A method for designing the location of intelligent patrol cameras in substations based on three-dimensional models

Abstract

The present invention discloses a method for designing the position of a substation intelligent patrol camera based on a three-dimensional model. The present invention relates to the field of substation patrol technology and solves the problem that a relatively accurate design effect cannot be achieved, resulting in a number of cameras not achieving maximum coverage. The present invention performs relevant confirmation on the model area and the idle area inside the three-dimensional substation model, and then confirms the corresponding external area from the corresponding idle area. By constructing a circumscribed rectangle, the external area of ​​the single model is confirmed, and then based on the confirmed external annular area, the corresponding feature area in the corresponding idle area is identified, and then the corresponding design point is determined from the corresponding feature area. By adopting this step-by-step confirmation method, the design point can be locked quickly and effectively to achieve a better design effect.

Description

Technical Field

[0001] The present invention relates to the technical field of substation inspection, and in particular to a method for designing positions of intelligent inspection cameras for substations based on a three-dimensional model. Background Art

[0002] Substation inspections are crucial for ensuring safe, stable, and reliable substation operation. Regular inspections and monitoring of substation equipment and facilities can promptly identify abnormalities and potential faults, such as overheating, insulation damage, component aging, and loose connections. This allows for appropriate maintenance and repair measures to prevent accidents and ensure the normal operation of the power system.

[0003] When arranging smart cameras inside the substation, the cameras are generally arranged based on personal experience, and the specific height of the cameras is confirmed by the individual at the arrangement point to complete the specific camera position arrangement. However, this type of position design method cannot achieve a more precise design effect, resulting in several cameras not achieving maximum coverage and unable to guarantee the comprehensive design effect of the cameras. Summary of the Invention

[0004] In response to the shortcomings of the existing technology, the present invention provides a method for designing the positions of intelligent patrol cameras in substations based on a three-dimensional model, which solves the problem that a relatively accurate design effect cannot be achieved, resulting in several cameras not achieving maximum coverage.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solutions: a method for designing the location of a substation intelligent patrol camera based on a three-dimensional model, comprising the following steps:

[0006] Step 1: Based on the completed 3D model of the substation, identify the individual models and the empty areas in the determined 3D model. The specific method is as follows:

[0007] S11. Based on the constructed three-dimensional model, preferentially identify monomer models within the three-dimensional model, where each monomer model has a corresponding preset monomer marker and is pre-stored in a corresponding model library; determine the center point of the monomer model; and based on the determined center point, determine a set of circumscribed rectangles, where the center points of the circumscribed rectangles coincide with the center points of the corresponding monomer models, and the outer surfaces of the monomer models are inscribed in the circumscribed rectangles, and the edges of the circumscribed rectangles are perpendicular or parallel to each other.

[0008] S12, after the circumscribed rectangle of each monomer model is generated, the part of the original three-dimensional model that does not belong to the circumscribed rectangle is marked as a blank area;

[0009] Step 2: Based on the determined gap area and the confirmed circumscribed rectangle, the four sets of side lines outside the circumscribed rectangle are divided into four sets of directions. The areas associated with the four sets of directions are marked as the outer annular areas of the circumscribed rectangle. The corresponding outer annular areas are then removed from the gap area, so that the remaining relevant areas are marked as feature areas. The specific method is as follows:

[0010] S21. Based on the confirmed circumscribed rectangle, four groups of side lines of the circumscribed rectangle are confirmed, and the center points of the corresponding side lines are determined and calibrated as the pending points. The movement direction from the center point inside the circumscribed rectangle to the pending points is used as the movement direction of the corresponding side line. The corresponding side line is moved according to the confirmed movement direction until it intersects with other circumscribed rectangles or intersects with the side lines of the gap area. The area generated during the movement is calibrated as the outer annular area of ​​the corresponding circumscribed rectangle. This method is used for each group of circumscribed rectangles, and the outer annular area of ​​each group of circumscribed rectangles is confirmed in sequence.

[0011] S22, confirming the location and range of each group of outer annular areas in the empty area, then eliminating the corresponding outer annular areas based on the confirmed locations and ranges, and marking the remaining relevant areas in the empty area as feature areas;

[0012] Step 3: Identify the relevant corner points within the confirmed feature area, and then radiate the range based on the confirmed corner points. From the specific range of radiation, select the best selected point of the corresponding feature area, and then lock the design point from the repeated best selected points. The specific method is as follows:

[0013] S31, locking the edge lines outside the feature area, where the edge lines are the edge lines of the outer annular area or the edge lines of the gap area, and marking the intersection points between the edge lines as corner points;

[0014] S32, using the determined corner point as the center of the circle and determining a set of virtual straight lines as the radius, rotating the virtual straight line according to the determined center of the circle, and marking the intersection area with the empty area during the rotation as the determined area. When the virtual straight line rotates to intersect with the monomer model, it is blurred. The virtual straight line does not cross the confirmed area in the blurred state, and the radiation range of the virtual straight line includes the entire empty area. The total area of ​​the confirmed area generated by the corresponding corner point is confirmed and marked as M. i , where i represents different corner points;

[0015] S33, confirm the M confirmed by different corner points in the corresponding feature area in sequence i , from the confirmed multiple M i In the iThe corner point corresponding to max is taken as the best selected point;

[0016] S34. Based on the determined optimal points and the associated determination areas, if the determination area associated with a certain optimal point is covered by other optimal points, such optimal points are eliminated, and the remaining optimal points are marked as design points.

[0017] Step 4: Based on the determined design point and the optimal patrol range of the patrol camera, confirm the height at the design point, lock the optimal height design point of the corresponding patrol camera, and display it; the specific sub-steps are:

[0018] S41. Set up corresponding patrol cameras at the design points in the three-dimensional model, and make the patrol cameras conduct associated patrols to confirm the associated distances between the corresponding patrol points and the patrol cameras. Calibrate the associated distances generated by different points as G q-k , where q represents the design height of the patrol camera, and k represents different patrol points;

[0019] S42, based on the preset optimal patrol range of the corresponding patrol camera, the several associated distances G confirmed by the corresponding design height are q-k Calibrate as a distance set, calibrate the associated distance within the distance set that belongs to the optimal patrol range as the optimal distance, and determine the specific proportion Zb of the optimal distance in the distance set q , its Zb q =Total number of optimal distances ÷Total number of associated distances in the distance set;

[0020] S43, different specific proportions Zb confirmed from different design heights q In the q The design height corresponding to max is calibrated as the optimal height design point, and the confirmed optimal height design point is displayed.

[0021] The present invention provides a method for designing the location of intelligent patrol cameras in substations based on a three-dimensional model. Compared with the existing technology, it has the following advantages:

[0022] The present invention confirms the model area and the idle area inside the three-dimensional substation model, then confirms the corresponding external area from the corresponding idle area. By constructing a circumscribed rectangle, the external area of ​​the single model is confirmed. Based on the confirmed external annular area, the corresponding characteristic area in the corresponding idle area is identified, and then the corresponding design point is determined from the corresponding characteristic area. This step-by-step confirmation method can quickly and effectively lock the design point and achieve a better design effect.

[0023] Then, the height is confirmed from within the design point. Based on the optimal patrol range of the corresponding camera, the optimal height distance is determined within the design point and displayed for external personnel to view. This can achieve better design effects and facilitate intelligent patrol of the corresponding camera. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 Schematic diagram of the process of the present invention;

[0025] Figure 2 Schematic diagram for determining the characteristic area of ​​the present invention. DETAILED DESCRIPTION

[0026] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 making creative efforts are within the scope of protection of the present invention.

[0027] First embodiment

[0028] See also Figure 1 , this application provides a method for designing the location of a substation intelligent patrol camera based on a three-dimensional model, comprising the following steps:

[0029] Step 1: Based on the completed 3D model of the substation, confirm the single model and the empty area from the determined 3D model. Specifically, the empty area is the relevant area where no single model exists, which belongs to the normal walking range area or other blank area. The 3D model is constructed in advance by relevant operators. The specific method of determining the single model and the empty area is as follows:

[0030] S11. Based on the constructed three-dimensional model, the monomer models existing in the three-dimensional model are preferentially identified. The monomer models all have corresponding preset monomer tags, and the monomer models are pre-stored in the corresponding model library. The relevant operators can directly extract the models from the model library and construct the monomer models at the specified positions, determine the center points of the monomer models, and determine a set of circumscribed rectangles based on the determined center points. The center points of the circumscribed rectangles are consistent with the center points of the corresponding monomer models, and the outer surfaces of the monomer models are inscribed in the circumscribed rectangles, and the side lines of the circumscribed rectangles are perpendicular or parallel to each other. That is, the angles of the circumscribed rectangles shall not be changed when setting them. Figure 2 Taking the rectangles in the figure as an example, each rectangle should be arranged normally and be parallel or perpendicular to each other. They should not be constructed arbitrarily. The circumscribed rectangles should be changed according to the shape of the monomer model.

[0031] S12. After the circumscribed rectangle of each individual model is generated, the areas of the original 3D model that do not belong to the circumscribed rectangle are marked as empty areas. Specifically, the empty areas are areas where no individual model exists. Only in these empty areas can the corresponding patrol cameras be deployed. Therefore, it is necessary to prioritize the empty areas in the 3D model.

[0032] Step 2: Based on the determined empty area and the confirmed circumscribed rectangle, and based on the four sets of side lines outside the circumscribed rectangle, four sets of directions are proposed, and the area associated with the four sets of directions is marked as the outer annular area of ​​such circumscribed rectangle. Then, the corresponding outer annular area is removed from the empty area, so that the remaining relevant area is marked as the feature area. Specifically, the circumscribed rectangle is a standard rectangle, and there are corresponding four sets of side lines. Each side line can be confirmed externally to lock the relevant area. The corresponding area must not contain the corresponding monomer model, so that the relevant specific areas can be confirmed in turn. The specific method of determining the feature area is as follows:

[0033] S21. Based on the confirmed circumscribed rectangle, four groups of side lines of the circumscribed rectangle are confirmed, and the center points of the corresponding side lines are determined and calibrated as the pending points. The moving direction from the center point inside the circumscribed rectangle to the pending points is used as the moving direction of the corresponding side line. The corresponding side line is moved according to the confirmed moving direction until it intersects with other circumscribed rectangles or with the side lines of the gap area. The area generated during the movement is calibrated as the outer annular area of ​​the corresponding circumscribed rectangle (there are four groups of outer annular areas of each circumscribed rectangle, unless the side lines of the circumscribed rectangle and the gap area overlap, in which case the number of groups of the confirmed outer annular areas will be reduced, and under normal circumstances, there are four groups). Each group of circumscribed rectangles is processed in this way, and the outer annular areas of each group of circumscribed rectangles are confirmed in sequence.

[0034] S22, confirming the location and range of each group of outer annular areas in the empty area, then eliminating the corresponding outer annular areas based on the confirmed locations and ranges, and marking the remaining relevant areas in the empty area as feature areas;

[0035] like Figure 2As shown, the corresponding monomer model is locked from the confirmed three-dimensional model, a corresponding circumscribed rectangle has been determined outside the monomer model, a corresponding center point A exists within the corresponding monomer model, and a corresponding center point B exists on the corresponding sideline. A corresponding moving direction is determined from point A to point B. Based on the determined moving direction, the corresponding sideline is moved, thereby locking the outer annular area of ​​the corresponding monomer model. The corresponding outer annular area is determined within the entire gap area, thereby locking the corresponding feature area. The feature area is other areas that do not belong to the outer annular area and still belong to the corresponding gap area.

[0036] Step 3: Identify the relevant corner points within the confirmed feature area, and then radiate the range based on the confirmed corner points. From the specific radiated range, select the best selected point of the corresponding feature area, and then lock the design point from the repeated best selected points. Specifically, the best selected point is the best layout point of the corresponding intelligent patrol camera. Arranging the camera at the best layout point can achieve the best layout effect, so that the corresponding camera can achieve a more comprehensive control range. The specific method of determining the best selected point is:

[0037] S31, locking the edge lines outside the feature area, where the edge lines are the edge lines of the outer annular area or the edge lines of the gap area, and marking the intersection points between the edge lines as corner points;

[0038] S32, using the determined corner point as the center of the circle and determining a set of virtual straight lines as the radius, rotating the virtual straight line according to the determined center of the circle, and marking the intersection area with the empty area during the rotation as the determined area. When the virtual straight line rotates to intersect with the monomer model, it is blurred. The virtual straight line does not cross the confirmed area in the blurred state, and the radiation range of the virtual straight line includes the entire empty area. The total area of ​​the confirmed area generated by the corresponding corner point is confirmed and marked as M. i , where i represents different corner points. Specifically, it can be understood here that a group of cameras are set at the corner points. When the cameras are patrolling, they rotate. Then, during the rotation process, the relevant patrol area can be confirmed. The patrol area is the corresponding visible area. When there is a corresponding single model blocking the area, the camera cannot patrol the blocked area. Therefore, it is necessary to blur the corresponding virtual straight line to perform relevant confirmation of the determined area. The determined area is the relevant area that this camera can patrol normally. Then, when the area of ​​the patrollable area is maximized, the corresponding best selected point can be locked. When patrolling at the corresponding best selected point subsequently, the best patrol effect can be achieved.

[0039] S33, confirm the M confirmed by different corner points in the corresponding feature area in sequence i, from the confirmed multiple M i In the i The corner point corresponding to max is taken as the best selected point;

[0040] S34. Based on the determined optimal selected points and the related determined areas, if the determined area associated with a certain optimal selected point is covered by other optimal selected points, such optimal selected points are eliminated, and the remaining optimal selected points are marked as design points. Specifically, when the determined area generated by a certain optimal selected point is area C, and the determined areas generated by another optimal selected point are areas C and D, then the optimal selected point determined as area C does not need to be selected again and can be directly eliminated.

[0041] Second embodiment

[0042] Step 4: Based on the determined design point and the optimal patrol range of the patrol camera, confirm the height at the design point, lock the optimal height design point of the corresponding patrol camera, and perform relevant display. The specific sub-steps for locking the optimal height design point are:

[0043] S41. Set up corresponding patrol cameras at the design points in the three-dimensional model, and make the patrol cameras conduct associated patrols to confirm the associated distances between the corresponding patrol points and the patrol cameras. Calibrate the associated distances generated by different points as G q-k , where q represents the design height of the patrol camera, and k represents different patrol points;

[0044] S42, based on the preset optimal patrol range of the corresponding patrol camera, the several associated distances G confirmed by the corresponding design height are q-k Calibrate as a distance set, calibrate the associated distance within the distance set that belongs to the optimal patrol range as the optimal distance, and determine the specific proportion Zb of the optimal distance in the distance set q , its Zb q =Total number of optimal distances ÷Total number of associated distances in the distance set;

[0045] S43, different specific proportions Zb confirmed from different design heights q In the q The design height corresponding to max is calibrated as the optimal height design point, and the confirmed optimal height design point is displayed for external personnel to view;

[0046] Specifically, after the corresponding cameras are arranged, the corresponding patrol distance can be determined directly from the three-dimensional model. The corresponding associated distance of each point can be directly determined from the three-dimensional model, so that the corresponding optimal distance can be determined from several associated distances, thereby determining the optimal height design point.

[0047] Third embodiment

[0048] The specific implementation process of this embodiment includes the entire implementation process of the above two groups of embodiments.

[0049] Some of the data in the above formulas are dimensionless and numerically calculated. Meanwhile, the contents not described in detail in this specification belong to the prior art known to those skilled in the art.

[0050] The above embodiments are only used to illustrate the technical method of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical method of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical method of the present invention.

Claims

1. A method for designing the location of intelligent patrol cameras in substations based on a three-dimensional model, characterized in that: The following steps are involved: Step 1: Based on the completed 3D model of the substation, identify the individual models and the empty areas in the determined 3D model. The specific method is as follows: S11. Based on the constructed three-dimensional model, preferentially identify monomer models within the three-dimensional model, where each monomer model has a corresponding preset monomer marker and is pre-stored in a corresponding model library; determine the center point of the monomer model; and based on the determined center point, determine a set of circumscribed rectangles, where the center points of the circumscribed rectangles coincide with the center points of the corresponding monomer models, and the outer surfaces of the monomer models are inscribed in the circumscribed rectangles, and the edges of the circumscribed rectangles are perpendicular or parallel to each other. S12, after the circumscribed rectangle of each monomer model is generated, the part of the original three-dimensional model that does not belong to the circumscribed rectangle is marked as a blank area; Step 2: Based on the determined gap area and the confirmed circumscribed rectangle, the four sets of side lines outside the circumscribed rectangle are divided into four sets of directions. The areas associated with the four sets of directions are marked as the outer annular areas of the circumscribed rectangle. The corresponding outer annular areas are then removed from the gap area, so that the remaining relevant areas are marked as feature areas. The specific method is as follows: S21. Based on the confirmed circumscribed rectangle, four groups of side lines of the circumscribed rectangle are confirmed, and the center points of the corresponding side lines are determined and calibrated as the pending points. The movement direction from the center point inside the circumscribed rectangle to the pending points is used as the movement direction of the corresponding side line. The corresponding side line is moved according to the confirmed movement direction until it intersects with other circumscribed rectangles or intersects with the side lines of the gap area. The area generated during the movement is calibrated as the outer annular area of ​​the corresponding circumscribed rectangle. This method is used for each group of circumscribed rectangles, and the outer annular area of ​​each group of circumscribed rectangles is confirmed in sequence. S22, confirming the location and range of each group of outer annular areas in the empty area, then eliminating the corresponding outer annular areas based on the confirmed locations and ranges, and marking the remaining relevant areas in the empty area as feature areas; Step 3: Identify the relevant corner points within the confirmed feature area, and then radiate the range based on the confirmed corner points. From the specific radiated range, select the best selected point of the corresponding feature area, and then lock the design point from the repeated best selected points.

2. The method for designing the position of a substation intelligent patrol camera based on a three-dimensional model according to claim 1 is characterized in that: In step 3, the specific method of determining the best selected point is: S31, locking the edge lines outside the feature area, where the edge lines are the edge lines of the outer annular area or the edge lines of the gap area, and marking the intersection points between the edge lines as corner points; S32, using the determined corner point as the center of the circle and determining a set of virtual straight lines as the radius, rotating the virtual straight line according to the determined center of the circle, and marking the intersection area with the empty area during the rotation as the determined area. When the virtual straight line rotates to intersect with the monomer model, it is blurred. The virtual straight line does not cross the confirmed area in the blurred state, and the radiation range of the virtual straight line includes the entire empty area. The total area of ​​the confirmed area generated by the corresponding corner point is confirmed and marked as M. i , where i represents different corner points; S33, confirm the M confirmed by different corner points in the corresponding feature area in sequence i , from the confirmed multiple M i Among them, select the largest M i The corresponding corner points are taken as the best selected points.

3. The method for designing the position of a substation intelligent patrol camera based on a three-dimensional model according to claim 2 is characterized in that: In step 3, the specific method of determining the design point is: S34. Based on the determined optimal points and the related determination areas, if the determination area associated with a certain optimal point is covered by other optimal points, such optimal points are eliminated, and the remaining optimal points are marked as design points.

4. The method for designing the position of a substation intelligent patrol camera based on a three-dimensional model according to claim 1 is characterized in that: Also includes: Step 4: Based on the determined design point and the optimal patrol range of the patrol camera, confirm the height at the design point, lock the optimal height design point corresponding to the patrol camera, and make relevant displays.

5. The method for designing the position of a substation intelligent patrol camera based on a three-dimensional model according to claim 4 is characterized in that: In step 4, the specific sub-steps of locking the optimal height design point are: S41. Set up corresponding patrol cameras at the design points in the three-dimensional model, and make the patrol cameras conduct associated patrols to confirm the associated distances between the corresponding patrol points and the patrol cameras. Calibrate the associated distances generated by different points as G q-k , where q represents the design height of the patrol camera, and k represents different patrol points; S42, based on the preset optimal patrol range of the corresponding patrol camera, the several associated distances G confirmed by the corresponding design height are q-k Calibrate as a distance set, calibrate the associated distance within the distance set that belongs to the optimal patrol range as the optimal distance, and determine the specific proportion Zb of the optimal distance in the distance set q , its Zb q =Total number of optimal distances ÷ total number of associated distances in the distance set; S43, different specific proportions Zb confirmed from different design heights q Among them, select the largest Zb q The corresponding design height is calibrated as the optimal height design point, and the confirmed optimal height design point is displayed.

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