Inspection method, inspection device and substation inspection system for substation

Abstract

The application provides a power substation inspection method, an inspection device and a power substation inspection system. The method comprises the following steps: determining an inspection task and an inspection path. The inspection task is a task of sequentially inspecting all to-be-inspected devices in the power substation. The inspection path is a path formed by all to-be-inspected devices capable of completing the inspection. The to-be-inspected device is an electrical device in the power substation that needs to be inspected. Whether an inspection personnel omits any to-be-inspected device is determined according to positioning information of the inspection personnel performing the inspection task. In the case that any to-be-inspected device is omitted, the inspection path is determined again to complete the inspection of all to-be-inspected devices in the inspection task. The method solves the problem that the existing power substation inspection work is prone to low inspection efficiency caused by missed inspection and wrong inspection.

Description

Technical Field

[0001] This invention relates to the field of substation inspection technology, and more specifically, to a substation inspection method, inspection device, computer-readable storage medium, substation inspection system, and computer program product. Background Technology

[0002] Substation inspection is a crucial aspect of power grid management. Currently, substation inspections in power systems are primarily conducted manually using paper-based methods, resulting in a large workload and low efficiency. With the development of the national economy, the scale of power grid construction is expanding rapidly, and the number of substations is increasing daily. The inspection tasks are becoming increasingly demanding, and changes in substation personnel allocation mean that inspectors may not be familiar with the historical status of equipment within the substation, increasing the probability of missed or incorrect inspections. Therefore, it is essential to conduct research on tracking the behavior of substation inspection personnel to effectively ensure the smooth operation of substation inspections, avoid missed or incorrect inspections, and improve inspection efficiency. Summary of the Invention

[0003] The main objective of this application is to provide a substation inspection method, inspection device, computer-readable storage medium, substation inspection system, and computer program product, so as to at least solve the problems of low inspection efficiency caused by missed inspections and incorrect inspections in the prior art in substation inspection work.

[0004] To achieve the above objectives, according to one aspect of this application, a substation inspection method is provided. The method includes: determining an inspection task and an inspection path, wherein the inspection task is to sequentially inspect all equipment to be inspected within the substation, and the inspection path is a path formed so that all the equipment to be inspected can be inspected, and the equipment to be inspected is electrical equipment within the substation that needs to be inspected; determining whether the inspection personnel have missed any of the equipment to be inspected based on the location information of the inspection personnel performing the inspection task; and, if any of the equipment to be inspected is missed, re-determining the inspection path to complete the inspection of all the equipment to be inspected in the inspection task.

[0005] Optionally, before determining the inspection task and inspection route, the method further includes: constructing a three-dimensional simulation scene of the substation, the three-dimensional simulation scene being used to simulate the actual internal structure and equipment layout of the substation; drawing a two-dimensional scene map based on the three-dimensional simulation scene, constructing a two-dimensional electronic map of the substation, and simultaneously marking the coordinate positions of all the equipment to be inspected, the two-dimensional scene map including at least an overall outline structure map of the substation, a safety passage map, a map of the ground area occupied by facilities and equipment, and a map of the protected area of ​​facilities and equipment.

[0006] Optionally, constructing a three-dimensional simulation scene of the substation includes: performing a three-dimensional lidar scan of the substation to obtain point cloud data, and processing the point cloud data to obtain effective point cloud data, wherein the data processing includes processing with a unified measurement coordinate system and synchronous registration; forming a polyhedral solid model based on the effective point cloud data and performing on-site verification; adding actual textures to the polyhedral solid model to generate the three-dimensional simulation scene.

[0007] Optionally, determining the inspection task and inspection path includes: determining the inspection task based on the inspection cycle corresponding to each of the devices to be inspected, wherein the inspection cycle is the time interval between two consecutive inspections of the devices to be inspected; determining the starting coordinate point, wherein the starting coordinate point is the coordinate point of the starting point of the inspection personnel on the two-dimensional electronic map; obtaining the coordinate points of all the devices to be inspected on the two-dimensional electronic map to obtain the corresponding inspection coordinate points; calculating the straight-line distance between the starting coordinate point and the inspection coordinate points of all the devices to be inspected to obtain multiple first inspection distances; determining the device to be inspected corresponding to the shortest first inspection distance as the first device to be inspected, wherein the first device to be inspected is the one most recently added to the initial inspection. The inspection path includes the following steps: A calculation step, using the first inspection device as a reference point, calculates the straight-line distance between the remaining inspection devices and the first inspection device to obtain multiple second inspection distances; A determination step, identifies the inspection device corresponding to the shortest second inspection distance as the second inspection device, and updates the second inspection device to the first inspection device, where the second inspection device is the device to be added to the initial inspection path; Excludes the inspection devices already used as reference points, and repeats the calculation step and the determination step at least once until all inspection devices are added to the initial inspection path, and determines the initial inspection path as the inspection path.

[0008] Optionally, the inspection task is determined according to the inspection cycle corresponding to each of the devices to be inspected, including: obtaining characteristic parameters, characteristic parameter thresholds, standard inspection cycles, and standard lifespans corresponding to each of the devices to be inspected, wherein the characteristic parameters are parameters representing the characteristics of the devices to be inspected; determining the number of analysis inspections, obtaining the historical inspection time and historical characteristic parameters corresponding to each inspection based on the number of analysis inspections, wherein the number of analysis inspections is the number of times to be analyzed selected from the total number of historical inspections, at least once; obtaining the relative time based on the difference between the historical inspection time and the previous inspection time, wherein the previous inspection time is the time of the most recent inspection of the device to be inspected; calculating the ratio of a first difference to a second difference to obtain the relative degradation degree, wherein the first difference is the difference between the historical characteristic parameters and the characteristic parameters, and the second difference is the ratio of the historical characteristic parameters to the historical characteristic parameters. The difference between the threshold value of the characteristic parameter and the characteristic parameter, wherein the relative degradation degree is used to represent the degree of wear and tear on the equipment to be inspected; a characteristic polynomial is determined with the relative time as the independent variable and the relative degradation degree as the dependent variable, and the next inspection time and the next relative degradation degree are calculated based on the characteristic polynomial, wherein the characteristic polynomial is used to determine the next inspection time and the relative degradation degree under the original inspection time; the inspection cycle corresponding to the equipment to be inspected is calculated based on the ratio of the first inspection value to the second inspection value, wherein the first inspection value is the product of the difference between 1 and the next inspection time and the standard inspection cycle, the second inspection value is the sum of the product of the set cycle constant and the third inspection value and 1 and the square root, and the third inspection value is the nth power of the ratio of the next inspection time to the standard life.

[0009] Optionally, determining whether the inspection personnel have missed the equipment to be inspected based on the positioning information of the inspection personnel performing the inspection task includes: obtaining the positioning information of the inspection personnel performing the inspection task according to the inspection path; calculating the straight-line distance between the inspection personnel and the current equipment to be inspected based on the positioning information to obtain a third inspection distance; if the inspection conditions are met, determining that the inspection personnel have not missed the current equipment to be inspected and have completed the inspection of the current equipment to be inspected, and deleting the current equipment to be inspected from the inspection task, and continuing the inspection according to the inspection path, wherein the inspection conditions are that there are no obstructions between the inspection personnel and the current equipment to be inspected at the third inspection distance, and the third inspection distance is less than a set distance threshold and the dwell time within the set distance threshold is greater than a time threshold; if the inspection conditions are not met, determining that the inspection personnel have missed the inspection of the current equipment to be inspected, and the current equipment to be inspected still exists in the inspection task.

[0010] According to another aspect of this application, a substation inspection device is provided. The device includes: a determining unit, configured to determine an inspection task and an inspection path, wherein the inspection task is to inspect all equipment to be inspected in the substation sequentially, and the inspection path is a path formed by ensuring that all equipment to be inspected can be inspected, and the equipment to be inspected is electrical equipment within the substation that needs to be inspected; a judging unit, configured to judge whether the inspector has missed any of the equipment to be inspected based on the positioning information of the inspector performing the inspection task; and an inspection unit, configured to re-determine the inspection path to complete the inspection of all the equipment to be inspected in the inspection task if any of the equipment to be inspected is missed.

[0011] According to another aspect of this application, a computer-readable storage medium is provided, the computer-readable storage medium including a stored program, wherein, when the program is executed, it controls the device on which the computer-readable storage medium is located to perform any of the methods described.

[0012] According to another aspect of this application, a substation inspection system is provided, comprising: one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs including methods for performing any one of the methods described.

[0013] According to another aspect of this application, a computer program product is provided, including computer instructions that, when executed by a processor, implement any of the methods described.

[0014] Applying the technical solution of this application, in the substation inspection method, firstly, the inspection task and inspection path are determined. The inspection task is to inspect all the equipment to be inspected within the substation sequentially, and the inspection path is the path formed so that all the equipment to be inspected can be inspected. The equipment to be inspected refers to the electrical equipment within the substation that needs to be inspected. Then, based on the location information of the inspection personnel performing the inspection task, it is determined whether any of the equipment to be inspected has been missed. Finally, if any of the equipment to be inspected has been missed, the inspection path is re-determined to complete the inspection of all the equipment to be inspected in the inspection task. This application determines the inspection task, plans the inspection path, and has inspection personnel carrying mobile RTK positioning equipment to perform the inspection task. Based on the location information of the inspection personnel, it is determined whether any equipment has been missed. If any equipment has been missed, the inspection path is re-planned until all the equipment on the inspection task list has been inspected. This application solves the problem of low inspection efficiency caused by missed or incorrect inspections in the existing technology during substation inspection. Attached Figure Description

[0015] Figure 1 A hardware structure block diagram of a mobile terminal for performing a substation inspection method is shown in an embodiment of this application.

[0016] Figure 2 A flowchart illustrating a substation inspection method according to an embodiment of this application is shown.

[0017] Figure 3 A structural block diagram of a substation inspection device provided according to an embodiment of this application is shown.

[0018] The above figures include the following reference numerals:

[0019] 102. Processor; 104. Memory; 106. Transmission device; 108. Input / output device. Detailed Implementation

[0020] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0021] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0022] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this application described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0023] For ease of description, the following explains some of the nouns or terms used in the embodiments of this application:

[0024] Real-time kinematic (RTK) is a real-time dynamic positioning technology based on the Global Navigation Satellite System, which has been widely used in fields such as engineering construction, topographic mapping, and autonomous driving.

[0025] A 3D LiDAR is a sensor that uses laser technology to achieve three-dimensional spatial ranging and imaging. It determines the position and shape of an object by emitting a laser beam and then measuring the time and angle of its reflection. 3D LiDAR is widely used in autonomous vehicles, robot navigation, mapping, and environmental monitoring, enabling high-precision spatial perception and orientation. Compared to 2D LiDAR, 3D LiDAR provides richer and more accurate information, and is therefore widely adopted in many application scenarios.

[0026] As described in the background section, the existing technology of power system substation inspection is mostly based on paper-based manual inspection mode, which is labor-intensive and inefficient. In order to solve the problem that the substation inspection work is prone to omissions and errors, resulting in low inspection efficiency, the embodiments of this application provide a substation inspection method, inspection device, computer-readable storage medium, substation inspection system and computer program product.

[0027] 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.

[0028] The methods and embodiments provided in this application can be executed on a mobile terminal, computer terminal, or similar computing device. Taking running on a mobile terminal as an example, Figure 1 This is a hardware structure block diagram of a mobile terminal for a substation inspection method according to an embodiment of the present invention. Figure 1 As shown, a mobile terminal may include one or more ( Figure 1 Only one is shown in the diagram. A processor 102 (which may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc.) and a memory 104 for storing data are also shown. The mobile terminal may further include a transmission device 106 for communication functions and an input / output device 108. Those skilled in the art will understand that... Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the mobile terminal described above. For example, the mobile terminal may also include components that are more... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown.

[0029] The memory 104 can be used to store computer programs, such as application software programs and modules, like the computer program corresponding to the device information display method in this embodiment of the invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, thereby implementing the above-described method. The memory 104 may include high-speed random access memory and non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the mobile terminal via a network. Examples of the aforementioned networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof. The transmission device 106 is used to receive or send data via a network. Specific examples of the aforementioned networks may include wireless networks provided by the mobile terminal's communication provider. In one example, the transmission device 106 includes a network interface controller (NIC), which can be connected to other network devices via a base station to communicate with the Internet. In one example, the transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0030] This embodiment provides a substation inspection method that runs on a mobile terminal, computer terminal, or similar computing device. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Also, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0031] Figure 2 This is a flowchart of a substation inspection method according to an embodiment of this application. Figure 2 As shown, the method includes the following steps:

[0032] Step S201: Determine the inspection task and inspection path. The inspection task is to inspect all the equipment to be inspected in the substation in sequence. The inspection path is the path formed by all the equipment to be inspected. The equipment to be inspected is the electrical equipment in the substation that needs to be inspected.

[0033] Specifically, the determination of inspection tasks includes routine inspections, detailed inspections, professional inspections, and special inspections. Special inspections refer to inspections triggered by climate and environmental changes, specific tasks, etc., such as inspections before and after typhoon or rainstorm warnings, power supply guarantee inspections, post-earthquake inspections, and high-temperature, high-load inspections. The optimal inspection route is determined based on the location information of the equipment to be inspected and the inspection requirements to minimize inspection time and distance.

[0034] Step S202: Based on the location information of the inspection personnel performing the above inspection tasks, determine whether the inspection personnel have missed any of the above-mentioned equipment to be inspected.

[0035] Specifically, mobile RTK positioning devices are provided to inspection personnel to obtain their location information in real time. The inspection personnel carry out inspections according to the assigned inspection tasks and routes. The location information of the inspection personnel recorded in real time by the positioning devices is compared with the inspection completion conditions to determine whether the inspection personnel have missed any of the aforementioned equipment to be inspected.

[0036] Step S203: If any of the above-mentioned equipment to be inspected is missed, the inspection path is redefined to complete the inspection of all the above-mentioned equipment to be inspected in the above-mentioned inspection task.

[0037] Specifically, after determining that there are any missing devices to be inspected, the inspection path is replanned to dynamically adjust the inspection path to ensure that the devices to be inspected are covered and checked. This achieves automated monitoring of missing devices to be inspected and replanning of inspection paths, reducing the chances of missed or incorrect inspections during manual inspections and improving inspection efficiency.

[0038] In this embodiment, firstly, the inspection task and inspection path are determined. The inspection task is to inspect all the equipment to be inspected in the substation sequentially, and the inspection path is a path formed so that all the equipment to be inspected can be inspected. The equipment to be inspected refers to the electrical equipment in the substation that needs to be inspected. Then, based on the location information of the inspection personnel performing the inspection task, it is determined whether any of the equipment to be inspected has been missed. Finally, if any equipment to be inspected has been missed, the inspection path is re-determined to complete the inspection of all the equipment to be inspected in the inspection task. This application, by determining the inspection task, planning the inspection path, and having inspection personnel carry mobile RTK positioning equipment to perform the inspection task, determines whether any equipment has been missed based on the location information of the inspection personnel. If any equipment has been missed, the inspection path is re-planned until all the equipment on the inspection task list has been inspected. This application solves the problem in the prior art that the inspection work in substations is prone to low inspection efficiency due to the risk of missed or incorrect inspections.

[0039] To enable those skilled in the art to better understand the technical solution of this application, the implementation process of the substation inspection method of this application will be described in detail below with reference to specific embodiments.

[0040] To improve the accuracy of the inspection, in an optional implementation, before step S201 above, the method further includes:

[0041] Step S301: Construct a three-dimensional simulation scene of the above-mentioned substation. The three-dimensional simulation scene is designed to simulate the internal structure and equipment layout of the real substation.

[0042] Step S302: Draw a two-dimensional scene map based on the above three-dimensional simulation scene, construct a two-dimensional electronic map of the above substation, and mark the coordinate positions of all the above-mentioned equipment to be inspected. The above-mentioned two-dimensional scene map includes at least the overall outline structure map of the above-mentioned substation, the safety passage map, the ground area occupied by facilities and equipment map, and the protection zone map of facilities and equipment.

[0043] In the above embodiments, before performing the inspection task, a three-dimensional simulation scene of the entire substation is first constructed. Based on this 3D simulation scene, the overall outline structure of the substation, safety passage map, ground area map of facilities and equipment, protected area map of facilities and equipment, and indoor two-dimensional map are drawn. The attribute information of each map patch is investigated, and a complete two-dimensional electronic map of the substation is created. The coordinate points of all equipment to be inspected are marked, providing underlying data for inspection positioning and route planning within the substation. The 3D scene data is converted into two-dimensional map data, which can be processed and edited using GIS software to generate a standard electronic map format. The location and coordinate information of the equipment to be inspected are marked on the two-dimensional electronic map. The actual location of the equipment is matched with the coordinates on the map to ensure that the inspection personnel can accurately locate the equipment. Marking the coordinate points of the equipment to be inspected can improve the efficiency and accuracy of the inspection and ensure the smooth progress of the inspection work.

[0044] To visually demonstrate the layout of the substation and enhance its management, in one optional implementation, step S301 includes:

[0045] Step S3011: Perform a three-dimensional lidar scan on the substation to obtain point cloud data, and process the point cloud data to obtain effective point cloud data. The data processing includes processing with a unified measurement coordinate system and synchronous registration.

[0046] Step S3012: Based on the above effective point cloud data, a polyhedral solid model is formed and verified on-site. Actual textures are added to the above polyhedral solid model to generate the above three-dimensional simulation scene.

[0047] In the above embodiments, the entire substation is scanned and measured using a 3D LiDAR to obtain actual geographic data and technical parameters of related equipment, including substation layout, equipment location, and dimensions—the aforementioned point cloud data. This point cloud data is then processed using a unified measurement coordinate system and synchronous registration is performed. Synchronous registration refers to aligning and matching data using information from different data sources to integrate them for analysis and processing. This can include using timestamps, spatial coordinates, or other identifiers to ensure alignment within the same time and space. The registered LiDAR point cloud data—the aforementioned effective point cloud data—is used to form a polyhedral solid model, which is then verified on-site. Actual textures are applied to the solid model, and dynamic elements such as personnel, vehicles, and equipment operating status are added to generate a 3D substation object recognizable by the 3D engine—the aforementioned 3D simulation scene. Furthermore, a single-unit segmentation technique is used to disassemble each piece of equipment in the modeled 3D substation model and assign it an independent identifier and name. By constructing a 3D simulation scene, the layout, equipment location, and operating status of the substation can be displayed intuitively, providing inspection personnel and managers with an intuitive reference and understanding. It can also help managers monitor and manage the substation and quickly locate equipment faults and abnormalities.

[0048] In order to effectively improve inspection efficiency and minimize the time and distance required for inspection personnel to complete inspection tasks, in an optional embodiment, step S201 includes:

[0049] Step S2011: Determine the inspection task according to the inspection cycle corresponding to each of the above-mentioned equipment to be inspected. The inspection cycle is the time interval between two consecutive inspections of the above-mentioned equipment to be inspected.

[0050] Step S2012: Determine the starting coordinate point, which is the coordinate point on the two-dimensional electronic map where the starting point of the inspection personnel is located.

[0051] Step S2013: Obtain the coordinate positions of all the above-mentioned equipment to be inspected on the above-mentioned two-dimensional electronic map, and obtain the corresponding inspection coordinate positions.

[0052] Step S2014: Calculate the straight-line distance between the starting coordinate point and the inspection coordinate point of all the above-mentioned equipment to be inspected, and obtain multiple first inspection distances;

[0053] Step S2015: The device to be inspected corresponding to the shortest first inspection distance is determined as the first device to be inspected. The first device to be inspected is the device to be inspected that was recently added to the initial inspection path.

[0054] Step S2016, Calculation step: Using the first equipment to be inspected as a reference point, calculate the straight-line distance between the remaining equipment to be inspected and the first equipment to be inspected to obtain multiple second inspection distances.

[0055] Step S2017, Determine the step, determine the device to be inspected corresponding to the shortest second inspection distance as the second device to be inspected, and update the second device to be inspected to the first device to be inspected. The second device to be inspected is the device to be inspected that will be added to the initial inspection path.

[0056] Step S2018: Exclude the above-mentioned equipment to be inspected that has been used as the above-mentioned reference point, and repeat the above-mentioned calculation steps and determination steps at least once until all the above-mentioned equipment to be inspected are added to the above-mentioned initial inspection path in sequence, and determine the above-mentioned initial inspection path as the above-mentioned inspection path.

[0057] In the above embodiment, the starting point of the inspection personnel is used as the starting coordinate point, for example, the coordinate point of the starting coordinate point on the two-dimensional electronic map is O(x0,y0,z0). Then, the coordinate points of all the equipment to be inspected on the two-dimensional electronic map are obtained, such as equipment A(x1,y1,z1), equipment B(x2,y2,z2), and equipment C(x3,y3,z3), etc. In the plane formed by the x-axis and y-axis, the distances between point O and all the inspection points are calculated respectively. For example, the distances between point O and all the inspection points are calculated respectively. xy (x0, y0) and A xy (x1,y1),B xy (x2,y2),C xyThe straight-line distances between (x3, y3) are calculated to obtain L1, L2, and L3. The device with the shortest distance among L1, L2, and L3 is selected as the first device to be inspected. Using the first device as a reference point, the shortest distance between the remaining devices and the first device is calculated, which is the second inspection distance. This second device is then designated as the second device to be inspected, and updated to the first device. Devices already used as reference points are excluded. The distances between the remaining devices and the first device are then determined sequentially, and the device with the smallest distance is added to the path planning. This process continues until all devices are added to the planned path, which is then designated as the inspection path. By calculating the paths between devices, the optimal inspection sequence is found, minimizing the time and distance required for inspection personnel to complete their tasks. This effectively improves inspection efficiency and reduces the working time and costs for inspection personnel. In actual inspection tasks, the locations of equipment can be complex and varied. Following a fixed path could lead to inspectors walking back and forth, wasting time and effort. Calculating the shortest inspection path allows for more efficient and rational movement of personnel, thus improving inspection efficiency.

[0058] In order to effectively allocate inspection personnel and equipment to be inspected, reduce waste of human resources, and improve work efficiency, in an optional implementation, step S2011 includes:

[0059] Step S20111: Obtain the characteristic parameters, characteristic parameter thresholds, standard inspection cycle and standard lifespan corresponding to each of the above-mentioned equipment to be inspected. The above-mentioned characteristic parameters are parameters that represent the characteristics of the above-mentioned equipment to be inspected.

[0060] Step S20112: Determine the number of inspections to be analyzed. Based on the number of inspections to be analyzed, obtain the historical inspection time and historical characteristic parameters corresponding to each inspection. The number of inspections to be analyzed is the number of inspections to be analyzed selected from the total number of historical inspections, and is at least one.

[0061] Step S20113: Obtain the relative time based on the difference between the historical inspection time and the previous inspection time. The previous inspection time is the time of the most recent inspection of the equipment to be inspected.

[0062] Step S20114: Calculate the ratio of the first difference to the second difference to obtain the relative degradation degree. The first difference is the difference between the historical characteristic parameter and the characteristic parameter. The second difference is the difference between the characteristic parameter threshold and the characteristic parameter. The relative degradation degree is used to indicate the degree of damage to the equipment to be inspected.

[0063] Step S20115: Determine the characteristic polynomial with the above relative time as the independent variable and the above relative deterioration degree as the dependent variable, and calculate the next inspection time and the next relative deterioration degree according to the above characteristic polynomial. The above characteristic polynomial is used to judge the next inspection time and the above relative deterioration degree under the original inspection time;

[0064] Step S20116: Calculate the above inspection cycle corresponding to the above equipment to be inspected according to the ratio of the first inspection value to the second inspection value. The first inspection value is the product of the difference between 1 and the above next inspection time and the above standard inspection cycle. The second inspection value is obtained by taking the square root of the sum of 1 and the product of the set cycle constant and the third inspection value. The third inspection value is the nth power of the ratio of the above next inspection time to the above standard life.

[0065] In the above embodiment, the traditional inspection strategy is experience - led, and the inspection strategy is relatively extensive and single. Usually, all equipment in the substation within the region is inspected at a fixed cycle, and only special inspections are added for special weather, special requirements, etc. For normal equipment with good operating conditions, there is undoubtedly over - inspection, increasing the workload of substation operators; while for equipment with poor operating conditions or family defects, there is a problem of under - inspection, making key equipment unable to be effectively tracked and controlled in a timely manner. Therefore, it is possible to predict the deterioration trend of equipment. The prediction and analysis of the equipment deterioration trend are carried out by statistically analyzing the historical parameters of the equipment to be inspected and evaluating the possible development status of the equipment state. First, determine the characteristic parameter X0 of deterioration, the characteristic parameter threshold X c , the standard inspection cycle T c and the standard life T s for the equipment to be inspected. For example, take the pressure value of the SF6 circuit breaker as the characteristic parameter. Obtain the prediction time Ti and the characteristic parameter X i of the equipment to be inspected in the recent m times, where i = 1, 2,..., m. Then calculate the relative time t i = T i - T1, and the relative deterioration degree x i : x i = (X i - X0) / (X c - X0), where the relative deterioration degree x i is within the range of 0 < xi < 1. Solve the characteristic polynomial Y with the relative time t i as the independent variable and the relative deterioration degree x i as the dependent variable. Using the polyfit function in MATLAB, according to the relative time t i as the independent variable and the relative deterioration degree x iTo fit the characteristic polynomial Y, the order of the characteristic polynomial needs to be determined. The order is determined based on the accuracy e of the sum of squared errors between the characteristic polynomial Y and the relative degradation degree xi, where e = Σ(Yx) i ) 2 Where e < 0.005. Finally, the fitting effect is verified using validation methods, such as cross-validation or using independent test datasets to verify the predictive power of the feature polynomial Y. The relative degradation value x for the next inspection time according to the original inspection cycle is calculated based on the feature polynomial Y. m+1 When the degradation exceeds the set degradation threshold or the predicted time Ti is greater than the standard lifetime T s If the difference is less than the set time threshold, the next inspection cycle should be shortened accordingly. The next inspection cycle is... Among them, T m+1 In order to schedule the next inspection according to the original inspection cycle, K d is the inspection cycle constant (usually taken as 3), n is the inspection cycle exponent (usually taken as 5), and the above original inspection cycle is the time interval between the most recent inspection and its previous inspection.

[0066] To improve the real-time performance and accuracy of inspections, in one optional implementation, step S202 includes:

[0067] Step S2021: Obtain the location information of the inspection personnel performing the inspection tasks according to the inspection path.

[0068] Step S2022: Calculate the straight-line distance between the inspection personnel and the equipment to be inspected based on the above positioning information to obtain the third inspection distance;

[0069] Step S2023: If the inspection conditions are met, it is determined that the inspection personnel have not missed the current equipment to be inspected and have completed the inspection of the current equipment to be inspected. The current equipment to be inspected is then removed from the inspection task, and the inspection continues according to the inspection path. The inspection conditions are that there are no obstructions between the inspection personnel and the current equipment to be inspected at the third inspection distance, and the third inspection distance is less than a set distance threshold and the dwell time within the set distance threshold is greater than a time threshold.

[0070] Step S2024: If the above inspection conditions are not met, it is determined that the above inspection personnel have missed the above inspection of the currently inspected equipment, and the above currently inspected equipment is still in the above inspection task.

[0071] In the above embodiment, when the inspection personnel begin their inspection task, a mobile RTK positioning device is configured for them to transmit their location information to the backend monitoring center in real time. The monitoring center compares the location coordinates of the inspection personnel with the location coordinates of the equipment to be inspected, and calculates the straight-line distance between them, i.e., the third inspection distance. If the third inspection distance is lower than a set distance threshold, and there are no obstructions between this straight-line distance on the substation's two-dimensional electronic map, and the dwell time within the set distance threshold is greater than a time threshold, then it is determined that the inspection personnel have completed the inspection of the equipment to be inspected. The equipment to be inspected is then removed from the inspection task, and the inspection continues according to the inspection path. If at least one of the above three conditions is not met, it is determined that the inspection has not been completed, and the equipment to be inspected is still in the inspection task. The inspection path is then re-determined according to the planning steps of the inspection path described above. By transmitting location information in real time and calculating straight-line distances, the monitoring center can quickly understand the distance between the inspection personnel and the equipment to be inspected, as well as whether there are any obstructions. It can promptly detect whether the inspection personnel have arrived near the equipment and determine whether the inspection has been completed. Furthermore, if the equipment needs to be inspected repeatedly, other inspection personnel can be quickly dispatched or the current inspection personnel can be notified to repeat the inspection, thereby improving the real-time performance and accuracy of the inspection tasks.

[0072] This embodiment relates to a specific substation inspection method, including the following steps:

[0073] Step S1: Determine the inspection task;

[0074] Step S2: Plan the inspection route;

[0075] Step S3: Inspection personnel carry mobile RTK positioning equipment to perform inspection tasks according to the inspection route;

[0076] Step S4: Determine whether the inspection personnel have missed any inspection equipment based on their location information. If so, replan the inspection route and execute the inspection task.

[0077] Step S5: Repeat steps S3 and S4 above until all inspection equipment on the inspection task list is inspected.

[0078] It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases the steps shown or described may be executed in a different order than that shown here.

[0079] This application also provides a substation inspection device. It should be noted that the substation inspection device of this application can be used to execute the substation inspection method provided in this application. This device is used to implement the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that performs a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0080] The following describes the substation inspection device provided in the embodiments of this application.

[0081] Figure 3 This is a structural block diagram of a substation inspection device according to an embodiment of this application. Figure 3 As shown, the device includes:

[0082] The determining unit 10 is used to determine the inspection task and the inspection path. The inspection task is to inspect all the equipment to be inspected in the substation in sequence. The inspection path is the path formed by all the equipment to be inspected. The equipment to be inspected is the electrical equipment in the substation that needs to be inspected.

[0083] Specifically, the determination of inspection tasks includes routine inspections, detailed inspections, professional inspections, and special inspections. Special inspections refer to inspections triggered by climate and environmental changes, specific tasks, etc., such as inspections before and after typhoon or rainstorm warnings, power supply guarantee inspections, post-earthquake inspections, and high-temperature, high-load inspections. The optimal inspection route is determined based on the location information of the equipment to be inspected and the inspection requirements to minimize inspection time and distance.

[0084] The judgment unit 20 is used to determine whether the inspection personnel have missed any of the above-mentioned equipment to be inspected, based on the positioning information of the inspection personnel performing the above-mentioned inspection tasks.

[0085] Specifically, mobile RTK positioning devices are provided to inspection personnel to obtain their location information in real time. The inspection personnel carry out inspections according to the assigned inspection tasks and routes. The location information of the inspection personnel recorded in real time by the positioning devices is compared with the inspection completion conditions to determine whether the inspection personnel have missed any of the aforementioned equipment to be inspected.

[0086] The inspection unit 30 is used to redetermine the inspection path in order to complete the inspection of all the aforementioned equipment to be inspected in the inspection task if any of the aforementioned equipment to be inspected is missed.

[0087] Specifically, after determining that there are any missing devices to be inspected, the inspection path is replanned to dynamically adjust the inspection path to ensure that the devices to be inspected are covered and checked. This achieves automated monitoring of missing devices to be inspected and replanning of inspection paths, reducing the chances of missed or incorrect inspections during manual inspections and improving inspection efficiency.

[0088] In this embodiment, a determining unit is used to determine the inspection task and the inspection path. The inspection task is to inspect all the equipment to be inspected in the substation sequentially, and the inspection path is a path formed so that all the equipment to be inspected can be inspected. The equipment to be inspected refers to the electrical equipment in the substation that needs to be inspected. A judging unit is used to determine whether the inspector has missed any of the equipment to be inspected based on the location information of the inspector performing the inspection task. An inspection unit is used to re-determine the inspection path to complete the inspection of all the equipment to be inspected in the inspection task if any of the equipment to be inspected is missed. This application determines the inspection task, plans the inspection path, and has the inspector carry a mobile RTK positioning device to perform the inspection task. The location information of the inspector determines whether the inspector has missed any equipment. If so, the inspection path is re-planned until all the equipment on the inspection task list is inspected. This application solves the problem of low inspection efficiency caused by missed or incorrect inspections in the substation inspection work of the prior art.

[0089] To improve the accuracy of inspections, in one optional embodiment, the device further includes:

[0090] The first construction unit is used to construct a three-dimensional simulation scene of the aforementioned substation before determining the inspection task and inspection route. The three-dimensional simulation scene is used to simulate the internal structure and equipment layout of the real substation.

[0091] The second construction unit is used to draw a two-dimensional scene map based on the above three-dimensional simulation scene, construct a two-dimensional electronic map of the above substation, and mark the coordinate positions of all the above-mentioned equipment to be inspected. The above-mentioned two-dimensional scene map includes at least the overall outline structure map of the above-mentioned substation, the safety passage map, the ground area occupied by facilities and equipment map, and the protection zone map of facilities and equipment.

[0092] In the above embodiments, before performing the inspection task, a three-dimensional simulation scene of the entire substation is first constructed. Based on this 3D simulation scene, the overall outline structure of the substation, safety passage map, ground area map of facilities and equipment, protected area map of facilities and equipment, and indoor two-dimensional map are drawn. The attribute information of each map patch is investigated, and a complete two-dimensional electronic map of the substation is created. The coordinate points of all equipment to be inspected are marked, providing underlying data for inspection positioning and route planning within the substation. The 3D scene data is converted into two-dimensional map data, which can be processed and edited using GIS software to generate a standard electronic map format. The location and coordinate information of the equipment to be inspected are marked on the two-dimensional electronic map. The actual location of the equipment is matched with the coordinates on the map to ensure that the inspection personnel can accurately locate the equipment. Marking the coordinate points of the equipment to be inspected can improve the efficiency and accuracy of the inspection and ensure the smooth progress of the inspection work.

[0093] To visually demonstrate the layout of the substation and enhance its management, in one optional implementation, the aforementioned building unit includes:

[0094] The first acquisition module performs a three-dimensional lidar scan of the substation to obtain point cloud data, and processes the point cloud data to obtain effective point cloud data. The data processing includes processing with a unified measurement coordinate system and synchronous registration.

[0095] The generation module forms a polyhedral solid model based on the above effective point cloud data and performs on-site verification. It then adds actual textures to the polyhedral solid model to generate the above three-dimensional simulation scene.

[0096] In the above embodiments, the entire substation is scanned and measured using a 3D LiDAR to obtain actual geographic data and technical parameters of related equipment, including substation layout, equipment location, and dimensions—the aforementioned point cloud data. This point cloud data is then processed using a unified measurement coordinate system and synchronous registration is performed. Synchronous registration refers to aligning and matching data using information from different data sources to integrate them for analysis and processing. This can include using timestamps, spatial coordinates, or other identifiers to ensure alignment within the same time and space. The registered LiDAR point cloud data—the aforementioned effective point cloud data—is used to form a polyhedral solid model, which is then verified on-site. Actual textures are applied to the solid model, and dynamic elements such as personnel, vehicles, and equipment operating status are added to generate a 3D substation object recognizable by the 3D engine—the aforementioned 3D simulation scene. Furthermore, a single-unit segmentation technique is used to disassemble each piece of equipment in the modeled 3D substation model and assign it an independent identifier and name. By constructing a 3D simulation scene, the layout, equipment location, and operating status of the substation can be displayed intuitively, providing inspection personnel and managers with an intuitive reference and understanding. It can also help managers monitor and manage the substation and quickly locate equipment faults and abnormalities.

[0097] In order to effectively improve inspection efficiency and minimize the time and distance required for inspection personnel to complete inspection tasks, in an optional embodiment, the determining unit includes:

[0098] The first determining module determines the inspection task based on the inspection cycle corresponding to each of the above-mentioned equipment to be inspected. The inspection cycle is the time interval between two consecutive inspections of the above-mentioned equipment to be inspected.

[0099] The second determining module determines the starting coordinate point, which is the coordinate point on the two-dimensional electronic map where the starting point of the inspection personnel is located.

[0100] The second acquisition module acquires the coordinate positions of all the above-mentioned equipment to be inspected on the above-mentioned two-dimensional electronic map, and obtains the corresponding inspection coordinate positions.

[0101] The first calculation module calculates the straight-line distance between the starting coordinate point and the inspection coordinate point of all the above-mentioned equipment to be inspected, and obtains multiple first inspection distances.

[0102] The third determining module determines the device to be inspected corresponding to the shortest first inspection distance as the first device to be inspected, and the first device to be inspected is the device to be inspected that was recently added to the initial inspection path.

[0103] The second calculation module is used to perform calculation steps, using the first equipment to be inspected as a reference point, to calculate the straight-line distance between the remaining equipment to be inspected and the first equipment to be inspected, and to obtain multiple second inspection distances.

[0104] The fourth determining module is used to perform the determining step, determining the device to be inspected corresponding to the shortest second inspection distance as the second device to be inspected, and updating the second device to be inspected to the first device to be inspected. The second device to be inspected is the device to be inspected that will be added to the initial inspection path.

[0105] The repeating module excludes the aforementioned equipment to be inspected that has been used as the aforementioned reference point, and sequentially repeats the aforementioned calculation steps and the aforementioned determination steps at least once until all the aforementioned equipment to be inspected are sequentially added to the aforementioned initial inspection path, and the aforementioned initial inspection path is determined as the aforementioned inspection path.

[0106] In the above embodiment, the starting point of the inspection personnel is used as the starting coordinate point, for example, the coordinate point of the starting coordinate point on the two-dimensional electronic map is O(x0,y0,z0). Then, the coordinate points of all the equipment to be inspected on the two-dimensional electronic map are obtained, such as equipment A(x1,y1,z1), equipment B(x2,y2,z2), and equipment C(x3,y3,z3), etc. In the plane formed by the x-axis and y-axis, the distances between point O and all the inspection points are calculated respectively. For example, the distances between point O and all the inspection points are calculated respectively. xy (x0, y0) and A xy (x1,y1),B xy (x2,y2),C xyThe straight-line distances between (x3, y3) are calculated to obtain L1, L2, and L3. The device with the shortest distance among L1, L2, and L3 is selected as the first device to be inspected. Using the first device as a reference point, the shortest distance between the remaining devices and the first device is calculated, which is the second inspection distance. This second device is then designated as the second device to be inspected, and updated to the first device. Devices already used as reference points are excluded. The distances between the remaining devices and the first device are then determined sequentially, and the device with the smallest distance is added to the path planning. This process continues until all devices are added to the planned path, which is then designated as the inspection path. By calculating the paths between devices, the optimal inspection sequence is found, minimizing the time and distance required for inspection personnel to complete their tasks. This effectively improves inspection efficiency and reduces the working time and costs for inspection personnel. In actual inspection tasks, the locations of equipment can be complex and varied. Following a fixed path could lead to inspectors walking back and forth, wasting time and effort. Calculating the shortest inspection path allows for more efficient and rational movement of personnel, thus improving inspection efficiency.

[0107] In order to effectively allocate inspection personnel and equipment to be inspected, reduce waste of human resources, and improve work efficiency, in one optional implementation, the first determining module includes:

[0108] The acquisition submodule acquires the characteristic parameters, characteristic parameter thresholds, standard inspection cycles, and standard lifespans corresponding to each of the above-mentioned devices to be inspected. The above-mentioned characteristic parameters are parameters that represent the characteristics of the above-mentioned devices to be inspected.

[0109] Determine the sub-module, determine the number of analysis inspections, and obtain the historical inspection time and historical feature parameters corresponding to each inspection based on the number of analysis inspections. The number of analysis inspections is the number of inspections to be analyzed selected from the total number of historical inspections, with a minimum of one.

[0110] The first calculation submodule obtains the relative time based on the difference between the above-mentioned historical inspection time and the previous inspection time, where the above-mentioned previous inspection time is the time of the most recent inspection of the above-mentioned equipment to be inspected.

[0111] The second calculation submodule calculates the ratio of the first difference to the second difference to obtain the relative degradation degree. The first difference is the difference between the historical feature parameter and the feature parameter, and the second difference is the difference between the feature parameter threshold and the feature parameter. The relative degradation degree is used to indicate the degree of damage to the equipment to be inspected.

[0112] The third calculation sub-module uses the relative time as the independent variable and the relative deterioration degree as the dependent variable to determine the characteristic polynomial, and calculates the next inspection time and the next relative deterioration degree according to the characteristic polynomial. The characteristic polynomial is used to judge the next inspection time and the relative deterioration degree in the case of following the original inspection time;

[0113] The fourth calculation sub-module calculates the inspection cycle corresponding to the device to be inspected according to the ratio of the first inspection value to the second inspection value. The first inspection value is the product of the difference between 1 and the next inspection time and the standard inspection cycle. The second inspection value is obtained by taking the square root of the sum of 1 and the product of the set cycle constant and the third inspection value. The third inspection value is the nth power of the ratio of the next inspection time to the standard life.

[0114] In the above embodiment, the traditional inspection strategy is experience-based, and the inspection strategy is relatively rough and single. Usually, all devices in the substation within the region are inspected at a fixed cycle, and special inspections are only added for special weather, special requirements, etc. For normal devices with good operating conditions, there is undoubtedly over-inspection, increasing the workload of substation operators; while for devices with poor operating conditions or family defects, there is also the problem of under-inspection, so that key devices cannot be effectively tracked and controlled in a timely manner. Therefore, the deterioration trend of the device can be predicted. The prediction and analysis of the device deterioration trend are to evaluate the possible development status of the device state by statistically analyzing the historical parameters of the device to be inspected. First, determine the characteristic parameter X0 of deterioration, the characteristic parameter threshold X c , the standard inspection cycle T c and the standard life T s for the device to be inspected. For example, the pressure value of the SF6 circuit breaker is used as the characteristic parameter. Obtain the prediction time Ti and the characteristic parameter X i of the device to be inspected in the most recent m times, where i = 1, 2,..., m, then calculate the relative time t i = T i - T1, and the relative deterioration degree x i : x i = (X i - X0) / (X c - X0), where the relative deterioration degree x i is within the range of 0 < xi < 1. Solve the characteristic polynomial Y with the relative time t i as the independent variable and the relative deterioration degree x i as the dependent variable. Using the polyfit function in MATLAB, according to the relative time t i as the independent variable and the relative deterioration degree x iTo fit the characteristic polynomial Y, the order of the characteristic polynomial needs to be determined. The order is determined based on the accuracy e of the sum of squared errors between the characteristic polynomial Y and the relative degradation degree xi, where e = ∑(Yx) i ) 2 Where e < 0.005. Finally, the fitting effect is verified using validation methods, such as cross-validation or using independent test datasets to verify the predictive power of the feature polynomial Y. The relative degradation value x for the next inspection time according to the original inspection cycle is calculated based on the feature polynomial Y. m+1 When the degradation exceeds the set degradation threshold or the predicted time Ti is greater than the standard lifetime T s If the difference is less than the set time threshold, the next inspection cycle should be shortened accordingly. The next inspection cycle is... Among them, T m+1 In order to schedule the next inspection according to the original inspection cycle, K d is the inspection cycle constant (usually taken as 3), n is the inspection cycle exponent (usually taken as 5), and the above original inspection cycle is the time interval between the most recent inspection and its previous inspection.

[0115] To improve the real-time performance and accuracy of inspections, in one optional implementation, the aforementioned judgment unit includes:

[0116] The third acquisition module acquires the location information of the inspection personnel as they perform the inspection tasks along the inspection path.

[0117] The third calculation module calculates the straight-line distance between the inspection personnel and the equipment to be inspected based on the above positioning information, and obtains the third inspection distance.

[0118] The first judgment module, under the condition that the inspection conditions are met, determines that the inspection personnel have not missed the current equipment to be inspected and have completed the inspection of the current equipment to be inspected, and deletes the current equipment to be inspected from the inspection task, and continues the inspection according to the inspection path. The inspection conditions are that there are no obstructions between the inspection personnel and the current equipment to be inspected at the third inspection distance, and the third inspection distance is less than a set distance threshold and the dwell time within the set distance threshold is greater than a time threshold.

[0119] The second judgment module determines that, if the above inspection conditions are not met, the above inspection personnel have failed to perform the above inspection on the currently inspected equipment, and the above currently inspected equipment is still in the above inspection task.

[0120] In the above embodiment, when the inspection personnel begin their inspection task, a mobile RTK positioning device is configured for them to transmit their location information to the backend monitoring center in real time. The monitoring center compares the location coordinates of the inspection personnel with the location coordinates of the equipment to be inspected, and calculates the straight-line distance between them, i.e., the third inspection distance. If the third inspection distance is lower than a set distance threshold, and there are no obstructions between this straight-line distance on the substation's two-dimensional electronic map, and the dwell time within the set distance threshold is greater than a time threshold, then it is determined that the inspection personnel have completed the inspection of the equipment to be inspected. The equipment to be inspected is then removed from the inspection task, and the inspection continues according to the inspection path. If at least one of the above three conditions is not met, it is determined that the inspection has not been completed, and the equipment to be inspected is still in the inspection task. The inspection path is then re-determined according to the planning steps of the inspection path described above. By transmitting location information in real time and calculating straight-line distances, the monitoring center can quickly understand the distance between the inspection personnel and the equipment to be inspected, as well as whether there are any obstructions. It can promptly detect whether the inspection personnel have arrived near the equipment and determine whether the inspection has been completed. Furthermore, if the equipment needs to be inspected repeatedly, other inspection personnel can be quickly dispatched or the current inspection personnel can be notified to repeat the inspection, thereby improving the real-time performance and accuracy of the inspection tasks.

[0121] The aforementioned substation inspection device includes a processor and a memory. The determination unit, judgment unit, and inspection unit are all stored as program units in the memory, and the processor executes these program units to achieve their respective functions. All of the above modules reside in the same processor; alternatively, the modules may be located in different processors in any combination.

[0122] The processor contains a kernel, which retrieves the corresponding program units from memory. One or more kernels can be configured, and adjusting kernel parameters can address the problems of low inspection efficiency caused by missed or incorrect inspections in existing substation inspection processes.

[0123] The memory may include non-permanent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0124] This invention provides a computer-readable storage medium including a stored program, wherein the program, when running, controls the device containing the computer-readable storage medium to perform the substation inspection method.

[0125] Specifically, the inspection methods for substations include:

[0126] Step S201: Determine the inspection task and inspection path. The inspection task is to inspect all the equipment to be inspected in the substation in sequence. The inspection path is the path formed by all the equipment to be inspected. The equipment to be inspected is the electrical equipment in the substation that needs to be inspected.

[0127] Step S202: Based on the location information of the inspection personnel performing the above inspection tasks, determine whether the inspection personnel have missed any of the above-mentioned equipment to be inspected.

[0128] Step S203: If any of the above-mentioned equipment to be inspected is missed, the inspection path is redefined to complete the inspection of all the above-mentioned equipment to be inspected in the above-mentioned inspection task.

[0129] This invention provides a processor for running a program, wherein the program executes the substation inspection method.

[0130] Specifically, the inspection methods for substations include:

[0131] Step S201: Determine the inspection task and inspection path. The inspection task is to inspect all the equipment to be inspected in the substation in sequence. The inspection path is the path formed by all the equipment to be inspected. The equipment to be inspected is the electrical equipment in the substation that needs to be inspected.

[0132] Step S202: Based on the location information of the inspection personnel performing the above inspection tasks, determine whether the inspection personnel have missed any of the above-mentioned equipment to be inspected.

[0133] Step S203: If any of the above-mentioned equipment to be inspected is missed, the inspection path is redefined to complete the inspection of all the above-mentioned equipment to be inspected in the above-mentioned inspection task.

[0134] This invention provides a substation inspection system, which includes a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, it performs at least the following steps:

[0135] Step S201: Determine the inspection task and inspection path. The inspection task is to inspect all the equipment to be inspected in the substation in sequence. The inspection path is the path formed by all the equipment to be inspected. The equipment to be inspected is the electrical equipment in the substation that needs to be inspected.

[0136] Step S202: Based on the location information of the inspection personnel performing the above inspection tasks, determine whether the inspection personnel have missed any of the above-mentioned equipment to be inspected.

[0137] Step S203: If any of the above-mentioned equipment to be inspected is missed, the inspection path is redefined to complete the inspection of all the above-mentioned equipment to be inspected in the above-mentioned inspection task.

[0138] This application also provides a computer program product, which, when executed on a data processing device, is suitable for executing an initialization program having at least the following method steps:

[0139] Step S201: Determine the inspection task and inspection path. The inspection task is to inspect all the equipment to be inspected in the substation in sequence. The inspection path is the path formed by all the equipment to be inspected. The equipment to be inspected is the electrical equipment in the substation that needs to be inspected.

[0140] Step S202: Based on the location information of the inspection personnel performing the above inspection tasks, determine whether the inspection personnel have missed any of the above-mentioned equipment to be inspected.

[0141] Step S203: If any of the above-mentioned equipment to be inspected is missed, the inspection path is redefined to complete the inspection of all the above-mentioned equipment to be inspected in the above-mentioned inspection task.

[0142] It is obvious to those skilled in the art that the modules or steps of the present invention described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. They can be implemented using computer-executable program code, and thus can be stored in a storage device for execution by a computing device. In some cases, the steps shown or described can be performed in a different order than those described herein, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any particular combination of hardware and software.

[0143] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0144] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0145] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0146] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0147] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0148] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0149] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0150] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0151] As can be seen from the above description, the embodiments of this application achieve the following technical effects:

[0152] 1) The substation inspection method of this application first determines the inspection task and inspection route. The inspection task is to inspect all the equipment to be inspected in the substation sequentially, and the inspection route is a path formed so that all the equipment to be inspected can be inspected. The equipment to be inspected refers to the electrical equipment in the substation that needs to be inspected. Then, based on the location information of the inspection personnel performing the inspection task, it is determined whether any of the equipment to be inspected has been missed. Finally, if any equipment to be inspected is missed, the inspection route is re-determined to complete the inspection of all the equipment to be inspected in the inspection task. This application determines the inspection task, plans the inspection route, and has inspection personnel carrying mobile RTK positioning equipment to perform the inspection task. Based on the location information of the inspection personnel, it is determined whether any equipment has been missed. If any equipment has been missed, the inspection route is re-planned until all the equipment on the inspection task list is inspected. This application solves the problem of low inspection efficiency caused by missed or incorrect inspections in the existing substation inspection work.

[0153] 2) The substation inspection device of this application includes a determining unit for determining the inspection task and inspection path. The inspection task is to inspect all the equipment to be inspected in the substation sequentially, and the inspection path is a path formed so that all the equipment to be inspected can be inspected. The equipment to be inspected refers to the electrical equipment in the substation that needs to be inspected. A judging unit is used to determine whether the inspection personnel have missed any of the equipment to be inspected based on the positioning information of the inspection personnel performing the inspection task. An inspection unit is used to re-determine the inspection path to complete the inspection of all the equipment to be inspected in the inspection task if any equipment is missed. This application determines the inspection task, plans the inspection path, and the inspection personnel carry a mobile RTK positioning device to perform the inspection task. The location information of the inspection personnel determines whether any equipment has been missed. If any equipment is missed, the inspection path is re-planned until all the equipment on the inspection task list is inspected. This application solves the problem of low inspection efficiency caused by missed or incorrect inspections in the existing technology during substation inspection.

[0154] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A method for inspecting a substation, characterized in that, The method includes: The inspection task and inspection path are determined. The inspection task is to inspect all the equipment to be inspected in the substation in sequence. The inspection path is the path formed by all the equipment to be inspected. The equipment to be inspected is the electrical equipment in the substation that needs to be inspected. Based on the location information of the inspection personnel performing the inspection task, it is determined whether the inspection personnel have missed any of the equipment to be inspected; If any of the devices to be inspected is missed, the inspection path is redefined to complete the inspection of all the devices to be inspected in the inspection task. Before determining the inspection tasks and inspection routes, the method further includes: constructing a three-dimensional simulation scene of the substation, the three-dimensional simulation scene being used to simulate the actual internal structure and equipment layout of the substation; drawing a two-dimensional scene map based on the three-dimensional simulation scene, constructing a two-dimensional electronic map of the substation, and simultaneously marking the coordinate positions of all the equipment to be inspected, the two-dimensional scene map including at least an overall outline structure map of the substation, a safety passage map, a map of the ground area occupied by facilities and equipment, and a map of the protected area of ​​facilities and equipment; Determining inspection tasks and routes includes: determining the inspection task based on the inspection cycle corresponding to each of the devices to be inspected, where the inspection cycle is the time interval between two consecutive inspections of the device to be inspected; determining the starting coordinate point, where the starting coordinate point is the coordinate point of the inspection personnel's starting point on the two-dimensional electronic map; obtaining the coordinate points of all the devices to be inspected on the two-dimensional electronic map to obtain the corresponding inspection coordinate points; calculating the straight-line distances between the starting coordinate point and the inspection coordinate points of all the devices to be inspected to obtain multiple first inspection distances; and determining the device to be inspected corresponding to the shortest first inspection distance as the first device to be inspected, which is the most recently added device to the initial inspection route. The process involves the following steps: First, using the first device to be inspected as a reference point, calculating the straight-line distance between the remaining devices to be inspected and the first device to be inspected, resulting in multiple second inspection distances; Second, determining the device to be inspected corresponding to the shortest second inspection distance as the second device to be inspected, and updating the second device to be inspected to the first device to be inspected, wherein the second device to be inspected is the device to be added to the initial inspection path; Excluding devices to be inspected that have already been used as reference points, repeating the calculation and determination steps at least once until all devices to be inspected are added to the initial inspection path, and determining the initial inspection path as the inspection path; The inspection task is determined based on the inspection cycle corresponding to each of the aforementioned devices to be inspected, including: acquiring characteristic parameters, characteristic parameter thresholds, standard inspection cycles, and standard lifespans corresponding to each of the aforementioned devices to be inspected, wherein the characteristic parameters are parameters representing the characteristics of the devices to be inspected; determining the number of inspections to be analyzed, acquiring the historical inspection time and historical characteristic parameters corresponding to each inspection based on the number of inspections to be analyzed, wherein the number of inspections to be analyzed is selected from the total number of historical inspections, at least once; obtaining the relative time based on the difference between the historical inspection time and the previous inspection time, wherein the previous inspection time is the time of the most recent inspection of the device to be inspected; calculating the ratio of a first difference to a second difference to obtain the relative degradation degree, wherein the first difference is the difference between the historical characteristic parameter and the characteristic parameter, and the second difference is the ratio of the relative degradation degree to the historical characteristic parameter and the characteristic parameter. The difference between the threshold value of the characteristic parameter and the characteristic parameter, wherein the relative degradation degree is used to represent the degree of wear and tear on the equipment to be inspected; a characteristic polynomial is determined with the relative time as the independent variable and the relative degradation degree as the dependent variable, and the next inspection time and the next relative degradation degree are calculated based on the characteristic polynomial, wherein the characteristic polynomial is used to determine the next inspection time and the relative degradation degree under the original inspection time; the inspection cycle corresponding to the equipment to be inspected is calculated based on the ratio of the first inspection value to the second inspection value, wherein the first inspection value is the product of the difference between 1 and the next inspection time and the standard inspection cycle, the second inspection value is the sum of the product of the set period constant and the third inspection value and 1 and the square root, wherein the third inspection value is the nth power of the ratio of the next inspection time to the standard life.

2. The method according to claim 1, characterized in that, Constructing a three-dimensional simulation scene of the substation includes: The substation is scanned with a three-dimensional lidar to obtain point cloud data, and the point cloud data is processed to obtain effective point cloud data. The data processing includes processing with a unified measurement coordinate system and synchronous registration. A polyhedral solid model is formed based on the effective point cloud data and verified on-site. Actual textures are added to the polyhedral solid model to generate the three-dimensional simulation scene.

3. The method according to claim 1, characterized in that, Determining whether the inspection personnel missed any equipment to be inspected based on the location information of the inspection personnel performing the inspection task includes: Obtain the location information of the inspection personnel as they perform the inspection task according to the inspection path; The straight-line distance between the inspection personnel and the equipment to be inspected is calculated based on the positioning information to obtain the third inspection distance. If the inspection conditions are met, it is determined that the inspection personnel have not missed the current equipment to be inspected and have completed the inspection of the current equipment to be inspected. The current equipment to be inspected is then removed from the inspection task, and the inspection continues according to the inspection path. The inspection conditions are that there are no obstructions between the inspection personnel and the current equipment to be inspected at the third inspection distance, the third inspection distance is less than a set distance threshold, and the dwell time within the set distance threshold is greater than a time threshold. If the inspection conditions are not met, it is determined that the inspection personnel have missed inspecting the currently inspected equipment, and the currently inspected equipment is still in the inspection task.

4. A substation inspection device, characterized in that, The device includes: The determining unit is used to determine the inspection task and the inspection path. The inspection task is to inspect all the equipment to be inspected in the substation in sequence. The inspection path is the path formed by all the equipment to be inspected. The equipment to be inspected is the electrical equipment in the substation that needs to be inspected. The judgment unit determines whether the inspection personnel have missed any of the equipment to be inspected based on the location information of the inspection personnel performing the inspection task. The inspection unit is used to re-determine the inspection path in case any of the equipment to be inspected is missed, so as to complete the inspection of all the equipment to be inspected in the inspection task. The device further includes: a first construction unit, used to construct a three-dimensional simulation scene of the substation before determining the inspection task and inspection route, the three-dimensional simulation scene being used to simulate the actual internal structure and equipment layout of the substation; and a second construction unit, used to draw a two-dimensional scene map based on the three-dimensional simulation scene, construct a two-dimensional electronic map of the substation, and simultaneously mark the coordinate positions of all the equipment to be inspected, the two-dimensional scene map including at least an overall outline structure map of the substation, a safety passage map, a map of the ground area occupied by facilities and equipment, and a map of the protected area of ​​facilities and equipment. The determining unit includes: a first determining module, which determines the inspection task according to the inspection cycle corresponding to each of the devices to be inspected, wherein the inspection cycle is the time interval between two consecutive inspections of the devices to be inspected; a second determining module, which determines the starting coordinate point, wherein the starting coordinate point is the coordinate point of the starting point of the inspection personnel on the two-dimensional electronic map; a second obtaining module, which obtains the coordinate points of all the devices to be inspected on the two-dimensional electronic map to obtain the corresponding inspection coordinate points; a first calculating module, which calculates the straight-line distance between the starting coordinate point and the inspection coordinate points of all the devices to be inspected to obtain multiple first inspection distances; and a third determining module, which determines the device to be inspected corresponding to the shortest first inspection distance as the first device to be inspected, wherein the first device to be inspected is the one most recently added to the initial inspection path. The system includes: a first inspection device and a second inspection path; a second calculation module, which performs a calculation step, using the first inspection device as a reference point, to calculate the straight-line distance between the remaining inspection devices and the first inspection device, thereby obtaining multiple second inspection distances; a fourth determination module, which performs a determination step, determining the inspection device corresponding to the shortest second inspection distance as the second inspection device, and updating the second inspection device to the first inspection device, wherein the second inspection device is the inspection device to be added to the initial inspection path; and a repeating module, which excludes the inspection devices already used as the reference point, and sequentially repeats the calculation step and the determination step at least once until all the inspection devices are sequentially added to the initial inspection path, thereby determining the initial inspection path as the inspection path. The first determining module includes: an acquisition submodule, which acquires characteristic parameters, characteristic parameter thresholds, standard inspection cycles, and standard lifespans corresponding to each of the devices to be inspected, wherein the characteristic parameters are parameters representing the characteristics of the devices to be inspected; a determining submodule, which determines the number of analysis inspections, and acquires the historical inspection time and historical characteristic parameters corresponding to each inspection based on the number of analysis inspections, wherein the number of analysis inspections is the number of times to be analyzed selected from the total number of historical inspections, and is at least one; a first calculation submodule, which obtains a relative time based on the difference between the historical inspection time and the previous inspection time, wherein the previous inspection time is the time of the most recent inspection of the device to be inspected; and a second calculation submodule, which calculates the ratio of a first difference to a second difference to obtain a relative degradation degree, wherein the first difference is the difference between the historical characteristic parameters and the characteristic parameters, and the second difference is the characteristic parameters. The difference between the threshold and the characteristic parameter, the relative degradation degree is used to represent the degree of wear and tear on the equipment to be inspected; the third calculation submodule determines a characteristic polynomial with the relative time as the independent variable and the relative degradation degree as the dependent variable, and calculates the next inspection time and the next relative degradation degree according to the characteristic polynomial, the characteristic polynomial is used to determine the next inspection time and the relative degradation degree under the original inspection time; the fourth calculation submodule calculates the inspection cycle corresponding to the equipment to be inspected according to the ratio of the first inspection value and the second inspection value, the first inspection value is the product of the difference between 1 and the next inspection time and the standard inspection cycle, the second inspection value is the sum of the product of the set period constant and the third inspection value and 1 and the square root, the third inspection value is the nth power of the ratio of the next inspection time to the standard life.

5. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein, when the program is executed, it controls the device on which the computer-readable storage medium is located to perform the method according to any one of claims 1 to 3.

6. A substation inspection system, characterized in that, include: One or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs comprising methods for performing any one of claims 1 to 3.

7. A computer program product comprising computer instructions, characterized in that, When the computer instructions are executed by the processor, they implement the method described in any one of claims 1 to 3.

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