Camera layout method and system for intelligent inspection of substations

Abstract

The present invention relates to the field of electrical digital combing technology, and discloses a camera layout method and system for intelligent inspection of substations, including obtaining electromagnetic radiation parameters and three-dimensional point cloud data of power equipment in the substation; delineating a set of candidate installation points for the camera based on the three-dimensional point cloud data, and calculating the synthetic field strength of each candidate installation point in the candidate installation point set based on the electromagnetic radiation parameters; combining the synthetic field strength with the anti-interference threshold of the camera to generate a taboo installation area, and screening out a valid installation point set based on whether each candidate installation point in the candidate installation point set falls into the taboo installation area; calculating the visibility parameters of each valid installation point in the valid installation point set to the target power equipment based on the ray projection method; calculating the equipment coverage index of each valid installation point based on the visibility parameters, obtaining an equipment coverage index set, and performing camera layout based on the equipment coverage index set. The method and system of the present invention improve the efficiency and accuracy of intelligent inspection.

Description

Technical Field

[0001] The present invention relates to the field of electrical digital processing technology, and in particular to a camera layout method and system for intelligent inspection of a substation. Background Art

[0002] In substation intelligent inspection systems, the scientific layout of cameras is key to ensuring comprehensive monitoring of power equipment status. Traditional layout methods are based on experience or simple geometric coverage rules and lack a systematic scientific basis. Although some layout methods take into account the coverage and visibility of cameras, they ignore the impact of electromagnetic interference on cameras. For example, high-voltage equipment in substations (such as transformers and GIS) generates strong electromagnetic fields, which may cause camera image noise, communication interruptions, and even hardware damage; thus, the efficiency and accuracy of intelligent inspections do not meet the standards.

[0003] In addition, there are metal structures, insulators and other obstructions in the equipment-dense areas of the substation. The empirical layout is prone to produce monitoring blind spots and cannot ensure the visibility of all key equipment (such as circuit breaker contacts and bushings). Summary of the Invention

[0004] To this end, the purpose of the present invention is to overcome the problems in the prior art of the layout of cameras for intelligent inspection of substations, such as the existence of monitoring blind spots and the failure to consider the impact of the electromagnetic field environment on the cameras, resulting in substandard intelligent inspection efficiency and accuracy. A method and system for the layout of cameras for intelligent inspection of substations are provided. Through electromagnetic-visual coupling optimization, the coordinated improvement of the camera layout in terms of anti-interference and blind-spot coverage is achieved, thereby improving the efficiency and accuracy of intelligent inspections.

[0005] In the first aspect, in order to solve the above technical problems, the present invention provides a camera layout method for intelligent inspection of substations, comprising:

[0006] Obtain electromagnetic radiation parameters and 3D point cloud data of power equipment in substations;

[0007] Delineating a set of candidate camera installation points based on the three-dimensional point cloud data, and calculating a composite field strength of each candidate installation point in the set of candidate installation points based on the electromagnetic radiation parameters;

[0008] generating a taboo installation area by combining the synthetic field strength and the anti-interference threshold of the camera, and filtering out a valid installation point set based on whether each candidate installation point in the candidate installation point set falls within the taboo installation area;

[0009] Calculate the visibility parameters of each valid installation point in the valid installation point set to the target power equipment based on the ray casting method; the visibility parameters include the line of sight on / off status, the type of obstruction and the obstruction ratio;

[0010] The device coverage index of each of the effective installation points is calculated according to the visibility parameters to obtain a device coverage index set, and the camera layout is performed according to the device coverage index set.

[0011] In one embodiment of the present invention, the composite field strength of the candidate installation point is calculated based on the electromagnetic radiation parameters, including separately calculating the electric field strength of all the power equipment as radiation sources to the candidate installation point, and vector superimposing all the electric field strengths to obtain the composite field strength.

[0012] In one embodiment of the present invention, the electric field strength of the radiation source to the candidate installation point is calculated according to the following method:

[0013] ;

[0014] ;

[0015] E1(d) represents the electric field intensity in the near field; E2(d) represents the electric field intensity in the far field; Emax represents the maximum electric field intensity on the surface of the radiation source; represents the attenuation coefficient of the first medium; represents the attenuation coefficient of the second medium; d represents the distance between the radiation source and the candidate installation point; represents the environmental absorption coefficient.

[0016] In one embodiment of the present invention, a taboo installation area is generated by combining the composite field strength and the camera's anti-interference threshold, including comparing the composite field strength of the candidate installation point with the camera's anti-interference threshold; if the composite field strength of the candidate installation point is greater than or equal to the camera's anti-interference threshold, then marking the candidate installation point as a taboo installation point; if adjacent candidate installation points are all marked as taboo installation points, then the area connected to the adjacent candidate installation points is the taboo installation area.

[0017] In one embodiment of the present invention, the taboo installation area is generated by combining the synthetic field strength and the anti-interference threshold of the camera, and also includes constructing a spherical neighborhood with a radius of 0.3m-0.5m; for each of the taboo installation points, the center of the spherical neighborhood is placed at the taboo installation point, and the space covered by the spherical neighborhood is marked as an extended taboo area; and the union of all the extended taboo areas is taken as the taboo installation area.

[0018] In one embodiment of the present invention, the visibility parameters of each effective installation point in the effective installation point set to the target power equipment are calculated based on the ray projection method, including setting the field of view angle, focal length and orientation of the camera for each effective installation point to construct the camera's viewing cone; within the range of the viewing cone, multiple detection rays are emitted from the camera to the surface of the target power equipment, and whether the detection rays are blocked is determined one by one; if blocked, the line of sight on / off state is marked as 0, and the type of the obstruction is marked; if not blocked, the line of sight on / off state is marked as 1; the ratio of the blocked length of the detection ray to the total length is counted to obtain the blocking ratio.

[0019] In one embodiment of the present invention, constructing the viewing cone of the camera includes setting the field of view angle of the camera so that the projection spacing of the detection rays on the surface of the target power equipment is less than or equal to 1 / 5 of the minimum characteristic size of the target power equipment; or, setting the angle between the main axis direction of the viewing cone and the nearest boundary of the taboo installation area to be greater than or equal to 30°; or, setting the focal length of the camera so that the target power equipment occupies 60%~90% of the viewing cone height.

[0020] In one embodiment of the present invention, constructing the viewing cone of the camera also includes optimizing the orientation of the camera based on the following methods, initializing the orientation of the camera to the geometric center direction of the target power equipment; iteratively adjusting the pitch angle and yaw angle of the camera by gradient descent until the occlusion ratio is less than 0.1.

[0021] In one embodiment of the present invention, camera layout is performed according to the device coverage index set, including step one, arranging the device coverage index set in descending order according to the device coverage index; step two, taking the valid installation point with the highest device coverage index as the first camera installation point; step three, deleting the power equipment covered by the first camera installation point, and updating the remaining power equipment; step four, iterating step two to step three until all the power equipment with high weights are covered.

[0022] In a second aspect, in order to solve the above technical problems, the present invention also provides a camera layout system for intelligent inspection of substations, comprising:

[0023] Data acquisition module, used to obtain electromagnetic radiation parameters and three-dimensional point cloud data of power equipment in the substation;

[0024] a candidate installation point generation module, configured to define a set of candidate installation points for the camera based on the three-dimensional point cloud data;

[0025] An electromagnetic field calculation module, configured to calculate the composite field strength of each candidate installation point in the candidate installation point set according to the electromagnetic radiation parameters;

[0026] a taboo area screening module, configured to generate a taboo installation area by combining the synthetic field strength and the camera's anti-interference threshold, and to screen out a valid installation point set based on whether each candidate installation point in the candidate installation point set falls within the taboo installation area;

[0027] A visibility analysis module, configured to calculate visibility parameters from each valid installation point in the valid installation point set to the target power equipment based on a ray casting method; the visibility parameters include line of sight on / off status, obstruction type, and obstruction ratio;

[0028] A layout optimization module is used to calculate the device coverage index of each of the effective installation points according to the visibility parameters, obtain a device coverage index set, and perform camera layout according to the device coverage index set.

[0029] The above technical solution of the present invention has the following beneficial effects compared with the prior art:

[0030] The camera layout method and system for intelligent inspection of substations described in the present invention achieve a coordinated improvement in the anti-interference performance and blind-spot coverage of the camera layout through electromagnetic-visual coupling optimization, thereby improving the efficiency and accuracy of intelligent inspection.

[0031] Among them, the visibility parameters of each installation point to the target device are calculated through three-dimensional point cloud data and ray projection method, ensuring that the camera covers the area that needs to be monitored during layout and reducing the occurrence of blind spots in monitoring.

[0032] By obtaining the electromagnetic radiation parameters of each power device and combining them with the camera's anti-interference threshold, a taboo installation zone is generated to avoid placing cameras in areas with strong electromagnetic interference, thereby preventing the camera from experiencing image distortion or functional failure due to electromagnetic interference.

[0033] Through scientific layout methods, the cameras can work stably and provide high-quality images, while effectively covering all types of power equipment in the substation. By reducing problems caused by electromagnetic interference and monitoring blind spots, inspection personnel can obtain more comprehensive and accurate equipment status information, thereby improving the efficiency and accuracy of inspection work and reducing the risk of missed fault detection and false detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to make the content of the present invention more clearly understood, the present invention is further described in detail below based on specific embodiments of the present invention in conjunction with the accompanying drawings, wherein:

[0035] Figure 1 Flowchart of a method for distributing cameras for intelligent inspection of substations in a preferred embodiment of the present invention;

[0036] Figure 2A flow chart of generating a taboo installation zone in a preferred embodiment of the present invention;

[0037] Figure 3 This is a flow chart of camera layout according to a device coverage index set in a preferred embodiment of the present invention;

[0038] Figure 4 This is a structural block diagram of the camera layout system for intelligent inspection of substations in a preferred embodiment of the present invention. DETAILED DESCRIPTION

[0039] The present invention will be further described below with reference to the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it. However, the embodiments are not intended to limit the present invention.

[0040] The purpose of the embodiments of the present invention is to solve the problem that the layout of cameras for intelligent inspection of substations has monitoring blind spots and does not consider the impact of the electromagnetic field environment on the cameras, resulting in substandard intelligent inspection efficiency and accuracy. A method and system for the layout of cameras for intelligent inspection of substations are provided. Through electromagnetic-visual coupling optimization, the coordinated improvement of the camera layout in anti-interference and blind-spot coverage is achieved, thereby improving the efficiency and accuracy of intelligent inspections.

[0041] It should be noted that in the solution of the embodiment of the present invention, the influence of the electric field as electromagnetic interference (EMI) on the camera is mainly considered. The influence paths of the electric field on the camera include:

[0042] CMOS sensor interference: Strong electric fields can induce abnormal charge accumulation inside the sensor, resulting in image noise, streaks, or signal saturation. Especially when the electric field strength exceeds 25V / m, the noise rate increases significantly.

[0043] Signal transmission distortion: The camera video cable will couple common-mode noise in the electric field, affecting the integrity of the digital signal.

[0044] Insulation breakdown risk: The high voltage electric field between the lens and the housing can cause discharge and damage optical components.

[0045] Low-frequency magnetic fields (50 Hz) primarily affect power supply circuits (for example, transformer leakage can increase camera power supply ripple), but current switching power supplies effectively suppress this. Furthermore, high-frequency magnetic fields typically coexist with electric fields, but the skin effect of the camera's metal casing effectively shields interference from magnetic fields above the MHz level.

[0046] Therefore, in the solution of the embodiment of the present invention, the influence of the electric field as electromagnetic interference (EMI) on the camera is mainly considered.

[0047] Example 1: Reference Figure 1As shown, an embodiment of the present invention provides a camera layout method for intelligent inspection of a substation, comprising:

[0048] S100, obtaining electromagnetic radiation parameters and three-dimensional point cloud data of power equipment in the substation;

[0049] S200, defining a set of candidate camera installation points based on the three-dimensional point cloud data, and calculating a composite field strength of each candidate installation point in the set of candidate installation points based on the electromagnetic radiation parameters;

[0050] S300, generating a taboo installation area by combining the synthetic field strength and the anti-interference threshold of the camera, and filtering out a valid installation point set based on whether each candidate installation point in the candidate installation point set falls within the taboo installation area;

[0051] S400, calculating visibility parameters from each valid installation point in the valid installation point set to the target power equipment based on a ray casting method; the visibility parameters include line of sight on / off status, obstruction type, and obstruction ratio;

[0052] S500: Calculate the device coverage index of each of the effective installation points according to the visibility parameters, obtain a device coverage index set, and perform camera layout according to the device coverage index set.

[0053] In specific application scenarios, a broadband field strength meter (such as the Narda NBM-550) is used to measure field strength data from equipment such as transformers and GIS. A transient recorder is used to capture the transient field strength during circuit breaker tripping. This field strength data includes the peak unattenuated field strength (unit: V / m) on the surface of the power equipment, the operating frequency of the power equipment, and its harmonics.

[0054] LiDAR scanning is used to obtain three-dimensional point cloud data including power equipment, structures, and conductors. The three-dimensional point cloud data reflects the spatial distribution of various power equipment in the substation, the building structure, and the specific location of obstacles. A three-dimensional point cloud model is built based on the obtained three-dimensional point cloud data. Candidate installation points are generated in a 0.5m grid within the range of 2.5m to 6m above the ground. After eliminating the internal points of the power equipment itself, a set of candidate installation points is obtained.

[0055] For each candidate installation point, the composite field strength is calculated by superimposing multiple devices. This composite field strength reflects the degree of electromagnetic radiation interference experienced by the candidate installation point. The camera's immunity threshold is set to Eth = 25V / m. The composite field strength of each candidate installation point is compared with the camera's immunity threshold. If the composite field strength is greater than or equal to the camera's immunity threshold, the candidate installation point is marked as a taboo installation point. A taboo installation point is an area where the camera cannot operate normally due to excessive electromagnetic interference. After eliminating all taboo installation points, the remaining candidate installation points are considered valid installation points, resulting in a valid installation point set. A valid installation point set is an area where the camera can operate stably in an electromagnetic environment. By calculating the composite field strength and the camera's immunity threshold, the taboo installation zone is generated, which avoids installing cameras in areas with high electromagnetic interference, ensuring stable operation in low-interference environments, thereby improving inspection efficiency and accuracy.

[0056] The ray casting method is used to calculate the visibility parameters from each effective installation point to the target power equipment. Ray casting simulates light propagation in three-dimensional space to calculate obstacles and occlusions in the camera's field of view. Visibility parameters include line-of-sight status, obstruction type, and obstruction ratio. The line-of-sight status indicates whether there is line-of-sight obstruction from the effective installation point to the target power equipment and whether the line of sight is unobstructed. Possible obstacle types in the line of sight, such as walls and power equipment, are identified. The obstruction ratio indicates the degree to which the obstruction blocks the view of the target power equipment, determining whether the viewing angle meets monitoring requirements. Combining three-dimensional point cloud data with the ray casting method can accurately calculate the visibility parameters from each effective installation point to the target power equipment, avoiding blind spots caused by line-of-sight obstruction or insufficient equipment coverage, improving the coverage of the monitoring system within the substation, and ensuring that all equipment is within monitoring range.

[0057] Based on the visibility parameters of each effective installation point, the device coverage index for that point is calculated. This index is used to assess whether the effective installation point covers the target power equipment and ensures that every power device within the monitoring area is effectively monitored. Finally, based on the device coverage index set for each effective installation point, the camera layout is optimized. This layout avoids areas with strong electromagnetic interference while ensuring coverage of the target power equipment, ensuring that every monitoring point in the substation is effectively inspected.

[0058] The camera layout method for intelligent inspection of substations described in the present invention achieves a coordinated improvement in the anti-interference performance and blind-angle coverage of the camera layout through electromagnetic-visual coupling optimization, thereby improving the efficiency and accuracy of intelligent inspection.

[0059] Based on the above embodiments, the composite field strength at the candidate installation point is calculated based on the electromagnetic radiation parameters. This involves separately calculating the electric field strength of all the power devices acting as radiation sources at the candidate installation point and then vector-superimposing all these electric field strengths to obtain the composite field strength. Since the electric field is a vector quantity, the field strengths of different radiation sources may have opposite directions. This vector-superposition accurately identifies the actual exposed field strength at the camera installation point, avoiding interference failures caused by overestimation of the scalar quantity, resulting in transitional layouts, or underestimation. Furthermore, the composite field strength direction can guide camera orientation adjustment (e.g., the angle between the lens axis and the composite field strength direction is greater than or equal to 30°), leveraging the shielding effect of the metal casing to reduce interference.

[0060] The electric field strength of the radiation source to the candidate installation point is calculated according to the following method:

[0061] ;

[0062] ;

[0063] E1(d) represents the electric field intensity in the near field; E2(d) represents the electric field intensity in the far field; d represents the distance between the radiation source and the candidate installation point; the near field is defined as d < λ / 2π; the far field is defined as d ≥ λ / 2π; λ represents the wavelength of the electromagnetic wave.

[0064] Emax represents the maximum electric field intensity on the surface of the radiation source. It is the peak electric field intensity on the surface of the electrical equipment when it is not attenuated (unit: V / m). It determines the upper limit of the interference intensity and directly affects the noise coupling between the camera CMOS sensor and the signal line.

[0065] represents the first medium attenuation coefficient, which characterizes the attenuation rate of the electric field in the propagation medium caused by the dominance of the induction field in the near field; Reflects the medium's ability to absorb the induction field. The value is 0.1~0.25m -3 .

[0066] It represents the second medium attenuation coefficient, which characterizes the attenuation rate of the electric field in the propagation medium caused by the dominance of the radiation field in the far field. Reflects the absorption of plane waves by the medium, The value is 0.1~0.3m -1 .

[0067] represents the environmental absorption coefficient, which characterizes the additional absorption of the electric field by atmospheric conditions. In humid environment and dry environment, the values ​​are 0.05-0.1m respectively -1 and 0.01-0.03m -1 .

[0068] On the basis of the above embodiment, based on the comparison between the synthetic field strength of the candidate installation point and the camera immunity threshold, a taboo installation area is generated. The taboo installation area refers to the area where the electromagnetic interference intensity exceeds the camera immunity threshold. The camera cannot work normally in these areas. When installing the camera, it is necessary to avoid these areas. Based on this, in the embodiment of the present invention, reference is made to Figure 2 As shown, generating a taboo installation area includes comparing the composite field strength of the candidate installation point with the camera immunity threshold; if the composite field strength of the candidate installation point is greater than or equal to the camera immunity threshold, then marking the candidate installation point as a taboo installation point; if the adjacent candidate installation points are all marked as taboo installation points, then the area connected to the adjacent candidate installation points is the taboo installation area.

[0069] In specific application scenarios, the camera's immunity threshold is typically specified by the camera's design specifications. This threshold represents the maximum electromagnetic interference intensity that the camera can withstand. Exceeding this threshold may cause image distortion, signal loss, or malfunction. For each candidate installation point, its composite electric field strength is compared with the camera's immunity threshold. If the composite electric field strength at the candidate installation point is greater than or equal to the camera's immunity threshold, the candidate installation point is marked as a taboo installation point; that is, the camera will be affected by electromagnetic interference and cannot be installed at that location. If the composite electric field strength at the candidate installation point is less than the camera's immunity threshold, the point is considered a valid installation point and suitable for camera installation. For each taboo installation point, adjacent candidate installation points are identified. Adjacent candidate installation points are spatially adjacent and can affect each other's electromagnetic interference. If multiple taboo installation points are interconnected, the area containing these taboo installation points forms a taboo installation zone. Once taboo installation points and their connected areas are identified, these areas are marked as taboo installation zones. Cameras cannot be installed within taboo installation zones, and these areas should be avoided when deploying cameras. In this way, it is possible to avoid installing the camera in areas with strong electromagnetic interference, ensuring that the camera can work stably in a low-interference environment.

[0070] Further, refer to Figure 2 As shown, the taboo installation area is generated by combining the synthetic field strength and the anti-interference threshold of the camera, and also includes constructing a spherical neighborhood with a radius of 0.3m-0.5m; for each taboo installation point, the center of the spherical neighborhood is placed at the taboo installation point, and the space covered by the spherical neighborhood is marked as an extended taboo area; the union of all the extended taboo areas is taken as the taboo installation area.

[0071] In a specific application scenario, a spherical neighborhood with a radius of 0.3m to 0.5m is constructed around each taboo installation point. This neighborhood represents the extended impact range of electromagnetic interference and simulates the impact area of ​​electromagnetic wave propagation. Each taboo installation point is used as the center of the spherical neighborhood to construct the electromagnetic interference extension area of ​​that point. The space within the spherical neighborhood is marked as an extended taboo zone, meaning that cameras cannot be installed in this area. The extended taboo zones of all taboo installation points are then combined to generate the final taboo installation zone. By introducing spherical neighborhoods and extended taboo zones, this solution optimizes the taboo installation zone generation process, further improving the electromagnetic interference adaptability of the substation intelligent inspection system and the accuracy of camera layout, ensuring that the cameras operate in a stable, low-interference environment, thereby improving monitoring effectiveness and inspection efficiency.

[0072] On the basis of the above embodiments, it is necessary to evaluate whether each effective installation point can clearly monitor the target power equipment. Through the ray projection method, the field of view of the camera can be simulated, and the visibility parameters of each effective installation point to the target equipment can be calculated, which helps to optimize the camera layout and ensure the effectiveness of monitoring. Specifically, based on the ray projection method, the visibility parameters of each effective installation point in the effective installation point set to the target power equipment are calculated, including setting the field of view angle, focal length and orientation of the camera for each effective installation point, and constructing the camera's cone of view; within the cone of view, multiple detection rays are emitted from the camera to the surface of the target power equipment, and it is determined whether the detection rays are blocked one by one; if blocked, the line of sight on / off state is marked as 0, and the type of the obstruction is marked; if not blocked, the line of sight on / off state is marked as 1; the ratio of the blocked length of the detection ray to the total length is calculated to obtain the blocking ratio.

[0073] It should be noted that ray casting (Ray Tracing) is a commonly used method in computer graphics. It is used to simulate light (or line of sight) in a three-dimensional scene, starting from a certain point and propagating along a certain direction to determine whether it intersects with objects in the scene. When the ray intersects the scene, the material properties of the object at the intersection are recorded, and the type of obstruction is classified and marked, such as metal obstruction and non-metal obstruction.

[0074] The viewing cone is defined as the spatial pyramid visible to the camera. The vertex of the cone is the physical location of the camera, the axis aligns with the camera's orientation, and the base is determined by the camera's maximum shooting distance and field of view. The space within the cone is the set of all points that the camera can theoretically capture. Within the constructed viewing cone, multiple detection rays are sampled evenly or emitted in a grid pattern. Each detection ray originates from the camera and is directed toward the surface of the target power equipment. The emission density of the detection rays is adjusted according to needs. Generally, the denser the rays, the more accurate the judgment.

[0075] In specific application scenarios, the camera's field of view (FOV), focal length, and orientation are set for each valid installation point. The camera's FOV determines the range it can cover. The focal length affects the camera's ability to focus near or far. The longer the focal length, the farther the camera can capture. The orientation determines the camera's observation direction. Based on the camera's FOV, focal length, and orientation, a camera's viewing cone is constructed in three-dimensional space. Within the viewing cone, multiple detection rays are emitted from the camera toward the surface of the target power equipment. These detection rays simulate the propagation path of the camera's line of sight and are used to determine whether the line of sight is blocked by obstacles. For each detection ray, whether it is blocked by the obstruction is determined by determining whether the detection ray intersects with the object surface based on the 3D model or point cloud data. If the ray intersects with the object, indicating that the line of sight is blocked, the line of sight of the detection ray is marked as 0, and the type of obstruction is recorded. If the detection ray is not blocked, the line of sight of the ray is marked as 1, indicating that the line of sight is unobstructed. For each detection ray, the ratio of its blocked length to its total length is calculated. The blocked length is the distance from the starting point of the ray to the intersection point where it first encounters an obstruction, and the total length is the distance from the starting point of the ray to the intersection point on the surface of the target power equipment.

[0076] By calculating the visibility parameters from each effective installation point to the target power equipment using a ray projection method, we can accurately assess the camera's monitoring effectiveness. By detecting the individual ray emission and occlusion judgments, we can achieve a more refined visibility analysis for each effective installation point, avoiding the blind spots or occlusion issues that may exist in traditional layout methods. Using the occlusion ratio parameter, we prioritize installation points with low occlusion ratios and good visibility as camera layout points, maximizing coverage, minimizing blind spots, and improving intelligent inspection efficiency.

[0077] Furthermore, constructing the viewing cone of the camera includes setting the viewing angle of the camera so that the projection distance of the detection ray on the surface of the target power equipment is less than or equal to 1 / 5 of the minimum characteristic size of the target power equipment. min (For example, if the bolt diameter is 10mm), the projection spacing is less than or equal to 2mm to meet the Nyquist sampling requirements, ensuring that the camera can distinguish the key inspection features of the power equipment and avoid missed inspections due to insufficient detection ray density.

[0078] Alternatively, the angle between the main axis direction of the viewing cone and the nearest boundary of the taboo installation area is set to be greater than or equal to 30°, that is, the angle between the lens axis of the camera and the direction of the strong field area (taboo area) is greater than or equal to 30°, so as to reduce the risk of the camera being affected by electromagnetic interference, while ensuring that the main parts of the power equipment are within the field of view; among them, the 30° angle can avoid interference while ensuring that the main body of the equipment is located in the central area of ​​the viewing cone.

[0079] Alternatively, the camera's focal length is set so that the target power device occupies 60% to 90% of the viewing cone height. In other words, the viewing cone height H and the height H1 of the target power device satisfy the following relationship: 0.6 ≤ H1 / H ≤ 0.9. Here, H = D × h / f, where D is the distance from the camera to the target power device, h is the camera sensor size, and f is the camera focal length. The goal is to maximize the effective pixel ratio of the device in a single frame while preserving environmental context.

[0080] Furthermore, constructing the camera's frustum also includes optimizing the camera's orientation based on the following methods: initializing the camera's orientation to the geometric center of the target power equipment; and iteratively adjusting the camera's pitch and yaw angles using gradient descent until the occlusion ratio is less than 0.1. The goal is to increase the visibility of the target power equipment to over 90% by dynamically adjusting the camera's orientation, eliminating blind spots caused by obstructions such as structures and insulators. Furthermore, the optimal orientation is found with the fewest iterations, avoiding the computational waste of an exhaustive search.

[0081] On the basis of the above embodiment, the camera layout is performed according to the device coverage index set, referring to Figure 3 As shown, it includes step 1, arranging the device coverage index set in descending order according to the device coverage index; step 2, taking the valid installation point with the highest device coverage index as the first camera installation point; step 3, deleting the power equipment covered by the first camera installation point, and updating the remaining power equipment; step 4, iterating step 2 to step 3 until all the power equipment with high weights are covered.

[0082] The equipment coverage index is a comprehensive score of the power equipment monitoring capabilities of cameras installed at effective installation points, reflecting the comprehensive effects of the following dimensions: visibility: whether the camera can "see" the key parts of the power equipment; coverage quality: the degree of line of sight obstruction and distance attenuation effect; equipment importance: priority is given to high-weight equipment (such as main transformers and circuit breakers).

[0083] Specifically, the device coverage index is related to visibility, obstruction ratio, distance attenuation, and the power equipment monitoring priority weight. The device coverage index is calculated and determined based on these factors. All valid installation points are sorted in descending order by the value of the device coverage index, with higher index values ​​ranking higher. This sorting prioritizes installation points with the best monitoring effectiveness, improving the overall efficiency and effectiveness of subsequent deployment. From the descending list, select the valid installation point with the highest device coverage index as the first camera installation point. This point offers optimal device visibility and maximized coverage, making it the "core point" of the global monitoring system. Count all power equipment that the first camera installation point can fully cover, remove these devices from the "devices to be monitored list," and update the "remaining power equipment set," retaining only those not yet covered, for the next round of screening. Repeat steps two and three: In the updated device coverage index set (recalculating the coverage capacity of each installation point for the remaining devices), continue selecting the valid installation point with the highest coverage index as the new camera location and installing the new camera, removing devices covered by the new camera each time, until all high-weighted power equipment is fully covered by at least one camera. If all high-weight devices have been covered, you can continue to consider supplementary coverage of low-weight devices based on actual needs and finally determine the camera layout plan.

[0084] Prioritizing location selection based on device coverage metrics allows for efficient coverage of all key targets with fewer cameras, reducing hardware costs and ongoing maintenance. Furthermore, each step selects the optimal camera location among the remaining targets, significantly reducing blind spots and improving the integrity and accuracy of overall inspections.

[0085] Example 2: The present invention provides a camera layout system for intelligent inspection of substations, referring to Figure 4 As shown, it includes,

[0086] Data acquisition module, used to obtain electromagnetic radiation parameters and three-dimensional point cloud data of power equipment in the substation;

[0087] a candidate installation point generation module, configured to define a set of candidate installation points for the camera based on the three-dimensional point cloud data;

[0088] An electromagnetic field calculation module, configured to calculate the composite field strength of each candidate installation point in the candidate installation point set according to the electromagnetic radiation parameters;

[0089] a taboo area screening module, configured to generate a taboo installation area by combining the synthetic field strength and the camera's anti-interference threshold, and to screen out a valid installation point set based on whether each candidate installation point in the candidate installation point set falls within the taboo installation area;

[0090] A visibility analysis module, configured to calculate visibility parameters from each valid installation point in the valid installation point set to the target power equipment based on a ray casting method; the visibility parameters include line of sight on / off status, obstruction type, and obstruction ratio;

[0091] A layout optimization module is used to calculate the device coverage index of each of the effective installation points according to the visibility parameters, obtain a device coverage index set, and perform camera layout according to the device coverage index set.

[0092] The camera layout system for intelligent inspection of substations described in an embodiment of the present invention is used to implement the camera layout method for intelligent inspection of substations in the above embodiment 1. The two are based on the same inventive concept and have the same technical effects, and will not be repeated here.

[0093] In summary, the camera layout method and system for intelligent inspection of substations described in the present invention achieve a coordinated improvement in the anti-interference performance and blind-angle coverage of the camera layout through electromagnetic-visual coupling optimization, thereby improving the efficiency and accuracy of intelligent inspection.

[0094] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0095] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0096] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0097] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0098] Obviously, the above embodiments are merely examples for clarity of explanation and are not intended to limit the implementation methods. Those skilled in the art will appreciate that other variations or modifications can be made based on the above description. It is not necessary and impossible to enumerate all implementation methods here. Obvious variations or modifications arising therefrom remain within the scope of protection of the present invention.

Claims

1. A camera layout method for intelligent inspection of substations, characterized by: include, Obtain electromagnetic radiation parameters and 3D point cloud data of power equipment in substations; Delineating a set of candidate camera installation points based on the three-dimensional point cloud data, and calculating a composite field strength of each candidate installation point in the set of candidate installation points based on the electromagnetic radiation parameters; generating a taboo installation area by combining the synthetic field strength and the anti-interference threshold of the camera, and filtering out a valid installation point set based on whether each candidate installation point in the candidate installation point set falls within the taboo installation area; Calculate the visibility parameters of each valid installation point in the valid installation point set to the target power equipment based on the ray casting method; the visibility parameters include the line of sight on / off status, the type of obstruction and the obstruction ratio; The device coverage index of each of the effective installation points is calculated according to the visibility parameters to obtain a device coverage index set, and the camera layout is performed according to the device coverage index set.

2. The camera layout method for intelligent inspection of substations according to claim 1 is characterized by: The composite field strength of the candidate installation point is calculated according to the electromagnetic radiation parameters, including separately calculating the electric field strength of all the power equipment as radiation sources to the candidate installation point, and vector superimposing all the electric field strengths to obtain the composite field strength.

3. The camera layout method for intelligent inspection of substations according to claim 2 is characterized by: The electric field strength of the radiation source to the candidate installation point is calculated according to the following method: ； ； E1(d) represents the electric field intensity in the near field; E2(d) represents the electric field intensity in the far field; Emax represents the maximum electric field intensity on the radiation source surface; represents the attenuation coefficient of the first medium; represents the attenuation coefficient of the second medium; d represents the distance between the radiation source and the candidate installation point; represents the environmental absorption coefficient.

4. The camera layout method for intelligent inspection of substations according to claim 1, 2 or 3, characterized in that: Combining the synthetic field strength with the camera's immunity threshold to generate a taboo installation area, including: comparing the synthetic field strength of the candidate installation point with a camera immunity threshold; If the composite electric field strength of the candidate installation point is greater than or equal to the camera immunity threshold, mark the candidate installation point as a taboo installation point; If the adjacent candidate installation points are all marked as taboo installation points, the area connected to the adjacent candidate installation points is the taboo installation area.

5. The camera layout method for intelligent inspection of substations according to claim 4 is characterized in that: Combining the synthetic field strength with the camera's immunity threshold to generate a taboo installation area also includes: Construct a spherical neighborhood with a radius of 0.3m-0.5m; For each taboo installation point, placing the center of the spherical neighborhood at the taboo installation point, and marking the space covered by the spherical neighborhood as an extended taboo area; The union of all the extended taboo areas is taken as the taboo installation area.

6. The camera layout method for intelligent inspection of substations according to claim 1, characterized in that: Calculating visibility parameters from each valid installation point in the valid installation point set to the target power equipment based on a ray casting method, including: For each of the valid installation points, setting the field of view angle, focal length, and orientation of the camera to construct a viewing cone of the camera; Within the range of the viewing cone, a plurality of detection rays are emitted from the camera toward the surface of the target power equipment, and whether the detection rays are blocked is determined one by one; If blocked, mark the sight line status as 0 and mark the type of the obstruction; If it is not blocked, the line of sight is marked as 1; The ratio of the blocked length of the detection ray to the total length is counted to obtain the blocking ratio.

7. The camera layout method for intelligent inspection of substations according to claim 6, characterized in that: Constructing the camera's viewing frustum includes: Setting the field of view angle of the camera so that the projection spacing of the detection rays on the surface of the target power equipment is less than or equal to 1 / 5 of the minimum characteristic size of the target power equipment; Alternatively, the angle between the main axis direction of the viewing cone and the nearest boundary of the taboo installation area is set to be greater than or equal to 30°; Alternatively, the focal length of the camera is set so that the target power equipment occupies 60% to 90% of the viewing cone height.

8. The camera layout method for intelligent inspection of substations according to claim 6 or 7, characterized in that: Constructing the camera's viewing cone also includes optimizing the camera's orientation based on: Initializing the direction of the camera to the geometric center direction of the target power equipment; The pitch angle and yaw angle of the camera are adjusted iteratively using gradient descent until the occlusion ratio is less than 0.

1.

9. The camera layout method for intelligent inspection of substations according to claim 1, characterized in that: Perform camera layout according to the device coverage indicator set, including: Step 1: Arrange the device coverage index set in descending order of the device coverage index; Step 2: Using the effective installation point with the highest device coverage index as the first camera installation point; Step 3: Delete the power equipment covered by the first camera installation point and update the remaining power equipment; Step 4: Iterate steps 2 to 3 until all the power equipment meeting the high weight are covered.

10. The camera layout system for intelligent inspection of substations is characterized by: include, Data acquisition module, used to obtain electromagnetic radiation parameters and three-dimensional point cloud data of power equipment in the substation; a candidate installation point generation module, configured to define a set of candidate installation points for the camera based on the three-dimensional point cloud data; An electromagnetic field calculation module, configured to calculate the composite field strength of each candidate installation point in the candidate installation point set according to the electromagnetic radiation parameters; a taboo area screening module, configured to generate a taboo installation area by combining the synthetic field strength and the camera's anti-interference threshold, and to screen out a valid installation point set based on whether each candidate installation point in the candidate installation point set falls within the taboo installation area; A visibility analysis module, configured to calculate visibility parameters from each valid installation point in the valid installation point set to the target power equipment based on a ray casting method; the visibility parameters include line of sight on / off status, obstruction type, and obstruction ratio; A layout optimization module is used to calculate the device coverage index of each of the effective installation points according to the visibility parameters, obtain a device coverage index set, and perform camera layout according to the device coverage index set.

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