CN114004945A - Digital twin power grid system and method based on three-dimensional map - Google Patents
Digital twin power grid system and method based on three-dimensional map Download PDFInfo
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Abstract
The invention relates to the technical field of power grids, in particular to a digital twin power grid system and a digital twin power grid method based on a three-dimensional map. The system comprises: the power grid map drawing unit is configured for acquiring node data and line data of a power grid system and generating a power grid three-dimensional map based on the acquired node data and line data; the power grid map layering unit is configured and used for segmenting the power grid three-dimensional map based on a preset layering number to obtain a plurality of layering maps; and the hierarchical map feature extraction unit is configured to extract features of each hierarchical map to obtain hierarchical map features. The method realizes digital twin-based control on the power grid by constructing the virtual map of the power grid, and meanwhile, the power grid is controlled by using a layering and feature extraction mode when the virtual map is constructed, so that the efficiency of power grid control is improved.
Description
Technical Field
The invention belongs to the technical field of power grids, and particularly relates to a digital twin power grid system and a digital twin power grid method based on a three-dimensional map.
Background
The digital twin is a simulation process integrating multidisciplinary, multi-physical quantity, multi-scale and multi-probability by fully utilizing data such as a physical model, sensor updating, operation history and the like, and mapping is completed in a virtual space, so that the full life cycle process of corresponding entity equipment is reflected. Digital twinning is an beyond-realistic concept that can be viewed as a digital mapping system of one or more important, interdependent equipment systems.
The digital twin conceptual model was proposed in 2011 as a three-dimensional structure, which includes a physical model of a physical space and a virtual model of a virtual space, and data and information interaction therebetween. The three-dimensional structure model is a digital twin basic model, and the construction core is data connection between a virtual model and a physical space and a virtual space. The key problem in deployment is that the inheritance and connection between the two are not realized, but the virtual model is used as a reference, and a person serves as the connection between the two. In this technical solution, a scholars proposes to implement a connection function between a Unified Repository (UR) and a Unified Repository. Thereafter, the trainee extended the digital twin three-dimensional structure to a five-dimensional structure model, including physical entities, virtual models, service systems, twin data, and connections. In addition, in the aspect of the construction process of the digital twins, a scholars proposes to use an automatic modeling language (Automation ML) to model data transmission between different systems connected with the digital twins and realize mapping of physical entities in a digital space.
The maintenance and analysis costs of the power grid system are high due to the complexity of the system, and the power grid system is not constructed by completely using a digital twin technology in the prior art; meanwhile, most of the virtual power grid systems constructed aiming at the entity power grid system are based on three-dimensional modeling, and strong interaction does not exist between the virtual power grid system and the entity power grid system, so that the operation efficiency is still not obviously improved.
Patent document with publication number CN113221456A discloses a digital twin modeling and multi-agent coordination control method for smart microgrid, relating to the technical field of digital twin. Researching intelligent microgrid modeling simulation and operation control by using digital twin and multi-agent technologies, and designing a multi-communication-protocol interactive intelligent microgrid digital twin and multi-agent control architecture; and (4) in consideration of physical space, digital space and coupling relation, carrying out task decomposition on the full life cycle management process of the smart micro-grid, and constructing a regulation resource intelligent agent, a regulation process intelligent agent and a regulation service intelligent agent.
The virtual control based on the digital twin of the microgrid is realized by performing virtual simulation on the microgrid, but the control efficiency is lower because the control process is also more traditional and simulation construction and control are performed based on the whole.
Disclosure of Invention
In view of the above, the present invention provides a digital twin power grid system and method based on a three-dimensional map, which implement digital twin-based control on a power grid by constructing a virtual map of the power grid, and meanwhile, when constructing the virtual map, perform power grid control by using a layered and feature extraction manner, thereby improving the efficiency of power grid control.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a three-dimensional map based digital twin grid system, the system comprising:
the power grid map drawing unit is configured for acquiring node data and line data of a power grid system and generating a power grid three-dimensional map based on the acquired node data and line data;
the power grid map layering unit is configured and used for segmenting the power grid three-dimensional map based on a preset layering number to obtain a plurality of layering maps;
the hierarchical map feature extraction unit is configured to extract features of each hierarchical map to obtain hierarchical map features;
the hierarchical map mapping unit is configured for mapping and connecting the hierarchical map with the power grid and mapping and connecting the hierarchical map features with the power grid;
and the control unit is configured to send a control command to the layered map or the layered map features, and the control command is sent to the power grid through the established mapping connection to control the operation of the power grid.
Further, the method for generating the three-dimensional unit of the power grid by the power grid mapping unit comprises the following steps: acquiring three-dimensional coordinate data of each power grid node and acquiring three-dimensional coordinate data of a starting point and an end point of each line; and comparing the three-dimensional coordinate data of the power grid nodes with the three-dimensional coordinate data of the starting point or the end point of each line, and connecting the power grid nodes with the three-dimensional coordinate data completely consistent with the three-dimensional coordinate data with the starting point or the end point of each line until the comparison of all the power grid nodes is completed.
Further, the power grid map layering unit executes the following steps when the power grid three-dimensional map is divided:
step A1: setting a dividing direction; the set dividing direction must satisfy: included angles with the mean value of the directions of all lines of the power grid do not exceed a set threshold value;
step A2: setting a dividing thickness; the set dividing thickness is required to satisfy the following conditions: under the set segmentation thickness, the nodes of the power grid contained in each layered map obtained after segmentation exceed the set threshold;
step A3: and segmenting the power grid three-dimensional map according to the set segmentation defense line and the set segmentation thickness to obtain a plurality of layered maps.
Further, the hierarchical map feature extraction unit performs feature extraction on each hierarchical map to obtain the hierarchical map features, and the method for obtaining the hierarchical map features performs the following steps:
step B1: randomly screening a circular area in the hierarchical extraction to obtain nodes and lines in the circular area;
step B2: calculating the weight of the circular area by using a preset weight calculation formula based on the acquired nodes and lines;
step B3; if the calculated weight of the circular area exceeds a set threshold, the nodes and lines in the circular area are extracted as the hierarchical map features.
Further, the weight calculation formula is expressed by using the following formula:
wherein, PiRepresenting a route in a hierarchical map; pi(theta) represents an included angle between a line in the layered map and the horizontal direction; n is a radical ofiRepresenting nodes in a hierarchical map; n is a radical ofi(x)、Ni(y) and Ni(z) coordinate values representing x-axis coordinates, y-axis coordinates, and z-axis coordinates of nodes in the hierarchical map.
Further, the method for the hierarchical map mapping unit to map and connect the hierarchical map with the power grid includes the following steps:
step C1: the hierarchical map mapping unit establishes one-to-one mapping between the nodes in the hierarchical map and the nodes in the power grid;
step C2: and the hierarchical map mapping unit establishes one-to-one mapping between the starting point and the end point of the line in the hierarchical map and the node in the power grid, and finishes the mapping connection between the hierarchical map and the power grid.
Further, the method for the hierarchical map mapping unit to map and connect the hierarchical map features with the power grid includes the following steps:
step D1: the hierarchical map mapping unit establishes one-to-one mapping between the nodes in the hierarchical map features and the nodes in the power grid;
step D2: and the hierarchical map mapping unit establishes one-to-one mapping between the starting point and the end point in the line in the hierarchical map characteristics and the nodes in the power grid, and finishes mapping connection between the hierarchical map characteristics and the power grid.
A three-dimensional map based digital twin grid method, the method performing the steps of:
step S1: acquiring node data and line data of a power grid system, and generating a power grid three-dimensional map based on the acquired node data and line data;
step S2: dividing the power grid three-dimensional map based on a preset number of layered layers to obtain a plurality of layered maps;
step S3: extracting the features of each hierarchical map to obtain the features of the hierarchical maps;
step S4: the method comprises the following steps of mapping and connecting a layered map with a power grid, and simultaneously mapping and connecting the characteristics of the layered map with the power grid;
step S5: and sending the control command to a layered map or layered map characteristics, and sending the control command to the power grid through the established mapping connection to control the power grid to operate.
Further, the method for generating the three-dimensional unit of the power grid comprises the following steps: acquiring three-dimensional coordinate data of each power grid node and acquiring three-dimensional coordinate data of a starting point and an end point of each line; and comparing the three-dimensional coordinate data of the power grid nodes with the three-dimensional coordinate data of the starting point or the end point of each line, and connecting the power grid nodes with the three-dimensional coordinate data completely consistent with the three-dimensional coordinate data with the starting point or the end point of each line until the comparison of all the power grid nodes is completed.
Further, when the power grid three-dimensional map is divided, the following steps are executed: setting a dividing direction; the set dividing direction must satisfy: included angles with the mean value of the directions of all lines of the power grid do not exceed a set threshold value; setting a dividing thickness; the set dividing thickness is required to satisfy the following conditions: under the set segmentation thickness, the nodes of the power grid contained in each layered map obtained after segmentation exceed the set threshold; and segmenting the power grid three-dimensional map according to the set segmentation defense line and the set segmentation thickness to obtain a plurality of layered maps.
Compared with the prior art, the digital twin power grid system and method based on the three-dimensional map have the following beneficial effects:
1. the efficiency is higher: when the digital twin-based power grid control is carried out, firstly, the digital twin of the power grid is realized by constructing a virtual power grid, but when the virtual power grid is constructed, the complete replication is not directly carried out, and the digital twin is realized by mapping nodes and lines; meanwhile, when lines and nodes are extracted, only coordinate information and angle information of the lines and the nodes are collected, so that the simplification is realized, and the efficiency of constructing a virtual power grid is improved; different from the traditional digital twin which needs a large amount of data as a support, the method simplifies the process, and constructs a three-dimensional space distribution stereogram, so that the mapping between the power grid nodes and the virtual power grid nodes can be realized, the control is realized, and the efficiency can be ensured; meanwhile, the invention also extracts the characteristics of the layered map, thereby further simplifying the control process, and because the characteristics of the layered map obtained after the characteristics are extracted have less reserved information, the invention can find key nodes and lines at a higher speed so as to realize control and further improve the control efficiency.
2. The maintenance is more convenient: the traditional digital twin technology comprises an entity model of a physical space and a virtual model of a virtual space, data and information interaction is carried out between the entity model and the virtual model, and a large amount of data transfer and processing are often needed in the construction process, so that if the entity model really has problems, tracing through the virtual model is often complicated; the method abandons the method, and uses one-to-one mapping and feature extraction to carry out, the one-to-one mapping can be directly mapped to the entity model from the virtual model after one node or line has a problem, thereby realizing the rapid tracing of the problem, and simultaneously, the feature extraction can focus on starting tracing from the more important node so as to ensure the tracing efficiency, simplify the tracing process and ensure that the tracing becomes more convenient.
Drawings
Fig. 1 is a schematic system structure diagram of a digital twin power grid system based on a three-dimensional map according to an embodiment of the present invention;
fig. 2 is a schematic diagram of feature extraction performed on a hierarchical map of a digital twin power grid system and method based on a three-dimensional map according to an embodiment of the present invention;
fig. 3 is a schematic diagram of feature extraction of a hierarchical map of a digital twin power grid system and method based on a three-dimensional map according to an embodiment of the present invention.
Detailed Description
The method of the present invention will be described in further detail below with reference to the accompanying drawings and embodiments of the invention.
Example 1
As shown in fig. 1, a digital twin power grid system based on a three-dimensional map, the system comprising:
the power grid map drawing unit is configured for acquiring node data and line data of a power grid system and generating a power grid three-dimensional map based on the acquired node data and line data;
the power grid map layering unit is configured and used for segmenting the power grid three-dimensional map based on a preset layering number to obtain a plurality of layering maps;
the hierarchical map feature extraction unit is configured to extract features of each hierarchical map to obtain hierarchical map features;
the hierarchical map mapping unit is configured for mapping and connecting the hierarchical map with the power grid and mapping and connecting the hierarchical map features with the power grid;
and the control unit is configured to send a control command to the layered map or the layered map features, and the control command is sent to the power grid through the established mapping connection to control the operation of the power grid.
Specifically, when the digital twin-based power grid control is carried out, the digital twin of the power grid is realized by constructing the virtual power grid, but when the virtual power grid is constructed, the complete replication is not directly carried out, and the digital twin of the power grid is realized by mapping nodes and lines; meanwhile, when lines and nodes are extracted, only coordinate information and angle information of the lines and the nodes are collected, so that the simplification is realized, and the efficiency of constructing a virtual power grid is improved; different from the traditional digital twin which needs a large amount of data as a support, the method simplifies the process, and constructs a three-dimensional space distribution stereogram, so that the mapping between the power grid nodes and the virtual power grid nodes can be realized, the control is realized, and the efficiency can be ensured; meanwhile, the invention also extracts the characteristics of the layered map, thereby further simplifying the control process, and because the characteristics of the layered map obtained after the characteristics are extracted have less reserved information, the invention can find key nodes and lines at a higher speed so as to realize control and further improve the control efficiency. The traditional digital twin technology comprises an entity model of a physical space and a virtual model of a virtual space, data and information interaction is carried out between the entity model and the virtual model, and a large amount of data transfer and processing are often needed in the construction process, so that if the entity model really has problems, tracing through the virtual model is often complicated; the method abandons the method, and uses one-to-one mapping and feature extraction to carry out, the one-to-one mapping can be directly mapped to the entity model from the virtual model after one node or line has a problem, thereby realizing the rapid tracing of the problem, and simultaneously, the feature extraction can focus on starting tracing from the more important node so as to ensure the tracing efficiency, simplify the tracing process and ensure that the tracing becomes more convenient.
Example 2
On the basis of the previous embodiment, the method for generating the three-dimensional power grid unit by the power grid mapping unit comprises the following steps: acquiring three-dimensional coordinate data of each power grid node and acquiring three-dimensional coordinate data of a starting point and an end point of each line; and comparing the three-dimensional coordinate data of the power grid nodes with the three-dimensional coordinate data of the starting point or the end point of each line, and connecting the power grid nodes with the three-dimensional coordinate data completely consistent with the three-dimensional coordinate data with the starting point or the end point of each line until the comparison of all the power grid nodes is completed.
Referring to fig. 2 and 3, fig. 2 and 3 show the process of extracting the features of the hierarchical map according to the present invention, and the hierarchical map often has a large number of nodes and lines. If the processing is directly carried out, the processing efficiency is reduced, and the efficiency can be obviously improved by adopting a characteristic extraction mode.
Example 3
On the basis of the previous embodiment, the power grid map layering unit executes the following steps when dividing the power grid three-dimensional map:
step A1: setting a dividing direction; the set dividing direction must satisfy: included angles with the mean value of the directions of all lines of the power grid do not exceed a set threshold value;
step A2: setting a dividing thickness; the set dividing thickness is required to satisfy the following conditions: under the set segmentation thickness, the nodes of the power grid contained in each layered map obtained after segmentation exceed the set threshold;
step A3: and segmenting the power grid three-dimensional map according to the set segmentation defense line and the set segmentation thickness to obtain a plurality of layered maps.
Example 4
On the basis of the previous embodiment, the method for extracting the features of the hierarchical maps by the hierarchical map feature extraction unit to extract the features of each hierarchical map includes the following steps:
step B1: randomly screening a circular area in the hierarchical extraction to obtain nodes and lines in the circular area;
step B2: calculating the weight of the circular area by using a preset weight calculation formula based on the acquired nodes and lines;
step B3; if the calculated weight of the circular area exceeds a set threshold, the nodes and lines in the circular area are extracted as the hierarchical map features.
Example 5
On the basis of the above embodiment, the weight calculation formula is expressed by using the following formula:
Referring to fig. 2 and 3, the features extracted after the calculated weight exceeds the set threshold value in fig. 2 and 3. Features of the hierarchical map tend to preserve portions of nodes and lines in the hierarchical map that will reflect the most important portions of the hierarchical map. In this way, the important parts in the power grid can be found through one-to-one mapping.
Example 6
On the basis of the previous embodiment, the method for the hierarchical map mapping unit to map and connect the hierarchical map with the power grid performs the following steps:
step C1: the hierarchical map mapping unit establishes one-to-one mapping between the nodes in the hierarchical map and the nodes in the power grid;
step C2: and the hierarchical map mapping unit establishes one-to-one mapping between the starting point and the end point of the line in the hierarchical map and the node in the power grid, and finishes the mapping connection between the hierarchical map and the power grid.
In particular, the diagnosability and maintainability of the manufacturing system is as important as reliability. The failure recovery capability is critical to reducing production downtime. Manufacturing equipment reliability growth is a process of constant testing, constant redesign, and constant tuning. It is also a system engineering task, since machines are usually highly coupled systems consisting of mechanical, electrical and hydraulic components and parts. In many cases, as the system reliability level approaches the maximum reliability achievable, the costs involved in improving reliability will increase substantially. To some extent, it is more economical to improve diagnosability and maintainability than to improve system reliability.
Example 7
On the basis of the previous embodiment, the method for the hierarchical map mapping unit to map and connect the hierarchical map features with the power grid performs the following steps:
step D1: the hierarchical map mapping unit establishes one-to-one mapping between the nodes in the hierarchical map features and the nodes in the power grid;
step D2: and the hierarchical map mapping unit establishes one-to-one mapping between the starting point and the end point in the line in the hierarchical map characteristics and the nodes in the power grid, and finishes mapping connection between the hierarchical map characteristics and the power grid.
In particular, a few minutes of production stoppage in the actual production process often causes huge production loss to enterprises. Therefore, root cause of failure analysis (RCA) of a manufacturing system is important to reduce downtime and prevent production loss, and once a failure event occurs, the root cause of failure must be quickly located. The effects of minor faults may propagate and shut down the entire manufacturing system. The investigation on a certain piston production line machine finds that the reliability problem of an automatic production line is more prominent than that of a single machine due to more links of faults such as automatic loading, positioning, clamping, position sensing and the like. Production shop practices also show that failures that occur are generally caused by further root cause of failure, which is often a laborious and time-consuming task for maintenance personnel. It is noted that only a small percentage of proven failures are due to mechanical design irregularities, mostly due to small detail contingencies such as signal transmission, sensing devices, vibrations, loose joints, oil contamination, errors in the quality of the primary station product, etc. Often, there are potential root cause failures that occur, and the connections between these failures are highly coupled, which makes reliability modeling and RCA very difficult.
Example 8
A three-dimensional map based digital twin grid method, the method performing the steps of:
step S1: acquiring node data and line data of a power grid system, and generating a power grid three-dimensional map based on the acquired node data and line data;
step S2: dividing the power grid three-dimensional map based on a preset number of layered layers to obtain a plurality of layered maps;
step S3: extracting the features of each hierarchical map to obtain the features of the hierarchical maps;
step S4: the method comprises the following steps of mapping and connecting a layered map with a power grid, and simultaneously mapping and connecting the characteristics of the layered map with the power grid;
step S5: and sending the control command to a layered map or layered map characteristics, and sending the control command to the power grid through the established mapping connection to control the power grid to operate.
In particular, in recent years, with the wide application of emerging hot spot technologies such as cloud computing, artificial intelligence, big data and the like, the digitization degree of the energy industry is higher and higher. How to monitor and utilize massive panoramic information obtained from physical equipment, such as load, weather, electric heat energy flow, equipment operation and the like, brings new challenges to the operation management of the intelligent energy system. With the increasing of panoramic information such as loads, weather, equipment, electricity/gas/heat multi-energy flows and the like in the operation of a power system, the traditional power system modeling simulation technology is difficult to adapt to the requirement of the operation control of a future intelligent energy system, and the technical problem can be effectively solved by combining machine learning, a communication network, high-performance analysis and calculation and a digital twin technology of the Internet of things.
Example 9
On the basis of the previous embodiment, the method for generating the three-dimensional unit of the power grid comprises the following steps: acquiring three-dimensional coordinate data of each power grid node and acquiring three-dimensional coordinate data of a starting point and an end point of each line; and comparing the three-dimensional coordinate data of the power grid nodes with the three-dimensional coordinate data of the starting point or the end point of each line, and connecting the power grid nodes with the three-dimensional coordinate data completely consistent with the three-dimensional coordinate data with the starting point or the end point of each line until the comparison of all the power grid nodes is completed.
Example 10
On the basis of the previous embodiment, the following steps are executed when the power grid three-dimensional map is divided: setting a dividing direction; the set dividing direction must satisfy: included angles with the mean value of the directions of all lines of the power grid do not exceed a set threshold value; setting a dividing thickness; the set dividing thickness is required to satisfy the following conditions: under the set segmentation thickness, the nodes of the power grid contained in each layered map obtained after segmentation exceed the set threshold; and segmenting the power grid three-dimensional map according to the set segmentation defense line and the set segmentation thickness to obtain a plurality of layered maps.
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes and related descriptions of the storage device and the processing device described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
Those of skill in the art would appreciate that the various illustrative elements, method steps, described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that programs corresponding to the elements, method steps may be located in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. To clearly illustrate this interchangeability of electronic hardware and software, various illustrative components and steps have been described above generally in terms of their functionality. Whether these functions are performed in electronic hardware or software depends on the particular application and property constraints of the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The terms "first," "second," and the like are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.
The terms "comprises," "comprising," or any other similar term are intended to cover a non-exclusive inclusion, such that a process, method, article, or unit/apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or unit/apparatus.
So far, the technical solutions of the present invention have been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of the present invention is obviously not limited to these specific embodiments. Equivalent modifications or substitutions of the related art marks may be made by those skilled in the art without departing from the principle of the present invention, and the technical solutions after such modifications or substitutions will fall within the protective scope of the present invention.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention.
Claims (10)
1. A three-dimensional map based digital twin grid system, the system comprising:
the power grid map drawing unit is configured for acquiring node data and line data of a power grid system and generating a power grid three-dimensional map based on the acquired node data and line data;
the power grid map layering unit is configured and used for segmenting the power grid three-dimensional map based on a preset layering number to obtain a plurality of layering maps;
the hierarchical map feature extraction unit is configured to extract features of each hierarchical map to obtain hierarchical map features;
the hierarchical map mapping unit is configured for mapping and connecting the hierarchical map with the power grid and mapping and connecting the hierarchical map features with the power grid;
and the control unit is configured to send a control command to the layered map or the layered map features, and the control command is sent to the power grid through the established mapping connection to control the operation of the power grid.
2. The system of claim 1, wherein the method of the grid mapping unit generating the three-dimensional unit of the grid comprises: acquiring three-dimensional coordinate data of each power grid node and acquiring three-dimensional coordinate data of a starting point and an end point of each line; and comparing the three-dimensional coordinate data of the power grid nodes with the three-dimensional coordinate data of the starting point or the end point of each line, and connecting the power grid nodes with the three-dimensional coordinate data completely consistent with the three-dimensional coordinate data with the starting point or the end point of each line until the comparison of all the power grid nodes is completed.
3. The system of claim 2, wherein the grid map layering unit performs the following steps in segmenting the grid three-dimensional map:
step A1: setting a dividing direction; the set dividing direction must satisfy: included angles with the mean value of the directions of all lines of the power grid do not exceed a set threshold value;
step A2: setting a dividing thickness; the set dividing thickness is required to satisfy the following conditions: under the set segmentation thickness, the nodes of the power grid contained in each layered map obtained after segmentation exceed the set threshold;
step A3: and segmenting the power grid three-dimensional map according to the set segmentation defense line and the set segmentation thickness to obtain a plurality of layered maps.
4. The system of claim 3, wherein the hierarchical map feature extraction unit performs feature extraction on each hierarchical map, and the method for obtaining the hierarchical map features performs the following steps:
step B1: randomly screening a circular area in the hierarchical extraction to obtain nodes and lines in the circular area;
step B2: calculating the weight of the circular area by using a preset weight calculation formula based on the acquired nodes and lines;
step B3; if the calculated weight of the circular area exceeds a set threshold, the nodes and lines in the circular area are extracted as the hierarchical map features.
5. The system of claim 4, wherein the weight calculation formula is represented using the formula:
wherein, PiRepresenting a route in a hierarchical map; pi(theta) represents an included angle between a line in the layered map and the horizontal direction; n is a radical ofiRepresenting nodes in a hierarchical map; n is a radical ofi(x)、Ni(y) and Ni(z) coordinate values representing x-axis coordinates, y-axis coordinates, and z-axis coordinates of nodes in the hierarchical map.
6. The system of claim 5, wherein the method for the hierarchical map mapping unit to map the hierarchical map with the power grid performs the following steps:
step C1: the hierarchical map mapping unit establishes one-to-one mapping between the nodes in the hierarchical map and the nodes in the power grid;
step C2: and the hierarchical map mapping unit establishes one-to-one mapping between the starting point and the end point of the line in the hierarchical map and the node in the power grid, and finishes the mapping connection between the hierarchical map and the power grid.
7. The system of claim 6, wherein the method for the hierarchical map mapping unit to map hierarchical map features with the power grid performs the steps of:
step D1: the hierarchical map mapping unit establishes one-to-one mapping between the nodes in the hierarchical map features and the nodes in the power grid;
step D2: and the hierarchical map mapping unit establishes one-to-one mapping between the starting point and the end point in the line in the hierarchical map characteristics and the nodes in the power grid, and finishes mapping connection between the hierarchical map characteristics and the power grid.
8. A three-dimensional map based digital twin grid method based on the system of one of claims 1 to 7, characterized in that the method performs the following steps:
step S1: acquiring node data and line data of a power grid system, and generating a power grid three-dimensional map based on the acquired node data and line data;
step S2: dividing the power grid three-dimensional map based on a preset number of layered layers to obtain a plurality of layered maps;
step S3: extracting the features of each hierarchical map to obtain the features of the hierarchical maps;
step S4: the method comprises the following steps of mapping and connecting a layered map with a power grid, and simultaneously mapping and connecting the characteristics of the layered map with the power grid;
step S5: and sending the control command to a layered map or layered map characteristics, and sending the control command to the power grid through the established mapping connection to control the power grid to operate.
9. The method of claim 8, wherein the method of generating a grid three-dimensional unit comprises: acquiring three-dimensional coordinate data of each power grid node and acquiring three-dimensional coordinate data of a starting point and an end point of each line; and comparing the three-dimensional coordinate data of the power grid nodes with the three-dimensional coordinate data of the starting point or the end point of each line, and connecting the power grid nodes with the three-dimensional coordinate data completely consistent with the three-dimensional coordinate data with the starting point or the end point of each line until the comparison of all the power grid nodes is completed.
10. The method of claim 9, wherein the step of segmenting the three-dimensional map of the power grid is performed by: setting a dividing direction; the set dividing direction must satisfy: included angles with the mean value of the directions of all lines of the power grid do not exceed a set threshold value; setting a dividing thickness; the set dividing thickness is required to satisfy the following conditions: under the set segmentation thickness, the nodes of the power grid contained in each layered map obtained after segmentation exceed the set threshold; and segmenting the power grid three-dimensional map according to the set segmentation defense line and the set segmentation thickness to obtain a plurality of layered maps.
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