CN115601522A

CN115601522A - Substation live-action model generation method, device, equipment and storage medium

Info

Publication number: CN115601522A
Application number: CN202211309937.8A
Authority: CN
Inventors: 陈焕捷; 樊道庆; 李泽雄; 邱栋; 李文波; 官飞煜; 张亚辉; 陆则宇; 柳红凯; 杨锐
Original assignee: Guangdong Power Grid Co Ltd; Shantou Power Supply Bureau of Guangdong Power Grid Co Ltd
Current assignee: Guangdong Power Grid Co Ltd; Shantou Power Supply Bureau of Guangdong Power Grid Co Ltd
Priority date: 2022-10-25
Filing date: 2022-10-25
Publication date: 2023-01-13

Abstract

The invention discloses a method, a device, equipment and a storage medium for generating a real-scene model of a transformer substation. A substation live-action model generation method comprises the following steps: acquiring image information of a transformer substation shot based on an oblique photography technology; analyzing the image information to obtain three-dimensional coordinate data of the transformer substation as initial point cloud data; obtaining the trend of a power line of a transformer substation and a starting endpoint, a terminating endpoint and a middle key point which are positioned on the power line; fitting and generating a vector line of the power line based on the trend, the starting endpoint, the terminating endpoint and the middle key point; and generating a real-scene model of the transformer substation based on the image information, the initial point cloud data and the vector line. The generation of the vector line can ensure that the problem that the power line cannot be completely identified and completely modeled because the power line is relatively small in the transformer substation in the modeling process can be avoided, the integrity of the power line in the modeling process is ensured, and the loss of a conducting wire in a real-scene model is avoided.

Description

Substation live-action model generation method, device, equipment and storage medium

Technical Field

The invention relates to the technical field of substation scene modeling, in particular to a substation live-action model generation method, a substation live-action model generation device, substation live-action model generation equipment and a storage medium.

Background

Oblique photography modeling is a way to model a specific area three-dimensionally using an aerial image. The method reduces labor cost, improves modeling speed, and is widely applied to substation live-action modeling.

However, in practical application, the current real-scene model of the transformer substation has the following problems: 1. the real rate is low, and in the process of multi-vision image fusion and target identification of point clouds and pictures of the transformer substation lead based on modeling of oblique photography, the mapping precision of the real-scene model to the line-type equipment such as a soft bus and a line lead is low, so that the real-scene model of the equipment cannot be accurately provided. 2. The safety is low, and the loss of the wire model in the modeling based on oblique photography leads to that whether the unmanned aerial vehicle air line is overlapped with the electrified wire or not and the safety distance is insufficient can not be accurately judged in the unmanned aerial vehicle air line planning design based on the real scene model foundation, so that the problems that the distance between the unmanned aerial vehicle and the electrified wire exceeds the specified safety distance and the air line is collided easily occur.

Disclosure of Invention

The invention provides a substation live-action model generation method, a substation live-action model generation device, substation live-action model generation equipment and a storage medium, and aims to solve the problems that the modeling precision of a live wire in substation live-action modeling is not high, and the subsequent use is influenced.

According to an aspect of the invention, a substation live-action model generation method is provided, which includes:

acquiring image information of a transformer substation shot based on an oblique photography technology;

analyzing the image information to obtain three-dimensional coordinate data of the transformer substation as initial point cloud data;

obtaining the trend of a power line of the transformer substation and a starting endpoint, a terminating endpoint and a middle key point which are positioned on the power line;

generating a vector line of the power line based on the trend, the starting endpoint, the terminating endpoint and the intermediate key point fitting;

generating a live-action model of the substation based on the image information, the initial point cloud data, and the vector line.

Optionally, the image information includes image data captured by an oblique aerial camera and dot matrix coordinate information acquired by a laser radar.

Optionally, the analyzing the image information to obtain three-dimensional coordinate data of the transformer substation as initial point cloud data includes:

and extracting pixel coordinates of the image information and converting the pixel coordinates into a world coordinate system to obtain three-dimensional coordinate data of the transformer substation as initial point cloud data.

Optionally, after analyzing the image information to obtain three-dimensional coordinate data of the surface of the substation as initial point cloud data, the method further includes:

and performing point cloud pretreatment on the initial point cloud data to obtain a three-dimensional point cloud model.

Optionally, the obtaining the trend of the power line of the substation and the starting endpoint, the ending endpoint and the middle key point on the power line includes:

carrying out image recognition on the image information to obtain the trend of the power line and a starting endpoint, a terminating endpoint and a middle key point which are positioned on the power line;

or, acquiring the preset trend of the power line and a starting endpoint, a terminating endpoint and a middle key point which are positioned on the power line.

Optionally, the fitting to generate the vector line of the power line based on the trend, the starting endpoint, the terminating endpoint, and the middle key point includes:

constructing the starting endpoint, the ending endpoint and the intermediate key points into ordered feature points based on the trend;

and fitting based on the ordered feature points to generate a vector line of the power line.

Optionally, the generating a real-world model of the substation based on the image information, the initial point cloud data, and the vector line includes:

generating a three-dimensional model of the substation based on the initial point cloud data;

importing the vector line into the three-dimensional model;

and performing high-resolution texture filling on the three-dimensional model based on the image information to obtain a real-scene model of the transformer substation.

According to another aspect of the present invention, there is provided a substation live-action model generation apparatus, including:

the image acquisition module is used for acquiring image information of the transformer substation shot based on oblique photography technology;

the analysis module is used for analyzing the image information to obtain three-dimensional coordinate data of the transformer substation as initial point cloud data;

the point acquisition module is used for acquiring the trend of a power line of the transformer substation and a starting endpoint, a terminating endpoint and a middle key point which are positioned on the power line;

a fitting module for performing fitting based on the trend, the starting endpoint, the terminating endpoint and the intermediate key point to generate a vector line of the power line;

a generating module for performing generation of a live-action model of the substation based on the image information, the initial point cloud data and the vector line.

According to another aspect of the present invention, there is provided a substation live-action model generation apparatus, the apparatus including:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,

the memory stores a computer program executable by the at least one processor, the computer program being executable by the at least one processor to enable the at least one processor to perform the substation reality model generation method according to any of the embodiments of the present invention.

According to another aspect of the present invention, there is provided a computer-readable storage medium storing computer instructions for causing a processor to implement the substation real estate model generation method according to any one of the embodiments of the present invention when executed.

According to the technical scheme, the image information of the transformer substation is shot by using an oblique photography technology, the point cloud data, the trend of the power line, the starting endpoint, the ending endpoint and the middle key point are obtained from the image information, then the vector line of the power line is obtained by fitting based on the trend of the power line, the starting endpoint, the ending endpoint and the middle key point, and finally the live-action model of the transformer substation is generated based on the point cloud data and the vector line of the power line.

It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present invention, nor do they necessarily limit the scope of the invention. Other features of the present invention will become apparent from the following description.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a flowchart of a substation live-action model generation method according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a substation live-action model generation device according to a second embodiment of the present invention;

fig. 3 is a schematic structural diagram of a substation live-action model generation device according to a third embodiment of the present invention.

Detailed Description

In order to make the technical solutions of the present invention better understood, 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 only a part of the embodiments of the present invention, and not all of the embodiments. 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 the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Example one

Fig. 1 is a flowchart of a substation reality model generation method according to an embodiment of the present invention, where the present embodiment is applicable to a substation for performing the reality modeling, and the method may be executed by a substation reality model generation device, where the substation reality model generation device may be implemented in a form of hardware and/or software, and the substation reality model generation device may be configured in a computer device, such as a server, a workstation, a personal computer, and the like.

Oblique photography modeling is a way to model a specific area three-dimensionally using an aerial image. By carrying multiple sensors on the same flight platform and acquiring images from different angles such as vertical and side-looking angles, the method has four more inclined shooting angles than the traditional photogrammetry, thereby being capable of acquiring more abundant information such as side textures. The oblique photogrammetry technology can comprehensively sense complex scenes in a large-range, high-precision and high-definition mode, and data achievements generated by high-efficiency data acquisition equipment and a professional data processing flow intuitively reflect the attributes of the appearances, positions, heights and the like of ground objects, so that the real effect and the surveying and mapping precision are guaranteed. Meanwhile, the production efficiency of the model is effectively improved, the modeling work of a small and medium-sized city can be completed in one or two years by adopting an artificial modeling mode, and the modeling work can be completed only in three to five months by adopting an oblique photography modeling mode, so that the economic cost and the time cost of three-dimensional model data acquisition are greatly reduced.

At present, a real-scene model based on oblique photography is gradually applied to the actual field of each professional, and the embodiment of the invention mainly aims at the problem that the power line modeling effect is poor in the process of realizing the real-scene model of the transformer substation by adopting the oblique photography technology.

As shown in fig. 1, the method includes:

and S110, acquiring image information of the transformer substation shot based on the oblique photography technology.

In the embodiment of the invention, based on an oblique photography technology, an unmanned aerial vehicle is adopted to carry a plurality of image sensors and/or laser radars, and simultaneously, the image acquisition is carried out on the transformer substation from different angles such as one vertical angle, a plurality of side-looking angles and the like, so that the image information of the transformer substation is obtained. The image information at least comprises clear substation images and acquisition positions of the images, and parameters and information related to substation image acquisition, such as corresponding image sensors and/or laser radar parameters.

And S120, analyzing the image information to obtain three-dimensional coordinate data of the transformer substation as initial point cloud data.

In an embodiment of the present invention, the acquired image information includes three-dimensional coordinate information of the substation, and what is needed in this step is to acquire three-dimensional coordinate data of the substation based on the image information, so as to obtain point cloud data of the substation. When the image is acquired, the stereo camera or the laser radar camera may acquire image information, and at the same time, the parameter information of the corresponding stereo camera or laser radar camera, the position information of the unmanned device on which the stereo camera or laser radar camera is mounted, and the like may be acquired.

S130, obtaining the trend of the power line of the transformer substation, and a starting endpoint, a terminating endpoint and a middle key point which are positioned on the power line.

The direction, the starting end point, the ending end point and the middle key point of the power line can be acquired in various forms, for example, the power line is identified in the image information in an image identification mode, so that the direction of the power line in the image information, the starting end point, the ending end point and the middle key point on the power line are acquired; or the trend, the starting endpoint, the ending endpoint and the middle key point of the power line are input in a form of manual input; and then, or manually marking key points on the power line in the image information, and extracting the trend, the starting end point, the ending end point, the middle key point and the like of the power line based on the key points. In a specific implementation, a manner that can extract the trend, the starting endpoint, the terminating endpoint, and the middle key point of the power line can be selected based on the actual needs.

And S140, fitting and generating a vector line of the power line based on the trend, the starting endpoint, the ending endpoint and the middle key point.

In the step, fitting is carried out based on the direction, the starting endpoint, the terminating endpoint and the middle key point, and a vector line with the same direction and position as the power line is fitted based on the direction, the starting endpoint, the terminating endpoint and the middle key point.

And S150, generating a real-scene model of the transformer substation based on the image information, the initial point cloud data and the vector line.

Calculating and determining the point cloud data of the transformer substation and the vector line of the power line in the previous step, modeling the transformer substation based on the point cloud data in the step, loading the vector line on the established model as the position of the power line, and finally performing live-action filling based on the model in the image information to obtain the live-action model of the transformer substation.

In the embodiment of the invention, the image information of the transformer substation is shot by utilizing an oblique photography technology, the point cloud data, the trend of the power line, the starting endpoint, the ending endpoint and the middle key point are obtained from the image information, then the vector line of the power line is obtained by fitting based on the trend of the power line, the starting endpoint, the ending endpoint and the middle key point, and finally the live-action model of the transformer substation is generated based on the point cloud data and the vector line of the power line.

The image information acquired in the embodiment of the present invention may include image data photographed using a tilt aerial camera and dot matrix coordinate information acquired using a laser radar.

Meanwhile, the image data shot by the oblique aerial photography instrument and the dot matrix coordinate information obtained by the laser radar can be used for obtaining more accurate three-dimensional coordinate data, the calculation requirement on calculation service is reduced, then the shot image data can be used for obtaining high-resolution textures of the transformer substation, and the authenticity of the transformer substation generated subsequently is improved.

At S120, analyzing the image information to obtain three-dimensional coordinate data of the substation, which is used as the initial point cloud data, and may include:

When three-dimensional coordinate data is acquired from image information, four coordinate systems are included: image pixel coordinate system, image physical coordinate system, camera coordinate system, world coordinate system. Wherein:

image pixel coordinate system: representing the projection of a three-dimensional space object on an image plane, the pixels are discretized, the coordinate origin of the pixels is positioned at the upper left corner of the CCD image plane, the u axis is parallel to the CCD plane and horizontally faces to the right, the v axis is perpendicular to the u axis and faces downwards, and the coordinates are expressed by (u, v). Image width W, height H.

Image physical coordinate system: the origin of coordinates is at the center of the CCD image plane, x, y axes are parallel to the (u, v) axes of the image pixel coordinate system, respectively, and the coordinates are expressed as (x, y).

Camera coordinate system: using the optical center of the camera as the origin of the coordinate system, X _c ，Y _c The axes are parallel to the x, y axes of the image coordinate system, the optical axis of the camera is the axis, and the coordinate system satisfies the right-hand rule. The optical center of the camera may be understood as the geometric center of the camera lens.

World coordinate system: for representing absolute coordinates of an object in space, using (X) _w ,Y _w ,Z _w ) The world coordinate system may be represented by a camera coordinate system through rotation and translation.

Therefore, the three-dimensional coordinate data of the transformer substation can be obtained by processing the image information, converting the pixel coordinates of the image into world coordinates, and further obtaining the three-dimensional coordinate data of the transformer substation in the world coordinates.

In other embodiments, after the analyzing the image information to obtain the three-dimensional coordinate data of the surface of the substation as the initial point cloud data, at S120, the method further includes:

and carrying out point cloud pretreatment on the initial point cloud data to obtain a three-dimensional point cloud model. The point cloud preprocessing of the initial point cloud data may include a series of operations such as point cloud splicing, fusion, registration, clipping, denoising, thinning, and the like. And selecting a proper preprocessing mode to process the point cloud data in the actual processing process.

In the embodiment of the present invention, step S130, obtaining the direction of the power line of the substation and the starting endpoint, the ending endpoint, and the middle key point on the power line may be performed in the following two ways:

1. and carrying out image identification on the image information to obtain the trend of the power line and a starting endpoint, a terminating endpoint and a middle key point which are positioned on the power line. The power line is identified in the image information in an image identification mode, and then the trend, the starting endpoint, the ending endpoint and the middle key point of the power line are determined based on the identification result.

2. The method comprises the steps of obtaining the preset trend of the power line, and a starting endpoint, a terminating endpoint and a middle key point which are positioned on the power line. That is, the trend of the power line and the start end point, the end point and the middle key point on the power line are specified manually.

In this embodiment of the present invention, the fitting to generate a vector line of the power line based on the trend, the starting endpoint, the ending endpoint, and the middle key point, in S140, may include:

and S141, constructing the starting endpoint, the ending endpoint and the middle key point into an ordered feature point based on the trend.

In the specific implementation, the formats and the sequences of the obtained start endpoint, the end endpoint and the middle key point may have deviations, and in this step, the start endpoint, the end endpoint and the middle key point are sequenced based on the trend, and a sequence of ordered feature points is constructed.

And S142, fitting based on the ordered feature points to generate a vector line of the power line.

In particular implementations, the vector line of the power line may be fitted in a number of ways, for example, using a Catmull-Rom trajectory algorithm.

In this embodiment of the present invention, S150, generating a real-world model of the substation based on the image information, the initial point cloud data, and the vector line may include:

generating a three-dimensional model of the transformer substation based on the initial point cloud data;

importing the vector line into the three-dimensional model;

The method comprises the steps of generating a three-dimensional model of the transformer substation based on initial point cloud data, then leading a vector line of a power line into the three-dimensional model, and finally filling the vector line based on the vector line and high-resolution textures of the power line in image information to obtain a more accurate power line model.

Furthermore, attribute matching may be performed on the obtained vector line, which refers to physical attributes of the power line, such as information of the material, length, thickness, and the like of the power line.

Example two

Fig. 2 is a schematic structural diagram of a substation live-action model generation device according to a second embodiment of the present invention. As shown in fig. 2, the apparatus includes an image acquisition module 21, an analysis module 22, a point acquisition module 23, a fitting module 24, and a generation module 25, wherein:

an image acquisition module 21 configured to perform acquisition of image information of the substation captured based on an oblique photography technique;

the analysis module 22 is used for analyzing the image information to obtain three-dimensional coordinate data of the transformer substation as initial point cloud data;

the point acquisition module 23 is configured to perform acquisition of a trend of a power line of the substation, and a start endpoint, a stop endpoint, and a middle key point on the power line;

the fitting module 24 is configured to perform fitting to generate a vector line of the power line based on the trend, the starting endpoint, the terminating endpoint, and the middle key point;

and the generating module 25 is used for generating a real-scene model of the transformer substation based on the image information, the initial point cloud data and the vector line.

In the embodiment of the invention, the image information comprises image data shot by the inclined aerial camera and dot matrix coordinate information obtained by the laser radar.

Optionally, the parsing module includes:

and the analysis unit 22 is used for extracting the pixel coordinates of the image information and converting the pixel coordinates into a world coordinate system to obtain three-dimensional coordinate data of the transformer substation as initial point cloud data.

In the embodiment of the present invention, the method further includes:

and the processing module is used for executing point cloud preprocessing on the initial point cloud data to obtain a three-dimensional point cloud model.

Optionally, the point obtaining module 23 includes:

the identification unit is used for carrying out image identification on the image information to obtain the trend of the power line and a starting endpoint, a terminating endpoint and a middle key point which are positioned on the power line; or, the preset trend of the power line and the starting end point, the ending end point and the middle key point on the power line are obtained.

Optionally, the fitting module 24 includes:

the sequencing unit is used for constructing the starting endpoint, the terminating endpoint and the middle key point into ordered feature points on the basis of the trend;

and the fitting unit is used for performing fitting based on the ordered feature points to generate a vector line of the power line.

Optionally, the generating module 25 includes:

a generating unit for executing generation of a three-dimensional model of the substation based on the initial point cloud data;

an importing unit configured to perform importing the vector line into the three-dimensional model;

and the loading unit is used for executing high-resolution texture filling on the three-dimensional model based on the image information to obtain the live-action model of the transformer substation.

The substation real-scene model generation device provided by the embodiment of the invention can execute the substation real-scene model generation method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.

EXAMPLE III

Fig. 3 shows a schematic structural diagram of a substation reality model generating device 10 that may be used to implement an embodiment of the invention. The substation reality model generating device is intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other suitable computers. The substation realistic model generating apparatus may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.

As shown in fig. 3, the substation realistic model generating apparatus 10 includes at least one processor 11, and a memory communicatively connected to the at least one processor 11, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, and the like, wherein the memory stores a computer program executable by the at least one processor, and the processor 11 may perform various suitable actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from the storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the substation realistic model generating apparatus 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.

A plurality of components in the substation realistic model generating apparatus 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, or the like; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the substation reality model generating device 10 to exchange information/data with other devices via a computer network such as the internet and/or various telecommunication networks.

The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various dedicated Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, and so forth. The processor 11 performs the various methods and processes described above, such as the substation live-action model generation method.

In some embodiments, the substation realistic model generation method may be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed on the substation live-action model generating device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the substation live-action model generation method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the substation live action model generation method by any other suitable means (e.g. by means of firmware).

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.

Computer programs for implementing the methods of the present invention can be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be performed. A computer program can execute entirely on a machine, partly on a machine, as a stand-alone software package partly on a machine and partly on a remote machine or entirely on a remote machine or server.

In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide for interaction with a user, the systems and techniques described herein may be implemented on a substation reality model generating device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user may provide input to the substation reality model generating device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.

The computing system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical host and VPS service are overcome.

It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present invention may be executed in parallel, sequentially, or in different orders, and are not limited herein as long as the desired results of the technical solution of the present invention can be achieved.

The above-described embodiments should not be construed as limiting the scope of the invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A substation live-action model generation method is characterized by comprising the following steps:

2. The substation live-action model generation method according to claim 1, wherein the image information includes image data captured using an oblique aerial camera and dot matrix coordinate information obtained using a laser radar.

3. The substation live-action model generation method according to claim 1, wherein the analyzing the image information to obtain three-dimensional coordinate data of the substation as initial point cloud data comprises:

4. The substation reality model generation method according to claim 1, after the analyzing the image information to obtain three-dimensional coordinate data of the surface of the substation as initial point cloud data, further comprising:

5. The substation realistic model generating method of claim 1, wherein the obtaining the trend of the power line of the substation and the starting end point, the ending end point and the middle key point on the power line comprises:

6. The substation live-action model generation method of claim 1, wherein the generating a vector line of the power line based on the trend, the starting endpoint, the ending endpoint and the intermediate keypoint fit comprises:

7. The substation live-action model generation method according to claim 1, wherein the generating a live-action model of the substation based on the image information, the initial point cloud data, and the vector line comprises:

importing the vector line into the three-dimensional model;

8. A substation live-action model generation device is characterized by comprising:

9. A substation live-action model generation device, characterized in that the device comprises:

at least one processor; and

the memory stores a computer program executable by the at least one processor, the computer program being executable by the at least one processor to enable the at least one processor to perform the substation reality model generation method of any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that the computer-readable storage medium stores computer instructions for causing a processor to implement the substation reality model generation method of any one of claims 1-7 when executed.