cloud data can be acquired in various ways, such as a three-dimensional laser scanner, a high-definition camera or other sensor equipment. The raw data obtained by three-dimensional laser scanning on the ground consists of discrete vector distance points, which are a set of points and are called a point cloud. The surface model of the building is then composed of these sets of points. Before a three-dimensional laser scanner is used for acquiring data of a building, a reasonable scanning route needs to be designed according to factors such as the terrain on the spot, the size and the complexity of the building and the like, the number of targets and the positions of the targets are determined, and a reasonable scanning range, a sampling density and a scanning distance are determined. The data finally acquired by the three-dimensional laser scanner comprise point cloud data of the scanned building and image information acquired by the external camera.
And arranging a GPS reference point in the measuring area, encrypting the map root measuring points, erecting a three-dimensional laser scanner or sensor equipment on each control point, and connecting various data lines and power lines to start up and scan a built-in screen of the three-dimensional laser scanner. During the working process of the three-dimensional laser scanner, line scanning in the vertical direction is firstly carried out, then horizontal rotation is carried out according to the set horizontal angular resolution, and then line scanning in the vertical direction is carried out. Although the working process is regular, the obtained point cloud is still scattered, and smoothing of the point cloud before modeling is necessary. In addition, for a part of modeling objects, the density of original point cloud data is too high, the data volume is increased unnecessarily, and data simplification is also necessary. For example: the scan density was: 20cm/70m, ground features such as vegetation and noise information exist in the scanning point cloud data, and the information needs to be processed in order to extract a three-dimensional model.
Point cloud data are loaded through a WebGL technology and are converted into WGS-84 coordinates, a viewpoint coordinate system with eyes of an observer as a center is constructed, and the WGS-84 coordinates are converted into preliminary viewpoint coordinates through a view matrix conversion mode. And then loading BIM model data through a WebGL technology, and transforming WGS-84 coordinates into final viewpoint coordinates in a view matrix transformation mode. Through two times of view matrix transformation, point cloud data and BIM model data are effectively merged into a viewpoint coordinate system, and accurate final viewpoint coordinates are formed. And carrying out longitude and latitude adjustment on the point cloud data and the BIM model data, fusing through transformation of a projection matrix, loading a full-looking three-dimensional image of the converter station on a screen through a Web technology, and displaying a real-time video picture in a three-dimensional window according to actual content.
Defining the coordinates of the visual origin as (x, y, z) in the view matrix transformation, wherein the specific algorithm of the view matrix transformation is as follows:
wherein the content of the first and second substances,
，
and obtaining the viewpoint coordinates through the transformation of the view matrix.
In addition, the transformation formula of the projection matrix is:
wherein the coordinates before transformation are A: (
,
,
) The transformed coordinates are B (
，
，
). In a three-dimensional environment, changes to the position of an object are achieved by controlling the matrix changes of the object model. Such as translation, zoom, rotation, etc. In the process, the position of the object in the world coordinate system is represented in a homogeneous coordinate system, an n-dimensional vector is represented by an n + 1-dimensional vector, for example, (x, y, z, h) is used as a variable parameter, and (x/h, y/h, z/h) represents coordinates in a three-dimensional space.
The method fuses data of various island information uniformly through a three-dimensional model carrier, adjusts the longitude and latitude of point cloud data and BIM model data, fuses the point cloud data and the BIM model data through the transformation of a projection matrix, and displays the fused information through a three-dimensional visual control platform.
While the invention has been described in detail with reference to specific embodiments thereof, it will be apparent to one skilled in the art that various changes and modifications can be made therein without departing from the spirit of the invention.
Claims (4)
1. An island information fusion method based on a three-dimensional visual management and control platform is characterized by comprising the following steps:
a. firstly, performing three-dimensional BIM modeling on all equipment of the whole transformer substation, wherein the three-dimensional BIM modeling comprises the distribution conditions of primary equipment, secondary equipment, a direct current field and a current conversion zone;
b. then, three-dimensional BIM modeling is used as a carrier, and tie-down data of the transformer substation are accessed for correlation;
c. secondly, accessing online monitoring data and associating the online monitoring data with three-dimensional BIM modeling, acquiring the online monitoring data in a data interface mode, and visually displaying related data in a three-dimensional visual scene;
d. then accessing video monitoring data and associating the video monitoring data with three-dimensional BIM modeling, correspondingly arranging a plurality of camera models in a three-dimensional picture scene, carrying out data association between each camera model and a camera entity in a real scene, and clicking any one camera model to display a monitoring video picture corresponding to the camera in real time;
e. then, accessing infrared image data and real-time preview data of the inspection robot, accessing and displaying data acquired by the inspection robot on a three-dimensional visual control platform, and directly seeing accessed infrared pictures and data;
f. and finally, fusing the data of various island information uniformly through a three-dimensional model carrier, performing longitude and latitude adjustment on the point cloud data and the BIM model data, fusing through transformation of a projection matrix, and displaying the fused information through a three-dimensional visual control platform.
2. The island information fusion method based on the three-dimensional visualization control platform according to claim 1, characterized in that: the specific method for realizing the integration of the island information in the step f is as follows: the method comprises the steps of carrying out BIM modeling on internal equipment of the transformer substation to form BIM model data, loading point cloud data through a WebGL technology and converting the point cloud data into WGS-84 coordinates, constructing a viewpoint coordinate system with eyes of an observer as a center, converting the WGS-84 coordinates into primary viewpoint coordinates through a view matrix conversion mode, loading BIM model data through the WebGL technology, converting the WGS-84 coordinates into final viewpoint coordinates through the view matrix conversion mode, and finally carrying out longitude and latitude adjustment on the point cloud data and the BIM model data and fusing through conversion of a projection matrix.
3. The island information fusion method based on the three-dimensional visualization control platform according to claim 1, characterized in that: the specific algorithm of view matrix transformation in the island information fusion method is as follows:
wherein the content of the first and second substances,
，
and obtaining the viewpoint coordinates through the transformation of the view matrix.
4. The island information fusion method based on the three-dimensional visualization control platform according to claim 1, characterized in that: the transformation formula of the projection matrix in the island information fusion method is as follows:
wherein the coordinates before transformation are A: (
,
,
) The transformed coordinates are B (
，
，
）。
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