Safety control method and device for station entering operation of engineering vehicle of transformer substation

Abstract

The invention relates to a substation engineering vehicle entering operation safety control method and device, and the method comprises the steps: initializing a substation digital twin scene, creating a three-dimensional model of an operation engineering vehicle in the scene, and binding real-time positioning data; the real-time positioning data provided by the high-precision positioning equipment is utilized to calculate the three-dimensional space data of the engineering vehicle, and the space relationship between the engineering vehicle and the electronic fence and the safety verification model is determined by combining the electronic fence model and the equipment live-line data, so that real-time early warning or warning is realized, the safety and efficiency of the substation operation are effectively improved, and the safety of the substation operation is improved. The economic loss is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of substations, and in particular to a method and device for safety control of substation engineering vehicle entry operations, and a computer program product. Background Art

[0002] In order to enhance the safety of substation operations, a large number of high-precision positioning method execution devices have been introduced in substations, and the positioning method execution devices are mainly used for station visit positioning, security patrol positioning, and electronic fence safety control during operation. In order to ensure safety, substation operations usually adopt conventional management modes such as large-scale power outages, safety warning fences, and on-site supervisors supervising operations. This mode has safety hazards, affects production efficiency, and may cause economic losses. First, the existing conventional management mode uses on-site safety warning fences and on-site personnel to supervise operations. During smooth operations, there are still illegal crossing of boundaries and illegal operations by operators. Secondly, there are currently fixed-position data that are used to verify positioning data and electronic fences based on two-dimensional space. Substation operations are three-dimensional operations, and two-dimensional positioning data has a large number of false reports and misreports of spatial data. Summary of the invention

[0003] The purpose of the present invention is to provide a method and device for safety management and control of substation engineering vehicle entry operations, and a computer program product to avoid safety hazards, affect production efficiency, and cause economic losses.

[0004] To achieve the above-mentioned purpose, an embodiment of the present invention provides a method for safety control of substation engineering vehicle entry operations, comprising:

[0005] Initialize the substation digital twin scene;

[0006] In response to the user's operation instruction, a three-dimensional model of the working engineering vehicle is created, and the three-dimensional model of the working engineering vehicle and the real-time positioning data bound thereto are instantiated into the substation digital twin scene; wherein the working engineering vehicle is equipped with a plurality of high-precision positioning devices, and the plurality of high-precision positioning devices are used to provide the real-time positioning data;

[0007] Calculating the three-dimensional spatial data of the working engineering vehicle according to the real-time positioning data;

[0008] Acquire an electronic fence model of the substation based on the digital twin scene of the substation, determine the spatial relationship between the working engineering vehicle and the electronic fence according to the electronic fence model and the three-dimensional spatial data of the working engineering vehicle, and determine whether to issue an early warning or an alarm according to the spatial relationship;

[0009] Obtain the live data of the substation equipment based on the digital twin scenario of the substation, determine the live safety range of the equipment according to the live data of the equipment, generate a safety verification model of the equipment according to the live safety range of the equipment, determine the spatial relationship between the working engineering vehicle and the safety verification model according to the safety verification model and the three-dimensional spatial data of the working engineering vehicle, and determine whether to give an early warning or an alarm according to this spatial relationship.

[0010] Preferably, the working engineering vehicle includes a vehicle body, an arm swing and a hanging basket, and the multiple high-precision positioning devices are respectively installed on the vehicle body, the arm swing and the hanging basket of the working engineering vehicle;

[0011] The calculating the three-dimensional spatial data of the working engineering vehicle according to the real-time positioning data includes:

[0012] Calculate the vehicle body position, vehicle body orientation, arm swing position, arm swing telescopic state and hanging basket position according to the real-time status information, and obtain the three-dimensional spatial data of the working engineering vehicle according to the appearance structure parameters of the vehicle body, arm swing and hanging basket of the working engineering vehicle and the vehicle body position, vehicle body orientation, arm swing position, arm swing telescopic state and hanging basket position.

[0013] Preferably, the spatial relationship between the working engineering vehicle and the electronic fence includes a non-contact state, a contact state and an inclusion relationship;

[0014] The non-contact state means that a safe distance is maintained between the working engineering vehicle and the electronic fence;

[0015] The contact state means that any part of the working engineering vehicle comes into contact with the electronic fence;

[0016] The inclusion relationship means that at least a part of the working engineering vehicle enters the interior of the electronic fence;

[0017] The method includes:

[0018] When the spatial relationship between the working engineering vehicle and the electronic fence is in a non-contact state, no early warning or alarm is given;

[0019] When the spatial relationship between the working engineering vehicle and the electronic fence is in a contact state, an early warning is given;

[0020] When the spatial relationship between the working engineering vehicle and the electronic fence is in an inclusion relationship, an alarm is given.

[0021] Preferably, the spatial relationship between the working engineering vehicle and the safety verification model includes a non-contact state, a contact state and an inclusion relationship;

[0022] The non-contact state means that a safe distance is maintained between the working engineering vehicle and the safety verification model;

[0023] The described contact state means that any part of the operation engineering vehicle comes into contact with the safety verification model;

[0024] The described inclusion relationship means that at least a part of the operation engineering vehicle enters the interior of the safety verification model;

[0025] The method includes:

[0026] When the spatial relationship between the operation engineering vehicle and the safety verification model is in a non-contact state, no warning or alarm is given;

[0027] When the spatial relationship between the operation engineering vehicle and the safety verification model is in a contact state, a warning is given;

[0028] When the spatial relationship between the operation engineering vehicle and the safety verification model is in an inclusion relationship, an alarm is given.

[0029] An embodiment of the present invention further provides a safety control device for a substation engineering vehicle to enter the station for operation, including:

[0030] A scene initialization module for initializing the digital twin scene of the substation;

[0031] A model loading module for responding to an operation instruction of a user, creating a three-dimensional model of the operation engineering vehicle, and instantiating the three-dimensional model of the operation engineering vehicle and its bound real-time positioning data into the digital twin scene of the substation; wherein, a plurality of high-precision positioning devices are installed on the operation engineering vehicle, and the plurality of high-precision positioning devices are used to provide the real-time positioning data;

[0032] An engineering vehicle state calculation module for calculating the three-dimensional spatial data of the operation engineering vehicle according to the real-time positioning data;

[0033] A first spatial relationship calculation module for obtaining an electronic fence model of the substation based on the digital twin scene of the substation, determining the spatial relationship between the operation engineering vehicle and the electronic fence according to the electronic fence model and the three-dimensional spatial data of the operation engineering vehicle, and determining whether to give a warning or an alarm according to this spatial relationship;

[0034] A second spatial relationship calculation module for obtaining the equipment live data of the substation based on the digital twin scene of the substation, determining the equipment live safety range according to the equipment live data, generating a safety verification model of the equipment according to the equipment live safety range, determining the spatial relationship between the operation engineering vehicle and the safety verification model according to the safety verification model and the three-dimensional spatial data of the operation engineering vehicle, and determining whether to give a warning or an alarm according to this spatial relationship.

[0035] Preferably, the operation engineering vehicle includes a vehicle body, an arm swing, and a hanging basket, and the plurality of high-precision positioning devices are respectively installed on the vehicle body, the arm swing, and the hanging basket of the operation engineering vehicle;

[0036] The calculating the three-dimensional space data of the operation engineering vehicle according to the real-time positioning data includes:

[0037] Calculating the vehicle body position, the vehicle body orientation, the arm swing position, the arm swing telescopic state, and the hanging basket position according to the real-time state information, and obtaining the three-dimensional space data of the operation engineering vehicle according to the appearance structure parameters of the vehicle body, the arm swing, and the hanging basket of the operation engineering vehicle and the vehicle body position, the vehicle body orientation, the arm swing position, the arm swing telescopic state, and the hanging basket position.

[0038] Preferably, the spatial relationship between the operation engineering vehicle and the electronic fence includes a non-contact state, a contact state, and an inclusion relationship;

[0039] The non-contact state means that a safe distance is maintained between the operation engineering vehicle and the electronic fence;

[0040] The contact state means that any part of the operation engineering vehicle comes into contact with the electronic fence;

[0041] The inclusion relationship means that at least a part of the operation engineering vehicle enters the interior of the electronic fence;

[0042] The first spatial relationship calculation module is used for:

[0043] When the spatial relationship between the operation engineering vehicle and the electronic fence is in a non-contact state, no warning or alarm is given;

[0044] When the spatial relationship between the operation engineering vehicle and the electronic fence is in a contact state, a warning is given;

[0045] When the spatial relationship between the operation engineering vehicle and the electronic fence is in an inclusion relationship, an alarm is given.

[0046] Preferably, the spatial relationship between the operation engineering vehicle and the safety verification model includes a non-contact state, a contact state, and an inclusion relationship;

[0047] The non-contact state means that a safe distance is maintained between the operation engineering vehicle and the safety verification model;

[0048] The contact state means that any part of the operation engineering vehicle comes into contact with the safety verification model;

[0049] The inclusion relationship means that at least a part of the operation engineering vehicle enters the interior of the safety verification model;

[0050] The second spatial relationship calculation module is used for:

[0051] When the spatial relationship between the working engineering vehicle and the safety verification model is in a non-contact state, no warning or alarm is given.

[0052] When the spatial relationship between the working engineering vehicle and the safety verification model is in a contact state, a warning is given.

[0053] When the spatial relationship between the working engineering vehicle and the safety verification model is in an inclusion relationship, an alarm is given.

[0054] An embodiment of the present invention further provides a safety control device for a substation engineering vehicle to enter the station for operation, including:

[0055] A communication interface for communicating with other electronic devices;

[0056] A memory for storing computer program instructions;

[0057] A processor for executing the computer program instructions to support the device to implement the method as described above.

[0058] An embodiment of the present invention further provides a computer program product, characterized by including computer program instructions, and the computer program instructions direct a computer device to perform operations corresponding to the method as described above.

[0059] The safety control method and device for a substation engineering vehicle to enter the station for operation, and the computer program product proposed by the present invention have the following beneficial effects:

[0060] First, by constructing a digital twin scenario of the substation and combining the execution device of the high-precision positioning method, the real-time and accurate monitoring of the position and state of the working engineering vehicle is realized, greatly improving the accuracy and real-time performance of safety monitoring; second, using three-dimensional spatial data processing technology, effectively solving the limitations of traditional two-dimensional monitoring in spatial judgment, reducing false alarms and misreports in safety monitoring, and ensuring the effective implementation of safety measures; third, through the integration and analysis of equipment live data, the generated safety verification model can dynamically adjust the safety range, providing a more scientific and reliable safety warning for operators and avoiding safety accidents such as electric shock; finally, the combined effect of these measures not only improves the safety management level of substation operations, but also optimizes the operation process, reduces unnecessary power outage time, improves production efficiency, and at the same time reduces the economic losses that may be caused by safety accidents, providing a solid technical guarantee for the long-term stable operation and safe production of the substation. Description of the Drawings

[0061] To more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the accompanying drawings required in the description of the embodiments. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can be obtained based on these drawings.

[0062] Figure 1 It is a flowchart of a safety control method for a substation engineering vehicle to enter the station for operation in an embodiment of the present invention.

[0063] Figure 2 It is a schematic diagram of the installation position of a high-precision positioning device in an embodiment of the present invention.

[0064] Figure 3 It is a structural diagram of a safety control device for a substation engineering vehicle to enter the station for operation in another embodiment of the present invention. Detailed Description of the Specific Embodiment

[0065] The detailed description of the accompanying drawings is intended to be an illustration of the current embodiments of the present invention, rather than representing the only form in which the present invention can be implemented. It should be understood that the same or equivalent functions can be accomplished by different embodiments intended to be included within the spirit and scope of the present invention.

[0066] Refer to Figure 1 , an embodiment of the present invention provides a safety control method for a substation engineering vehicle to enter the station for operation, including the following steps:

[0067] Step S10, initialize the digital twin scenario of the substation;

[0068] Specifically, create a virtual scenario corresponding to the actual substation, that is, the digital twin scenario. This scenario is an accurate, digital replication that includes all the equipment and structures of the substation and can be simulated and analyzed on a computer. During the initialization process, data such as the layout of the substation, equipment configuration, and environmental parameters will be loaded to provide a basis for subsequent safety control.

[0069] Specifically, the digital twin scenario of the substation is a highly detailed and accurate virtual model that simulates all aspects of the actual substation. The elements in the scenario are specifically determined according to the actual substation. The digital twin scenario of the substation usually includes the following elements:

[0070] (1) Equipment models:

[0071] Transformers: including main transformers and other transformers for special purposes;

[0072] Circuit breakers, disconnect switches, and earthing switches: simulate the switching equipment in the substation;

[0073] Current transformers (CTs) and voltage transformers (VTs): Devices used to measure current and voltage;

[0074] Lightning arresters, insulators, and other lightning protection equipment: Used to protect substations from lightning strikes;

[0075] Conductors and cables: Include high-voltage and low-voltage transmission lines as well as control cables;

[0076] Execution devices for grounding methods: Simulate the grounding network of a substation;

[0077] (2) Building structures:

[0078] Control rooms, switch rooms, and other buildings: Simulate the buildings and rooms of a substation;

[0079] Support structures: Such as towers, brackets, and poles, used to support conductors and equipment;

[0080] (3) Environmental factors:

[0081] Terrain: The topographical features of the location of the substation, such as mountains, plains, etc.;

[0082] Meteorological conditions: Such as temperature, humidity, wind speed, etc., which may affect the operation of the substation;

[0083] Parameters of execution devices for methods:

[0084] Electrical parameters: Include voltage, current, frequency, power, etc.;

[0085] Thermal parameters: Such as equipment temperature, heat loss, etc.;

[0086] Mechanical parameters: Such as mechanical stress, vibration of equipment, etc.;

[0087] (4) Execution devices for safety methods:

[0088] Electric fence: Defines the safety boundary of the substation;

[0089] Surveillance cameras: Simulate the execution devices of actual surveillance methods;

[0090] Execution devices for fire prevention and extinguishing methods: Such as fire detectors, fire extinguishers, etc.;

[0091] (5) Execution devices for information methods:

[0092] Execution devices for SCADA (Supervisory Control and Data Acquisition) methods: Used to monitor and control the operation of the substation;

[0093] Protection relays and automation equipment: Simulate protection and control logic;

[0094] (6) Maintenance and operation information:

[0095] Work permit and operation guide: Simulate the maintenance and operation process;

[0096] Maintenance records and equipment status: Record the maintenance history and current status of the equipment.

[0097] Step S20, in response to the user's operation instruction, create a 3D model of the work vehicle, and instantiate the 3D model of the work vehicle and its bound real-time positioning data into the substation digital twin scenario; wherein, a plurality of high-precision positioning devices are installed on the work vehicle, and the plurality of high-precision positioning devices are used to provide the real-time positioning data;

[0098] Specifically, according to the instruction input by the user, the execution device of the method will generate a 3D model of the work vehicle, and this 3D model represents the actual work vehicle in the digital twin scenario; at the same time, the real-time positioning data provided by a plurality of high-precision positioning devices installed on the actual work vehicle is bound to the 3D model to ensure that the position and state of the virtual model are consistent with the actual work vehicle.

[0099] Step S30, calculate the 3D spatial data of the work vehicle according to the real-time positioning data;

[0100] Specifically, using the real-time positioning data collected from the high-precision positioning devices, the execution device of the method will calculate the specific position and attitude of the work vehicle in the 3D space, which includes the coordinates, height of the work vehicle, and possible direction or angle information, providing accurate data support for subsequent safety analysis.

[0101] Step S40, obtain the electronic fence model of the substation based on the substation digital twin scenario, determine the spatial relationship between the work vehicle and the electronic fence according to the electronic fence model and the 3D spatial data of the work vehicle, and determine whether to give a warning or alarm according to this spatial relationship;

[0102] Specifically, the execution device of the method will extract the model of the electronic fence from the digital twin scenario, which is a virtual boundary defining the boundary of the safe operation area. By comparing the 3D spatial data of the work vehicle with the electronic fence model, the execution device of the method can judge whether the work vehicle is approaching or crossing the safe boundary. If an overstep occurs, the execution device of the method will give a warning or alarm according to the preset rules.

[0103] Step S50: Obtain the live data of the substation equipment based on the digital twin scenario of the substation, determine the live safety range of the equipment according to the live data of the equipment, generate a safety verification model of the equipment according to the live safety range of the equipment, determine the spatial relationship between the operation engineering vehicle and the safety verification model according to the safety verification model and the three-dimensional spatial data of the operation engineering vehicle, and determine whether to give an early warning or an alarm according to this spatial relationship.

[0104] Specifically, extract the live data of the equipment from the digital twin scenario and determine the safety range around the equipment accordingly. The execution device of the method will create a safety verification model that reflects the safe area of the live equipment. By comparing the three-dimensional spatial data of the operation engineering vehicle with the safety verification model, the execution device of the method can judge whether the engineering vehicle has entered a potentially dangerous area. If the engineering vehicle approaches or enters these areas, the execution device of the method will trigger an early warning or an alarm mechanism.

[0105] In summary, first, the method of this embodiment realizes the real-time and accurate monitoring of the position and state of the operation engineering vehicle by constructing the digital twin scenario of the substation and combining the execution device of the high-precision positioning method, greatly improving the accuracy and real-time performance of safety monitoring. Second, using the three-dimensional spatial data processing technology effectively solves the limitations of traditional two-dimensional monitoring in spatial judgment, reduces false alarms and misreports in safety monitoring, and ensures the effective implementation of safety measures. Third, through the integration and analysis of the live data of the equipment, the generated safety verification model can dynamically adjust the safety range, providing a more scientific and reliable safety early warning for the operators and avoiding safety accidents such as electric shock. Finally, the combined effect of these measures not only improves the safety management level of substation operations, but also optimizes the operation process, reduces unnecessary power outage time, improves production efficiency, and at the same time reduces the potential economic losses caused by safety accidents, providing a solid technical guarantee for the long-term stable operation and safe production of the substation.

[0106] In some embodiments, as Figure 2 shown, the operation engineering vehicle includes a vehicle body, an arm swing, and a hanging basket, and the multiple high-precision positioning devices are respectively installed on the vehicle body, the arm swing, and the hanging basket of the operation engineering vehicle;

[0107] Specifically, the vehicle body is the basic part of the engineering vehicle, providing a moving platform; the arm swing is a mechanical arm that can rotate and extend, used to send the hanging basket or tools to a specific position; the hanging basket is hung at the end of the arm swing and is used to carry workers or tools for high-altitude operations; the positioning device installed on the vehicle body is used to track the position and orientation of the vehicle body; the positioning device installed on the arm swing is used to track the position and state of the arm swing (such as the telescopic state); the positioning device installed on the hanging basket is used to track the position of the hanging basket.

[0108] Calculating the three-dimensional space data of the working construction vehicle according to the real-time positioning data includes:

[0109] Calculating the vehicle body position, vehicle body orientation, boom swing position, boom swing telescopic state, and hanging basket position according to the real-time status information, and obtaining the three-dimensional space data of the working construction vehicle based on the appearance structure parameters of the vehicle body, boom swing, and hanging basket of the working construction vehicle and the vehicle body position, vehicle body orientation, boom swing position, boom swing telescopic state, and hanging basket position.

[0110] Specifically, using the positioning device data on the vehicle body, calculate the specific position and orientation of the vehicle body in three-dimensional space; utilize the positioning device data on the boom swing, combined with the kinematic model of the boom swing, to calculate the position and telescopic state of the boom swing; determine the position of the hanging basket in three-dimensional space through the positioning device data on the hanging basket; use the appearance structure parameters (such as dimensions, shapes, etc.) of the vehicle body, boom swing, and hanging basket, combined with the calculated position and status information above, to obtain the three-dimensional space data of the entire working construction vehicle.

[0111] Through these calculations, the execution device of the method can accurately simulate the specific shape and position of the working construction vehicle in three-dimensional space, including the position of the vehicle body, the extension direction and length of the boom swing, the specific position of the hanging basket, etc.; such three-dimensional space data is crucial for safety control because it allows the execution device of the method to monitor whether the construction vehicle has entered a dangerous area and whether it has violated safety regulations, so as to issue early warnings or alarms in a timely manner.

[0112] In some embodiments, the spatial relationship between the working construction vehicle and the electronic fence includes a non-contact state, a contact state, and an inclusion relationship;

[0113] The non-contact state means that a safe distance is maintained between the working construction vehicle and the electronic fence;

[0114] The contact state means that any part of the working construction vehicle comes into contact with the electronic fence;

[0115] The inclusion relationship means that at least a part of the working construction vehicle enters the interior of the electronic fence;

[0116] The method includes:

[0117] When the spatial relationship between the working construction vehicle and the electronic fence is in a non-contact state, no early warning or alarm is issued;

[0118] When the spatial relationship between the working construction vehicle and the electronic fence is in a contact state, an early warning is issued;

[0119] When the spatial relationship between the working construction vehicle and the electronic fence is in an inclusion relationship, an alarm is issued.

[0120] Specifically, in this embodiment, the non-contact state means that there is a certain safety distance between the working construction vehicle and the electronic fence, and no contact of any form occurs. When the construction vehicle is in the non-contact state, the execution device of the method believes that the construction vehicle is within the safe operation range, so no early warning or alarm is required.

[0121] In this embodiment, the contact state means that any part of the working construction vehicle (such as the vehicle body, arm swing or hanging basket) comes into contact with the electronic fence, which usually means that the construction vehicle has come very close to or slightly touched the boundary of the electronic fence; when the construction vehicle comes into contact with the electronic fence, the execution device of the method will consider that there is a potential safety risk, so an early warning will be triggered. The purpose of the early warning is to remind the operator to pay attention and take measures to prevent further safety accidents.

[0122] In this embodiment, the inclusion relationship means that at least a part of the working construction vehicle (such as the hanging basket or arm swing) enters the internal area of the electronic fence. This situation is usually more serious than the contact state because it means that the construction vehicle has violated the safety operation regulations and entered the restricted area that should have been avoided; when a part of the construction vehicle enters the inside of the electronic fence, the execution device of the method will give an alarm. An alarm is a stronger warning, usually accompanied by emergency measures such as stopping work, evacuating personnel or starting an emergency procedure to prevent accidents.

[0123] In this embodiment, by monitoring the spatial relationship between the working construction vehicle and the electronic fence, the real-time monitoring of the operation safety is realized. The execution device of the method takes different early warning or alarm measures according to different spatial relationships, so as to ensure the safety of the operators and prevent equipment damage. This hierarchical response mechanism helps to improve the safety management level of substation operations.

[0124] In some embodiments, the spatial relationship between the working construction vehicle and the safety verification model includes a non-contact state, a contact state and an inclusion relationship;

[0125] The non-contact state means that there is a safe distance between the working construction vehicle and the safety verification model;

[0126] The contact state means that any part of the working construction vehicle comes into contact with the safety verification model;

[0127] The inclusion relationship means that at least a part of the working construction vehicle enters the inside of the safety verification model;

[0128] The method includes:

[0129] When the spatial relationship between the working construction vehicle and the safety verification model is in the non-contact state, no early warning or alarm is carried out;

[0130] When the spatial relationship between the working construction vehicle and the safety verification model is in a contact state, a warning is given.

[0131] When the spatial relationship between the working construction vehicle and the safety verification model is in an inclusion relationship, an alarm is given.

[0132] Specifically, in this embodiment, the non-contact state means that a certain safety distance is maintained between the working construction vehicle and the safety verification model, and no contact of any form occurs. The safety verification model usually represents the safe range of energized equipment or other dangerous areas; when the construction vehicle is in a non-contact state, the execution device of the method believes that the construction vehicle is within the safe operation range, so no warning or alarm is required.

[0133] In this embodiment, the contact state means that any part of the working construction vehicle (such as the vehicle body, arm swing, or hanging basket) comes into contact with the safety verification model; this indicates that the construction vehicle has come very close to or slightly touched the boundary of the safety verification model, and there may be safety risks; when the construction vehicle comes into contact with the safety verification model, the execution device of the method will trigger a warning. The purpose of the warning is to remind the operator of potential safety risks and take measures to prevent further safety accidents.

[0134] In this embodiment, the inclusion relationship means that at least a part of the working construction vehicle (such as the hanging basket or arm swing) enters the internal area of the safety verification model. This situation is more serious than the contact state because it means that the construction vehicle has entered a potential dangerous area and may come into contact with energized equipment or other hazard sources; when a part of the construction vehicle enters the interior of the safety verification model, the execution device of the method will give an alarm; the alarm is a stronger warning and usually requires immediate action, such as stopping work, evacuating personnel, or starting an emergency procedure, to prevent accidents from occurring.

[0135] In this embodiment, by monitoring the spatial relationship between the working construction vehicle and the safety verification model, real-time monitoring of operation safety is achieved. The execution device of the method takes different warning or alarm measures according to different spatial relationships to ensure the safety of operating personnel and prevent equipment damage. This hierarchical response mechanism helps to improve the safety management level of substation operations and reduce safety risks through timely feedback and intervention.

[0136] Another embodiment of the present invention also provides a safety control device for a substation engineering vehicle entering the station for operation, including:

[0137] A scene initialization module 1 for initializing the digital twin scene of the substation;

[0138] A model loading module 2, which is used to respond to the operation instructions of the user, create a 3D model of the working construction vehicle, and instantiate the 3D model of the working construction vehicle and its bound real-time positioning data into the substation digital twin scenario; wherein, a plurality of high-precision positioning devices are installed on the working construction vehicle, and the plurality of high-precision positioning devices are used to provide the real-time positioning data;

[0139] A construction vehicle state calculation module 3, which is used to calculate the 3D spatial data of the working construction vehicle according to the real-time positioning data;

[0140] A first spatial relationship calculation module 4, which is used to obtain the electronic fence model of the substation based on the substation digital twin scenario, determine the spatial relationship between the working construction vehicle and the electronic fence according to the electronic fence model and the 3D spatial data of the working construction vehicle, and determine whether to give an early warning or an alarm according to this spatial relationship;

[0141] A second spatial relationship calculation module 5, which is used to obtain the live data of the substation equipment based on the substation digital twin scenario, determine the live safety range of the equipment according to the live data of the equipment, generate a safety verification model of the equipment according to the live safety range of the equipment, determine the spatial relationship between the working construction vehicle and the safety verification model according to the safety verification model and the 3D spatial data of the working construction vehicle, and determine whether to give an early warning or an alarm according to this spatial relationship.

[0142] In some embodiments, the working construction vehicle includes a vehicle body, an arm swing and a hanging basket, and the plurality of high-precision positioning devices are respectively installed on the vehicle body, the arm swing and the hanging basket of the working construction vehicle;

[0143] The calculating the 3D spatial data of the working construction vehicle according to the real-time positioning data includes:

[0144] Calculating the vehicle body position, the vehicle body orientation, the arm swing position, the arm swing telescopic state and the hanging basket position according to the real-time state information, and obtaining the 3D spatial data of the working construction vehicle according to the appearance structure parameters of the vehicle body, the arm swing and the hanging basket of the working construction vehicle and the vehicle body position, the vehicle body orientation, the arm swing position, the arm swing telescopic state and the hanging basket position.

[0145] In some embodiments, the spatial relationship between the working construction vehicle and the electronic fence includes a non-contact state, a contact state and an inclusion relationship;

[0146] The non-contact state means that a safe distance is maintained between the working construction vehicle and the electronic fence;

[0147] The contact state means that any part of the working construction vehicle comes into contact with the electronic fence;

[0148] The so-called inclusion relationship means that at least a part of the working engineering vehicle enters the interior of the electronic fence;

[0149] The first spatial relationship calculation module is used for:

[0150] When the spatial relationship between the working engineering vehicle and the electronic fence is in a non-contact state, no warning or alarm is given;

[0151] When the spatial relationship between the working engineering vehicle and the electronic fence is in a contact state, a warning is given;

[0152] When the spatial relationship between the working engineering vehicle and the electronic fence is in an inclusion relationship, an alarm is given.

[0153] In some embodiments, the spatial relationship between the working engineering vehicle and the safety verification model includes a non-contact state, a contact state, and an inclusion relationship;

[0154] The non-contact state means that a safe distance is maintained between the working engineering vehicle and the safety verification model;

[0155] The contact state means that any part of the working engineering vehicle comes into contact with the safety verification model;

[0156] The inclusion relationship means that at least a part of the working engineering vehicle enters the interior of the safety verification model;

[0157] The second spatial relationship calculation module is used for:

[0158] When the spatial relationship between the working engineering vehicle and the safety verification model is in a non-contact state, no warning or alarm is given;

[0159] When the spatial relationship between the working engineering vehicle and the safety verification model is in a contact state, a warning is given;

[0160] When the spatial relationship between the working engineering vehicle and the safety verification model is in an inclusion relationship, an alarm is given.

[0161] The device in this embodiment corresponds to the method in the above embodiment. Therefore, the content not detailed in the device in this embodiment can be obtained by referring to the content of the method in the above embodiment, so it will not be elaborated in this embodiment.

[0162] Another aspect of the present invention further provides a safety control device for a substation engineering vehicle to enter the station for operation, including:

[0163] A communication interface for communicating with other electronic devices;

[0164] A memory for storing computer program instructions;

[0165] A processor for executing the computer program instructions to support the device in implementing the method as described above.

[0166] In this embodiment, the memory mainly includes a program storage area and a data storage area. Among them, the program storage area can store operating devices, application programs required for at least one function, etc., and the data storage area can store relevant data, etc. In addition, the memory can be a high-speed random access memory, or a non-volatile memory, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) card, a FlashCard, etc., or the memory can also be other volatile solid-state storage devices.

[0167] The processor can be a Central Processing Unit (CPU), or other general-purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field-Programmable Gate Arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor, or the processor can also be any conventional processor. The processor is the control center of the device, and connects various parts of the device using various interfaces and circuits.

[0168] Another aspect of the present invention also provides a computer program product, including computer program instructions, and the computer program instructions direct a computer device to perform the operations corresponding to the method as described above.

[0169] Specifically, the computer program product includes a series of computer program instructions. These computer program instructions are codes written in the computer program, which define how to perform specific operations. These computer program instructions are designed to be loaded onto a computer device and guide the device to perform specific operations, which refer to the various steps in the method described in the above embodiments. In this way, the computer program product of this embodiment provides a complete software solution, which can run on various computer devices and implement the method of the above embodiments.

[0170] The embodiments of the present invention have been described above. The above description is exemplary and not exhaustive, and is also not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The choice of terms used herein is intended to best explain the principles of the embodiments, the practical application, or the improvement of technology in the market, or to enable other ordinary skilled persons in the art to understand the embodiments disclosed herein.

Claims

1. A method for safety control of substation engineering vehicle entry operations, characterized in that: include: Initialize the substation digital twin scene; In response to the user's operation instruction, a three-dimensional model of the working engineering vehicle is created, and the three-dimensional model of the working engineering vehicle and the real-time positioning data bound thereto are instantiated into the substation digital twin scene; wherein the working engineering vehicle is equipped with a plurality of high-precision positioning devices, and the plurality of high-precision positioning devices are used to provide the real-time positioning data; Calculating the three-dimensional spatial data of the working engineering vehicle according to the real-time positioning data; Acquire an electronic fence model of the substation based on the digital twin scene of the substation, determine the spatial relationship between the working engineering vehicle and the electronic fence according to the electronic fence model and the three-dimensional spatial data of the working engineering vehicle, and determine whether to issue an early warning or an alarm according to the spatial relationship; Based on the digital twin scenario of the substation, the energized data of the equipment in the substation is obtained, the energized safety range of the equipment is determined according to the energized data of the equipment, a safety verification model of the equipment is generated according to the energized safety range of the equipment, the spatial relationship between the operating engineering vehicle and the safety verification model is determined according to the safety verification model and the three-dimensional spatial data of the operating engineering vehicle, and whether to issue an early warning or an alarm is determined according to the spatial relationship.

2. The method according to claim 1, characterized in that The working engineering vehicle comprises a vehicle body, an arm swing and a hanging basket, and the plurality of high-precision positioning devices are respectively installed on the vehicle body, the arm swing and the hanging basket of the working engineering vehicle; The step of calculating the three-dimensional spatial data of the working engineering vehicle according to the real-time positioning data includes: The vehicle body position, vehicle body orientation, arm swing position, arm swing telescopic state and basket position are calculated according to the real-time status information, and the three-dimensional spatial data of the working engineering vehicle is obtained according to the appearance structural parameters of the vehicle body, arm swing and basket of the working engineering vehicle and the vehicle body position, vehicle body orientation, arm swing position, arm swing telescopic state and basket position.

3. The method according to claim 1, characterized in that The spatial relationship between the working engineering vehicle and the electronic fence includes a non-contact state, a contact state and a containment relationship; The non-contact state refers to the operation vehicle maintaining a safe distance from the electronic fence; The contact state refers to any part of the working engineering vehicle being in contact with the electronic fence; The "inclusion relationship" means that at least a part of the working engineering vehicle has entered the interior of the electronic fence; The method comprises: When the spatial relationship between the working engineering vehicle and the electronic fence is in a non-contact state, no early warning or alarm is issued; When the spatial relationship between the working engineering vehicle and the electronic fence is in a contact state, an early warning is issued; When the spatial relationship between the working engineering vehicle and the electronic fence is a containment relationship, an alarm is issued.

4. The method according to claim 1, characterized in that: The spatial relationship between the working engineering vehicle and the safety verification model includes a non-contact state, a contact state and a containment relationship; The non-contact state refers to the operation engineering vehicle and the safety verification model maintaining a safe distance; The contact state refers to any part of the working engineering vehicle being in contact with the safety verification model; The inclusion relationship means that at least a part of the working engineering vehicle has entered the interior of the safety verification model; The method comprises: When the spatial relationship between the working engineering vehicle and the safety verification model is in a non-contact state, no early warning or alarm is issued; When the spatial relationship between the working engineering vehicle and the safety verification model is in a contact state, an early warning is issued; When the spatial relationship between the working engineering vehicle and the safety verification model is a containment relationship, an alarm is issued.

5. A safety control device for substation engineering vehicle entry operation, characterized in that: include: The scene initialization module is used to initialize the substation digital twin scene; A model loading module, used to respond to the user's operation instructions, create a three-dimensional model of the working engineering vehicle, and instantiate the three-dimensional model of the working engineering vehicle and its bound real-time positioning data into the substation digital twin scene; wherein the working engineering vehicle is equipped with a plurality of high-precision positioning devices, and the plurality of high-precision positioning devices are used to provide the real-time positioning data; An engineering vehicle state solving module, used for solving the three-dimensional spatial data of the working engineering vehicle according to the real-time positioning data; A first spatial relationship solving module is used to obtain an electronic fence model of the substation based on the digital twin scene of the substation, determine the spatial relationship between the working engineering vehicle and the electronic fence according to the electronic fence model and the three-dimensional spatial data of the working engineering vehicle, and determine whether to issue an early warning or an alarm according to the spatial relationship; The second spatial relationship solving module is used to obtain the equipment energization data of the substation based on the substation digital twin scene, determine the equipment energization safety range according to the equipment energization data, generate a safety verification model of the equipment according to the equipment energization safety range, determine the spatial relationship between the operating engineering vehicle and the safety verification model according to the safety verification model and the three-dimensional spatial data of the operating engineering vehicle, and determine whether to issue an early warning or an alarm based on the spatial relationship.

6. The device according to claim 5, characterized in that The working engineering vehicle comprises a vehicle body, an arm swing and a hanging basket, and the plurality of high-precision positioning devices are respectively installed on the vehicle body, the arm swing and the hanging basket of the working engineering vehicle; The step of calculating the three-dimensional spatial data of the working engineering vehicle according to the real-time positioning data includes: The vehicle body position, vehicle body orientation, arm swing position, arm swing telescopic state and basket position are calculated according to the real-time status information, and the three-dimensional spatial data of the working engineering vehicle is obtained according to the appearance structural parameters of the vehicle body, arm swing and basket of the working engineering vehicle and the vehicle body position, vehicle body orientation, arm swing position, arm swing telescopic state and basket position.

7. The device according to claim 5, characterized in that The spatial relationship between the working engineering vehicle and the electronic fence includes a non-contact state, a contact state and a containment relationship; The non-contact state refers to the operation vehicle maintaining a safe distance from the electronic fence; The contact state refers to any part of the working engineering vehicle being in contact with the electronic fence; The "inclusion relationship" means that at least a part of the working engineering vehicle has entered the interior of the electronic fence; The first spatial relationship solving module is used for: When the spatial relationship between the working engineering vehicle and the electronic fence is in a non-contact state, no early warning or alarm is issued; When the spatial relationship between the working engineering vehicle and the electronic fence is in a contact state, an early warning is issued; When the spatial relationship between the working engineering vehicle and the electronic fence is a containment relationship, an alarm is issued.

8. The device according to claim 5, characterized in that The spatial relationship between the working engineering vehicle and the safety verification model includes a non-contact state, a contact state and a containment relationship; The non-contact state refers to the operation engineering vehicle and the safety verification model maintaining a safe distance; The contact state refers to any part of the working engineering vehicle being in contact with the safety verification model; The inclusion relationship means that at least a part of the working engineering vehicle has entered the interior of the safety verification model; The second spatial relationship solving module is used for: When the spatial relationship between the working engineering vehicle and the safety verification model is in a non-contact state, no early warning or alarm is issued; When the spatial relationship between the working engineering vehicle and the safety verification model is in a contact state, an early warning is issued; When the spatial relationship between the working engineering vehicle and the safety verification model is a containment relationship, an alarm is issued.

9. A safety control device for substation engineering vehicle entry operation, characterized in that: include: A communication interface, used to communicate with other electronic devices; a memory for storing computer program instructions; A processor, configured to execute the computer program instructions to enable the apparatus to implement the method according to any one of claims 1 to 4.

10. A computer program product, characterized in that The method comprises computer program instructions, wherein the computer program instructions instruct a computer device to execute operations corresponding to the method according to any one of claims 1 to 4.

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