CN116050132A

CN116050132A - Intelligent high-voltage switch digital twin model construction method and electronic equipment

Info

Publication number: CN116050132A
Application number: CN202310033535.8A
Authority: CN
Inventors: 李天辉; 王向东; 顾朝敏; 庞先海; 甄利; 董驰; 路士杰; 陈二松
Original assignee: State Grid Corp of China SGCC; Electric Power Research Institute of State Grid Hebei Electric Power Co Ltd; State Grid Hebei Energy Technology Service Co Ltd
Current assignee: State Grid Corp of China SGCC; Electric Power Research Institute of State Grid Hebei Electric Power Co Ltd; State Grid Hebei Energy Technology Service Co Ltd
Priority date: 2023-01-10
Filing date: 2023-01-10
Publication date: 2023-05-02

Abstract

The invention provides an intelligent high-voltage switch digital twin model construction method and electronic equipment. The method comprises the following steps: acquiring three-dimensional structure data of the target voltage switch equipment in real time; according to the three-dimensional structure data, a three-dimensional structure model of the target voltage switching equipment is established in a simulation mode; acquiring state data of the target voltage switching equipment in real time, wherein the state data comprises electric data of the target voltage switching equipment and action data of interaction action of the target voltage switching equipment; displaying electric data corresponding to the target voltage switching equipment by the three-dimensional structure model, and driving the three-dimensional structure model to perform interaction corresponding to the target voltage switching equipment according to the action data to obtain a digital twin model of the target voltage switching equipment; and updating the digital twin model in real time according to the state data and the three-dimensional structure data. According to the invention, the running state of the high-voltage switch can be accurately obtained through the constructed intelligent digital twin model of the high-voltage switch, and the high-voltage switch can be timely and accurately subjected to operation, maintenance and overhaul.

Description

Intelligent high-voltage switch digital twin model construction method and electronic equipment

Technical Field

The invention relates to the technical field of digital twin power grids, in particular to an intelligent high-voltage switch digital twin model construction method and electronic equipment.

Background

The high-voltage switch is a basic and important component part in the power grid, and the safe and reliable operation of the power grid can be effectively ensured by detecting the operation state of the high-voltage switch and diagnosing faults.

The traditional operation and maintenance mode is mainly to carry out information data acquisition and analysis work through on-site maintenance of operation and maintenance staff, and because the personnel of operation and maintenance are insufficient, the maintenance period of a power distribution system is short, fault diagnosis of a high-voltage switch is difficult to accurately carry out, and deviation is easy to occur during information transmission.

With the development of the digital twin technology, the existing digital twin technology can finish mapping the power equipment in the virtual space, but only digital twin modeling of the power equipment can be performed, so that operation and maintenance of the power equipment are difficult to realize through the digital twin technology, and operation and maintenance information is timely and accurately acquired.

Therefore, a digital twin model capable of obtaining the operation state of the high-voltage switch is needed, so that the operation and maintenance of the high-voltage switch can be accurately performed in time, and the transformation and upgrading of the digital operation and maintenance of the power equipment are realized.

Disclosure of Invention

The embodiment of the invention provides an intelligent high-voltage switch digital twin model construction method and electronic equipment, which can accurately acquire the running state of a high-voltage switch through the constructed intelligent high-voltage switch digital twin model so as to solve the problem that the running, maintenance and overhaul of the high-voltage switch are difficult to accurately and timely carry out in the prior art.

In a first aspect, an embodiment of the present invention provides a method for constructing an intelligent digital twin model of a high-voltage switch, including:

acquiring three-dimensional structure data of the target voltage switch equipment in real time;

according to the three-dimensional structure data, a three-dimensional structure model of the target voltage switching equipment is established in a simulation mode;

acquiring state data of the target voltage switching equipment in real time, wherein the state data comprises electric data of the target voltage switching equipment and action data of interaction action of the target voltage switching equipment;

displaying electric data corresponding to the target voltage switching equipment by the three-dimensional structure model, and driving the three-dimensional structure model to perform interaction corresponding to the target voltage switching equipment according to the action data to obtain a digital twin model of the target voltage switching equipment;

and updating the digital twin model in real time according to the state data and the three-dimensional structure data.

In one possible implementation, a target voltage switching device includes a device body and a sensor disposed on the device body;

the action data comprise mechanical state remote signaling of the equipment body and sensing data of the sensor.

In one possible implementation manner, according to the action data, driving the three-dimensional structure model to perform interaction corresponding to the target voltage switching device includes:

detecting whether the current mechanical state remote signaling changes;

if the current mechanical state remote signaling changes, determining current sensing data of a sensor corresponding to the current mechanical state remote signaling;

determining whether the equipment body where the sensor is located performs interaction or not according to the current sensing data;

if the equipment body where the sensor is located performs interaction, determining a fusion driving signal according to the current mechanical state remote signaling and the current sensing data;

and driving the three-dimensional structure model to perform interaction according to the fusion driving signal.

In one possible implementation, before driving the three-dimensional structure model to perform the interaction according to the fusion driving signal, the method further includes:

acquiring interaction information of the target high-voltage switch equipment, wherein the interaction information comprises interaction objects of the equipment body and interaction actions of the interaction objects;

Decomposing each interaction action to obtain a plurality of basic actions forming all interaction actions;

determining interaction data of each basic action;

according to the fusion driving signal, driving the corresponding equipment body in the three-dimensional structure model to perform interaction, including:

determining the current interaction action of the equipment body according to the fusion driving signal;

decomposing the current interaction action to obtain a first basic action corresponding to the current interaction action and current interaction data corresponding to the first basic action;

and controlling the three-dimensional structure model to perform interaction according to the current interaction data.

In one possible implementation manner, after driving the three-dimensional structure model to perform the interaction corresponding to the target voltage switching device according to the action data, the method further includes:

obtaining simulation data of an equipment body in a current three-dimensional structure model;

detecting whether the simulation data is consistent with the corresponding sensing data;

if the simulation data are inconsistent with the corresponding sensing data, updating the current three-dimensional structure model according to the sensing data to obtain a digital twin model of the target voltage switch;

and if the simulation data are consistent with the corresponding sensing data, directly obtaining a digital twin model of the target voltage switch.

In one possible implementation, acquiring three-dimensional structure data of the target high voltage switchgear in real time includes:

performing three-dimensional laser scanning on the target high-voltage switching equipment to obtain first three-dimensional structure data and a plurality of three-dimensional feature points of the target high-voltage switching equipment;

acquiring binocular image information of a plurality of three-dimensional feature points through a binocular camera;

and determining second three-dimensional structure data of each three-dimensional characteristic point according to the binocular image information.

In one possible implementation, the simulation establishes a three-dimensional structure model of the target voltage switchgear according to the three-dimensional structure data, including:

according to the first three-dimensional structure data and a preset LOD model, a basic structure model of the target high-voltage switch equipment is established;

according to the plurality of three-dimensional feature points and the second three-dimensional structure data corresponding to each three-dimensional feature point, a detail structure model of the target voltage switching equipment is established;

and obtaining a three-dimensional structure model of the target high-voltage switch equipment according to the basic structure model and the detail structure model.

In one possible implementation manner, before building a detailed structure model of the target high-voltage switchgear according to the plurality of three-dimensional feature points and the second three-dimensional structure data corresponding to each three-dimensional feature point, the method further includes:

Obtaining calibration data of a binocular camera;

calculating the internal parameters and the external parameters of the binocular camera according to the calibration data;

calculating a projection matrix of the binocular camera according to the inner parameter and the outer parameter;

determining an image conversion model of the binocular camera according to the projection matrix, wherein the image conversion model is a conversion model between binocular image information acquired by the binocular camera and model data corresponding to the binocular image information;

according to the plurality of three-dimensional feature points and the second three-dimensional structure data corresponding to the three-dimensional feature points, a detail structure model of the target voltage switching equipment is established, and the detail structure model comprises:

respectively inputting second three-dimensional structure data corresponding to each three-dimensional feature point into the image conversion model to obtain a local detail model of each three-dimensional feature point;

calculating a rotation matrix and a translation vector between the three-dimensional feature points;

and obtaining a detail structure model of the target voltage switch equipment according to the local detail model, the rotation matrix and the translation vector of all the three-dimensional feature points.

In a second aspect, an embodiment of the present invention provides an electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the method of the first aspect or any one of the possible implementations of the first aspect as described above when the computer program is executed by the processor.

In a third aspect, embodiments of the present invention provide a computer readable storage medium storing a computer program which, when executed by a processor, implements the steps of the method of the above first aspect or any one of the possible implementations of the first aspect.

The embodiment of the invention provides an intelligent high-voltage switch digital twin model construction method and electronic equipment, which are used for acquiring three-dimensional structure data of target voltage switch equipment in real time to obtain the three-dimensional structure data of the target voltage switch equipment, so that the target voltage switch equipment can be modeled in a virtual space according to the three-dimensional structure data conveniently; according to the three-dimensional structure data, a three-dimensional structure model of the target voltage switching equipment is established in a simulation mode, the three-dimensional structure model corresponding to the target voltage switching equipment can be accurately established in a virtual space, the final digital twin model and the target voltage switching equipment are enabled to be corresponding according to the real proportion, the real operation scene of the target voltage switching equipment is restored, the situation that a user cannot quickly determine the real position of the high voltage switching equipment in the three-dimensional structure model is avoided, and therefore when the target voltage switching equipment fails, a worker can immediately and intuitively determine the position of the failure equipment according to the digital twin model; acquiring state data of the target voltage switching equipment in real time, wherein the state data comprises electric data of the target voltage switching equipment and action data of interaction action of the target voltage switching equipment, and the current running state, the current interaction action and the like of the target voltage switching equipment can be obtained in real time; the three-dimensional structure model is enabled to display electric data corresponding to the target high-voltage switch equipment, and is driven to conduct interaction corresponding to the target high-voltage switch equipment according to the action data, the established three-dimensional structure model can be enabled to be associated with the actual target high-voltage switch equipment, the state of the three-dimensional structure model is enabled to be consistent with that of the target high-voltage switch equipment, relevant data and interaction of the target high-voltage switch equipment are displayed in the three-dimensional structure model, therefore the actual action situation of the target high-voltage switch equipment is accurately reflected by the three-dimensional structure model, the situation that the target high-voltage switch equipment does not act in place is avoided, and the situation that the three-dimensional structure model completes complete action is obtained, so that the state data of the actual target high-voltage switch equipment can be intuitively and accurately obtained according to the digital twin model of the target high-voltage switch equipment; according to the state data and the three-dimensional structure data, the digital twin model is updated in real time, so that the state of the digital twin model is consistent with the state of the actual target high-voltage switching equipment, the operation and maintenance of the target high-voltage switching equipment can be realized through the state data of the digital twin model later, and the operation, maintenance and maintenance information of the target high-voltage switching equipment can be ensured to be accurately obtained in time through the state mapping.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments or the description of the prior art 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 that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a flow chart of an implementation of an intelligent high-voltage switch digital twin model construction method provided by an embodiment of the invention;

fig. 2 is a three-dimensional structure model diagram of an intelligent high-voltage switching device provided by an embodiment of the invention;

FIG. 3 is a schematic diagram of a digital twin model and high voltage switchgear data mapping structure provided by an embodiment of the present invention;

FIG. 4 is a schematic structural diagram of an intelligent digital twin model building device for a high-voltage switch, which is provided by the embodiment of the invention;

fig. 5 is a schematic diagram of an electronic device according to an embodiment of the present invention.

Detailed Description

In the following description, for purposes of explanation and not limitation, specific details are set forth such as the particular system architecture, techniques, etc., in order to provide a thorough understanding of the embodiments of the present invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.

For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the following description will be made by way of specific embodiments with reference to the accompanying drawings.

Fig. 1 is a flowchart of an implementation of a method for constructing an intelligent digital twin model of a high-voltage switch according to an embodiment of the present invention, which is described in detail below:

and step S101, acquiring three-dimensional structure data of the target voltage switching equipment in real time.

The target high-voltage switch equipment comprises primary equipment and secondary equipment of intelligent high-voltage switch equipment; the primary equipment of the intelligent high-voltage switch equipment mainly comprises a breaker, a disconnecting switch, a grounding switch and the like; the secondary equipment of the high-voltage switch equipment mainly comprises intelligent control equipment, a current sensor, a temperature sensor, a vibration sensor, a humidity sensor, a partial discharge sensor, a sound sensor, an angle sensor, an attitude sensor, an SF6 sensor, a position sensor, an energy storage sensor and the like; namely, the target high-voltage switch device comprises at least one device body, at least one sensor and at least one intelligent control device.

In this embodiment, three-dimensional structure data of the target high-voltage switching device is obtained, and three-dimensional structure data of the high-voltage switching device body, the sensor arranged on the device body and the intelligent control device can be obtained, so that three-dimensional simulation modeling is performed on the high-voltage switching device according to the three-dimensional structure data, and the high-voltage switching device and the environment state thereof are truly reproduced in the virtual space.

And step S102, establishing a three-dimensional structure model of the target high-voltage switch equipment in a simulation mode according to the three-dimensional structure data.

In this embodiment, referring to the three-dimensional structure model diagram of the intelligent high-voltage switching device shown in fig. 2, according to the three-dimensional structure data of the target high-voltage switching device, three-dimensional simulation modeling is performed in the virtual space, so that a three-dimensional structure model corresponding to the target high-voltage switching device can be established in the virtual space, so that the actual target high-voltage switching device can correspond to the target high-voltage switching device model in the virtual space, when the target high-voltage switching device is found to be faulty, the position of the fault device can be determined in time, and a user is prevented from searching for the fault device again according to the digital twin model, thereby ensuring that a worker can intuitively and accurately locate the fault device and perform corresponding maintenance.

Step S103, acquiring state data of the target voltage switchgear in real time, wherein the state data comprise electric data of the target voltage switchgear and action data of interaction action of the target voltage switchgear.

In this embodiment, the state data includes electrical data of the target voltage switchgear and action data for performing interaction, for example, an operation state, interaction, service flow data, and the like of the target voltage switchgear, where the electrical data may specifically be state quantities such as coil current of the apparatus body, energy storage motor current, auxiliary switch, and humidity of a mechanism box; the real-time performance of data acquisition can be ensured based on the IEC61850-9-2 protocol by three modes of a communication protocol model, a communication frame structure and a communication frame forwarding mode; and the real-time mapping channel of the industrial Ethernet can be established, and the data of the intelligent circuit breaker module and the intelligent disconnecting link module in the high-voltage switch equipment can be obtained in real time.

In the embodiment, the constructed digital twin model of the target high-voltage switch can realize dynamic characteristics of 40 frames per second under the condition of meeting the requirements of environment realism and immersion, and the interaction delay time is lower than 50ms, so that the real-time requirement can be met.

And step S104, enabling the three-dimensional structure model to display electric data corresponding to the target voltage switching equipment, and driving the three-dimensional structure model to perform interaction corresponding to the target voltage switching equipment according to the action data to obtain a digital twin model of the target voltage switching equipment.

In the embodiment, the association between the three-dimensional structure model and the actual target high-voltage switching equipment is established, so that the three-dimensional structure model can accurately reflect the running state, interaction action, business flow data and the like of the actual target high-voltage switching equipment, and the state data of the actual target high-voltage switching equipment can be intuitively and accurately obtained according to the digital twin model of the target high-voltage switching equipment; because the target high-voltage switch equipment is power equipment with movable parts, namely the target high-voltage switch equipment can perform interaction, the corresponding three-dimensional structure model of the virtual space can also perform corresponding interaction, the situation that the target high-voltage switch equipment does not act in place but the three-dimensional structure model completes complete actions, for example, the switching-on and switching-off of the target high-voltage switch equipment are not in place, and the three-dimensional structure model completes switching-on and switching-off, can be avoided by driving the three-dimensional structure model to perform the corresponding interaction of the target high-voltage switch equipment; therefore, the three-dimensional structure model and the target high-voltage switch equipment can be synchronized, if the switching-on/off of the target high-voltage switch equipment is not in place, the switching-on/off of the corresponding three-dimensional structure model is not in place, so that the operation of the real target high-voltage switch equipment is accurately reflected, and a user can operate, maintain and overhaul the target high-voltage switch equipment through the digital twin model.

Referring to a structural schematic diagram of data mapping between a digital twin model and high-voltage switching equipment shown in fig. 3, a physical space is a real space, and corresponds to a space where real target voltage switching equipment exists, and a virtual space is a space where a three-dimensional structural model of the target voltage switching equipment is arranged; the virtual space acquires and displays the data of the physical space, namely the three-dimensional structure model in the virtual space correspondingly displays the data of the real target high-voltage switch equipment, so that the running state of the real target high-voltage switch equipment in the physical space can be reflected.

Step S105, updating the digital twin model in real time according to the state data and the three-dimensional structure data.

In the embodiment, the digital twin model is updated in real time according to the state data of the actual target high-voltage switch, and the state data of the actual target high-voltage switch equipment can be accurately obtained through the digital twin model of the target high-voltage switch equipment; when an abnormal condition occurs in the operation process of the target high-voltage switch equipment, the digital twin model can provide corresponding abnormal information to promote the circulation of an actual business process, so that the target high-voltage switch equipment is conveniently transported and overhauled; and through state mapping, the operation, maintenance and overhaul information of the target high-voltage equipment can be timely and accurately obtained.

Compared with the prior art, the embodiment has the following beneficial effects:

(1) The three-dimensional structure model is enabled to display electric data corresponding to the target high-voltage switch equipment, and is driven to conduct interaction corresponding to the target high-voltage switch equipment according to the action data, so that the three-dimensional structure model can be enabled to be consistent with the state of the target high-voltage switch equipment, the three-dimensional structure model can accurately reflect the actual action condition of the target high-voltage switch equipment, the situation that the action of the target high-voltage switch equipment is not in place and the three-dimensional structure model is complete is avoided, and therefore a user can conduct operation maintenance and overhaul on the target high-voltage switch equipment through the digital twin model.

(2) According to the three-dimensional structure data, a three-dimensional structure model of the target voltage switching equipment is established through simulation, the digital twin model and the target voltage switching equipment can be correspondingly realized according to the real proportion, the real operation scene of the target voltage switching equipment is restored, the situation that a user cannot quickly determine the real position of the high voltage switching equipment in the three-dimensional structure model is avoided, and therefore when the target voltage switching equipment fails, the user can intuitively determine the position of the failure equipment in time according to the digital twin model.

According to the embodiment of the invention, the three-dimensional structure data of the target voltage switching equipment is obtained in real time, so that the target voltage switching equipment can be modeled in a virtual space according to the three-dimensional structure data conveniently; according to the three-dimensional structure data, a three-dimensional structure model of the target voltage switching equipment is established in a simulation mode, the three-dimensional structure model corresponding to the target voltage switching equipment can be accurately established in a virtual space, the final digital twin model and the target voltage switching equipment are enabled to be corresponding according to the real proportion, the real operation scene of the target voltage switching equipment is restored, the situation that a user cannot quickly determine the real position of the high voltage switching equipment in the three-dimensional structure model is avoided, and therefore when the target voltage switching equipment fails, a worker can immediately and intuitively determine the position of the failure equipment according to the digital twin model; acquiring state data of the target voltage switching equipment in real time, wherein the state data comprises electric data of the target voltage switching equipment and action data of interaction action of the target voltage switching equipment, and the current running state, the current interaction action and the like of the target voltage switching equipment can be obtained in real time; the three-dimensional structure model is enabled to display electric data corresponding to the target high-voltage switch equipment, and is driven to conduct interaction corresponding to the target high-voltage switch equipment according to the action data, the established three-dimensional structure model can be enabled to be associated with the actual target high-voltage switch equipment, the state of the three-dimensional structure model is enabled to be consistent with that of the target high-voltage switch equipment, relevant data and interaction of the target high-voltage switch equipment are displayed in the three-dimensional structure model, therefore the actual action situation of the target high-voltage switch equipment is accurately reflected by the three-dimensional structure model, the situation that the target high-voltage switch equipment does not act in place is avoided, and the situation that the three-dimensional structure model completes complete action is obtained, so that the state data of the actual target high-voltage switch equipment can be intuitively and accurately obtained according to the digital twin model of the target high-voltage switch equipment; according to the state data and the three-dimensional structure data, the digital twin model is updated in real time, so that the state of the digital twin model is consistent with the state of the actual target high-voltage switching equipment, the operation and maintenance of the target high-voltage switching equipment can be realized through the state data of the digital twin model later, and the operation, maintenance and maintenance information of the target high-voltage switching equipment can be ensured to be accurately obtained in time through the state mapping.

In one possible implementation manner, step S101 obtains three-dimensional structure data of the target voltage switchgear in real time, which may be described in detail as: performing three-dimensional laser scanning on the target high-voltage switching equipment to obtain first three-dimensional structure data and a plurality of three-dimensional feature points of the target high-voltage switching equipment; acquiring binocular image information of a plurality of three-dimensional feature points through a binocular camera; and determining second three-dimensional structure data of each three-dimensional characteristic point according to the binocular image information.

In the embodiment, three-dimensional structure data of the target voltage switching device can be obtained through three-dimensional laser scanning and a binocular camera; the method comprises the steps that first three-dimensional structure data of target voltage switching equipment can be obtained through three-dimensional laser scanning of the target voltage switching equipment, the first three-dimensional structure data are basic structure data of the target voltage switching equipment, and a thick part structure of the target voltage switching equipment can be built according to the first three-dimensional structure data; because the coarse part structure is not very accurate, three-dimensional characteristic points of the target high-voltage switch equipment can be determined, and then the coarse part structure of the target high-voltage switch equipment is refined according to the three-position characteristic points, in particular, second three-dimensional structure data of all three-dimensional characteristic points of the target high-voltage switch equipment are acquired through a binocular camera, so that the coarse part structure can be refined according to the three-dimensional characteristic points, and a three-dimensional structure model of the target high-voltage switch equipment can be accurately obtained.

Furthermore, the real object is taken as an object, the electric schematic diagram can be modeled according to a high-voltage switch design drawing to reflect the logical relations of assembly interfaces, model parameters, assembly, electric connection and the like among the internal components of the intelligent high-voltage switch, the high-voltage switch equipment is disassembled and marked, the internal electric and connection logical relations of the high-voltage switch are constructed, and the three-dimensional simulation modeling of the high-voltage switch in a layering way and with high accuracy is completed by adopting a physical rendering modeling technology.

In one possible implementation manner, step S102 establishes a three-dimensional structure model of the target voltage switchgear in a simulation manner according to the three-dimensional structure data, which may be described in detail as follows: according to the first three-dimensional structure data and a preset LOD model, a basic structure model of the target high-voltage switch equipment is established; according to the plurality of three-dimensional feature points and the second three-dimensional structure data corresponding to each three-dimensional feature point, a detail structure model of the target voltage switching equipment is established; and obtaining a three-dimensional structure model of the target high-voltage switch equipment according to the basic structure model and the detail structure model.

In the embodiment, a basic structure model of the target high-voltage switching equipment is built according to the first three-dimensional structure data, a thick part structure of the target high-voltage switching equipment can be obtained, a real operation scene of the high-voltage switching equipment can be restored basically, and the environmental state of the high-voltage switching equipment is reproduced; then, a detail structure model of the target voltage switching equipment is established according to the second three-dimensional structure data, and the detail structure of the three-dimensional characteristic points of the target voltage switching equipment can be obtained; finally, a three-dimensional structure model of the target high-voltage switch equipment is obtained by combining the thick part structure and the thin part structure, and the target high-voltage switch equipment and the structure thereof are truly and accurately reproduced in a virtual space, so that the interaction behavior of the target high-voltage switch equipment model in the virtual space can be realized according to the interaction behavior of the real target high-voltage switch equipment, and a worker can intuitively and accurately position the corresponding high-voltage switch equipment through a final digital twin model

Preferably, in step S102, a basic structural model of the target voltage switchgear is established according to the first three-dimensional structural data and a preset LOD model, which may be described in detail as follows: determining structural attributes of the target high-voltage switch equipment according to the first three-dimensional structural data, wherein each structural attribute corresponds to a preset LOD model; and establishing a basic structure model of the target voltage switching equipment according to the LOD model corresponding to the structure attribute and the first three-dimensional structure data.

In this embodiment, a basic structure model of the target high-voltage switch device is built through a preset LOD model, and different devices have different structures and different requirements for building the model, so that structural attributes of the devices need to be determined, and the corresponding LOD model is selected for building the basic structure model according to the structural attributes, so that the basic structure model of the devices can be built quickly and accurately, and meanwhile, the actual requirements can be met.

Further, objects in the high-voltage switch scene are smaller or far away from the viewpoint, and a thicker LOD model can be adopted for drawing; if the object in the scene is bigger or closer to the viewpoint, a fine LOD model is needed to be drawn; for fast moving objects, a thicker LOD model may be used, and for stationary objects, a thinner LOD model may be used; therefore, the construction speed of the model can be improved under the condition of ensuring the accuracy of the model.

Specifically, the construction can be performed in the following manner:

(1) For non-critical equipment and objects such as a supporting part of a mechanical structure of a high-voltage switch, the number of surfaces of a model is reduced by using a simple model as far as possible, and the surface details of the object are represented by convex-concave mapping and normal mapping; as much as possible, the sliver object is represented by texture.

(2) For objects with the same structure, such as isolating switches with different models, common textures, materials, grids and the like are adopted as much as possible, so that the memory and the video memory occupation are reduced.

(3) If the three-dimensional model has low requirements on the dynamic illumination effect, the three-dimensional model can be baked in advance, so that the model has static illumination and shadow effects, and the real-time operation amount of the system is reduced.

In the process of constructing the model, the continuous curved surface can be discretized into a plurality of polygons for processing, and the corresponding polygons are constructed to approach the real geometric shape, so that the model of the target high-voltage switch equipment with any shape is constructed; and the shape of the polygon is simple, so that the processing and the calculation in the construction process are facilitated, and the modeling speed of the basic structure model is improved.

In one possible implementation manner, before the step S102 of establishing the detailed structure model of the target voltage switchgear according to the plurality of three-dimensional feature points and the second three-dimensional structure data corresponding to each three-dimensional feature point, the method further includes: obtaining calibration data of a binocular camera; calculating the internal parameters and the external parameters of the binocular camera according to the calibration data; calculating a projection matrix of the binocular camera according to the inner parameter and the outer parameter; and determining an image conversion model of the binocular camera according to the projection matrix, wherein the image conversion model is a conversion model between binocular image information acquired by the binocular camera and model data corresponding to the binocular image information.

In this embodiment, the binocular camera includes a left-eye camera and a right-eye camera, and when the binocular camera is used for three-dimensional modeling, the internal parameters and the external parameters of the binocular camera need to be used, so that the internal parameters and the external parameters of the binocular camera need to be calibrated by the camera in advance to calculate; when a three-dimensional structure model is established through the binocular cameras, three-dimensional reconstruction is generally carried out on binocular images by taking one camera of the binocular cameras as a reference; in this embodiment, the rotation matrix and translation vector mapped from the right-eye camera to the left-eye camera are calculated as the external parameters of the binocular camera based on the left-eye camera.

According to the internal parameters and the external parameters, calculating a projection matrix of the binocular camera, wherein the projection matrix comprises the following specific steps: according to P _L ＝K·[I 0]Calculating a projection matrix of the left-eye camera; according to P _R ＝K·[R _L T _L ]The method comprises the steps of carrying out a first treatment on the surface of the Calculating a projection matrix of the right-eye camera; wherein P is _L Projection matrix for left-eye camera, P _R Is rightProjection matrix of binocular camera, K is internal parameter of binocular camera, I is unit matrix of 3*3, R _L Rotation matrix for mapping right eye camera to left eye camera, T _L Translation vectors mapped for right-eye cameras to left-eye cameras.

According to the calculated projection matrix, an image conversion model between binocular image information acquired by the binocular camera and model data corresponding to the binocular image information can be determined, so that the image information of the binocular camera can be converted into the corresponding model data to perform three-dimensional modeling.

In particular, according to

And->

Establishing a corresponding relation between an image point in an image coordinate system and a point in a world coordinate system; according to γx=0 and->

Determining an image conversion model of the binocular camera; wherein [ u ] _L v _L 1] ^T Representing the image coordinates of the left-eye camera, [ u ] _R v _R 1] ^T Representing the image coordinates of the right-eye camera, x= [ X ] _w Y _w Z _w 1] ^T Representing model coordinates corresponding to binocular image information, gamma being derived by developing according to the correspondence relationship>

Projection matrix P representing left-eye camera _L Line i, ->

Projection matrix P representing right-eye camera _R T represents the transpose of the matrix.

Further, step S102 establishes a detailed structure model of the target voltage switchgear according to the plurality of three-dimensional feature points and the second three-dimensional structure data corresponding to each three-dimensional feature point, which can be described in detail as: respectively inputting second three-dimensional structure data corresponding to each three-dimensional feature point into the image conversion model to obtain a local detail model of each three-dimensional feature point; calculating a rotation matrix and a translation vector between the three-dimensional feature points; and obtaining a detail structure model of the target voltage switch equipment according to the local detail model, the rotation matrix and the translation vector of all the three-dimensional feature points.

In this embodiment, the local detail model of each three-dimensional feature point can be obtained by inputting the second three-dimensional structure data corresponding to each three-dimensional feature point into the image conversion model; since each local detail model is determined by taking each three-dimensional feature point as a base point, the relation between each three-dimensional feature point, namely the rotation matrix and the translation vector between each three-dimensional feature point, needs to be determined; obtaining a local detail model of the unified base point through a rotation matrix and a translation vector among the three-dimensional feature points; and finally, accurately obtaining a detail structure model of the target high-voltage switch equipment through continuous relations among the three-dimensional feature points so as to refine the model of the target high-voltage switch equipment.

In one possible implementation, a target voltage switching device includes a device body and a sensor disposed on the device body; the action data in step S103 includes the mechanical state remote signaling of the device body and the sensing data of the sensor.

In this embodiment, the target high-voltage switching device includes a device body and a sensor disposed on the device body, and obtains, in real time, mechanical status remote signaling of the device body and sensing data of the sensor, so as to comprehensively and accurately obtain a current running status and current interaction data of the target high-voltage switching device, so as to establish a correlation between a three-dimensional structure model of the target high-voltage switching device in a virtual space and an actual target high-voltage switching device, and enable the three-dimensional structure model to reflect a status of the actual target high-voltage switching device in real time.

The mechanical state remote signaling can comprise position signals such as a switch, a disconnecting link, a central signal and the like, for example, state quantities such as a switch state, a disconnecting link state, a primary equipment alarm signal, a protection tripping signal, a forenotice signal and the like of high-voltage switch equipment, and a position-changing remote signaling that each state quantity changes; the sensing data may include data of the respective sensors, such as displacement data, rotation angle, temperature data, and the like.

In a possible implementation manner, step S104 drives the three-dimensional structure model to perform the interaction corresponding to the target voltage switching device according to the action data, specifically: detecting whether the current mechanical state remote signaling changes; if the current mechanical state remote signaling changes, determining current sensing data of a sensor corresponding to the current mechanical state remote signaling; determining whether the equipment body where the sensor is located performs interaction or not according to the current sensing data; if the equipment body where the sensor is located performs interaction, determining a fusion driving signal according to the current mechanical state remote signaling and the current sensing data; and driving the three-dimensional structure model to perform interaction according to the fusion driving signal.

In this embodiment, specifically, according to the mechanical state remote signaling and the sensing data, the three-dimensional structure model is driven to perform interaction, wherein through the change of the mechanical state remote signaling, the movement of the real target high-voltage switch device can be primarily determined, that is, the interaction occurs, and then the corresponding three-dimensional structure model in the virtual space also needs to perform the corresponding interaction; the interaction condition of the real target high-voltage switch equipment is further determined through the sensing data of the sensor, so that the interaction condition of the real target high-voltage switch equipment can be judged through two criteria of mechanical state remote signaling and sensing data; if the target high-voltage switching equipment is interacted, determining a fusion driving signal according to the mechanical state remote signaling and the sensing data, so as to drive a corresponding equipment body in the three-dimensional structure model to carry out interaction action, and enabling the three-dimensional structure model in the virtual space to correspond to the real target high-voltage switching equipment, thereby accurately reflecting the actual action of the real target high-voltage switching equipment.

Preferably, when the illumination condition of the environment where the real target high-voltage switch device is located is good, the interaction condition can be judged through the current second three-dimensional structure data of the binocular camera, and the fusion driving signal can be determined through the current second three-dimensional structure data of the binocular camera.

In one possible implementation manner, before driving the corresponding device body in the three-dimensional structure model to perform the interaction according to the fusion driving signal in step S104, the method further includes: acquiring interaction information of the target high-voltage switch equipment, wherein the interaction information comprises interaction objects of the equipment body and interaction actions of the interaction objects; decomposing the interaction action to obtain a plurality of basic actions; interaction data for each basic action is determined.

In this embodiment, the interactive object includes all objects capable of moving in the target voltage switchgear such as a movable contact arm, an operating mechanism, a transmission mechanism, and a cabinet door of the disconnecting link, and obviously, the interactive objects and the interactive actions in the target voltage switchgear are numerous, but all the interactive actions can be decomposed into a plurality of basic actions, and the interactive data of each interactive action can be conveniently determined through the interactive data of the basic actions, so that the interactive data is prevented from being determined for each interactive action in turn; by combining the interactive data of the basic actions, the interactive data of each basic action can be reused, the overall interactive data of all the interactive actions is reduced, the workload of determining the interactive data is reduced, and the efficiency of constructing the digital twin model is improved.

Preferably, in step S104, the three-dimensional structure model is driven to perform interaction according to the fusion driving signal, which can be described in detail as follows: determining the current interaction action of the equipment body according to the fusion driving signal; decomposing the current interaction action to obtain a first basic action corresponding to the current interaction action and current interaction data corresponding to the first basic action; and controlling the three-dimensional structure model to perform interaction according to the current interaction data.

In this embodiment, according to the obtained fusion driving signal, the current interaction of the target high-voltage switching device can be obtained, and then according to the combination of the basic actions, the interaction data of the current interaction can be obtained, and the actual running state, the business flow and the like of the target high-voltage switching device can be determined, so that the corresponding device main body in the three-dimensional structure model is driven to perform the interaction, and the corresponding device main body in the three-dimensional structure model can reflect the real target high-voltage switching device.

Further, referring to the structural schematic diagram of the digital twin model and the data mapping of the high-voltage switching device shown in fig. 3, when an abnormal situation occurs in the operation process of the target high-voltage switching device, state data of the target high-voltage switching device in a real physical space is obtained, according to the current state data, interactive data of a corresponding device model can be determined in the digital twin model of the virtual space, the corresponding device model is updated, so that a worker can obtain abnormal information of the target high-voltage switching device in time according to the digital twin model, and circulation of an actual service flow is promoted, thereby realizing convenient operation and maintenance of the target high-voltage switching device; after operation and maintenance or overhaul, the operation and maintenance information of the target high-voltage switch equipment can be reflected in the digital twin model through data mapping of the target high-voltage switch equipment, so that the operation and maintenance information of the target high-voltage switch equipment can be timely and accurately obtained.

In a possible implementation manner, after driving the three-dimensional structure model to perform the interaction corresponding to the target high-voltage switching device according to the action data in step S104, the method further includes: obtaining simulation data of an equipment body in a current three-dimensional structure model; detecting whether the simulation data is consistent with the corresponding sensing data; if the simulation data are inconsistent with the corresponding sensing data, updating the current three-dimensional structure model according to the sensing data to obtain a digital twin model of the target voltage switch; and if the simulation data are consistent with the corresponding sensing data, directly obtaining a digital twin model of the target voltage switch.

In this embodiment, simulation data of the three-dimensional structure model is also obtained, and the simulation data is compared with the sensing data to determine whether the established state mapping is correct; if the correspondence of the simulation data and the sensing data is inconsistent, the data and the change of the three-dimensional structure model are abnormal with the data and the change of the real target high-voltage switch equipment, and the sensing data is obtained based on the real target high-voltage switch equipment, so that the three-dimensional structure model is updated according to the sensing data; if the simulation data are consistent with the sensing data, the simulation data and the change of the three-dimensional structure model are consistent with the data and the change of the real target high-voltage switch equipment, namely the state of the three-dimensional structure model is correct; finally, a digital twin model of the target voltage switch is obtained.

For example, position angle data of a sensor body part is obtained through a disconnecting link contact sensor, and rotation angle and change data of the sensor can be calculated according to an information fusion algorithm and the position angle data, so that structural change data of an equipment body where the sensor is located can be judged; and then, by comparing the three-dimensional structure model with simulation data, whether the state mapping of the three-dimensional structure model is correct or not can be determined. In addition, the sensor detects the position angle of the opening position and the closing position of the movable contact arm of the sensor body, and the rotation angle and the change condition of the sensor are calculated, so that whether the isolating switch is in place or not can be judged.

For another example, temperature data of the contact finger of the high-voltage isolating switch is obtained through a high-precision temperature sensor, and structural change data of the sensor body part is determined through the temperature data; if the conditions of in-place opening and closing or deviation exist, contact fingers are worn and the like, the structural condition of the high-voltage isolating switch can be reflected according to the heat generated by the current flowing through the high-voltage isolating switch, namely, the structural condition of the high-voltage isolating switch can be reflected through a high-precision temperature sensor, and the health condition of the high-voltage isolating switch can be reflected, so that the operation and maintenance of the target high-voltage switching equipment can be realized.

The gas state data in the high-voltage switch equipment can be obtained through a gas detection sensor, such as a sulfur hexafluoride (SF 6) sensor, a pressure sensor, a micro water sensor or a decomposition object sensor, so that whether the SF6 gas in the high-voltage switch equipment is abnormal or not is detected; when the switching on/off is not in place or the situation of abrasion exists, an arc discharge phenomenon can occur, whether the discharge phenomenon exists on the moving and static contacts of the high-voltage switch equipment can be reflected according to the content of SF6 gas characteristic decomposer and/or the change of state parameters such as pressure data, and if the discharge phenomenon exists, the problem that the switching on/off is not in place possibly exists in the high-voltage switch equipment is indicated, and timely treatment is needed.

In addition, the intelligent high-voltage switch digital twin model constructed by the invention can realize real-time data update and operation and maintenance overhaul of intelligent high-voltage switch equipment by means of an intelligent high-voltage switch digital twin system, wherein the intelligent high-voltage switch digital twin system comprises a physical layer, a sensing layer, a transmission layer, an intelligent high-voltage switch virtual body layer and an application layer; the physical layer is an entity which independently operates in the actual operation process and mainly comprises primary equipment and secondary equipment of the high-voltage switch equipment; the sensing layer is used for acquiring three-dimensional structure data and state data of the high-voltage switch equipment; the transmission layer is used for transmitting the three-dimensional structure data and the state data to the intelligent high-voltage switch virtual body layer; the intelligent high-voltage switch virtual body layer is used for constructing an intelligent high-voltage switch digital twin model according to the three-dimensional structure data and the state data and updating the intelligent high-voltage switch digital twin model in real time; the application layer is used for monitoring and analyzing the related data of the high-voltage switch equipment according to the intelligent high-voltage switch digital twin model.

According to the embodiment of the invention, the three-dimensional structure data of the target voltage switching equipment is obtained in real time, so that the target voltage switching equipment can be modeled in a virtual space according to the three-dimensional structure data conveniently; according to the three-dimensional structure data, a three-dimensional structure model of the target voltage switching equipment is established in a simulation mode, the three-dimensional structure model corresponding to the target voltage switching equipment can be accurately established in a virtual space, the final digital twin model and the target voltage switching equipment are enabled to be corresponding according to the real proportion, the real operation scene of the target voltage switching equipment is restored, the situation that a user cannot quickly determine the real position of the high voltage switching equipment in the three-dimensional structure model is avoided, and therefore when the target voltage switching equipment fails, a worker can immediately and intuitively determine the position of the failure equipment according to the digital twin model; the method comprises the steps of obtaining a three-dimensional structure model of target high-voltage switch equipment by establishing a basic structure model and a detail structure model; the basic structure model can obtain a thick part structure of the target high-voltage switch equipment, can basically restore a real operation scene of the high-voltage switch equipment, and reproduces an environmental state of the high-voltage switch equipment; the detail structure model can obtain a detail structure of three-dimensional characteristic points of the target high-voltage switching equipment, refine the model of the target high-voltage switching equipment and ensure the real effect of the model; acquiring state data of the target voltage switching equipment in real time, wherein the state data comprises electric data of the target voltage switching equipment and action data of interaction action of the target voltage switching equipment, and the current running state, the current interaction action and the like of the target voltage switching equipment can be obtained in real time; the method comprises the steps of enabling a three-dimensional structure model to display electric data corresponding to target high-voltage switching equipment, driving the three-dimensional structure model to conduct interaction corresponding to the target high-voltage switching equipment according to action data, enabling the established three-dimensional structure model to be associated with actual target high-voltage switching equipment, enabling the three-dimensional structure model to be consistent with the state of the target high-voltage switching equipment, displaying relevant data of the target high-voltage switching equipment in the three-dimensional structure model, enabling the three-dimensional structure model to accurately reflect actual action conditions of the target high-voltage switching equipment, obtaining a digital twin model of the target high-voltage switching equipment, avoiding situations that the target high-voltage switching equipment does not act in place, enabling the three-dimensional structure model to complete actions, and accordingly enabling the state data of the actual target high-voltage switching equipment to be intuitively and accurately obtained according to the digital twin model of the target high-voltage switching equipment, and enabling operation maintenance and overhaul of the actual target high-voltage switching equipment; the interaction condition of the target high-voltage switching equipment is determined according to the mechanical state remote signaling and the sensing data, and a fusion driving signal is determined to drive a corresponding equipment body in the three-dimensional structure model to perform interaction action, so that the three-dimensional structure model corresponds to the real target high-voltage switching equipment; when the corresponding equipment body in the three-dimensional structure model is driven to perform interaction, the interaction is decomposed into a plurality of basic actions, the interaction data of the three-dimensional structure model is determined according to the basic actions, the workload of determining the interaction data can be reduced, the efficiency of constructing the digital twin model is improved, and therefore the three-dimensional structure model can be changed in time according to the change of the actual target voltage switching equipment; according to the state data and the three-dimensional structure data, the digital twin model is updated in real time, so that the state of the digital twin model is consistent with the state of the actual target high-voltage switching equipment, the operation and maintenance of the target high-voltage switching equipment can be realized through the state data of the digital twin model later, and the operation, maintenance and maintenance information of the target high-voltage switching equipment can be ensured to be accurately obtained in time through the state mapping.

It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic, and should not limit the implementation process of the embodiment of the present invention.

The following are device embodiments of the invention, for details not described in detail therein, reference may be made to the corresponding method embodiments described above.

Fig. 4 shows a schematic structural diagram of an intelligent digital twin model building device for a high-voltage switch according to an embodiment of the present invention, and for convenience of explanation, only the relevant parts of the embodiment of the present invention are shown, which is described in detail below:

as shown in fig. 4, the intelligent high-voltage switch digital twin model construction device 4 includes:

a first obtaining module 41, configured to obtain three-dimensional structure data of the target voltage switching device in real time;

a first building module 42, configured to build a three-dimensional structure model of the target voltage switching device according to the three-dimensional structure data in a simulation manner;

the second obtaining module 43 is configured to obtain, in real time, status data of the target voltage switching device, where the status data includes electrical data of the target voltage switching device and action data of the target voltage switching device for performing an interaction;

The second building module 44 is configured to enable the three-dimensional structure model to display electrical data corresponding to the target voltage switchgear, and drive the three-dimensional structure model to perform interaction corresponding to the target voltage switchgear according to the action data, so as to obtain a digital twin model of the target voltage switchgear;

the updating module 45 is configured to update the digital twin model in real time according to the state data and the three-dimensional structure data.

In one possible implementation, the second building module 44 drives the three-dimensional structure model to perform the interaction corresponding to the target voltage switching device according to the action data, specifically for:

detecting whether the current mechanical state remote signaling changes;

In a possible implementation manner, the intelligent high-voltage switch digital twin model building device 4 further comprises a determining module, where the determining module is configured to:

determining interaction data of each basic action;

the second establishing module 44 drives the corresponding device body in the three-dimensional structure model to perform interaction according to the fusion driving signal, which is specifically configured to:

In one possible implementation, the second setup module 44 is further configured to:

In one possible implementation, the first obtaining module 41 is specifically configured to:

In one possible implementation, the first establishing module 42 is specifically configured to:

In a possible implementation manner, the intelligent high-voltage switch digital twin model building device 4 further comprises a calculation module, wherein the calculation module is used for:

obtaining calibration data of a binocular camera;

the first building module 42 builds a detailed structure model of the target voltage switching device according to the plurality of three-dimensional feature points and the second three-dimensional structure data corresponding to the three-dimensional feature points, and is specifically configured to:

According to the embodiment of the invention, the three-dimensional structure data of the target voltage switching equipment is obtained in real time through the first obtaining module, so that the three-dimensional structure data of the target voltage switching equipment can be conveniently modeled in a virtual space according to the three-dimensional structure data; the first building module is used for building a three-dimensional structure model of the target high-voltage switching equipment according to the three-dimensional structure data in a simulation manner, and can accurately build the three-dimensional structure model corresponding to the target high-voltage switching equipment in a virtual space, so that the final digital twin model corresponds to the target high-voltage switching equipment according to the real proportion, the real operation scene of the target high-voltage switching equipment is restored, the situation that a user cannot quickly determine the real position of the high-voltage switching equipment in the three-dimensional structure model is avoided, and when the target high-voltage switching equipment fails, a worker can timely and intuitively determine the position of the failure equipment according to the digital twin model; the first building module is used for obtaining a three-dimensional structure model of the target voltage switch equipment by building a basic structure model and a detail structure model; the basic structure model can obtain a thick part structure of the target high-voltage switch equipment, can basically restore a real operation scene of the high-voltage switch equipment, and reproduces an environmental state of the high-voltage switch equipment; the detail structure model can obtain a detail structure of three-dimensional characteristic points of the target high-voltage switching equipment, refine the model of the target high-voltage switching equipment and ensure the real effect of the model; the second acquisition module acquires state data of the target voltage switching equipment in real time, wherein the state data comprises electric data of the target voltage switching equipment and action data of interaction action of the target voltage switching equipment, and can acquire the current running state, the current interaction action and the like of the target voltage switching equipment in real time; the second building module enables the three-dimensional structure model to display electric data corresponding to the target high-voltage switch equipment, and drives the three-dimensional structure model to perform interaction corresponding to the target high-voltage switch equipment according to the action data, so that the built three-dimensional structure model is associated with the actual target high-voltage switch equipment, the state of the three-dimensional structure model is consistent with that of the target high-voltage switch equipment, relevant data of the target high-voltage switch equipment are displayed in the three-dimensional structure model, the actual action condition of the target high-voltage switch equipment is accurately reflected by the three-dimensional structure model, a digital twin model of the target high-voltage switch equipment is obtained, the situation that the action of the target high-voltage switch equipment is not in place, and the three-dimensional structure model completes complete action is avoided, and therefore the state data of the actual target high-voltage switch equipment can be intuitively and accurately obtained according to the digital twin model of the target high-voltage switch equipment, and the actual target high-voltage switch equipment can be operated and overhauled; the second building module determines the interaction condition of the target high-voltage switch equipment according to the mechanical state remote signaling and the sensing data, and determines a fusion driving signal so as to drive the corresponding equipment body in the three-dimensional structure model to perform interaction action, so that the three-dimensional structure model corresponds to the real target high-voltage switch equipment; when the second building module performs interaction on the corresponding equipment body in the driving three-dimensional structure model, the interaction is decomposed into a plurality of basic actions, the interaction data of the driving three-dimensional structure model is determined according to the basic actions, the workload of determining the interaction data can be reduced, the efficiency of building the digital twin model is improved, and therefore the three-dimensional structure model can be changed in time according to the change of the actual target voltage switching equipment; the updating module updates the digital twin model in real time according to the state data and the three-dimensional structure data, so that the state of the digital twin model is consistent with the state of the actual target high-voltage switching equipment, the operation and maintenance of the target high-voltage switching equipment can be realized through the state data of the digital twin model, and the operation, maintenance and maintenance information of the target high-voltage switching equipment can be ensured to be accurately obtained in time through the state mapping.

Fig. 5 is a schematic diagram of an electronic device according to an embodiment of the present invention. As shown in fig. 5, the electronic apparatus 5 of this embodiment includes: a processor 50, a memory 51 and a computer program 52 stored in the memory 51 and executable on the processor 50. The steps of the above-described embodiments of the intelligent high-voltage switch digital twin-model building method are implemented by the processor 50 when executing the computer program 52, for example, steps S101 to S105 shown in fig. 1. Alternatively, the processor 50, when executing the computer program 52, performs the functions of the modules of the apparatus embodiments described above, such as the functions of the modules 41 to 45 shown in fig. 4.

By way of example, the computer program 52 may be partitioned into one or more modules/units, which are stored in the memory 51 and executed by the processor 50 to complete the present invention. One or more of the modules/units may be a series of computer program instruction segments capable of performing a specific function for describing the execution of the computer program 52 in the electronic device 5. For example, the computer program 52 may be split into modules 41 to 45 shown in fig. 4.

The electronic device 5 may include, but is not limited to, a processor 50, a memory 51. It will be appreciated by those skilled in the art that fig. 5 is merely an example of the electronic device 5 and is not meant to be limiting of the electronic device 5, and may include more or fewer components than shown, or may combine certain components, or different components, e.g., the device may further include an input-output device, a network access device, a bus, etc.

The processor 50 may be a central processing unit (Central Processing Unit, CPU), other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field-programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The memory 51 may be an internal storage unit of the electronic device 5, such as a hard disk or a memory of the electronic device 5. The memory 51 may also be an external storage device of the electronic device 5, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card) or the like, which are provided on the electronic device 5. Further, the memory 51 may also include both an internal storage unit and an external storage device of the electronic device 5. The memory 51 is used to store computer programs and other programs and data required by the device. The memory 51 may also be used to temporarily store data that has been output or is to be output.

It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.

In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on 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.

In the embodiments provided in the present invention, it should be understood that the disclosed apparatus/device and method may be implemented in other manners. For example, the apparatus/device embodiments described above are merely illustrative, e.g., the division of modules or elements is merely a logical functional division, and there may be additional divisions when actually implemented, e.g., multiple elements or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.

The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.

The integrated modules/units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the present invention may implement all or part of the flow of the method of the above embodiment, or may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, and when the computer program is executed by a processor, the steps of each method embodiment described above may be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, executable files or in some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth. The above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention, and are intended to be included in the scope of the present invention.

Claims

1. The method for constructing the intelligent digital twin model of the high-voltage switch is characterized by comprising the following steps of:

according to the three-dimensional structure data, a three-dimensional structure model of the target high-voltage switch equipment is established in a simulation mode;

acquiring state data of the target high-voltage switching equipment in real time, wherein the state data comprises electric data of the target high-voltage switching equipment and action data of interaction action of the target high-voltage switching equipment;

displaying electric data corresponding to the target high-voltage switching equipment by the three-dimensional structure model, and driving the three-dimensional structure model to perform interaction corresponding to the target high-voltage switching equipment according to the action data to obtain a digital twin model of the target high-voltage switching equipment;

2. The method for constructing the intelligent high-voltage switch digital twin model according to claim 1, wherein the target voltage switching device comprises a device body and a sensor arranged on the device body;

3. The method for constructing an intelligent high-voltage switch digital twin model according to claim 2, wherein driving the three-dimensional structure model to perform the interaction corresponding to the target high-voltage switch device according to the action data comprises:

detecting whether the current mechanical state remote signaling changes;

4. The method of claim 3, further comprising, prior to driving the three-dimensional structural model for interaction based on the fusion driving signal:

determining interaction data of each basic action;

and driving the corresponding equipment body in the three-dimensional structure model to perform interaction according to the fusion driving signal, wherein the method comprises the following steps:

5. The method for constructing an intelligent high-voltage switch digital twin model according to claim 3, further comprising, after driving the three-dimensional structure model to perform the interaction corresponding to the target high-voltage switch device according to the action data:

detecting whether the simulation data are consistent with the corresponding sensing data;

if the simulation data are inconsistent with the corresponding sensing data, updating a current three-dimensional structure model according to the sensing data to obtain a digital twin model of the target high-voltage switch;

And if the simulation data are consistent with the corresponding sensing data, directly obtaining a digital twin model of the target high-voltage switch.

6. The method for constructing the intelligent high-voltage switch digital twin model according to claim 1, wherein the step of acquiring three-dimensional structure data of the target high-voltage switch device in real time comprises the steps of:

performing three-dimensional laser scanning on target high-voltage switching equipment to obtain first three-dimensional structure data and a plurality of three-dimensional characteristic points of the target high-voltage switching equipment;

acquiring binocular image information of the three-dimensional feature points through a binocular camera;

7. The method for constructing the intelligent high-voltage switch digital twin model according to claim 6, wherein the step of constructing the three-dimensional structure model of the target high-voltage switch device according to the three-dimensional structure data in a simulation manner comprises the following steps:

establishing a basic structure model of the target high-voltage switch equipment according to the first three-dimensional structure data and a preset LOD model;

establishing a detail structure model of the target high-voltage switch equipment according to the plurality of three-dimensional feature points and second three-dimensional structure data corresponding to the three-dimensional feature points;

And obtaining a three-dimensional structure model of the target high-voltage switching equipment according to the basic structure model and the detail structure model.

8. The method for constructing an intelligent high-voltage switch digital twin model according to claim 7, further comprising, before the step of constructing a detailed structural model of the target high-voltage switch device according to the plurality of three-dimensional feature points and the second three-dimensional structural data corresponding to the three-dimensional feature points:

obtaining calibration data of the binocular camera;

calculating a projection matrix of the binocular camera according to the internal parameters and the external parameters;

the building of the detail structure model of the target voltage switching device according to the plurality of three-dimensional feature points and the second three-dimensional structure data corresponding to the three-dimensional feature points comprises the following steps:

and obtaining a detail structure model of the target high-voltage switching equipment according to the local detail model of all the three-dimensional feature points, the rotation matrix and the translation vector.

9. An electronic device comprising a memory for storing a computer program and a processor for calling and running the computer program stored in the memory, characterized in that the processor implements the steps of the method according to any of the preceding claims 1-8 when the computer program is executed.

10. A computer-readable storage medium storing a computer program, characterized in that the computer program when executed by a processor implements the steps of the method according to any of the preceding claims 1 to 8.