Substation operation monitoring method and device based on electronic fence

Abstract

The invention provides a substation operation monitoring method and device based on an electronic fence. The method comprises the following steps: constructing a digital twinborn model of a substation; rasterizing the transformer substation according to the model to obtain a two-dimensional grid map; determining the position of each piece of to-be-operated equipment based on the work ticket information; acquiring equipment operation parameters of all equipment in the transformer substation, and constructing a three-dimensional electronic fence based on the equipment operation parameters; based on the two-dimensional grid map, the position and the three-dimensional electronic fence, a target inspection path is generated through an A * path planning algorithm; issuing the target inspection path to a terminal device of an operator, controlling a camera device to collect a video image based on position information of the terminal device, and generating a virtual model of the operator based on the video image; and performing visual display based on the model and the three-dimensional electronic fence. The method solves the problem that in the prior art, the ability to prevent sudden accidents in the inspection process is poor.

Description

Technical Field

[0001] The present invention relates to the technical field of power system inspection, and in particular to a substation operation monitoring method and device based on electronic fence, a computer-readable storage medium and an inspection monitoring system. Background Art

[0002] In modern power systems, substations play an important role in the conversion and distribution of electric energy. However, the operating environment of substations is complex, with multiple risks such as power equipment defects, weather changes, and operational errors, which lead to a relatively high probability of safety accidents. Therefore, it is particularly important to establish an effective operation behavior monitoring system to improve the safety and operating efficiency of substations.

[0003] Electronic fence is a technology widely used in the field of security monitoring in recent years. It can realize dynamic monitoring of specific areas through virtual geographical boundaries. The substation operation behavior monitoring method based on electronic fence can timely discover and deal with potential safety hazards through real-time positioning of operators and equipment, and improve accident prevention capabilities.

[0004] In summary, there is an urgent need in the prior art for a monitoring method for dynamically controlling the inspection process based on an electronic fence. Summary of the invention

[0005] The main purpose of the present application is to provide a substation operation monitoring method, device, computer-readable storage medium and inspection monitoring system based on electronic fence, so as to at least solve the problem of poor ability to prevent sudden accidents during the inspection process in the prior art.

[0006] In order to achieve the above-mentioned purpose, according to one aspect of the present application, a substation operation monitoring method based on an electronic fence is provided, comprising: constructing a digital twin model of the substation to obtain a first target model, wherein the first target model is updated with the real-time operation data of the substation; rasterizing the substation according to the first target model to obtain a two-dimensional grid map; determining the position of each device to be operated based on the work ticket information to obtain a first target position, wherein the work ticket information at least includes the number, position and type of the operating equipment; obtaining the equipment operation parameters of all equipment in the substation, and constructing a three-dimensional electronic fence based on the equipment operation parameters; based on the two-dimensional grid map, the first target position and the three-dimensional electronic fence, using the grid as a node, generating a target inspection path through an A* path planning algorithm; sending the target inspection path to the terminal device of the operator, and controlling the camera device to collect video images based on the position information of the terminal device, generating a virtual model of the operator based on the video image, and obtaining a second target model, wherein the second target model is synchronized with the operating action of the operator; and performing a visual display based on the first target model, the three-dimensional electronic fence and the second target model so that the monitoring personnel can monitor the real-time inspection status of the substation.

[0007] Optionally, a digital twin model of the substation is constructed to obtain a first target model, including: obtaining contour data, a panoramic image of the substation and equipment data of the equipment in the substation, the equipment data including position parameters, geometric parameters and interaction parameters; matching the contour data and the panoramic image to construct a substation structural model; constructing a corresponding equipment structural model according to the geometric parameters of each of the equipment, and configuring the corresponding equipment structural model in the substation structural model based on the position parameters; associating each of the equipment structural models in the substation structural model according to the interaction parameters to obtain the first target model.

[0008] Optionally, the equipment operating parameters of all equipment in the substation are obtained, and a three-dimensional electronic fence is constructed based on each of the equipment operating parameters, including: determining whether the equipment is energized based on the equipment operating parameters; when the equipment is in an unenergized state, the outline of the equipment structure model corresponding to the equipment is used as the boundary to construct the three-dimensional electronic fence; when the equipment is in a energized state, the real-time voltage of the equipment is determined based on the equipment operating parameters, and the minimum safety distance corresponding to the equipment is determined based on the real-time voltage; the outline of the equipment structure model corresponding to the equipment is used as the first boundary, and the second boundary is determined according to the first boundary, and the distance between the first boundary and the second boundary is the minimum safety distance; the electronic fence is constructed with the first boundary, and the alarm boundary of the electronic fence is configured as the second boundary to obtain the three-dimensional electronic fence.

[0009] Optionally, based on the two-dimensional grid map, the first target position and the three-dimensional electronic fence, with the grid as the node, a target inspection path is generated through the A* path planning algorithm, including: matching each first target position with the two-dimensional grid map, determining the grid to which each first target position belongs, obtaining the node to be searched, determining the starting node and the ending node based on the node to be searched, constructing a list for storing unvisited nodes to obtain a first list, and constructing a list for storing visited nodes to obtain a second list; determining the starting node as the current node and adding it to the target inspection path; a search step, adding the current node to the second list, and searching for the adjacent nodes of the current node in the nodes to be searched, and adding the adjacent nodes to the first list; a wandering step, calculating the cost function value based on the nodes to be searched in the first list, determining the node to be searched with the smallest cost function value as the current node and adding it to the target inspection path; repeating the search step and the wandering step in sequence at least once until the ending node joins the target inspection path.

[0010] Optionally, the cost function value is calculated based on the nodes to be searched in the first list, including: determining the number of nodes that the straight path between the adjacent node and the terminating node passes through based on the position of the adjacent node to obtain a first node number m, and determining the number of nodes that the straight path between the current node and the terminating node passes through based on the position of the current node to obtain a second node number M; substituting the first node number m and the second node number M into a first preset formula r=m / M to obtain a risk factor r; determining the number of nodes including energized devices that the straight path between the adjacent node and the terminating node passes through based on the position of the adjacent node , and obtain the third node number k; substitute the third node number k and the second node number M into the second preset formula β=k / M to obtain the safety cost β; determine the Euclidean distance between the adjacent node and the termination node based on the position of the adjacent node to obtain the first distance h(n), and determine the Euclidean distance between the current node and the adjacent node based on the position of the current node to obtain the second distance g(n); substitute the first distance h(n), the second distance g(n), the risk factor r and the safety cost β into the third preset formula f(n)=g(n)+r*h(n)+β to obtain the cost function value f(n).

[0011] Optionally, a virtual model of the operator is generated based on the video image to obtain a second target model, including: extracting a human body contour based on the video image to obtain a plurality of target contours of the operator in different postures; decomposing each of the target contours into a plurality of human joint regions, wherein the connection relationship between each of the human joint regions is the same as the connection relationship between the human skeleton; and associating the human joint regions with the skeletal joints of the operator in the real-time video image to obtain the second target model.

[0012] Optionally, after associating the equipment structure models in the substation structure model according to the interaction parameters to obtain the first target model, the method also includes: acquiring historical operation data of the substation, and inputting the historical operation data into the first target model to drive the first target model to perform simulation operation; determining the simulation deviation based on the simulation operation result and the actual data of the historical operation data; when the simulation deviation is less than a preset threshold, determining that the simulation of the first target model is valid; when the simulation deviation is greater than or equal to the preset threshold, determining that the simulation of the first target model is invalid, and adjusting parameters of the first target model based on the simulation deviation.

[0013] According to another aspect of the present application, a substation operation monitoring device based on electronic fence is provided, and the device includes: a first construction unit, which is used to construct a digital twin model of the substation to obtain a first target model, and the first target model is updated with the real-time operation data of the substation; a first processing unit, which is used to rasterize the substation according to the first target model to obtain a two-dimensional grid map; a first determination unit, which is used to determine the position of each device to be operated based on work ticket information to obtain a first target position, and the work ticket information at least includes the number, position and type of the operating equipment; a second construction unit, which is used to obtain the equipment operating parameters of all equipment in the substation, and respectively construct three equipment operating parameters based on each of the equipment operating parameters. a first computing unit, for generating a target inspection path through an A* path planning algorithm based on the two-dimensional grid map, the first target position and the three-dimensional electronic fence, with the grids as nodes; a third constructing unit, for sending the target inspection path to the terminal device of the operator, and controlling the camera device to collect video images based on the position information of the terminal device, generating a virtual model of the operator based on the video image, and obtaining a second target model, which is synchronized with the operator's operating actions; a display unit, for performing a visual display based on the first target model, the three-dimensional electronic fence and the second target model, so that the monitoring personnel can monitor the real-time inspection status of the substation.

[0014] According to another aspect of the present application, a computer-readable storage medium is provided, wherein the computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute any one of the methods described.

[0015] According to another aspect of the present application, a patrol monitoring 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 are configured to be executed by the one or more processors, and the one or more programs include methods for executing any one of the described methods.

[0016] Applying the technical solution of the present application, in the above-mentioned substation operation monitoring method based on electronic fence, first, a digital twin model of the substation is constructed to obtain a first target model, and the above-mentioned first target model is updated with the real-time operation data of the above-mentioned substation; then, the above-mentioned substation is rasterized according to the above-mentioned first target model to obtain a two-dimensional grid map; then, the position of each device to be operated is determined based on the work ticket information to obtain the first target position, and the above-mentioned work ticket information at least includes the number, position and type of the operating equipment; then, the equipment operation parameters of all equipment in the above-mentioned substation are obtained, and three-dimensional electronic fences are respectively constructed based on the operation parameters of each of the above-mentioned equipment; then Based on the two-dimensional grid map, the first target position and the three-dimensional electronic fence, the grid is used as a node, and the target inspection path is generated through the A* path planning algorithm; then, the target inspection path is sent to the terminal device of the operator, and the camera device is controlled to collect video images based on the position information of the terminal device, and a virtual model of the operator is generated based on the video image to obtain a second target model, and the second target model is synchronized with the operating action of the operator; finally, a visual display is performed based on the first target model, the three-dimensional electronic fence and the second target model, so that the monitoring personnel can monitor the real-time inspection status of the substation. A virtual model that reflects the actual operating status of the substation is constructed, and the site plane is two-dimensionally rasterized based on the virtual model. A three-dimensional electronic fence is dynamically generated according to the equipment status and displayed in the virtual model. The improved A* path planning algorithm is used to optimize the operation path in combination with the hazard factor and safety cost to ensure the safety of the working environment of the operators. A virtual model of the operators is established based on the human joints and skeletal connections, and the digital twin model is used to perform real-time visualization of the operators' status to ensure that the monitoring personnel can obtain the operators' working status in real time, which solves the problem of poor accident prevention capabilities during inspections in the existing technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A hardware structure block diagram of a mobile terminal according to a method for monitoring substation operation based on an electronic fence provided in an embodiment of the present application is shown;

[0018] Figure 2 A schematic diagram of a process of monitoring a substation operation based on an electronic fence according to an embodiment of the present application is shown;

[0019] Figure 3 A structural block diagram of a substation operation monitoring device based on an electronic fence provided according to an embodiment of the present application is shown.

[0020] The above drawings include the following reference numerals:

[0021] 102, processor; 104, memory; 106, transmission device; 108, input and output devices. DETAILED DESCRIPTION

[0022] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0023] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0024] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0025] As introduced in the background technology, there is an urgent need in the prior art for a monitoring method that dynamically controls the inspection process based on an electronic fence. In order to solve the problem of poor ability to prevent sudden accidents during the inspection process in the prior art, the embodiments of the present application provide a substation operation monitoring method, device, computer-readable storage medium and inspection monitoring system based on an electronic fence.

[0026] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0027] The method embodiments provided in the embodiments of the present application can be executed in a mobile terminal, a computer terminal or a similar computing device. Taking running on a mobile terminal as an example, Figure 1 1 is a hardware structure block diagram of a mobile terminal of a substation operation monitoring method based on an electronic fence according to an embodiment of the present invention. Figure 1 As shown, the mobile terminal may include one or more ( Figure 1Only one is shown in the figure) a processor 102 (the processor 102 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA) and a memory 104 for storing data, wherein the mobile terminal may also include a transmission device 106 and an input / output device 108 for communication functions. It can be understood by those skilled in the art that Figure 1 The structure shown is for illustration only and does not limit the structure of the mobile terminal. Figure 1 More or fewer components as shown, or with Figure 1 Different configurations shown.

[0028] The memory 104 can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the display method of device information in the embodiment of the present invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, that is, the above method is implemented. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include a memory remotely arranged relative to the processor 102, and these remote memories can be connected to the mobile terminal via a network. Examples of the above-mentioned network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof. The transmission device 106 is used to receive or send data via a network. The above-mentioned specific examples of the network may include a wireless network provided by a communication provider of the mobile terminal. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, referred to as NIC), which can be connected to other network devices through a base station so as 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.

[0029] In this embodiment, a substation operation monitoring method based on electronic fence running on a mobile terminal, a computer terminal or a similar computing device is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that here.

[0030] Figure 2 FIG. 1 is a flow chart of a method for monitoring substation operation based on an electronic fence according to an embodiment of the present application. Figure 2 As shown, the method comprises the following steps:

[0031] Step S201, constructing a digital twin model of the substation to obtain a first target model, wherein the first target model is updated with real-time operation data of the substation;

[0032] Specifically, a digital twin model of the substation is constructed based on the digital twin technology to obtain the above-mentioned first target model. The above-mentioned first target model is driven by the actual operation data of the substation to obtain a digital twin environment that changes in time with the substation.

[0033] It is understandable that digital twin technology refers to the creation of virtual product or system models by mapping physical entities through real-time data. In substations, digital twins can help managers understand equipment conditions in real time, predict failure risks, and improve the accuracy of operational behavior monitoring.

[0034] Step S202, rasterizing the substation according to the first target model to obtain a two-dimensional grid map;

[0035] Specifically, the site plane of the substation is rasterized based on the digital twin model of the substation to form the above-mentioned two-dimensional grid map corresponding to the substation site.

[0036] Step S203, determining the position of each device to be operated based on the work ticket information to obtain a first target position, wherein the work ticket information at least includes the number, position and type of the operating equipment;

[0037] Specifically, the equipment name of the equipment to be operated and its corresponding absolute position in the substation are determined according to the work ticket information to obtain the above-mentioned first target position.

[0038] Step S204, obtaining equipment operating parameters of all equipment in the above-mentioned substation, and constructing a three-dimensional electronic fence based on each of the above-mentioned equipment operating parameters;

[0039] Specifically, the equipment operating parameters corresponding to all equipment in the substation (including equipment to be operated and equipment to be operated) are obtained, and then the status of the equipment in the digital twin environment is determined according to the equipment operating parameters, and then an electronic fence is generated to prevent operators from accidentally entering, and the above-mentioned three-dimensional electronic fence is obtained.

[0040] It is understandable that electronic fence is a security management solution based on positioning technology. It monitors the target area in real time by presetting virtual boundaries. Once the target enters or leaves the set area, the system will automatically trigger an alarm or take corresponding measures. The application of electronic fence in substations can effectively prevent unauthorized entry and improve security prevention capabilities.

[0041] Step S205, based on the two-dimensional grid map, the first target position and the three-dimensional electronic fence, the grid is used as a node, and a target inspection path is generated by an A* path planning algorithm;

[0042] Specifically, based on the location of the equipment to be operated, the two-dimensional grid map of the substation site and the status of each three-dimensional electronic fence, the inspection path of the operator is updated in real time based on the A* path planning algorithm to obtain the above-mentioned target inspection path.

[0043] Step S206, sending the target inspection path to the terminal device of the operator, and controlling the camera device to collect video images based on the location information of the terminal device, generating a virtual model of the operator based on the video image, and obtaining a second target model, wherein the second target model is synchronized with the operation action of the operator;

[0044] Specifically, after determining the dynamic inspection path, that is, the above-mentioned target inspection path, a virtual model corresponding to the operator is generated in the digital twin environment based on the real-time working image of the operator to obtain the above-mentioned second target model.

[0045] It is understandable that the process of driving the virtual model of the operator involves real-time positioning of the operator. The accuracy and stability of positioning technology directly affect the monitoring effect. In specific implementation, the commonly used positioning technologies in substations include Beidou, GPS, RFID, laser positioning and Wi-Fi positioning.

[0046] Step S207: Visual display is performed based on the first target model, the three-dimensional electronic fence and the second target model, so that monitoring personnel can monitor the real-time inspection status of the substation.

[0047] Specifically, the entire digital twin environment is displayed through a visual interface, including the operating status of the equipment, the planning of inspection routes, the dynamics of operators and the changes of electronic fences, so that monitoring personnel can monitor the time.

[0048] In the above embodiments, the present application combines electronic fences, positioning technology and digital twins to monitor the operating behavior of the substation.

[0049] Through this embodiment, first, a digital twin model of the substation is constructed to obtain a first target model, and the first target model is updated with the real-time operation data of the substation; then, the substation is rasterized according to the first target model to obtain a two-dimensional grid map; then, the position of each device to be operated is determined based on the work ticket information to obtain a first target position, and the work ticket information at least includes the number, position and type of the operating equipment; then, the equipment operation parameters of all equipment in the substation are obtained, and a three-dimensional electronic fence is constructed based on the operation parameters of each of the above equipment; then, based on the two-dimensional grid map, the first target position and the three-dimensional electronic fence, a target inspection path is generated by the A* path planning algorithm with the grid as a node; then, the target inspection path is sent to the terminal device of the operator, and the camera device is controlled to collect video images based on the position information of the terminal device, and a virtual model of the operator is generated based on the video image to obtain a second target model, and the second target model is synchronized with the operation action of the operator; finally, a visual display is performed based on the first target model, the three-dimensional electronic fence and the second target model, so that the monitoring personnel can monitor the real-time inspection status of the substation. A virtual model that reflects the actual operating status of the substation is constructed, and the site plane is two-dimensionally rasterized based on the virtual model. A three-dimensional electronic fence is dynamically generated according to the equipment status and displayed in the virtual model. The improved A* path planning algorithm is used to optimize the operation path in combination with the hazard factor and safety cost to ensure the safety of the working environment of the operators. A virtual model of the operators is established based on the human joints and skeletal connections, and the digital twin model is used to perform real-time visualization of the operators' status to ensure that the monitoring personnel can obtain the operators' working status in real time, which solves the problem of poor accident prevention capabilities during inspections in the existing technology.

[0050] In order to construct the first target model, in an optional implementation, the step S201 includes:

[0051] Step S2011, acquiring the outline data and panoramic image of the substation and the equipment data of the equipment in the substation, wherein the equipment data includes position parameters, geometric parameters and interaction parameters;

[0052] Specifically, the outline data of the substation, the panoramic image and the equipment data of each power distribution equipment in the substation are obtained, wherein the above equipment data may include position parameters, geometric parameters and interaction parameters, etc.

[0053] Step S2012, matching the above outline data with the above panoramic image to construct a substation structure model;

[0054] Specifically, the outer structure of the substation is constructed in a digital twin environment according to the above-mentioned contour data and the above-mentioned panoramic image to obtain the above-mentioned substation structural model.

[0055] Step S2013, constructing a corresponding equipment structure model according to the geometric parameters of each of the above equipment, and configuring the corresponding equipment structure model in the substation structure model based on the above position parameters;

[0056] Specifically, on the basis of the substation model, the external structure of the distribution equipment is constructed in the digital twin environment based on the geometric parameters corresponding to each distribution equipment to obtain the above-mentioned equipment structure model, and according to the above-mentioned position parameters, the above-mentioned equipment structure model is configured at the corresponding position of the substation structure model to obtain the overall structure model of the substation.

[0057] Step S2014: associating the above-mentioned equipment structure models in the above-mentioned substation structure model according to the above-mentioned interaction parameters to obtain the above-mentioned first target model.

[0058] Specifically, on the basis of the external structure, the data-driven relationship between the power distribution devices is configured based on the above-mentioned interaction parameters to obtain the above-mentioned first target model.

[0059] In order to construct the above three-dimensional electronic fence, in an optional implementation, the above step S204 includes:

[0060] Step S2041, determining whether the above-mentioned device is powered based on the above-mentioned device operating parameters;

[0061] Specifically, the purpose of constructing a three-dimensional electronic fence is to prevent workers from accidentally entering energized areas that are not work objects. Therefore, the present application is configured to first diagnose whether the power distribution equipment is energized based on the above-mentioned equipment operating parameters.

[0062] Step S2042, when the device is in a non-powered state, constructing the three-dimensional electronic fence with the outline of the device structure model corresponding to the device as the boundary;

[0063] Specifically, when the power distribution equipment is not energized, it is only necessary to prohibit operators from touching the power distribution equipment. Therefore, the present application is arranged to use the three-dimensional contour model of the power distribution equipment as the boundary of the three-dimensional electronic fence.

[0064] Step S2043, when the device is in a powered state, determining the real-time voltage of the device based on the device operation parameters, and determining the minimum safety distance corresponding to the device based on the real-time voltage;

[0065] Specifically, when the power distribution equipment is energized, a three-dimensional electronic fence is constructed based on the three-dimensional contour model of the equipment and the minimum safety distances of the power distribution equipment at different voltage levels in the power system.

[0066] Step S2044, taking the outline of the device structure model corresponding to the device as the first boundary, determining the second boundary according to the first boundary, and the distance between the first boundary and the second boundary is the minimum safety distance;

[0067] Specifically, a three-dimensional contour model of the safe area of ​​the energized equipment and contour models of each level of alarm are calculated to obtain the first boundary and the second boundary.

[0068] Step S2045: construct an electronic fence with the first boundary, configure the warning boundary of the electronic fence as the second boundary, and obtain the three-dimensional electronic fence.

[0069] Specifically, the three-dimensional electronic fence is obtained by configuring the electronic fence with the first boundary and the second boundary respectively.

[0070] In order to plan the above-mentioned target inspection path in real time, in an optional implementation manner, the above-mentioned step S205 includes:

[0071] Step S2051, based on matching each of the first target positions with the two-dimensional grid map, determining the grid to which each of the first target positions belongs, obtaining a node to be searched, and determining a start node and an end node based on the node to be searched,

[0072] Specifically, the idea of ​​the A* path planning algorithm as a heuristic algorithm is to use the grid where the operator is currently located as the starting grid, and determine the operator's inspection destination as the ending grid, that is, the above starting node and the above ending node. On this basis, the real-time cost calculation is used to walk until the ending node is reached.

[0073] Step S2052, constructing a list for storing unvisited nodes to obtain a first list, and constructing a list for storing visited nodes to obtain a second list;

[0074] Specifically, further, an open list and a close list are set to store nodes that have not been visited and nodes that have been visited, respectively.

[0075] Step S2053, determining the starting node as the current node and adding it to the target inspection path;

[0076] Step S2054, a search step, adding the current node to the second list, searching for adjacent nodes of the current node in the nodes to be searched, and adding the adjacent nodes to the first list;

[0077] Specifically, when the search starts, the close list is empty. After visiting the starting node, the starting node is deleted from the open list, added to the close list, and the search for the adjacent nodes of the starting node continues. It is determined whether the new node searched is in the open list. If not, the new node is added to the open list.

[0078] Step S2055, a walking step, calculating a cost function value based on the nodes to be searched in the first list, determining the node to be searched corresponding to the minimum cost function value as the current node and adding it to the target inspection path;

[0079] Specifically, the cost function is used to calculate the cost function value f of the new node, and compared with the cost value f of the same node calculated last time, the node with the smallest cost function value f is selected as the parent node of the next search point, and the node with the smallest cost function value f is added to the close list, and then the node information in the open list is continued to be updated;

[0080] Step S2056, repeat the above-mentioned search step and the above-mentioned wandering step in sequence at least once, until the above-mentioned termination node joins the above-mentioned target inspection path.

[0081] Specifically, the above search step and the above walk step are repeated until the termination point is reached. When the termination node is traversed and the termination node is added to the close list, the loop ends and the path planning result is obtained.

[0082] In the above embodiment, when there is more than one device to be operated in the work ticket, it is necessary to first determine the operation priority of the device to be operated, and then plan the operation path.

[0083] In order to determine the cost function value, in an optional implementation, the step S2055 includes:

[0084] Step S20551, based on the positions of the adjacent nodes, determine the number of nodes that the straight path between the adjacent node and the terminal node passes through, to obtain a first node number m, and based on the position of the current node, determine the number of nodes that the straight path between the current node and the terminal node passes through, to obtain a second node number M;

[0085] Step S20552, substituting the first node number m and the second node number M into a first preset formula r=m / M to obtain a risk coefficient r;

[0086] Specifically, in this application, the movement of the operator is restricted, that is, the operator cannot enter the electronic fence area, so a risk factor is defined and added to the cost function. The expression of the risk factor is r = m / M, where m is the number of grids belonging to the electronic fence area that the straight path between the adjacent grid n and the end grid passes through, and M is the number of grids that the straight path between the current grid and the end grid passes through.

[0087] Step S20553, based on the positions of the adjacent nodes, determine the number of nodes including powered devices that are passed by the straight path between the adjacent node and the terminal node, and obtain a third number of nodes k;

[0088] Step S20554, substituting the third node number k and the second node number M into a second preset formula β=k / M to obtain a security cost β;

[0089] Specifically, in this application, a safety cost is also defined to avoid live equipment as much as possible to ensure the safety of operators. The expression of the safety cost is β=k / M, where k is the number of grids belonging to live equipment that the straight path between the adjacent grid n and the terminal grid passes through.

[0090] Step S20555, determining the Euclidean distance between the adjacent node and the termination node based on the position of the adjacent node to obtain a first distance h(n), and determining the Euclidean distance between the current node and the adjacent node based on the position of the current node to obtain a second distance g(n);

[0091] Step S20556, substitute the first distance h(n), the second distance g(n), the risk factor r and the safety cost β into the third preset formula f(n)=g(n)+r*h(n)+β to obtain the cost function value f(n).

[0092] Specifically, the risk factor r and the safety cost β are substituted into the cost function f(n)=g(n)+r*h(n)+β to obtain the cost function value f(n). Wherein, h(n) is the Euclidean distance between the adjacent grid n and the target grid, and g(n) is the Euclidean distance of the operator moving from the current grid to the adjacent grid n.

[0093] In order to obtain the second target model, in an optional implementation, the step S206 includes:

[0094] Step S2061, extracting a human body contour based on the video image to obtain multiple target contours of the operator in different postures;

[0095] Specifically, historical image data of the workers' work is acquired to obtain multiple target contours of the workers in different postures.

[0096] Step S2062, decomposing each of the above target contours into a plurality of human joint regions, wherein the connection relationship between the above human joint regions is the same as the connection relationship between the human skeleton;

[0097] Specifically, the posture of the operator is decomposed into a number of human joints, and the connection relationship between the above human joints is the same as the connection relationship between the human skeleton.

[0098] Step S2063, associating the above-mentioned human body joint area with the skeletal joints of the operator in the real-time video image to obtain the above-mentioned second target model.

[0099] Specifically, each joint point is associated through the connection relationship of the human skeleton to obtain a virtual model of the operator, that is, the above-mentioned second target model.

[0100] In order to ensure the accuracy of the digital twin model, in an optional implementation, after associating the above-mentioned equipment structure models in the above-mentioned substation structure model according to the above-mentioned interaction parameters to obtain the above-mentioned first target model, the above-mentioned method further includes:

[0101] Step S301, obtaining historical operation data of the substation, and inputting the historical operation data into the first target model to drive the first target model to perform simulation operation;

[0102] Specifically, the digital twin model is driven by the historical operation data of the substation to verify the accuracy of the digital twin model.

[0103] Step S302, comparing the simulation operation result with the actual data of the historical operation data to determine the simulation deviation;

[0104] Specifically, simulation results driven by historical data are compared with actual operation results of historical data to determine simulation deviations.

[0105] Step S303, when the simulation deviation is less than a preset threshold, determining that the simulation of the first target model is valid;

[0106] Step S304: when the simulation deviation is greater than or equal to the preset threshold, determining that the simulation of the first target model is invalid, and adjusting parameters of the first target model based on the simulation deviation.

[0107] Specifically, when the simulation deviation is greater than or equal to the preset threshold, it is determined that the simulation of the first target model is invalid, and the first target model is optimized and adjusted.

[0108] It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0109] The embodiment of the present application also provides a substation operation monitoring device based on an electronic fence. It should be noted that the substation operation monitoring device based on an electronic fence in the embodiment of the present application can be used to execute the substation operation monitoring method based on an electronic fence provided in the embodiment of the present application. The device is used to implement the above-mentioned embodiments and preferred implementation modes, and the descriptions that have been made will not be repeated. As used below, the term "module" can implement a combination of software and / or hardware for a predetermined function. Although the device described in the following embodiments is preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceived.

[0110] The following is an introduction to the substation operation monitoring device based on electronic fence provided in an embodiment of the present application.

[0111] Figure 3 1 is a structural block diagram of a substation operation monitoring device based on an electronic fence according to an embodiment of the present application. Figure 3 As shown, the device comprises:

[0112] A first construction unit 10 is used to construct a digital twin model of the substation to obtain a first target model, wherein the first target model is updated with real-time operation data of the substation;

[0113] Specifically, a digital twin model of the substation is constructed based on the digital twin technology to obtain the above-mentioned first target model. The above-mentioned first target model is driven by the actual operation data of the substation to obtain a digital twin environment that changes in time with the substation.

[0114] It is understandable that digital twin technology refers to the creation of virtual product or system models by mapping physical entities through real-time data. In substations, digital twins can help managers understand equipment conditions in real time, predict failure risks, and improve the accuracy of operational behavior monitoring.

[0115] A first processing unit 20 is used to rasterize the substation according to the first target model to obtain a two-dimensional grid map;

[0116] Specifically, the site plane of the substation is rasterized based on the digital twin model of the substation to form the above-mentioned two-dimensional grid map corresponding to the substation site.

[0117] A first determination unit 30 is used to determine the position of each device to be operated based on the work ticket information to obtain a first target position, wherein the work ticket information at least includes the number, position and type of the operating equipment;

[0118] Specifically, the equipment name of the equipment to be operated and its corresponding absolute position in the substation are determined according to the work ticket information to obtain the above-mentioned first target position.

[0119] The second construction unit 40 is used to obtain the equipment operation parameters of all the equipment in the above-mentioned substation, and respectively construct a three-dimensional electronic fence based on the above-mentioned equipment operation parameters;

[0120] Specifically, the equipment operating parameters corresponding to all equipment in the substation (including equipment to be operated and equipment to be operated) are obtained, and then the status of the equipment in the digital twin environment is determined according to the equipment operating parameters, and then an electronic fence is generated to prevent operators from accidentally entering, and the above-mentioned three-dimensional electronic fence is obtained.

[0121] It is understandable that electronic fence is a security management solution based on positioning technology. It monitors the target area in real time by presetting virtual boundaries. Once the target enters or leaves the set area, the system will automatically trigger an alarm or take corresponding measures. The application of electronic fence in substations can effectively prevent unauthorized entry and improve security prevention capabilities.

[0122] A first calculation unit 50 is used to generate a target inspection path through an A* path planning algorithm based on the two-dimensional grid map, the first target position and the three-dimensional electronic fence, with the grid as a node;

[0123] Specifically, based on the location of the equipment to be operated, the two-dimensional grid map of the substation site and the status of each three-dimensional electronic fence, the inspection path of the operator is updated in real time based on the A* path planning algorithm to obtain the above-mentioned target inspection path.

[0124] The third construction unit 60 is used to send the target inspection path to the terminal device of the operator, and control the camera device to collect video images based on the position information of the terminal device, generate a virtual model of the operator based on the video image, and obtain a second target model, and the second target model is synchronized with the operation action of the operator;

[0125] Specifically, after determining the dynamic inspection path, that is, the above-mentioned target inspection path, a virtual model corresponding to the operator is generated in the digital twin environment based on the real-time working image of the operator to obtain the above-mentioned second target model.

[0126] It is understandable that the process of driving the virtual model of the operator involves real-time positioning of the operator. The accuracy and stability of positioning technology directly affect the monitoring effect. In specific implementation, the commonly used positioning technologies in substations include Beidou, GPS, RFID, laser positioning and Wi-Fi positioning.

[0127] The display unit 70 is used for visual display based on the first target model, the three-dimensional electronic fence and the second target model, so that the monitoring personnel can monitor the real-time inspection status of the substation.

[0128] Specifically, the entire digital twin environment is displayed through a visual interface, including the operating status of the equipment, the planning of inspection routes, the dynamics of operators and the changes of electronic fences, so that monitoring personnel can monitor the time.

[0129] In the above embodiments, the present application combines electronic fences, positioning technology and digital twins to monitor the operating behavior of the substation.

[0130] Through this embodiment, the first construction unit constructs a digital twin model of the substation to obtain a first target model, and the above-mentioned first target model is updated with the real-time operation data of the above-mentioned substation; the first processing unit rasterizes the above-mentioned substation according to the above-mentioned first target model to obtain a two-dimensional raster map; the first determination unit determines the position of each device to be operated based on the work ticket information to obtain a first target position, and the above-mentioned work ticket information at least includes the number, location and type of the operating equipment; the second construction unit obtains the equipment operation parameters of all the equipment in the above-mentioned substation, and constructs a three-dimensional electronic fence based on the operation parameters of each of the above-mentioned equipment; the first calculation unit is based on the above-mentioned two-dimensional The grid map, the first target position and the three-dimensional electronic fence, with the grid as a node, generate a target inspection path through the A* path planning algorithm; the third construction unit sends the target inspection path to the terminal device of the operator, and controls the camera device to collect video images based on the position information of the terminal device, generates a virtual model of the operator based on the video image, and obtains a second target model, and the second target model is synchronized with the operator's operating action; the display unit performs a visual display based on the first target model, the three-dimensional electronic fence and the second target model, so that the monitoring personnel can monitor the real-time inspection status of the substation. A virtual model that reflects the actual operating status of the substation is constructed, and the site plane is two-dimensionally rasterized based on the virtual model. A three-dimensional electronic fence is dynamically generated according to the equipment status and displayed in the virtual model. The improved A* path planning algorithm is used to optimize the operation path in combination with the hazard factor and safety cost to ensure the safety of the working environment of the operators. A virtual model of the operators is established based on the human joints and skeletal connections, and the digital twin model is used to perform real-time visualization of the operators' status to ensure that the monitoring personnel can obtain the operators' working status in real time, which solves the problem of poor accident prevention capabilities during inspections in the existing technology.

[0131] In order to construct the first target model, in an optional implementation, the first construction unit includes:

[0132] A first acquisition module is used to acquire the outline data and panoramic image of the substation and the equipment data of the equipment in the substation, wherein the equipment data includes position parameters, geometric parameters and interaction parameters;

[0133] Specifically, the outline data of the substation, the panoramic image and the equipment data of each power distribution equipment in the substation are obtained, wherein the above equipment data may include position parameters, geometric parameters and interaction parameters, etc.

[0134] A first construction module is used to match the above-mentioned contour data with the above-mentioned panoramic image to construct a substation structure model;

[0135] Specifically, the outer structure of the substation is constructed in a digital twin environment according to the above-mentioned contour data and the above-mentioned panoramic image to obtain the above-mentioned substation structural model.

[0136] A second construction module is used to construct a corresponding device structure model according to the geometric parameters of each of the above devices, and configure the corresponding device structure model in the substation structure model based on the position parameters;

[0137] Specifically, on the basis of the substation model, the external structure of the distribution equipment is constructed in the digital twin environment based on the geometric parameters corresponding to each distribution equipment to obtain the above-mentioned equipment structure model, and according to the above-mentioned position parameters, the above-mentioned equipment structure model is configured at the corresponding position of the substation structure model to obtain the overall structure model of the substation.

[0138] The third construction module is used to associate the above-mentioned equipment structure models in the above-mentioned substation structure model according to the above-mentioned interaction parameters to obtain the above-mentioned first target model.

[0139] Specifically, on the basis of the external structure, the data-driven relationship between the power distribution devices is configured based on the above-mentioned interaction parameters to obtain the above-mentioned first target model.

[0140] In order to construct the above three-dimensional electronic fence, in an optional implementation, the above second building unit includes:

[0141] A first determination module, used to determine whether the above-mentioned device is powered based on the above-mentioned device operation parameters;

[0142] Specifically, the purpose of constructing a three-dimensional electronic fence is to prevent workers from accidentally entering energized areas that are not work objects. Therefore, the present application is configured to first diagnose whether the power distribution equipment is energized based on the above-mentioned equipment operating parameters.

[0143] A fourth construction module is used to construct the three-dimensional electronic fence with the outline of the device structure model corresponding to the device as the boundary when the device is in a non-powered state;

[0144] Specifically, when the power distribution equipment is not energized, it is only necessary to prohibit operators from touching the power distribution equipment. Therefore, the present application is arranged to use the three-dimensional contour model of the power distribution equipment as the boundary of the three-dimensional electronic fence.

[0145] A second determination module is used to determine the real-time voltage of the device based on the operating parameters of the device when the device is in a powered state, and determine the minimum safety distance corresponding to the device based on the real-time voltage;

[0146] Specifically, when the power distribution equipment is energized, a three-dimensional electronic fence is constructed based on the three-dimensional contour model of the equipment and the minimum safety distances of the power distribution equipment at different voltage levels in the power system.

[0147] A third determination module is used to determine a second boundary based on the first boundary, using the outline of the device structure model corresponding to the device as the first boundary, and the distance between the first boundary and the second boundary is the minimum safety distance;

[0148] Specifically, a three-dimensional contour model of the safe area of ​​the energized equipment and contour models of each level of alarm are calculated to obtain the first boundary and the second boundary.

[0149] The fifth construction module is used to construct an electronic fence with the first boundary, configure the warning boundary of the electronic fence as the second boundary, and obtain the three-dimensional electronic fence.

[0150] Specifically, the three-dimensional electronic fence is obtained by configuring the electronic fence with the first boundary and the second boundary respectively.

[0151] In order to plan the target inspection path in real time, in an optional implementation, the first calculation unit includes:

[0152] The fourth determination module is used to match each of the first target positions with the two-dimensional grid map, determine the grid to which each of the first target positions belongs, obtain the node to be searched, and determine the starting node and the ending node based on the node to be searched.

[0153] Specifically, the idea of ​​the A* path planning algorithm as a heuristic algorithm is to use the grid where the operator is currently located as the starting grid, and determine the operator's inspection destination as the ending grid, that is, the above starting node and the above ending node. On this basis, the real-time cost calculation is used to walk until the ending node is reached.

[0154] A sixth construction module is used to construct a list for storing unvisited nodes to obtain a first list, and to construct a list for storing visited nodes to obtain a second list;

[0155] Specifically, further, an open list and a close list are set to store nodes that have not been visited and nodes that have been visited, respectively.

[0156] A fifth determination module, used to determine the starting node as the current node and add it to the target inspection path;

[0157] A first processing module, configured to execute a search step, add the current node to the second list, search for adjacent nodes of the current node among the nodes to be searched, and add the adjacent nodes to the first list;

[0158] Specifically, when the search starts, the close list is empty. After visiting the starting node, the starting node is deleted from the open list, added to the close list, and the search for the adjacent nodes of the starting node continues. It is determined whether the new node searched is in the open list. If not, the new node is added to the open list.

[0159] A first calculation module is used to perform the walking step, calculate the cost function value based on the above-mentioned nodes to be searched in the above-mentioned first list, determine the above-mentioned node to be searched corresponding to the minimum cost function value as the current node and add it to the above-mentioned target inspection path;

[0160] Specifically, the cost function is used to calculate the cost function value f of the new node, and compared with the cost value f of the same node calculated last time, the node with the smallest cost function value f is selected as the parent node of the next search point, and the node with the smallest cost function value f is added to the close list, and then the node information in the open list is continued to be updated;

[0161] The repetition module is used to sequentially repeat the above-mentioned search step and the above-mentioned wandering step at least once until the above-mentioned termination node joins the above-mentioned target inspection path.

[0162] Specifically, the above search step and the above walk step are repeated until the termination point is reached. When the termination node is traversed and the termination node is added to the close list, the loop ends and the path planning result is obtained.

[0163] In the above embodiment, when there is more than one device to be operated in the work ticket, it is necessary to first determine the operation priority of the device to be operated, and then plan the operation path.

[0164] In order to determine the cost function value, in an optional implementation, the first calculation module includes:

[0165] A first determination submodule is configured to determine the number of nodes that the straight path between the adjacent node and the terminal node passes through based on the position of the adjacent node to obtain a first node number m, and determine the number of nodes that the straight path between the current node and the terminal node passes through based on the position of the current node to obtain a second node number M;

[0166] A first calculation submodule is used to substitute the first node number m and the second node number M into a first preset formula r=m / M to obtain a risk coefficient r;

[0167] Specifically, in this application, the movement of the operator is restricted, that is, the operator cannot enter the electronic fence area, so a risk factor is defined and added to the cost function. The expression of the risk factor is r = m / M, where m is the number of grids belonging to the electronic fence area that the straight path between the adjacent grid n and the end grid passes through, and M is the number of grids that the straight path between the current grid and the end grid passes through.

[0168] A second determination submodule is used to determine the number of nodes including powered devices that are passed through the straight path between the adjacent node and the terminal node based on the position of the adjacent node, to obtain a third number of nodes k;

[0169] A second calculation submodule is used to substitute the third node number k and the second node number M into a second preset formula β=k / M to obtain a security cost β;

[0170] Specifically, in this application, a safety cost is also defined to avoid live equipment as much as possible to ensure the safety of operators. The expression of the safety cost is β=k / M, where k is the number of grids belonging to live equipment that the straight path between the adjacent grid n and the terminal grid passes through.

[0171] A third determination submodule is used to determine the Euclidean distance between the adjacent node and the termination node based on the position of the adjacent node to obtain a first distance h(n), and to determine the Euclidean distance between the current node and the adjacent node based on the position of the current node to obtain a second distance g(n);

[0172] The third calculation submodule is used to substitute the above-mentioned first distance h(n), the above-mentioned second distance g(n), the above-mentioned risk coefficient r and the above-mentioned safety cost β into the third preset formula f(n)=g(n)+r*h(n)+β to obtain the above-mentioned cost function value f(n).

[0173] Specifically, the risk factor r and the safety cost β are substituted into the cost function f(n)=g(n)+r*h(n)+β to obtain the cost function value f(n). Wherein, h(n) is the Euclidean distance between the adjacent grid n and the target grid, and g(n) is the Euclidean distance of the operator moving from the current grid to the adjacent grid n.

[0174] In order to obtain the second target model, in an optional implementation, the third construction unit includes:

[0175] A second acquisition module is used to extract the human body contour based on the video image to obtain multiple target contours of the operator in different postures;

[0176] Specifically, historical image data of the workers' work is acquired to obtain multiple target contours of the workers in different postures.

[0177] A third acquisition module is used to decompose each of the above target contours into a plurality of human joint regions, wherein the connection relationship between the above human joint regions is the same as the connection relationship between the human skeleton;

[0178] Specifically, the posture of the operator is decomposed into a number of human joints, and the connection relationship between the above human joints is the same as the connection relationship between the human skeleton.

[0179] The second processing module is used to associate the above-mentioned human joint area with the skeletal joints of the operator in the real-time video image to obtain the above-mentioned second target model.

[0180] Specifically, each joint point is associated through the connection relationship of the human skeleton to obtain a virtual model of the operator, that is, the above-mentioned second target model.

[0181] In order to ensure the accuracy of the digital twin model, in an optional implementation, the above device also includes:

[0182] an acquisition unit, configured to, after associating the equipment structure models in the substation structure model according to the interaction parameters to obtain the first target model, acquire historical operation data of the substation, and input the historical operation data into the first target model to drive the first target model to perform simulation operation;

[0183] Specifically, the digital twin model is driven by the historical operation data of the substation to verify the accuracy of the digital twin model.

[0184] A second calculation unit is used to compare the simulation operation result with the actual data of the historical operation data to determine the simulation deviation;

[0185] Specifically, simulation results driven by historical data are compared with actual operation results of historical data to determine simulation deviations.

[0186] A second determining unit, configured to determine that the simulation of the first target model is valid when the simulation deviation is less than a preset threshold;

[0187] The third determination unit is used to determine that the simulation of the first target model is invalid when the simulation deviation is greater than or equal to the preset threshold, and adjust parameters of the first target model based on the simulation deviation.

[0188] Specifically, when the simulation deviation is greater than or equal to the preset threshold, it is determined that the simulation of the first target model is invalid, and the first target model is optimized and adjusted.

[0189] The above-mentioned substation operation monitoring device based on electronic fence includes a processor and a memory. The above-mentioned first construction unit, first processing unit, first determination unit, second construction unit, first calculation unit, third construction unit display unit, etc. are all stored in the memory as program units, and the processor executes the above-mentioned program units stored in the memory to realize corresponding functions. The above-mentioned modules are all located in the same processor; or, the above-mentioned modules are located in different processors in the form of any combination.

[0190] The processor includes a kernel, which retrieves the corresponding program unit from the memory. One or more kernels can be set, and the efficiency of handling emergencies during the inspection process can be improved by adjusting kernel parameters.

[0191] The memory may include non-permanent memory in a computer-readable medium, 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.

[0192] An embodiment of the present invention provides a computer-readable storage medium, which includes a stored program, wherein when the program is running, the device where the computer-readable storage medium is located is controlled to execute the substation operation monitoring method based on electronic fence.

[0193] An embodiment of the present invention provides a processor, and the processor is used to run a program, wherein the program executes the substation operation monitoring method based on electronic fence when running.

[0194] An embodiment of the present invention provides a patrol monitoring 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, steps of a substation operation monitoring method based on at least an electronic fence are implemented.

[0195] The present application also provides a computer program product, which, when executed on a data processing device, is suitable for executing a program for initializing the steps of a substation operation monitoring method based on at least an electronic fence.

[0196] Obviously, those skilled in the art should understand that the above modules or steps of the present invention can be implemented by a general computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be executed in a different order than here, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.

[0197] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0198] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0199] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0200] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0201] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0202] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0203] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules 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 technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0204] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0205] From the above description, it can be seen that the above embodiments of the present application achieve the following technical effects:

[0206] 1) The electronic fence-based substation operation monitoring method of the present application firstly constructs a digital twin model of the substation to obtain a first target model, and the first target model is updated with the real-time operation data of the substation; then, the substation is rasterized according to the first target model to obtain a two-dimensional grid map; then, the position of each device to be operated is determined based on the work ticket information to obtain the first target position, and the work ticket information at least includes the number, position and type of the operating equipment; then, the equipment operation parameters of all the equipment in the substation are obtained, and a three-dimensional electronic fence is constructed based on the operation parameters of each of the above equipment; then, based on the above The two-dimensional grid map, the first target position and the three-dimensional electronic fence are used to generate a target inspection path through the A* path planning algorithm with the grid as a node; then, the target inspection path is sent to the terminal device of the operator, and the camera device is controlled to collect video images based on the position information of the terminal device, and a virtual model of the operator is generated based on the video image to obtain a second target model, and the second target model is synchronized with the operating action of the operator; finally, a visual display is performed based on the first target model, the three-dimensional electronic fence and the second target model, so that the monitoring personnel can monitor the real-time inspection status of the substation. A virtual model that reflects the actual operating status of the substation is constructed, and the site plane is two-dimensionally rasterized based on the virtual model. A three-dimensional electronic fence is dynamically generated according to the equipment status and displayed in the virtual model. The improved A* path planning algorithm is used to optimize the operation path in combination with the hazard factor and safety cost to ensure the safety of the working environment of the operators. A virtual model of the operators is established based on the human joints and skeletal connections, and the digital twin model is used to perform real-time visualization of the operators' status to ensure that the monitoring personnel can obtain the operators' working status in real time, which solves the problem of poor accident prevention capabilities during inspections in the existing technology.

[0207] 2) The electronic fence-based substation operation monitoring device of the present application comprises the following steps: a first construction unit constructs a digital twin model of the substation to obtain a first target model, and the first target model is updated with the real-time operation data of the substation; a first processing unit rasterizes the substation according to the first target model to obtain a two-dimensional grid map; a first determination unit determines the position of each device to be operated based on the work ticket information to obtain a first target position, and the work ticket information at least includes the number, position and type of the operating equipment; a second construction unit obtains the equipment operation parameters of all the equipment in the substation, and constructs a three-dimensional electronic fence based on the operation parameters of each of the above equipment; a first calculation unit calculates the position of each device to be operated based on the work ticket information to obtain a first target position. The unit generates a target inspection path based on the above-mentioned two-dimensional grid map, the above-mentioned first target position and the above-mentioned three-dimensional electronic fence, with the grid as a node, through the A* path planning algorithm; the third construction unit sends the above-mentioned target inspection path to the terminal device of the operator, and controls the camera device to collect video images based on the position information of the terminal device, generates a virtual model of the operator based on the above-mentioned video image, and obtains a second target model, and the above-mentioned second target model is synchronized with the operating action of the above-mentioned operator; the display unit performs a visual display based on the above-mentioned first target model, the above-mentioned three-dimensional electronic fence and the above-mentioned second target model, so that the monitoring personnel can monitor the real-time inspection status of the substation. A virtual model that reflects the actual operating status of the substation is constructed, and the site plane is two-dimensionally rasterized based on the virtual model. A three-dimensional electronic fence is dynamically generated according to the equipment status and displayed in the virtual model. The improved A* path planning algorithm is used to optimize the operation path in combination with the hazard factor and safety cost to ensure the safety of the working environment of the operators. A virtual model of the operators is established based on the human joints and skeletal connections, and the digital twin model is used to perform real-time visualization of the operators' status to ensure that the monitoring personnel can obtain the operators' working status in real time, which solves the problem of poor accident prevention capabilities during inspections in the existing technology.

[0208] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A substation operation monitoring method based on electronic fence, characterized in that: include: Constructing a digital twin model of the substation to obtain a first target model, wherein the first target model is updated with real-time operation data of the substation; rasterizing the substation according to the first target model to obtain a two-dimensional grid map; Determine the position of each device to be operated based on the work ticket information to obtain a first target position, wherein the work ticket information at least includes the number, position and type of the operating equipment; Acquire equipment operating parameters of all equipment in the substation, and construct three-dimensional electronic fences based on the equipment operating parameters; Based on the two-dimensional grid map, the first target location and the three-dimensional electronic fence, a target inspection path is generated by an A* path planning algorithm with the grid as a node; The target inspection path is sent to the terminal device of the operator, and the camera device is controlled to collect video images based on the position information of the terminal device, and a virtual model of the operator is generated based on the video image to obtain a second target model, and the second target model is synchronized with the operation action of the operator; A visual display is performed based on the first target model, the three-dimensional electronic fence and the second target model so that monitoring personnel can monitor the real-time inspection status of the substation.

2. The method according to claim 1, characterized in that Build a digital twin model of the substation and obtain the first target model, including: Acquire contour data and a panoramic image of the substation and equipment data of the equipment in the substation, wherein the equipment data includes position parameters, geometric parameters and interaction parameters; Constructing a substation structure model by matching the contour data with the panoramic image; Constructing a corresponding equipment structure model according to the geometric parameters of each of the equipment, and configuring the corresponding equipment structure model in the substation structure model based on the position parameters; The equipment structure models in the substation structure model are associated according to the interaction parameters to obtain the first target model.

3. The method according to claim 2, characterized in that Obtaining equipment operating parameters of all equipment in the substation, and constructing three-dimensional electronic fences based on the equipment operating parameters, including: determining whether the device is powered based on the device operating parameters; When the device is in an unpowered state, the three-dimensional electronic fence is constructed with the outline of the device structure model corresponding to the device as the boundary; When the device is in a powered state, determining the real-time voltage of the device based on the device operation parameters, and determining the minimum safety distance corresponding to the device based on the real-time voltage; Taking the outline of the device structure model corresponding to the device as a first boundary, determining a second boundary according to the first boundary, and the distance between the first boundary and the second boundary is the minimum safety distance; An electronic fence is constructed with the first boundary, and the alarm boundary of the electronic fence is configured as the second boundary to obtain the three-dimensional electronic fence.

4. The method according to claim 1, characterized in that: Based on the two-dimensional grid map, the first target position and the three-dimensional electronic fence, the grid is used as a node, and a target inspection path is generated by an A* path planning algorithm, including: Based on matching each of the first target positions with the two-dimensional grid map, determining the grid to which each of the first target positions belongs, obtaining a node to be searched, and determining a start node and an end node based on the node to be searched, A list for storing unvisited nodes is constructed to obtain a first list, and a list for storing visited nodes is constructed to obtain a second list; Determine the starting node as the current node and add it to the target inspection path; A searching step, adding the current node to the second list, searching for adjacent nodes of the current node in the nodes to be searched, and adding the adjacent nodes to the first list; A walking step, calculating a cost function value based on the nodes to be searched in the first list, determining the node to be searched corresponding to the smallest cost function value as the current node and adding it to the target inspection path; The searching step and the wandering step are repeated at least once in sequence until the termination node joins the target inspection path.

5. The method according to claim 4, characterized in that Calculating a cost function value based on the to-be-searched nodes in the first list includes: Determine the number of nodes that the straight path between the adjacent node and the terminating node passes through based on the position of the adjacent node to obtain a first node number m, and determine the number of nodes that the straight path between the current node and the terminating node passes through based on the position of the current node to obtain a second node number M; Substituting the first node number m and the second node number M into a first preset formula r=m / M to obtain a risk coefficient r; Based on the positions of the adjacent nodes, determine the number of nodes including powered devices that are passed through by the straight path between the adjacent node and the terminating node, and obtain a third number of nodes k; Substituting the third node number k and the second node number M into a second preset formula β=k / M to obtain a security cost β; Determine the Euclidean distance between the adjacent node and the termination node based on the position of the adjacent node to obtain a first distance h(n); determine the Euclidean distance between the current node and the adjacent node based on the position of the current node to obtain a second distance g(n); Substitute the first distance h(n), the second distance g(n), the risk factor r and the safety cost β into the third preset formula f(n)=g(n)+r*h(n)+β to obtain the cost function value f(n).

6. The method according to claim 1, characterized in that Generating a virtual model of the operator based on the video image to obtain a second target model includes: Extracting a human body contour based on the video image to obtain a plurality of target contours of the operator in different postures; Decomposing each of the target contours into a plurality of human joint regions, wherein the connection relationship between the human joint regions is the same as the connection relationship between the human skeleton; The human body joint area is associated with the skeletal joints of the operator in the real-time video image to obtain the second target model.

7. The method according to claim 2, characterized in that After associating the equipment structure models in the substation structure model according to the interaction parameters to obtain the first target model, the method further includes: Acquiring historical operation data of the substation, and inputting the historical operation data into the first target model to drive the first target model to perform simulation operation; Determine the simulation deviation based on the comparison of the simulation operation result with the actual data of the historical operation data; When the simulation deviation is less than a preset threshold, determining that the simulation of the first target model is valid; When the simulation deviation is greater than or equal to the preset threshold, it is determined that the simulation of the first target model is invalid, and parameters of the first target model are adjusted based on the simulation deviation.

8. A substation operation monitoring device based on electronic fence, characterized in that: The device comprises: A first construction unit is used to construct a digital twin model of the substation to obtain a first target model, where the first target model is updated with real-time operation data of the substation; A first processing unit, configured to rasterize the substation according to the first target model to obtain a two-dimensional grid map; A first determination unit is used to determine the position of each device to be operated based on the work ticket information to obtain a first target position, wherein the work ticket information at least includes the number, position and type of the operating equipment; A second construction unit is used to obtain equipment operating parameters of all equipment in the substation, and to respectively construct a three-dimensional electronic fence based on each of the equipment operating parameters; A first calculation unit is used to generate a target inspection path through an A* path planning algorithm based on the two-dimensional grid map, the first target position and the three-dimensional electronic fence, with the grid as a node; A third construction unit is used to send the target inspection path to the terminal device of the operator, and control the camera device to collect video images based on the position information of the terminal device, generate a virtual model of the operator based on the video image, and obtain a second target model, wherein the second target model is synchronized with the operation action of the operator; The display unit is used for visual display based on the first target model, the three-dimensional electronic fence and the second target model, so that monitoring personnel can monitor the real-time inspection status of the substation.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute the method according to any one of claims 1 to 7.

10. A patrol monitoring 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 are configured to be executed by the one or more processors, and the one or more programs include methods for executing any one of claims 1 to 7.

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