Method and system for automatically laying cameras of transformer substation

Abstract

The invention relates to a transformer substation camera automatic laying method and system, and the method comprises the steps: obtaining equipment ledger information and non-laying spatial data of cameras through initializing a digital twin scene of a transformer substation, so as to create a non-laying region three-dimensional model; then, acquiring data of arranged cameras, three-dimensional physical collision attributes and patrol point data based on the digital twinborn scene, and determining an area in which the cameras need to be arranged and are not arranged; through three-dimensional space calculation, determining an area in which the camera is allowed to be arranged and not arranged, and dividing the area into a plurality of unit grid spaces; and then, according to the unit grid space, the camera type and parameters and the patrol point data, determining the layout position and type of the camera, and selecting a corresponding camera three-dimensional model from the three-dimensional model library to instantiate the camera three-dimensional model into a digital twinning scene, thereby realizing scientific and efficient camera layout.

Description

Technical Field

[0001] The present invention relates to the technical field of camera layout in substations, and particularly to an automatic camera layout method and system for substations. Background Art

[0002] With the continuous advancement of power grid operation modes such as intelligent substations, unattended substations, and centralized monitoring of substation operations, the substation auxiliary monitoring system, as one of the important technical means necessary for power grid intelligence and safe production, provides an important guarantee for the safe and stable operation of the power grid. However, at present, the layout of cameras in substations is often a two-dimensional layout based on experience and the design drawings of substations, and the layout effect is as Figure 1 shown.

[0003] For the two-dimensional drawing layout, there are problems such as the inability to verify the occlusion relationship between the camera layout area and the inspection position, the inability to verify the reusability of the camera, and the inability to systematically analyze the attributes and performance of the deployed cameras using algorithms. As a result, the number of cameras is excessive, and the overlapping area of the coverage range is too large; even with a large number of deployments, there are still monitoring blind spots; the number of cameras deployed for key monitoring equipment and key monitoring areas is small. This makes many unreasonable situations occur in the layout design stage of the cameras, thereby doubling the cost of camera layout. In addition, for the layout of substation inspection and monitoring cameras based on two-dimensional drawings, it is mainly judged based on the experience of designers. Designers generally design in the office and do not understand the actual situation on site, resulting in the design results possibly changing the live safety of the substation during construction, or the need to repeatedly adjust and modify the design with on-site surveys. In addition to potential safety hazards, it also causes waste of time and resources. Summary of the Invention

[0004] The purpose of the present invention is to propose an automatic camera layout method and system for substations, so as to solve the waste of manpower, financial resources, and material resources caused by the unreasonable layout of cameras based on two-dimensional drawings.

[0005] To achieve the above purpose, an embodiment of the present invention provides an automatic camera layout method for substations, including:

[0006] Initializing the digital twin scene of the substation;

[0007] Obtaining equipment ledger information and non-deployable space data of cameras based on the digital twin scene, and creating a three-dimensional model of non-deployable areas according to the equipment ledger information and the non-deployable space data of the cameras;

[0008] Obtain the data of the installed cameras, the three-dimensional physical collision attributes of each object, and the inspection point data based on the digital twin scenario, and determine the areas where cameras need to be installed but have not been installed according to the data of the installed cameras, the three-dimensional physical collision attributes of each object, and the inspection point data;

[0009] Perform three-dimensional space calculation based on the three-dimensional model of the non-installable area and the areas where cameras need to be installed but have not been installed to determine the areas where cameras are allowed to be installed but have not been installed, and divide the areas where cameras are allowed to be installed but have not been installed into multiple unit grid spaces;

[0010] Obtain the camera type and parameters, and determine the camera installation positions and camera types according to the multiple unit grid spaces, the camera type and parameters, and the inspection point data;

[0011] Select the corresponding camera three-dimensional model from the three-dimensional model library according to the camera installation positions and camera types, and instantiate it into the digital twin scenario.

[0012] Preferably, the creation of the three-dimensional model of the non-installable area according to the equipment ledger information and the non-installable space data of the camera includes:

[0013] Determine the safe live range of the equipment according to the equipment ledger information, create a three-dimensional model of the first area according to the safe live range of the equipment, and attach three-dimensional physical collision attributes and ray detection attributes to the three-dimensional model of the first area;

[0014] Obtain and create a three-dimensional model of the second area according to the non-installable space data, and attach three-dimensional physical collision attributes and ray detection attributes to the three-dimensional model of the second area;

[0015] Obtain the three-dimensional model of the non-installable area according to the three-dimensional model of the first area and the three-dimensional model of the second area.

[0016] Preferably, the inspection point data includes the inspection distance range, the inspection angle range, the inspection task weight, and the inspection type weight;

[0017] The determination of the areas where cameras need to be installed but have not been installed according to the data of the installed cameras, the three-dimensional physical collision attributes of each object, and the inspection point data includes:

[0018] Determine the inspection points that have not been covered by the installed cameras according to the data of the installed cameras and the inspection point data, and determine the areas where cameras need to be installed but have not been installed according to the uncovered inspection points and the three-dimensional physical collision attributes of each object.

[0019] Preferably, the obtaining of the camera type and parameters, and determining the camera installation positions and camera types according to the multiple unit grid spaces, the camera type and parameters, and the inspection point data includes:

[0020] Traverse all the unit grid spaces according to the camera type and parameters and the inspection point data, obtain the camera type of each unit grid space and the inspection points it covers, and merge at least two unit grid spaces with the same camera type and covering the same inspection points into a space set, and install one camera in each space set.

[0021] Preferably, the obtaining of the camera type and parameters, and determining the camera installation positions and camera types according to the multiple unit grid spaces, the camera type and parameters, and the inspection point data includes:

[0022] Based on the direction angle of the camera pointing to the inspection point and the distance between the camera and the inspection point, select several best camera installation positions in the space set, and sort the selected several best cameras according to the direction angle of the camera pointing to the inspection point and the distance between the camera and the inspection point.

[0023] An embodiment of the present invention also provides a substation camera automatic installation system, including:

[0024] A digital twin scene module, used to initialize the digital twin scene of the substation;

[0025] A first area obtaining module, used to obtain the equipment ledger information and the non-installable space data of the camera based on the digital twin scene, and create a three-dimensional model of the non-installable area according to the equipment ledger information and the non-installable space data of the camera;

[0026] A second area obtaining module, used to obtain the installed camera data, the three-dimensional physical collision attributes of each object, and the inspection point data based on the digital twin scene, and determine the areas where cameras need to be installed and have not been installed according to the installed camera data, the three-dimensional physical collision attributes of each object, and the inspection point data;

[0027] A third area obtaining module, used to perform three-dimensional space calculation according to the three-dimensional model of the non-installable area and the areas where cameras need to be installed and have not been installed to determine the areas where cameras are allowed to be installed and have not been installed, and divide the areas where cameras are allowed to be installed and have not been installed into multiple unit grid spaces;

[0028] An installation position obtaining module, used to obtain the camera type and parameters, and determine the camera installation positions and camera types according to the multiple unit grid spaces, the camera type and parameters, and the inspection point data;

[0029] A camera model module, configured to select a corresponding three-dimensional camera model from a three-dimensional model library according to the camera layout position and camera type, and instantiate it into the digital twin scenario.

[0030] Preferably, the first area acquisition module includes:

[0031] A first model construction unit, configured to determine the live safety range of the device according to the device ledger information, create a three-dimensional model of the first area according to the live safety range of the device, and mount three-dimensional physical collision attributes and ray detection attributes on the three-dimensional model of the first area;

[0032] A second model construction unit, configured to create a three-dimensional model of the second area according to the non-layout space data acquisition, and mount three-dimensional physical collision attributes and ray detection attributes on the three-dimensional model of the second area;

[0033] A third model construction unit, configured to obtain a three-dimensional model of the non-layout area according to the three-dimensional model of the first area and the second area.

[0034] Preferably, the inspection point data includes an inspection distance range, an inspection angle range, an inspection task weight, and an inspection type weight;

[0035] The second area acquisition module is configured to determine the inspection points not covered by the installed cameras according to the installed camera data and the inspection point data, and determine the areas where cameras need to be installed and have not been installed according to the non-covered inspection points and the three-dimensional physical collision attributes of each object.

[0036] Preferably, the layout position acquisition module is configured to traverse all unit grid spaces according to the camera type and parameters and the inspection point data, obtain the camera type of each unit grid space and the inspection potential covered by it, and merge at least two unit grid spaces with the same camera type and covering the same inspection points into a space set, and arrange one camera in each space set.

[0037] Preferably, the layout position acquisition module is configured to select several best camera layout positions that satisfy the inspection point data in the space set based on the direction angle of the camera pointing to the inspection point and the distance between the camera and the inspection point, and sort the selected several best cameras according to the direction angle of the camera pointing to the inspection point and the distance between the camera and the inspection point.

[0038] The substation camera automatic layout method and system proposed by the present invention have the following beneficial effects:

[0039] By utilizing digital twin scenarios for three-dimensional space calculation and simulation, the blindness and irrationality of traditional two-dimensional drawing layout are effectively solved, monitoring blind spots and coverage overlaps are reduced, the quantity and type of cameras are optimized, the design efficiency and monitoring effect are improved, and at the same time, safety risks and costs are reduced, enabling the monitoring system of the substation to operate more efficiently, safely and economically, and providing solid technical support for the stability of the power grid. Description of the Drawings

[0040] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings required for the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other accompanying drawings can be obtained based on these drawings without creative efforts.

[0041] Figure 1 It is a schematic diagram of the two-dimensional drawing layout of the substation cameras.

[0042] Figure 2 It is a flowchart of a method for automatic layout of substation cameras in an embodiment of the present invention.

[0043] Figure 3 It is a structural diagram of a system for automatic layout of substation cameras in another embodiment of the present invention. Detailed Description of the Embodiments

[0044] The detailed description of the accompanying drawings is intended to be illustrative 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 achieved by different embodiments intended to be included within the spirit and scope of the present invention.

[0045] Refer to Figure 2 , an embodiment of the present invention provides a method for automatic layout of substation cameras, including the following steps:

[0046] Step S10, initialize the digital twin scenario of the substation;

[0047] Specifically, step S10 is a process of reconstructing and simulating the elements such as substations, their equipment, and the environment in the real world in a digital environment. Specifically, a high-precision 3D model is used to create a digital copy of the substation. This model contains the detailed structure and layout of the substation, including buildings, equipment, pipelines, etc., and can be visualized on a computer. In the digital twin scenario, not only the appearance of the substation needs to be displayed, but also physical properties such as collision properties need to be instantiated for each device in the scenario. This means that in the digital environment, devices can interact physically like in the real world. For example, when installing a camera, it is necessary to consider whether it will collide with other devices. The equipment ledger is a data table that records the detailed information of all devices in the substation. Associating the 3D model with the equipment ledger means that each device in the digital twin scenario corresponds to the actual device data, and the detailed information of the device can be queried and managed in real time. During the initialization process, it is also necessary to load the existing camera data into the digital twin scenario, including the position, type, coverage area, etc. of the camera, so as to consider the impact of the existing cameras during the subsequent installation process. The inspection point data refers to the key position data that needs to be regularly inspected in the substation. Loading this data into the digital twin scenario can help determine the installation positions of the cameras to ensure that all important inspection points can be effectively covered by the cameras.

[0048] Step S20: Based on the digital twin scenario, obtain the equipment ledger information and the non-installable space data of the cameras, and create a 3D model of the non-installable area according to the equipment ledger information and the non-installable space data of the cameras.

[0049] Specifically, step S20 is to identify and create a 3D model of the area where cameras cannot be installed in the digital twin scenario. This step ensures that the camera installation plan avoids areas where it is inappropriate or impossible to install cameras based on the actual environment and equipment layout of the substation, ensuring that the camera installation plan not only meets the monitoring requirements but also complies with the safety and operation specifications of the substation.

[0050] Step S30: Based on the digital twin scenario, obtain the data of the installed cameras, the 3D physical collision properties of each object, and the inspection point data, and determine the areas where cameras need to be installed but have not been installed according to the data of the installed cameras, the 3D physical collision properties of each object, and the inspection point data.

[0051] Specifically, step S30 is to analyze and determine the areas in the digital twin scenario where cameras need to be installed but have not been installed yet. The key to this step lies in comprehensively considering the data of existing cameras, the three-dimensional physical collision attributes of various objects in the scenario, and the inspection point data to determine the current monitoring blind spots. Obtaining the data of the installed cameras includes information such as the positions, perspectives, and coverage ranges of the cameras already installed in the current substation. These data help to understand the layout and monitoring capabilities of the existing monitoring system. The three-dimensional physical collision attributes refer to the physical sizes and shapes of all objects (such as equipment, buildings, structures, etc.) in the digital twin scenario. These attributes determine the occupancy of objects in space, and the collision attributes are used to ensure that when determining the installation positions of cameras, the relative positions of the cameras and these objects are considered to avoid installing cameras in inappropriate or impossible positions. The inspection point data refers to the key positions in the substation that need to be regularly inspected. These positions are the key coverage areas of the monitoring system, and ensuring that these points are effectively monitored is crucial for the safe operation of the substation. In this step, by combining the above data, analyzing the data of existing cameras, determining their coverage ranges, and identifying the monitoring blind spots, using the three-dimensional physical collision attributes to exclude the areas where cameras cannot be installed due to physical obstacles (such as equipment, buildings, etc.), and further confirming the key areas that need to be monitored according to the inspection point data to ensure that these areas are covered in the new installation plan. Through this step, it can be ensured that the camera installation plan makes full use of existing resources and effectively fills the monitoring blind spots, thereby improving the overall monitoring ability of the substation.

[0052] Step S40: Perform three-dimensional space calculations based on the three-dimensional model of the non-installable area and the area where cameras need to be installed but have not been installed, and determine the areas where cameras are allowed to be installed and have not been installed, and divide the areas where cameras are allowed to be installed and have not been installed into multiple unit grid spaces.

[0053] Specifically, step S40 is to determine, through three-dimensional space calculations in the digital twin scenario, the areas where cameras can be installed and have not been installed yet, and divide these areas into multiple unit grid spaces for the subsequent precise installation of cameras. The following is a detailed explanation of this step:

[0054] The three-dimensional model of the non-deployable area is the model created based on step S20, which identifies the areas where cameras cannot be deployed due to factors such as equipment layout, safety distance, maintenance requirements, etc.; the area where cameras need to be deployed but have not been deployed is the area determined based on step S30, which represents the key areas in the substation that need to be monitored and covered, but currently there are no cameras deployed; three-dimensional space calculation refers to using the three-dimensional model of the digital twin scenario for spatial analysis and calculation to determine the potential deployment positions of cameras. During the calculation process, the three-dimensional model of the non-deployable area will be considered to ensure that the deployment positions of cameras do not overlap with these areas. At the same time, the calculation will also consider the area where cameras need to be deployed but have not been deployed to ensure that these areas are covered in the new deployment plan; through three-dimensional space calculation, the non-deployable areas are excluded from the area where cameras need to be deployed but have not been deployed, and the final areas where cameras can be deployed are obtained. These areas are the candidate positions for camera deployment, which meet the monitoring requirements and have no physical obstacles; in order to manage the camera deployment positions more precisely, these allowable deployment areas are divided into multiple unit grid spaces. The unit grid space can be a three-dimensional space of equal size. This grid processing method helps to accurately determine the specific positions of each camera in the subsequent steps and optimize the coverage range between cameras, reducing overlap and dead angles; through this step, the camera deployment plan for the substation becomes more accurate and efficient, providing a detailed spatial reference for the specific deployment of cameras, thus ensuring the comprehensiveness and effectiveness of the monitoring system.

[0055] Step S50: Obtain the camera type and parameters, and determine the camera deployment position and camera type according to the multiple unit grid spaces, the camera type and parameters, and the inspection point data.

[0056] Specifically, in step S50, in the digital twin scenario, based on the already divided unit grid spaces, the types and parameters of the cameras, and the inspection point data, the specific installation locations and types of each camera are determined; the types and parameters of the cameras include the specifications, field of view, resolution, rotation ability, focal length, lighting condition requirements, etc. of the cameras. This information is crucial for determining whether a camera at a specific location can meet the monitoring requirements; multiple unit grid spaces are created in step S40, representing the areas where cameras are allowed to be installed. Each grid space is a potential location for camera installation. The inspection point data refers to the relevant data of the key locations that need to be routinely inspected within the substation. These locations need to be effectively covered by the cameras and meet the set inspection requirements; analyze the location, size, and surrounding environment of each unit grid space, as well as the relationship between this space and the inspection points. According to the types and parameters of the cameras, evaluate whether each unit grid space is suitable for installing a specific type of camera and whether this camera can cover the important inspection points. Consider the synergy between the cameras to ensure that there are no blind spots in the overall monitoring plan and avoid unnecessary overlapping coverage to optimize resource utilization. Finally, select the appropriate camera types, which may include fixed cameras, rotating cameras, high-definition cameras, etc., and determine the best installation locations for each selected camera, including specific coordinates and heights, to ensure the best monitoring effect; through this step, the most suitable camera type can be selected for each unit grid space and its precise installation location can be determined, so as to ensure that the monitoring system of the substation can not only meet the requirements of safety monitoring but also achieve the best monitoring effect.

[0057] In step S60, select the corresponding 3D camera model from the 3D model library according to the camera installation location and camera type, and instantiate it into the digital twin scenario;

[0058] Specifically, in step S60, in the digital twin scenario, according to the determined camera layout positions and types, the corresponding 3D camera models are selected from the 3D model library and added to the digital twin scenario; the camera layout positions and camera types are determined in step S50, including the specific installation positions of each camera (such as coordinates and height) and the types of cameras (such as fixed cameras, PTZ cameras, bullet cameras, etc.); the 3D model library is a database containing various 3D camera models, each model corresponding to an actual camera and having accurate dimensions, appearance, and functional characteristics; according to the determined camera type, the matching model is selected from the 3D model library. For example, if it is determined that a PTZ camera needs to be installed at a certain position, then the 3D model of the PTZ camera is selected from the library; instantiation means placing the selected 3D camera model at the specified position in the digital twin scenario to make it part of the scenario. In the digital twin scenario, the instantiated camera model can simulate the perspective, coverage range, and functions of the actual camera for further simulation and analysis. During the instantiation process, the position, orientation, and parameters of the camera model are set to be consistent with the actual layout plan to ensure the accuracy of the simulation; through step S60, the digital twin scenario contains the camera models arranged according to the actual layout plan, so that the monitoring plan can be virtually verified and optimized without physically installing cameras. This method can greatly reduce the risks and costs in the actual layout process, improve the layout efficiency and quality.

[0059] In summary, the method of this embodiment effectively solves the blindness and irrationality of traditional two-dimensional drawing layout by using the digital twin scenario for three-dimensional space calculation and simulation, reduces monitoring blind spots and coverage overlaps, optimizes the quantity and type of cameras, improves the design efficiency and monitoring effect, and at the same time reduces safety risks and costs, enabling the monitoring system of the substation to operate more efficiently, safely, and economically, providing solid technical support for the stability of the power grid.

[0060] Further, creating the non-deployable area 3D model according to the equipment inventory information and the non-deployable space data of the camera in step S20 includes:

[0061] Step S201, determining the live safety range of the equipment according to the equipment inventory information, creating a first area 3D model according to the live safety range of the equipment, and attaching 3D physical collision attributes and ray detection attributes to the first area 3D model;

[0062] Specifically, the equipment ledger information includes detailed information about various equipment in the substation, including the energized parts of the equipment and the safe operating distance. Determining the safe energized range of the equipment means calculating the safe area around the equipment based on this information to avoid safety accidents such as electric shock during camera installation. Based on the safe energized range of the equipment, a 3D model is created in the digital twin scenario, which represents the area where cameras are not allowed to be installed. Mounting the 3D physical collision attribute means setting physical boundaries on this area model, so that in subsequent camera installation planning, the camera model cannot collide with these areas. The ray detection attribute allows the system to simulate the interaction of rays (such as the line of sight) with the model, which is used to detect whether the camera's line of sight will be blocked by this area.

[0063] Step S202: Obtain and create a 3D model of the second area according to the non-installable space data, and mount the 3D physical collision attribute and ray detection attribute on the 3D model of the second area.

[0064] Specifically, the non-installable space data includes, but is not limited to, obstacles, maintenance channels, operation areas, etc. in the substation. These areas are not suitable for installing cameras. According to this data, a 3D model of the second area is created to represent these non-installable spaces. Mount the 3D physical collision attribute and ray detection attribute on the 3D model of the second area: Similar to step S201, add the physical collision attribute and ray detection attribute to the second area model to ensure that the camera installation does not intrude into these areas.

[0065] Step S203: Obtain a 3D model of the non-installable area according to the 3D model of the first area and the 3D model of the second area.

[0066] Specifically, merge the 3D models of the first area and the second area to form a complete 3D model of the non-installable area. This merged model will include all areas where cameras are not allowed to be installed, providing comprehensive limiting conditions for subsequent camera installation planning.

[0067] Through the above three sub-steps, an accurate 3D model of the non-installable area is created in the digital twin scenario, which will help ensure the safety and rationality of the camera installation plan.

[0068] Furthermore, the inspection point data includes the inspection distance range, inspection angle range, inspection task weight, and inspection type weight.

[0069] Specifically, the patrol distance range refers to the distance range that the patrol points need to be monitored, that is, the farthest and nearest distances that the camera needs to be able to monitor; the patrol angle range refers to the viewing angle range that the camera needs to cover to ensure that the patrol points can be monitored at different angles; the patrol task weight represents the importance of the patrol points. The higher the weight, the more important the point is and the priority consideration for monitoring coverage; the patrol type weight refers to the weight assigned according to the type of patrol (such as daily patrol, special patrol, etc.). Different types of patrols may require different degrees of monitoring attention.

[0070] The step S50 includes:

[0071] Step S501, determine the patrol points that the deployed cameras fail to cover according to the deployed camera data and the patrol point data, and determine the areas where cameras need to be deployed but have not been deployed according to the uncovered patrol points and the three-dimensional physical collision attributes of each object.

[0072] Specifically, determining the patrol points that the deployed cameras fail to cover according to the deployed camera data and the patrol point data means: analyzing the coverage range of the existing cameras and comparing it with the data of the patrol points to determine which patrol points are not covered or insufficiently covered by the existing cameras. These points are the monitoring blind spots;

[0073] Determining the areas where cameras need to be deployed but have not been deployed according to the uncovered patrol points and the three-dimensional physical collision attributes of each object means: using the patrol distance range, patrol angle range, patrol task weight, and patrol type weight in the patrol point data to analyze which areas are key monitoring areas. Combining the three-dimensional physical collision attributes of each object in the digital twin scenario, determine which positions in these key areas can be deployed with cameras and which positions cannot be deployed with cameras due to physical collision attribute restrictions (such as obstacles, safety distances, etc.). Finally, determine the areas where cameras need to be deployed but have not been deployed, and these areas will be the priority consideration areas for subsequent camera deployment.

[0074] Through this process, it can be ensured that the camera deployment plan can effectively cover all important patrol points while considering the physical limitations in the scenario, thereby improving the comprehensiveness and effectiveness of the monitoring system.

[0075] Further, the step S50 includes:

[0076] Step S502: Traverse all unit grid spaces according to the camera type and parameters and the inspection point data, obtain the camera type of each unit grid space and the inspection points it covers, and merge at least two unit grid spaces with the same camera type and covering the same inspection points into a space set, and arrange one camera in each space set;

[0077] Specifically, traversing means checking and analyzing each unit grid space one by one. In this process, consider the camera type (such as fixed camera, rotating camera, etc.) and parameters (such as field of view, resolution, etc.), as well as the data of the inspection points (such as inspection distance range, inspection angle range, etc.); for each unit grid space, determine the suitable camera type to be installed and the inspection points that the camera can cover. This step ensures that each grid space can select a suitable camera according to its specific monitoring requirements; the purpose of merging the unit grid spaces is to reduce redundancy and avoid installing multiple cameras repeatedly when monitoring the same inspection point. In the merged space set, only one camera needs to be installed to cover the monitoring requirements of the original multiple unit grid spaces; this can optimize resource allocation, reduce costs, and at the same time ensure the effectiveness and efficiency of the monitoring system. Through this process, the installation of cameras can be effectively planned and optimized to ensure that each camera can maximize its monitoring range while avoiding unnecessary repeated installations.

[0078] Furthermore, step S50 includes:

[0079] Step S503: Based on the direction angle between the camera pointing to the inspection point and the distance between the camera and the inspection point, select several best camera installation positions in the space set that best meet the inspection point data, and sort the selected several best cameras according to the direction angle between the camera pointing to the inspection point and the distance between the camera and the inspection point;

[0080] Specifically, the direction angle refers to the angle between the center line of the camera lens and the straight line from the camera to the inspection point. This angle determines whether the camera can face the inspection point directly and the coverage range; the distance between the camera and the inspection point affects the monitoring effect of the camera, including the clarity of the image and the field of view that the camera can cover.

[0081] In each of the previously merged spatial sets, based on the inspection point data (such as inspection distance range, inspection angle range, etc.), select the camera installation positions that can best meet these data. "Best meet" means that the selected camera positions can cover the inspection points in an optimal way, including comprehensive consideration of angles and distances. After selecting several possible best installation positions, these positions need to be sorted. The sorting basis is the direction angle between each camera pointing to the inspection point and the distance between the camera and the inspection point. Ideally, the smaller the direction angle (i.e., the more directly the camera faces the inspection point) and the more appropriate the distance (neither too far nor too close), the higher the ranking of this position. The purpose of sorting is to be able to give priority to those positions that can provide the best monitoring effect in the final installation decision. The purpose of giving multiple best installations is also to provide more choices for designers, and designers can select one as the final solution according to their needs.

[0082] Through this process, it can be ensured that the camera installation plan not only meets the monitoring requirements but also achieves the optimization of efficiency and effect. This helps to reduce the number of unnecessary cameras, lower costs, and improve the performance of the entire monitoring system.

[0083] Refer to Figure 3 , another embodiment of the present invention also provides a substation camera automatic installation system, including:

[0084] The digital twin scenario module 1 is used to initialize the digital twin scenario of the substation;

[0085] The first area acquisition module 2 is used to obtain the equipment ledger information and the non-installable space data of the camera based on the digital twin scenario, and create a three-dimensional model of the non-installable area according to the equipment ledger information and the non-installable space data of the camera;

[0086] The second area acquisition module 3 is used to obtain the data of the installed cameras, the three-dimensional physical collision attributes of each object, and the inspection point data based on the digital twin scenario, and determine the areas where cameras need to be installed and have not been installed according to the data of the installed cameras, the three-dimensional physical collision attributes of each object, and the inspection point data;

[0087] The third area acquisition module 4 is used to perform three-dimensional space calculation according to the three-dimensional model of the non-installable area and the areas where cameras need to be installed and have not been installed to determine the areas where cameras are allowed to be installed and have not been installed, and divide the areas where cameras are allowed to be installed and have not been installed into multiple unit grid spaces;

[0088] The camera layout position acquisition module 5 is used to obtain the camera type and parameters, and determine the camera layout position and camera type according to the multiple unit grid spaces, the camera type and parameters, and the inspection point data.

[0089] The camera model module 6 is used to select the corresponding camera 3D model from the 3D model library according to the camera layout position and camera type, and instantiate it into the digital twin scene.

[0090] Further, the first area acquisition module includes:

[0091] The first model construction unit is used to determine the live safety range of the equipment according to the equipment ledger information, create a 3D model of the first area according to the live safety range of the equipment, and mount 3D physical collision attributes and ray detection attributes on the 3D model of the first area.

[0092] The second model construction unit is used to create a 3D model of the second area according to the non-layout space data acquisition, and mount 3D physical collision attributes and ray detection attributes on the 3D model of the second area.

[0093] The third model construction unit is used to obtain the 3D model of the non-layout area according to the 3D model of the first area and the 3D model of the second area.

[0094] Further, the inspection point data includes an inspection distance range, an inspection angle range, an inspection task weight, and an inspection type weight.

[0095] The second area acquisition module is used to determine the inspection points not covered by the already arranged cameras according to the already arranged camera data and the inspection point data, and determine the areas where cameras need to be arranged and have not been arranged according to the non-covered inspection points and the 3D physical collision attributes of each object.

[0096] Further, the layout position acquisition module is used to traverse all unit grid spaces according to the camera type and parameters and the inspection point data, obtain the camera type of each unit grid space and the inspection potential covered by it, and merge at least two unit grid spaces with the same camera type and covering the same inspection points into a space set, and arrange one camera in each space set.

[0097] Further, the layout position acquisition module is used to select several best camera layout positions that best meet the inspection point data in the space set based on the direction angle of the camera pointing to the inspection point and the distance between the camera and the inspection point, and sort the selected several best cameras according to the direction angle of the camera pointing to the inspection point and the distance between the camera and the inspection point.

[0098] The system of this embodiment corresponds to the method of the above embodiment. Therefore, the content not described in detail in the system of this embodiment can be obtained by referring to the content of the method of the above embodiment, so it will not be elaborated in this embodiment.

[0099] The embodiments of the present invention have been described above. The above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations are obvious 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, practical applications, or improvements to technologies in the market, or to enable other ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A method for automatically deploying cameras in a substation, characterized in that: include: Initialize the digital twin scenario of the substation; Acquire equipment ledger information and non-deployable space data of the camera based on the digital twin scene, and create a three-dimensional model of the non-deployable area according to the equipment ledger information and the non-deployable space data of the camera; Based on the digital twin scene, the deployed camera data, the three-dimensional physical collision properties of each object, and the patrol point data are acquired, and the area where the camera needs to be deployed but is not deployed is determined according to the deployed camera data, the three-dimensional physical collision properties of each object, and the patrol point data; Performing three-dimensional space calculation according to the three-dimensional model of the area that cannot be deployed and the area where cameras need to be deployed but are not deployed to determine the area where cameras are allowed to be deployed but are not deployed, and dividing the area where cameras are allowed to be deployed but are not deployed into a plurality of unit grid spaces; Obtain camera types and parameters, and determine camera deployment locations and camera types based on the multiple unit grid spaces, the camera types and parameters, and patrol point data; According to the camera layout position and camera type, the corresponding camera 3D model is selected from the 3D model library and instantiated into the digital twin scene.

2. The method according to claim 1, characterized in that The step of creating a three-dimensional model of an undeployable area according to the equipment ledger information and the undeployable space data of the camera includes: Determine the equipment live safety range according to the equipment ledger information, create a first area three-dimensional model according to the equipment live safety range, and attach three-dimensional physical collision attributes and ray detection attributes to the first area three-dimensional model; Acquire and create a second area three-dimensional model according to the non-layout space data, and attach three-dimensional physical collision attributes and ray detection attributes to the second area three-dimensional model; A three-dimensional model of a non-layoutable area is obtained according to the first three-dimensional model of the area and the second three-dimensional model of the area.

3. The method according to claim 1, characterized in that The patrol point data includes patrol distance range, patrol angle range, patrol task weight and patrol type weight; The determining of the area where cameras need to be deployed but are not deployed according to the deployed camera data, the three-dimensional physical collision properties of each object and the patrol point data includes: According to the deployed camera data and the patrol point data, the patrol points not covered by the deployed cameras are determined, and according to the uncovered patrol points and the three-dimensional physical collision properties of the various objects, the areas where cameras need to be deployed but are not deployed are determined.

4. The method according to claim 3, characterized in that The acquiring of camera types and parameters, and determining camera layout positions and camera types according to the plurality of unit grid spaces, the camera types and parameters, and patrol point data, includes: According to the camera type and parameters and patrol point data, all unit grid spaces are traversed to obtain the camera type of each unit grid space and the patrol potential it covers, and at least two unit grid spaces with the same camera type and covering the same patrol points are merged into a space set, with one camera arranged in each space set.

5. The method according to claim 4, characterized in that The acquiring of camera types and parameters, and determining camera layout positions and camera types according to the plurality of unit grid spaces, the camera types and parameters, and patrol point data, includes: Based on the direction angle that the camera points to the patrol points and the distance between the camera and the patrol points, several camera layout positions that best meet the patrol point data are selected in the spatial set, and the selected several best cameras are sorted according to the direction angle that the camera points to the patrol points and the distance between the camera and the patrol points.

6. A substation camera automatic deployment system, characterized in that: include: Digital twin scenario module, used to initialize the digital twin scenario of the substation; A first area acquisition module is used to acquire device inventory information and non-deployable space data of the camera based on the digital twin scene, and create a three-dimensional model of the non-deployable area according to the device inventory information and the non-deployable space data of the camera; A second area acquisition module is used to acquire the deployed camera data, the three-dimensional physical collision properties of each object and the patrol point data based on the digital twin scene, and determine the area where the camera needs to be deployed but is not deployed according to the deployed camera data, the three-dimensional physical collision properties of each object and the patrol point data; A third area acquisition module is used to perform three-dimensional space calculation based on the three-dimensional model of the area that cannot be deployed and the area where the camera needs to be deployed but is not deployed to determine the area where the camera is allowed to be deployed but is not deployed, and divide the area where the camera is allowed to be deployed but is not deployed into a plurality of unit grid spaces; A layout position acquisition module is used to obtain camera types and parameters, and determine camera layout positions and camera types according to the multiple unit grid spaces, the camera types and parameters, and patrol point data; The camera model module is used to select the corresponding camera 3D model from the 3D model library according to the camera layout position and camera type, and instantiate it into the digital twin scene.

7. The system according to claim 6, characterized in that The first region acquisition module includes: A first model building unit is used to determine the equipment live safety range according to the equipment ledger information, create a first area three-dimensional model according to the equipment live safety range, and attach three-dimensional physical collision attributes and ray detection attributes to the first area three-dimensional model; A second model building unit, configured to acquire and create a second area three-dimensional model according to the non-layout space data, and attach three-dimensional physical collision attributes and ray detection attributes to the second area three-dimensional model; The third model building unit is used to obtain a three-dimensional model of the non-layout area according to the first three-dimensional model of the area and the second three-dimensional model of the area.

8. The system according to claim 6, characterized in that The patrol point data includes patrol distance range, patrol angle range, patrol task weight and patrol type weight; The second area acquisition module is used to determine the patrol points that are not covered by the deployed cameras based on the deployed camera data and the patrol point data, and to determine the areas where cameras need to be deployed but are not deployed based on the patrol points that are not covered and the three-dimensional physical collision properties of each object.

9. The system according to claim 8, characterized in that The deployment location acquisition module is used to traverse all unit grid spaces according to the camera type and parameters and patrol point data, obtain the camera type of each unit grid space and the patrol potential it covers, merge at least two unit grid spaces with the same camera type and covering the same patrol points into a space set, and arrange a camera in each space set.

10. The system according to claim 9, characterized in that The layout position acquisition module is used to select a number of camera layout positions that best meet the patrol point data in the spatial set based on the direction angle of the camera pointing to the patrol point and the distance between the camera and the patrol point, and sort the selected several best cameras according to the direction angle of the camera pointing to the patrol point and the distance between the camera and the patrol point.

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