Substation patrol task planning management method and device, and computer program product

Abstract

The invention relates to a substation patrol task planning management method and device, and a computer program product, and the method comprises the steps: achieving the automatic recognition of a patrol point location and the optimal path planning through integrating a three-dimensional digital twinborn scene and twinborn camera data; the method comprises the following steps: firstly, constructing a three-dimensional digital model of a transformer substation, then automatically screening out inspection point locations meeting conditions according to camera parameters and inspection requirements, and calculating an optimal inspection posture of a camera; in addition, the method can detect and avoid obstacle shielding in real time, and ensures the comprehensiveness and accuracy of the patrol task. And finally, the execution device of the method generates patrol task management module data according to the information, and realizes data storage and calling. According to the method, the automation and intelligence level of substation inspection work is remarkably improved, the operation and maintenance cost is reduced, and the safety and reliability of power grid operation are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of substations, and particularly to a method and device for planning and managing substation inspection tasks, and a computer program product. 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 execution device of the substation auxiliary monitoring method, 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. Currently, the inspection cameras in substations all use prefabricated inspection points that drive the cameras to complete camera positioning and image capture to achieve inspection points. The inspection tasks are based on the prefabricated inspection points. In the execution device of the operation method, two-dimensional forms are used to select, edit, and manage inspection tasks.

[0003] The above-mentioned inspection task planning and management have the following technical problems:

[0004] First, during camera construction, update, etc., to ensure the feasibility of inspection tasks, the construction requirements are high and the construction and debugging cycle is long; second, the maximization of the value of cameras in inspection tasks, the coverage rate of camera inspections, the reusability of camera inspections, etc. cannot be detected; third, the inspection points in the inspection tasks are not intuitive for operation and maintenance personnel, and there are situations where inspection points are missed, selected multiple times, or selected incorrectly in the inspection task duration, which has many impacts on the accuracy, refinement, and high efficiency of various inspections. Summary of the Invention

[0005] The purpose of the present invention is to provide a method and device for planning and managing substation inspection tasks, and a computer program product, so as to improve the intelligence, accuracy, and efficiency of substation inspection task planning and management.

[0006] To achieve the above purpose, an embodiment of the present invention provides a method for planning and managing substation inspection tasks, including:

[0007] Initializing the three-dimensional digital twin scene of the substation;

[0008] Receiving inspection task setting data input by the user, where the inspection task setting data includes inspection task type, restricted inspection equipment, and inspection time;

[0009] Obtaining twin camera data based on the three-dimensional digital twin scene of the substation, and determining whether the inspection points corresponding to the inspection tasks are within the preset inspection distance range of any twin camera according to the twin camera data and the inspection task setting data;

[0010] If not, then end;

[0011] If so, determine whether the inspection points corresponding to the inspection task satisfy both that the inspection points are within the inspection angle range of the twin camera and that there is no obstacle occlusion between the twin camera and the inspection points according to the twin camera data and the inspection task setting data. If both are satisfied, obtain the inspection posture of the twin camera, generate inspection task management data according to the corresponding relationship between the twin camera and the inspection points, the inspection posture of the twin camera, and the inspection task setting data, and store the inspection task management data. If not both are satisfied, end.

[0012] Preferably, the determining whether the inspection points corresponding to the inspection task are within the preset inspection distance range of any twin camera according to the twin camera data and the inspection task setting data includes:

[0013] Calculate the distance between the inspection point and any twin camera according to the twin camera data and the inspection task setting data. If the distance is less than or equal to the preset minimum visible light distance, determine that the inspection point is within the preset inspection distance range of the twin camera. If the distance is greater than the preset minimum visible light distance, determine the magnification of the twin camera according to the distance and the coverage area of the inspection point. If the magnification is greater than the preset threshold, determine that the inspection point is within the preset inspection distance range of the twin camera.

[0014] Preferably, the determining whether the inspection points corresponding to the inspection task satisfy that the inspection points are within the inspection angle range of the twin camera according to the twin camera data and the inspection task setting data includes:

[0015] Obtain the angle between the inspection point and the normal direction of the twin camera, and determine whether the angle is within the preset inspection angle range. If so, it is satisfied; if not, it is not satisfied.

[0016] Preferably, the determining whether there is no obstacle occlusion between the twin camera and the inspection points corresponding to the inspection task according to the twin camera data and the inspection task setting data includes:

[0017] Obtain the position coordinates of the twin camera and the inspection point. In the three-dimensional digital twin scene of the substation, emit multiple groups of rays in the direction of the inspection point according to the position coordinates of the twin camera, and determine whether the rays collide with obstacles other than the inspection point. If so, determine that there is an obstacle occlusion between the twin camera and the inspection point; if not, determine that there is no obstacle occlusion between the twin camera and the inspection point.

[0018] The embodiment of the present invention also provides a substation inspection task planning and management device, including:

[0019] A scene initialization module for initializing the digital twin scene of a substation;

[0020] An inspection task input module for receiving the inspection task setting data input by the user, where the inspection task setting data includes the inspection task type, the limited inspection equipment, and the inspection time;

[0021] An inspection task management module for obtaining twin camera data based on the three-dimensional digital twin scene of the substation, and determining whether the inspection point corresponding to the inspection task is within the preset inspection distance range of any twin camera according to the twin camera data and the inspection task setting data;

[0022] If not, end;

[0023] If so, determine whether the inspection point corresponding to the inspection task simultaneously satisfies that the inspection point is within the inspection angle range of the twin camera and there is no obstacle occlusion between the twin camera and the inspection point according to the twin camera data and the inspection task setting data. If both are satisfied, obtain the inspection posture of the twin camera, generate inspection task management data according to the corresponding relationship between the twin camera and the inspection point, the inspection posture of the twin camera, and the inspection task setting data, and store the inspection task management data. If not both are satisfied, end.

[0024] Preferably, the inspection task management module is used for:

[0025] Calculate the distance between the inspection point and any twin camera according to the twin camera data and the inspection task setting data. If the distance is less than or equal to the preset minimum visible light distance, determine that the inspection point is within the preset inspection distance range of the twin camera. If the distance is greater than the preset minimum visible light distance, determine the magnification of the twin camera according to the distance and the coverage area of the inspection point. If the magnification is greater than the preset threshold, determine that the inspection point is within the preset inspection distance range of the twin camera.

[0026] Preferably, the inspection task management module is used for:

[0027] Obtain the angle between the inspection point and the normal direction of the twin camera, and determine whether the angle is within the preset inspection angle range. If so, it is satisfied; if not, it is not satisfied.

[0028] Preferably, the inspection task management module is used for:

[0029] Obtain the position coordinates of the twin cameras and the inspection points. In the three-dimensional digital twin scene of the substation, emit multiple groups of rays in the direction of the inspection points according to the position coordinates of the twin cameras, and determine whether the rays collide with obstacles other than the inspection points. If so, it is determined that there is an obstacle occlusion between the twin cameras and the inspection points; if not, it is determined that there is no obstacle occlusion between the twin cameras and the inspection points.

[0030] An embodiment of the present invention further provides a substation inspection task planning and management device, including:

[0031] A communication interface for communicating with other electronic devices;

[0032] A memory for storing computer program instructions;

[0033] A processor for executing the computer program instructions to support the device to implement the method as described above.

[0034] An embodiment of the present invention further provides a computer program product, which includes computer program instructions, and the computer program instructions direct a computer device to perform operations corresponding to the method as described above.

[0035] The substation inspection task planning and management method, device, and computer program product proposed by the present invention have the following beneficial effects:

[0036] By constructing a three-dimensional digital twin scene of the substation and combining it with the data of the twin cameras, the automatic planning and precise management of the inspection tasks are realized. It can not only intelligently judge whether the inspection points are within the effective inspection range of the cameras, but also consider the problem of obstacle occlusion, ensuring the feasibility and accuracy of the inspection tasks. Thus, it effectively shortens the time for camera construction and debugging, improves the maximum utilization of camera resources, reduces the error rate of maintenance personnel when performing inspection tasks, greatly enhances the intelligent level and efficiency of power grid operation and maintenance, and provides strong technical support and guarantee for the safe and stable operation of the power grid. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required in the embodiment descriptions. Obviously, the drawings in the following descriptions are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0038] Figure 1 It is a flowchart of a substation inspection task planning and management method in an embodiment of the present invention.

[0039] Figure 2The structure diagram of a substation inspection task planning and management device in another embodiment of the present invention. Detailed implementation manners

[0040] The detailed description of the drawings is intended to be an illustration of the current embodiments of the present invention, rather than an indication of 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.

[0041] Refer to Figure 1 , an embodiment of the present invention provides a substation inspection task planning and management method, including the following steps:

[0042] Step S10, initialize the three-dimensional digital twin scene of the substation;

[0043] Specifically, create a virtual three-dimensional model corresponding to the actual substation, that is, the digital twin scene. This scene includes all key equipment and structures of the substation, such as transformers, switches, lines, buildings, etc., and the positions and relationships of these elements in the three-dimensional space are consistent with the actual situation. The twin model is synchronized with the state of the real equipment. The initialization process includes loading model data, configuring scene parameters, and setting the initial view.

[0044] Step S20, receive the inspection task setting data input by the user, where the inspection task setting data includes the inspection task type, the specified inspection equipment, and the inspection time;

[0045] Specifically, the execution device of the method receives the inspection task parameters defined by the user. These parameters include, but are not limited to, the type of the inspection task (such as daily inspection, special inspection, etc.), the specific equipment to be inspected (such as a specific transformer, switch, etc.), and the time arrangement of the inspection (such as the start and end times of the inspection). These data are the basis for determining the inspection points and task execution in the subsequent steps. According to the inspection task setting data, the inspection points to be inspected can be determined.

[0046] Step S30, obtain the twin camera data based on the three-dimensional digital twin scene of the substation, and determine whether the inspection points corresponding to the inspection tasks are within the preset inspection distance range of any twin camera according to the twin camera data and the inspection task setting data;

[0047] Specifically, the execution device of the method uses the camera data in the three-dimensional digital twin scene. These data include the position of the camera, the viewing range, and the preset inspection distance. The execution device of the method will check whether the inspection points are within the preset inspection distance range of any camera according to these data and the inspection task setting data input by the user. If not, the camera cannot cover this point, and the inspection task cannot be executed.

[0048] Step S40, if the answer is no, then end;

[0049] Specifically, if it is found in step S30 that the inspection point is not within the preset inspection distance range of any twin camera, the execution device of the method will end the planning of the current inspection task because this point cannot be effectively inspected by the existing cameras.

[0050] Step S50, if the answer is yes, then determine whether the inspection point corresponding to the inspection task satisfies both that the inspection point is within the inspection angle range of the twin camera and that there is no obstacle blocking between the twin camera and the inspection point according to the twin camera data and the inspection task setting data. If both are satisfied, obtain the inspection posture of the twin camera, generate inspection task management data according to the corresponding relationship between the twin camera and the inspection point, the inspection posture of the twin camera, and the inspection task setting data, and store the inspection task management data. If not both are satisfied, then end.

[0051] Specifically, if the inspection point is within the preset inspection distance range of the camera, the execution device of the method will further check whether this point satisfies two conditions at the same time: one is that it is within the inspection angle range of the camera, and the other is that there is no obstacle blocking the line of sight between the camera and the point. If both of these conditions are satisfied, the camera can effectively monitor the inspection point; further, the execution device of the method will determine the best inspection posture of the camera, that is, adjust the direction and angle of the camera to ensure clear monitoring of the inspection point. Then, the execution device of the method will generate inspection task management data according to the corresponding relationship between the camera and the inspection point, the inspection posture of the camera, and the inspection task setting data input by the user. These data include the detailed information of the inspection task, camera parameters, and the schedule for executing the task, etc., and store these data in the execution device of the method for subsequent execution and management of the inspection task;

[0052] If it is found in step S50 that the inspection point does not satisfy any of the above two conditions, the execution device of the method will end the planning of the current inspection task because the camera cannot effectively monitor this point.

[0053] In some embodiments, step S30 determines whether the inspection point corresponding to the inspection task is within the preset inspection distance range of any twin camera according to the twin camera data and the inspection task setting data, including:

[0054] Calculate the distance between the inspection point and any twin camera according to the twin camera data and the inspection task setting data. If the distance is less than or equal to the preset minimum visible light distance, it is determined that the inspection point is within the preset inspection distance range of the twin camera. If the distance is greater than the preset minimum visible light distance, the magnification of the twin camera is determined according to the distance and the coverage area of the inspection point. If the magnification is greater than the preset threshold, it is determined that the inspection point is within the preset inspection distance range of the twin camera.

[0055] Specifically, the execution device of the method first needs to determine the spatial distance between the inspection point (i.e., the specific location or device to be monitored) and each twin camera in the 3D digital twin scene, which is usually calculated through 3D spatial coordinates, that is, calculate the straight-line distance between the coordinates of the inspection point and the coordinates of the camera.

[0056] Each camera has a preset minimum visible light distance, which is the nearest distance limit for the camera to clearly image. The execution device of the method compares the calculated distance with this preset value. If the calculated distance is less than or equal to the minimum visible light distance, the camera can directly and clearly monitor this point; if the distance is greater than the minimum visible light distance, further judgment is required.

[0057] When the distance between the inspection point and the camera exceeds the minimum visible light distance, the execution device of the method will calculate the magnification required for the camera according to this distance and the coverage area of the inspection point (i.e., the size of the area to be monitored). The magnification refers to the ability of the camera to adjust the focal length to clearly monitor the target point. This calculation usually involves the principle of optical imaging and the optical parameters of the camera. The execution device of the method will set a threshold for the magnification, which is the maximum magnification for the camera to work effectively. If the magnification calculated according to step S3 exceeds this threshold, it means that the camera cannot clearly monitor the inspection point even after magnification, so this point is not suitable for inspection by this camera. If the calculated magnification does not exceed the preset threshold, then the execution device of the method will consider that the inspection point is within the preset inspection distance range of the camera, that is, the camera can clearly monitor this point through appropriate magnification; in this way, this inspection point can be assigned to the corresponding camera for the inspection task.

[0058] Through these steps, the execution device of the method can ensure that only those inspection points within the effective monitoring range of the camera will be included in the inspection task management data, thereby improving the accuracy and efficiency of the inspection task.

[0059] In some embodiments, step S50 determines whether the inspection points corresponding to the inspection tasks satisfy the condition that the inspection points are within the inspection angle range of the twin camera according to the twin camera data and the inspection task setting data, including:

[0060] Obtain the angle between the inspection point and the normal direction of the twin camera, and determine whether the angle is within the preset inspection angle range. If so, it is satisfied; if not, it is not satisfied.

[0061] Specifically, the normal direction of the twin camera refers to an imaginary straight line starting from the camera position and along the direction directly facing the camera. The execution device of the method needs to calculate the angle between the inspection point (i.e., the target position to be monitored) and this normal line. This angle can be obtained through vector calculation. The specific method is as follows: First, determine the normal vector of the camera (usually the vector pointing to the center in front of the camera) and the inspection point vector (the vector from the camera position to the inspection point), and then calculate the angle between these two vectors.

[0062] Each twin camera has a preset inspection angle range, which defines the area that the camera can effectively monitor. The preset inspection angle range is usually determined by the field of view angle of the camera. For example, if the field of view angle of a camera is 90 degrees, then its inspection angle range is ±45 degrees (assuming the camera can rotate horizontally).

[0063] The execution device of the method will compare the calculated angle with this preset inspection angle range. If the calculated angle is less than or equal to the maximum value of the preset inspection angle range and greater than or equal to the minimum value, then it can be considered that the inspection point is within the effective monitoring angle of the camera.

[0064] If the calculated angle is within the preset inspection angle range, then the execution device of the method will determine that the inspection point satisfies the condition of being within the inspection angle range of the twin camera. This means that the camera can adjust its direction to align with the inspection point for effective monitoring.

[0065] If the calculated angle exceeds the preset inspection angle range, then the execution device of the method will determine that the inspection point does not meet the condition. In this case, even if the camera can see the inspection point, it may not be able to conduct effective monitoring due to angle problems, or it may be necessary to adjust the camera position or add additional cameras to cover this point.

[0066] Through this process, the execution device of the method can ensure that only those inspection points within the effective monitoring angle range of the camera are included in the inspection task, thereby ensuring the feasibility and monitoring effect of the inspection task.

[0067] In some embodiments, step S50 determines whether the inspection points corresponding to the inspection task satisfy that there is no obstacle occlusion between the twin camera and the inspection points according to the twin camera data and the inspection task setting data, including:

[0068] Obtain the position coordinates of the twin camera and the inspection points. In the three-dimensional digital twin scene of the substation, emit multiple groups of rays in the direction of the inspection points according to the position coordinates of the twin camera, and determine whether the rays collide with obstacles other than the inspection points. If so, it is determined that there is an obstacle occlusion between the twin camera and the inspection points. If not, it is determined that there is no obstacle occlusion between the twin camera and the inspection points.

[0069] Specifically, the execution device of the method first needs to obtain the specific position coordinates of the twin camera and the inspection points in the three-dimensional digital twin scene. These coordinates are usually represented in the form of (x, y, z) in three-dimensional space. The execution device of the method will emit multiple rays from the position coordinates of the twin camera to the position coordinates of the inspection points. These rays simulate the line of sight in the direction of the camera's line of sight and are used to detect whether there are obstacles on the straight line between the camera and the inspection points. The purpose of emitting multiple groups of rays is to more comprehensively detect possible obstacles on the camera's line of sight path. The rays can be a single ray emitted from the center of the camera or multiple rays emitted from different points of the camera's field of view to cover different lines of sight directions.

[0070] The execution device of the method will detect whether each ray collides with other objects (such as equipment, buildings, structures, etc.) in the scene before reaching the inspection points. These objects have corresponding models and position information in the three-dimensional digital twin scene. If the ray collides with any obstacle before reaching the inspection points, it means that the camera's line of sight is blocked and the inspection points cannot be directly seen.

[0071] If any ray detects a collision, the execution device of the method will determine that there is an obstacle occlusion between the twin camera and the inspection points. This means that the camera cannot directly monitor the inspection points, so this inspection point is not suitable for being assigned to this camera for inspection.

[0072] If all rays do not detect a collision, or the collision only occurs at the inspection points (i.e., the inspection points are the end points of the rays), the execution device of the method will determine that there is no obstacle occlusion between the twin camera and the inspection points. This means that the camera can clearly see the inspection points and is suitable for the inspection task.

[0073] Through this method, the execution device of the method can ensure that only those inspection points within the camera's line of sight and without obstacle occlusion will be included in the inspection task, thereby improving the accuracy and efficiency of the inspection task.

[0074] Refer to Figure 2 , another embodiment of the present invention further provides a substation inspection task planning and management device, including:

[0075] A scene initialization module 1 for initializing the digital twin scene of the substation;

[0076] An inspection task input module 2 for receiving the inspection task setting data input by the user, where the inspection task setting data includes the inspection task type, the specified inspection equipment, and the inspection time;

[0077] An inspection task management module 3 for obtaining the twin camera data based on the three-dimensional digital twin scene of the substation, and determining whether the inspection point corresponding to the inspection task is within the preset inspection distance range of any twin camera according to the twin camera data and the inspection task setting data;

[0078] If not, end;

[0079] If so, determine whether the inspection point corresponding to the inspection task simultaneously satisfies that the inspection point is within the inspection angle range of the twin camera and there is no obstacle occlusion between the twin camera and the inspection point according to the twin camera data and the inspection task setting data. If both are satisfied, obtain the inspection posture of the twin camera, generate inspection task management data according to the corresponding relationship between the twin camera and the inspection point, the inspection posture of the twin camera, and the inspection task setting data, and store the inspection task management data. If not both are satisfied, end.

[0080] In some embodiments, the inspection task management module is used for:

[0081] Calculate the distance between the inspection point and any twin camera according to the twin camera data and the inspection task setting data. If the distance is less than or equal to the preset minimum visible light distance, determine that the inspection point is within the preset inspection distance range of the twin camera. If the distance is greater than the preset minimum visible light distance, determine the magnification of the twin camera according to the distance and the coverage area of the inspection point. If the magnification is greater than the preset threshold, determine that the inspection point is within the preset inspection distance range of the twin camera.

[0082] In some embodiments, the inspection task management module is used for:

[0083] Obtain the angle between the inspection point and the normal direction of the twin camera, and determine whether the angle is within the preset inspection angle range. If so, it is satisfied; if not, it is not satisfied.

[0084] In some embodiments, the patrol task management module is configured to:

[0085] Obtain the position coordinates of the twin camera and the patrol point. In the three-dimensional digital twin scene of the substation, emit multiple groups of rays in the direction of the patrol point according to the position coordinates of the twin camera, and determine whether the rays collide with obstacles other than the patrol point. If so, it is determined that there is an obstacle occlusion between the twin camera and the patrol point; if not, it is determined that there is no obstacle occlusion between the twin camera and the patrol point.

[0086] 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.

[0087] Another aspect of the present invention also provides a substation patrol task planning and management device, including:

[0088] A communication interface for communicating with other electronic devices;

[0089] A memory for storing computer program instructions;

[0090] A processor for executing the computer program instructions to support the device to implement the method as described above.

[0091] 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 flash card, etc., or the memory can also be other volatile solid-state storage devices.

[0092] The processor may be a Central Processing Unit (CPU), or may also be 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 may be a microprocessor, or the processor may 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 lines.

[0093] 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 operations corresponding to the method described above.

[0094] Specifically, the computer program product includes a series of computer program instructions, which are codes written in the computer program. They 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.

[0095] The above has described the embodiments of the present invention. The above description is exemplary and not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations are obvious to those of ordinary skill in the art in the technical field without departing from the scope and spirit of the described embodiments. The selection of the terms used herein is intended to best explain the principles of the embodiments, practical applications, or improvements to the technology in the market, or to enable other ordinary skilled persons in the technical field to understand the embodiments disclosed herein.

Claims

1. A substation patrol task planning and management method, characterized in that: include: Initialize the substation 3D digital twin scene; Receiving patrol task setting data input by a user, wherein the patrol task setting data includes patrol task type, limited patrol equipment and patrol time; Acquire twin camera data based on the three-dimensional digital twin scene of the substation, and determine whether the patrol point corresponding to the patrol task is within a preset patrol distance range of any twin camera according to the twin camera data and the patrol task setting data; If not, then end; If so, determine whether the inspection point corresponding to the inspection task is within the inspection angle range of the twin camera and there is no obstacle between the twin camera and the inspection point based on the twin camera data and the inspection task setting data. If both conditions are met, obtain the inspection posture of the twin camera, generate inspection task management data based on the correspondence between the twin camera and the inspection point, the inspection posture of the twin camera and the inspection task setting data, and store the inspection task management data. If both conditions are not met, terminate the process.

2. The method according to claim 1, characterized in that: The determining, according to the twin camera data and the patrol task setting data, whether the patrol point corresponding to the patrol task is within a preset patrol distance range of any twin camera includes: The distance between the patrol point and any twin camera is calculated according to the twin camera data and the patrol task setting data. If the distance is less than or equal to the preset closest distance of visible light, the patrol point is determined to be within the preset patrol distance range of the twin camera. If the distance is greater than the preset closest distance of visible light, the magnification of the twin camera is determined according to the distance and the coverage area of ​​the patrol point. If the magnification is greater than the preset threshold value, the patrol point is determined to be within the preset patrol distance range of the twin camera.

3. The method according to claim 1, characterized in that The determining, according to the twin camera data and the patrol task setting data, whether the patrol point corresponding to the patrol task satisfies that the patrol point is within the patrol angle range of the twin camera includes: Obtain the angle between the patrol point and the normal direction of the twin camera, and determine whether the angle is within a preset patrol angle range. If so, it is satisfied; otherwise, it is not satisfied.

4. The method according to claim 1, characterized in that: The determining, according to the twin camera data and the patrol task setting data, whether the patrol point corresponding to the patrol task satisfies that there is no obstacle blocking between the twin camera and the patrol point includes: The position coordinates of the twin camera and the patrol point are obtained. In the three-dimensional digital twin scene of the substation, multiple groups of rays are emitted in the direction of the patrol point according to the position coordinates of the twin camera to determine whether the rays collide with obstacles other than the patrol point. If so, it is determined that there is an obstacle blocking the twin camera and the patrol point. If not, it is determined that there is no obstacle blocking the twin camera and the patrol point.

5. A substation patrol task planning and management device, characterized in that: include: The scene initialization module is used to initialize the substation digital twin scene; A patrol task input module, used to receive patrol task setting data input by a user, wherein the patrol task setting data includes patrol task type, limited patrol equipment and patrol time; A patrol task management module, used to obtain twin camera data based on the three-dimensional digital twin scene of the substation, and determine whether the patrol point corresponding to the patrol task is within the preset patrol distance range of any twin camera according to the twin camera data and the patrol task setting data; If not, then end; If so, determine whether the inspection point corresponding to the inspection task is within the inspection angle range of the twin camera and there is no obstacle between the twin camera and the inspection point based on the twin camera data and the inspection task setting data. If both conditions are met, obtain the inspection posture of the twin camera, generate inspection task management data based on the correspondence between the twin camera and the inspection point, the inspection posture of the twin camera and the inspection task setting data, and store the inspection task management data. If both conditions are not met, terminate the process.

6. The device according to claim 5, characterized in that The patrol task management module is used to: The distance between the patrol point and any twin camera is calculated according to the twin camera data and the patrol task setting data. If the distance is less than or equal to the preset closest distance of visible light, the patrol point is determined to be within the preset patrol distance range of the twin camera. If the distance is greater than the preset closest distance of visible light, the magnification of the twin camera is determined according to the distance and the coverage area of ​​the patrol point. If the magnification is greater than the preset threshold value, the patrol point is determined to be within the preset patrol distance range of the twin camera.

7. The device according to claim 5, characterized in that The patrol task management module is used to: Obtain the angle between the patrol point and the normal direction of the twin camera, and determine whether the angle is within a preset patrol angle range. If so, it is satisfied; otherwise, it is not satisfied.

8. The device according to claim 5, characterized in that The patrol task management module is used to: The position coordinates of the twin camera and the patrol point are obtained. In the three-dimensional digital twin scene of the substation, multiple groups of rays are emitted in the direction of the patrol point according to the position coordinates of the twin camera to determine whether the rays collide with obstacles other than the patrol point. If so, it is determined that there is an obstacle blocking the twin camera and the patrol point. If not, it is determined that there is no obstacle blocking the twin camera and the patrol point.

9. A substation patrol task planning and management device, 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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