Three-dimensional model-based transformer substation patrollable domain patrolling dynamic planning method and system

Abstract

The invention relates to the technical field of power system operation and maintenance, and provides a transformer substation polling area polling dynamic planning method and system based on a three-dimensional model, and the method comprises the steps: carrying out the whole-station three-dimensional point cloud modeling of a transformer substation, and obtaining a three-dimensional model of the transformer substation, obtaining spatial positions, spatial layouts and corresponding topographic information of buildings and equipment in the transformer substation through the three-dimensional model; dividing a three-dimensional scene in the three-dimensional model into a plurality of patrollable domains by adopting a space division algorithm on the basis of spatial positions and spatial layout of buildings and equipment in the transformer substation and the patrol operation requirements of the transformer substation; dividing the patrollable area into patrolling areas suitable for the patrolling equipment according to the patrolling capability of the patrolling equipment; and presenting each inspection area in real time through a three-dimensional model, and performing polling area inspection dynamic planning according to the inspection task requirements of each inspection device on the target device in the transformer substation. The inspection plan can be adjusted in real time according to the equipment operation state and the environment change, and it is ensured that the inspection task is efficiently completed.

Description

Technical Field

[0001] The present invention relates to the technical field of power system operation and maintenance, and in particular to a method and system for dynamic planning of substation patrol areas based on a three-dimensional model. Background Art

[0002] Substation inspections are crucial for ensuring safe and reliable equipment operation. Traditional substation inspections (patrols) rely on manual labor, which is characterized by low efficiency, high costs, and hazardous working environments. These manual inspections are difficult to meet the intelligent inspection needs of modern, large-scale, and complex substations.

[0003] In recent years, automated inspection technologies based on intelligent devices such as drones, fixed cameras, and robots have been gradually applied to substation operations and maintenance. Drones can perform inspections in high-altitude areas, fixed cameras provide real-time monitoring of fixed-point equipment, and quadruped robots excel at ground inspections in complex terrain. However, how to efficiently dispatch these devices, rationally plan inspection tasks, and optimize inspection routes have become key issues that intelligent inspection systems need to address. Existing technologies for substation inspections present the following challenges:

[0004] Scheduling and allocation of inspection equipment: Different inspection equipment is suitable for different areas, and how to reasonably allocate tasks to the most suitable equipment still needs improvement.

[0005] Path planning problem: The internal equipment of substations is complex, especially at high altitudes, on the ground, and in narrow areas. How to plan reasonable inspection paths to avoid equipment conflicts and obstacles is the core issue of intelligent inspection.

[0006] Dynamic task adjustment problem: The operating status of equipment and inspection requirements in substations change dynamically. How to adjust inspection plans and routes in real time to adapt to these changes is one of the challenges in achieving fully automated and unmanned inspections. Summary of the Invention

[0007] The purpose of the present invention is to solve at least one technical problem in the background technology and provide a method and system for dynamic planning of substation patrol area inspection based on a three-dimensional model.

[0008] To achieve the above objectives, the present invention provides a method for dynamic planning of substation patrol area inspection based on a three-dimensional model, comprising:

[0009] Perform 3D point cloud modeling of the entire substation to obtain a 3D model of the substation. The spatial location, spatial layout, and corresponding terrain information of the buildings and equipment within the substation are obtained through the 3D model.

[0010] Based on the spatial position, spatial layout of the buildings and equipment in the substation and the substation inspection operation demand, a spatial segmentation algorithm is used to divide the three-dimensional scene in the three-dimensional model into a plurality of inspectable domains;

[0011] According to the inspection capability of the inspection equipment, the inspectable domains are divided into inspection areas suitable for each inspection equipment;

[0012] The inspection areas are presented in real time through the three-dimensional model, and dynamic planning of the inspectable domain inspection is performed according to the inspection task demand of the target equipment in the substation by each inspection equipment.

[0013] According to an aspect of the present application, the inspection equipment includes: a drone, a fixed camera and a quadruped robot;

[0014] The inspection area of the drone includes a high-altitude area above the transformer in the substation;

[0015] The inspection area of the fixed camera includes a real-time monitoring point of the equipment operation state or a local key area of the internal passage of the substation;

[0016] The inspection area of the quadruped robot includes a complex terrain on the ground, a narrow space and a bottom area of the equipment.

[0017] According to an aspect of the present application, the dynamic planning of the inspectable domain inspection by each inspection equipment according to the inspection task demand of the target equipment in the substation includes:

[0018] According to the real-time health state and real-time operation condition of each target equipment, the inspection priority of each target equipment is evaluated, and the inspection frequency is set;

[0019] Based on the characteristics of each inspection equipment and the inspection priority of each target equipment, the inspection task is allocated to the most suitable inspection equipment;

[0020] Each inspection equipment sequentially inspects each target equipment according to the order of the inspection priority;

[0021] According to the real-time health state, real-time operation condition of the target equipment and the execution condition of the inspection task of each inspection equipment, the inspection plan and inspection path of each inspection equipment are dynamically adjusted.

[0022] According to an aspect of the present application, each inspection equipment sequentially inspects each target equipment according to the order of the inspection priority, including:

[0023] Each inspection equipment locks a plurality of target equipment that need to be inspected by it;

[0024] Based on the dynamic environmental change of each inspection area in the three-dimensional scene, the inspection path planning is performed on each inspection equipment to generate the optimal inspection path;

[0025] Each inspection device sequentially inspects each target device based on the order of the inspection priority and the optimal inspection path.

[0026] To achieve the above object, the application further provides a substation inspectable area inspection dynamic planning system based on a three-dimensional model, comprising:

[0027] A three-dimensional model construction module, which performs full-station three-dimensional point cloud modeling on the substation to obtain a three-dimensional model of the substation, and obtains the spatial positions, spatial layouts of the buildings and devices in the substation and the corresponding terrain information through the three-dimensional model;

[0028] An inspectable area division module, which divides the three-dimensional scene in the three-dimensional model into a plurality of inspectable areas based on the spatial positions, spatial layouts of the buildings and devices in the substation and the substation inspection operation requirements by using a spatial segmentation algorithm;

[0029] An inspection area division module, which divides the inspectable areas into inspection areas suitable for each inspection device according to the inspection capability of the inspection device;

[0030] An inspection dynamic planning module, which presents each inspection area in real time through the three-dimensional model, and performs inspectable area inspection dynamic planning through the inspection task requirements of each inspection device for the target devices in the substation.

[0031] According to an aspect of the application, the inspection device comprises a drone, a fixed camera and a quadruped robot.

[0032] The inspection area of the drone comprises a high-altitude area above the transformer in the substation;

[0033] The inspection area of the fixed camera comprises a real-time monitoring point of the device running state or a local key area of the internal passage of the substation;

[0034] The inspection area of the quadruped robot comprises a complex terrain on the ground, a narrow space and a device bottom area.

[0035] According to an aspect of the application, the inspection dynamic planning module comprises:

[0036] A device state and inspection priority evaluation module, which evaluates the inspection priority of each target device and sets the inspection frequency according to the real-time health state and real-time running condition of each target device;

[0037] An inspection device task allocation module, which allocates the inspection task to the most suitable inspection device based on the characteristics of each inspection device and the inspection priority of each target device;

[0038] An inspection task execution module, which sequentially inspects each target device based on the order of the inspection priority by each inspection device;

[0039] The inspection plan and inspection path dynamic adjustment module dynamically adjusts the inspection plan and inspection path of each inspection device according to the real-time health status, real-time operation condition of the target device and the execution condition of the inspection task of each inspection device.

[0040] According to an aspect of the present application, the inspection task execution module comprises:

[0041] The target device locking module locks a plurality of target devices that need to be inspected by each inspection device.

[0042] The path planning and obstacle avoidance module plans an inspection path for each inspection device based on the dynamic environmental changes of each inspection area in the three-dimensional scene, and generates an optimal inspection path.

[0043] The inspection execution module sequentially inspects each target device by each inspection device based on the order of the inspection priority and the optimal inspection path.

[0044] To achieve the above-mentioned purpose, the present application further provides an electronic device comprising a processor, a memory and a computer program stored on the memory and executable on the processor, wherein the computer program is executed by the processor to implement the above-mentioned three-dimensional model-based dynamic planning method for substation inspectable area inspection.

[0045] To achieve the above-mentioned purpose, the present application further provides a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the computer program is executed by a processor to implement the above-mentioned three-dimensional model-based dynamic planning method for substation inspectable area inspection.

[0046] According to the scheme of the present application, the present application realizes full coverage, refinement and intelligent inspection in the substation through the three-dimensional model-based dynamic planning method for substation inspectable area inspection. The method can adjust the inspection plan in real time according to the device operation state and environmental changes, and ensure that the inspection task is efficiently and accurately completed.

[0047] According to the scheme of the present application, the present application can achieve the following beneficial effects:

[0048] Refined inspectable area division: through high-precision three-dimensional modeling technology, the inspectable area suitable for different types of inspection devices is reasonably divided, and each inspection device efficiently executes the inspection task in its field of expertise.

[0049] Intelligent task allocation: according to the characteristics and task requirements of the inspection device, the task is intelligently allocated to the most suitable device to maximize the inspection efficiency.

[0050] Efficient path planning: adopt path planning algorithm in three-dimensional scene, plan the optimal path for inspection equipment, avoid equipment collision or obstacles, so as to improve the inspection efficiency and safety.

[0051] Dynamic task adjustment: the system can monitor the equipment state and environmental changes in real time, dynamically adjust the inspection task and path, and ensure the continuity, accuracy and adaptability of the inspection.

[0052] Full coverage inspection: through the cooperative work of unmanned aerial vehicles, fixed cameras and four-legged robots and other equipment, realize the full coverage inspection of various equipment and scenes in the substation, eliminate the blind area of inspection, and improve the comprehensiveness of inspection. BRIEF DESCRIPTION OF DRAWINGS

[0053] Figure 1 The flowchart schematically represents a three-dimensional model-based substation patrollable area inspection dynamic planning method according to an embodiment of the present application. DETAILED DESCRIPTION

[0054] The content of the present application will now be discussed with reference to exemplary embodiments. It should be understood that the discussed embodiments are only to enable those of ordinary skill in the art to better understand and thus implement the content of the present application, and are not intended to imply any limitation on the scope of the present application.

[0055] As used herein, the term "comprising" and variations thereof are to be construed as meaning "including but not limited to". The term "based on" is to be construed as "based at least in part on". The terms "one embodiment" and "an embodiment" are to be construed as "at least one embodiment".

[0056] Figure 1 The flowchart schematically represents a three-dimensional model-based substation patrollable area inspection dynamic planning method according to an embodiment of the present application. As shown in Figure 1 In the present embodiment, the three-dimensional model-based substation patrollable area inspection dynamic planning method comprises:

[0057] The three-dimensional point cloud modeling of the whole substation is performed to obtain the three-dimensional model of the substation, and the spatial position, spatial layout of the buildings and equipment in the substation and the corresponding terrain information are obtained through the three-dimensional model;

[0058] Based on the spatial position, spatial layout of the buildings and equipment in the substation and the substation inspection operation requirements, a spatial segmentation algorithm is used to divide the three-dimensional scene in the three-dimensional model into a plurality of patrollable areas;

[0059] According to the inspection capability of the inspection equipment, the patrollable areas are divided into inspection areas suitable for each inspection equipment;

[0060] The three-dimensional model is used to present each of the inspection areas in real time, and the dynamic planning of the inspection areas is performed according to the inspection task requirements of each of the inspection devices for the target devices in the transformer substation.

[0061] In the embodiment, the transformer substation is modeled by using a three-dimensional point cloud, and the spatial positions and layouts of the devices in the transformer substation are obtained. A high-precision three-dimensional model is established by using technologies such as laser point cloud scanning, camera shooting and three-dimensional modeling, and covers all the buildings, devices and terrain features in the transformer substation. The three-dimensional model includes spatial information such as the heights of the devices, the distances between the devices and terrain obstacles, and provides basic data support for subsequent task division and path planning.

[0062] Further, according to an embodiment of the present application, the inspection devices include: a drone, a fixed camera and a quadruped robot.

[0063] The inspection area of the drone includes a high-altitude area above the transformer in the transformer substation; the drone is suitable for high-altitude and hard-to-access areas such as overhead lines and the top of the transformer, and has a large inspection range and high flexibility.

[0064] The inspection area of the fixed camera includes real-time monitoring points of the device operation state or local key areas of the internal passageway of the transformer substation; the fixed camera is responsible for real-time monitoring of the device operation state, and is suitable for fixed monitoring points or key device areas in the transformer substation.

[0065] The inspection area of the quadruped robot includes complex terrain, narrow space and device bottom area. The quadruped robot has excellent ground moving ability and obstacle crossing ability, and is suitable for inspecting complex terrain, narrow space and device bottom area in the transformer substation which are difficult to access.

[0066] Further, according to an embodiment of the present application, the dynamic planning of the inspection areas is performed according to the inspection task requirements of each of the inspection devices for the target devices in the transformer substation, and includes:

[0067] According to the real-time health state and real-time operation condition of each of the target devices, the inspection priority of each of the target devices is evaluated, and the inspection frequency is set;

[0068] Based on the characteristics of each of the inspection devices and the inspection priority of each of the target devices, the inspection task is allocated to the most suitable inspection device;

[0069] Each of the inspection devices sequentially inspects each of the target devices according to the order of the inspection priority;

[0070] According to the real-time health state, real-time operation condition and execution of the inspection task of each of the target devices, the inspection plan and inspection path of each of the inspection devices are dynamically adjusted.

[0071] In the embodiment, the inspection priority of each target device is dynamically evaluated according to the real-time health status, historical failure records and real-time operation data of each target device. For the target device with abnormal state or frequent historical failures, the inspection frequency and priority of the target device are increased to ensure timely inspection and maintenance.

[0072] In the embodiment, the inspection task is intelligently assigned to the most suitable inspection device according to the characteristics of different target devices. For example, the unmanned aerial vehicle is responsible for the inspection of high-altitude areas, the fixed camera is responsible for the state monitoring of the target device, and the quadruped robot is responsible for the inspection of complex ground areas.

[0073] In the embodiment, the inspection plan is adjusted in real time according to the state change of the target device, the completion of the inspection task and the change of the environment. For example, if an abnormality occurs in a device during the inspection process, the inspection plan is adjusted and the abnormality is processed in priority. The inspection path and task are dynamically adjusted according to the actual situation to ensure the accuracy and timeliness of the inspection.

[0074] Further, according to an embodiment of the present application, each inspection device sequentially inspects each target device based on the order of the inspection priority, comprising:

[0075] Each inspection device locks a plurality of target devices that need to be inspected by the inspection device;

[0076] Based on the dynamic environmental change of each inspection area in the three-dimensional scene, the inspection path of each inspection device is planned, and the optimal inspection path is generated;

[0077] Each inspection device sequentially inspects each target device based on the order of the inspection priority and the optimal inspection path.

[0078] In the embodiment, based on the three-dimensional model, the optimal inspection path for each type of inspection device is planned by using a path planning algorithm. When planning the path, factors such as obstacles, target device positions, inspection areas and inspection priorities of the target devices are considered to ensure the collaborative work of each inspection device and avoid mutual collision.

[0079] According to the above scheme of the present application, the substation inspectable area inspection dynamic planning method based on the three-dimensional model realizes the full coverage, refinement and intelligent inspection in the substation. The method can adjust the inspection plan in real time according to the device operation state and environmental change to ensure the efficient and accurate completion of the inspection task.

[0080] Further, in order to achieve the above-mentioned purpose, the present application also provides a substation inspectable area inspection dynamic planning system based on a three-dimensional model, comprising:

[0081] The three-dimensional model construction module constructs a three-dimensional point cloud model of the substation to obtain a three-dimensional model of the substation, and obtains the spatial positions, spatial layouts of buildings and equipment in the substation, and corresponding terrain information through the three-dimensional model;

[0082] The patrollable area division module divides the three-dimensional scene in the three-dimensional model into a plurality of patrollable areas based on the spatial positions, spatial layouts of buildings and equipment in the substation, and substation inspection operation requirements by using a spatial segmentation algorithm;

[0083] The inspection area division module divides the patrollable areas into inspection areas suitable for each inspection device according to the inspection capabilities of the inspection devices;

[0084] The inspection dynamic planning module presents each of the inspection areas in real time through the three-dimensional model, and performs patrollable area inspection dynamic planning through the inspection task requirements of the inspection devices on the target equipment in the substation.

[0085] In the embodiment, a three-dimensional point cloud model of the substation is constructed to obtain the spatial positions and layouts of the equipment in the substation. A high-precision three-dimensional model is established through laser point cloud scanning, camera shooting, and three-dimensional modeling, and covers all buildings, equipment, and terrain features in the substation. The three-dimensional model includes spatial information such as the height of the equipment, the distance between the equipment, and terrain obstacles, and provides basic data support for subsequent task division and path planning.

[0086] Further, according to an embodiment of the present application, the inspection device includes: a drone, a fixed camera, and a quadruped robot;

[0087] The inspection area of the drone includes a high-altitude area above the transformer in the substation; the drone is suitable for high-altitude and hard-to-access areas such as overhead lines, the top of the transformer, etc., and has a large inspection range and high flexibility.

[0088] The inspection area of the fixed camera includes a real-time monitoring point of the equipment running state or a local key area of the internal passage of the substation; the fixed camera is responsible for real-time monitoring of the equipment running state, and is suitable for fixed monitoring points or key equipment areas in the substation.

[0089] The inspection area of the quadruped robot includes complex terrain, narrow space, and equipment bottom area. The quadruped robot has excellent ground moving ability and obstacle crossing ability, and is suitable for inspecting complex terrain, narrow space, and equipment bottom area in the substation which are difficult to access.

[0090] Further, according to an embodiment of the present application, the inspection dynamic planning module includes:

[0091] The device state and inspection priority evaluation module evaluates the inspection priority of each target device according to the real-time health state and real-time operation of each target device, and sets the inspection frequency;

[0092] The inspection device task allocation module allocates the inspection task to the most suitable inspection device based on the characteristics of each inspection device and the inspection priority of each target device;

[0093] The inspection task execution module sequentially inspects each target device based on the order of the inspection priority of each inspection device;

[0094] The inspection plan and inspection path dynamic adjustment module dynamically adjusts the inspection plan and inspection path of each inspection device according to the real-time health state, real-time operation, and execution of the inspection task of each target device.

[0095] In the embodiment, the device state and inspection priority evaluation module dynamically evaluates the inspection priority of each target device according to the real-time health state, historical fault record, and real-time operation data of each target device. For target devices with abnormal state or frequent historical faults, the inspection frequency and priority are increased to ensure timely inspection and maintenance. The module obtains the device state in real time and evaluates the inspection demand through linkage with the device management system.

[0096] In the embodiment, the inspection task is intelligently allocated to the most suitable inspection device according to the characteristics of different target devices. For example, a drone is responsible for the inspection of high-altitude areas, a fixed camera is used for target device state monitoring, and a quadruped robot is used for the inspection of complex ground areas. The inspection device task allocation module ensures that each device works in its area of expertise, thereby improving the overall inspection efficiency.

[0097] In the embodiment, the inspection plan is adjusted in real time according to the target device state change, inspection task completion, and environmental change. For example, if an abnormality occurs in a device during the inspection process, the inspection plan is adjusted and the abnormality is handled in priority. The inspection path and task are dynamically adjusted according to the actual situation to ensure the accuracy and timeliness of the inspection. The inspection plan and inspection path dynamic adjustment module dynamically adjusts the inspection path and task according to the actual situation to ensure the accuracy and timeliness of the inspection.

[0098] Further, according to an embodiment of the present application, the inspection task execution module comprises:

[0099] The target device locking module locks a plurality of target devices that need to be inspected by each inspection device;

[0100] The path planning and obstacle avoidance module plans the inspection path of each inspection device based on the dynamic environmental changes of each inspection area in the three-dimensional scene, and generates the optimal inspection path.

[0101] The inspection execution module sequentially inspects each target device based on the order of the inspection priorities and the optimal inspection path.

[0102] In the embodiment, based on the three-dimensional model, the path planning algorithm is used to plan the optimal inspection path for each inspection device. The path planning considers factors such as obstacles, target device positions, inspection areas, and inspection priorities of the target devices, to ensure the collaborative work between the inspection devices and avoid mutual collision. The path planning and obstacle avoidance module has an obstacle avoidance function, which can identify dynamic obstacles in the inspection process in real time and automatically adjust the path.

[0103] According to the above scheme of the present application, the substation patrollable area inspection dynamic planning system based on the three-dimensional model is used to realize full coverage, refinement, and intelligent inspection in the substation. The system can adjust the inspection plan in real time according to the device operating state and environmental changes, to ensure that the inspection task is efficiently and accurately completed.

[0104] Further, to achieve the above purpose, the present application also provides an electronic device, which includes a processor, a memory, and a computer program stored on the memory and executable on the processor, and the computer program is executed by the processor to realize the substation patrollable area inspection dynamic planning method based on the three-dimensional model as described above.

[0105] Further, to achieve the above purpose, the present application also provides a computer readable storage medium, which stores a computer program, and the computer program is executed by the processor to realize the substation patrollable area inspection dynamic planning method based on the three-dimensional model as described above.

[0106] Those skilled in the art can realize that the modules and algorithm steps described in combination with the embodiments disclosed herein can be realized by electronic hardware or a combination of computer software and electronic hardware. Whether the functions are realized in hardware or software depends on the specific application and design constraints of the technical solution. The skilled person can use different methods to realize the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0107] Those skilled in the art can clearly understand that, for the convenience and brevity of the description, the specific working process of the above-described device and equipment can refer to the corresponding process in the foregoing method embodiments, which will not be described here.

[0108] In the embodiments of the present application, it should be understood that the disclosed apparatus and method can be implemented in other manners. For example, the described apparatus embodiment is merely schematic. For example, the division of the modules is merely a logical function division. For another example, a plurality of modules or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections can be indirect couplings or communication connections through some interfaces, devices or modules, and can be in electrical, mechanical or other forms.

[0109] The modules illustrated as separated components can or can not be physically separated, and the components illustrated as modules can or can not be physical modules, i.e., can be located in one place, or can be distributed on a plurality of network modules. Some or all of the modules can be selected according to actual needs to achieve the purpose of the embodiments of the present application.

[0110] In addition, each functional module in the embodiments of the present application can be integrated into a processing module, or each module can be physically present alone, or two or more modules can be integrated into one module.

[0111] If the functions are realized in the form of software function modules and sold or used as independent products, they can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application essentially or the part that contributes to the prior art or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the energy-saving signal transmission / reception method of the embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a ROM, a RAM, a magnetic disk or an optical disk, and various program codes that can be stored.

[0112] The above description is merely a preferred embodiment of the present application and a description of the principles of the applied technology. Those skilled in the art should understand that the scope of the application disclosed in the present application is not limited to the technical solutions formed by the specific combinations of the above technical features, and should also cover other technical solutions formed by any combinations of the above technical features or equivalent features without departing from the inventive concept. For example, the above features can be replaced with technical features disclosed in the present application (but not limited to) having similar functions to form technical solutions.

[0113] It should be understood that the size of the serial numbers of each step in the content of the invention and the implementation methods of the present invention does not absolutely mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the implementation methods of the present invention.

Claims

1. A dynamic planning method for substation patrol area inspection based on a three-dimensional model, characterized by: include: Perform 3D point cloud modeling of the entire substation to obtain a 3D model of the substation. The spatial location, spatial layout, and corresponding terrain information of the buildings and equipment within the substation are obtained through the 3D model. Based on the spatial location and layout of buildings and equipment within the substation, as well as the inspection requirements of the substation, a spatial segmentation algorithm is used to divide the 3D scene in the 3D model into several patrol areas. According to the inspection capabilities of the inspection equipment, the patrol area is divided into inspection areas suitable for each inspection equipment; The three-dimensional model is used to present each inspection area in real time, and dynamic planning of the inspection area is carried out based on the inspection task requirements of each inspection equipment for the target equipment in the substation.

2. The method for dynamic planning of substation patrol area based on three-dimensional model according to claim 1 is characterized in that: The inspection equipment includes: drones, fixed cameras and quadruped robots; The inspection area of ​​the drone includes the high-altitude area above the transformer in the substation; The inspection area of ​​the fixed camera includes the real-time monitoring points of the equipment operation status or the local key areas of the internal passages of the substation; The inspection area of ​​the quadruped robot includes complex ground terrain, narrow spaces and the bottom area of ​​equipment.

3. The method for dynamic planning of substation patrol area based on three-dimensional model according to claim 1 is characterized in that: The inspection task requirements of each inspection device for the target equipment in the substation are used to dynamically plan the inspection area, including: Evaluate the inspection priority of each target device and set the inspection frequency based on the real-time health status and real-time operation status of each target device; Based on the characteristics of each inspection device and the inspection priority of each target device, the inspection task is assigned to the most suitable inspection device; Each inspection device performs sequential inspections on each target device based on the order of inspection priority; According to the real-time health status and real-time operation status of the target equipment and the execution status of the inspection tasks of each inspection equipment, the inspection plan and inspection path of each inspection equipment are dynamically adjusted.

4. The method for dynamic planning of substation patrol area based on three-dimensional model according to claim 3 is characterized in that: Each inspection device performs sequential inspections on each target device based on the order of inspection priority, including: Each inspection device locks multiple target devices that need to be inspected; Based on the dynamic environmental changes of each inspection area in the three-dimensional scene, the inspection path of each inspection equipment is planned to generate the optimal inspection path; Each inspection device performs sequential inspections on each target device based on the order of inspection priority and the optimal inspection path.

5. The dynamic planning system for substation patrol inspection based on three-dimensional model is characterized by: include: The 3D model construction module performs 3D point cloud modeling of the entire substation to obtain a 3D model of the substation. The 3D model is used to obtain the spatial location, spatial layout, and corresponding terrain information of the buildings and equipment within the substation. The patrol area division module uses a spatial segmentation algorithm to divide the 3D scene in the 3D model into several patrol areas based on the spatial location and layout of buildings and equipment within the substation and the requirements of substation inspection operations; An inspection area division module divides the patrol area into inspection areas suitable for each inspection device according to the inspection capability of the inspection device; The inspection dynamic planning module presents each inspection area in real time through a three-dimensional model, and performs dynamic inspection planning of the patrol area based on the inspection task requirements of each inspection equipment for the target equipment in the substation.

6. The three-dimensional model-based substation patrol area dynamic planning system according to claim 5 is characterized in that: The inspection equipment includes: drones, fixed cameras and quadruped robots; The inspection area of ​​the drone includes the high-altitude area above the transformer in the substation; The inspection area of ​​the fixed camera includes the real-time monitoring points of the equipment operation status or the local key areas of the internal passages of the substation; The inspection area of ​​the quadruped robot includes complex ground terrain, narrow spaces and the bottom area of ​​equipment.

7. The three-dimensional model-based substation patrol area dynamic planning system according to claim 5 is characterized in that: The inspection dynamic planning module includes: The device status and inspection priority assessment module assesses the inspection priority of each target device and sets the inspection frequency based on the real-time health status and operation status of each target device. The inspection equipment task allocation module allocates inspection tasks to the most suitable inspection equipment based on the characteristics of each inspection equipment and the inspection priority of each target equipment; Inspection task execution module, each inspection device performs sequential inspections on each target device based on the order of inspection priority; The inspection plan and inspection path dynamic adjustment module dynamically adjusts the inspection plan and inspection path of each inspection device according to the real-time health status and real-time operation status of the target device and the execution status of the inspection tasks of each inspection device.

8. The method for dynamic planning of substation patrol area based on three-dimensional model according to claim 7 is characterized in that: The inspection task execution module includes: Target device locking module, each inspection device locks multiple target devices that need to be inspected; The path planning and obstacle avoidance module plans the inspection paths for each inspection device based on the dynamic environmental changes of each inspection area in the three-dimensional scene and generates the optimal inspection path; Inspection execution module, each inspection device performs sequential inspections on each target device based on the order of inspection priority and the optimal inspection path.

9. An electronic device, characterized in that The invention comprises a processor, a memory and a computer program stored in the memory and executable on the processor, wherein when the computer program is executed by the processor, the method for dynamic planning of patrol area inspection of a substation based on a three-dimensional model is implemented as described in any one of claims 1 to 4.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method for dynamic planning of substation patrol area inspection based on a three-dimensional model according to any one of claims 1 to 4 is implemented.

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