Panoramic management and control method and device for substation operation area inspection

Abstract

The invention provides a panoramic management and control method and device for substation operation area inspection. According to the method, a three-dimensional visual model of a transformer substation is constructed to ensure that an equipment state, a personnel position and a maintenance route are instantly visible in the inspection process, on the basis, equipment operation data and historical maintenance data are integrated to realize dynamic planning of the maintenance route, and through an electronic fence and a positioning device, the maintenance route can be dynamically planned. According to the method, the polling personnel are prevented from mistakenly entering non-operation dangerous areas, the safety of the polling personnel is ensured, the dynamic real-time management of the polling process of the transformer substation is realized, and the problem that the response is not timely due to manual monitoring in the prior art is solved.

Description

Technical Field

[0001] The present invention relates to the field of data communication technology, and in particular to a panoramic control method for substation operation area inspection, a panoramic control device for substation operation area inspection, a computer-readable storage medium and a monitoring system. Background Art

[0002] As the scale of power grid increases exponentially, there are more and more unmanned substations. Currently, the monitoring center monitors substations mainly from two channels. One is the electrical quantity and equipment status information collected by the SCADA system, and the other is the real-time on-site images viewed through video monitoring equipment. These two aspects of information are relatively isolated and cannot be integrated.

[0003] Although the existing substation maintenance monitoring system can help monitoring personnel to assist monitoring to a certain extent, it has the problem of information isolation and cannot comprehensively manage substation maintenance. The existing safety control cannot comprehensively solve the needs of substation maintenance work safety production, and cannot organically integrate the various levels of substation maintenance management, resulting in the disconnection of information application of substation maintenance management, that is, the existing monitoring means cannot realize the intelligent management and visual monitoring of equipment, personnel location and status information, which brings many difficulties to the daily operation and maintenance management and safety supervision of substations. Especially in the daily maintenance work of substation operators, it is necessary to train the operators to improve their safety awareness and prevent them from entering the live area by mistake and causing casualties. Just viewing the on-site images through video monitoring has already caused an accident. How to prevent mistaken entry into the live area, give timely reminders to operators, and avoid the occurrence of safety accidents in time is a safety issue that needs to be solved urgently.

[0004] In addition, existing operators prepare patrol plans and generate patrol task lists, and then conduct on-site patrols based on the patrol task lists. This method does not make sufficient use of the collected equipment status information and cannot meet the needs of timely maintenance of substation equipment. Summary of the invention

[0005] The main purpose of the present application is to provide a panoramic control method for substation operation area inspection, a panoramic control device for substation operation area inspection, a computer-readable storage medium and a monitoring device, so as to at least solve the problem of untimely response through manual monitoring in the prior art.

[0006] In order to achieve the above-mentioned purpose, according to one aspect of the present application, a panoramic control method for inspection of a substation operation area is provided, including: obtaining equipment operation data, benchmark operation data and historical operation data of each substation equipment in the substation, and determining the equipment impact level based on the historical operation data when the deviation between the equipment operation data and the benchmark operation data is greater than a first threshold; correcting the inspection route in the work ticket information based on the equipment impact level to generate a new inspection route and obtain at least one target inspection route, wherein the work ticket information at least includes an operator, an inspection object, the inspection route and an inspection content; constructing a three-dimensional map based on the three-dimensional point cloud data of the substation to obtain a substation model, marking the substation model based on the target inspection route, and setting a virtual electronic fence in the marked substation model; monitoring the movement trajectory of the operator through a UBW base station, an RTK base station and a terminal device carried by the operator, and when the operator enters the virtual electronic fence, an audible and visual alarm is issued to prompt the operator to stay away.

[0007] Optionally, before determining the equipment impact level based on the historical operation data, the method also includes: calculating the difference between the equipment operation data and the benchmark operation data to obtain equipment operation fluctuations; when the equipment operation fluctuations are greater than or equal to the first threshold, determining the equipment operation data as risk data; when the equipment operation fluctuations are less than the first threshold, preliminarily determining that the equipment operation data corresponding to the equipment operation fluctuations are safe data.

[0008] Optionally, determining the equipment impact level based on the historical operation data includes: traversing the historical operation data based on each of the risk data to determine the historical occurrence number and the historical repair number of the risk data; traversing the historical operation data based on each of the risk data to determine the historical average repair time of the risk data; substituting the historical occurrence number, the historical repair number and the historical average repair time into a first preset formula Obtain a target impact factor, where μi is the target impact factor, Ni is the historical number of occurrences of the risk data i, N is the total number of times risks occur in substation equipment corresponding to the risk data, Ai is the historical number of repairs of the risk data i, and Bi is the average historical repair time of the risk data i; obtain cost conversion parameters for substation equipment corresponding to the risk data, and calculate the equipment impact level based on the target impact factor and the cost conversion parameters.

[0009] Optionally, the equipment impact level is calculated based on the target impact factor and the cost conversion parameter, including: determining the purchase cost of the substation equipment, the loss cost of the substation equipment and the residual value of the substation equipment according to the cost conversion parameter to obtain a first target cost, a second target cost and a third target cost; substituting the first target cost, the second target cost and the third target cost into a second preset formula C=k1*D+k2*E+k3*F to obtain a converted cost, wherein D is the first target cost, E is the second target cost, F is the third target cost, k1, k2 and k3 are weight coefficients, and k1 is greater than k2, and k2 is greater than k3; substituting the converted cost and the target impact factor into the third preset formula R i =μ i ×C, and get the equipment impact score, where R i Score the equipment impact; when the equipment impact score of the substation equipment is greater than a second threshold, the equipment impact level corresponding to the substation equipment is determined as high risk; when the equipment impact score of the substation equipment is less than a third threshold, the equipment impact level corresponding to the substation equipment is determined as low risk; when the equipment impact score of the substation equipment is less than or equal to the second threshold and greater than or equal to the third threshold, the equipment impact level of the substation equipment is determined as medium risk.

[0010] Optionally, the inspection route in the work ticket information is corrected based on the equipment impact level to generate a new inspection route to obtain at least one target inspection route, including: traversing the current inspection route according to the substation equipment corresponding to each risk data, and when the inspection route does not include the substation equipment and the equipment impact level is the high risk, adding the substation to the inspection route of this inspection to obtain the target inspection route; when the inspection route does not include the substation equipment and the equipment impact level is the medium risk, adding the substation to the inspection route of the next inspection to obtain the target inspection route; when the inspection route does not include the substation equipment and the equipment impact level is the low risk, adding the substation to the inspection route of the next inspection to obtain the target inspection route.

[0011] Optionally, the substation model is marked based on the target inspection route, and a virtual electronic fence is set in the marked substation model, including: based on the target inspection route, determining the substation equipment included in the target inspection route to obtain a first target object; determining the substation equipment in the substation except the first target object as a second target object; determining the corresponding live range based on each of the second target objects, and determining the safety range based on the live area; and setting the virtual electronic fence in each of the live areas based on the safety range.

[0012] Optionally, when the operator enters the virtual electronic fence, an audible and visual alarm is issued to prompt the operator to stay away, including: when the distance between the operator and the virtual electronic fence is less than a fourth threshold, controlling the terminal device to issue a sound alarm to prompt the operator that there is danger ahead; when the operator enters the virtual electronic fence, controlling the terminal device to issue a sound alarm and controlling the warning light of the terminal device to flash; controlling the terminal device to turn on the camera to record the current scene and upload it to the monitoring system to prompt the monitoring personnel to process.

[0013] According to another aspect of the present application, a panoramic control device for inspection of a substation operation area is provided, the device comprising: an acquisition unit, for acquiring equipment operation data, benchmark operation data and historical operation data of each substation equipment in the substation, and determining the equipment impact level based on the historical operation data when the deviation between the equipment operation data and the benchmark operation data is greater than a first threshold; a generation unit, for correcting the inspection route in the work ticket information based on the equipment impact level to generate a new inspection route and obtain at least one target inspection route, the work ticket information at least including an operator, an inspection object, the inspection route and an inspection content; a construction unit, for constructing a three-dimensional map based on the three-dimensional point cloud data of the substation to obtain a substation model, marking the substation model based on the target inspection route, and setting a virtual electronic fence in the marked substation model; a control unit, for monitoring the movement trajectory of the operator through a UBW base station, an RTK base station and a terminal device carried by the operator, and when the operator enters the virtual electronic fence, an audible and visual alarm is issued to prompt the operator to stay away.

[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 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] By applying the technical solution of the present application, the equipment operation data, the benchmark operation data and the historical operation data of each substation equipment in the substation are obtained. When the deviation between the equipment operation data and the benchmark operation data is greater than a first threshold value, the equipment impact level is determined based on the historical operation data; based on the equipment impact level, the inspection route in the work ticket information is corrected to generate a new inspection route to obtain at least one target inspection route, and the work ticket information at least includes an operator, an inspection object, the inspection route and an inspection content; a three-dimensional map is constructed based on the three-dimensional point cloud data of the substation to obtain a substation model, the substation model is marked based on the target inspection route, and a virtual electronic fence is set in the marked substation model; the movement trajectory of the operator is monitored by a UBW base station, an RTK base station and a terminal device carried by the operator, and when the operator enters the virtual electronic fence, an audible and visual alarm is issued to prompt the operator to stay away. This application builds a three-dimensional visualization model of the substation to ensure the real-time visibility of equipment status, personnel location and maintenance routes during the inspection process. On this basis, it integrates equipment operation data and historical maintenance data to realize dynamic planning of maintenance routes, and uses electronic fences and positioning devices to prevent inspection personnel from accidentally entering non-operating dangerous areas, thereby ensuring the safety of inspection personnel. This method realizes dynamic and real-time management of the substation inspection process, and solves the problem of untimely response in manual monitoring in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A hardware structure block diagram of a mobile terminal for panoramic control of substation operation area inspection provided in an embodiment of the present application is shown;

[0018] Figure 2 A schematic flow chart of a panoramic control method for substation operation area inspection provided according to an embodiment of the present application is shown;

[0019] Figure 3 A structural block diagram of a panoramic control device for inspecting a substation operating area 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, in the prior art, operating personnel prepare patrol plans and generate patrol task lists, and the operating personnel conduct on-site patrols based on the patrol task lists. In order to solve the problem of untimely response through manual monitoring, the embodiments of the present application provide a panoramic control method for patrolling the operating area of ​​a substation, a panoramic control device for patrolling the operating area of ​​a substation, a computer-readable storage medium and a monitoring system.

[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 for a panoramic control method for substation operation area inspection 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 only for illustration and does not limit the structure of the mobile terminal. Figure 1 More or fewer components as shown, or with Figure 1 Different configurations are 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 panoramic control method for substation operating area inspection 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 a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in an order different from that shown here.

[0030] Figure 2 1 is a flow chart of a panoramic control method for substation operation area inspection according to an embodiment of the present application. Figure 2 As shown, the method comprises the following steps:

[0031] Step S201, obtaining equipment operation data, benchmark operation data and historical operation data of each substation equipment in the substation, and determining the equipment impact level based on the historical operation data when the deviation between the equipment operation data and the benchmark operation data is greater than a first threshold;

[0032] Specifically, the system uses sensors and data acquisition equipment to obtain real-time operating data (such as voltage, current, temperature, etc.) of each device in the substation, and compares it with the preset benchmark operating data. If the deviation between the actual operating data and the benchmark data exceeds the first threshold, it indicates that the equipment may be abnormal or potentially faulty. The system will further analyze the historical operating data, evaluate the impact level that this abnormality may have, and then determine the impact risk of the equipment, so as to determine whether it should be included in this inspection task.

[0033] Step S202, based on the equipment impact level, the inspection route in the work ticket information is modified to generate a new inspection route, and at least one target inspection route is obtained, wherein the work ticket information at least includes an operator, an inspection object, an inspection route, and an inspection content;

[0034] Specifically, once the impact level of the equipment is determined, the system will adjust the originally planned inspection route according to the severity of the impact. For example, if the impact level of a certain equipment is high, the area where the equipment is located may be included in the new inspection route to ensure that the fault can be handled as soon as possible. The generated new inspection route will cover all equipment and areas that require special attention, and will be communicated to the corresponding operators through work ticket information to ensure that they are clear about the new task objectives and routes.

[0035] Step S203, constructing a three-dimensional map based on the three-dimensional point cloud data of the substation to obtain a substation model, marking the substation model based on the target inspection route, and setting a virtual electronic fence in the marked substation model;

[0036] Specifically, using 3D point cloud data, SLAM technology will construct a 3D model of the substation. Based on the new target inspection route, the system will mark the areas and equipment that need to be inspected in the 3D model. Then, virtual electronic fences are set up around these marked areas to ensure the safety of personnel and the rigor of the operation process in possible fault areas. The setting of these fences can prevent unauthorized personnel from entering potentially dangerous areas and ensure the safety of operations.

[0037] Step S204: The movement trajectory of the operator is monitored through the UBW base station, the RTK base station and the terminal device carried by the operator. When the operator enters the virtual electronic fence, an audible and visual alarm is issued to prompt the operator to stay away.

[0038] Specifically, the movement trajectory of employees during operation is monitored in real time through UBW (Ultra-Wideband) and RTK (Real-Time Kinematic) base stations, combined with the terminal devices carried by operators. When operators enter the virtual electronic fence area, the system will immediately trigger an audible and visual alarm to remind personnel to stay away from dangerous areas to ensure their safety. At the same time, this can also prevent unauthorized operations or misoperations, and improve the management and control efficiency and safety of the operation area.

[0039] Through the above steps, the method realizes comprehensive control of the substation operation area, improves the timely monitoring of equipment operation status and early warning of potential risks. At the same time, it optimizes the real-time and pertinence of the inspection route, and improves the safety and efficiency of operators.

[0040] It can be seen that the embodiment of the present application provides a panoramic control method for inspection of the substation operation area. First, the equipment operation data, benchmark operation data and historical operation data of each substation equipment in the substation are obtained. When the deviation between the equipment operation data and the benchmark operation data is greater than the first threshold, the equipment impact level is determined based on the historical operation data; then, the inspection route in the work ticket information is corrected based on the equipment impact level to generate a new inspection route, and at least one target inspection route is obtained. The work ticket information at least includes operating personnel, inspection objects, inspection routes and inspection contents; then, a three-dimensional map is constructed based on the three-dimensional point cloud data of the substation to obtain a substation model, the substation model is marked based on the target inspection route, and a virtual electronic fence is set in the marked substation model; finally, the movement trajectory of the operating personnel is monitored through the UBW base station, the RTK base station and the terminal equipment carried by the operating personnel. When the operating personnel enter the virtual electronic fence, an audible and visual alarm is issued to prompt the operating personnel to stay away. This application builds a three-dimensional visualization model of the substation to ensure the real-time visibility of equipment status, personnel location and maintenance routes during the inspection process. On this basis, it integrates equipment operation data and historical maintenance data to realize dynamic planning of maintenance routes, and uses electronic fences and positioning devices to prevent inspection personnel from accidentally entering non-operating dangerous areas, thereby ensuring the safety of inspection personnel. This method realizes dynamic and real-time management of the substation inspection process, and solves the problem of untimely response in manual monitoring in the prior art.

[0041] Optionally, before determining the equipment impact level based on the historical operation data, the method further includes the following steps:

[0042] Step S301, calculating the difference between the equipment operation data and the reference operation data to obtain the equipment operation fluctuation;

[0043] Specifically, the system will collect the real-time operating data of each device in the substation and compare it with the benchmark operating data of these devices. Through simple mathematical operations (such as difference calculation), the operating fluctuation value of each device can be obtained. This fluctuation value reflects the deviation of the current operating status of the device from the normal benchmark value, which is helpful for subsequent risk assessment.

[0044] Step S302, when the equipment operation fluctuation is greater than or equal to a first threshold, determining the equipment operation data as risk data;

[0045] Specifically, if the fluctuation of equipment operation is greater than or equal to the threshold, it indicates that the equipment has a large deviation, which may lead to failure or safety hazards, and the operation data of the equipment is marked as "risk data". This data is crucial for subsequent risk management and failure warning.

[0046] Step S303: When the device operation fluctuation is less than the first threshold, it is preliminarily determined that the device operation data corresponding to the device operation fluctuation is safe data.

[0047] Specifically, if the equipment operation fluctuation is found to be less than the first threshold after comparison, it indicates that the equipment operation is relatively stable and within the normal range, and it is classified as "safe data". These data can be used to record the normal operation of the equipment and provide reference for future analysis and decision-making.

[0048] Optionally, determining the equipment impact level based on historical operation data includes the following steps:

[0049] Step S401, traversing historical operation data based on each risk data to determine the historical occurrence times and historical repair times of the risk data;

[0050] Specifically, the system will count the number of events and the corresponding repair times for each risk data by consulting historical operation data. For example, in a certain time window in the past, the voltage fluctuation of a certain device is marked as risk data, and the system will count the specific number of times this phenomenon occurred and the number of times each repair was made. This kind of statistics can help evaluate the risk frequency and repair status of the equipment.

[0051] Step S402, traversing historical operation data based on each risk data to determine the historical average repair time of the risk data;

[0052] Specifically, the repair time is directly related to the timeliness of fault repair, reflecting the impact of equipment failure on the overall operation of the substation. The calculation of the average repair time can provide a more accurate time assessment and help further determine the impact level of risk equipment.

[0053] Step S403: Substitute the historical occurrence times, historical repair times and historical average repair duration into the first preset formula Get the target impact factor, where μi is the target impact factor, Ni is the historical occurrence number of risk data i, N is the total number of times the substation equipment corresponding to the risk data has risk, Ai is the historical repair number of risk data i, and Bi is the average historical repair time of risk data i;

[0054] Specifically, based on the use of the above statistical data, the system substitutes these data into a pre-set impact factor calculation formula, which combines the frequency of risk occurrence, the proportion of repair times, and the time required for repair to provide a comprehensive assessment.

[0055] Step S404: Obtain cost conversion parameters of power station equipment corresponding to risk data, and calculate equipment impact level based on target impact factor and cost conversion parameters.

[0056] Specifically, the system will also obtain cost conversion parameters related to substation equipment, which usually include the value of the equipment, maintenance cost, etc. By combining the cost attributes of the equipment itself (such as economic value, maintenance cost, etc.) with the target impact factor, the equipment impact level is calculated.

[0057] Through the above steps, the system can comprehensively evaluate the risk impact level of each device, help make more effective decisions in the daily operation and maintenance of substations, and ensure that high-risk equipment receives priority attention and management. This method not only improves the accuracy of equipment monitoring and maintenance, but also optimizes resource allocation and risk management strategies.

[0058] Optionally, calculating the equipment impact level based on the target impact factor and the cost conversion parameter includes the following steps:

[0059] Step S501, determining the purchase cost of the substation equipment, the loss cost of the substation equipment and the residual value of the substation equipment according to the cost conversion parameters, and obtaining a first target cost, a second target cost and a third target cost;

[0060] Specifically, acquisition cost refers to the initial purchase cost of the equipment. Wear and tear cost refers to the economic loss caused by factors such as aging and wear during the use of the equipment. Residual value refers to the possible remaining value of the equipment at the end of its service life.

[0061] Step S502, substituting the first target cost, the second target cost and the third target cost into the second preset formula C=k1*D+k2*E+k3*F to obtain the converted cost, wherein D is the first target cost, E is the second target cost, F is the third target cost, k1, k2 and k3 are weight coefficients, and k1 is greater than k2, and k2 is greater than k3;

[0062] Specifically, the weight coefficient reflects the relative importance of each cost in the total cost, ensuring that the final converted cost can reasonably reflect the assessment of the overall economic impact of the substation equipment.

[0063] Step S503: Substitute the converted cost and target impact factor into the third preset formula R i =μ i ×C, and get the equipment impact score, where R i Score the device impact;

[0064] Step S504, when the equipment impact score of the substation equipment is greater than the second threshold, the equipment impact level corresponding to the substation equipment is determined as high risk; when the equipment impact score of the substation equipment is less than the third threshold, the equipment impact level corresponding to the substation equipment is determined as low risk; when the equipment impact score of the substation equipment is less than or equal to the second threshold and greater than or equal to the third threshold, the equipment impact level of the substation equipment is determined as medium risk.

[0065] Specifically, this classification method can help managers focus resources on equipment maintenance and risk management, give priority to high-risk equipment, and regularly monitor medium-risk equipment. Through such classification, equipment operation and maintenance strategies can be effectively optimized to reduce possible safety hazards and economic losses.

[0066] Optionally, the inspection route in the work ticket information is modified based on the equipment impact level to generate a new inspection route, and at least one target inspection route is obtained, including the following steps:

[0067] Step S601, traverse the current inspection route according to the substation equipment corresponding to each risk data, and if the inspection route does not include the substation equipment and the equipment impact level is high risk, add the substation to the inspection route of this inspection to obtain the target inspection route;

[0068] Specifically, the currently set inspection route is first traversed to check whether all substation equipment marked as high risk has been included in the inspection route. If a high-risk device is not included in the current route, it is immediately added to this inspection route. For example, if device A is assessed as high risk and is not in the current inspection route, the revised inspection route will include device A. This approach ensures that high-risk equipment can receive timely attention and inspection, reducing the potential risk of failure.

[0069] Step S602: if the inspection route does not include the substation equipment and the equipment impact level is medium risk, add the substation to the inspection route of the next inspection to obtain the target inspection route;

[0070] Specifically, for those substation equipment whose equipment impact level is determined to be medium risk, if the current inspection route does not include these equipment, they will be added to the next inspection route. For example, if equipment B is medium risk but is not in the current inspection route, it will be included in the inspection route at the next inspection. This approach optimizes the use of resources and allows a certain buffer time between inspections while still ensuring that facility risks are effectively monitored.

[0071] Step S603, when the inspection route does not include the substation equipment and the equipment impact level is low risk, the substation is added to the inspection route of the next inspection to obtain the target inspection route.

[0072] Specifically, for substation equipment that is identified as low risk, if it is not included in the current inspection route, it will be arranged in the subsequent third inspection route. For example, if equipment C is low risk but has not been included in the current inspection route, equipment C will be included in the route in the subsequent second inspection. Through this arrangement, resources can be flexibly deployed in multiple inspection intervals, so that low-risk equipment can be monitored for a relatively long period of time without consuming too many resources.

[0073] Optionally, marking the substation model based on the target inspection route and setting a virtual electronic fence in the marked substation model includes the following steps:

[0074] Step S701, based on the target inspection route, determining the substation equipment included in the target inspection route, and obtaining a first target object;

[0075] Specifically, the system will identify all substation equipment that needs to be inspected based on the generated target inspection route. These devices are marked as "first target objects", representing areas that require special attention and priority inspection. For example, if equipment A and equipment B are included in this inspection route, they become the first target objects.

[0076] Step S702, determining the substation equipment other than the first target object in the substation as the second target object;

[0077] Specifically, the system will identify and exclude the first target object determined in the previous step, and mark all the remaining devices in the substation model as "second target objects". Although these devices are not in the current high-priority inspection area, they are still an important part of the substation operation. For example, in addition to device A and device B, the remaining devices such as device C, device D, etc. are marked as second target objects.

[0078] Step S703, determining a corresponding charged range based on each second target object, and determining a safe range based on the charged area;

[0079] Specifically, for each second target object, the system will first determine its live range, that is, the live area that may be generated by the equipment during operation. Then, according to safety regulations and specifications, a safe distance is determined, which forms a "safety range" around the live area. Ensure that when anyone enters this area, they can maintain a safe distance to avoid the risk of electric shock.

[0080] Step S704: Setting a virtual electronic fence in each electrified area based on the safety range.

[0081] Specifically, after determining the safety range, the system will set up a virtual electronic fence around these live areas in the digital model of the substation. This virtual fence is essentially a warning area that can remind inspectors or other staff to keep a safe distance and avoid unnecessary risks through visual indications or alarms.

[0082] Optionally, when an operator enters a virtual electronic area that is not included in the target inspection route, an audible and visual alarm is issued to prompt the operator to leave, including the following steps:

[0083] Step S801, when the distance between the operator and the virtual electronic fence is less than a fourth threshold, controlling the terminal device to sound an alarm to remind the operator that there is danger ahead;

[0084] Specifically, the system monitors the real-time distance between the operator and the virtual electronic fence. Once the distance is less than a pre-set fourth threshold (e.g., a safe distance), the terminal device is notified to sound an alarm. This sound alarm can be a continuous alarm or warning sound to promptly remind the operator to pay attention to potential dangers around them, such as high-voltage live equipment or other dangerous areas.

[0085] Step S802, when the operator enters the virtual electronic fence, the terminal device is controlled to emit a sound alarm and the warning light of the terminal device is controlled to flash;

[0086] Specifically, if an operator crosses the boundary of the virtual electronic fence, the system will immediately sound an alarm and synchronously control the warning light on the terminal device to flash. This dual warning method (sound and light) enhances the significance of the alarm, ensuring that operators can quickly realize that they have entered a high-risk area and take immediate action to evacuate.

[0087] Step S803, control the terminal device to turn on the camera to record the current scene and upload it to the monitoring system to prompt the monitoring personnel to process it.

[0088] Specifically, when an alarm is issued, the system automatically starts the camera of the terminal device to record the current scene of the operator entering the virtual fence area. This camera will upload the recorded video stream or image to the monitoring system, so that real-time monitoring personnel can pay attention to the event. If there is a violation of safety regulations, the monitoring personnel can take further measures in time, such as communicating with the on-site operators through walkie-talkies, to avoid potential safety accidents.

[0089] In summary, the application of this automated safety monitoring method in substations or other high-risk workplaces not only ensures the safety of workers, but also improves overall work efficiency and forms a safer and smarter working environment. Through continuous monitoring and instant feedback, the probability of safety accidents caused by human factors can be significantly reduced, and a comprehensive safety protection system can be established.

[0090] In order to enable those skilled in the art to more clearly understand the technical solution of the present application, the implementation process of the panoramic control method for substation operation area inspection of the present application will be described in detail below in combination with specific embodiments.

[0091] The present embodiment relates to a specific panoramic control method for substation operation area inspection. The method is applied to a panoramic control platform, which includes a work ticket parsing module, an electronic fence setting module, an out-of-bounds parsing module, a data operation module and an equipment risk analysis module.

[0092] The work ticket parsing module is used to parse the maintenance work ticket content, including the equipment to be repaired, the maintenance content, and the maintenance area. At the same time, it receives the instruction content output by the equipment risk analysis module to determine the work area.

[0093] The electronic fence setting module is used to set the virtual electronic fence area for the work area output by the work ticket parsing module. Furthermore, the electronic fence setting module divides two areas, one is the dangerous live area as the electronic fence area, and the other is the dangerous warning area. The area outside the electronic fence is centered on the electronic fence area and based on a predetermined distance. The electronic fence area is set as a dangerous live area. When the operator mistakenly enters, the panoramic control platform will issue an alarm and send an alarm instruction to the positioning terminal. In the dangerous warning area, when the operator enters, the panoramic control platform will issue an alarm and send an alarm instruction to the positioning terminal.

[0094] The cross-border analysis module is used to analyze and process the positioning data transmitted by the positioning terminal to determine whether the operator has entered the dangerous live area or the dangerous warning area. When the operator enters the dangerous live area or the dangerous warning area, an alarm or warning is issued to the positioning terminal, and the positioning terminal returns the video screen. The cross-border analysis module also notifies the monitoring personnel that someone has entered the dangerous live area or the dangerous warning area to achieve safety monitoring.

[0095] The data operation module is used to obtain equipment operation data and compare it with the standard operation data of substation equipment stored in advance. If any problem data with possible risks is found, it will be transmitted to the equipment risk analysis module.

[0096] The equipment risk analysis module is used to store the equipment history data of risky problem data and calculate the impact factor μ of the problem data. i， Determine the impact of risky problem data on substation equipment, and determine whether to include it in this inspection task based on the impact risk. Send it to the work ticket parsing module.

[0097] The specific panoramic control method for substation operation area inspection includes the following steps:

[0098] Step S1: Install a certain number of UWB positioning base stations indoors in the substation to achieve indoor positioning; install RTK positioning base stations outdoors in the substation to achieve outdoor positioning.

[0099] It can be deployed in each room according to the size of the room and equipment deployment in the indoor area of ​​the substation. It can also be deployed on the top of the building according to the outdoor situation of the substation.

[0100] Step S2: construct a three-dimensional map of the substation through a three-dimensional point cloud scanning device, and unify the coordinate system of the constructed three-dimensional map of the substation and the positioning data in S1 to display personnel positions, trajectory drawing, and electronic fence setting;

[0101] Step S3: The operator imports the work ticket into the panoramic control platform, and the panoramic control platform parses the work ticket content to obtain the work area;

[0102] Step S4: Draw the working area on the three-dimensional map of the substation and set up a virtual electronic fence;

[0103] Step S5: After the operator wears the positioning terminal, he / she enters the substation for inspection. His / her positioning data is uploaded to the panoramic control platform in real time. The platform's substation 3D map shows the operator's location in real time, and the operation safety control is carried out according to the operator's location.

[0104] The positioning terminal includes a positioning module, an audio and video alarm module, a camera module, and a wireless communication module. The positioning module is used to receive, calculate, and forward positioning data. The audio and video alarm module is used to receive warning alarm information from the panoramic control platform and use audio and video to sound an alarm. The camera module uses a video camera to capture the scene. The wireless communication module is used to output received data.

[0105] The positioning terminal can calculate the positioning data through the improved TDOA algorithm combined with the RTK positioning algorithm, and then use the particle swarm algorithm to obtain the final positioning result of the positioning terminal, and the final positioning result is transmitted to the panoramic control platform. The particle swarm algorithm evaluates the parameters of UWB positioning and RTK positioning. When the evaluation parameters of UWB are better than the evaluation parameters of RTK positioning, it is judged to be indoors. When the evaluation parameters of UWB are worse than the evaluation parameters of RTK positioning, it is judged to be outdoors, thus achieving global positioning indoors and outdoors.

[0106] Step S5: Based on the real-time location of the operator, the boundary crossing calculation is performed in combination with the electronic fence; when the operator walks normally in the safe passage or the authorized work area, the positioning terminal does not alarm; if the operator mistakenly enters the electronic fence or the electronic fence warning area, the panoramic control platform uses the operator's positioning terminal to issue an audible and visual alarm to remind the operator that there is danger, and the positioning terminal turns on the video camera to transmit the scene to the panoramic control platform. The panoramic control platform issues an alarm pop-up window to remind the operator that there is an illegal alarm on the scene, and notifies the monitoring personnel to pay attention to the situation of the on-site operators in a timely manner.

[0107] Through the panoramic management and control platform, the positioning terminal improves the communication mechanism between the positioning terminal and the electronic fence area; realizes quantitative alarm settings for on-site maintenance monitoring; and uses the positioning terminal to provide real-time reminders for the electronic fence area, which can timely, effectively and efficiently achieve safety warning prompts for monitoring operators in the electronic fence area.

[0108] Furthermore, the panoramic control platform also imports the equipment operation data in the substation and compares it with its standard operation data to determine whether there is risky problem data. By importing and analyzing the historical data of risky problem data, the influencing risk factors of the equipment are determined, and then the influencing risk of the equipment is determined, so as to determine whether it should be included in this inspection task. The specific method steps are as follows:

[0109] Step 101, import the operation data of the substation equipment into the panoramic management and control platform, compare it with the standard operation data of the substation equipment stored in advance, and list the operation data with a difference greater than a preset threshold as problematic data that may have risks. This can timely reflect the current actual operation status.

[0110] Step 102, when there is risk problem data of the equipment, the historical occurrence number, historical repair number, and historical average repair time of the risk problem data are retrieved;

[0111] Step 103, calculating the impact factor μi of the problem data according to the historical occurrence times, historical repair times, and historical average repair time of the risky problem data.

[0112]

[0113] Among them, μi is the impact factor of risky problem data i, Ni is the historical occurrence number of risky problem data i, N is the total number of problems in substation equipment, Ai is the historical repair number of risky problem data i, and Bi is the average historical repair time of risky problem data i.

[0114] Step 104: determine the impact risk of the risky problematic data on the substation equipment through the impact factor μi.

[0115] Ri=μ i ×C;

[0116] Among them, C = 0.56 × purchase cost of substation equipment + 0.38 × service life of substation equipment + 0.06 × residual value of substation equipment.

[0117] Step 105: Determine whether to include it in the inspection task based on the impact risk:

[0118] In this step, first check whether the equipment that has an impact on the risk already exists in this inspection task. If so, add the inspection content that affects the risk to the equipment inspection task.

[0119] If the device is not included in this inspection task, it will be determined whether to include it in this inspection task based on the impact risk. If the impact risk is high, it will be included in this inspection task; if the impact risk is medium, it will be included in the next inspection task; if the impact risk is low, it will be included in the next inspection task.

[0120] Through the panoramic control platform, positioning terminal, UWB positioning base station and RTK positioning base station, an interconnection is formed to unify the coordinates of the substation three-dimensional map and positioning data, and display the location of the operator, trajectory drawing, and electronic fence setting. The operator enters the work ticket information into the panoramic control platform, uses the live dangerous area as the electronic fence area, and sets the warning area at a certain distance. When the operator wears the positioning terminal to enter the substation, the positioning terminal will display the coordinates of the operator on the three-dimensional map of the substation. If the operator mistakenly enters the warning area, the panoramic control platform will give an early warning and notify the monitoring personnel, which can effectively avoid the occurrence of safety accidents.

[0121] At the same time, the panoramic management and control platform also compares the operating data of substation equipment in real time, discovers risky problem data, and determines whether to include it in this maintenance task through risk assessment. It makes full use of the collected equipment status information and can promptly repair substation equipment with major risks, thus achieving the purpose of information fusion.

[0122] 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.

[0123] The embodiment of the present application also provides a panoramic control device for substation operation area inspection. It should be noted that the panoramic control device for substation operation area inspection of the embodiment of the present application can be used to execute the panoramic control method for substation operation area inspection provided by the embodiment of the present application. The device is used to implement the above-mentioned embodiments and preferred implementation modes, and those that have been explained 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.

[0124] The following is an introduction to the panoramic control device for inspecting the substation operating area provided in an embodiment of the present application.

[0125] Figure 3 1 is a structural block diagram of a panoramic control device for substation operation area inspection according to an embodiment of the present application. Figure 3 As shown, the device includes: an acquisition unit 10, a generation unit 20, a construction unit 30 and a control unit 40.

[0126] An acquisition unit 10 is used to acquire equipment operation data, benchmark operation data and historical operation data of each substation equipment in the substation, and determine the equipment impact level based on the historical operation data when the deviation between the equipment operation data and the benchmark operation data is greater than a first threshold;

[0127] Specifically, the system uses sensors and data acquisition equipment to obtain real-time operating data (such as voltage, current, temperature, etc.) of each device in the substation, and compares it with the preset benchmark operating data. If the deviation between the actual operating data and the benchmark data exceeds the first threshold, it indicates that the equipment may be abnormal or potentially faulty. The system will further analyze the historical operating data, evaluate the impact level that this abnormality may have, and then determine the impact risk of the equipment, so as to determine whether it should be included in this inspection task.

[0128] A generating unit 20, configured to modify the inspection route in the work ticket information based on the equipment impact level to generate a new inspection route and obtain at least one target inspection route, wherein the work ticket information at least includes an operator, an inspection object, an inspection route and an inspection content;

[0129] Specifically, once the impact level of the equipment is determined, the system will adjust the originally planned inspection route according to the severity of the impact. For example, if the impact level of a certain equipment is high, the area where the equipment is located may be included in the new inspection route to ensure that the fault can be handled as soon as possible. The generated new inspection route will cover all equipment and areas that require special attention, and will be communicated to the corresponding operators through work ticket information to ensure that they are clear about the new task objectives and routes.

[0130] A construction unit 30 is used to construct a three-dimensional map based on the three-dimensional point cloud data of the substation, obtain a substation model, mark the substation model based on the target inspection route, and set a virtual electronic fence in the marked substation model;

[0131] Specifically, using 3D point cloud data, SLAM technology will construct a 3D model of the substation. Based on the new target inspection route, the system will mark the areas and equipment that need to be inspected in the 3D model. Then, virtual electronic fences are set up around these marked areas to ensure the safety of personnel and the rigor of the operation process in possible fault areas. The setting of these fences can prevent unauthorized personnel from entering potentially dangerous areas and ensure the safety of operations.

[0132] The control unit 40 is used to monitor the movement trajectory of the operator through the UBW base station, the RTK base station and the terminal device carried by the operator, and when the operator enters the virtual electronic fence, it will sound and light alarm to prompt the operator to stay away.

[0133] Specifically, the movement trajectory of employees during operation is monitored in real time through UBW (Ultra-Wideband) and RTK (Real-Time Kinematic) base stations, combined with the terminal devices carried by operators. When operators enter the virtual electronic fence area, the system will immediately trigger an audible and visual alarm to remind personnel to stay away from dangerous areas to ensure their safety. At the same time, this can also prevent unauthorized operations or misoperations, and improve the management and control efficiency and safety of the operation area.

[0134] It can be seen that the embodiment of the present application provides a panoramic control device for substation operation area inspection, which includes: an acquisition unit, a generation unit, a construction unit and a control unit. The device builds a three-dimensional visualization model of the substation to ensure the real-time visibility of the equipment status, personnel location and maintenance route during the inspection process. On this basis, the equipment operation data and historical maintenance data are collected to realize dynamic planning of the maintenance route, and electronic fences and positioning devices are used to prevent inspection personnel from mistakenly entering non-operational dangerous areas to ensure the safety of inspection personnel. This method realizes dynamic real-time management of the substation inspection process, and solves the problem of untimely response of manual monitoring in the prior art.

[0135] Optionally, the device further includes: an operation fluctuation unit, a risk unit and a safety unit.

[0136] An operation fluctuation unit is used to calculate the difference between the equipment operation data and the reference operation data to obtain the equipment operation fluctuation;

[0137] Specifically, the system will collect the real-time operating data of each device in the substation and compare it with the benchmark operating data of these devices. Through simple mathematical operations (such as difference calculation), the operating fluctuation value of each device can be obtained. This fluctuation value reflects the deviation of the current operating status of the device from the normal benchmark value, which is helpful for subsequent risk assessment.

[0138] a risk unit, configured to determine the equipment operation data as risk data when the equipment operation fluctuation is greater than or equal to a first threshold;

[0139] Specifically, if the fluctuation of equipment operation is greater than or equal to the threshold, it indicates that the equipment has a large deviation, which may lead to failure or safety hazards, and the operation data of the equipment is marked as "risk data". This data is crucial for subsequent risk management and failure warning.

[0140] The safety unit is used to preliminarily determine that the device operation data corresponding to the device operation fluctuation is safe data when the device operation fluctuation is less than a first threshold.

[0141] Specifically, if the equipment operation fluctuation is found to be less than the first threshold after comparison, it indicates that the equipment operation is relatively stable and within the normal range, and it is classified as "safe data". These data can be used to record the normal operation of the equipment and provide reference for future analysis and decision-making.

[0142] Optionally, the acquisition unit includes: a history number module, a repair time module, an impact factor module and an impact level module.

[0143] The historical times module is used to traverse the historical operation data based on each risk data to determine the historical occurrence times and historical repair times of the risk data;

[0144] Specifically, the system will count the number of events and the corresponding repair times for each risk data by consulting historical operation data. For example, in a certain time window in the past, the voltage fluctuation of a certain device is marked as risk data, and the system will count the specific number of times this phenomenon occurred and the number of times each repair was made. This kind of statistics can help evaluate the risk frequency and repair status of the equipment.

[0145] The repair time module is used to traverse the historical operation data based on each risk data and determine the historical average repair time of the risk data;

[0146] Specifically, the repair time is directly related to the timeliness of fault repair, reflecting the impact of equipment failure on the overall operation of the substation. The calculation of the average repair time can provide a more accurate time assessment and help further determine the impact level of risk equipment.

[0147] Impact factor module, used to substitute the historical occurrence number, historical repair number and historical average repair time into the first preset formula Get the target impact factor, where μi is the target impact factor, Ni is the historical occurrence number of risk data i, N is the total number of times the substation equipment corresponding to the risk data has risk, Ai is the historical repair number of risk data i, and Bi is the average historical repair time of risk data i;

[0148] Specifically, based on the use of the above statistical data, the system substitutes these data into a pre-set impact factor calculation formula, which combines the frequency of risk occurrence, the proportion of repair times, and the time required for repair to provide a comprehensive assessment.

[0149] The impact level module is used to obtain the cost conversion parameters of the power station equipment corresponding to the risk data, and calculate the equipment impact level based on the target impact factor and the cost conversion parameters.

[0150] Specifically, the system will also obtain cost conversion parameters related to substation equipment, which usually include the value of the equipment, maintenance cost, etc. By combining the cost attributes of the equipment itself (such as economic value, maintenance cost, etc.) with the target impact factor, the equipment impact level is calculated.

[0151] Optionally, the impact level module includes: a target cost submodule, a discounted cost submodule, an impact scoring submodule and a risk determination module.

[0152] The target cost submodule is used to determine the purchase cost of the substation equipment, the loss cost of the substation equipment and the residual value of the substation equipment according to the cost conversion parameters, and obtain the first target cost, the second target cost and the third target cost;

[0153] Specifically, acquisition cost refers to the initial purchase cost of the equipment. Wear and tear cost refers to the economic loss caused by factors such as aging and wear during the use of the equipment. Residual value refers to the possible remaining value of the equipment at the end of its service life.

[0154] The conversion cost submodule is used to substitute the first target cost, the second target cost and the third target cost into the second preset formula C=k1*D+k2*E+k3*F to obtain the conversion cost, wherein D is the first target cost, E is the second target cost, F is the third target cost, k1, k2 and k3 are weight coefficients, and k1 is greater than k2, and k2 is greater than k3;

[0155] Specifically, the weight coefficient reflects the relative importance of each cost in the total cost, ensuring that the final converted cost can reasonably reflect the assessment of the overall economic impact of the substation equipment.

[0156] The impact scoring submodule is used to substitute the discounted cost and target impact factor into the third preset formula R i =μ i ×C, and get the equipment impact score, where R i Score the device impact;

[0157] A risk determination module is used to determine the equipment impact level corresponding to the substation equipment as high risk when the equipment impact score of the substation equipment is greater than a second threshold, to determine the equipment impact level corresponding to the substation equipment as low risk when the equipment impact score of the substation equipment is less than a third threshold, and to determine the equipment impact level of the substation equipment as medium risk when the equipment impact score of the substation equipment is less than or equal to the second threshold and greater than or equal to the third threshold.

[0158] Specifically, this classification method can help managers focus resources on equipment maintenance and risk management, give priority to high-risk equipment, and regularly monitor medium-risk equipment. Through such classification, equipment operation and maintenance strategies can be effectively optimized to reduce possible safety hazards and economic losses.

[0159] Optionally, the generating unit includes: a high-risk module, a medium-risk module and a low-risk module.

[0160] The high-risk module is used to traverse the current inspection route according to the substation equipment corresponding to each risk data. If the inspection route does not include the substation equipment and the equipment impact level is high risk, the substation is added to the inspection route of this inspection to obtain the target inspection route;

[0161] Specifically, the currently set inspection route is first traversed to check whether all substation equipment marked as high risk has been included in the inspection route. If a high-risk device is not included in the current route, it is immediately added to this inspection route. For example, if device A is assessed as high risk and is not in the current inspection route, the revised inspection route will include device A. This approach ensures that high-risk equipment can receive timely attention and inspection, reducing the potential risk of failure.

[0162] The medium risk module is used to add the substation to the inspection route of the next inspection to obtain the target inspection route when the inspection route does not include the substation equipment and the equipment impact level is medium risk;

[0163] Specifically, for those substation equipment whose equipment impact level is determined to be medium risk, if the current inspection route does not include these equipment, they will be added to the next inspection route. For example, if equipment B is medium risk but is not in the current inspection route, it will be included in the inspection route at the next inspection. This approach optimizes the use of resources and allows a certain buffer time between inspections while still ensuring that facility risks are effectively monitored.

[0164] The low-risk module is used to add the substation to the inspection route of the next inspection to obtain the target inspection route when the inspection route does not include the substation equipment and the equipment impact level is low risk.

[0165] Specifically, for substation equipment that is identified as low risk, if it is not included in the current inspection route, it will be arranged in the subsequent third inspection route. For example, if equipment C is low risk but has not been included in the current inspection route, equipment C will be included in the route in the subsequent second inspection. Through this arrangement, resources can be flexibly deployed in multiple inspection intervals, so that low-risk equipment can be monitored for a relatively long period of time without consuming too many resources.

[0166] Optionally, the construction unit includes: a first object module, a second object module, a safety range module and an electronic fence module.

[0167] A first object module, used to determine the substation equipment included in the target inspection route based on the target inspection route, and obtain a first target object;

[0168] Specifically, the system will identify all substation equipment that needs to be inspected based on the generated target inspection route. These devices are marked as "first target objects", representing areas that require special attention and priority inspection. For example, if equipment A and equipment B are included in this inspection route, they become the first target objects.

[0169] A second object module, used to determine the substation equipment other than the first target object in the substation as the second target object;

[0170] Specifically, the system will identify and exclude the first target object determined in the previous step, and mark all the remaining devices in the substation model as "second target objects". Although these devices are not in the current high-priority inspection area, they are still an important part of the substation operation. For example, in addition to device A and device B, the remaining devices such as device C, device D, etc. are marked as second target objects.

[0171] A safety range module, used to determine a corresponding charged range based on each second target object, and determine a safety range based on the charged area;

[0172] Specifically, for each second target object, the system will first determine its live range, that is, the live area that may be generated by the equipment during operation. Then, according to safety regulations and specifications, a safe distance is determined, which forms a "safety range" around the live area. Ensure that when anyone enters this area, they can maintain a safe distance to avoid the risk of electric shock.

[0173] The electronic fence module is used to set up virtual electronic fences in each electrified area based on the safety range.

[0174] Specifically, after determining the safety range, the system will set up a virtual electronic fence around these live areas in the digital model of the substation. This virtual fence is essentially a warning area that can remind inspectors or other staff to keep a safe distance and avoid unnecessary risks through visual indications or alarms.

[0175] Optionally, the control unit includes: a first control module, a second control module and an upload module.

[0176] The first control module is used to control the terminal device to send out a sound alarm to remind the operator that there is danger ahead when the distance between the operator and the virtual electronic fence is less than a fourth threshold;

[0177] Specifically, the system monitors the real-time distance between the operator and the virtual electronic fence. Once the distance is less than a pre-set fourth threshold (e.g., a safe distance), the terminal device is notified to sound an alarm. This sound alarm can be a continuous alarm or warning sound to promptly remind the operator to pay attention to potential dangers around them, such as high-voltage live equipment or other dangerous areas.

[0178] The second control module is used to control the terminal device to sound an alarm and control the warning light of the terminal device to flash when the operator enters the virtual electronic fence;

[0179] Specifically, if an operator crosses the boundary of the virtual electronic fence, the system will immediately sound an alarm and synchronously control the warning light on the terminal device to flash. This dual warning method (sound and light) enhances the significance of the alarm, ensuring that operators can quickly realize that they have entered a high-risk area and take immediate action to evacuate.

[0180] The upload module is used to control the terminal device to turn on the camera to record the current scene and upload it to the monitoring system to prompt the monitoring personnel to process it.

[0181] Specifically, when an alarm is issued, the system automatically starts the camera of the terminal device to record the current scene of the operator entering the virtual fence area. This camera will upload the recorded video stream or image to the monitoring system, so that real-time monitoring personnel can pay attention to the event. If there is a violation of safety regulations, the monitoring personnel can take further measures in time, such as communicating with the on-site operators through walkie-talkies, to avoid potential safety accidents.

[0182] The panoramic control device for substation operation area inspection includes a processor and a memory. The acquisition unit, generation unit, construction unit and control unit are stored in the memory as program units, and the processor executes the program units stored in the memory to implement corresponding functions. The modules are all located in the same processor; or, the modules are located in different processors in any combination.

[0183] The processor includes a kernel, which calls the corresponding program unit from the memory. One or more kernels can be set, and the communication efficiency can be improved by adjusting the kernel parameters.

[0184] 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.

[0185] 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 panoramic control method of the substation operation area inspection.

[0186] An embodiment of the present invention provides a monitoring system, 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 a panoramic control method for performing the above-mentioned substation operating area inspection.

[0187] 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.

[0188] 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.

[0189] 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.

[0190] 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.

[0191] 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. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0192] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0193] 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.

[0194] 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.

[0195] 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.

[0196] From the above description, it can be seen that the above embodiments of the present application achieve the following technical effects:

[0197] 1) The panoramic control method of the substation operation area inspection of the present application first obtains the equipment operation data, benchmark operation data and historical operation data of each substation equipment in the substation. When the deviation between the equipment operation data and the benchmark operation data is greater than the first threshold, the equipment impact level is determined based on the historical operation data; then the inspection route in the work ticket information is corrected based on the equipment impact level to generate a new inspection route and obtain at least one target inspection route. The work ticket information at least includes the operator, the inspection object, the inspection route and the inspection content; then a three-dimensional map is constructed based on the three-dimensional point cloud data of the substation to obtain a substation model, the substation model is marked based on the target inspection route, and a virtual electronic fence is set in the marked substation model; finally, the movement trajectory of the operator is monitored through the UBW base station, the RTK base station and the terminal equipment carried by the operator. When the operator enters the virtual electronic fence, an audible and visual alarm is issued to prompt the operator to stay away. This application builds a three-dimensional visualization model of the substation to ensure the real-time visibility of equipment status, personnel location and maintenance routes during the inspection process. On this basis, it integrates equipment operation data and historical maintenance data to realize dynamic planning of maintenance routes, and uses electronic fences and positioning devices to prevent inspection personnel from accidentally entering non-operating dangerous areas, thereby ensuring the safety of inspection personnel. This method realizes dynamic and real-time management of the substation inspection process, and solves the problem of untimely response in manual monitoring in the prior art.

[0198] 2) The panoramic control device for substation operation area inspection of the present application includes: an acquisition unit, a generation unit, a construction unit and a control unit. The device builds a three-dimensional visualization model of the substation to ensure the real-time visibility of equipment status, personnel location and maintenance routes during the inspection process. On this basis, the equipment operation data and historical maintenance data are combined to realize dynamic planning of maintenance routes, and electronic fences and positioning devices are used to prevent inspection personnel from mistakenly entering non-operational dangerous areas to ensure the safety of inspection personnel. This method realizes dynamic real-time management of the substation inspection process and solves the problem of untimely response in manual monitoring in the prior art.

[0199] The above are only preferred embodiments of the present application and are 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 panoramic control method for substation operation area inspection, characterized in that: include: Acquire equipment operation data, benchmark operation data and historical operation data of each substation equipment in the substation, and determine the equipment impact level based on the historical operation data when the deviation between the equipment operation data and the benchmark operation data is greater than a first threshold; Based on the equipment impact level, the inspection route in the work ticket information is modified to generate a new inspection route to obtain at least one target inspection route, wherein the work ticket information at least includes an operator, an inspection object, the inspection route and inspection content; Constructing a three-dimensional map based on the three-dimensional point cloud data of the substation to obtain a substation model, marking the substation model based on the target inspection route, and setting a virtual electronic fence in the marked substation model; The movement trajectory of the operator is monitored through the UBW base station, the RTK base station and the terminal device carried by the operator. When the operator enters the virtual electronic fence, an audible and visual alarm is issued to prompt the operator to stay away.

2. The method according to claim 1, characterized in that: Before determining the equipment impact level based on the historical operation data, the method further includes: Calculating the difference between the equipment operation data and the reference operation data to obtain equipment operation fluctuation; When the equipment operation fluctuation is greater than or equal to the first threshold, determining the equipment operation data as risk data; When the device operation fluctuation is smaller than the first threshold, it is preliminarily determined that the device operation data corresponding to the device operation fluctuation is safe data.

3. The method according to claim 2, characterized in that Determining a device impact level based on the historical operation data includes: Traversing the historical operation data based on each of the risk data, determining the historical occurrence times and historical repair times of the risk data; Traversing the historical operation data based on each of the risk data, determining the historical average repair time of the risk data; Substitute the historical occurrence times, the historical repair times and the historical average repair duration into the first preset formula Obtain the target impact factor, where μi is the target impact factor, Ni is the historical occurrence number of the risk data i, N is the total number of times the substation equipment corresponding to the risk data has a risk, Ai is the historical repair number of the risk data i, and Bi is the average historical repair time of the risk data i; The cost conversion parameters of the power station equipment corresponding to the risk data are obtained, and the equipment impact level is calculated based on the target impact factor and the cost conversion parameters.

4. The method according to claim 3, characterized in that: Calculating the equipment impact level based on the target impact factor and the cost conversion parameter includes: Determine the purchase cost of the substation equipment, the loss cost of the substation equipment and the residual value of the substation equipment according to the cost conversion parameters to obtain a first target cost, a second target cost and a third target cost; Substituting the first target cost, the second target cost and the third target cost into a second preset formula C=k1*D+k2*E+k3*F to obtain a converted cost, wherein D is the first target cost, E is the second target cost, F is the third target cost, k1, k2 and k3 are weight coefficients, and k1 is greater than k2, and k2 is greater than k3; Substitute the converted cost and the target impact factor into the third preset formula R i =μ i ×C, and get the equipment impact score, where R i scoring the impact of said device; When the equipment impact score of the substation equipment is greater than the second threshold, the equipment impact level corresponding to the substation equipment is determined as high risk; when the equipment impact score of the substation equipment is less than the third threshold, the equipment impact level corresponding to the substation equipment is determined as low risk; when the equipment impact score of the substation equipment is less than or equal to the second threshold and greater than or equal to the third threshold, the equipment impact level of the substation equipment is determined as medium risk.

5. The method according to claim 4, characterized in that The inspection route in the work ticket information is modified based on the equipment impact level to generate a new inspection route, and at least one target inspection route is obtained, including: Traversing the current inspection route according to the substation equipment corresponding to each risk data, if the inspection route does not include the substation equipment and the equipment impact level is the high risk, adding the substation to the inspection route of this inspection to obtain the target inspection route; When the inspection route does not include the substation equipment and the equipment impact level is the medium risk, adding the substation to the inspection route of the next inspection to obtain the target inspection route; When the inspection route does not include the substation equipment and the equipment impact level is the low risk, the substation is added to the inspection route of the next inspection to obtain the target inspection route.

6. The method according to claim 1, characterized in that The substation model is marked based on the target inspection route, and a virtual electronic fence is set in the marked substation model, including: Based on the target inspection route, determine the substation equipment included in the target inspection route to obtain a first target object; Determine the substation equipment in the substation except the first target object as a second target object; Determine a corresponding charged range based on each of the second target objects, and determine a safe range based on the charged area; The virtual electronic fence is set in each of the electrified areas based on the safety range.

7. The method according to claim 6, characterized in that When the operator enters the virtual electronic fence, an audible and visual alarm is issued to prompt the operator to stay away, including: When the distance between the operator and the virtual electronic fence is less than a fourth threshold, controlling the terminal device to emit a sound alarm to remind the operator that there is danger ahead; When the operator enters the virtual electronic fence, the terminal device is controlled to emit a sound alarm and a warning light of the terminal device is controlled to flash; The terminal device is controlled to turn on the camera to record the current scene and upload it to the monitoring system to prompt the monitoring personnel to process it.

8. A panoramic control device for substation operation area inspection, characterized in that: The device comprises: an acquisition unit, configured to acquire equipment operation data, benchmark operation data and historical operation data of each substation equipment in the substation, and determine the equipment impact level based on the historical operation data when the deviation between the equipment operation data and the benchmark operation data is greater than a first threshold; A generating unit, configured to modify the inspection route in the work ticket information based on the equipment impact level to generate a new inspection route and obtain at least one target inspection route, wherein the work ticket information at least includes an operator, an inspection object, the inspection route and inspection content; A construction unit, configured to construct a three-dimensional map based on the three-dimensional point cloud data of the substation, obtain a substation model, mark the substation model based on the target inspection route, and set a virtual electronic fence in the marked substation model; The control unit is used to monitor the movement trajectory of the operator through the UBW base station, the RTK base station and the terminal device carried by the operator, and to issue an audible and visual alarm when the operator enters the virtual electronic fence to prompt the operator to stay away.

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 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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