Substation remote monitoring system and method

Abstract

The invention provides a remote monitoring system and method for a transformer substation, and the system comprises an environment monitoring module which is used for collecting the monitoring data of the transformer substation; the video monitoring module is used for acquiring video data of the transformer substation; the data transmission module is used for remotely transmitting the video data and the monitoring data to the management platform; the abnormity judgment module is used for judging whether index abnormity exists in the transformer substation or not based on the video data and the monitoring data; the visual display module is used for visually displaying the abnormal indexes to the user through the management platform; and the abnormality judgment module determines a fault type according to the video data and the monitoring data by using a fault type determination model which is trained based on machine learning in advance. According to the invention, a fault type is determined according to video data and monitoring data by using a fault type determination model based on machine learning training in advance; and monitoring each index of the transformer substation in real time, and sending out user early warning information according to the condition that the index is abnormal.

Description

Technical Field

[0001] The present invention relates to the field of artificial intelligence technology, and particularly relates to a substation remote monitoring system and method. Background Art

[0002] Substations basically are places with high voltage and high current. Due to the high voltage and high current, operators need to conduct remote monitoring through video surveillance to ensure the safety of the working environment. In real life, it is necessary for users to observe and identify through video surveillance with the human eye. Therefore, user observation often leads to inaccurate observation, low efficiency. At the same time, when abnormal situations occur, maintenance personnel enter the substation for maintenance based on past experience, which poses a risk to their work.

[0003] The prior art CN112737121A provides a power grid intelligent video monitoring analysis control management system, which is based on front-end sensing devices and provides a unified platform for multiple information sources to cooperate with each other, achieving the effect of assisting the intelligent management of the substation itself. However, the prior art CN112737121A lacks data analysis of the substation system and repair and processing based on abnormal information. Therefore, there is an urgent need for a substation remote monitoring system. Summary of the Invention

[0004] A substation remote monitoring system provided by the present invention includes:

[0005] An environmental monitoring module for collecting monitoring data of the substation;

[0006] A video monitoring module for collecting video data of the substation;

[0007] A data transmission module for remotely transmitting video data and monitoring data to a management platform;

[0008] An abnormal judgment module for judging whether there are abnormal indicators in the substation based on video data and monitoring data. If it is judged that there are abnormal indicators in the substation, the fault type is determined;

[0009] A visual display module for visually displaying abnormal indicators to users through the management platform;

[0010] Among them, the abnormal judgment module uses a fault type determination model pre-trained based on machine learning to determine the fault type according to video data and monitoring data.

[0011] Preferably, the training steps of the fault type determination model are as follows:

[0012] Collect historical monitoring data and historical video data of the substation;

[0013] Perform fault type annotation on the collected historical monitoring data and historical video data;

[0014] Use the historical monitoring data and historical video data marked with fault types as the training dataset to train the fault type determination model.

[0015] Preferably, the video monitoring module includes:

[0016] The first moment video data unit is used to collect the video data of the substation at the first moment;

[0017] The second moment video data unit is used to collect the video data of the substation at the second moment after a future time period from the first moment;

[0018] The target locking unit is used to compare the video data at the first moment and the video data at the second moment to determine the shooting target;

[0019] The zoom adjustment unit is used to adjust the zoom factor of the video shooting so that the shooting target meets the zoom condition,

[0020] wherein the zoom condition is that the edge line of the video imaging corresponding to the shooting target in the video touches the set video boundary line;

[0021] The video acquisition unit is used to collect video data of the substation when the edge line of the video imaging corresponding to the shooting target in the video touches the set video boundary line.

[0022] Preferably, the data transmission module includes:

[0023] The index parameter subunit is used to determine the index parameters to be monitored for the substation;

[0024] The first transmission subunit is used to determine the first transmission sequence based on the index parameters;

[0025] wherein the first transmission sequence includes a sequence header and several data storage parts corresponding to the index parameters;

[0026] The sequence header subunit is used to obtain the coordinates of the monitoring points of the substation and store the position point coordinates in the sequence header;

[0027] The second transmission subunit is used to obtain the monitoring data of the monitoring points of the substation and fill them into the data storage parts in sequence based on the first mapping relationship between the index parameters and the data storage parts to obtain the second transmission sequence;

[0028] The sequence detection subunit is used to detect whether the data storage parts in the second transmission sequence are filled. If the detection shows that they are not filled, it determines the blank data storage parts in the second transmission sequence and determines the index parameters corresponding to the blank data storage parts based on the first mapping relationship and supplements the monitoring data.

[0029] A sequence transmission subunit, configured to send the second transmission sequence to the management platform if it detects that the filling is completed.

[0030] Preferably, the anomaly judgment module includes:

[0031] A second mapping unit, configured to respectively construct a three-dimensional model of the substation and an index three-dimensional distribution map, and determine a second mapping relationship between the three-dimensional model and the index three-dimensional distribution map;

[0032] A rule base construction unit, configured to construct a normal operation rule base based on the historical monitoring data of the substation,

[0033] wherein, the normal operation rule base includes value ranges corresponding to several index parameters when the substation operates normally;

[0034] A judgment anomaly unit, configured to judge whether the monitoring data at any point on the three-dimensional model of the substation is within the normal operation rule base based on the monitoring data;

[0035] An anomaly index unit, configured to judge that there is an index anomaly in the substation if the monitoring data at any point on the three-dimensional model of the substation is outside the normal operation rule base, determine any point on the three-dimensional model as an anomaly point, and determine the anomaly index;

[0036] An anomaly point unit, configured to determine all anomaly points on the three-dimensional model corresponding to the anomaly index based on the anomaly index;

[0037] An anomaly area unit, configured to determine the anomaly area corresponding to the anomaly index based on all anomaly points on the three-dimensional model corresponding to the anomaly index;

[0038] A fault type unit, configured to determine the fault type based on the anomaly index.

[0039] Preferably, the second mapping unit includes:

[0040] A three-dimensional model subunit, configured to construct a three-dimensional model of the substation based on the video data of the substation;

[0041] An index three-dimensional distribution subunit, configured to respectively determine an index three-dimensional distribution function corresponding to any one index parameter based on the index parameters and monitoring data of several substations, and determine an index three-dimensional distribution map based on the index three-dimensional distribution function;

[0042] A second mapping relationship subunit, configured to determine a second mapping relationship between the three-dimensional model and the index three-dimensional distribution map based on the three-dimensional model of the substation and the index three-dimensional distribution map;

[0043] wherein, the index three-dimensional distribution function, the specific expression is:

[0044] S i = f x,y,z (a i )

[0045] In the formula, S i is the i-th index parameter b of the substation i corresponding index three-dimensional distribution function, a i is the i-th index parameter b i corresponding variable, n is the total number of index parameters, f x,y,z (a i ) is the three-dimensional distribution function of the i-th index parameter b i .

[0046] Preferably, the visualization display module includes:

[0047] The first recognition color unit is used to display the three-dimensional model of the substation in the first recognition color;

[0048] The abnormal view unit is used to obtain the view instruction of the user and determine the abnormal index to be viewed by the user;

[0049] The second recognition color unit is used to project the abnormal area corresponding to the abnormal index to be viewed by the user on the three-dimensional model of the substation, determine the abnormal display area and display the abnormal display area in the second recognition color;

[0050] The arrow acquisition unit is used to acquire the moving position of the mouse arrow;

[0051] The first information box unit is used to judge whether the moving position of the mouse arrow is in the abnormal display area. If the moving position of the mouse arrow is in the abnormal display area, a first information box is popped up and based on the first information box, abnormal information is displayed to the customer and the customer is asked whether to view the video data, otherwise no operation is performed;

[0052] The second information box unit is used to obtain the customer's confirmation instruction to view the video data, pop up a second information box, and make the second information box meet the position condition and based on the second information box, display the video data of the abnormal area to the customer,

[0053] wherein, meeting the position condition includes:

[0054] The first information box and the second information box are respectively above the line connecting the center points of the three-dimensional model of the substation and the abnormal display area, and the second information box is below the first information box;

[0055] The first information box and the second information box do not overlap with the three-dimensional model of the substation respectively.

[0056] Preferably, the substation remote monitoring system further includes:

[0057] An early warning module for identifying personnel entering the monitoring range of the substation and issuing an early warning signal;

[0058] Among them, the early warning module includes:

[0059] A first target unit for performing first target recognition on the video data of the substation to identify the first target;

[0060] A first early warning unit for determining whether the first target is a security personnel. If the first target is not a security personnel, a first early warning signal is issued;

[0061] A second target unit for, if the first target is a security personnel, performing clothing recognition on the first target based on the first target to identify the second target;

[0062] A clothing standard unit for constructing a clothing standard library based on clothing safety knowledge;

[0063] A second early warning unit for determining whether the second target conforms to the clothing standard library. If it does not conform to the clothing standard library, a second early warning signal is issued;

[0064] A third target unit for, if the second target conforms to the clothing standard library, performing action recognition on the second target based on the second target to identify the third target;

[0065] An action standard unit constructs a safety action standard library based on the safety operation manual;

[0066] A third target unit for determining whether the third target conforms to the safety action standard library. If it does not conform to the safety action standard library, a third early warning signal is issued, otherwise no processing is performed.

[0067] Preferably, the substation remote monitoring system further includes:

[0068] A maintenance plan module for maintaining the substation and performing re-inspection;

[0069] Among them, the maintenance plan module includes:

[0070] A maintenance plan library generation unit for constructing a fault type - historical maintenance plan library based on historical maintenance records;

[0071] A maintenance plan generation unit for retrieving the corresponding maintenance plan based on the fault type;

[0072] A maintenance plan execution unit for planning the total maintenance path of the robot and controlling the robot to perform maintenance according to the planned total maintenance path;

[0073] A re-inspection unit, which is used to monitor the substation after the robot repair is completed and determine whether the substation returns to normal.

[0074] Preferably, the repair plan execution unit includes:

[0075] A repair area determination subunit, which is used to determine the repair area based on the retrieved corresponding repair plan;

[0076] A movement path subunit, which is used to obtain the position of the robot and determine the robot movement path based on the midpoint position of the repair area;

[0077] A repair path subunit, which is used to determine the robot repair path based on the retrieved corresponding repair plan and the end position of the robot movement path;

[0078] A total path determination subunit, which is used to combine the robot movement path and the robot repair path to determine the total repair path;

[0079] A control repair subunit, which is used to control the robot to repair the substation according to the total repair path.

[0080] The present invention also provides a substation remote monitoring method, including:

[0081] Collect the monitoring data of the substation;

[0082] Collect the video data of the substation;

[0083] Remotely transmit the video data and the monitoring data to the management platform;

[0084] Based on the video data and the monitoring data, determine whether there are abnormal indicators in the substation. If it is determined that there are abnormal indicators in the substation, determine the fault type;

[0085] Visually display the abnormal indicators to the user through the management platform;

[0086] Among them, when determining the fault type, use the fault type determination model pre-trained based on machine learning to determine the fault type according to the video data and the monitoring data.

[0087] Advantages of the present invention:

[0088] The present invention uses the fault type determination model pre-trained based on machine learning to determine the fault type according to the video data and the monitoring data; monitors the various indicators of the substation in real time, and issues a user warning message in the case of abnormal indicators, and displays the abnormal data and the abnormal area devices through the visualization display module, which is convenient for the user to repair. At the same time, analyze and process the substation monitoring data, generate a repair plan according to the abnormal information, and control the robot to remove the fault in time according to the abnormal information repair plan.

[0089] Other features and advantages of the present invention will be set forth in the following description, and in part will be obvious from the description, or may be learned by practice of the present invention. The objectives and other advantages of the present invention may be realized and attained by the structure particularly pointed out in the written description and drawings.

[0090] The technical solution of the present invention will be further described in detail below with reference to the drawings and embodiments. Description of the Drawings

[0091] The drawings are used to provide a further understanding of the present invention, and constitute a part of the description. Together with the embodiments of the present invention, they are used to explain the present invention, and do not constitute a limitation to the present invention. In the drawings:

[0092] Figure 1 is a schematic diagram of a substation remote monitoring system in an embodiment of the present invention;

[0093] Figure 2 is a schematic diagram of a substation remote monitoring method in an embodiment of the present invention. Detailed Embodiments

[0094] The preferred embodiments of the present invention will be described below with reference to the drawings. It should be understood that the preferred embodiments described herein are only for the purpose of illustrating and explaining the present invention, and are not intended to limit the present invention.

[0095] An embodiment of the present invention provides a substation remote monitoring system, as Figure 1 shown, including:

[0096] An environmental monitoring module 1 for collecting monitoring data of the substation;

[0097] A video monitoring module 2 for collecting video data of the substation;

[0098] A data transmission module 3 for remotely transmitting the video data and the monitoring data to a management platform;

[0099] An abnormality judgment module 4 for judging whether there is an index abnormality in the substation based on the video data and the monitoring data. If it is judged that there is an index abnormality in the substation, the fault type is determined;

[0100] A visualization display module 5 for visually displaying the abnormal indexes to the user through the management platform;

[0101] Among them, the abnormality judgment module uses a fault type determination model pre-trained based on machine learning to determine the fault type according to the video data and the monitoring data.

[0102] The working principle and beneficial effects of the above technical solution are as follows:

[0103] The environmental monitoring module 1 sets up a temperature monitoring unit, a humidity monitoring unit, a particle monitoring unit, a current monitoring unit, a voltage monitoring unit, and a data fusion unit according to the index parameters, and respectively collects temperature data, humidity data, air particle data, current data, voltage data, etc. The environmental monitoring module 1 has multiple monitoring units, namely. The temperature monitoring unit collects temperature data through a temperature sensor. The humidity monitoring unit collects humidity data through a humidity sensor. The particle monitoring unit collects air particle data through a smoke sensor. The current monitoring unit collects current data through an ammeter. The voltage monitoring unit collects voltage data through a voltmeter. The data fusion unit is used to fuse the temperature data, humidity data, air particle data, current data, and voltage data to determine the monitoring data. The video monitoring module 2 is used to collect the video data of the substation. The data transmission module 3 remotely transmits the video data and the monitoring data to the management platform. The anomaly judgment module 4 judges whether there is an index anomaly in the substation according to the video data and the monitoring data. If it is judged that there is an index anomaly in the substation, then the anomaly index is determined. The visualization display module 5 is used to visually display the first analysis result and the anomaly index to the user. The environmental monitoring module 1 includes multiple monitoring units.

[0104] The training steps of the fault type determination model are as follows:

[0105] Collect the historical monitoring data and historical video data of the substation; In the substation environment, two types of data need to be collected first: video data and monitoring data. The video data can collect image information such as the operation of the camera equipment and the environmental status, and the monitoring data includes sensor data such as temperature, current, voltage, and equipment operation status.

[0106] Perform fault type annotation on the collected historical monitoring data and historical video data; Label the collected video data and monitoring data according to the known fault types. Usually, through experts or historical data, it is determined whether the data belongs to a certain fault type at a specific time point, such as "overload", "equipment failure", or "problems caused by environmental factors".

[0107] Use the historical monitoring data and historical video data after fault type annotation as the training dataset to train the fault type determination model. Use the labeled dataset to train the model to identify different fault types. Usually, optimization algorithms such as gradient descent method and stochastic gradient descent are used to minimize the loss function of the model, thereby optimizing the model parameters and making the performance of the model optimal on the training set.

[0108] In an embodiment of the present invention, a fault type determination model pre-trained based on machine learning is utilized to determine the fault type according to video data and monitoring data; various indicators of the substation are monitored in real time, and abnormal indicators are confirmed. Meanwhile, the abnormal data and the devices in the abnormal area are displayed through a visualization display module, facilitating maintenance by the user.

[0109] In one embodiment, the video monitoring module 2 includes:

[0110] The first moment video data unit is used to collect the first moment video data of the substation;

[0111] The second moment video data unit is used to collect the second moment video data of the substation after a future time period from the first moment;

[0112] The target locking unit is used to compare the first moment video data and the second moment video data to determine the shooting target;

[0113] The zoom adjustment unit is used to adjust the zoom factor of the video shooting so that the shooting target meets the zoom condition,

[0114] wherein the zoom condition is that the edge line of the video imaging corresponding to the shooting target in the video touches the set video boundary line;

[0115] The video acquisition unit is used to perform video acquisition on the substation when the edge line of the video imaging corresponding to the shooting target in the video touches the set video boundary line to obtain the video data of the substation.

[0116] The working principle and beneficial effects of the above technical solution are:

[0117] The first moment video data unit collects the first moment video data of the substation at time t 1 moment. The second moment video data unit collects the second moment video data of the substation after a set time period at time t 2Collect the video data of the substation at the second moment in real time. The target locking unit compares the video data at the first moment with the video data at the second moment, identifies the targets in the video, and determines the shooting targets. For example, the video data includes the transformer equipment, trees, and houses of the substation. Through comparison, it is determined that the shooting target is the transformer equipment of the substation. The zoom adjustment unit adjusts the zoom factor of the video shooting so that the shooting target meets the zoom condition. The zoom condition is that the edge line of the video imaging corresponding to the shooting target in the video touches the set video boundary line. For example, the edge line of the video of the transformer equipment of the substation touches the set video boundary line. Thus, the shooting target can be detected more precisely, thereby improving the video acquisition resolution of the video target. When the edge line of the video imaging corresponding to the shooting target in the video touches the set video boundary line, the video acquisition unit performs video acquisition on the substation to obtain the video data of the substation.

[0118] In the embodiment of the present invention, the video monitoring module collects videos, performs target recognition on the videos, and performs zooming, thereby improving the clarity of the video acquisition screen.

[0119] In one embodiment, the data transmission module 3 includes:

[0120] The index parameter sub-unit is used to determine the index parameters to be monitored for the substation;

[0121] The first transmission sub-unit is used to determine the first transmission sequence based on the index parameters;

[0122] Among them, the first transmission sequence includes a sequence header and several data storage parts corresponding to the index parameters;

[0123] The sequence header sub-unit is used to obtain the coordinates of the monitoring points of the substation and store the position point coordinates in the sequence header;

[0124] The second transmission sub-unit is used to obtain the monitoring data of the monitoring points of the substation and sequentially fill them into the data storage parts based on the first mapping relationship between the index parameters and the data storage parts to obtain the second transmission sequence;

[0125] The sequence detection sub-unit is used to detect whether the data storage parts in the second transmission sequence are filled. If the detection shows that they are not filled, it determines the blank data storage parts in the second transmission sequence, and based on the first mapping relationship, determines the index parameters corresponding to the blank data storage parts and supplements the monitoring data;

[0126] The sequence transmission sub-unit is used to send the second transmission sequence to the management platform if the detection shows that it is filled.

[0127] The working principle and beneficial effects of the above technical solution are as follows:

[0128] The index parameter subunit determines the index parameters to be monitored in the substation. For example, in this embodiment, the temperature and humidity of the substation need to be monitored. The first transmission subunit determines the first transmission sequence according to the index parameters such as temperature and humidity. The first transmission sequence includes a sequence header and two data storage parts. The sequence header is used to store the coordinates of the monitoring points in the substation. The two data storage parts are respectively used to store temperature data and humidity data. The sequence header subunit obtains the coordinates of the monitoring points in the substation and stores the position point coordinates into the sequence header. The first transmission sequence belongs to the transmission sequence of blank data. The second transmission subunit obtains the temperature monitoring data and humidity monitoring data of the monitoring points in the substation, and fills them into the data storage parts in turn based on the first mapping relationship between the temperature and humidity and the data storage parts, to obtain the second transmission sequence. The sequence detection subunit detects whether the data storage parts in the second transmission sequence are filled. If the detection shows that they are not filled, it determines the blank data storage parts in the second transmission sequence. For example, if it is found that the data storage part corresponding to the temperature is "null", it obtains the temperature monitoring data and writes it into the data storage part corresponding to the temperature. If there is no temperature monitoring data, it controls the temperature monitoring unit in the environmental monitoring module 1 to re-collect the temperature data of the monitoring points and write the temperature data into the data storage part corresponding to the temperature. If the detection shows that they are filled, the sequence transmission subunit sends the second transmission sequence to the management platform.

[0129] In the embodiment of the present invention, the data is transmitted to the management platform through the data transmission module 3, and by constructing the data transmission sequence, it is convenient to check for missing monitoring data, improves the monitoring effect, and prevents the loss of monitoring data.

[0130] In one embodiment, the anomaly judgment module 4 includes:

[0131] The second mapping unit is used to respectively construct the three-dimensional model of the substation and the three-dimensional distribution map of the indexes, and determine the second mapping relationship between the three-dimensional model and the three-dimensional distribution map of the indexes;

[0132] The rule base construction unit is used to construct the normal operation rule base based on the historical monitoring data of the substation,

[0133] wherein, the normal operation rule base includes the value ranges corresponding to several index parameters when the substation operates normally;

[0134] The anomaly judgment unit is used to judge whether the monitoring data of any point on the three-dimensional model of the substation is within the normal operation rule base based on the monitoring data;

[0135] The abnormal index unit is used to, if the monitoring data of any point on the three-dimensional model of the substation is outside the normal operation rule base, judge that the substation has an index anomaly, determine any point on the three-dimensional model as an abnormal point, and determine the abnormal index;

[0136] Anomaly point unit, configured to determine all anomaly points on the 3D model corresponding to the anomaly metrics based on the anomaly metrics;

[0137] Anomaly region unit, configured to determine the anomaly region corresponding to the anomaly metrics based on all the anomaly points on the 3D model corresponding to the anomaly metrics;

[0138] Fault type unit, configured to determine the fault type based on the anomaly metrics.

[0139] The working principle and beneficial effects of the above technical solution are as follows:

[0140] The second mapping unit respectively constructs the 3D model of the substation and the 3D distribution map of the metrics. Based on the historical monitoring data of the substation, the rule base construction unit constructs a normal operation rule base. For example, according to the historical voltage monitoring data, it is obtained that the output voltage of the substation is less than 220V. The anomaly judgment unit judges according to the voltage monitoring data that the voltage monitoring data at point A in the substation is 240V, which is greater than 220V, so it is judged that the voltage at this point is abnormal. The anomaly metric unit determines that point A is an anomaly point and determines that the voltage is abnormal. Based on the anomaly metrics, the anomaly point unit determines all the anomaly points on the corresponding 3D model with a voltage greater than 220V, such as point B, point C, point D... Based on all the anomaly points on the 3D model corresponding to the anomaly metrics, the anomaly region unit determines the anomaly region E corresponding to the anomaly metrics, and the anomaly region E includes all the anomaly points on the 3D model. The fault type unit determines the fault type according to the voltage being greater than 220V, and determines the fault type of the reactor fault.

[0141] In the embodiment of the present invention, the fault type is determined through the anomaly judgment module 4, automatically realizing the judgment of the fault type of the substation, achieving early fault management, and improving the monitoring effect of the transformer substation.

[0142] In one embodiment, the second mapping unit includes:

[0143] 3D model sub-unit, configured to construct the 3D model of the substation based on the video data of the substation;

[0144] Metric 3D distribution sub-unit, configured to respectively determine the metric 3D distribution function corresponding to any one metric parameter based on the metric parameters and monitoring data of a number of substations, and determine the metric 3D distribution map based on the metric 3D distribution function;

[0145] Second mapping relationship sub-unit, configured to determine the second mapping relationship between the 3D model and the metric 3D distribution map based on the 3D model of the substation and the metric 3D distribution map; wherein, the metric 3D distribution function, the specific expression is:

[0146] S i =f x,y,z (a i )

[0147] In the formula, S i is the i-th index parameter b of the substation i corresponding index three-dimensional distribution function, a i is the i-th index parameter b i corresponding variable, n is the total number of index parameters, f x,y,z (a i ) is the three-dimensional distribution function of the i-th index parameter b i .

[0148] The working principle and beneficial effects of the above technical solution are as follows:

[0149] Based on the video data of the substation, the three-dimensional model subunit constructs a three-dimensional model of the substation. Based on the index parameters and monitoring data of several substations, the index three-dimensional distribution subunit respectively determines the index three-dimensional distribution function corresponding to any index parameter, and based on the index three-dimensional distribution function, determines the index three-dimensional distribution map. For example, the three-dimensional distribution function of voltage, the specific expression is:

[0150] S 1 = f x,y,z (V)

[0151] In the formula, S 1 is the three-dimensional distribution function of the voltage of the substation, V is the voltage variable, f x,y,z (V) is the three-dimensional distribution function of voltage.

[0152] Based on the three-dimensional model of the substation and the voltage index three-dimensional distribution map, the second mapping relationship subunit determines the second mapping relationship between the three-dimensional model and the index three-dimensional distribution map.

[0153] In the embodiments of the present invention, a three-dimensional model of the substation and an index three-dimensional distribution map are respectively constructed, and the second mapping relationship is determined, which can be displayed to the user through the management platform, facilitating the user to monitor.

[0154] In one embodiment, the visualization display module 5 includes:

[0155] The first recognition color unit is used to display the three-dimensional model of the substation in the first recognition color;

[0156] The abnormal viewing unit is used to obtain the viewing instruction of the user and determine the abnormal index to be viewed by the user;

[0157] The second recognition color unit is used to project the abnormal area corresponding to the abnormal index to be viewed by the user onto the three-dimensional model of the substation based on the abnormal index to be viewed by the user, determine the abnormal display area and display the abnormal display area in the second recognition color;

[0158] An arrow acquisition unit for acquiring the moving position of the mouse arrow;

[0159] A first information box unit for determining whether the moving position of the mouse arrow is in the abnormal display area. If the moving position of the mouse arrow is in the abnormal display area, a first information box is popped up, and based on the first information box, abnormal information is displayed to the customer and the customer is asked whether to view the video data, otherwise no operation is performed;

[0160] A second information box unit for acquiring a customer confirmation instruction to view the video data, popping up a second information box, and making the second information box meet the position condition and based on the second information box, displaying the video data of the abnormal area to the customer,

[0161] Among them, meeting the position condition includes:

[0162] The first information box and the second information box are respectively above the line connecting the center points of the three-dimensional model of the substation and the center point of the abnormal display area, and the second information box is below the first information box;

[0163] The first information box and the second information box do not overlap with the three-dimensional model of the substation respectively.

[0164] The working principle and beneficial effects of the above technical solution are as follows:

[0165] The first recognition color unit displays the three-dimensional model of the substation in the first recognition color. In this embodiment, green is used to display the three-dimensional model of the substation. The abnormal viewing unit acquires the viewing instruction of the user and determines the abnormal index to be viewed by the user. The user selects the abnormal index to be viewed, such as voltage. The second recognition color unit projects the abnormal area corresponding to the voltage on the three-dimensional model of the substation to determine the abnormal display area. In this embodiment, red is used as the second recognition color for display. The arrow acquisition unit is used to acquire the moving position of the mouse arrow. The first information box unit is used to determine whether the moving position of the mouse arrow is in the abnormal display area. If the moving position of the mouse arrow is in the abnormal display area, a first information box is popped up, and based on the first information box, abnormal information is displayed to the customer and the customer is asked whether to view the video data, otherwise no operation is performed. The second information box unit is used to acquire a customer confirmation instruction to view the video data, pop up a second information box, and make the second information box meet the position condition and based on the second information box, display the video data of the abnormal area to the customer. The first information box and the second information box are respectively arranged above the line connecting the center points of the three-dimensional model of the substation and the center point of the abnormal display area, and the second information box is below the first information box; the first information box and the second information box do not overlap with the three-dimensional model of the substation respectively.

[0166] In an embodiment of the present invention, the visualization display module 5 is used to set and display the three-dimensional model of the substation, facilitating the user to view the video data and monitoring data of the abnormal area of the substation.

[0167] In one embodiment, a remote monitoring system for a substation further includes:

[0168] An early warning module, configured to identify personnel entering the monitoring range of the substation and issue an early warning signal;

[0169] Among them, the early warning module includes:

[0170] A first target unit, configured to perform first target recognition on the video data of the substation to identify a first target;

[0171] A first early warning unit, configured to determine whether the first target is a security personnel. If the first target is not a security personnel, a first early warning signal is issued;

[0172] A second target unit, configured to, if the first target is a security personnel, perform clothing recognition on the first target based on the first target to identify a second target;

[0173] A clothing standard unit, configured to construct a clothing standard library based on clothing safety knowledge;

[0174] A second early warning unit, configured to determine whether the second target conforms to the clothing standard library. If it does not conform to the clothing standard library, a second early warning signal is issued;

[0175] A third target unit, configured to, if the second target conforms to the clothing standard library, perform action recognition on the second target based on the second target to identify a third target;

[0176] An action standard unit constructs a safety action standard library based on a safety operation manual;

[0177] The third target unit is configured to determine whether the third target conforms to the safety action standard library. If it does not conform to the safety action standard library, a third early warning signal is issued, otherwise no processing is performed.

[0178] The working principle and beneficial effects of the above technical solution are:

[0179] Since there are high-voltage areas in the substation, it poses a danger to nearby people and animals. Therefore, in this embodiment, a certain safety warning range is set through the warning module to warn people or animals approaching the substation. The first target unit performs first target recognition on the video data of the substation to identify the first target. In this embodiment, the first target unit identifies electrician A, staff member B, and stranger C from the video data. The first warning unit determines whether electrician A and the staff member are safe personnel, and since stranger C is not a safe personnel, a first warning signal is issued. The second target unit performs clothing recognition on electrician A and staff member B. Electrician A is wearing anti-high-voltage electricity clothing, while B is wearing ordinary clothing. Based on clothing safety knowledge, the clothing standard unit constructs a clothing standard library. The second warning unit determines that A meets the clothing standard library, while B does not meet the clothing standard library, and then issues a second warning signal. If the third target unit performs action recognition on electrician A and identifies the electrician's operation, such as the electrician smoking near the substation. The action standard unit constructs a safety action standard library based on the safety operation manual. The third target unit determines that the electrician smoking near the substation does not conform to the safety action standard library, and then issues a third warning signal.

[0180] In the embodiment of the present invention, the warning module monitors the behavior and clothing protection of the substation personnel, improving the personal safety of the personnel and also enhancing the safety of the substation.

[0181] In one embodiment, the substation remote monitoring system further includes:

[0182] A maintenance plan module, used to repair the substation and conduct a re-inspection;

[0183] Among them, the maintenance plan module includes:

[0184] A maintenance plan library generation unit, used to construct a fault type - historical maintenance plan library based on historical maintenance records;

[0185] A maintenance plan generation unit, used to retrieve the corresponding maintenance plan based on the fault type;

[0186] A maintenance plan execution unit, used to plan the total maintenance path of the robot and control the robot to perform maintenance according to the planned total maintenance path;

[0187] A completion re-inspection unit, used to monitor the substation when the robot's maintenance is completed and determine whether the substation has returned to normal.

[0188] The working principle and beneficial effects of the above technical solutions are as follows:

[0189] Since the substation is in a high-voltage area, the use of robots for maintenance improves personnel safety. The maintenance plan library generation unit constructs a fault type - historical maintenance plan library based on historical maintenance records. The maintenance plan generation unit retrieves the maintenance plan for the reactor when the fault type is a reactor failure. The maintenance plan execution unit plans the overall maintenance path of the robot and controls the robot to perform maintenance on the reactor according to the planned overall maintenance path. When the robot finishes the maintenance, the re-inspection unit monitors the substation. When the monitored voltage is less than 220V, it is determined that the substation has returned to normal.

[0190] In the embodiment of the present invention, the robot is controlled to repair the faults of the substation, which facilitates remote control of the maintenance by personnel and improves personnel safety.

[0191] In one embodiment, the maintenance plan execution unit includes:

[0192] The maintenance area determination subunit is used to determine the maintenance area based on the retrieved corresponding maintenance plan;

[0193] The movement path subunit is used to obtain the position of the robot and determine the robot movement path based on the midpoint position of the maintenance area;

[0194] The maintenance path subunit is used to determine the robot maintenance path based on the retrieved corresponding maintenance plan and the end position of the robot movement path;

[0195] The overall path determination subunit is used to combine the robot movement path and the robot maintenance path to determine the overall maintenance path;

[0196] The maintenance control subunit is used to control the robot to perform maintenance on the substation according to the overall maintenance path.

[0197] The working principle and beneficial effects of the above technical solution are as follows:

[0198] Based on the retrieved corresponding maintenance plan, the maintenance area determination subunit determines the maintenance area H of the substation. The movement path subunit obtains the position M of the robot as the starting point of the robot movement path and determines the end point N of the robot movement path based on the midpoint position O of the maintenance area. Therefore, the robot movement path is MN. According to the retrieved corresponding maintenance plan and the end point N of the robot movement path, the maintenance path subunit determines the robot maintenance path NQ. The overall path determination subunit combines the robot movement path and the robot maintenance path to determine the overall maintenance path MNQ. The user controls the robot to perform maintenance on the substation according to the overall maintenance path through the maintenance control subunit.

[0199] In the embodiment of the present invention, the maintenance plan execution unit plans the overall maintenance path of the robot, which facilitates controlling the robot for maintenance.

[0200] An embodiment of the present invention also provides a method for remote monitoring of a substation, including:

[0201] Step S1: Collect monitoring data of the substation;

[0202] Step S2: Collect video data of the substation;

[0203] Step S3: Remotely transmit the video data and the monitoring data to a management platform;

[0204] Step S4: Based on the video data and the monitoring data, determine whether there are abnormal indicators in the substation. If it is determined that there are abnormal indicators in the substation, determine the type of fault;

[0205] Step S5: Visually display the abnormal indicators to the user through the management platform;

[0206] Wherein, when determining the type of fault, a fault type determination model pre-trained based on machine learning is used to determine the type of fault according to the video data and the monitoring data.

[0207] The working principle and beneficial effects of the above technical solution are as follows:

[0208] Step 1 Collect monitoring data of the substation. Step 2 Collect video data of the substation. Step 3 Remotely transmit the video data and the monitoring data to a management platform. Step 4 Based on the video data and the monitoring data, determine whether there are abnormal indicators in the substation. If it is determined that there are abnormal indicators in the substation, determine the abnormal indicators. Step 5 Visually display the abnormal indicators to the user through the management platform.

[0209] The embodiment of the present invention monitors various indicators of the substation in real time, confirms the abnormal indicators, and visually displays the abnormal data and the devices in the abnormal area to the user, facilitating the user to perform maintenance.

[0210] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention is also intended to include these changes and modifications.

Claims

1. A remote monitoring system for a substation, characterized in that: include: Environmental monitoring module, used to collect monitoring data of substations; Video monitoring module, used to collect video data of the substation; Data transmission module, used to remotely transmit video data and monitoring data to the management platform; The abnormality judgment module is used to judge whether there are abnormal indicators in the substation based on the video data and monitoring data. If it is judged that there are abnormal indicators in the substation, the fault type is determined; A visualization display module is used to visualize abnormal indicators to users through the management platform; Among them, the abnormality judgment module uses a fault type determination model pre-trained based on machine learning to determine the fault type based on video data and monitoring data.

2. A remote monitoring system for a substation as claimed in claim 1, characterized in that: The training steps of the fault type determination model are as follows: Collect historical monitoring data and historical video data of substations; Label the fault types of the collected historical monitoring data and historical video data; The historical monitoring data and historical video data with fault type annotation are used as training data sets to train the fault type determination model.

3. A remote monitoring system for a substation as claimed in claim 1, characterized in that: Video monitoring module, including: A first moment video data unit, used for collecting the first moment video data of the substation; A second moment video data unit, used for collecting video data of the substation at a second moment after a future time period at the first moment; A target locking unit, used for comparing the video data at the first moment with the video data at the second moment to determine the shooting target; A magnification adjustment unit, used to adjust the magnification of the video shooting so that the shooting target meets the magnification condition, wherein the magnification condition is that the edge line of the shooting target corresponding to the video imaging in the video touches the set video boundary line; The video acquisition unit is used to acquire video data of the substation when the edge line of the corresponding video imaging of the shooting target in the video touches the set video boundary line.

4. A remote monitoring system for a substation as claimed in claim 1, characterized in that: Data transmission module, including: The indicator parameter subunit is used to determine the indicator parameters that need to be monitored in the substation; A first transmission subunit, configured to determine a first transmission sequence based on an indicator parameter; Wherein, the first transmission sequence includes a sequence header and a plurality of data storage parts corresponding to the indicator parameters; The sequence header subunit is used to obtain the coordinates of the monitoring points of the substation and store the coordinates of the location points in the sequence header; A second transmission subunit is used to obtain monitoring data of the monitoring points of the substation, and fill the monitoring data into the data storage part in sequence based on the first mapping relationship between the indicator parameter and the data storage part to obtain a second transmission sequence; A sequence detection subunit is used to detect whether the data storage part in the second transmission sequence is fully filled, and if it is not fully filled, determine the blank data storage part in the second transmission sequence, and based on the first mapping relationship, determine the indicator parameter corresponding to the blank data storage part and supplement the monitoring data; The sequence transmission subunit is used to send the second transmission sequence to the management platform if the filling is detected to be complete.

5. A remote monitoring system for a substation as claimed in claim 1, characterized in that: Abnormal judgment module, including: A second mapping unit, used to construct a three-dimensional model and a three-dimensional distribution map of indicators of the substation respectively, and determine a second mapping relationship between the three-dimensional model and the three-dimensional distribution map of indicators; The rule base construction unit is used to build a normal operation rule base based on the historical monitoring data of the substation. Among them, the normal operation rule base includes the value ranges corresponding to several indicator parameters during the normal operation of the substation; An abnormality judgment unit is used to judge whether the monitoring data of any point on the three-dimensional model of the substation is within the normal operation rule base based on the monitoring data; The abnormal index unit is used to determine that the substation has abnormal indicators if the monitoring data of any point on the three-dimensional model is outside the normal operation rule base, determine any point on the three-dimensional model as an abnormal point, and determine the abnormal index; An abnormal point unit, used for determining all abnormal points on the three-dimensional model corresponding to the abnormal index based on the abnormal index; An abnormal area unit is used to determine an abnormal area corresponding to the abnormal index based on all abnormal points on the three-dimensional model corresponding to the abnormal index; The fault type unit is used to determine the fault type based on the abnormal indicator.

6. A remote monitoring system for a substation as claimed in claim 5, characterized in that: The second mapping unit includes: A three-dimensional model subunit, used to construct a three-dimensional model of the substation based on the video data of the substation; The three-dimensional indicator distribution subunit is used to determine the three-dimensional indicator distribution function corresponding to any indicator parameter based on the indicator parameters and monitoring data of several substations, and determine the three-dimensional indicator distribution map based on the three-dimensional indicator distribution function; A second mapping relationship subunit is used to determine a second mapping relationship between the three-dimensional model and the three-dimensional distribution map of indicators based on the three-dimensional model of the substation and the three-dimensional distribution map of indicators; Among them, the three-dimensional distribution function of the indicator is expressed as follows: S i =f x,y,z (a i ) In the formula, S i is the i-th indicator parameter b of the substation i The corresponding three-dimensional distribution function of the indicator, a i is the i-th indicator parameter b i The corresponding variable, n is the total number of indicator parameters, f x,y,z (a i ) is about the i-th indicator parameter b i The three-dimensional distribution function of .

7. A remote monitoring system for a substation as claimed in claim 1, characterized in that: Visual display module, including: A first identification color unit, used to display the three-dimensional model of the substation in a first identification color; The abnormality checking unit is used to obtain the user's checking instruction and determine the abnormality indicator that the user wants to check; The second identification color unit is used to project the abnormal area corresponding to the abnormal indicator to be viewed by the user on the three-dimensional model of the substation based on the abnormal indicator to be viewed by the user, determine the abnormal display area and display the abnormal display area in the second identification color; Arrow acquisition unit, used to obtain the moving position of the mouse arrow; The first information box unit is used to determine whether the moving position of the mouse arrow is in the abnormal display area. If the moving position of the mouse arrow is in the abnormal display area, the first information box pops up and based on the first information box, displays abnormal information to the customer and asks the customer whether he needs to view the video data, otherwise no operation is performed; The second information frame unit is used to obtain a confirmation instruction from a customer to view video data, pop up a second information frame, and make the second information frame meet the position condition and display the video data of the abnormal area to the customer based on the second information frame. Among them, satisfying the location conditions include: The first information box and the second information box are respectively located above the line connecting the center point of the three-dimensional model of the substation and the center point of the abnormal display area, and the second information box is located below the first information box; The first information frame and the second information frame do not overlap with the three-dimensional model of the substation.

8. A remote monitoring system for a substation as claimed in claim 1, characterized in that: Also includes: The early warning module is used to identify people who enter the monitoring range of the substation and issue early warning signals; Among them, the early warning module includes: A first target unit, used to perform first target recognition on the video data of the substation to identify the first target; A first warning unit, used to determine whether the first target is a security personnel, and to send a first warning signal if the first target is not a security personnel; A second target unit is used to identify the second target by performing clothing recognition on the first target based on the first target if the first target is a security personnel; Dress standard unit, used to build a dress standard library based on dress safety knowledge; A second warning unit is used to determine whether the second target meets the clothing standard library, and if it does not meet the clothing standard library, a second warning signal is issued; A third target unit, configured to perform action recognition on the second target based on the second target to identify the third target if the second target meets the clothing standard library; The action standard unit builds a safety action standard library based on the safety operation manual; The third target unit is used to determine whether the third target conforms to the safety action standard library. If it does not conform to the safety action standard library, a third warning signal is issued, otherwise no processing is performed.

9. A remote monitoring system for a substation as claimed in claim 1, characterized in that: Also includes: Maintenance plan module, used to repair and re-inspect substations; The maintenance solution module includes: A maintenance plan library generation unit, used to build a fault type-historical maintenance plan library based on historical maintenance records; A maintenance plan generating unit, used for retrieving a corresponding maintenance plan based on the fault type; A maintenance plan execution unit, used to plan the robot's total maintenance path and control the robot to perform maintenance according to the planned total maintenance path; The re-inspection unit is completed and used to monitor the substation after the robot maintenance is completed to determine whether the substation has returned to normal.

10. A remote monitoring method for a substation, characterized in that: include: Collect monitoring data of substations; Collect video data from substations; Remotely transmit video data and monitoring data to the management platform; Based on the video data and monitoring data, determine whether there are abnormal indicators in the substation. If it is determined that there are abnormal indicators in the substation, determine the fault type; Visually display abnormal indicators to users through the management platform; When determining the fault type, a fault type determination model pre-trained based on machine learning is used to determine the fault type based on video data and monitoring data.

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