A substation inspection method based on point position classification

Abstract

The application discloses a substation inspection method based on point classification, analyzes point positions effectively monitored by a camera according to a camera distribution situation, determines point positions for unmanned aerial vehicle (UAV) inspection based on the point positions, establishes an equipment inspection relationship database, plans an UAV path, and realizes omnibearing monitoring of substation equipment. The application divides inspection point positions according to equipment defect levels, and clearly defines areas and point positions monitored by the cameras, improves the use efficiency of fixed cameras in the substation, clearly defines inspection targets of the UAV, and improves the intelligent degree of the substation inspection system and the video monitoring system.

Description

Technical Field

[0001] This invention relates to the field of substation inspection technology, and in particular to a substation inspection method based on location classification. Background Technology

[0002] A substation is a crucial location in a power system that transforms voltage and current, receives electrical energy, and distributes it. Substation equipment, due to its long operational lifespan, is highly susceptible to aging and corrosion. Therefore, regular inspections of substations are essential to ensure their proper functioning.

[0003] Currently, the most common method is to install cameras to monitor the operation of substation equipment. By viewing the footage returned by the video monitoring system, it is possible to determine whether there is rust, debris, or abnormal operation on the corresponding equipment within the substation. However, because the installation location of the cameras is fixed, the variable viewing angle is fixed, and the area that can be monitored is limited, the monitoring of substations is significantly restricted. Summary of the Invention

[0004] To address the aforementioned technical issues, this invention proposes a substation inspection method based on location classification. In this method, the effective monitoring locations of the cameras are analyzed based on their deployment, and the locations for drone inspection are determined accordingly. An equipment inspection relationship database is established, and drone paths are planned. The drone and fixed cameras cooperate to complete the substation inspection. Inspection locations are classified according to equipment defect levels, and the respective monitoring areas and locations of the cameras and drones are clearly defined, achieving comprehensive monitoring of substation equipment.

[0005] To achieve the above objectives, the technical solution of the present invention is as follows:

[0006] A substation inspection method based on location classification includes the following steps:

[0007] Obtain the installation locations of all cameras and equipment in the substation, and divide the substation equipment into several inspection points according to the defect level;

[0008] Determine if there is a camera at the current inspectable point that meets the conditions for effective monitoring. If so, bind the corresponding camera number to the inspectable point, set the inspection status of the current inspectable point to 1, and move to the next inspectable point. Determine if there is a camera at the next inspectable point that meets the conditions for effective monitoring, until all inspectable points in all substation equipment are inspected. If not, proceed to the next step.

[0009] Determine if there is a drone that meets the conditions for effective monitoring. If so, bind the drone number to the patrolable point and set the patrol status of the current patrolable point to 2; otherwise, set the patrol status of the current patrolable point to 0.

[0010] The system includes manually inspecting points with a patrol status of 0; using cameras to monitor points in real time with a patrol status of 1; and generating drone inspection paths based on the locations of points with a patrol status of 2. The drone then periodically follows these inspection paths for inspection.

[0011] Preferably, the inspectable points are divided into four levels according to the defect level: Level 1 inspectable points, Level 2 inspectable points, Level 3 inspectable points, and Level 4 inspectable points. The Level 1 inspectable points are areas in the substation equipment where Class I defects may occur, the Level 2 inspectable points are areas in the substation equipment where Class II defects may occur, the Level 3 inspectable points are areas in the substation equipment where Class III defects may occur, and the Level 4 inspectable points are areas in the substation equipment where the above three types of defects will not occur. The locations of the above inspection points in the substation equipment are marked.

[0012] Preferably, the method further includes the following steps: if an anomaly is detected at a camera-monitored first-level patrol point, the drone will immediately go there to check and confirm, and the confirmation result will be fed back to the platform;

[0013] If an anomaly is detected at a Level 2 or Level 3 inspectable point monitored by the camera, the location of the Level 2 or Level 3 inspectable point will be added to the inspection path. The drone will check and confirm this during the next inspection cycle, and the confirmation result will be fed back to the platform.

[0014] Preferably, the conditions for effective monitoring include a single monitoring distance of the monitoring device being greater than the effective monitoring distance, a lateral monitoring angle of the monitoring device being less than the upper limit of the effective lateral monitoring angle but greater than the lower limit of the effective lateral monitoring angle, and a longitudinal monitoring angle of the monitoring device being less than the upper limit of the effective longitudinal monitoring angle but greater than the lower limit of the effective longitudinal monitoring angle. The monitoring device includes a camera or a drone.

[0015] Preferably, the single monitoring distance is the distance between a single monitoring point and the corresponding monitoring device within the illumination range of the monitoring device, and the single monitoring point is an inspectable point in the illumination area of ​​the monitoring device; the effective monitoring distance is the farthest monitoring distance at which the monitoring device can clearly monitor the inspectable point, multiplied by a corresponding coefficient according to the defect level of the inspectable point.

[0016] Preferably, the corresponding coefficient decreases as the defect severity increases.

[0017] Preferably, the coefficient for the first-level inspectable points is 0.8, the coefficient for the second-level inspectable points is 0.85, the coefficient for the third-level inspectable points is 0.9, and the coefficient for the fourth-level inspectable points is 1.

[0018] Preferably, the monitoring lateral angle is the angle between the line connecting the monitoring device to the midpoint of a single monitoring point and the mapping of the straight line on the ground; the monitoring longitudinal angle is the angle between the line connecting the monitoring device to the midpoint of a single monitoring point and the mapping of the straight line on a plane perpendicular to the ground; the straight line is the plane with the largest overlapping area among all planes perpendicular to the ground where the single monitoring point is located, and the straight line passing through the midpoint of the single monitoring point and perpendicular to this plane is selected; the upper and lower limits of the effective monitoring lateral angle are the maximum and minimum monitoring lateral angles that allow the monitoring device to accurately monitor the points; the upper and lower limits of the effective monitoring longitudinal angle are the maximum and minimum monitoring longitudinal angles that allow the monitoring device to accurately monitor the points.

[0019] Preferably, when multiple cameras simultaneously meet the conditions for effective monitoring, the optimal camera among the multiple cameras with the smallest single monitoring distance and the smallest sum of the absolute values ​​of the horizontal and vertical monitoring angles is bound to the patrolable location.

[0020] Based on the above technical solution, the beneficial effects of the present invention are as follows: The present invention obtains the installation locations of all cameras and substation equipment within the substation, and divides the substation equipment into several inspectable points according to the defect level; it determines whether there is a camera at the current inspectable point that meets the conditions for effective monitoring. If so, it binds the corresponding camera number to the inspectable point, sets the inspection status of the current inspectable point to 1, and moves to the next inspectable point, determining whether there is a camera at the next inspectable point that meets the conditions for effective monitoring, until all inspectable points in all substation equipment are inspected; if not, it moves to the next step; it determines whether there is a drone that meets the conditions for effective monitoring. If so, it binds the drone number to the inspectable point, sets the inspection status of the current inspectable point to 2; if not, it sets the inspection status of the current inspectable point to 0; it manually periodically inspects the inspectable points with an inspection status of 0; it uses cameras to monitor the inspectable points with an inspection status of 1 in real time; it generates the drone's inspection path based on the location of the inspectable points with an inspection status of 2, and the drone periodically inspects according to the inspection path. This reduces repetitive work for maintenance personnel, allowing drones and fixed cameras to work together to complete substation inspections. Inspection points are divided according to the level of equipment defects, and the areas and points monitored by each camera are clearly defined, improving the utilization efficiency of fixed cameras in the substation, clarifying the inspection targets of drones, and enhancing the intelligence level of the substation inspection system and video monitoring system. Attached Figure Description

[0021] Figure 1This is a flowchart illustrating the process of determining the status of a single monitoring point in a substation inspection method based on point classification, as described in one embodiment.

[0022] Figure 2 This is a flowchart illustrating the process of determining the corresponding monitoring relationships in a substation inspection method based on point classification, as described in one embodiment.

[0023] Figure 3 This is a schematic diagram of the inspection process of a substation inspection method based on point classification in one embodiment. Detailed Implementation

[0024] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0025] like Figures 1 to 3 As shown in the figure, this embodiment provides a substation inspection method based on point classification to achieve scientific and efficient substation inspection, including the following steps:

[0026] First, the installation locations of all cameras and equipment in the substation are obtained. Then, the inspection points are classified according to the defect level of the substation equipment. Equipment areas corresponding to the first defect level are classified as first-level inspection points (such as meters, circuit breaker opening and closing indicators), equipment areas corresponding to the second defect level are classified as second-level inspection points (such as circuit breaker energy storage indicators, terminal boxes), equipment areas corresponding to the third defect level are classified as third-level inspection points (such as control cabinets, circuit breaker flanges), and equipment areas with defects other than the above are classified as fourth-level inspection points (such as signs).

[0027] The inspectable points S x(j,k) , refers to a certain external area of ​​a single substation equipment. If the external area of ​​a substation equipment includes multiple parts, there are multiple inspectable points. j is the level of the inspectable point, and k is the inspectable point number under that level.

[0028] For all fixed cameras, label their corresponding monitoring points S. i .

[0029] The monitoring point S i S represents all single monitoring points S within the illumination range of the camera. (i,j,k) The set of i, where i is the camera number.

[0030] The single monitoring point S (i,j,k) To obtain the inspectable point S in the area illuminated by the fixed camera. x(j,k) Different cameras may have the same patrolable points for a single monitoring point. If the patrolable point is S... x(j,k) Within the monitoring range of camera i, it represents a single monitoring point S.(i,j,k) It exists; otherwise, it does not exist.

[0031] The single monitoring point S (i,j,k) It has the following attributes: single monitoring distance l, monitoring horizontal angle degh, and monitoring vertical angle degz.

[0032] The single monitoring distance l is the single monitoring point S. (i,j,k) The distance between the current location and the location of the corresponding fixed camera i.

[0033] The monitoring lateral angle degh is taken as a single monitoring point S. (i,j,k) Among all planes perpendicular to the ground, the plane with the largest overlapping area is selected, and the plane passing through a single monitoring point S is chosen. (i,j,k) The midpoint of the straight line perpendicular to the plane, the monitoring lateral angle degh is the distance S from the camera to the single monitoring point. (i,j,k) The angle between the line connecting the midpoints of the line and the mapping of the line on the ground is positive in the clockwise direction and negative in the counterclockwise direction.

[0034] The longitudinal angle of the monitoring is degz, and a single monitoring point S is taken. (i,j,k) Among all planes perpendicular to the ground, the plane with the largest overlapping area is selected, and the plane passing through a single monitoring point S is chosen. (i,j,k) The midpoint of the straight line perpendicular to the plane, with the longitudinal angle degz being the distance from the camera to the single monitoring point S. (i,j,k) The angle between the line connecting the midpoints of the points and the mapping of the line onto the plane perpendicular to the ground is positive when the camera is above this point and negative when the camera is below this point.

[0035] The inspectable points S x(j,k) It has the following attributes, namely, effective monitoring distance l v Effective monitoring of the upper and lower limits of the lateral angle (degh) max with degh min Effective monitoring of the upper and lower limits of the longitudinal angle (degz) max With degz min .

[0036] The effective monitoring distance l v The camera can clearly monitor the location S. x(j,k) The furthest monitoring distance, and also based on the patrolable points S x(j,k) The level is multiplied by the corresponding coefficient: Level 1 patrol points are multiplied by 0.8, Level 2 patrol points by 0.85, Level 3 patrol points by 0.9, and Level 4 patrol points by 1.

[0037] The effective monitoring of the upper and lower limits of the lateral angle degh max with degh minTo ensure that the camera i can accurately monitor the location S x(j,k) The maximum and minimum monitored lateral angles.

[0038] The effective monitoring of the upper and lower limits of the longitudinal angle (degz) max With degz min To ensure that the camera i can accurately monitor the location S x(j,k) The maximum and minimum longitudinal angles to be monitored.

[0039] Evaluation of monitoring point S (i,j,k) Whether a location can be accurately monitored by camera i depends on meeting conditions one, two, and three. If all three conditions are met, then the single monitoring point S is evaluated. (i,j,k) It can be accurately monitored by camera i. If any condition is not met, the single monitoring point S will be evaluated. (i,j,k) It cannot be accurately monitored by the camera.

[0040] Condition one is that the single monitoring distance l of the camera is greater than the effective monitoring distance l. v .

[0041] Condition two is that the horizontal monitoring angle degh of the camera is less than the upper limit of the effective horizontal monitoring angle degh. max And greater than the lower limit of the effective monitoring lateral angle degh min .

[0042] Condition three is that the vertical monitoring angle degz of the camera is less than the upper limit of the effective vertical monitoring angle degz. max And greater than the lower limit of the effective monitoring longitudinal angle degz min .

[0043] Based on the above conditions, determine the corresponding single monitoring point S for all cameras. (i,j,k) In the case of existence, a single monitoring point S (i,j,k) Does the condition meet? If so, set a single monitoring point S. (i,j,k) Point monitoring status P (i,j,k) Set the value to 1; if this condition is not met, then set the single monitoring point S. (i,j,k)) Point monitoring status P (i,j,k) It is 0.

[0044] The monitoring status P of the location (i,j,k) , and a single monitoring point S (i,j,k) Binding reflects a single monitoring point S (i,j,k) Can it be effectively monitored by camera i? If so, then P (i,j,k) If it is 1, then P (i,j,k) It is 0.

[0045] According to the monitoring status of point P (i,j,k) Based on the judgment results, all inspectable points S are determined.x(j,k) Point inspection status P x(j,k) If there exists more than one i such that the monitoring status P of the point is... (i,j,k) If the value is 1, then the inspectable point S is set. x(j,k) Point inspection status P x(j,k) It is 1 if it is true, otherwise it is 0.

[0046] For all inspectable points S whose status is invalid x(j,k) The system determines whether there are corresponding points within the drone's flight area that satisfy the three conditions mentioned above for the drone's onboard camera. If such points exist, the system sets the patrol point S. x(j,k) Point inspection status P x(j,k) Set the value to 2; otherwise, keep the value at 0.

[0047] The point inspection status P x(j,k) , and the inspectable point S x(j,k) Binding reflects the inspectable point S x(j,k) Can it be effectively monitored by cameras or drones? If it can be effectively monitored by cameras, then P x(j,k) The value is 1; if it cannot be effectively monitored by a camera but can be effectively monitored by a drone, then P is 1. x(j,k) The value is 2; if it cannot be effectively monitored by cameras or drones, then P... x(j,k) It is 0.

[0048] Establish a database mapping the monitoring relationships of all inspectable points, and record the inspection status P of all points. x(j,k) Non-zero corresponding inspectable point S x(j,k) Establish a corresponding relationship with the monitoring equipment, and each patrolable point S x(j,k) Each device is assigned to a specific monitoring device, and the assignment is done according to the corresponding rules.

[0049] The corresponding rule, when the point inspection status P x(j,k) When the value is 1, the rules are as follows:

[0050] If point S can be inspected x(j,k) There exists only a single camera i, such that the monitoring status P of the location is... (i,j,k) If it is 1, then set S. x(j,k) The corresponding monitoring device number is i.

[0051] If point S can be inspected x(j,k) There are n cameras (n>1) i1, i2...i n This makes the monitoring status P of the location... (i,j,k) If it is 1, then set S. x(j,k) The corresponding monitoring device number is the camera with the smallest single monitoring distance l among n cameras. If there are k cameras (k>1), the effective monitoring distance l v If the minimum value is found, then set S.x(j,k) The corresponding monitoring device number is the camera with the smallest (|degh|+|degz|) among the n cameras. If two or more cameras simultaneously satisfy both of the above conditions, then one of the cameras is randomly selected and its number is S. x(j,k) The corresponding monitoring device number.

[0052] The corresponding rule, when the point inspection status P x(j,k) When the value is 2, the patrol point S will be available for inspection. x(j,k) The corresponding monitoring device number is set to the drone number p.

[0053] The corresponding rule, when the point inspection status P x(j,k) When the value is 0, the inspectable point S will be... x(j,k) The corresponding monitoring device number is set to empty, and the patrol points S can only be monitored manually. x(j,k) The inspection.

[0054] Complete the inspection point S x(j,k) After being associated with the monitoring equipment, all inspection statuses P in the substation are then... x(j,k) Non-zero inspectable points S x(j,k) All patrols are conducted using corresponding cameras or drones. The patrol rules are as follows:

[0055] All cameras patrol around the clock, monitoring the status of each location in real time. x(j,k) Inspectable point S with a value of 1 x(j,k) Are there any operational anomalies?

[0056] Drones are regularly used to inspect the substation, with each inspection point maintaining its status (P). x(j,k) The number of inspectable points S is 2. x(j,k) The set of locations is used as fixed points for drone patrols, and path planning is performed to conduct regular patrols according to the planned path.

[0057] If the camera monitoring detects a Level 1 patrol point S x(1,k) An anomaly has been detected; a drone needs to be dispatched directly to point S. x(1,k) We will check and confirm the issue, and then report it to the platform if there are any problems.

[0058] If the camera monitoring detects a level 2 or 3 patrol point S x(2,k) S x(3,k) An anomaly was detected. During the next drone inspection, the anomaly point will be added to the set of fixed points to be inspected by the drone. A path will be planned, and the drone will inspect according to the planned path. Once the problem is confirmed, it will be reported back to the platform. For example: Suppose a substation has completed the monitoring classification according to the above rules, and fixed monitoring cameras are responsible for monitoring points in their own areas, while drones are responsible for routine inspections of the points in their assigned areas every 3 days. Consider the following scenario:

[0059] Scenario 1: Within the area covered by camera 2, there is a primary patrol point S. x(1,2) An anomaly was detected. After the information was transmitted to the backend, the backend dispatched a drone directly to the inspectable location S. x(1,2) Confirm the location nearby; once confirmed as abnormal, immediately report the information to the backend.

[0060] Scenario 2: On the first day, the drone completed a routine inspection of its assigned locations along a pre-planned path. On the second day, within the area covered by camera 2, secondary inspection point S... x(2,5) An anomaly occurred: on the third day, within the area covered by camera 3, the level 3 patrol point S... x(3,8) If an anomaly is detected, S will be checked before the drone's routine inspection on the fourth day. x(2,5) S x(3,8) Plan the route together for the points you are responsible for, and conduct inspections according to the planned route. If S is confirmed... x(2,5) S x(3,8) If an anomaly is detected at a location, the information should be reported to the backend.

[0061] The above description is merely a preferred embodiment of a substation inspection method based on point classification disclosed in this invention, and is not intended to limit the scope of protection of the embodiments in this specification. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the embodiments in this specification should be included within the scope of protection of the embodiments in this specification.

Claims

1. A substation inspection method based on location classification, characterized in that, Includes the following steps: The installation locations of all cameras and equipment within the substation are obtained, and the inspectable points are categorized into four levels based on defect severity: Level 1, Level 2, Level 3, and Level 4. Level 1 inspectable points are areas within the substation equipment where Class I defects may occur; Level 2 inspectable points are areas within the substation equipment where Class II defects may occur; Level 3 inspectable points are areas within the substation equipment where Class III defects may occur; and Level 4 inspectable points are areas within the substation equipment where none of the above three types of defects may occur. The locations of these inspectable points within the substation equipment are then marked. Determine if there is a camera at the current inspectable point that meets the conditions for effective monitoring. If so, bind the corresponding camera number to the inspectable point, set the inspection status of the current inspectable point to 1, and move to the next inspectable point. Determine if there is a camera at the next inspectable point that meets the conditions for effective monitoring, until all inspectable points in all substation equipment have been traversed. If not, proceed to the next step. Determine if there is a drone that meets the conditions for effective monitoring. If so, bind the drone number to the patrolable point and set the patrol status of the current patrolable point to 2; otherwise, set the patrol status of the current patrolable point to 0. The system includes manually inspecting points with a patrol status of 0; using cameras to monitor points in real time with a patrol status of 1; and generating drone inspection paths based on the locations of points with a patrol status of 2. The drone then periodically follows these inspection paths for inspection. It also includes the following steps: if an anomaly is detected at a level 1 inspectable point monitored by the camera, the drone will immediately go there to check and confirm, and the confirmation result will be fed back to the platform; if an anomaly is detected at a level 2 or level 3 inspectable point monitored by the camera, the location of the level 2 or level 3 inspectable point will be added to the inspection path, and the drone will check and confirm it in the next inspection cycle, and the confirmation result will be fed back to the platform.

2. The substation inspection method based on location classification according to claim 1, characterized in that, The conditions for effective monitoring include a single monitoring distance of the monitoring device being greater than the effective monitoring distance, a lateral monitoring angle of the monitoring device being less than the upper limit of the effective lateral monitoring angle but greater than the lower limit of the effective lateral monitoring angle, and a longitudinal monitoring angle of the monitoring device being less than the upper limit of the effective longitudinal monitoring angle but greater than the lower limit of the effective longitudinal monitoring angle. The monitoring device includes a camera or a drone.

3. The substation inspection method based on location classification according to claim 2, characterized in that, The single monitoring distance is the distance between a single monitoring point and the corresponding monitoring device within the illumination range of the monitoring device. The single monitoring point is an inspectable point in the illumination area of ​​the monitoring device. The effective monitoring distance is the farthest monitoring distance at which the monitoring device can clearly monitor the inspectable point, multiplied by a corresponding coefficient according to the defect level of the inspectable point.

4. The substation inspection method based on location classification according to claim 3, characterized in that, The corresponding coefficient decreases as the defect severity increases.

5. The substation inspection method based on point classification according to claim 4, characterized in that, The coefficient for the first-level inspectable points is 0.8, the coefficient for the second-level inspectable points is 0.85, the coefficient for the third-level inspectable points is 0.9, and the coefficient for the fourth-level inspectable points is 1.

6. The substation inspection method based on location classification according to claim 2, characterized in that, The monitoring lateral angle is the angle between the line connecting the monitoring device to the midpoint of a single monitoring point and the mapping of the straight line on the ground. The monitoring longitudinal angle is the angle between the line connecting the monitoring device to the midpoint of a single monitoring point and the mapping of the straight line on a plane perpendicular to the ground. The straight line is the plane with the largest overlapping area among all planes perpendicular to the ground where the single monitoring point is located, and the straight line passing through the midpoint of the single monitoring point and perpendicular to this plane is selected. The upper and lower limits of the effective monitoring lateral angle are the maximum and minimum monitoring lateral angles that allow the monitoring device to accurately monitor the points. The upper and lower limits of the effective monitoring longitudinal angle are the maximum and minimum monitoring longitudinal angles that allow the monitoring device to accurately monitor the points.

7. The substation inspection method based on location classification according to claim 1, characterized in that, When multiple cameras simultaneously meet the conditions for effective monitoring, the optimal camera among the multiple cameras with the smallest single monitoring distance and the smallest sum of the absolute values ​​of the horizontal and vertical monitoring angles is selected and bound to the patrol point.

Images