A method for designing the deployment site of monitoring cameras in substations

Abstract

This invention relates to a method for designing substation surveillance camera deployment sites. It involves constructing a virtual space model of the substation, simplifying the virtual three-dimensional space into a planar coordinate system; using the coordinates of all device vertices as a set of device vertex coordinates, and using the projected line segments of all devices as a set of device line segments; calculating the visible area of ​​each vertex in the set of device vertex coordinates, and calculating the visible area of ​​each line segment in the set of device line segments, thus obtaining a set of visible areas for all device line segments; taking the intersection of the visible areas of all line segments based on the set of visible areas for all device line segments, and counting the number of overlapping visible areas; and then deploying the cameras based on the count of each area. This invention solves the problems in existing technologies where cameras deployed based on manual experience have blind spots, monitoring loopholes, overlapping camera views, occupying information transmission channel resources, and causing serious asset waste.

Description

Technical Field

[0001] The present invention belongs to the technical field of electrical equipment and electrical engineering, and in particular relates to a method for designing a site for deploying monitoring cameras in a substation. Background Art

[0002] As the country vigorously promotes the digitalization and informatization reform of the power grid, a large number of surveillance cameras are installed in substations to observe various data information such as environmental changes, personnel activities, equipment location status, meter readings, etc. in the substations.

[0003] Due to the large number of devices and complex environment in substations, the distribution and site selection of each camera currently rely mainly on manual experience, which often leads to a large number of cameras deployed on site. These cameras have overlapping fields of view, occupying information transmission channel resources and causing serious waste of assets. In addition, cameras deployed based on manual experience will have blind spots and monitoring loopholes. Summary of the invention

[0004] The purpose of the present invention is to provide a method for designing substation monitoring camera deployment sites in order to overcome the defects of the above-mentioned prior art.

[0005] The purpose of the present invention can be achieved by the following technical solutions:

[0006] The present invention provides a method for designing a substation monitoring camera deployment site, comprising the following steps:

[0007] Step S1: construct a virtual space model of the substation in the three-dimensional coordinate system XYZ, and generate the minimum circumscribed cuboid of each device in the model;

[0008] Step S2: Project all the minimum circumscribed cuboids on the XOY plane, obtain the coordinates of the four vertices of each device rectangle after projection, and simplify the virtual three-dimensional space into the XOY plane coordinate system, where the XOY plane is parallel to the horizontal plane of the substation;

[0009] Step S3: taking all the device rectangle vertices obtained by projection as a device vertex set, and taking all the line segments of the device rectangle obtained by projection as a device line segment set;

[0010] Step S4: Calculate the visible areas corresponding to all vertices in the device vertex coordinate set to obtain a visible area set of all vertices;

[0011] Step S5: Calculate the visible area of ​​each line segment in the device line segment set according to the visible area set of all vertices in step S4, and obtain the visible area set of all device line segments;

[0012] Step S6: taking the intersection of the visible areas of all line segments according to the visible area sets of all device line segments, counting the number of overlaps of the visible areas, and arranging the cameras according to the count of each area.

[0013] Furthermore, the minimum circumscribed cuboid of each device is generated in step S1, including the following steps: for each device in the model, three pairs of planes perpendicular to the X-axis, Y-axis, and Z-axis are used to wrap the device; when the spacing between the three pairs of planes is minimized, the cuboid formed by the three-dimensional space enclosed by the three pairs of planes is used as the minimum circumscribed cuboid of the device.

[0014] Furthermore, the step S4 specifically includes the following steps: traversing each device vertex in the device vertex set, and calculating the visible area of ​​each device vertex using each device vertex as an observation point.

[0015] Furthermore, the step of calculating the visible area of ​​each device vertex using each device vertex as an observation point specifically includes:

[0016] Generate an observation circle, wherein the observation circle has the observation point as the center and the camera viewing distance as the radius;

[0017] Calculate the intersection point between the observation circle and each device line segment in the device line segment set;

[0018] Connect the observation point with the point to be connected, and use the line segment generated by the connection as the observation line segment set of the observation point, wherein the point to be connected includes all points in the device vertex set except the device vertex where the observation point is located and the intersection point of the observation circle and each device line segment in the device line segment set;

[0019] Calculate the angle between each observation line segment in the observation line segment set and the positive direction of the X axis;

[0020] According to the observation point, two device line segments connected to the observation point are searched from the device line segment set, and the angles between the two device line segments and the positive direction of the X-axis are calculated. According to the angles between the two device line segments and the positive direction of the X-axis, the invisible angle interval of the observation point is obtained, and the difference between the upper interval and the lower interval of the invisible angle interval is 90 degrees;

[0021] Exclude observation line segments whose angles with the positive direction of the X-axis are within the invisible angle range in the observation line segment set;

[0022] Sort the remaining observation line segments from small to large according to the calculated angle values ​​to form a set of visible observation line segments at the observation point;

[0023] Calculate the visible area between every two adjacent visible observation line segments in the visible observation line segment set of the observation point;

[0024] All calculated visible areas are used as the visible areas of the observation points.

[0025] Furthermore, the calculation of the visible area between every two adjacent visible observation line segments in the observation point visible observation line segment set specifically includes the following steps:

[0026] Exclude the device line segments that are not within the observation circle in the device line segment set to obtain the visible device line segment set

[0027] Calculate the intersection of two rays with the observation point as the endpoint and the visual device line segment set to obtain the intersection set of the two rays and , the slopes of the two rays with the observation point as endpoints are the same as the slopes of the two adjacent visible observation line segments;

[0028] If there is only one intersection point between two rays, then the visible area between two adjacent visible observation line segments corresponding to the two rays is:

[0029] ,

[0030] The observation point coordinates are , are the slopes of the two visible observation line segments, and R is the visible distance of the camera;

[0031] If there is more than one intersection point between any of the two rays, the intersection points are sorted from small to large according to the distance between the intersection points and the observation point to obtain the sorted intersection point set. , determine the visible intersection point farthest from the observation point , if the intersection of two rays is greater than one, then the visible area between two adjacent visible observation line segments corresponding to the two rays is:

[0032] ,

[0033] in, are the farthest visible intersection points of the two rays respectively;

[0034] If only one of the two rays has more than one intersection point, the visible area between the two adjacent visible observation line segments corresponding to the two rays is:

[0035] ,

[0036] in, is the farthest visible intersection point of multiple intersection rays, is the intersection point of another ray.

[0037] Furthermore, the intersection of two rays with the observation point as endpoint and the visible device line segment set is calculated, and the intersection includes the device vertex.

[0038] Furthermore, the determination of the visible intersection point farthest from the observation point , the specific steps include:

[0039] Get the intersection point set after the ray is sorted ;

[0040] Starting from i=1, judge the line segments one by one Is it in the device?

[0041] If the line segment Within the device, the farthest visible intersection point of the ray is , the judgment ends, if the line segment If it is not in the device, then i=i+1, and continue to judge the line segment Whether it is in the device;

[0042] If all line segments If neither is within the device, the farthest visible intersection point of the ray is the last intersection point of the intersection point set.

[0043] Furthermore, the angle between each observation line segment in the observation line segment set and the positive direction of the X-axis is calculated using the following formula:

[0044] ,

[0045] The observation point coordinates are , observe the coordinates of another point on the line segment .

[0046] Furthermore, the step S5 of calculating the visible area of ​​each line segment in the device line segment set specifically includes: taking the intersection of the two visible areas according to the visible areas of the two vertices of the line segment, and taking the intersection area as the visible area of ​​the line segment.

[0047] Furthermore, the step S6 specifically includes:

[0048] In the plane coordinate system of the device area, the initial state count of the entire plane coordinate system is 0, and the visible area of ​​each device line segment appears in turn. Whenever a device line segment visible area exists, the visible area is increased by 1. When there are two overlapping visible areas, the overlapping area value is increased by 1, and the non-overlapping area remains unchanged until the visible areas of all device segments exist. The counting is stopped, and the area with a count greater than 1 is equipped with a number of cameras greater than 1 for observation, the area with a count of 1 is equipped with one camera, and the area with a count of 0 is not equipped with a camera.

[0049] Compared with the prior art, the present invention has the following advantages:

[0050] (1) The present invention can simply and clearly see which areas have better visibility and which areas have poor visibility by counting the overlap of visible areas. The camera layout is carried out by counting each area, which ensures that the camera layout is more scientific and the visibility of each device is guaranteed. It solves the problems in the prior art that the cameras arranged by relying on manual experience have blind spots, monitoring loopholes, camera field duplication, occupation of information transmission channel resources, and serious waste of assets.

[0051] (2) The present invention simplifies the complex space and converts the three-dimensional space into a two-dimensional plane coordinate system, which greatly simplifies the calculation amount and calculation process of camera deployment in the substation.

[0052] (3) The present invention simplifies the calculation of the visible area of ​​a surface into the calculation of the visible area of ​​a line in a two-dimensional plane coordinate system, and then simplifies the calculation of the visible area of ​​a line into the calculation of the visible area of ​​a point, and simplifies the calculation of the visible area of ​​a point into the calculation of the visible area between two straight lines. This process greatly simplifies the difficulty and amount of calculation. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 It is a flow chart of screening sites for camera deployment in substations of the present invention;

[0054] Figure 2 It is a simplified top view of the substation of the device of the present invention;

[0055] Figure 3 It is a diagram of changes in the visible area of ​​the apex of the device of the present invention;

[0056] Figure 4 It is a visual area diagram corresponding to different types of intersection numbers of the present invention;

[0057] Figure 5 It is a visual area diagram corresponding to type 2 of different numbers of intersection points of the present invention;

[0058] Figure 6 It is a schematic diagram of multiple intersection screening. DETAILED DESCRIPTION

[0059] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0060] Example 1

[0061] This embodiment provides a method for designing substation surveillance camera deployment sites. Figure 1 The following steps are shown:

[0062] Step S1: construct a virtual space model of the substation and simplify each device in the model into a cuboid;

[0063] In step S1, each device in the model is simplified into a rectangular parallelepiped, including the following steps: each device in the model is wrapped with three pairs of planes perpendicular to the X-axis, Y-axis, and Z-axis; when the spacing between the three pairs of planes is minimized, the device model is replaced by a rectangular parallelepiped formed by the three-dimensional space enclosed by the three pairs of planes.

[0064] Step S2: Project all cuboids in the Z-axis direction, obtain the coordinates of the four vertices of each device rectangle after projection, and simplify the virtual three-dimensional space into a plane coordinate system;

[0065] Step S3: taking all device vertex coordinates obtained by projection as a device vertex coordinate set, and taking all device line segments obtained by projection as a device line segment set;

[0066] Step S4: Calculate the visible areas corresponding to all vertices in the device vertex coordinate set to obtain a visible area set of all vertices;

[0067] Step S4 specifically includes the following steps: traversing each vertex in the device vertex coordinate set, and calculating the visible area of ​​each vertex using each vertex as an observation point.

[0068] Each vertex is used as an observation point to calculate the visible area of ​​the vertex, including:

[0069] Draw a circle with the observation point as the center and the camera's visible distance as the radius;

[0070] Calculate the intersection of the circle with each line segment in the device segment set;

[0071] Connect all line segments between the observation point and all points in the device vertex coordinate set except the device vertex where the observation point is located;

[0072] Connect all line segments between the observation point and the intersection of the circle and each line segment in the device line segment collection;

[0073] All line segments connected to the observation point are regarded as the line segment set of the observation point;

[0074] Calculate the angle between each line segment in the line segment set and the positive direction of the X axis;

[0075] Calculate the angle between each line segment in the line segment set and the positive direction of the X-axis. The calculation formula is:

[0076] ,

[0077] The observation point coordinates are , observe the coordinates of another point on the line segment .

[0078] Calculate the angle interval between two edges connected to the observation point of the device where the observation point is located;

[0079] Exclude the line segments in the line segment set whose angles with the positive direction of the X-axis are within the angle interval between the two edges connected to the observation point;

[0080] Sort the remaining line segments from small to large according to the calculated angle values ​​to form a set of visible line segments of the observation point;

[0081] Calculate the visible area between every two adjacent line segments of the visible line segment set of the observation point;

[0082] All the calculated visible areas are taken as the visible areas of the observation point.

[0083] Calculating the visible area between every two adjacent line segments of the observation point visible line segment set includes the following steps:

[0084] Exclude the segments in the device segment set that are not within the circle;

[0085] Calculate the intersection of two rays with the observation point as the endpoint and the visual device line segment set to obtain the intersection set of the two rays and , the slopes of the two rays are respectively the same as the slopes of two adjacent visible observation line segments;

[0086] If there is only one intersection point between two rays, then the visible area between two adjacent visible observation line segments corresponding to the two rays is:

[0087] ,

[0088] The observation point coordinates are , are the slopes of the two visible observation line segments, and R is the visible distance of the camera;

[0089] If there is more than one intersection point between any of the two rays, the intersection points are sorted from small to large according to the distance between the intersection points and the observation point to obtain the sorted intersection point set. , determine the visible intersection point farthest from the observation point , if the intersection of two rays is greater than one, then the visible area between two adjacent visible observation line segments corresponding to the two rays is:

[0090] ,

[0091] in, are the farthest visible intersection points of the two rays respectively;

[0092] If only one of the two rays has more than one intersection point, the visible area between the two adjacent visible observation line segments corresponding to the two rays is:

[0093] ,

[0094] in, is the farthest visible intersection point of multiple intersection rays, is the intersection point of another ray.

[0095] Determine the visible intersection point farthest from the observation point , the specific steps include:

[0096] Get the intersection point set after the ray is sorted ;

[0097] Starting from i=1, judge the line segments one by one Is it in the device?

[0098] If the line segment Within the device, the farthest visible intersection point of the ray is , the judgment ends, if the line segment If it is not in the device, then i=i+1, and continue to judge the line segment Whether it is in the device;

[0099] If all line segments

[0100] If neither is within the device, the farthest visible intersection point of the ray is the last intersection point of the intersection point set.

[0101] Step S5: Calculate the visible area of ​​each line segment in the device line segment set according to the visible area set of all vertices in step S4 to obtain the visible area set of all device line segments; wherein the visible area of ​​each line segment in the device line segment set is calculated in step S5, specifically including: taking the intersection of the two visible areas according to the visible areas of the two vertices of the line segment, and taking the intersection area as the visible area of ​​the line segment.

[0102] Step S6: taking the intersection of the visible areas of all line segments according to the visible area sets of all device line segments, counting the number of overlaps of the visible areas, and arranging the cameras according to the count of each area.

[0103] Step S6 specifically includes:

[0104] In the plane coordinate system of the device area, the initial state count of the entire plane coordinate system is 0, and the visible area of ​​each device line segment appears in turn. Whenever a line segment visible area exists, the visible area is increased by 1. When there are two overlapping visible areas, the overlapping area value is increased by 1, and the non-overlapping area remains unchanged until the visible areas of all device line segments exist. The counting is stopped, and the areas with counts greater than 1 are equipped with cameras greater than 1 for observation, the areas with counts of 1 are equipped with one camera, and the areas with counts of 0 are not equipped with cameras.

[0105] Example 2

[0106] The parts not mentioned in this embodiment are the same as those in Embodiment 1.

[0107] Ideally, the staff hopes that each camera can see enough devices without blocking each other and with complete details. In view of this, the present invention replaces each device in the virtual space with a cuboid, which is perpendicular to the horizontal plane and has a size that can accommodate the corresponding physical device.

[0108] By wrapping irregular devices with cuboids, the spatial coordinates of the devices are regularized, and the boundaries of each device are replaced by several key points. From the top view of the substation virtual space, after the devices are turned into cuboids, the difficulty of selecting camera sites will be greatly reduced, such as Figure 2 shown.

[0109] from Figure 2 As you can see, for any device i , there are 4 determined vertex coordinates A i , B i , C i , D i . The objects that can be observed are different depending on the camera position. For example, when observing device 1 from the diagonal line B1C1, the B1D1 and A1B1 surfaces of the device can be seen, while the A1C1 and C1D1 surfaces cannot be seen. From a geometric point of view, line segments PA1, PB1, and PD1 do not have any intersection with any other line segments in space (except for the endpoints, point P is the camera step station). Taking line segment PA1 as an example, you can see Figure 2 At the camera position in , any other line segment will not block its line of sight, which is represented by the intersection of line segment PA1 and other line segments (assuming it is line segment A3B3).

[0110] To determine the coordinates of the intersection, it is necessary to determine the equation of the line segment PA1, that is, it is necessary to determine the coordinates of the camera's site location. If an arbitrary site location coordinate is assumed, the equation of the line segment PA1 is determined, and then the intersection coordinates are calculated, and then the feasible coordinate area is calculated using Formula 1, the process involves two unknown quantities, the vertical and horizontal coordinates of the site, and the calculation is complex, which significantly increases the difficulty. The present invention proposes a new solution, as shown below.

[0111] exist Figure 3 In the example, set the observation point A1 as the target, the initial observation ray PA1 coincides with the positive direction of the X-axis, select the ray with point A1 as the center, and when the ray just passes through point B4, point A1 cannot be observed, then the fan XA1B4 is the visible area of ​​point A1, and any station can be selected in this area. Continue to rotate ray PA1 until it passes through point A4. Before that, the ray intersects with segment A4B4 at point E1, and triangle B4A1E1 is always the visible area of ​​point A1.

[0112] Therefore, from the above analysis process, we can get the general calculation method of the visible area of ​​a certain point:

[0113] Traverse each vertex in the device vertex coordinate set and use each vertex as an observation point to calculate the visible area of ​​the vertex.

[0114] Each vertex is used as an observation point to calculate the visible area of ​​the vertex, including:

[0115] Draw a circle with the observation point as the center and the camera's visible distance as the radius;

[0116] Calculate the intersection of the circle with each line segment in the device segment set;

[0117] Connect all line segments between the observation point and all points in the device vertex coordinate set except the device vertex where the observation point is located;

[0118] Connect all line segments between the observation point and the intersection of the circle and each line segment in the device line segment collection;

[0119] All line segments connected to the observation point are regarded as the line segment set of the observation point;

[0120] Calculate the angle between each line segment in the line segment set and the positive direction of the X axis;

[0121] Calculate the angle between each line segment in the line segment set and the positive direction of the X-axis. The calculation formula is:

[0122] ,

[0123] The observation point coordinates are , observe the coordinates of another point on the line segment .

[0124] Calculate the angle interval between two edges connected to the observation point of the device where the observation point is located;

[0125] Exclude the line segments in the line segment set whose angles with the positive direction of the X-axis are within the angle interval between the two edges connected to the observation point;

[0126] Sort the remaining line segments from small to large according to the calculated angle values ​​to form a set of visible line segments of the observation point;

[0127] Calculate the visible area between every two adjacent line segments of the visible line segment set of the observation point;

[0128] All the calculated visible areas are taken as the visible areas of the observation point.

[0129] Calculating the visible area between every two adjacent line segments of the observation point visible line segment set includes the following steps:

[0130] Exclude the segments in the device segment set that are not within the circle;

[0131] Calculate the intersection of the ray with the observation point as the endpoint of two adjacent line segments and the remaining device line segment set to obtain the intersection set of the rays of the two line segments and ; The intersection of the rays of two adjacent line segments with the observation point as the endpoint and the remaining device line segment set includes the device vertex.

[0132] The equations of two adjacent line segments are:

[0133] ,

[0134] In the formula, They are the slopes of two adjacent line segments M1N and M2N respectively, and the angle of line segment M1N is greater than that of M2N.

[0135] like Figure 4 As shown in the figure, if the intersection of two line segments has only one point, then the visible area between the two line segments is:

[0136] ,

[0137] The observation point coordinates are , are the slopes of the two visible observation line segments, and R is the visible distance of the camera.

[0138] like Figure 5 As shown in , if there are multiple intersection points of any of the two line segments, they are sorted from small to large according to the distance between the intersection points and the observation point, such as Figure 6 As shown, the sorted intersection set is obtained ,in M is used to determine the visible intersection point farthest from the observation point. , where the visible intersection point farthest from the observation point is determined, and the specific steps include:

[0139] Get the sorted intersection point set of the line segment ;

[0140] Determine the line segments one by one Whether it is in the device, the judgment starts from i=1 until Within the device, the farthest visible intersection of the line segment is , if all line segments If neither of them is in the device, the farthest visible intersection point of the line segment is the last intersection point of the intersection point set. Figure 6 The farthest visible intersection point is .

[0141] If there are multiple intersection points of two line segments, the visible area between the two line segments is:

[0142] ,

[0143] in, are the farthest visible intersection points of the two rays respectively;

[0144] If only one of the two line segments has multiple intersection points, the visible area between the two line segments is:

[0145] ,

[0146] in, is the farthest visible intersection point of multiple intersection rays, is the intersection point of another ray.

[0147] Based on the above general method, the visible areas of two points on one side of the rectangle are solved respectively, and the intersection of the two areas is the visible area where the edge can be observed. In this area, the camera station can be selected arbitrarily, and the image information of the device in this direction can be observed.

[0148] The intersection S of the visible area of ​​each face is calculated. The specific method is as follows: in the top view of the substation plane, the visible area of ​​each face of the equipment is accumulated in the top view. In the initial state, the count of the entire top view is 0. Whenever there is a visible area of ​​a face, the area is increased by 1. When there is another area overlapping, the value of the overlapping area is increased by 1, and the non-overlapping area remains unchanged. The counting stops when all the visible areas of the face are distributed in the substation plane. The area with overlapping parts, that is, the area with a count greater than 1, can be observed by at least one camera. The area with a count of 1 needs to be equipped with a camera separately, and the area with a count of 0 does not need to be equipped with a camera. It is worth noting that the location of the camera in the substation is affected by the environment itself and cannot be placed arbitrarily. It is often fixed on the wall or frame. Therefore, when solving the intersection S of the visible area, the limitations of the station environment should also be considered to further screen out the appropriate location.

[0149] If the above functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc., which can store program codes.

[0150] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A method for designing substation surveillance camera deployment sites, characterized in that: The following steps are involved: Step S1: construct a virtual space model of the substation in the three-dimensional coordinate system XYZ, and generate the minimum circumscribed cuboid of each device in the model; Step S2: Project all the minimum circumscribed cuboids on the XOY plane, obtain the coordinates of the four vertices of each device rectangle after projection, and simplify the virtual three-dimensional space into the XOY plane coordinate system, where the XOY plane is parallel to the horizontal plane of the substation; Step S3: taking all the device rectangle vertices obtained by projection as a device vertex set, and taking all the line segments of the device rectangle obtained by projection as a device line segment set; Step S4: Calculate the visible areas corresponding to all vertices in the device vertex coordinate set to obtain a visible area set of all vertices; Step S4 specifically includes the following steps: traversing each device vertex in the device vertex set, and calculating the visible area of ​​each device vertex using each device vertex as an observation point; The step of calculating the visible area of ​​each device vertex by taking each device vertex as an observation point specifically includes: Generate an observation circle, wherein the observation circle has the observation point as the center and the camera viewing distance as the radius; Calculate the intersection point between the observation circle and each device line segment in the device line segment set; Connect the observation point with the point to be connected, and use the line segment generated by the connection as the observation line segment set of the observation point, wherein the point to be connected includes all points in the device vertex set except the device vertex where the observation point is located and the intersection point of the observation circle and each device line segment in the device line segment set; Calculate the angle between each observation line segment in the observation line segment set and the positive direction of the X axis; According to the observation point, two device line segments connected to the observation point are searched from the device line segment set, and the angles between the two device line segments and the positive direction of the X-axis are calculated. According to the angles between the two device line segments and the positive direction of the X-axis, the invisible angle interval of the observation point is obtained, and the difference between the upper interval and the lower interval of the invisible angle interval is 90 degrees; Exclude observation line segments whose angles with the positive direction of the X-axis are within the invisible angle range in the observation line segment set; Sort the remaining observation line segments from small to large according to the calculated angle values ​​to form a set of visible observation line segments at the observation point; Calculate the visible area between every two adjacent visible observation line segments in the visible observation line segment set of the observation point; All the calculated visible areas are used as the visible areas of the observation points; Step S5: Calculate the visible area of ​​each line segment in the device line segment set according to the visible area set of all vertices in step S4, and obtain the visible area set of all device line segments; Step S6: taking the intersection of the visible areas of all line segments according to the visible area sets of all device line segments, counting the number of overlaps of the visible areas, and arranging the cameras according to the count of each area.

2. A method for designing substation surveillance camera deployment sites according to claim 1, characterized in that: In step S1, the minimum circumscribed cuboid of each device is generated. The method comprises the following steps: taking three pairs of planes perpendicular to the X-axis, the Y-axis and the Z-axis to wrap each device in the model; when the spacing between the three pairs of planes is minimum, taking the cuboid formed by the three-dimensional space enclosed by the three pairs of planes as the minimum circumscribed cuboid of the device.

3. A method for designing substation surveillance camera deployment sites according to claim 1, characterized in that: The method of calculating the visible area between every two adjacent visible observation line segments in the observation point visible observation line segment set specifically includes the following steps: Excluding the device line segments that are not within the observation circle in the device line segment set, to obtain a visible device line segment set; Calculate the intersection of two rays with the observation point as the endpoint and the visual device line segment set to obtain the intersection set of the two rays and , the slopes of the two rays with the observation point as endpoints are the same as the slopes of the two adjacent visible observation line segments; If there is only one intersection point between two rays, then the visible area between two adjacent visible observation line segments corresponding to the two rays is: ， The observation point coordinates are , are the slopes of the two visible observation line segments, and R is the visible distance of the camera; If there is more than one intersection point between any of the two rays, the intersection points are sorted from small to large according to the distance between the intersection points and the observation point to obtain the sorted intersection point set. , determine the visible intersection point farthest from the observation point , if the intersection of two rays is greater than one, then the visible area between two adjacent visible observation line segments corresponding to the two rays is: ， in, are the farthest visible intersection points of the two rays respectively; If only one of the two rays has more than one intersection point, the visible area between the two adjacent visible observation line segments corresponding to the two rays is: ， in, is the farthest visible intersection point of multiple intersection rays, is the intersection point of another ray.

4. A method for designing substation surveillance camera deployment sites according to claim 3, characterized in that: The intersection of two rays with the observation point as the endpoint and the visible device line segment set is calculated, and the intersection includes the device vertex.

5. A method for designing substation surveillance camera deployment sites according to claim 3, characterized in that: The determination of the visible intersection point farthest from the observation point , the specific steps include: Get the intersection point set after the ray is sorted ; Starting from i=1, judge the line segments one by one Is it in the device? If the line segment Within the device, the farthest visible intersection point of the ray is , the judgment ends, if the line segment If it is not in the device, then i=i+1, and continue to judge the line segment Whether it is in the device; If all line segments If neither is within the device, the farthest visible intersection point of the ray is the last intersection point of the intersection point set.

6. A method for designing substation surveillance camera deployment sites according to claim 1, characterized in that: The angle between each observation line segment in the observation line segment set and the positive direction of the X-axis is calculated using the following formula: ， The observation point coordinates are , observe the coordinates of another point on the line segment .

7. A method for designing substation surveillance camera deployment sites according to claim 1, characterized in that: The step S5 of calculating the visible area of ​​each line segment in the device line segment set specifically includes: taking the intersection of the two visible areas according to the visible areas of the two vertices of the line segment, and taking the intersection area as the visible area of ​​the line segment.

8. A method for designing substation surveillance camera deployment sites according to claim 1, characterized in that: The step S6 specifically includes: In the plane coordinate system of the device area, the initial state count of the entire plane coordinate system is 0, and the visible area of ​​each device line segment appears in turn. Whenever a device line segment visible area exists, the visible area is increased by 1. When there are two overlapping visible areas, the overlapping area value is increased by 1, and the non-overlapping area remains unchanged until the visible areas of all device segments exist. The counting is stopped, and the area with a count greater than 1 is equipped with a number of cameras greater than 1 for observation, the area with a count of 1 is equipped with one camera, and the area with a count of 0 is not equipped with a camera.

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