Substation large-scale mechanical operation safety management and control method and system based on space environment modeling

Abstract

The invention relates to a transformer substation large-scale mechanical operation safety management and control method and system based on space environment modeling, and the method comprises the following steps: collecting outdoor panoramic laser point cloud data of a transformer substation, and constructing a transformer substation three-dimensional model; the method comprises the following steps: arranging Beidou positioning equipment and adding a description label of the large-scale machine according to the movement of the large-scale machine and the characteristics of a movable part for operation, and modeling the large-scale machine in a three-dimensional model of a transformer substation through the Beidou positioning equipment and the data of the description label; normalizing the large-scale machinery and all equipment in the transformer substation into a cube, and calculating the distance between the large-scale machinery and the equipment in the transformer substation; performing collision detection according to the calculated distance between the large-scale machine and the equipment in the transformer substation, and sending out different levels of voice alarms according to the distance between the large-scale machine and the equipment in the transformer substation. According to the invention, the position information of the large-scale machinery is loaded into the three-dimensional model of the transformer substation through the Beidou positioning equipment, so that the operation process of the large-scale machinery in the transformer substation can be monitored in real time.

Description

Technical Field

[0001] The present application relates to the technical field of substation maintenance, and more specifically, to a method and system for safety management and control of large-scale mechanical operations in substations based on spatial environment modeling. Background Art

[0002] Production safety is the basic guarantee for the operation and development of the power system. At present, the country, industry and enterprises have put forward new requirements for power safety production. As a key link in the production of the power system, the substation needs to effectively improve the safety level of operations within the station, ensure the personal safety of operators, and improve the reliability of power grid operation and power supply service level. There are many live equipment in the substation. The primary equipment such as circuit breakers, disconnectors, and lightning arresters in the station are generally installed more than 2 meters above the ground. When carrying out maintenance operations, large machinery is usually required for operation, and there may be live operations, that is, the original substation equipment continues to operate, and the busbars above the substation are still live. In this case, live operations become a major safety hazard due to unreasonable site planning and negligence of personnel, and the possibility of operators and large machinery touching the line and getting electric shock.

[0003] With the gradual integration and application of new-generation information technologies such as artificial intelligence and the Internet of Things with the safety management and control of power production operations, a variety of intelligent management and control methods for substation operations have emerged. For example, the identification of violations based on image target detection is a technical solution that cannot determine the distance between targets, so it is more suitable for violation management scenarios that do not require spatial distance, such as not wearing a safety helmet; the operation safety distance management based on binocular cameras or integrated laser vision devices (integrating laser radar and video data) can effectively and accurately calculate the distance between large machinery and live equipment, and realize the alarm of exceeding the safety distance threshold, but it requires the deployment of equipment on site and the operation of the person in charge of the work, and is limited by the location and distance between the equipment and large machinery.

[0004] Therefore, it is necessary to carry out a high-precision, non-sensing and active real-time analysis and alarm of the safe distance of large-scale mechanical operations in substations, to assist on-site work leaders and supervisors in carrying out safety management and control of operations within the station, and to ensure the safety of operators, machinery and equipment. This is an urgent and significant matter to be explored.

[0005] Existing technologies such as the Chinese patent with the patent number "CN118071534A" disclose a method and system for substation operation safety management based on digital twins. This method constructs a three-dimensional model of the substation by acquiring the cloud data of the substation's panoramic view; then, the operation area is divided based on the three-dimensional model, and the boundary ranges such as the operation area and the dangerous area are set; secondly, the moving objects in the video are identified through image recognition technology, and the nature of their activities is determined; then, the object area is identified based on the image and the operation area and dangerous area in the three-dimensional model are correlated and analyzed to identify and determine whether there are abnormal behavior events such as people mistakenly entering the dangerous area and small animals breaking into the operation area, and an alarm is sent to notify relevant personnel or system administrators. The overall use of three-dimensional models and video linkage to achieve substation operation safety management and control.

[0006] The problem with the above-mentioned existing technology is that although this method comprehensively uses technologies such as digital twins and visual recognition, it mainly analyzes and warns about the risk of intrusion into the regional boundaries within the substation, and the error based on visual recognition positioning technology is large. In the business scenario of large-scale mechanical equipment maintenance and on-site maintenance, it is easy to produce relatively large blind spots, and it is not suitable for conditions with relatively bad weather. Its practicality needs to be improved. Summary of the invention

[0007] In order to solve the above technical problems, the present invention proposes a method and system for safety management and control of large-scale mechanical operations in substations based on spatial environment modeling.

[0008] The technical solution of the present invention is as follows:

[0009] The present invention proposes a method for safety management and control of large-scale mechanical operations in a substation based on spatial environment modeling, comprising the following steps:

[0010] Step S1, collecting outdoor panoramic laser point cloud data of the substation, importing the point cloud data of the substation into the modeling software, and constructing a three-dimensional model of the substation;

[0011] Step S2, according to the movement of large machinery and the characteristics of active parts used for operation, Beidou positioning equipment is arranged and description tags of large machinery are added, and the large machinery is modeled in the substation three-dimensional model through the data of Beidou positioning equipment and description tags;

[0012] Step S3, normalize the large machinery and all the equipment in the substation into a cube, and calculate the distance between the large machinery and the equipment in the substation;

[0013] Step S4, performing collision detection based on the calculated distance between the large machinery and the equipment in the substation, and issuing voice alarms of different levels based on the distance between the large machinery and the equipment in the substation.

[0014] As a preferred implementation mode, the Beidou positioning equipment is arranged and description tags of the large machinery are added according to the movement of the large machinery and the characteristics of the active parts used for the operation; wherein the description tags include: a first label, arranged at the top of the large machinery normalized to the center point of the cube, used to describe the properties of the large machinery itself, and the properties of the large machinery itself include the length, width and height of the large machinery; a second label, arranged according to the characteristics of the active parts of the large machinery, used to confirm the range of movement of the active parts of the large machinery; a third label, arranged at the contact position between the large machinery and the equipment that needs maintenance in the substation, used to describe the positional relationship between the large machinery and the equipment that needs maintenance in the substation during the operation of the large machinery.

[0015] As a preferred implementation, the modeling of large machinery in the substation three-dimensional model using Beidou positioning equipment and data describing tags includes the following steps:

[0016] Convert the longitude and latitude information collected by the Beidou positioning equipment of large machinery into plane coordinates; the specific conversion formula is as follows:

[0017] X = R × cos(lat) × cos(lon);

[0018] Y = R × cos (lat) × sin (lon);

[0019] Z = R × sin (lat);

[0020] Where: lat is latitude; lon is longitude; R is the radius of the earth;

[0021] Then, the substation entrance point is taken as the origin of the substation three-dimensional space relative coordinates, and the longitude and latitude information of the large machinery converted into plane coordinates is converted into the substation three-dimensional space coordinates.

[0022] As a preferred implementation, the method of normalizing the large machinery and all the equipment in the substation into a cube and calculating the distance between the large machinery and the equipment in the substation comprises the following steps:

[0023] After the large machinery and all the equipment in the substation are normalized into a cube, the maximum vertex coordinates (x Jmax ,y Jmax ,y Jmax ) and the minimum vertex coordinate (x Jmin ,y Jmin ,y Jmin ), the minimum distance between large machinery and equipment in the substation is calculated as follows:

[0024]

[0025] Where: D minis the minimum distance between large machinery and equipment in the substation, dx is the distance difference between large machinery and equipment in the substation in the x direction; dy is the distance difference between large machinery and equipment in the substation in the y direction; dz is the distance difference between large machinery and equipment in the substation in the z direction;

[0026] During the operation of large machinery, the three-dimensional spatial position of the large machinery moving parts is confirmed through the second tag information of the large machinery, and the minimum distance between the large machinery moving parts and the equipment in the substation is calculated;

[0027] During the operation of large machinery, the center point of the equipment in the substation that needs to be repaired is determined through the third tag information of the large machinery, and the equipment in the substation that needs to be repaired is approximated as a part of the large machinery. The calculation formula is as follows:

[0028] (x Jp ,y Jp , z Jp )=(x Jp +a,y Jp +b,z Jp +c);

[0029] In the formula, (x Jp ,y Jp , z Jp ) is the three-dimensional space coordinate information of the third label of large machinery J, (x Jp +a,y Jp +b,z Jp +c) is the center point position of the equipment that needs maintenance in the substation, a, b, c are the center point position offsets of the equipment that needs maintenance in the substation, and are confirmed by the large machinery maintenance operation specifications;

[0030] During the operation of large machinery, the distance between large machinery, large machinery moving parts, equipment that needs maintenance in the substation and the equipment in the substation is compared, and the minimum value is taken as the distance between the large machinery and the equipment in the substation during the operation.

[0031] As a preferred implementation mode, collision detection is performed based on the calculated distance between the large machinery and the equipment in the substation, and different levels of voice alarms are issued according to the distance between the large machinery and the equipment in the substation; when the distance between the large machinery and the equipment in the substation is less than 1.5 times the safety distance threshold, a third-level collision alarm is issued; when the distance between the large machinery and the equipment in the substation is less than 1.2 times the safety distance threshold, a second-level collision alarm is issued; when the distance between the large machinery and the equipment in the substation is less than the safety distance threshold, a first-level collision alarm is issued.

[0032] On the other hand, the present invention also provides a substation large-scale mechanical operation safety management and control system based on space environment modeling, comprising:

[0033] The substation 3D model building module collects the outdoor panoramic laser point cloud data of the substation, imports the point cloud data of the substation into the modeling software, and builds the substation 3D model;

[0034] The large-scale machinery 3D model building module arranges Beidou positioning equipment and adds descriptive tags of the large-scale machinery according to the characteristics of the movement of the large-scale machinery and the movable parts used for operation. The large-scale machinery is modeled in the 3D model of the substation through the data of the Beidou positioning equipment and the descriptive tags.

[0035] The distance calculation module normalizes the large machinery and all the equipment in the substation into a cube and calculates the distance between the large machinery and the equipment in the substation;

[0036] The collision alarm module performs collision detection based on the calculated distance between the large machinery and the equipment in the substation, and issues voice alarms of different levels based on the distance between the large machinery and the equipment in the substation.

[0037] As a preferred implementation, the large-scale machinery three-dimensional model construction module arranges Beidou positioning equipment and adds descriptive tags of the large-scale machinery according to the movement of the large-scale machinery and the characteristics of the active parts used for operation; wherein the description tags include: a first label, arranged at the top of the large-scale machinery normalized to the center point of the cube, used to describe the large-scale machinery's own attributes, the large-scale machinery's own attributes include the length, width and height of the large-scale machinery; a second label, arranged according to the characteristics of the active parts of the large machinery, used to confirm the range of activity of the active parts of the large machinery; a third label, arranged at the contact position between the large machinery and the equipment that needs maintenance in the substation, used to describe the positional relationship between the large machinery and the equipment that needs maintenance in the substation during operation.

[0038] As a preferred implementation, the large-scale machinery three-dimensional model building module models the large-scale machinery in the substation three-dimensional model through Beidou positioning equipment and data describing tags, and includes the following steps:

[0039] Convert the longitude and latitude information collected by the Beidou positioning equipment of large machinery into plane coordinates; the specific conversion formula is as follows:

[0040] X = R × cos(lat) × cos(lon);

[0041] Y = R × cos (lat) × sin (lon);

[0042] Z = R × sin (lat);

[0043] Where: lat is latitude; lon is longitude; R is the radius of the earth;

[0044] Then, the substation entrance point is taken as the origin of the substation three-dimensional space relative coordinates, and the longitude and latitude information of the large machinery converted into plane coordinates is converted into the substation three-dimensional space coordinates.

[0045] In yet another aspect, the present invention further provides an electronic device having a computer program stored thereon, wherein when the computer program is executed by a processor, the computer program implements the method described in any embodiment of the present invention.

[0046] On the other hand, the present invention further provides a computer-readable medium for storing one or more programs, which, when executed by the one or more processors, enables the one or more processors to implement any embodiment of the present invention.

[0047] The present invention has the following beneficial effects: the present invention uses three-dimensional space modeling technology and high-precision Beidou positioning device to safely control large machinery entering the substation, does not rely on visual equipment and laser radar, does not have blind spots for monitoring, is not affected by weather, and is suitable for most substation maintenance scenarios. In addition, the high-precision Beidou positioning device used in the present invention is easy to arrange and disassemble, and its price is also relatively advantageous compared to binocular vision equipment and laser radar equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0049] Figure 1 This is a schematic diagram of the method flow of Example 1;

[0050] Figure 2 This is a schematic diagram of the arrangement of the second and third labels in Example 1;

[0051] Figure 3 Deploy architecture for the safety management and control system of large mechanical operations in substations. DETAILED DESCRIPTION

[0052] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are 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.

[0053] It should be understood that the step numbers used in this document are only for convenience of description and are not intended to limit the order in which the steps are executed.

[0054] It should be understood that the terms used in the present specification are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in the present specification and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0055] The terms “include” and “comprising” indicate the presence of described features, integers, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0056] The term "and / or" means and includes any and all possible combinations of one or more of the associated listed items.

[0057] Embodiment 1:

[0058] In order to make the purpose, technical solutions and advantages of the present invention more clear, the following will be combined with the specific embodiments of the present application and refer to the attached Figure 1 , clearly and completely describe the technical solution of the present invention.

[0059] In order to solve the problems of the prior art, the present invention provides a method for safety management and control of large-scale mechanical operations in substations based on spatial environment modeling, comprising the following steps:

[0060] Step S1, collecting outdoor panoramic laser point cloud data of the substation, importing the point cloud data of the substation into the modeling software, and constructing a three-dimensional model of the substation;

[0061] Step S101: Substation panoramic data collection

[0062] Use drone laser scanning equipment, such as a DJI rotary wing drone equipped with a laser scanning system, to perform a full-scale scan of the substation and collect outdoor panoramic laser point cloud data of the substation. At the same time, collect the longitude and latitude of the substation entry point (T (lat, Ion)) as the origin of the substation plane coordinates, and collect basic attribute information such as length, width, height, type, and name of the equipment in the substation.

[0063] Table 1 Substation equipment attribute information table

[0064] Serial number Property Name Attribute Identifier 1 type device_type 2 name device_name 3 long w 4 Width h 5 high d 6 longitude lat 7 Dimensions lon 8 Safe distance safe_distance

[0065] Step S102: Substation cloud data processing

[0066] After the original substation data is collected by the 3D laser scanner, the noise on the point cloud data is removed through the corresponding software, such as DMR Denoise, CloudCompare and other software, and the data of multiple sites are spliced ​​to obtain the complete 3D point cloud data of the substation.

[0067] Step S103: Substation 3D point cloud data modeling

[0068] For the application scenario of safety control of large machinery in substations, the distance between the three-dimensional spatial information of each substation equipment and the three-dimensional spatial information of large machinery is mainly calculated. The aesthetics of the three-dimensional model of the substation is not high, and the operation area of ​​large machinery in the station is relatively fixed. According to the modeling cost and business needs, local areas and contour level modeling can be selected in the station. Then, the fused and corrected three-dimensional point cloud data of the substation is imported into the modeling software, such as 3Dmax, ContextCapture and other software, to complete the construction of the three-dimensional model of the substation and realize the three-dimensional visualization of the substation. At the same time, the basic information such as the length, width, height, type, and name of the substation equipment is associated with the three-dimensional model.

[0069] Step S2, according to the movement of large machinery and the characteristics of active parts used for operation, Beidou positioning equipment is arranged and description tags of large machinery are added, and the large machinery is modeled in the substation three-dimensional model through the data of Beidou positioning equipment and description tags;

[0070] Step S201: Installation of large-scale mechanical Beidou positioning device

[0071] In this embodiment, large machinery mainly takes truck cranes and crawler cranes as examples, with large machinery as the center, and its operating space range is relatively fixed. By installing Beidou high-precision positioning terminals on large machinery, real-time perception and calculation of the spatial position of large machinery can be achieved. Different types of large machinery have different installation locations and installation quantities of positioning terminals. The basic parameters of Beidou high-precision positioning terminals are shown in Table 2 below:

[0072] Table 2 Basic technical parameters of Beidou high-precision positioning terminal

[0073]

[0074]

[0075] In this embodiment, a high-precision positioning terminal is deployed on the top of a large machine such as a truck crane or crawler crane, which is normalized to the center point of a cube, and a first tag is added to the positioning terminal. The first tag is used to describe the properties of the large machine, including information such as length, width, and height. Figure 2As shown, a high-precision positioning terminal is deployed at each end and midpoint (E, M, F) of the boom of the large-scale mechanical movable part, and a second tag is added to the positioning terminal to obtain the dynamic position information of the boom in real time. A high-precision positioning terminal is deployed on the hook (N) at the contact position between the large-scale mechanical movable part and the substation equipment (O) that needs to be repaired, and a third tag is added to the positioning terminal to confirm the dynamic position information of the substation equipment (O) that needs to be repaired through the spatial position of the third tag; the relative position relationship between the third tag and the maintenance equipment can be confirmed through the construction specifications of different large-scale machinery and different equipment.

[0076] Step S202: Calculate the three-dimensional spatial position of large machinery

[0077] Every time a large-scale machinery maintenance operation is carried out, the three-dimensional coordinate information of the large-scale machinery in the substation is calculated through the arranged high-precision positioning terminal and the corresponding description tags. The specific calculation formula is as follows:

[0078] X = R × cos(lat) × cos(lon);

[0079] Y = R × cos (lat) × sin (lon);

[0080] Z = R × sin (lat);

[0081] Where lat is latitude, lon is longitude, and R is the radius of the earth.

[0082] In this embodiment, the substation entry point T is taken as the origin of the relative coordinates of the substation three-dimensional space, and the longitude and latitude of the large mechanical movable parts of the boom E, M, F and the hook N are converted into geodetic xy coordinates. The calculation formula is as follows:

[0083] E(x E ,y E ,z E )=E(R×cos(lat E )×cos(lon E ),R×cos(lat E )×sin(lon E ),R×sin(lat E ));

[0084] F(x F ,y F , z F )=F(R×cos(lat F )×cos(lon F ), R×cos(lat F )×sin(lon F ), R×sin(lat F));

[0085] M(x M ,y M , z M )=F(R×cos(lat M )×cos(lon M ), R×cos(lat M )×sin(lon M ), R×sin(lat M ));

[0086] N(x N ,y N , z N )=F(R×cos(lat N )×cos(lon N ), R×cos(lat N )×sin(lon N ), R×sin(lat N ));

[0087] Convert E, M, T, and N on the crane into three-dimensional spatial coordinates of the substation.

[0088] E(x e ,y e , z e )=E(x E ,y E , z E )-T(x T ,y T , z T );

[0089] F(x f ,y f , z f )=F(x F ,y F , z F )-T(x T ,y T , z T );

[0090] M(x m ,y m , z m )=M(x M ,y M , z M )-T(x T ,y T , z T );

[0091] N(x n ,yn , z n )=N(x N ,y N , z N )-T(x T ,y T , z T );

[0092] Step S203: Modeling large machinery in the three-dimensional model of the substation according to the calculation results.

[0093] Step S3, normalize the large machinery and all the equipment in the substation into a cube, and calculate the distance between the large machinery and the equipment in the substation;

[0094] Step S301: According to the 3D spatial model of the equipment in the substation and the attributes of the equipment in the substation, the equipment in the substation is normalized into a cube. According to the 3D spatial model of the large machinery and the corresponding label description, the large machinery is normalized into a cube, which includes the large machinery itself, the moving parts of the large machinery, and the contact parts between the moving parts of the large machinery and the substation equipment to be repaired.

[0095] Step S302: Calculate the distance between large machinery and equipment in the station

[0096] In three-dimensional space, the distance between two objects usually refers to the distance between the geometric center points of the two objects. If the two objects are points, the Euclidean distance formula mentioned above is used directly for calculation. However, if the objects have a certain volume and shape, such as two spheres, two cubes, or a sphere and a cube, the calculation method will be different.

[0097] This patent normalizes all substation equipment and large machinery, large machinery moving parts, and equipment in the substation into cubes, and uses two cube distance calculation formulas to calculate the distance between the crane, boom, and hoisted maintenance equipment in this embodiment and other substation equipment.

[0098] Calculation of the distance between the crane and the equipment in the station:

[0099] The maximum vertex coordinate (x Jmax ,y Jmax ,y Jmax ) and the minimum vertex coordinate (x Jmin ,y Jmin ,y Jmin ), and obtain the maximum vertex coordinate (x Omax ,y Omax ,y Omax ) and the minimum vertex coordinate (x Omin ,yOmin ,y Omin ), the minimum distance between the crane and the equipment in the substation is calculated as follows:

[0100]

[0101] in:

[0102] dx 2 =max(0,min(x Jmax -x Omax , x Omax -x Jmax ))

[0103] dy 2 =max(0,min(y Jmax -y Omax ,y Omax -y Jmax ))

[0104] dz 2 =max(0,min(z Jmax -z Omax , z Omax -z Jmax ))

[0105] Where: D min is the minimum distance between the crane and the equipment in the substation, dx is the distance difference between the crane and the equipment in the substation in the x direction; dy is the distance difference between the crane and the equipment in the substation in the y direction; dz is the distance difference between the crane and the equipment in the substation in the z direction; the min function takes the minimum value of the distance difference between the two; the max(0, ...) function ensures that the distance difference is non-negative; according to the calculation method of the distance between the lifting equipment and the transformer, the distance between other equipment in the station and the lifting equipment can be calculated by traversal.

[0106] Calculation of the distance between the boom and the equipment in the station:

[0107] The position information of the boom is monitored in real time through the second tag information, and the specific calculation method is the same as above.

[0108] Calculation of the distance between the equipment in the substation that needs maintenance and other equipment in the station

[0109] The center point of the equipment in the substation that needs to be repaired is determined through the third tag information of large machinery. The specific calculation formula is as follows:

[0110] (x Jp ,y Jp , z Jp )=(x Jp +a,y Jp +b,z Jp +c);

[0111] In the formula, (x Jp ,y Jp , z Jp ) is the three-dimensional space coordinate information of the third label of large machinery J, (x Jp +a,y Jp +b,z Jp +c) is the center point position of the equipment that needs maintenance in the substation, a, b, c are the center point position offsets of the equipment that needs maintenance in the substation, and are confirmed by the large machinery maintenance operation specifications; Figure 2 As shown, in this embodiment, according to the maintenance operation specification of the crane, the hook position is directly above the equipment in the substation that needs to be repaired, then a=0, b=0, h O is the height of the equipment O in the substation that needs maintenance. Modeling is performed through the coordinates of the center point of the equipment that needs maintenance and the attributes of the equipment that needs maintenance, and real-time information of the equipment that needs maintenance in three-dimensional space is obtained.

[0112] During the maintenance operation, the equipment O in the substation that needs maintenance can be approximated as a part of the crane and monitored through the location information of the third tag.

[0113] Step S4, performing collision detection based on the calculated distance between the large machinery and the equipment in the substation, and issuing voice alarms of different levels based on the distance between the large machinery and the equipment in the substation.

[0114] Step S401: Collision detection between large machinery and equipment in the station

[0115] In this embodiment, when calculating the actual distance between the crane, the boom and the equipment to be repaired and the equipment in the station, the minimum distance d mim Safety distance value d from equipment in the station safe For comparison, when the distance between large machinery and equipment in the substation is less than 1.5 times the safety distance threshold, a third-level collision alarm is issued; when the distance between large machinery and equipment in the substation is less than 1.2 times the safety distance threshold, a second-level collision alarm is issued; when the distance between large machinery and equipment in the substation is less than the safety distance threshold, a first-level collision alarm is issued.

[0116] Step S402: Danger warning when exceeding the safety distance threshold

[0117] This patent uses a fixed edge computing device as a carrier to deploy a three-dimensional model of the substation, integrates Beidou high-precision positioning devices, voice players and other perception terminals through WiFi, gathers real-time positioning data of large machinery, and has a built-in collision detection model for large machinery and equipment in the station. By installing a voice playback terminal in the cab of the large machinery, a voice alarm is issued when the distance between the large machinery and the equipment in the station exceeds the safety distance threshold.

[0118] Embodiment 2:

[0119] This embodiment provides a substation large-scale mechanical operation safety management and control system based on spatial environment modeling, including:

[0120] The substation 3D model building module collects the outdoor panoramic laser point cloud data of the substation, imports the point cloud data of the substation into the modeling software, and builds the substation 3D model;

[0121] The large-scale machinery 3D model building module arranges Beidou positioning equipment and adds descriptive tags of the large-scale machinery according to the characteristics of the movement of the large-scale machinery and the movable parts used for operation. The large-scale machinery is modeled in the 3D model of the substation through the data of the Beidou positioning equipment and the descriptive tags.

[0122] The distance calculation module normalizes the large machinery and all the equipment in the substation into a cube and calculates the distance between the large machinery and the equipment in the substation;

[0123] The collision alarm module performs collision detection based on the calculated distance between the large machinery and the equipment in the substation, and issues voice alarms of different levels based on the distance between the large machinery and the equipment in the substation.

[0124] Embodiment three:

[0125] This embodiment provides an electronic device having a computer program stored thereon. When the computer program is executed by a processor, a method for safe control of large-scale mechanical operations in a substation based on spatial environment modeling as described in any embodiment of the present invention is implemented.

[0126] Embodiment 4:

[0127] This embodiment provides a computer-readable medium for storing one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors implement a method for safe management and control of large-scale mechanical operations in substations based on spatial environment modeling as described in any embodiment of the present invention.

[0128] In the embodiments of the present application, "at least one" refers to one or more, and "more than one" refers to two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent the existence of A alone, the existence of A and B at the same time, and the existence of B alone. Among them, A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "At least one of the following" and similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b and c can be represented by: a, b, c, a and b, a and c, b and c, or a and b and c, where a, b, c can be single or multiple.

[0129] Those of ordinary skill in the art will appreciate that the various units and algorithm steps described in the embodiments disclosed herein can be implemented in a combination of electronic hardware, computer software, and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0130] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0131] In several embodiments provided in the present application, if any function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory; hereinafter referred to as: ROM), random access memory (Random Access Memory; hereinafter referred to as: RAM), disk or optical disk, and other media that can store program codes.

[0132] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made 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. A method for safety control of large-scale mechanical operations in substations based on spatial environment modeling, characterized in that: The following steps are involved: Step S1, collecting outdoor panoramic laser point cloud data of the substation, importing the point cloud data of the substation into the modeling software, and constructing a three-dimensional model of the substation; Step S2, according to the movement of large machinery and the characteristics of active parts used for operation, Beidou positioning equipment is arranged and description tags of large machinery are added, and the large machinery is modeled in the substation three-dimensional model through the data of Beidou positioning equipment and description tags; Step S3, normalize the large machinery and all the equipment in the substation into a cube, and calculate the distance between the large machinery and the equipment in the substation; Step S4, performing collision detection based on the calculated distance between the large machinery and the equipment in the substation, and issuing voice alarms of different levels based on the distance between the large machinery and the equipment in the substation.

2. According to claim 1, a method for safety management and control of large-scale mechanical operations in substations based on spatial environment modeling is characterized by: According to the movement of the large machinery and the characteristics of the active parts used for the operation, the Beidou positioning equipment is arranged and the description tags of the large machinery are added; wherein the description tags include: a first label, arranged at the top of the large machinery normalized to the center point of the cube, used to describe the own attributes of the large machinery, and the own attributes of the large machinery include the length, width and height of the large machinery; a second label, arranged according to the characteristics of the active parts of the large machinery, used to confirm the range of movement of the active parts of the large machinery; a third label, arranged at the contact position between the large machinery and the equipment that needs maintenance in the substation, used to describe the positional relationship between the large machinery and the equipment that needs maintenance in the substation during the operation process.

3. According to claim 1, a method for safety management and control of large-scale mechanical operations in substations based on spatial environment modeling is characterized in that: The method of modeling large machinery in a three-dimensional model of a substation using Beidou positioning equipment and data describing tags includes the following steps: Convert the longitude and latitude information collected by the Beidou positioning equipment of large machinery into plane coordinates; the specific conversion formula is as follows: X = R × cos(lat) × cos(lon); Y = R × cos (lat) × sin (lon); Z = R × sin (lat); Where: lat is latitude; lon is longitude; R is the radius of the earth; Then, the substation entrance point is taken as the origin of the substation three-dimensional space relative coordinates, and the longitude and latitude information of the large machinery converted into plane coordinates is converted into the substation three-dimensional space coordinates.

4. According to claim 1, a method for safety management and control of large-scale mechanical operations in substations based on spatial environment modeling is characterized in that: The method of normalizing the large machinery and all the equipment in the substation into a cube and calculating the distance between the large machinery and the equipment in the substation comprises the following steps: After the large machinery and all the equipment in the substation are normalized into a cube, the maximum vertex coordinates (x Jmax ,y Jmax ,y Jmax ) and the minimum vertex coordinate (x jmin ,y Jmin ,y jmin ), the minimum distance between large machinery and equipment in the substation is calculated as follows: Where: D min is the minimum distance between large machinery and equipment in the substation, dx is the distance difference between large machinery and equipment in the substation in the x direction; dy is the distance difference between large machinery and equipment in the substation in the y direction; dz is the distance difference between large machinery and equipment in the substation in the z direction; During the operation of large machinery, the three-dimensional spatial position of the large machinery moving parts is confirmed through the second tag information of the large machinery, and the minimum distance between the large machinery moving parts and the equipment in the substation is calculated; During the operation of large machinery, the center point of the equipment in the substation that needs to be repaired is determined through the third tag information of the large machinery, and the equipment in the substation that needs to be repaired is approximated as a part of the large machinery. The calculation formula is as follows: (x Jp ,y Jp ,z Jp )=(x Jp +a,y Jp +b,z Jp +c); In the formula, (x Jp ,y Jp ,z Jp ) is the three-dimensional space coordinate information of the third label of large machinery J, (x Jp +a,y Jp +b,z Jp +c) is the center point position of the equipment that needs maintenance in the substation, a, b, c are the center point position offsets of the equipment that needs maintenance in the substation, and are confirmed by the large machinery maintenance operation specifications; During the operation of large machinery, the distance between large machinery, large machinery moving parts, equipment that needs maintenance in the substation and the equipment in the substation is compared, and the minimum value is taken as the distance between the large machinery and the equipment in the substation during the operation.

5. According to claim 1, a method for safety management and control of large-scale mechanical operations in substations based on spatial environment modeling is characterized by: The method performs collision detection based on the calculated distance between the large machinery and the equipment in the substation, and issues different levels of voice alarms according to the distance between the large machinery and the equipment in the substation; when the distance between the large machinery and the equipment in the substation is less than 1.5 times the safety distance threshold, a third-level collision alarm is issued; when the distance between the large machinery and the equipment in the substation is less than 1.2 times the safety distance threshold, a second-level collision alarm is issued; when the distance between the large machinery and the equipment in the substation is less than the safety distance threshold, a first-level collision alarm is issued.

6. A substation large-scale mechanical operation safety management and control system based on spatial environment modeling, characterized in that: include: The substation 3D model building module collects the outdoor panoramic laser point cloud data of the substation, imports the point cloud data of the substation into the modeling software, and builds the substation 3D model; The large-scale machinery 3D model building module arranges Beidou positioning equipment and adds descriptive tags of the large-scale machinery according to the characteristics of the movement of the large-scale machinery and the movable parts used for operation. The large-scale machinery is modeled in the 3D model of the substation through the data of the Beidou positioning equipment and the descriptive tags. The distance calculation module normalizes the large machinery and all the equipment in the substation into a cube and calculates the distance between the large machinery and the equipment in the substation; The collision alarm module performs collision detection based on the calculated distance between the large machinery and the equipment in the substation, and issues voice alarms of different levels based on the distance between the large machinery and the equipment in the substation.

7. A substation large-scale mechanical operation safety management and control system based on spatial environment modeling according to claim 6, characterized in that: The large-scale machinery three-dimensional model construction module arranges Beidou positioning equipment and adds description tags of the large-scale machinery according to the movement of the large-scale machinery and the characteristics of the active parts used for operation; wherein the description tags include: a first label, arranged at the top of the large-scale machinery normalized to the center point of the cube, used to describe the large-scale machinery's own attributes, and the large-scale machinery's own attributes include the length, width and height of the large-scale machinery; a second label, arranged according to the characteristics of the active parts of the large machinery, used to confirm the range of movement of the active parts of the large machinery; a third label, arranged at the contact position between the large machinery and the equipment that needs maintenance in the substation, used to describe the positional relationship between the large machinery and the equipment that needs maintenance in the substation during the operation process.

8. According to claim 6, a substation large-scale mechanical operation safety management and control system based on spatial environment modeling is characterized by: The large-scale machinery 3D model building module models the large-scale machinery in the substation 3D model through Beidou positioning equipment and data describing tags, and includes the following steps: Convert the longitude and latitude information collected by the Beidou positioning equipment of large machinery into plane coordinates; the specific conversion formula is as follows: X = R × cos(lat) × cos(lon); Y = R × cos (lat) × sin (lon); Z = R × sin (lat); Where: lat is latitude; lon is longitude; R is the radius of the earth; Then, the substation entrance point is taken as the origin of the substation three-dimensional space relative coordinates, and the longitude and latitude information of the large machinery converted into plane coordinates is converted into the substation three-dimensional space coordinates.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, it implements a method for safe management and control of large-scale mechanical operations in a substation based on spatial environment modeling as described in any one of claims 1 to 5.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by the processor, it implements the method for safe management and control of large-scale mechanical operations in a substation based on spatial environment modeling as described in any one of claims 1 to 5.

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