Intelligent substation flexible configuration visual modeling analysis system

Abstract

The invention relates to the technical field of substations, and discloses an intelligent substation flexible configuration visual modeling analysis system which comprises a control center, a visual modeling module, a network topology modeling module, a flow model parameter setting module, a link flow management module, a flow visualization module, a link network time delay analysis module and an inspection module. The control center is respectively connected with the visual modeling module, the network topology modeling module, the flow model parameter setting module, the link flow management module and the link network delay analysis module, the link flow management module is also connected with the flow visualization module, and the control center is connected with the inspection module through the server. According to the method, visual modeling analysis is provided for intelligent substation equipment configuration modeling, flow model parameter setting, network topology modeling and link flow simulation monitoring, the problem of network delay is solved, the substation network structure is optimized, the stable operation level of substation equipment is improved, and technical support is provided for substation fault analysis.

Description

Technical Field

[0001] The present invention relates to the technical field of substations, and in particular to an intelligent substation flexible configuration visualization modeling and analysis system. Background Art

[0002] With the development of technologies such as 3D modeling and virtual reality, substation information, digitalization, and intelligent supervision technologies are becoming more mature, and 3D visualization technology of substation real-scene information has become a research hotspot. As the technical basis for 3D visualization of substations, 3D real-scene modeling of substations is the key to achieving more intuitive and realistic visualization of substations. At present, there are relatively few methods that can be considered for substation model reconstruction, mainly including the following three types: (1) Modeling methods based on virtual reality modeling language. Although it can facilitate human-computer interaction, the fitted model is constructed by combining cubes, cones, cylinders, and spheres, which inevitably causes the substation model to lack realism and poor model accuracy. (2) Modeling methods based on geometric modeling. There are three main types of models obtained by this modeling method: wireframe model, surface model, and solid model. Geometric modeling methods are efficient and intuitive, but it is difficult to achieve real scene modeling.

[0003] The above two modeling methods are conventional methods that can be used for 3D reconstruction of substation models. They cannot achieve true and high-precision reconstruction of substation models. They can only be applied to some occasions with low requirements for model accuracy and authenticity. They cannot meet the requirements of 3D visualization of substations. These methods have problems such as low efficiency, insufficient accuracy, and difficulty in achieving real scene modeling. They are not enough to meet the requirements of real-scene, efficient, and high-authenticity modeling of main substations. In addition, due to the poor visualization effect of various monitoring data caused by the current modeling method, the inspection of substation equipment still needs to be done manually, which makes the manual inspection take a long time on the road. When an emergency occurs, personnel cannot arrive in time and cannot obtain on-site information quickly and timely. Summary of the invention

[0004] The present invention provides a flexible configuration visualization modeling and analysis system for intelligent substations, which provides visualization modeling and analysis for configuration modeling of intelligent substation equipment, flow model parameter setting, network topology modeling, link flow simulation, flow monitoring, and analysis, solves the network delay problem of the link, optimizes the substation network structure, improves the stable operation level of substation equipment, and provides technical support for substation fault analysis, which has certain application value.

[0005] The present invention provides a flexible configuration visualization modeling and analysis system for intelligent substations, comprising a control center, a visualization modeling module, a network topology modeling module, a flow model parameter setting module, a link flow management module, a flow visualization module, a link network delay analysis module, and an inspection module. The control center is respectively connected to the visualization modeling module, the network topology modeling module, the flow model parameter setting module, the link flow management module, and the link network delay analysis module. The link flow management module is also connected to the flow visualization module. The control center is connected to the inspection module through a server.

[0006] The visual modeling module is used to perform visual three-dimensional modeling of the intelligent substation by means of point cloud data processing;

[0007] The network topology module is used to design the network topology structure according to the network structure of the station control layer, the bay layer and the process layer of the intelligent substation, and to build the substation network topology structure;

[0008] The flow model parameter setting module is used to set the parameters of the model according to the substation equipment model in the visual three-dimensional model;

[0009] The link traffic management module is used to manage the link traffic according to the operating link of the intelligent substation;

[0010] The traffic visualization module is used to provide a visual presentation of link traffic monitoring curves, application distribution statistics, and key indicator comparison and analysis;

[0011] The link network delay analysis module is used to perform network delay analysis after simulating the flow of the intelligent substation link or monitoring the operating link to determine whether the communication delay requirement is met;

[0012] The inspection module is used to use a preset inspection robot to inspect the intelligent substation according to a predetermined inspection task.

[0013] Furthermore, the steps of the visual modeling module performing visual three-dimensional modeling on the intelligent substation are:

[0014] Collect point cloud data information and image data of the intelligent substation at different angles through drone tilt photography technology;

[0015] Using spatial grid quantization to process the initial three-dimensional point cloud data information of the intelligent substation, to obtain pre-processed simplified point cloud data information of the substation;

[0016] The simplified three-dimensional point cloud data information of the intelligent substation after quantitative matching through ICP algorithm;

[0017] Import the matched three-dimensional point cloud data of each space of the intelligent substation into the Revit software to obtain a three-dimensional visualization basic model of each space of the intelligent substation;

[0018] The basic model is seamlessly connected by a wrapping map rendering method to obtain a rendered three-dimensional visualization overall model of the intelligent substation;

[0019] The brightness of the overall model after rendering is adjusted in combination with the bilinear light intensity interpolation method, and the overall model is enhanced to obtain the final three-dimensional visualization overall model of the intelligent substation.

[0020] Furthermore, after the step of collecting point cloud data information and image data of the intelligent substation at different angles by using the drone tilt photography technology, it also includes:

[0021] Rasterize the noisy point cloud data. Given a threshold r, compare the number of points in all grids with r. If it is less than r, the noise in the grid needs to be removed.

[0022] Calculate the N points closest to the vertices of the processed point cloud data, and fit a quadratic surface based on these N points: Z = Ax 2 +By 2 +Cxy+Dyz+Ex+Fy+G, where the three-dimensional coordinate system is (x, y, z), A, B, C, D, E, F, and G represent points on the quadratic surface respectively.

[0023] A threshold t is set for the vertical distance between the point on the quadratic surface and the vertex of the point cloud data. Points less than t are non-noise points, and points greater than t are regarded as noise points and are removed. On this basis, the three-dimensional point cloud data information of the intelligent substation is obtained by combining spatial grid quantization processing.

[0024] Furthermore, the process of spatial grid quantization processing the three-dimensional point cloud data information of the intelligent substation is:

[0025] A grid interval with a size within a set range is virtually divided from the three-dimensional space, and the grid interval is used to perform grid division on each data information point of the obtained three-dimensional point cloud of the intelligent substation;

[0026] It is assumed that each data information point in the same grid interval is similar, and based on this, a new data information point is obtained by merging each data information point in the same grid interval;

[0027] By analogy, after all the three-dimensional point cloud data information points of the intelligent substation are segmented and merged, the quantitative processing of the three-dimensional point cloud data information of the intelligent substation is realized.

[0028] Furthermore, the link traffic management module includes a link traffic simulation unit and a link traffic monitoring unit. The link traffic simulation unit is used to perform link traffic simulation according to the operating link of the intelligent substation to realize link traffic demand viewing and analysis; the link traffic monitoring unit is used to perform link traffic monitoring and analysis according to the operating link of the intelligent substation to realize link traffic monitoring.

[0029] Furthermore, the link traffic monitoring unit includes a presentation layer, a business logic layer and a data persistence layer. The presentation layer is used for interface presentation, presenting functions in a visual form; the business logic layer is composed of message capture, message parsing, and anomaly detection sub-units, and is used to provide functions to operators through the presentation layer; the data persistence layer is composed of data storage sub-units, which store all data in a database to ensure data persistence.

[0030] In the business logic layer, the message capture subunit is mainly used to capture the original data packets of the intelligent substation, process and filter the captured data packets, and select the required data packets; the message parsing subunit mainly parses the messages in the business logic layer; the anomaly detection subunit uses the anomaly detection rule method to monitor the link traffic of the intelligent substation online, and sends the monitored abnormal messages to the storage subunit, which stores them persistently in the database.

[0031] Further, the message capture subunit uses the data packet capture library Libpcap to capture messages, and its message capture includes the following steps:

[0032] The NIC driver is used to receive data packets in the system and initiate a data transmission request to the next level while receiving the data packets, so as to transfer the received data packets to the corresponding buffer area;

[0033] Based on the previous packet configuration information, the new packet is filtered into the kernel buffer with the help of the callback function tap, and on this basis, the captured packet information is transmitted to the system user layer applications with the help of the dynamic link library packet.d11;

[0034] The function library wpcap.d11, which is independent of the system, is used to realize the communication between the system user layer application and the NPF architecture, and provide corresponding interface support for it.

[0035] Furthermore, the working process of the message parsing subunit is as follows: the message data link layer data is parsed, and whether the message is abnormal is judged according to the parsing result; if the parsing fails, the message is judged to be an abnormal message and no longer parsed; if the parsing is successful, the application layer data of the message is further parsed; if the application layer message parsing fails, the message is also an abnormal message, and the message parsing work can only be terminated after the parsing is successful.

[0036] Furthermore, the inspection module includes an industrial computer and an inspection robot, the industrial computer is connected to the server and the inspection robot respectively, and a pan-tilt control board is configured in the industrial computer, and the pan-tilt control board can collect the surrounding environment and operation of the substation inspection robot in the form of horizontal and vertical movement through hardware limit control of the pan-tilt;

[0037] The industrial computer includes a microprocessor unit, a motor drive unit, and a communication unit. The communication unit provides efficient information transmission services for the monitoring background of the intelligent substation inspection and monitors the operation of the intelligent substation in real time. The microprocessor unit issues control instructions and transmits the control instructions to the motor drive unit to realize intelligent control of the inspection robot. The microprocessor unit adopts pulse width modulation technology when controlling the motor drive module. The information transmission between the communication unit and the microprocessor unit is realized through the synchronous / asynchronous serial receiver / transmitter UART.

[0038] Furthermore, the industrial computer is connected to the server through the communication unit. The communication unit is divided into a network layer, an application layer, and a management layer. The core layer is the application layer. The application layer adopts a 5G software-defined network function deployment optimization algorithm based on immune computing to complete resource allocation and realize network function optimization. The application layer is open to network transmission capabilities, has mobility management functions, supports long-distance transmission of information, and realizes voice input and network traffic control of the intelligent substation inspection; the management layer is used to manage all information transmitted by the 5G communication network and encrypt and arrange it.

[0039] The beneficial effects of the present invention are:

[0040] 1. Provide flexible configuration visualization modeling and analysis of intelligent substations, realize configuration modeling of intelligent substation equipment, link traffic simulation, traffic monitoring, and provide visualization analysis.

[0041] 2. Solve the delay problem of substation communication network, optimize the substation network structure setting, provide technical support for substation fault analysis, and assist in the construction of new power systems.

[0042] 3. Through in-depth research on the communication characteristics and network architecture of smart substations, a simulation model that can simulate actual network traffic was successfully built. Using the simulation model, the statistical characteristics, timing characteristics, and spatial distribution characteristics of network traffic were deeply analyzed, providing an important basis for optimizing network design and performance evaluation.

[0043] 4. By comparing with the network traffic data of the actual smart substation, the accuracy and reliability of the simulation model are verified, laying the foundation for subsequent research; the performance and security of the smart substation network system are more comprehensively evaluated.

[0044] 5. The modeling method provided improves the visualization effect of various monitoring data, adopts inspection robots for inspection, shortens the inspection time, saves manpower, makes the inspection data accurate, and enables personnel to arrive in time and obtain on-site information quickly when emergencies occur. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 It is a structural schematic diagram of the flexible configuration visualization modeling and analysis system of the intelligent substation of the present invention.

[0046] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0047] 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. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0048] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0049] In addition, the descriptions of "first", "second", etc. in the present invention are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0050] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0051] The intelligent substation flexible configuration visualization modeling and analysis system is based on the configuration modeling of the secondary system equipment of the intelligent substation. The secondary system equipment can be modeled to simulate the flow of data links and monitor and analyze the flow of operation links. It simulates, compares and analyzes the flow requirements under different conditions such as normal operation, fault status, and new system access, and optimizes the configuration of network equipment such as switches in the substation system network structure.

[0052] The method of flexible configuration visualization modeling and analysis system of intelligent substation is adopted to carry out configuration modeling of intelligent substation system equipment, flow simulation of data link and flow monitoring of operation link. It is of great significance to the setting of substation network structure, optimization of network equipment configuration and application of new communication technology, and provides support for the construction of new power system.

[0053] like Figure 1 As shown, the present invention provides a flexible configuration visualization modeling and analysis system for intelligent substations, including a control center, a visualization modeling module, a network topology modeling module, a flow model parameter setting module, a link flow management module, a flow visualization module, a link network delay analysis module, and an inspection module. The control center is respectively connected to the visualization modeling module, the network topology modeling module, the flow model parameter setting module, the link flow management module, and the link network delay analysis module. The link flow management module is also connected to the flow visualization module. The control center is connected to the inspection module through a server.

[0054] The visualization modeling module is used to perform visualization three-dimensional modeling of the intelligent substation by means of point cloud data processing; the network topology module is used to design the network topology structure according to the network structure of the station control layer, interval layer and process layer of the intelligent substation, and build the substation network topology structure; the traffic model parameter setting module is used to set the parameters of the model according to the substation equipment model in the visualization three-dimensional model, such as: the statistical characteristics of network traffic, setting the interface type and traffic parameters in the simulation model, etc.; the link traffic management module is used to manage the link traffic according to the operating link of the intelligent substation; the traffic visualization module is used to provide a visualization presentation of the monitoring curve of the link traffic, application distribution statistics, and key indicator comparison and analysis; the link network delay analysis module is used to perform network delay analysis after traffic simulation of the intelligent substation link or monitoring of the operating link to determine whether the communication delay requirements are met; the inspection module is used to use a preset inspection robot to inspect the intelligent substation according to a predetermined inspection task.

[0055] The system of the present invention realizes the following functions:

[0056] a) Realize intelligent configuration modeling for the secondary system equipment of intelligent substation;

[0057] b) Design the connection mode and network topology of system equipment;

[0058] c) Realize the visualization of system network structure and operation data flow;

[0059] d) It can simulate the data flow of intelligent substation equipment operation;

[0060] e) Realize the monitoring and analysis of real-time flow of intelligent substation operating equipment;

[0061] f) Optimize network structure settings to solve network delay issues;

[0062] g) Intelligent inspection robots are used to inspect intelligent substations, which shortens the inspection time, saves manpower, and makes the inspection data accurate.

[0063] Analyze the data link structure and flow requirements of each device in the secondary system of the intelligent substation, model the data flow model of the secondary system equipment, and establish a model library. Call the model library device to realize configuration modeling, simulate the flow of the data link, monitor and analyze the flow of the operating link, and analyze whether the network delay meets the operating requirements. On the one hand, more and more new technologies are applied to new power systems, and the network structure of intelligent substations is becoming more and more complex. The flow demand and network structure have become one of the important factors affecting the safe and stable operation of substations. Simulating the flow of data links and monitoring the flow of operating links are of great significance to the setting of the substation network structure; on the other hand, monitoring and analyzing the flow of operating links can guide intelligent substations to apply advanced functions and intelligent operation and maintenance.

[0064] Visual modeling module:

[0065] The steps of the visualization modeling module to perform visualization three-dimensional modeling on the intelligent substation are as follows:

[0066] 1) Collecting point cloud data information and image data of the intelligent substation at different angles through drone tilt photography technology;

[0067] Collecting and processing cloud information of intelligent substation sites is the basis and key to visual modeling. UAV oblique photography technology is used to realize the effective collection of point cloud data and images of target substations at various angles. At the same time, more than three SLAM (Simultaneous Localization And Mapping) devices are combined with a scanning angle higher than 120° to scan and connect the acquired 3D point cloud data of intelligent substations. Then, 3D point cloud data and images with continuous characteristics are obtained, so as to ensure that the acquired 3D point cloud data of substations can meet the needs of visual modeling.

[0068] In order to ensure that the model obtained in the subsequent construction of the visualization model has consistent spatial characteristics, it is necessary to reasonably match the acquired substation three-dimensional point cloud data information. However, due to the huge amount of information in the actual three-dimensional point cloud data, in order to reduce the tediousness of the matching process and improve the matching efficiency, it is necessary to match such point cloud data information on the basis of denoising and quantization processing. For the implementation of noise reduction processing for point cloud data containing noise, on the one hand, noise suppression methods are used to directly remove it. On the other hand, for noise with obvious characteristics, the workload of using suppression methods is relatively large. Therefore, for this type of noisy point cloud data, pre-processing is carried out, and the specific steps are as follows:

[0069] a. Rasterize the noisy point cloud data. Given a threshold r, compare the number of points in all grids with r. If it is less than r, the noise in the grid needs to be removed.

[0070] b. Calculate the N points closest to the vertices of the processed point cloud data, and fit a quadratic surface based on these N points: Z = Ax 2 +By 2 +Cxy+Dyz+Ex+Fy+G, where the three-dimensional coordinate system is (x, y, z), A, B, C, D, E, F, and G represent points on the quadratic surface respectively.

[0071] c. Set a threshold t for the vertical distance between the point on the quadratic surface and the vertex of the point cloud data. Points less than t are non-noise points, and points greater than t are considered noise points and are removed. On this basis, the three-dimensional point cloud data information of the intelligent substation is obtained by combining the spatial grid quantization processing. The process of spatial grid quantization processing of the three-dimensional point cloud data information of the intelligent substation is as follows:

[0072] c.1: Virtually segmenting a grid interval within a set range of size from the three-dimensional space, and using the grid interval to perform grid segmentation on each data information point of the obtained three-dimensional point cloud of the intelligent substation;

[0073] c.2: Assume that each data information point in the same grid interval is similar, and based on this, obtain a new data information point by merging each data information point in the same grid interval;

[0074] c.3: Similarly, after segmenting and merging all the three-dimensional point cloud data information points of the intelligent substation, quantitative processing of the three-dimensional point cloud data information of the intelligent substation is achieved.

[0075] 2) Using spatial grid quantization to process the initial three-dimensional point cloud data information of the intelligent substation, to obtain pre-processed simplified point cloud data information of the substation;

[0076] 3) Simplifying the three-dimensional point cloud data information of the intelligent substation after quantitative processing through ICP algorithm matching;

[0077] After matching all the quantified 3D point cloud data of the substation through the ICP algorithm, the matched 3D point cloud data of the substation and the image are effectively integrated in the Revit software, the 3D point cloud data of the substation is visualized, and the construction of the basic visualization model of each space of the subway substation is completed.

[0078] In the process of constructing the three-dimensional visualization basic model of the substation, the overall space of the substation is divided due to the excessive number of rooms and floors contained in the actual spatial environment of the substation. It is necessary to build models for each divided space in turn, and generate several corresponding engineering files at the same time; on this basis, the adjustment of the point cloud data sets of each engineering file is completed based on the actual spatial position of the substation through semi-automatic splicing, so as to ensure the continuity of the basic visualization models of each space of the substation finally constructed.

[0079] 4) Importing the matched three-dimensional point cloud data of each space of the intelligent substation into the Revit software to obtain a three-dimensional visualization basic model of each space of the intelligent substation;

[0080] The construction process of the substation visualization basic model of Revit software is as follows:

[0081] Step 1: Set the clock timing function to ensure that the fused substation 3D point cloud data and image time are consistent, so as to ensure that the obtained basic visualization models of each substation space are consistent in time;

[0082] Step 2: At the same time, extract the substation 3D point cloud data and images imported into the Revit software, and obtain the basic visualization model of each space of the substation with spatial consistency through spatial coordinate transformation.

[0083] 5) Using a wrapping map rendering method to seamlessly connect the basic model, and obtaining a rendered three-dimensional visualization overall model of the intelligent substation;

[0084] 6) The brightness of the overall model after rendering is adjusted by combining the bilinear light intensity interpolation method, and the overall model is enhanced to obtain the final three-dimensional visualization overall model of the intelligent substation.

[0085] Link traffic management module:

[0086] The link traffic management module includes a link traffic simulation unit and a link traffic monitoring unit. The link traffic simulation unit is used to perform link traffic simulation according to the operating link of the intelligent substation to realize link traffic demand viewing and analysis; the link traffic monitoring unit is used to perform link traffic monitoring and analysis according to the operating link of the intelligent substation to realize link traffic monitoring.

[0087] The link traffic monitoring unit includes a presentation layer, a business logic layer and a data persistence layer. The presentation layer is used to display the interface and present the functions in a visual form; the business logic layer is composed of message capture, message parsing, and anomaly detection sub-units, which are used to provide functions to operators through the presentation layer; the data persistence layer is composed of data storage sub-units, which store all data in a database to ensure data persistence.

[0088] In the business logic layer, the message capture subunit is mainly used to capture the original data packets of the intelligent substation, process and filter the captured data packets, and select the required data packets; the message parsing subunit mainly parses the messages in the business logic layer; the anomaly detection subunit uses the anomaly detection rule method to monitor the link traffic of the intelligent substation online, and sends the monitored abnormal messages to the storage subunit, which stores them persistently in the database.

[0089] 1> Message Capture Subunit: The message capture subunit uses the data packet capture library Libpcap to capture messages, and its message capture includes the following steps:

[0090] a. Use the NIC driver to receive data packets in the system and initiate a data transmission request to the next level while receiving the data packets, so as to transfer the received data packets to the corresponding buffer area;

[0091] b. Based on the previous data packet configuration information, the new data packet is filtered into the kernel buffer with the help of the callback function tap, and on this basis, the captured data packet information is transmitted to the system user layer applications with the help of the dynamic link library packet.d11;

[0092] c. Use the function library wpcap.d11 independent of the system to realize the communication between the system user layer application and the NPF architecture, and provide corresponding interface support for it.

[0093] 2> Message parsing subunit: The working process of the message parsing subunit is as follows: the message data link layer data is parsed, and the message is judged to be abnormal or not according to the parsing result. If the parsing fails, the message is judged to be an abnormal message and no longer parsed; if the parsing is successful, the application layer data of the message is further parsed; if the application layer message parsing fails, the message is also an abnormal message, and the message parsing work can only be terminated after the parsing is successful.

[0094] 3> Anomaly detection module: After completing the message capture and message parsing, the system also introduces the message anomaly detection method into the message detection work to carry out message anomaly detection. In the design process of the anomaly detection module, considering the flexibility of the anomaly detection module in the application process, this article will separate the detection engine and detection rules in the system to meet different requirements for detection rules, so that it can add or delete detection rules according to its actual needs.

[0095] At the same time, considering the syntax and semantics of GOOSE and SV protocols, a corresponding anomaly detection method will be designed for the protocol. In order to make the anomaly detection method have practical application value, the EC61850 anomaly detection rules are designed to have corresponding configuration files. These files mainly include goose.config and sv.config, and define the relevant parameters in the anomaly detection rule file, such as the total anomaly type, anomaly name, rule number, etc. In these two anomaly detection rules, SV is mainly represented by 0 and GOOSE is represented by 1. When starting the actual anomaly detection work, different detection rules need to be written into the anomaly detection file.

[0096] Inspection module:

[0097] The inspection module includes an industrial computer and an inspection robot, wherein the industrial computer is connected to the server and the inspection robot respectively, and a pan-tilt control board is configured in the industrial computer, and the pan-tilt control board can collect the surrounding environment and operation of the substation inspection robot in the form of horizontal and vertical movement through hardware limit control of the pan-tilt;

[0098] The industrial computer includes a microprocessor unit, a motor drive unit, and a communication unit. The communication unit provides efficient information transmission services for the monitoring background of the intelligent substation inspection and monitors the operation of the intelligent substation in real time. The microprocessor unit issues control instructions and transmits the control instructions to the motor drive unit to realize intelligent control of the inspection robot. The microprocessor unit adopts pulse width modulation technology when controlling the motor drive module. The information transmission between the communication unit and the microprocessor unit is realized through the synchronous / asynchronous serial receiver / transmitter UART.

[0099] The industrial computer is connected to the server through the communication unit. The communication unit is divided into a network layer, an application layer, and a management layer. The core layer is the application layer. The application layer adopts a 5G software-defined network function deployment optimization algorithm based on immune computing to complete resource allocation and realize network function optimization. The application layer is open to network transmission capabilities, has mobility management functions, supports long-distance transmission of information, and realizes voice input and network traffic control of the intelligent substation inspection; the management layer is used to manage all information transmitted by the 5G communication network and encrypt and arrange it.

[0100] The core of the motor drive unit is the AT89C51 single-chip microcomputer, which can use the serial communication circuit (ICORE AIP1668) to start the single-chip microcomputer control function. The single-chip microcomputer is connected to the electromagnet drive circuit (ADI ADM3202ARNZ) and the stepper motor drive circuit chip (ALLEGRO A3955SB) through the I / O expansion circuit chip (8255A 9.2MCS-51) to realize the speed control and arm control of the inspection robot.

[0101] The structure of the microprocessor unit is divided into a compiler, a central processing unit (Siemens 6ES7517-3AP00-0AB0), and a memory (airdiskQ3X). The assembler in the compiler (Absoft Pro Fortran language compiler) can transform the control instruction source code into target code, the connector transforms the target file into an executable file, and the loader implements executable code compilation. The memory is mainly used to store inspection data and programs. The central processing unit is the core of the microprocessor. The issuance and reception of inspection tasks are completed through event-driven. The execution function of the inspection instruction needs to be completed using the pipeline unit. The clock unit and the instruction scheduling unit can manage the operation time and instruction execution status of the inspection instruction. The resource management unit adopts a 5G software-defined network function deployment optimization algorithm based on immune computing to allocate and recycle resources to prevent resource conflicts.

[0102] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, device, article or method including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, device, article or method. In the absence of further restrictions, an element defined by the sentence "includes a ..." does not exclude the presence of other identical elements in the process, device, article or method including the element.

[0103] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. An intelligent substation flexible configuration visualization modeling and analysis system, characterized in that: It includes a control center, a visualization modeling module, a network topology modeling module, a traffic model parameter setting module, a link traffic management module, a traffic visualization module, a link network delay analysis module, and an inspection module. The control center is respectively connected to the visualization modeling module, the network topology modeling module, the traffic model parameter setting module, the link traffic management module, and the link network delay analysis module. The link traffic management module is also connected to the traffic visualization module. The control center is connected to the inspection module through a server. The visual modeling module is used to perform visual three-dimensional modeling of the intelligent substation by means of point cloud data processing; The network topology module is used to design the network topology structure according to the network structure of the station control layer, the bay layer and the process layer of the intelligent substation, and to build the substation network topology structure; The flow model parameter setting module is used to set the parameters of the model according to the substation equipment model in the visual three-dimensional model; The link traffic management module is used to manage the link traffic according to the operating link of the intelligent substation; The traffic visualization module is used to provide a visual presentation of link traffic monitoring curves, application distribution statistics, and key indicator comparison and analysis; The link network delay analysis module is used to perform network delay analysis after simulating the flow of the intelligent substation link or monitoring the operating link to determine whether the communication delay requirement is met; The inspection module is used to use a preset inspection robot to inspect the intelligent substation according to a predetermined inspection task.

2. The intelligent substation flexible configuration visualization modeling and analysis system according to claim 1 is characterized in that: The steps of the visual modeling module performing visual three-dimensional modeling on the intelligent substation are as follows: Collect point cloud data information and image data of the intelligent substation at different angles through drone tilt photography technology; Using spatial grid quantization to process the initial three-dimensional point cloud data information of the intelligent substation, to obtain pre-processed simplified point cloud data information of the substation; The simplified three-dimensional point cloud data information of the intelligent substation after quantitative matching through ICP algorithm; Import the matched three-dimensional point cloud data of each space of the intelligent substation into the Revit software to obtain a three-dimensional visualization basic model of each space of the intelligent substation; The basic model is seamlessly connected by a wrapping map rendering method to obtain a rendered three-dimensional visualization overall model of the intelligent substation; The brightness of the overall model after rendering is adjusted in combination with the bilinear light intensity interpolation method, and the overall model is enhanced to obtain the final three-dimensional visualization overall model of the intelligent substation.

3. The intelligent substation flexible configuration visualization modeling and analysis system according to claim 2 is characterized in that: After the step of collecting point cloud data information and image data of the intelligent substation at different angles by using the drone tilt photography technology, the method further includes: Rasterize the noisy point cloud data. Given a threshold r, compare the number of points in all grids with r. If it is less than r, the noise in the grid needs to be removed. Calculate the N points closest to the vertices of the processed point cloud data, and fit a quadratic surface based on these N points: Z = Ax 2 +By 2 +Cxy+Dyz+Ex+Fy+G, where the three-dimensional coordinate system is (x, y, z), A, B, C, D, E, F, and G represent points on the quadratic surface respectively. A threshold t is set for the vertical distance between the point on the quadratic surface and the vertex of the point cloud data. Points less than t are non-noise points, and points greater than t are regarded as noise points and are removed. On this basis, the three-dimensional point cloud data information of the intelligent substation is obtained by combining spatial grid quantization processing.

4. The intelligent substation flexible configuration visualization modeling and analysis system according to claim 3 is characterized in that: The process of spatial grid quantization processing of the three-dimensional point cloud data information of the intelligent substation is as follows: A grid interval with a size within a set range is virtually divided from the three-dimensional space, and the grid interval is used to perform grid division on each data information point of the obtained three-dimensional point cloud of the intelligent substation; It is assumed that each data information point in the same grid interval is similar, and based on this, a new data information point is obtained by merging each data information point in the same grid interval; By analogy, after all the three-dimensional point cloud data information points of the intelligent substation are segmented and merged, the quantitative processing of the three-dimensional point cloud data information of the intelligent substation is realized.

5. The intelligent substation flexible configuration visualization modeling and analysis system according to claim 1 is characterized in that: The link traffic management module includes a link traffic simulation unit and a link traffic monitoring unit. The link traffic simulation unit is used to perform link traffic simulation according to the operating link of the intelligent substation to realize link traffic demand viewing and analysis; the link traffic monitoring unit is used to perform link traffic monitoring and analysis according to the operating link of the intelligent substation to realize link traffic monitoring.

6. The intelligent substation flexible configuration visualization modeling and analysis system according to claim 5 is characterized in that: The link traffic monitoring unit includes a presentation layer, a business logic layer and a data persistence layer. The presentation layer is used to display the interface and display the functions in a visual form; the business logic layer is composed of message capture, message parsing, and anomaly detection subunits, which are used to provide functions to operators through the presentation layer; the data persistence layer is composed of data storage subunits, which store all data in the database to ensure data persistence; In the business logic layer, the message capture subunit is mainly used to capture the original data packets of the intelligent substation, process and filter the captured data packets, and select the required data packets; the message parsing subunit mainly parses the messages in the business logic layer; the anomaly detection subunit uses the anomaly detection rule method to monitor the link traffic of the intelligent substation online, and sends the monitored abnormal messages to the storage subunit, which stores them persistently in the database.

7. The intelligent substation flexible configuration visualization modeling and analysis system according to claim 6 is characterized in that: The message capture subunit adopts the data packet capture library Libpcap to capture messages, and its message capture includes the following steps: The NIC driver is used to receive data packets in the system and initiate a data transmission request to the next level while receiving the data packets, so as to transfer the received data packets to the corresponding buffer area; Based on the previous packet configuration information, the new packet is filtered into the kernel buffer with the help of the callback function tap, and on this basis, the captured packet information is transmitted to the system user layer applications with the help of the dynamic link library packet.d11; The function library wpcap.d11, which is independent of the system, is used to realize the communication between the system user layer application and the NPF architecture, and provide corresponding interface support for it.

8. The intelligent substation flexible configuration visualization modeling and analysis system according to claim 6 is characterized in that: The working process of the message parsing subunit is as follows: the message data link layer data is parsed, and whether the message is abnormal or not is judged according to the parsing result. If the parsing fails, the message is judged to be an abnormal message and no longer parsed; if the parsing is successful, the application layer data of the message is further parsed; if the application layer message parsing fails, the message is also an abnormal message, and the message parsing work can only be terminated after the parsing is successful.

9. The intelligent substation flexible configuration visualization modeling and analysis system according to claim 1 is characterized in that: The inspection module includes an industrial computer and an inspection robot, wherein the industrial computer is connected to the server and the inspection robot respectively, and a pan-tilt control board is configured in the industrial computer, and the pan-tilt control board can collect the surrounding environment and operation of the substation inspection robot in the form of horizontal and vertical movement through hardware limit control of the pan-tilt; The industrial computer includes a microprocessor unit, a motor drive unit, and a communication unit. The communication unit provides efficient information transmission services for the monitoring background of the intelligent substation inspection and monitors the operation of the intelligent substation in real time. The microprocessor unit issues control instructions and transmits the control instructions to the motor drive unit to realize intelligent control of the inspection robot. The microprocessor unit adopts pulse width modulation technology when controlling the motor drive module. The information transmission between the communication unit and the microprocessor unit is realized through the synchronous / asynchronous serial receiver / transmitter UART.

10. The intelligent substation flexible configuration visualization modeling and analysis system according to claim 1 is characterized in that: The industrial computer is connected to the server through the communication unit. The communication unit is divided into a network layer, an application layer, and a management layer. The core layer is the application layer. The application layer adopts a 5G software-defined network function deployment optimization algorithm based on immune computing to complete resource allocation and realize network function optimization. The application layer is open to network transmission capabilities, has mobility management functions, supports long-distance transmission of information, and realizes voice input and network traffic control of the intelligent substation inspection; the management layer is used to manage all information transmitted by the 5G communication network and encrypt and arrange it.

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