A method and device for inspecting substation equipment, and a medium

Abstract

The application discloses a kind of substation equipment's inspection method, device, equipment and medium, it is related to substation inspection technical field.The method comprises: in the substation point cloud model, the ground position of each point in at least one substation equipment submodel is obtained, and the scale of the substation point cloud model and the camera parameter of the inspection equipment are obtained;According to the ground position of each point in the substation equipment submodel, the model inspection position is determined;According to the ground position of each point in the substation equipment submodel, model inspection position and camera parameter, the model inspection height is determined;According to each model inspection position and the model inspection height at each model inspection position, the model inspection path of the inspection equipment is fitted;According to the scale of the substation point cloud model, the model inspection path is converted into real inspection path, so that the inspection equipment carries out inspection according to real inspection path to each substation equipment submodel corresponding substation equipment.The scheme improves the accuracy of the inspection substation equipment.

Description

Technical Field

[0001] This invention relates to the field of substation inspection, and in particular to a method, apparatus, equipment and medium for inspecting substation equipment. Background Technology

[0002] With the development of the power system, the scale and complexity of substations are constantly increasing, and the requirements for the management and maintenance of substation equipment are also becoming higher and higher.

[0003] Currently, there are methods for using inspection robots to inspect substation equipment, but most inspection robots are controlled by humans in real time, which has the drawbacks of high inspection costs and poor inspection accuracy. Summary of the Invention

[0004] This invention provides a method, apparatus, equipment, and medium for inspecting substation equipment, thereby improving the accuracy of substation equipment inspection.

[0005] In a first aspect, the present invention provides a method for inspecting substation equipment, comprising:

[0006] In the substation cloud model, obtain the ground location of each point in at least one substation equipment sub-model, as well as the camera parameters of the inspection equipment and the scale of the substation cloud model.

[0007] For each substation equipment sub-model, the model inspection location is determined based on the ground location of each point in the substation equipment sub-model.

[0008] Based on the ground location of each point in the substation equipment sub-model, the model inspection location, and camera parameters, determine the model inspection height of the inspection equipment at the model inspection location;

[0009] Based on the inspection locations of each model and the inspection height of the inspection equipment at each model inspection location, the model inspection path of the inspection equipment is obtained by fitting.

[0010] Based on the scale of the substation cloud model, the model inspection path is converted into a real inspection path, so that the inspection equipment can inspect the substation equipment corresponding to each substation equipment sub-model according to the real inspection path.

[0011] Secondly, the present invention also provides an inspection device for substation equipment, comprising:

[0012] The ground location acquisition module is used to acquire the ground location of each point in at least one substation equipment sub-model in the substation cloud model, as well as the camera parameters of the inspection equipment and the scale of the substation cloud model.

[0013] The inspection location determination module is used to determine the model inspection location of each substation equipment sub-model based on the ground location of each point in the substation equipment sub-model.

[0014] The inspection height determination module is used to determine the model inspection height of the inspection equipment at the model inspection position based on the ground position of each point in the substation equipment sub-model, the model inspection position, and camera parameters.

[0015] The model path determination module is used to fit the model inspection path of the inspection equipment based on the inspection positions of each model and the model inspection height of the inspection equipment at each inspection position.

[0016] The real path determination module is used to convert the model inspection path into a real inspection path based on the scale of the substation cloud model, so that the inspection equipment can inspect the substation equipment corresponding to each substation equipment sub-model according to the real inspection path.

[0017] Thirdly, embodiments of the present invention also provide an electronic device, comprising:

[0018] At least one processor; and

[0019] A memory that is communicatively connected to at least one processor; wherein

[0020] The memory stores instructions that can be executed by at least one processor, which enables the at least one processor to perform the substation equipment inspection method provided in any embodiment of the present invention.

[0021] Fourthly, embodiments of the present invention also provide a computer-readable storage medium storing computer instructions, which are used to cause a processor to execute the substation equipment inspection method of any embodiment of the present invention.

[0022] In this embodiment of the invention, the ground positions of each point in at least one substation equipment sub-model are obtained within a substation site cloud model, along with the camera parameters of the inspection equipment and the scale of the substation site cloud model. For each substation equipment sub-model, the model inspection position is determined based on the ground positions of each point within the substation equipment sub-model. The model inspection height of the inspection equipment at the model inspection position is determined based on the ground positions, model inspection positions, and camera parameters. The model inspection path of the inspection equipment is fitted based on each model inspection position and the model inspection height of the inspection equipment at each model inspection position. Finally, the model inspection path is converted into a real inspection path according to the scale of the substation site cloud model, enabling the inspection equipment to inspect the substation equipment corresponding to each substation equipment sub-model according to the real inspection path. The technical solution of this invention, compared with the existing method of manually controlling the inspection equipment in real time, avoids the defect of poor inspection accuracy caused by manual control of the inspection equipment, and realizes the automatic generation of the inspection path, so that the inspection equipment can automatically perform inspection according to the inspection path. Compared with the method of manually controlling the inspection equipment, the inspection cost is reduced.

[0023] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a flowchart of a substation equipment inspection method according to Embodiment 1 of the present invention;

[0026] Figure 2 This is a flowchart of a substation equipment inspection method according to Embodiment 2 of the present invention;

[0027] Figure 3 This is a schematic diagram of the structure of a substation equipment inspection device according to Embodiment 3 of the present invention;

[0028] Figure 4 This is a schematic diagram of the structure of an electronic device that implements the substation equipment inspection method according to an embodiment of the present invention. Detailed Implementation

[0029] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0030] It should be noted that the terms "comprising" and "having" and any variations thereof in the specification, claims and accompanying drawings of this invention are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to such processes, methods, products or devices.

[0031] The acquisition, storage, and application of ground location and other information involved in the technical solutions of this invention comply with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0032] Example 1

[0033] Figure 1 This is a flowchart of a substation equipment inspection method provided in Embodiment 1 of the present invention. This embodiment is applicable to the inspection of substation equipment. The method can be executed by a substation equipment inspection device, which can be implemented in hardware and / or software and specifically configured in an electronic device, such as a server.

[0034] See Figure 1 The inspection methods for substation equipment shown include:

[0035] S101. In the substation cloud model, obtain the ground location of each point in at least one substation equipment sub-model, as well as the camera parameters of the inspection equipment and the scale of the substation cloud model.

[0036] In this embodiment, the substation site cloud model can be a point cloud model of the substation. The substation equipment sub-model can be a model of the substation equipment in the substation corresponding to the substation site cloud model. The ground position of each point in the substation equipment sub-model can be the position of each point in the substation equipment sub-model projected onto the ground. The position can be represented in coordinate form. The inspection equipment can be a device that inspects the substation equipment. The camera parameters can be the inherent parameters of the camera in the inspection equipment, and the camera parameters can include, but are not limited to, the number of pixels and the aperture size, etc.

[0037] S102. For each substation equipment sub-model, determine the model inspection location of the substation equipment sub-model based on the ground location of each point in the substation equipment sub-model.

[0038] In this embodiment, the model inspection location can be the location where the inspection equipment inspects the substation equipment sub-model within the substation site cloud model. Specifically, a certain algorithm can be used to determine the model inspection location within the substation equipment sub-model based on the ground location of each point in the substation equipment sub-model.

[0039] Optionally, based on the ground positions of each point in the substation equipment sub-model, the model inspection positions of the substation equipment sub-model are determined, including: determining the average ground position of each point in the substation equipment sub-model as the center point ground position of the substation equipment sub-model; dividing the ground projection area of ​​the substation equipment sub-model into at least two model regions; for each model region, determining the ground distance between the ground position of each point in the model region and the ground position of the center point; determining the point with the largest ground distance as the endpoint in the model region; and determining the model inspection positions of the substation equipment sub-model on the extension line from the ground position of the center point to the ground position of the endpoint.

[0040] The ground location of the center point can be the ground location of the center point of the substation equipment sub-model.

[0041] Specifically, the average of the abscissas of the ground positions of each point in the substation equipment sub-model is determined as the abscissa of the center point of the substation equipment sub-model; the average of the ordinates of the ground positions of each point in the substation equipment sub-model is determined as the ordinate of the center point of the substation equipment sub-model, thus obtaining the ground position of the center point of the substation equipment sub-model; the ground projection area of ​​the substation equipment sub-model is divided into at least two model regions; for each model region, the ground distance between the ground position of each point in the model region and the ground position of the center point of the substation equipment sub-model is determined; the point with the largest ground distance is determined as the endpoint in the model region; a preset number of model inspection positions of the substation equipment sub-model are selected on the extension line from the ground position of the center point to the ground position of each endpoint. The preset number can be set independently by technical personnel based on actual needs or practical experience, and this invention does not limit this. In one specific embodiment, the preset number is one.

[0042] It is understandable that by adopting the above technical solution, the model inspection position of the substation equipment sub-model can be determined on the extension line from the center point ground position to the end point ground position. This allows the inspection equipment to collect inspection images containing at least two surfaces of the substation equipment sub-model at the model inspection position, thereby increasing the amount of information contained in the inspection images and thus improving the accuracy of the inspection by the inspection equipment.

[0043] S103. Based on the ground location of each point in the substation equipment sub-model, the model inspection location, and the camera parameters, determine the model inspection height of the inspection equipment at the model inspection location.

[0044] In this embodiment, the model inspection height can be the inspection height of the inspection equipment at the model inspection position in the substation cloud model. Specifically, a certain algorithm can be used to determine the model inspection height of the inspection equipment at the model inspection position based on the ground position of each point in the substation equipment sub-model, the model inspection position, and camera parameters.

[0045] S104. Based on the inspection positions of each model and the inspection height of the inspection equipment at each model inspection position, the model inspection path of the inspection equipment is obtained by fitting.

[0046] In this embodiment, the model inspection path can be the path taken by the inspection equipment to inspect the substation equipment sub-models in the substation cloud model. Specifically, at least one existing technology can be used to fit the model inspection path of the inspection equipment based on the inspection positions of each model and the model inspection height of the inspection equipment at each inspection position. This invention does not limit this approach.

[0047] S105. Based on the scale of the substation cloud model, convert the model inspection path into a real inspection path so that the inspection equipment can inspect the substation equipment corresponding to each substation equipment sub-model according to the real inspection path.

[0048] In this embodiment, the actual inspection path can be the path taken by the inspection equipment to inspect the substation equipment. Specifically, the model inspection path is proportionally converted according to the scale of the substation cloud model to obtain the actual inspection path.

[0049] In one optional embodiment, the inspection equipment is controlled to inspect the substation equipment according to the inspection path to obtain inspection images of each substation equipment; for each substation equipment, the inspection images of the substation equipment are subjected to target detection of defect features to obtain target detection results; if the target detection results include defect features, it is determined that there is an anomaly in the substation equipment.

[0050] The inspection images can be images of substation equipment collected by inspection equipment, and the types of inspection images can include, but are not limited to, visible light images and infrared images. Defect features can be the characteristics of defects in substation equipment, and defect features can include, but are not limited to, crack features, rust features, and abnormal heating features.

[0051] It is understandable that by adopting the above technical solution, defect features can be detected in the inspection images of substation equipment; based on whether the target detection results include defect features, it can be determined whether the substation equipment is abnormal. Compared with the existing method of manually inspecting inspection images, this improves the efficiency of anomaly detection in substation equipment.

[0052] In this embodiment of the invention, the ground positions of each point in at least one substation equipment sub-model are obtained within a substation site cloud model, along with the camera parameters of the inspection equipment and the scale of the substation site cloud model. For each substation equipment sub-model, the model inspection position is determined based on the ground positions of each point within the substation equipment sub-model. The model inspection height of the inspection equipment at the model inspection position is determined based on the ground positions, model inspection positions, and camera parameters. The model inspection path of the inspection equipment is fitted based on each model inspection position and the model inspection height of the inspection equipment at each model inspection position. Finally, the model inspection path is converted into a real inspection path according to the scale of the substation site cloud model, enabling the inspection equipment to inspect the substation equipment corresponding to each substation equipment sub-model according to the real inspection path. The technical solution of this invention, compared with the existing method of manually controlling the inspection equipment in real time, avoids the defect of poor inspection accuracy caused by manual control of the inspection equipment, and realizes the automatic generation of the inspection path, so that the inspection equipment can automatically perform inspection according to the inspection path. Compared with the method of manually controlling the inspection equipment, the inspection cost is reduced.

[0053] Example 2

[0054] Figure 2 This is a flowchart of a substation equipment inspection method provided in Embodiment 2 of the present invention. Based on the technical solution of the above embodiments, the present invention optimizes and improves the method for determining the model inspection height of the inspection equipment at the model inspection position.

[0055] Furthermore, the step of "determining the model inspection height of the inspection equipment at the model inspection position based on the ground position of each point in the substation equipment sub-model, the model inspection position, and the camera parameters" is refined into "determining the shortest distance between the model inspection position and the ground position of each point in the substation equipment sub-model; determining the model inspection height of the inspection equipment at the model inspection position based on the shortest distance and the camera parameters of the inspection equipment," in order to improve the operation of determining the model inspection height.

[0056] It should be noted that for any parts not described in detail in the embodiments of the present invention, please refer to the description in the foregoing embodiments.

[0057] See Figure 2 The inspection methods for substation equipment shown include:

[0058] S201. In the substation cloud model, obtain the ground location of each point in at least one substation equipment sub-model, as well as the camera parameters of the inspection equipment and the scale of the substation cloud model.

[0059] S202. For each substation equipment sub-model, determine the model inspection location of the substation equipment sub-model based on the ground location of each point in the substation equipment sub-model.

[0060] S203. Determine the shortest distance between the model inspection location and the ground location of each point in the substation equipment sub-model.

[0061] Specifically, for each point in the substation equipment sub-model, the Euclidean distance between the model inspection location and the ground location of that point in the substation equipment sub-model is determined; the minimum Euclidean distance is determined as the shortest distance between the model inspection location and the ground location of each point in the substation equipment sub-model.

[0062] S204. Based on the shortest distance and the camera parameters of the inspection equipment, determine the model inspection height of the inspection equipment at the model inspection position.

[0063] Specifically, a certain algorithm is used to determine the model inspection height of the inspection equipment at the model inspection position based on the shortest distance and the camera parameters of the inspection equipment.

[0064] Optionally, the camera parameters include the camera focal length and the camera target size; based on the shortest distance and the camera parameters of the inspection equipment, the model inspection height of the inspection equipment at the model inspection position is determined, including: determining the product between the camera target size and the shortest distance; and determining the ratio between the product and the camera focal length as the model inspection height of the inspection equipment at the model inspection position.

[0065] Understandably, by adopting the above technical solution, it is possible to improve the accuracy of the size of the substation equipment sub-model in the inspection image while ensuring that the inspection equipment can collect an inspection image containing the entire substation equipment sub-model at the model inspection height at the model inspection position. This avoids invalid inspections due to image distortion, improves the effectiveness of the inspection equipment in inspecting the substation equipment according to the actual inspection path, and enhances the accuracy of the inspection images.

[0066] Optionally, after determining the model inspection height of the inspection equipment at the model inspection location based on the shortest distance and the camera parameters of the inspection equipment, the method further includes: obtaining the maximum height of each point in the substation equipment sub-model and the camera pixel size of the inspection equipment; determining the auxiliary inspection height of the inspection equipment at the model inspection location based on the maximum height and the camera pixel size; verifying whether the model inspection height is equal to the auxiliary inspection height; if the model inspection height is not equal to the auxiliary inspection height, updating the model inspection height to the preset safety height.

[0067] The preset safety height can be the height at which the inspection equipment is in a safe state, i.e., a height that will not collide with external components. This preset safety height can be set independently by technicians based on actual needs or practical experience. Specifically, a certain algorithm is used to determine the auxiliary inspection height of the inspection equipment at the model's inspection position based on the maximum height and the camera pixel size.

[0068] Understandably, by adopting the above technical solution, an auxiliary inspection height is determined, and the model inspection height is verified using the auxiliary inspection height to ensure the accuracy of the model inspection height data. This ensures that the inspection equipment can acquire inspection images containing the entire substation equipment sub-model at the model inspection location, and improves the accuracy of the substation equipment sub-model dimensions in the inspection images. Furthermore, when the model inspection height is not equal to the auxiliary inspection height, a preset safety height is used as the model inspection height to avoid collisions between the inspection equipment and the outside world, thereby ensuring the safety of the inspection equipment and extending its service life.

[0069] Optionally, the auxiliary inspection height of the inspection equipment at the model inspection position is determined based on the maximum height and the camera pixel size, including: determining the ratio between the maximum height and the camera pixel size as the auxiliary inspection height of the inspection equipment at the model inspection position.

[0070] It is understandable that by adopting the above technical solution, the obtained auxiliary inspection height can ensure that the inspection equipment can collect an inspection image containing the entire substation equipment sub-model at the auxiliary inspection height of the model inspection position, thereby ensuring the accuracy of the size of the substation equipment sub-model in the inspection image, and thus improving the effectiveness of using the auxiliary inspection height to verify the model inspection height and the accuracy of the model inspection height.

[0071] S205. Based on the inspection positions of each model and the inspection height of the inspection equipment at each model inspection position, the model inspection path of the inspection equipment is obtained by fitting.

[0072] S206. Based on the scale of the substation cloud model, convert the model inspection path into a real inspection path so that the inspection equipment can inspect the substation equipment corresponding to each substation equipment sub-model according to the real inspection path.

[0073] This invention determines the shortest distance between the model inspection location and the ground positions of various points in the substation equipment sub-model; based on the shortest distance and the camera parameters of the inspection equipment, it determines the model inspection height of the inspection equipment at the model inspection location. This technical solution, by determining the model inspection height of the inspection equipment at the model inspection location based on the shortest distance and the camera parameters of the inspection equipment, improves the accuracy of the substation equipment sub-model dimensions in the inspection image, avoids a high error rate due to deformation of the substation equipment sub-model in the inspection image, and thus improves the effectiveness of the inspection equipment in inspecting the substation equipment according to the actual inspection path, as well as the accuracy of the inspection images of the substation equipment acquired by the inspection equipment.

[0074] Example 3

[0075] Figure 3 This is a schematic diagram of a substation equipment inspection device provided in Embodiment 3 of the present invention. This embodiment of the invention is applicable to the inspection of substation equipment. The device can execute substation equipment inspection methods and can be implemented in hardware and / or software. The device can be configured in electronic equipment, such as a server.

[0076] See Figure 3 The substation equipment inspection device shown includes a ground location acquisition module 301, an inspection location determination module 302, an inspection height determination module 303, a model path determination module 304, and a real path determination module 305.

[0077] The ground location acquisition module 301 is used to acquire the ground location of each point in at least one substation equipment sub-model in the substation cloud model, as well as to acquire the camera parameters of the inspection equipment and the scale of the substation cloud model.

[0078] The inspection location determination module 302 is used to determine the model inspection location of each substation equipment sub-model based on the ground location of each point in the substation equipment sub-model.

[0079] The inspection height determination module 303 is used to determine the model inspection height of the inspection equipment at the model inspection position based on the ground position of each point in the substation equipment sub-model, the model inspection position, and the camera parameters.

[0080] The model path determination module 304 is used to fit the model inspection path of the inspection equipment based on the inspection positions of each model and the model inspection height of the inspection equipment at each inspection position.

[0081] The real path determination module 305 is used to convert the model inspection path into a real inspection path according to the scale of the substation cloud model, so that the inspection equipment can inspect the substation equipment corresponding to each substation equipment sub-model according to the real inspection path.

[0082] This invention employs a ground location acquisition module to acquire the ground locations of points in at least one substation equipment sub-model within a substation site cloud model, as well as the camera parameters of the inspection equipment and the scale of the substation site cloud model. An inspection location determination module determines the model inspection location for each substation equipment sub-model based on the ground locations of its points. An inspection height determination module determines the model inspection height of the inspection equipment at the model inspection location based on the ground locations, model inspection locations, and camera parameters. A model path determination module fits the model inspection path of the inspection equipment based on each model inspection location and the model inspection height of the inspection equipment at each model inspection location. Finally, a real path determination module converts the model inspection path into a real inspection path based on the scale of the substation site cloud model, enabling the inspection equipment to inspect the substation equipment corresponding to each substation equipment sub-model according to the real inspection path. The technical solution of this invention, compared with the existing method of manually controlling the inspection equipment in real time, avoids the defect of poor inspection accuracy caused by manual control of the inspection equipment, and realizes the automatic generation of the inspection path, so that the inspection equipment can automatically perform inspection according to the inspection path. Compared with the method of manually controlling the inspection equipment, the inspection cost is reduced.

[0083] Optionally, the inspection location determination module 302 is specifically used for:

[0084] The average ground position of each point in the substation equipment sub-model is determined as the ground position of the center point of the substation equipment sub-model.

[0085] Divide the ground projection area of ​​the substation equipment sub-model into at least two model areas;

[0086] For each model region, determine the ground distance between the ground position of each point in the model region and the ground position of the center point;

[0087] The point with the greatest distance from the ground is defined as the endpoint of the model area;

[0088] Determine the model inspection location of the substation equipment sub-model on the extended line from the center point ground position to the end point ground position.

[0089] Optionally, the inspection height determination module 303 includes:

[0090] The shortest distance determination unit is used to determine the shortest distance between the model inspection location and the ground location of each point in the substation equipment sub-model;

[0091] The inspection height determination unit is used to determine the model inspection height of the inspection equipment at the model inspection position based on the shortest distance and the camera parameters of the inspection equipment.

[0092] Optional, the inspection height determination unit is specifically used for:

[0093] Determine the product between the camera target size and the shortest distance;

[0094] The ratio between the product and the camera focal length is determined as the model inspection height of the inspection equipment at the model inspection position.

[0095] Optionally, the inspection height determination module 303 also includes:

[0096] The pixel size acquisition unit is used to acquire the maximum height of each point in the substation equipment sub-model, as well as the camera pixel size of the inspection equipment;

[0097] The auxiliary height determination unit is used to determine the auxiliary inspection height of the inspection equipment at the model inspection position based on the maximum height and the camera pixel size.

[0098] The inspection height verification unit is used to verify whether the model inspection height is equal to the auxiliary inspection height.

[0099] The inspection height update unit is used to update the model inspection height to the preset safe height if the model inspection height is not equal to the auxiliary inspection height.

[0100] Optional, auxiliary height determination unit, specifically used for:

[0101] The ratio between the maximum height and the camera pixel size is determined as the auxiliary inspection height of the inspection equipment at the model inspection position.

[0102] Optionally, the inspection device for substation equipment also includes:

[0103] The inspection control module is used to control the inspection equipment to inspect the substation equipment according to the inspection path and obtain inspection images of each substation equipment.

[0104] The target detection module is used to perform defect feature detection on the inspection images of each substation device and obtain the target detection results.

[0105] The anomaly detection module is used to determine that there is an anomaly in the substation equipment if the target detection result includes defect features.

[0106] The substation equipment inspection device provided in this embodiment of the invention can execute the substation equipment inspection method provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects for executing the substation equipment inspection method.

[0107] Example 4

[0108] Figure 4 A schematic diagram of an electronic device 400 that can be used to implement embodiments of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (such as helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0109] like Figure 4 As shown, the electronic device 400 includes at least one processor 401 and a memory, such as a read-only memory (ROM) 402 or a random access memory (RAM) 403, communicatively connected to the at least one processor 401. The memory stores computer programs executable by the at least one processor. The processor 401 can perform various appropriate actions and processes based on the computer program stored in the ROM 402 or loaded into the RAM 403 from storage unit 408. The RAM 403 may also store various programs and data required for the operation of the electronic device 400. The processor 401, ROM 402, and RAM 403 are interconnected via a bus 404. An input / output (I / O) interface 405 is also connected to the bus 404.

[0110] Multiple components in electronic device 400 are connected to I / O interface 405, including: input unit 406, such as keyboard, mouse, etc.; output unit 407, such as various types of displays, speakers, etc.; storage unit 408, such as disk, optical disk, etc.; and communication unit 409, such as network card, modem, wireless transceiver, etc. Communication unit 409 allows electronic device 400 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0111] Processor 401 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 401 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 401 performs the various methods and processes described above, such as the inspection methods for substation equipment.

[0112] In some embodiments, the substation equipment inspection method can be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 408. In some embodiments, part or all of the computer program can be loaded and / or installed on electronic device 400 via ROM 402 and / or communication unit 409. When the computer program is loaded into RAM 403 and executed by processor 401, one or more steps of the substation equipment inspection method described above can be performed. Alternatively, in other embodiments, processor 401 can be configured to perform the substation equipment inspection method by any other suitable means (e.g., by means of firmware).

[0113] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations may include: implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0114] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0115] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0116] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0117] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or middleware components (e.g., application servers), or frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0118] A computing system can include clients and servers. Clients and servers are generally geographically separated and typically interact via communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system. It addresses the shortcomings of traditional physical hosts and VPS (Virtual Private Server) services, such as high management difficulty and weak business scalability.

[0119] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0120] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method for inspecting substation equipment, characterized in that, The method includes: In the substation cloud model, the ground location of each point in at least one substation equipment sub-model is obtained, as well as the camera parameters of the inspection equipment and the scale of the substation cloud model are obtained. For each substation equipment sub-model, the model inspection location of the substation equipment sub-model is determined based on the ground location of each point in the substation equipment sub-model. Based on the ground position of each point in the substation equipment sub-model, the model inspection position, and the camera parameters, the model inspection height of the inspection equipment at the model inspection position is determined. Based on the inspection positions of each model and the inspection height of the inspection equipment at each model inspection position, the model inspection path of the inspection equipment is fitted to obtain the inspection path of the inspection equipment. Based on the scale of the substation cloud model, the model inspection path is converted into a real inspection path, so that the inspection equipment can inspect the substation equipment corresponding to each substation equipment sub-model according to the real inspection path. The step of determining the model inspection location of the substation equipment sub-model based on the ground location of each point in the substation equipment sub-model includes: The average ground position of each point in the substation equipment sub-model is determined as the ground position of the center point of the substation equipment sub-model. The ground projection area of ​​the substation equipment sub-model is divided into at least two model areas; For each model region, determine the ground distance between the ground position of each point in the model region and the ground position of the center point; The point with the greatest distance from the ground is determined as the endpoint of the model area; The model inspection position of the substation equipment sub-model is determined on the extended line from the ground position of the center point to the ground position of the endpoint. The step of determining the model inspection height of the inspection equipment at the model inspection position based on the ground position of each point in the substation equipment sub-model, the model inspection position, and the camera parameters includes: Determine the shortest distance between the model inspection location and the ground location of each point in the substation equipment sub-model; Based on the shortest distance and the camera parameters of the inspection equipment, the model inspection height of the inspection equipment at the model inspection position is determined; The camera parameters include the camera focal length and the camera target size; determining the model inspection height of the inspection device at the model inspection position based on the shortest distance and the camera parameters of the inspection device includes: Determine the product between the camera target size and the shortest distance; The ratio between the product and the camera focal length is determined as the model inspection height of the inspection equipment at the model inspection position.

2. The method according to claim 1, characterized in that, After determining the model inspection height of the inspection device at the model inspection position based on the shortest distance and the camera parameters of the inspection device, the method further includes: Obtain the maximum height of each point in the substation equipment sub-model, and the camera pixel size of the inspection equipment; Based on the maximum height and the camera pixel size, the auxiliary inspection height of the inspection equipment at the model inspection position is determined; Verify whether the model inspection height is equal to the auxiliary inspection height; If the model inspection height is not equal to the auxiliary inspection height, then the model inspection height is updated to the preset safety height.

3. The method according to claim 2, characterized in that, The step of determining the auxiliary inspection height of the inspection equipment at the model inspection position based on the maximum height and the camera pixel size includes: The ratio between the maximum height and the camera pixel size is determined as the auxiliary inspection height of the inspection equipment at the model inspection position.

4. The method according to claim 1, characterized in that, The method further includes: The inspection equipment is controlled to inspect the substation equipment according to the inspection path, and inspection images of each substation equipment are obtained. For each piece of equipment in a substation, target detection of defect features is performed on the inspection images of the substation equipment to obtain target detection results. If the target detection result includes defect features, then it is determined that the substation equipment is abnormal.

5. An inspection device for substation equipment, characterized in that, The device includes: The ground location acquisition module is used to acquire the ground location of each point in at least one substation equipment sub-model in the substation cloud model, as well as to acquire the camera parameters of the inspection equipment and the scale of the substation cloud model. The inspection location determination module is used to determine the model inspection location of each substation equipment sub-model based on the ground location of each point in the substation equipment sub-model. The inspection height determination module is used to determine the model inspection height of the inspection equipment at the model inspection position based on the ground position of each point in the substation equipment sub-model, the model inspection position, and the camera parameters. The model path determination module is used to fit the model inspection path of the inspection equipment based on each of the model inspection positions and the model inspection height of the inspection equipment at each model inspection position. The real path determination module is used to convert the model inspection path into a real inspection path according to the scale of the substation cloud model, so that the inspection equipment can inspect the substation equipment corresponding to each substation equipment sub-model according to the real inspection path. The inspection location determination module is specifically used for: The average ground position of each point in the substation equipment sub-model is determined as the ground position of the center point of the substation equipment sub-model. The ground projection area of ​​the substation equipment sub-model is divided into at least two model areas; For each model region, determine the ground distance between the ground position of each point in the model region and the ground position of the center point; The point with the greatest distance from the ground is determined as the endpoint of the model area; The model inspection position of the substation equipment sub-model is determined on the extended line from the ground position of the center point to the ground position of the endpoint. The inspection height determination module includes: The shortest distance determination unit is used to determine the shortest distance between the model inspection location and the ground location of each point in the substation equipment sub-model; The inspection height determination unit is used to determine the model inspection height of the inspection device at the model inspection position based on the shortest distance and the camera parameters of the inspection device; The camera parameters include the camera focal length and the camera target size; The inspection height determination unit is specifically used for: Determine the product between the camera target size and the shortest distance; The ratio between the product and the camera focal length is determined as the model inspection height of the inspection equipment at the model inspection position.

6. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the substation equipment inspection method according to any one of claims 1-4.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed by a processor, implement the substation equipment inspection method according to any one of claims 1-4.

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