CN113920248A - Method and device for detecting size and position of three-dimensional model of transformer substation and electronic equipment - Google Patents
Method and device for detecting size and position of three-dimensional model of transformer substation and electronic equipment Download PDFInfo
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Abstract
The invention provides a method and a device for detecting the size and the position of a three-dimensional model of a transformer substation and electronic equipment, and relates to the technical field of three-dimensional modeling; carrying out position matching on the laser point cloud model and the three-dimensional model to be detected based on a preset reference point; performing data segmentation operation on the laser point cloud model after position matching through a point cloud segmentation algorithm to obtain an equipment point cloud cluster for the transformer substation; and detecting the size and the position of the three-dimensional model to be detected based on the equipment point cloud cluster. The method and the device improve the accuracy of the size and position detection of the three-dimensional model of the transformer substation.
Description
Technical Field
The invention relates to the technical field of three-dimensional modeling, in particular to a method and a device for detecting the size and the position of a three-dimensional model of a transformer substation and electronic equipment.
Background
The three-dimensional model is widely applied to various industries, and with the proposal of digital twins, the three-dimensional model is used as basic data of various application systems, and higher requirements on the size and position precision of the three-dimensional model are put forward. However, at present, the size and position accuracy of the three-dimensional model can only depend on manual measurement, so that the measurement accuracy and efficiency are low. Particularly, with respect to the three-dimensional model of the substation, since the three-dimensional model of the substation is a complex three-dimensional model including wires, internal facility equipment, and the like, it is more difficult to detect the size and position thereof.
Disclosure of Invention
The invention aims to provide a method and a device for detecting the size and the position of a three-dimensional model of a transformer substation and electronic equipment, and the accuracy of detecting the size and the position of the three-dimensional model of the transformer substation is improved.
In a first aspect, an embodiment of the present invention provides a method for detecting a size and a position of a three-dimensional model of a substation, where the method includes: loading a pre-acquired laser point cloud model and a to-be-detected three-dimensional model aiming at the transformer substation; carrying out position matching on the laser point cloud model and the three-dimensional model to be detected based on a preset reference point; performing data segmentation operation on the laser point cloud model after position matching through a point cloud segmentation algorithm to obtain an equipment point cloud cluster for the transformer substation; and detecting the size and the position of the three-dimensional model to be detected based on the equipment point cloud cluster.
In an optional embodiment, the laser point cloud model and the three-dimensional model to be detected are directed to the same transformer substation; the three-dimensional model to be detected corresponds to a naming label; the named tags include a device type tag, an insulator tag, and a post object tag for the substation.
In an optional embodiment, the step of performing position matching on the laser point cloud model and the three-dimensional model to be detected based on a preset reference point includes: respectively selecting a specified number of non-collinear reference points from the laser point cloud model and the three-dimensional model to be detected; the reference points are a three-dimensional model reference point of a to-be-detected three-dimensional model of a real substation scene and a point cloud model reference point of a corresponding position of a laser point cloud model; and carrying out position matching on the laser point cloud model and the three-dimensional model to be detected based on the point cloud model reference points and the three-dimensional model reference points in the specified number.
In an alternative embodiment, the specified number is 3; the three-dimensional model reference points with the specified number are a first reference point and a second reference point on the boundary of the model detection area and a third reference point of the ground center of the model detection area; wherein the first, second and third reference points are 3 non-collinear points.
In an optional embodiment, the step of performing data segmentation operation on the laser point cloud model after position matching by using a point cloud segmentation algorithm to obtain an equipment point cloud cluster for the substation includes: performing data segmentation operation on the laser point cloud model after position matching through a plane model segmentation algorithm of RANSAC to obtain ground point cloud and transformer substation lead point cloud; removing ground point clouds and substation lead point clouds to obtain substation in-station facility point clouds; and (4) partitioning the point cloud of the equipment in the substation based on an Euclidean partitioning method to obtain an equipment point cloud cluster.
In an alternative embodiment, the equipment point cloud cluster comprises a plurality of equipment facility point clouds; the method comprises the following steps of detecting the size and the position of a three-dimensional model to be detected based on an equipment point cloud cluster, wherein the steps comprise: calculating a first barycentric coordinate of the facility point cloud of the equipment, and determining a first object set of the three-dimensional model to be detected according to the first barycentric coordinate; calculating a first coordinate of a first object set of the three-dimensional model to be detected so as to determine the size and the position of the three-dimensional model to be detected based on the first coordinate; the first coordinates include the length in the direction of the axis of the world coordinate system X, Y, Z and the barycentric coordinates of the first set of objects.
In an alternative embodiment, the set of objects of the three-dimensional model comprises insulators and struts; the method further comprises the following steps: segmenting the equipment facility point cloud based on a segmentation algorithm of color and RANSAC to obtain a point cloud set of the insulator and the strut; the point cloud set of the insulator and the strut comprises a plurality of sub-clusters; calculating a second gravity center coordinate of each sub-cluster, and determining a second object set of the three-dimensional model to be detected according to the second gravity center coordinate; calculating a second coordinate of a second object set of the three-dimensional model to be detected so as to carry out size detection on the second object set of the corresponding three-dimensional model; wherein the second coordinates include the length in the direction of the axis of the world coordinate system X, Y, Z and the barycentric coordinates of the second set of objects.
In a second aspect, an embodiment of the present invention provides a device for detecting a size and a position of a three-dimensional model of a substation, where the device includes: the loading module is used for loading a pre-acquired laser point cloud model aiming at the transformer substation and a three-dimensional model to be detected; the position matching module is used for carrying out position matching on the laser point cloud model and the three-dimensional model to be detected based on a preset reference point; the point cloud segmentation module is used for carrying out data segmentation operation on the laser point cloud model after position matching through a point cloud segmentation algorithm to obtain an equipment point cloud cluster for the transformer substation; and the detection module is used for detecting the size and the position of the three-dimensional model to be detected based on the equipment point cloud cluster.
In a third aspect, an embodiment of the present invention provides an electronic device, which includes a processor and a memory, where the memory stores machine executable instructions that can be executed by the processor, and the processor executes the machine executable instructions to implement the method for detecting the size and the position of the three-dimensional model of the substation according to any one of the foregoing embodiments.
In a fourth aspect, embodiments of the present invention provide a computer-readable storage medium storing machine executable instructions, which when invoked and executed by a processor, cause the processor to implement the method for detecting the size and position of a three-dimensional model of a substation according to any one of the preceding embodiments.
The method comprises the steps of firstly loading a laser point cloud model and a three-dimensional model to be detected which are obtained in advance and aim at the transformer substation, then carrying out position matching on the laser point cloud model and the three-dimensional model to be detected based on a preset reference point, further carrying out data segmentation operation on the laser point cloud model after the position matching through a point cloud segmentation algorithm to obtain an equipment point cloud cluster aiming at the transformer substation, and finally carrying out size detection and position detection on the three-dimensional model to be detected based on the equipment point cloud cluster. According to the method, the laser point cloud model is matched with the three-dimensional model to be detected in position, and the equipment point cloud cluster of the transformer substation is further obtained through point cloud segmentation, so that the size and the position of the three-dimensional model to be detected are detected based on the equipment point cloud cluster, and the size and position detection accuracy of the three-dimensional model of the transformer substation is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a general flowchart of a method for detecting the size and position of a three-dimensional model of a transformer substation according to an embodiment of the present invention;
FIG. 2(a) is a schematic diagram of selecting a reference point of a three-dimensional model according to an embodiment of the present invention;
fig. 2(b) is a schematic diagram of selecting a reference point of a laser point cloud model according to an embodiment of the present invention;
fig. 2(c) is a schematic diagram of a substation model according to an embodiment of the present invention;
fig. 2(d) is a schematic diagram of another substation model provided in the embodiment of the present invention;
fig. 3 is a technical flowchart of a specific method for detecting the size and position of a three-dimensional model of a transformer substation according to an embodiment of the present invention;
fig. 4 is a structural diagram of a device for detecting the size and position of a three-dimensional model of a transformer substation according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or the orientations or positional relationships that the products of the present invention are conventionally placed in use, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.
Some embodiments of the invention are described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
At present, an effective means for detecting the size and position precision of a three-dimensional model of a transformer substation is not available, and the precision can reach centimeter level in consideration of the fact that the existing laser scanning technology is mature. Based on the above, the embodiment of the invention provides a method and a device for detecting the size and the position of a three-dimensional model of a transformer substation and electronic equipment, and the accuracy of detecting the size and the position of the three-dimensional model of the transformer substation is improved.
For convenience of understanding, a method for detecting a size and a position of a three-dimensional model of a substation according to an embodiment of the present invention is first described in detail, referring to a general flowchart of the method for detecting a size and a position of a three-dimensional model of a substation shown in fig. 1, where the method includes the following steps S102 to S108:
and S102, loading a pre-acquired laser point cloud model and a to-be-detected three-dimensional model aiming at the transformer substation.
The laser point cloud model for the transformer substation is embodied by laser point cloud data, and the laser point cloud model and the three-dimensional model to be detected need to be different three-dimensional models of the same transformer substation entity. In the three-dimensional model to be detected, the three-dimensional model can be named by equipment grouping and equipment type-unique code, and the insulator and the pillar object are named by ObjJYZ-serial number and ObjZZ-serial number respectively.
And step S104, carrying out position matching on the laser point cloud model and the three-dimensional model to be detected based on a preset reference point.
In order to detect the three-dimensional model to be detected by taking the laser point cloud model as a reference, the laser point cloud model and the three-dimensional model to be detected need to be subjected to position matching so as to obtain an accurate detection result. In one embodiment, the position matching may be performed by selecting reference points at the same at least 3 positions on the laser point cloud model and the three-dimensional model to be detected, respectively.
And S106, performing data segmentation operation on the laser point cloud model after position matching through a point cloud segmentation algorithm to obtain an equipment point cloud cluster for the transformer substation.
Because the laser point cloud model for the transformer substation includes the terrain of the transformer substation, wires and point clouds of all equipment facilities in the transformer substation, the laser point cloud model after position matching needs to be subjected to data segmentation operation to obtain an equipment point cloud cluster for the transformer substation. The equipment point cloud cluster can be a point cloud cluster corresponding to equipment facilities in a transformer substation.
And S108, detecting the size and the position of the three-dimensional model to be detected based on the equipment point cloud cluster.
During detection, the gravity center, the length, the width and the height of the segmented equipment point cloud cluster are compared with the to-be-detected three-dimensional model matched with the position, so that the size and the position of the to-be-detected three-dimensional model are detected.
According to the method for detecting the size and the position of the three-dimensional model of the transformer substation, the laser point cloud model is matched with the three-dimensional model to be detected in position, and the point cloud cluster of the transformer substation is further obtained through point cloud segmentation, so that the size and the position of the three-dimensional model to be detected are detected based on the point cloud cluster of the device, and the accuracy of size and position detection of the three-dimensional model of the transformer substation is improved.
In one embodiment, the laser point cloud model and the three-dimensional model to be detected are directed to the same substation. The three-dimensional model to be detected corresponds to a naming tag, wherein the naming tag comprises a device type tag, an insulator tag and a post object tag for the transformer substation, for example, the naming tag corresponding to the device can be a device type-unique code, and the insulator and the post object are named by an ObjJYZ-serial number and an ObjZZ-serial number respectively.
In an embodiment, when the laser point cloud model and the three-dimensional model to be detected are subjected to position matching based on a preset reference point, the method specifically includes:
step 2.1), selecting a specified number of non-collinear reference points from the laser point cloud model and the three-dimensional model to be detected respectively; the reference points are a three-dimensional model reference point of a to-be-detected three-dimensional model of a real substation scene and a point cloud model reference point of a corresponding position of a laser point cloud model;
and 2.2) carrying out position matching on the laser point cloud model and the three-dimensional model to be detected based on the point cloud model reference points and the three-dimensional model reference points in the specified number.
For the step 2.1), the number of the three-dimensional model reference points may be 3, and the three-dimensional model reference points of the designated number are the first reference point and the second reference point on the boundary of the model detection area, and the third reference point of the ground center of the model detection area. Wherein the first, second and third reference points are 3 non-collinear points. Referring to fig. 2(a), three non-collinear reference points a, B, and C are taken from the three-dimensional model, where the points a and B are selected at the boundary of the model detection area and C is the ground center of the model detection area. Meanwhile, three non-collinear reference points E, F, G, a and E, B and F, C and G, are taken from the laser point cloud model of fig. 2(B) and respectively correspond to the same point in the real scene. In a world coordinate system, a point A is completely coincided with a point E, a point B is completely coincided with a point F, a point C is completely coincided with a point G, a straight line AB is completely coincided with an EF, a straight line AC is completely coincided with a CG, and the tops of the two models are taken as the positive direction of a Z axis. After the position matching is performed, an overall schematic diagram of the three-dimensional model can be obtained, and specifically, the schematic diagram of the three-dimensional model under two view angles of fig. 2(c) and fig. 2(d) can be referred to.
In addition, the designated number may be other values greater than 3, and it is understood that the more reference points are selected, the easier the position matching is, and in consideration of time cost and processing efficiency, the three non-collinear points may be selected for matching. Of course, other values greater than 3 may be selected for actual processing.
Furthermore, due to the fact that the point cloud data are dense, in order to improve calculation efficiency, down-sampling can be conducted on the laser point cloud data corresponding to the laser point cloud model. In one embodiment, the laser point cloud data may be downsampled using a voxel grid filter, where the voxel grid size of the filter may be set to 0.01 f.
The above-mentioned step of performing data segmentation operation on the laser point cloud model after position matching by using a point cloud segmentation algorithm to obtain an equipment point cloud cluster for the transformer substation may include, when being specifically implemented:
and 3.1) carrying out data segmentation operation on the laser point cloud model after position matching through a plane model segmentation algorithm of RANSAC to obtain ground point cloud and transformer substation wire point cloud.
Step 3.2), removing the ground point cloud and the transformer substation lead point cloud to obtain a point cloud of the in-station equipment of the transformer substation;
and 3.3) partitioning the point clouds of the application equipment in the substation based on an Euclidean partitioning method to obtain an equipment point cloud cluster.
Aiming at the step 3.1), the ground point cloud is segmented by adopting a plane model segmentation algorithm based on RANSAC, and the wire point cloud is segmented by adopting a straight line model segmentation algorithm based on RANSAC.
And 3.2) removing the point clouds of the ground and the wire obtained by segmentation, thereby obtaining all the point clouds of the equipment and facilities in the transformer substation.
Aiming at the step 3.3), because the equipment facilities in the transformer substation are distributed according to the fixed distance, the equipment facilities in the transformer substation can be divided by adopting the Euclidean division method to obtain the point cloud cluster set P.
Further, the above-mentioned equipment point cloud cluster P includes a plurality of equipment facility point clouds, and then the step of detecting the size and the position of the three-dimensional model to be detected based on the equipment point cloud cluster includes, in the specific implementation:
step 4.1), calculating a first barycentric coordinate of the facility point cloud of the equipment, and determining a first object set of the three-dimensional model to be detected according to the first barycentric coordinate;
step 4.2), calculating a first coordinate of a first object set of the three-dimensional model to be detected so as to determine the size and the position of the three-dimensional model to be detected based on the first coordinate; the first coordinates include the length in the direction of the axis of the world coordinate system X, Y, Z and the barycentric coordinates of the first set of objects.
For the above step 4.1), a first cluster P1 may be first found in the point cloud cluster P, a first barycentric coordinate G of the cluster P1 is calculated, and a first object set M of the nearest three-dimensional model of the device is obtained according to the first barycentric coordinate.
For the above step 4.2), the lengths of P1 and M in the axial direction of the world coordinate system X, Y, Z and the barycentric coordinate G' of M can be calculated, respectively.
Further, since the object set of the three-dimensional model includes the insulator and the pillar, after the equipment facility point cloud is determined, the method may further include the following steps:
and 5.1) segmenting the facility point cloud of the equipment by a segmentation algorithm based on the color and RANSAC to obtain a point cloud set Q of the insulator and the support. Because the equipment facilities in the substation laser point cloud model include insulators and pillars and also include individual insulators and pillars, the point cloud set Q of insulators and pillars obtained in this step is a point cloud set of insulators and pillars obtained by segmenting the equipment facilities including insulators and pillars, and is not a point cloud set of individual insulators and pillars existing in the substation model. The point cloud set Q obtained by segmenting the equipment facility point cloud through this step includes a plurality of sub-clusters.
And 5.2) calculating a second gravity center coordinate of each sub-cluster, and determining a second object set of the three-dimensional model to be detected according to the second gravity center coordinate. Finding a first cluster Q1 in the point cloud cluster Q, calculating a barycentric coordinate G1 of the cluster Q1, and acquiring a second object set M1 of the three-dimensional model closest to the barycentric coordinate G1. And repeating the execution until each sub-cluster is traversed and calculated.
And 5.3) calculating a second coordinate of the second object set of the three-dimensional model to be detected so as to carry out size detection on the second object set of the corresponding three-dimensional model. Wherein the second coordinates include the length in the direction of the axis of the world coordinate system X, Y, Z and the barycentric coordinates of the second set of objects. That is, the lengths of Q1 and M1 in the axial direction of the world coordinate system X, Y, Z and the second centroid coordinate G1' of M1 are calculated, respectively. And repeating the execution until each sub-cluster is traversed and calculated.
In addition, a detection report can be generated after detection, and the detected report is output.
To facilitate understanding of the above steps, a specific method for detecting the size and the position of the three-dimensional model of the transformer substation is provided in the embodiment of the present invention, see the technical flowchart of the specific method for detecting the size and the position of the three-dimensional model of the transformer substation shown in fig. 3, and also see the description of the above embodiments specifically, which is not repeated herein.
In conclusion, the embodiment can realize the automatic detection of the precision of the size and the position of the three-dimensional model according to the laser point cloud data, and output the detection result data, so that the model detection does not depend on artificial subjective feeling any more, and the accuracy and the efficiency of the model detection are improved.
For the detection of the size and the position of the three-dimensional model of the transformer substation, an embodiment of the present invention provides a device for detecting the size and the position of the three-dimensional model of the transformer substation, as shown in fig. 4, the device includes:
a loading module 402, configured to load a pre-acquired laser point cloud model for a substation and a three-dimensional model to be detected;
a position matching module 404, configured to perform position matching on the laser point cloud model and the three-dimensional model to be detected based on a preset reference point;
the point cloud segmentation module 406 is configured to perform data segmentation operation on the laser point cloud model after position matching through a point cloud segmentation algorithm to obtain an equipment point cloud cluster for the substation;
and the detection module 408 is configured to detect the size and the position of the three-dimensional model to be detected based on the device point cloud cluster.
According to the detection device for the size and the position of the three-dimensional model of the transformer substation, the laser point cloud model is matched with the three-dimensional model to be detected in position, and the equipment point cloud cluster of the transformer substation is further obtained through point cloud segmentation, so that the size and the position of the three-dimensional model to be detected are detected based on the equipment point cloud cluster, and the accuracy of size and position detection of the three-dimensional model of the transformer substation is improved.
In one embodiment, the laser point cloud model and the three-dimensional model to be detected are directed to the same substation; the three-dimensional model to be detected corresponds to a naming label; the named tags include a device type tag, an insulator tag, and a post object tag for the substation.
In an embodiment, the position matching module 404 is further configured to select a specified number of non-collinear reference points from the laser point cloud model and the three-dimensional model to be detected, respectively; the reference points are a three-dimensional model reference point of a to-be-detected three-dimensional model of a real substation scene and a point cloud model reference point of a corresponding position of a laser point cloud model; and carrying out position matching on the laser point cloud model and the three-dimensional model to be detected based on the point cloud model reference points and the three-dimensional model reference points in the specified number.
In one embodiment, the specified number is 3; the three-dimensional model reference points with the specified number are a first reference point and a second reference point on the boundary of the model detection area and a third reference point of the ground center of the model detection area; wherein the first, second and third reference points are 3 non-collinear points.
In an embodiment, the point cloud segmentation module 406 is further configured to perform data segmentation operation on the laser point cloud model after position matching through a plane model segmentation algorithm of RANSAC, so as to obtain a ground point cloud and a substation wire point cloud; removing ground point clouds and substation lead point clouds to obtain substation in-station facility point clouds; and (4) partitioning the point cloud of the equipment in the substation based on an Euclidean partitioning method to obtain an equipment point cloud cluster.
In one embodiment, an equipment point cloud cluster includes a plurality of equipment facility point clouds; the point cloud segmentation module 406 is further configured to calculate a first barycentric coordinate of the facility point cloud of the device, and determine a first object set of the three-dimensional model to be detected according to the first barycentric coordinate; calculating a first coordinate of a first object set of the three-dimensional model to be detected so as to determine the size and the position of the three-dimensional model to be detected based on the first coordinate; the first coordinates include the length in the direction of the axis of the world coordinate system X, Y, Z and the barycentric coordinates of the first set of objects.
In one embodiment, the set of objects of the three-dimensional model includes insulators and struts; the point cloud segmentation module 406 is further configured to segment the facility point cloud of the equipment based on a segmentation algorithm of color and RANSAC to obtain a point cloud set of the insulator and the strut; the point cloud set of the insulator and the strut comprises a plurality of sub-clusters; calculating a second gravity center coordinate of each sub-cluster, and determining a second object set of the three-dimensional model to be detected according to the second gravity center coordinate; calculating a second coordinate of a second object set of the three-dimensional model to be detected so as to carry out size detection on the second object set of the corresponding three-dimensional model; wherein the second coordinates include the length in the direction of the axis of the world coordinate system X, Y, Z and the barycentric coordinates of the second set of objects.
The device provided by the embodiment of the present invention has the same implementation principle and technical effect as the method embodiments, and for the sake of brief description, reference may be made to the corresponding contents in the method embodiments without reference to the device embodiments.
The embodiment of the invention provides electronic equipment, which particularly comprises a processor and a storage device; the storage means has stored thereon a computer program which, when executed by the processor, performs the method of any of the above described embodiments.
Fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present invention, where the electronic device 100 includes: the device comprises a processor 50, a memory 51, a bus 52 and a communication interface 53, wherein the processor 50, the communication interface 53 and the memory 51 are connected through the bus 52; the processor 50 is arranged to execute executable modules, such as computer programs, stored in the memory 51.
The Memory 51 may include a high-speed Random Access Memory (RAM) and may also include a non-volatile Memory (non-volatile Memory), such as at least one disk Memory. The communication connection between the network element of the system and at least one other network element is realized through at least one communication interface 53 (which may be wired or wireless), and the internet, a wide area network, a local network, a metropolitan area network, and the like can be used.
The bus 52 may be an ISA bus, PCI bus, EISA bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one double-headed arrow is shown in FIG. 5, but this does not indicate only one bus or one type of bus.
The memory 51 is used for storing a program, the processor 50 executes the program after receiving an execution instruction, and the method executed by the apparatus defined by the flow process disclosed in any of the foregoing embodiments of the present invention may be applied to the processor 50, or implemented by the processor 50.
The processor 50 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware or instructions in the form of software in the processor 50. The Processor 50 may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the device can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components. The various methods, steps and logic blocks disclosed in the embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present invention may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in the memory 51, and the processor 50 reads the information in the memory 51 and completes the steps of the method in combination with the hardware thereof.
The method and the device for detecting the size and the position of the three-dimensional model of the transformer substation and the computer program product of the electronic device provided by the embodiment of the invention comprise a computer readable storage medium storing nonvolatile program codes executable by a processor, wherein the computer readable storage medium stores a computer program, and when the computer program is executed by the processor, the method in the embodiment of the method is executed.
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of the system described above may refer to the corresponding process in the foregoing embodiments, and is not described herein again.
The computer program product of the readable storage medium provided in the embodiment of the present invention includes a computer readable storage medium storing a program code, where instructions included in the program code may be used to execute the method described in the foregoing method embodiment, and specific implementation may refer to the method embodiment, which is not described herein again.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A method for detecting the size and the position of a three-dimensional model of a transformer substation is characterized by comprising the following steps:
loading a pre-acquired laser point cloud model and a to-be-detected three-dimensional model aiming at the transformer substation;
carrying out position matching on the laser point cloud model and the three-dimensional model to be detected based on a preset reference point;
performing data segmentation operation on the laser point cloud model after position matching through a point cloud segmentation algorithm to obtain an equipment point cloud cluster for the transformer substation;
and detecting the size and the position of the three-dimensional model to be detected based on the equipment point cloud cluster.
2. The method for detecting the size and the position of the three-dimensional model of the substation according to claim 1, wherein the laser point cloud model and the three-dimensional model to be detected are directed to the same substation; the three-dimensional model to be detected corresponds to a naming label; the named tags include a device type tag, an insulator tag, and a post object tag for the substation.
3. The method for detecting the size and the position of the three-dimensional model of the transformer substation according to claim 1, wherein the step of performing position matching on the laser point cloud model and the three-dimensional model to be detected based on a preset reference point comprises the following steps:
respectively selecting a specified number of non-collinear reference points from the laser point cloud model and the three-dimensional model to be detected; the reference points are three-dimensional model reference points of the three-dimensional model to be detected aiming at a real transformer substation scene and point cloud model reference points of corresponding positions of the laser point cloud model;
and carrying out position matching on the laser point cloud model and the three-dimensional model to be detected based on the point cloud model reference points and the three-dimensional model reference points in the specified number.
4. The method for detecting the size and the position of the three-dimensional model of the substation according to claim 3, wherein the specified number is 3; the three-dimensional model reference points with the specified number are a first reference point and a second reference point on the boundary of the model detection area and a third reference point of the ground center of the model detection area; wherein the first, second, and third reference points are 3 non-collinear points.
5. The method for detecting the size and the position of the three-dimensional model of the transformer substation according to claim 1, wherein the step of performing data segmentation operation on the laser point cloud model after position matching through a point cloud segmentation algorithm to obtain an equipment point cloud cluster for the transformer substation comprises the following steps:
performing data segmentation operation on the laser point cloud model after position matching through a plane model segmentation algorithm of RANSAC to obtain ground point cloud and transformer substation lead point cloud;
removing the ground point cloud and the transformer substation lead point cloud to obtain a point cloud of the in-station facility of the transformer substation;
and partitioning the point cloud of the equipment in the substation based on an Euclidean partitioning method to obtain the point cloud cluster of the equipment.
6. The method for detecting the size and the position of the three-dimensional model of the substation according to claim 5, wherein the equipment point cloud cluster comprises a plurality of equipment facility point clouds; the step of detecting the size and the position of the three-dimensional model to be detected based on the equipment point cloud cluster comprises the following steps:
calculating a first barycentric coordinate of the equipment facility point cloud, and determining a first object set of the three-dimensional model to be detected according to the first barycentric coordinate;
calculating first coordinates of the first object set of the three-dimensional model to be detected so as to determine the size and the position of the three-dimensional model to be detected based on the first coordinates; wherein the first coordinates include a length in a direction of an axis of world coordinate system X, Y, Z and barycentric coordinates of the first set of objects.
7. The method for detecting the size and the position of the three-dimensional model of the substation according to claim 6, wherein the object set of the three-dimensional model comprises an insulator and a pillar; the method further comprises the following steps:
segmenting the facility point cloud of the equipment by a segmentation algorithm based on color and RANSAC to obtain a point cloud set of the insulator and the strut; the point cloud collection of the insulator and the support column comprises a plurality of sub-clusters;
calculating a second gravity center coordinate of each sub-cluster, and determining a second object set of the three-dimensional model to be detected according to the second gravity center coordinate;
calculating a second coordinate of the second object set of the three-dimensional model to be detected so as to carry out size detection on the second object set of the corresponding three-dimensional model; wherein the second coordinates include a length in a direction of an axis of world coordinate system X, Y, Z and barycentric coordinates of the second set of objects.
8. A detection device for the size and the position of a three-dimensional model of a transformer substation is characterized by comprising:
the loading module is used for loading a pre-acquired laser point cloud model aiming at the transformer substation and a three-dimensional model to be detected;
the position matching module is used for carrying out position matching on the laser point cloud model and the three-dimensional model to be detected based on a preset reference point;
the point cloud segmentation module is used for carrying out data segmentation operation on the laser point cloud model after position matching through a point cloud segmentation algorithm to obtain an equipment point cloud cluster for the transformer substation;
and the detection module is used for detecting the size and the position of the three-dimensional model to be detected based on the equipment point cloud cluster.
9. An electronic device comprising a processor and a memory, the memory storing machine executable instructions executable by the processor, the processor executing the machine executable instructions to implement the method of detecting dimensions and positions of a three-dimensional model of a substation of any one of claims 1 to 7.
10. A computer readable storage medium storing machine executable instructions which, when invoked and executed by a processor, cause the processor to carry out the method of detecting dimensions and position of a three dimensional model of a substation of any one of claims 1 to 7.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111196604.4A CN113920248A (en) | 2021-10-14 | 2021-10-14 | Method and device for detecting size and position of three-dimensional model of transformer substation and electronic equipment |
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| CN202111196604.4A CN113920248A (en) | 2021-10-14 | 2021-10-14 | Method and device for detecting size and position of three-dimensional model of transformer substation and electronic equipment |
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| CN202111196604.4A Pending CN113920248A (en) | 2021-10-14 | 2021-10-14 | Method and device for detecting size and position of three-dimensional model of transformer substation and electronic equipment |
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