A substation intelligent virtual assistant robot control system

Abstract

The present invention discloses a substation intelligent virtual auxiliary robot control system, wherein the data acquisition subsystem includes several sensors for detecting the equipment live condition; the whole station monitoring subsystem includes several monitoring cameras for collecting the whole station monitoring image of the substation; the wearable intelligent terminal is provided with a camera and an intelligent screen, and the camera is used to collect the image within the viewing angle of the wearable intelligent terminal; the data center analyzes the acquired data to locate the position of the wearable intelligent terminal and the viewing angle position corresponding to the image of the wearable intelligent terminal intelligent screen; and matches the equipment live condition with the corresponding equipment of the corresponding viewing angle, and presents the equipment live condition on the intelligent screen of the wearable intelligent terminal. The present invention presents the equipment live condition to the operator with an intuitive picture, avoiding the safety hazards caused by the subjective assumptions and short-term negligence of the construction personnel.

Description

Technical Field

[0001] The present invention belongs to the technical field of electric power engineering, and in particular relates to safety control technology. Background Art

[0002] At present, a series of accidents caused by improper operation of on-site operators often occur in the line, maintenance, and operation and maintenance departments, which seriously cause line shutdown, equipment damage, and casualties. Even if no consequences are caused, there are certain safety hazards. Some of these operations are caused by the subjective assumptions and short-term negligence of the construction personnel, such as going to the wrong interval, not performing the corresponding operations in accordance with safety regulations, etc., and some are caused by equipment failures, such as equipment aging, equipment not being powered off according to the operation, equipment leakage, etc. The above reasons will cause personnel to directly or indirectly contact the power supply live body or the induced electric live body, causing casualties. In the operation and maintenance system, there are a series of five-prevention products such as electronic locks to prevent such situations from happening, but the operator's wrong operation and equipment failure that cannot be prevented are still unavoidable. Summary of the invention

[0003] In view of the defects of the prior art, the technical problem to be solved by the present invention is to provide an intelligent virtual assisted robot control system for a substation, which uses the intelligent virtual assisted robot to intuitively present the energized equipment, thereby avoiding safety hazards caused by subjective assumptions and short-term negligence of construction personnel.

[0004] In order to solve the above technical problems, the present invention adopts the following technical solution: a substation intelligent virtual auxiliary robot control system, comprising:

[0005] Data acquisition subsystem: The data acquisition subsystem includes a number of sensors, which are set on various devices in the strain power station to detect the energized status of the equipment;

[0006] Full-station monitoring subsystem: The full-station monitoring subsystem includes a number of monitoring cameras, which are distributedly installed in the substation to collect full-station monitoring images of the substation;

[0007] Wearable smart terminal: The wearable smart terminal is provided with a camera and a smart screen, and the camera is used to collect images within the viewing angle of the wearable smart terminal;

[0008] Data center: The data center establishes data communication with the data acquisition subsystem, the whole station monitoring subsystem and the wearable smart terminal, and analyzes the acquired data to locate the position of the wearable smart terminal and the viewing angle position corresponding to the image of the smart screen of the wearable smart terminal; and matches the power status of the equipment with the corresponding equipment of the corresponding viewing angle, and presents the power status of the equipment on the smart screen of the wearable smart terminal.

[0009] Preferably, the several sensors are contact sensors and / or non-contact sensors.

[0010] Preferably, the contact sensor is a current transformer and / or a voltage transformer.

[0011] Preferably, the non-contact sensor is a Rogowski coil and / or a Hall sensor and / or an inductive voltage tester NCV measurement mechanism.

[0012] Preferably, the wearable smart terminal includes a smart bracelet and smart glasses.

[0013] Preferably, the smart bracelet has a built-in NCV measurement mechanism, an infrared temperature measuring device, an infrared distance measuring device, and a signal transceiver.

[0014] Preferably, the smart glasses comprise a glasses frame foot 1, a glasses frame foot 2 and a glasses mirror, and the smart glasses have built-in camera 1, camera 2, signal transceiver 2 and camera 3, the camera 1 and camera 3 are respectively placed at the bottom of the glasses frame foot 1 and the glasses frame foot 2, the camera 2 and signal transceiver 2 are placed at the lower middle side of the glasses mirror, and the signal transceiver 1 and signal transceiver 2 establish a signal connection.

[0015] The technical solution adopted by the present invention visualizes the charging status of the equipment on the mirror surface of the glasses, thereby presenting the charging status of the equipment to the operator with an intuitive picture. Both powered equipment and inductive electrical equipment will be given corresponding reminders, avoiding safety hazards caused by subjective assumptions and short-term negligence of construction personnel.

[0016] The specific technical solutions and beneficial effects of the present invention will be described in detail in the following specific embodiments in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments:

[0018] Figure 1 This is a schematic diagram of the intelligent virtual assistant robot system for substations;

[0019] Figure 2 This is the internal schematic diagram of the NCV measurement mechanism of the inductive voltage test pencil;

[0020] Figure 3a This is a schematic diagram of the structure of the smart ring;

[0021] Figure 3b It is a schematic diagram of the structure of smart glasses;

[0022] Figure 4 This is a schematic diagram of the coordinate positioning of operation and maintenance personnel through multiple cameras;

[0023] Figure 5 This is the principle diagram of the angle index derivation process;

[0024] Figure 6 Schematic diagram of the method for determining the segmentation line;

[0025] Figure 7 Schematic diagram for adjusting the viewing range for operation and maintenance personnel;

[0026] Figure 8 The schematic diagram is for determining the viewing angle range of the operation and maintenance personnel based on the angle position of the human body. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] In order to address the risks brought by subjective errors of operators, the present invention adopts an intelligent virtual auxiliary robot to present the live status of equipment to operators with intuitive pictures. Both energized equipment and induced electric equipment will be given corresponding reminders, which will provide a last strong line of defense for the safety of operators. The intuitive live picture not only increases the self-inspection ability of operators, but also can detect and present the induced electricity of equipment that is not easy to be found, thus raising another red line for the safety of front-line power production.

[0029] like Figure 1As shown, a specific embodiment of the present invention provides a substation intelligent virtual auxiliary robot system based on in-station 5G communication, including a data center 4, a full-station monitoring subsystem 19, a data acquisition subsystem 20 and a wearable smart terminal 21. The full-station monitoring subsystem 19 includes a number of monitoring cameras 5, which are placed in various places of the substation, and can provide full coverage without dead angles, thereby realizing full-station monitoring of the substation. The data acquisition subsystem 20 includes a number of sensors 2, which are placed near various conductors, switches, switches and other equipment 1 in the substation. The data center 4 is the data connection exchange point and calculation point of the entire station. The wearable smart terminal 21 includes presentable AR smart glasses 6 and a smart ring 11, and a non-contact sensor is configured in the smart ring. The data center 4 establishes data connections with the whole-station monitoring subsystem 19, the data acquisition subsystem 20 and the wearable smart terminal 21 respectively, establishes data connection between the image data acquired by the wearable smart terminal 21 and the image data acquired by the whole-station monitoring subsystem 19, performs corresponding analysis, accurately locates the position of the wearable smart terminal 21 and the viewing angle position corresponding to the screen image of the wearable smart terminal 21, and confirms the corresponding information in the viewing angle; matches the sensing data acquired by the data acquisition subsystem 20 with the corresponding information of the corresponding viewing angle, and finally presents the sensing data acquired by the data acquisition subsystem 20 on the smart screen of the wearable smart terminal 21.

[0030] Among them, several sensors in the data acquisition subsystem 20 can be contact sensors or non-contact sensors, and the contact sensors can be current transformers and voltage transformers. Since the current transformers and voltage transformers have been arranged in the primary substation, the database of the data acquisition subsystem 20 can be connected to the original substation background database to obtain corresponding background data according to this situation. Since the safety of the original substation system is extremely important, external devices are generally not allowed to access or obtain data, so the non-contact sensors can be used. The non-contact sensor can be a Rogowski coil, a Hall sensor, and further, an inductive test pen NCV measurement mechanism. The internal schematic diagram of the inductive test pen NCV measurement mechanism is shown in the figure. Figure 2 As shown, the specific working principle can refer to the prior art.

[0031] like Figure 3a As shown, the smart wrist ring 11 has a built-in NCV measurement mechanism 12, an infrared temperature measuring device 13, an infrared distance measuring device 14, and a signal transceiver 15.

[0032] like Figure 3bAs shown, the smart glasses 6 include a glasses frame foot 16, a glasses frame foot 2 17 and a glasses mirror 18, and the smart glasses 6 have a built-in camera 1 7, a camera 2 9, a signal transceiver 2 8 and a camera 3 10. The camera 1 7 and the camera 3 10 are respectively placed at the lower part of the glasses frame foot 1 16 and the glasses frame foot 2 17 of the smart glasses 6, the camera 2 9 and the signal transceiver 2 8 are placed at the lower middle side of the glasses mirror 18, and the signal transceiver 1 15 and the signal transceiver 2 8 establish a signal connection.

[0033] Furthermore, in order to further accurately obtain the corresponding position information, an RTK three-dimensional scanner may be placed in the full-station monitoring subsystem 19 .

[0034] Based on the above-mentioned substation intelligent virtual assisted robot system based on intra-station 5G communication, a corresponding substation intelligent virtual assisted robot control method based on intra-station 5G communication is provided, as follows.

[0035] When the operation and maintenance personnel need to confirm the continuity of remote wires, switches, and switches, the specific steps are as follows:

[0036] S1. Obtain the charged status of the wires, switches, and other equipment through the sensors, and transmit it to the data center through 5G communication;

[0037] S2. When the several cameras capture the operation and maintenance personnel wearing the wearable smart terminal entering the site, the operation and maintenance personnel are located by multiple cameras;

[0038] S3. The camera 2 of the smart glasses is used to capture the perspective of the operator, and the camera 1 and camera 3 of the smart glasses are used to adjust the perspective range of the operator;

[0039] S4. Confirm the equipment from the perspective of the operation and maintenance personnel through the built-in map, upload the confirmed equipment information parameters to the data center, and extract the power status of the above equipment through the data center and transmit it back to the smart glasses;

[0040] S5. Correct the image captured by the second camera of the smart glasses accordingly, confirm the imaging position of the device on the mirror surface of the glasses, and visualize the charging status of the device on the mirror surface of the glasses.

[0041] Among them, the following methods can be used to obtain the charged status of the wires, switches, and other equipment through the sensors in step S1:

[0042] 1) The temperature of the key heating points of the wires, switches, and other equipment is measured by thermal sensors. If the temperature is greater than the corresponding temperature threshold, the equipment is judged to be energized, otherwise the equipment is judged to be not energized. This is because the energized equipment will generate corresponding heat due to the thermal effect, but the above method is limited to the case where the power supply is applied at both ends and the equipment is directly energized, and it cannot measure and judge the induced electricity.

[0043] 2) The electric field and magnetic field around the wires, switches, and other equipment are measured by electromagnetic sensors. If the electromagnetic field value exceeds the electromagnetic field threshold, the equipment is judged to be charged, otherwise the equipment is judged to be uncharged. This is because all devices with charges will generate electric fields in the surrounding area. If the electric field changes, a magnetic field will be generated. Therefore, the above method can not only detect the situation where the equipment is directly powered on, but also detect the situation where the equipment has an induced voltage.

[0044] 3) Combining the above two methods can determine whether the device is powered on, and at the same time determine whether the device has induced electricity. The specific method is as follows: if the temperature of the key point of the device measured by the thermal sensor is greater than the temperature threshold and the electromagnetic field value exceeds the electromagnetic field threshold, the device is powered on; if the temperature of the key point of the device measured by the thermal sensor is not greater than the temperature threshold and the electromagnetic field value exceeds the electromagnetic field threshold, the device has induced electricity; if the temperature of the key point of the device measured by the thermal sensor is not greater than the temperature threshold and the electromagnetic field value does not exceed the electromagnetic field threshold, the device is powered off.

[0045] The temperature threshold and electromagnetic field threshold can be confirmed based on experiments.

[0046] Among them, Figure 4 As shown, the coordinate positioning of the operation and maintenance personnel by using multiple cameras in step S2 may specifically be:

[0047] Select two cameras that capture the operation and maintenance personnel, and calculate the position parameters of the two cameras through the built-in map, which are the projection distance s1 of the two cameras, the angle θ0 formed by the projection line of the two cameras and the horizontal base axis, and the heights h1 and h2 of the two cameras from the horizontal base plane. The built-in motors of the two cameras can be used to obtain the rotation angles of the two cameras on the horizontal plane at this time. Taking the horizontal base axis as the zero axis, the rotation angles are θ1 and θ2. After drawing a triangle with the operation and maintenance personnel and the two cameras as the endpoints, the angles close to the two cameras are:

[0048] θ1 * =π-θ1-θ0

[0049] θ2 * =θ0-θ2

[0050] According to the sine theorem, A / Sina=B / Sinb=C / Sinc, so the distances between the two cameras and the operation and maintenance personnel are:

[0051]

[0052]

[0053] Furthermore, since the images of the operation and maintenance personnel in the two cameras may not be centered, the original angles can be corrected to reduce the measurement deviation, specifically:

[0054] θ1”=θ1 * +arctan(m1 / d1)

[0055] θ2”=θ2 * +arctan(m2 / d1)

[0056] Furthermore, the system can correct the angle according to the above correction method to reduce the measurement deviation, or adjust the position of the operation and maintenance personnel in the imaging picture to the center line of the imaging picture through the built-in motor action of the two cameras, thereby omitting the above deviation correction step.

[0057] The coordinates of the operation and maintenance personnel can be calculated based on l1, l2 and the position coordinates of the two cameras.

[0058] Furthermore, the specific selection method of selecting two cameras that capture the operation and maintenance personnel may be:

[0059] Assume that there are i cameras capturing the operation and maintenance personnel, and let the horizontal width of the head diameter of the operation and maintenance personnel in each camera be r i , let the angle index of the detected face be f i ; Then there is the following formula:

[0060] r i =max{o ij}

[0061] The angle index derivation process is as follows:

[0062] like Figure 5 As shown in the figure, the angle between the face and the camera is the angle θ between the horizontal axis of the face and the line connecting the camera and the midpoint of the face. i2 , according to the imaging formula, the focusing angle θ is known i1 , then θ i3 is a known angle; according to trigonometric transformation and the sine theorem, we know that:

[0063] g' i / sin(θ i3 -θ i2 ) = g” i / sin(π-θ i3 -θ i2 )

[0064] f i =θ i2 =[(π-θ i3 )×arcsin(g' i )-θ i3 ×arcsin(g” i )] / [arcsin(g' i )-arcsin(g” i )]

[0065] In the formula, o ij is the horizontal distance scanned from top to bottom and from right to left; g' i The facial midline is used as the dividing line. ij The maximum horizontal line distance from the left side of the dividing line to the edge line; g" i The facial midline is used as the dividing line. ij The maximum horizontal distance from the right side of the split line to the edge line.

[0066] like Figure 6 As shown, the method for determining the dividing line is as follows:

[0067] S6. Identify the contour of the nose of the face, and use the convex point at the end of the nose, the uppermost point and the lowermost point of the facial contour as base points to complete the segmentation line confirmation through a smooth curve connection;

[0068] S7. If the facial nose contour is not identified, the facial eyebrow contour is identified, and the lengths of the left and right eyebrows are k1 and k2 respectively, and the distance between the centers of the eyebrows is k3. The base point of the segmentation line is located between the eyebrows, and the distance from the near end of the left eyebrow is k3*k1 / (k1+k2). The segmentation line is confirmed by connecting the base point, the uppermost point and the lowermost point of the facial contour as base points through a smooth curve;

[0069] S8. If the facial eyebrow contour is not recognized, the eye contour is recognized, and the lengths of the left and right eyes are obtained as u1 and u2 respectively, and the distance between the eye centers is u3. The base point of the dividing line is located between the inner corners of the eyes, and the distance from the left corner of the eye is u3*u1 / (u1+u2). The dividing line is confirmed by connecting this base point, the uppermost point and the lowermost point of the facial contour through a smooth curve.

[0070] The above method is only an embodiment, and can be any combination, variation, or sequence of the above steps.

[0071] In order to control the size of the error, it is necessary to control the triangle formed by the projection points of the two cameras and the operation and maintenance personnel to be closer to an equilateral triangle. This is because if the distances between the two cameras and the operation and maintenance personnel are greatly different, one of the cameras must have a larger distance error; and if it is an isosceles triangle with an obtuse angle close to the operation and maintenance personnel, it will cause difficulty for the two cameras to locate whether the operation and maintenance personnel are the same person. If it is an isosceles triangle with an acute angle close to the operation and maintenance personnel, the images obtained by the two cameras will be similar. This requires that the camera configuration can achieve the corresponding accuracy to measure the difference. Therefore, the following indicator formula is used to select two cameras that capture the operation and maintenance personnel:

[0072] min{r i -r t}

[0073] min{|(θ i2 -θ t2 )-π / 3|}=

[0074] min{|[(π-θ i3 )×arcsin(g' i )-θ i3 ×arcsin(g” i )] / [arcsin(g' i )-arcsin(g” i )]-[(π-θ t3 )×arcsin(g' t )-θ t3 ×arcsin(g” t )] / [arcsin(g' t )-arcsin(g” t )]-π / 3|}

[0075] According to the above formula, two cameras that capture the operation and maintenance personnel are selected. If all cameras that capture the operation and maintenance personnel do not capture faces or only capture one face, skip the above steps and select two cameras with appropriate distances to complete the positioning of the operation and maintenance personnel.

[0076] Among them, Figure 7 As shown, the camera 1 and the camera 3 of the smart glasses in S3 adjust the viewing angle of the operation and maintenance personnel to confirm which position of the built-in map the viewing angle of the operation and maintenance personnel corresponds to and which devices are within the viewing angle. The specific steps are as follows:

[0077] S9. Extract the spine and shoulder bones of the maintenance personnel in the image according to the perspective images of the two cameras, determine the angle position of the human body according to the angle formed by the spine and shoulder bones, and determine the viewing angle range of the maintenance personnel according to the angle position of the human body;

[0078] S10. Obtain the rotation angle of the head of the operator according to the camera 1 and the camera 3, and adjust the viewing angle range determined by the position of the spine;

[0079] S11. Determine the actual position of the device in the image currently seen by the operation and maintenance personnel according to the adjusted viewing angle range, correspond it with the built-in map, and retrieve the background information of the device, including whether it is powered on.

[0080] Among them, Figure 8 As shown, the step S9 may specifically be:

[0081] According to the angle θ between the spine bones and the shoulder bones 33 The angle between the human shoulder bone and the horizontal baseline is θ 34 , depending on whether the camera can recognize a face, determine whether the direction of the spine perpendicular to the shoulder bone is positive or negative. If a face is recognized, it is in the positive direction, and if not, it is in the negative direction.

[0082] Among them, Figure 4 and Figure 7 As shown, the step S10 may specifically be:

[0083] According to the direction x that the spine is facing as determined in step S9, and the head rotation angle θ3 of the operator obtained by camera 1 and camera 3, the direction that the face is facing after the head rotation is x', and the required equipment data is confirmed based on the viewing angle of the direction facing the face.

[0084] The step S5 of visually presenting the charging status of the device on the mirror surface of the glasses may specifically be:

[0085] Powered devices on the mirror surface of the glasses are marked in red, powered devices on the mirror surface of the glasses are marked in yellow, and non-powered devices on the mirror surface of the glasses are marked in green.

[0086] Furthermore, in order to coordinately locate the image captured by the second camera of the smart glasses with the image on the mirror surface of the glasses to determine the display positions of the red, yellow and green annotations, the image of the mirror surface of the glasses is first extracted for comparison with the image of the second camera, and feature points or feature contours are selected as correction points to eliminate the deviation between the two. Taking the feature point as an example, the coordinates of the feature point on the image of the mirror surface of the glasses are (a1, b1), and the coordinates on the image of the second camera are (a2, b2):

[0087] a1+Δa=a2

[0088] b1+Δb=b2

[0089] When the operation and maintenance personnel perform corresponding operations on the terminals and cables in the nearest switch cabinet, they should first confirm that the power is on. The specific steps are as follows:

[0090] S12. When the operator approaches the terminals and cables in the switch cabinet, the smart bracelet he wears confirms the above terminals and cables through the built-in NCV measurement mechanism and infrared temperature measurement device, and confirms the distance between the operator's hand and the above equipment through the built-in infrared distance measurement device;

[0091] S13. The device charge status and the actual distance between the hand and the device measured in S12 are transmitted to the smart glasses through the signal transceiver 1 and the signal transceiver 2, and the image captured by the camera 2 of the smart glasses is corrected accordingly, the imaging position of the device on the mirror surface of the glasses is confirmed, and the device charge status and the actual distance between the hand and the device are visualized on the mirror surface of the glasses;

[0092] S14. If it is detected that the device is powered on or has induced electricity, and the distance between the hand and the above device is less than the corresponding distance threshold, a warning is issued through the smart wrist ring or smart glasses until the device is no longer powered or the distance between the hand and the above device is greater than the corresponding threshold, and the warning is eliminated.

[0093] Among them, the S12 can confirm the above-mentioned terminals and cables through the built-in NCV measurement mechanism and infrared temperature measurement device in the following ways:

[0094] 1) The temperature of the key heating points of the wires, switches, and other equipment is measured by thermal sensors. If the temperature is greater than the corresponding temperature threshold, the equipment is judged to be energized, otherwise the equipment is judged to be not energized. This is because the energized equipment will generate corresponding heat due to the thermal effect, but the above method is limited to the case where the power supply is applied at both ends and the equipment is directly energized, and it cannot measure and judge the induced electricity.

[0095] 2) The electric field and magnetic field around the wires, switches, and other equipment are measured by electromagnetic sensors. If the electromagnetic field value exceeds the electromagnetic field threshold, the equipment is judged to be charged, otherwise the equipment is judged to be uncharged. This is because all devices with charges will generate electric fields in the surrounding area. If the electric field changes, a magnetic field will be generated. Therefore, the above method can not only detect the situation where the equipment is directly powered on, but also detect the situation where the equipment has an induced voltage.

[0096] 3) Combining the above two methods can determine whether the device is powered on, and at the same time determine whether the device has induced electricity. The specific method is as follows: if the temperature of the key point of the device measured by the thermal sensor is greater than the temperature threshold and the electromagnetic field value exceeds the electromagnetic field threshold, the device is powered on; if the temperature of the key point of the device measured by the thermal sensor is not greater than the temperature threshold and the electromagnetic field value exceeds the electromagnetic field threshold, the device has induced electricity; if the temperature of the key point of the device measured by the thermal sensor is not greater than the temperature threshold and the electromagnetic field value does not exceed the electromagnetic field threshold, the device is powered off.

[0097] Confirm the temperature threshold and electromagnetic field threshold based on experiments.

[0098] The step S13 of visually presenting the charging status of the device and the actual distance between the hand and the device on the mirror surface of the glasses may specifically be:

[0099] Powered devices on the glasses are marked in red, powered devices on the glasses are marked in yellow, and non-powered devices on the glasses are marked in green. The distance between the hand wearing the smart ring and the device is marked on the glasses.

[0100] Furthermore, in order to coordinately locate the image captured by the second camera of the smart glasses with the image on the mirror surface of the glasses to determine the display positions of the red, yellow and green annotations, the image of the mirror surface of the glasses is first extracted for comparison with the image of the second camera, and feature points or feature contours are selected as correction points to eliminate the deviation between the two. Taking the feature point as an example, the coordinates of the feature point on the image of the mirror surface of the glasses are (a1, b1), and the coordinates on the image of the second camera are (a2, b2):

[0101] a1+Δa=a2

[0102] b1+Δb=b2

[0103] The distance threshold in S14 is confirmed by the following method:

[0104] Assume that the safety distance in the experiment is l0, the temperature of the key point of the equipment in the experiment is T0, the electromagnetic field value of the equipment in the experiment is E0, and the actual distance threshold is l x , the actual key point temperature of the equipment is T x , the actual value of the electromagnetic field of the equipment is E x ,but:

[0105] l x =f(l0,T0,E0,T x ,E x )

[0106] Furthermore, the distance threshold function may be a geometric function of the temperature and the electromagnetic field value of the key point:

[0107] l x =(l0×T x ×E x ) / (T0×E0)

[0108] The step S14 in which the warning is issued by the smart bracelet or smart glasses may specifically be:

[0109] Smart wristband vibration reminder, smart wristband alarm reminder, smart glasses imaging reminder, smart glasses voice reminder, smart glasses vibration reminder, etc. Those skilled in the art will appreciate that the above specific warning methods can be combined in any way.

[0110] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Those skilled in the art should understand that the present invention includes but is not limited to the contents described in the above specific embodiments. Any modification that does not deviate from the functional and structural principles of the present invention will be included in the scope of the claims.

Claims

1. A substation intelligent virtual auxiliary robot control system, characterized in that: include: Data acquisition subsystem: The data acquisition subsystem includes a number of sensors, which are set on various devices in the strain power station to detect the energized status of the equipment; Full-station monitoring subsystem: The full-station monitoring subsystem includes a number of monitoring cameras, which are distributedly installed in the substation to collect full-station monitoring images of the substation; Wearable smart terminal: The wearable smart terminal is provided with a camera and a smart screen, and the camera is used to collect images within the viewing angle of the wearable smart terminal; Data center: The data center establishes data communication with the data acquisition subsystem, the whole station monitoring subsystem and the wearable smart terminal, and analyzes the acquired data to locate the position of the wearable smart terminal and the viewing angle position corresponding to the image of the smart screen of the wearable smart terminal; and matches the power status of the equipment with the corresponding equipment of the corresponding viewing angle, and presents the power status of the equipment on the smart screen of the wearable smart terminal; The wearable intelligent terminal includes a smart bracelet and smart glasses. The smart bracelet has a built-in NCV measurement mechanism, an infrared temperature measuring device, an infrared distance measuring device, and a signal transceiver 1. The smart glasses include a glasses frame foot 1, a glasses frame foot 2, and a glasses mirror. The smart glasses have a built-in camera 1, a camera 2, a signal transceiver 2, and a camera 3. The camera 1 and the camera 3 are respectively placed at the lower part of the glasses frame foot 1 and the glasses frame foot 2. The camera 2 and the signal transceiver 2 are placed at the lower middle part of the glasses mirror. The signal transceiver 1 and the signal transceiver 2 establish a signal connection. The method of confirming the energized condition by using the NCV measuring mechanism and the infrared temperature measuring device includes: if the temperature of the key point of the equipment is greater than the temperature threshold and the electromagnetic field value exceeds the electromagnetic field threshold, the equipment is energized; If the temperature of the key point of the equipment is not greater than the temperature threshold and the electromagnetic field value exceeds the electromagnetic field threshold, the equipment is induced electric; if the temperature of the key point of the equipment is not greater than the temperature threshold and the electromagnetic field value does not exceed the electromagnetic field threshold, the equipment is powered off; The method to visualize the charging status of the device on the mirror surface of the glasses is: Powered devices on the glasses are marked in red, powered devices on the glasses are marked in yellow, and non-powered devices on the glasses are marked in green. The distance between the hand wearing the smart ring and the device is marked on the glasses. If it is detected that the device is powered on or has induced electricity, and the distance between the hand and the device is less than the corresponding distance threshold, a warning is issued through the smart wrist ring or smart glasses until the device is no longer powered or the distance between the hand and the device is greater than the corresponding threshold, and the warning is eliminated; The distance threshold is determined by: Assume that the safety distance in the experiment is l0, the temperature of the key point of the equipment in the experiment is T0, the electromagnetic field value of the equipment in the experiment is E0, and the actual distance threshold is l x , the actual equipment key point temperature is T x , the actual value of the electromagnetic field of the equipment is E x , then: x =(l0×T x ×E x ) / (T0×E0).

2. According to claim 1, the intelligent virtual auxiliary robot control system for a substation is characterized by: Some sensors are contact sensors and / or contactless sensors.

3. According to claim 2, the intelligent virtual auxiliary robot control system for a substation is characterized by: The contact sensor is a current transformer and / or a voltage transformer.

4. The intelligent virtual assistant robot control system for a substation according to claim 2 is characterized in that: The non-contact sensor is a Rogowski coil and / or a Hall sensor and / or an inductive voltage tester NCV measuring mechanism.

5. The intelligent virtual assistant robot control system for a substation according to claim 1 is characterized in that: The perspective of the operation and maintenance personnel is captured through camera 2 of the smart glasses, and the viewing range of the operation and maintenance personnel is adjusted through camera 1 and camera 3 of the smart glasses.

6. The intelligent virtual assistant robot control system for a substation according to claim 5 is characterized in that: The steps to adjust the viewing angle of the operation and maintenance personnel through the camera 1 and camera 3 of the smart glasses are as follows: The spinal bones and shoulder bones of the maintenance personnel in the image are extracted according to the view images of the two cameras respectively, the angle position of the human body is determined according to the angle formed by the spinal bones and the shoulder bones, and the viewing angle range of the maintenance personnel is determined according to the angle position of the human body; The rotation angle of the operator's head is obtained based on camera 1 and camera 3, and the viewing angle range determined by the facing position of the spine is adjusted; The actual position of the device in the image currently seen by the operation and maintenance personnel is determined based on the adjusted viewing angle, matched with the built-in map, and the background information of the device is retrieved, including whether it is powered.

Images