Method, device and equipment for generating 3D special-shaped electronic fence of transformer substation

Abstract

The invention relates to a transformer substation 3D special-shaped electronic fence generation method, device and equipment, and the method comprises the steps: scanning a transformer substation, and obtaining an equal proportion point cloud model of the transformer substation; constructing a 3D digital model of the transformer substation according to the equal proportion point cloud model; constructing a plurality of space region division model components according to the 3D digital model; and selecting the spatial region division model component of the target monitoring region, and combining to generate the 3D special-shaped electronic fence of the target monitoring region. Through the embodiment of the invention, the 3D special-shaped electronic fence formed by splicing and combining the 3D special-shaped building blocks can be obtained, and compared with an electronic fence with a regular shape in the prior art, the 3D special-shaped electronic fence disclosed by the embodiment of the specification can more accurately and meticulously express the range boundary of the electronic fence in a space region, the monitoring and control precision is improved, and the monitoring and control efficiency is improved. And the risk probability in a fuzzy space region is reduced.

Description

Technical Field

[0001] This article relates to the field of power transmission line safety protection, and in particular to a method, device and equipment for generating 3D irregular-shaped electronic fences for substations. Background Technology

[0002] As an important component of substation safety protection systems, electronic fences primarily function to define virtual or physical boundaries and, combined with sensing and alarm technologies, enable real-time monitoring and alerts for personnel and vehicles entering hazardous areas, thereby ensuring the safety of personnel, the power grid, and equipment. Currently, electronic fence systems applied to substations, whether based on infrared beams, lidar, video analytics, or RFID / Bluetooth beacons, generally use regular geometric shapes to define their safety protection zones.

[0003] Regularly shaped electronic fences cannot accurately and flexibly match the actual physical contours and safety distance requirements of substation equipment, resulting in rough and inaccurate boundaries of their designated "safe working areas" or "dangerous restricted areas." This inaccuracy in defining safe zones reduces the effectiveness of safety protection, potentially overlooking critical hazards or failing to provide effective early warnings at critical distances. Furthermore, it unreasonably restricts the activity space of operation and maintenance personnel, impacting work efficiency. Therefore, existing technology significantly limits the practical application value and promotion potential of electronic fences in the refined safety management of substations. Ensuring the accuracy of safe working areas is a pressing technical problem that needs to be solved. Summary of the Invention

[0004] To address the problems existing in the prior art, this specification provides a method, apparatus, and equipment for generating a 3D irregular-shaped electronic fence for substations. The method described in this specification enables the generation of a 3D irregular-shaped electronic fence composed of "3D irregular-shaped building blocks." Compared to traditional regular-shaped electronic fences, the 3D irregular-shaped electronic fence obtained in this specification can more accurately and precisely represent the boundary of the fence in a spatial area, improving monitoring and control accuracy and reducing the probability of risks in "fuzzy spatial areas."

[0005] To solve the above-mentioned technical problems, the specific technical solution presented in this paper is as follows:

[0006] On the one hand, this embodiment provides a method for generating a 3D irregular-shaped electronic fence for a substation, including:

[0007] The substation is scanned to obtain a scaled point cloud model of the substation;

[0008] A 3D digital model of the substation is constructed based on the proportional point cloud model.

[0009] Construct multiple spatial region division model components based on the 3D digital model;

[0010] Select the spatial region division model component of the target monitoring area and combine it to generate a 3D irregular electronic fence for the target monitoring area.

[0011] Furthermore, constructing a spatial region division model based on the 3D digital model further includes:

[0012] Based on the safety distance requirements of the circuit equipment in the 3D digital model and the connectivity of the circuit equipment, the discharge space range of each circuit equipment in the substation is irregularly wrapped and covered to obtain a spatial region division model component for each circuit equipment, and an electrical attribute label is configured.

[0013] The spatial region division model component is constructed by filling the empty space regions in the 3D digital model, excluding the spatial region division model component carrying the charged attribute label, and dynamic attribute labels are configured.

[0014] Furthermore, the circuit device includes a busbar;

[0015] Based on the safety distance requirements and connectivity of the circuit equipment in the 3D digital model, the discharge space of each circuit equipment segment within the substation is irregularly wrapped and covered to obtain a spatial region division model component for each circuit equipment segment. This component further includes:

[0016] Determine the energized endpoints of the busbar;

[0017] Using the charged endpoint as the center of the sphere and the safety distance corresponding to the safety distance requirement of the busbar as the radius, a charged space occupant sphere is generated to enclose the charged endpoint.

[0018] Between two adjacent charged endpoints of the same busbar, multiple charged space occupant spheres of the same radius are placed at equal intervals and uniformly.

[0019] The spatial region division model component of the busbar is constructed based on the charged space occupant sphere.

[0020] Furthermore, the spatial region partitioning model component for constructing the busbar based on the charged space occupant sphere further includes:

[0021] Construct a minimum bounding model of the set of all charged space occupant spheres of the busbar to obtain the spatial region division model component of the busbar.

[0022] Furthermore, the method also includes:

[0023] The interval is divided into minimum power link segments based on the connectivity of the lines within the interval;

[0024] Determine the energized endpoints of each minimum power link;

[0025] Using the charged endpoint as the center of the sphere and the safety distance corresponding to the current minimum power link safety distance requirement as the radius, a charged space occupant sphere is generated to enclose the charged endpoint.

[0026] Between two adjacent charged endpoints of the same minimum power link, multiple charged space spheres of the same radius are placed at equal intervals and uniformly.

[0027] Construct a minimum bounding model of the set of all charged space occupant spheres that make up the minimum power link, and obtain the spatial region of the minimum power link;

[0028] By combining the spatial regions of all the smallest power links, the spatial region partitioning model component of the interval is obtained.

[0029] Furthermore, the minimum power link division of the interval based on the connectivity of the lines in the interval further includes:

[0030] Based on the operation of the disconnect switches of the lines in the interval during maintenance work, the lines in the interval are divided into minimum power links.

[0031] Furthermore, the substation also includes a public passageway;

[0032] The method further includes:

[0033] The public passage is divided into multiple sub-passage areas depending on whether there are electrical devices above it;

[0034] If there are no circuit devices above the sub-channel area, the spatial area of ​​the sub-channel area is generated according to a predetermined height;

[0035] If there is a circuit device above the sub-channel region, the spatial region of the sub-channel region is generated by dividing the lower surface height of the model component according to the spatial region of the circuit device.

[0036] The spatial regions of the sub-channel areas are combined to obtain the spatial region division model of the public channel.

[0037] Furthermore, selecting the spatial region division model component of the target monitoring area and combining it to generate the 3D irregular-shaped electronic fence of the target monitoring area further includes:

[0038] Based on the target monitoring area, select the corresponding spatial region division model component to construct spatial region model groups;

[0039] The spatial region division model components within the spatial region model group are merged, and the outer surface of the merged model is calculated to obtain the 3D irregular electronic fence.

[0040] On the other hand, embodiments of this specification also provide a device for generating a 3D irregular-shaped electronic fence for a substation, the device comprising:

[0041] The substation scanning unit is used to scan the substation and obtain a scaled point cloud model of the substation.

[0042] A 3D digital model building unit is used to build a 3D digital model of the substation based on the scaled point cloud model.

[0043] A spatial region division model component generation unit is used to construct multiple spatial region division model components based on the 3D digital model.

[0044] The 3D irregular-shaped electronic fence generation unit is used to select the spatial area division model component of the target monitoring area and combine it to generate the 3D irregular-shaped electronic fence of the target monitoring area.

[0045] On the other hand, embodiments of this specification also provide a computer device, including a memory, a processor, and a computer program stored in the memory, wherein the computer program, when run by the processor, executes instructions according to the method described above.

[0046] Using the embodiments of this specification, a 3D irregular-shaped electronic fence composed of "3D irregular-shaped building blocks" can be obtained. Compared with the regular-shaped electronic fences in the prior art, the 3D irregular-shaped electronic fence of the embodiments of this specification can more accurately and meticulously describe the boundary of the electronic fence in the spatial area, improve the accuracy of monitoring and control, and reduce the probability of risk in "fuzzy spatial areas". Attached Figure Description

[0047] To more clearly illustrate the technical solutions in the embodiments or prior art described herein, the accompanying drawings used in the description of the embodiments or prior art will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this article. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0048] Figure 1 The diagram shown is a flowchart illustrating a method for generating a 3D irregular-shaped electronic fence for a substation, according to an embodiment of this specification.

[0049] Figure 2 The figure shown is a schematic diagram of a scaled point cloud model of a substation in an embodiment of this specification.

[0050] Figure 3 The image shown is an import effect diagram of the proportional point cloud model in the embodiments of this specification;

[0051] Figure 4 , Figure 5 and Figure 6 The image shown is an illustration of the effect of overlapping a proportional point cloud model with a constructed 3D digital model in an embodiment of this specification.

[0052] Figure 7 The diagram shown is a flowchart illustrating the process of constructing a spatial region division model based on the 3D digital model in an embodiment of this specification.

[0053] Figure 8 The diagram shown is a schematic of the busbar in the 3D digital model of the embodiment of this specification;

[0054] Figure 9 The image shows the effect of placing a energized spacer ball at the energized end of the busbar in an embodiment of this specification.

[0055] Figure 10 The diagram shown is an example of placing charged space spheres at charged endpoints and equidistant positions in an embodiment of this specification.

[0056] Figure 11 The diagram shown is a schematic of the energized space occupant sphere and space region division model component of the busbar in the embodiments of this specification;

[0057] Figure 12 The diagram shown is a schematic of the contact point of the disconnect switch in the power link within the interval in an embodiment of this specification.

[0058] Figure 13 The diagram shown is a schematic diagram of two minimum power links within the interval in an embodiment of this specification.

[0059] Figure 14 The diagram shown is a schematic diagram of all the charged space occupant balls and space regions of the right-side incoming circuit in the embodiment of this specification;

[0060] Figure 15 The diagram shown is a schematic diagram of all the energized space spheres of the conductor circuit connected to the busbar on the left side in the embodiment of this specification;

[0061] Figure 16 The diagram shown is a schematic diagram of all the energized space spheres and space regions of the conductor circuit connected to the busbar on the left side in the embodiment of this specification;

[0062] Figure 17 and 18The diagram shown is a schematic of a spatial region division model component obtained by combining the spatial region of the right-side incoming circuit and the spatial region of the left-side conductor circuit connected to the busbar in an embodiment of this specification.

[0063] Figure 19 The diagram shown is a schematic diagram of the spatial area division model component corresponding to the public passage in the embodiments of this specification;

[0064] Figure 20 , Figure 21 and Figure 22 The diagram shown is a schematic diagram of the combination of the spatial region division model component of the dynamic tag and the spatial region division model component of the adjacent charged tag in the embodiment of the specification.

[0065] Figure 23 The diagram shown is a schematic diagram of the spatial region model grouping in the embodiments of this specification;

[0066] Figure 24 and Figure 25 The diagram shown is a schematic of a 3D irregular-shaped electronic fence in an embodiment of this specification;

[0067] Figure 26 The diagram shown is a structural schematic of the device for generating a 3D irregular-shaped electronic fence for a substation in this embodiment.

[0068] Figure 27 The diagram shown is a structural schematic of the computer device in this embodiment.

[0069] [Explanation of Figure Markers]:

[0070] 10. Substation scanning unit;

[0071] 11. 3D digital model building unit;

[0072] 12. Spatial region division model component generation unit;

[0073] 13. 3D irregular-shaped electronic fence generation unit;

[0074] 1102. Computer equipment;

[0075] 1104. Processing equipment;

[0076] 1106. Storage resources;

[0077] 1108. Drive mechanism;

[0078] 1110. Input / output module;

[0079] 1112. Input devices;

[0080] 1114. Output devices;

[0081] 1116. Presentation device;

[0082] 1118. Graphical User Interface;

[0083] 1120. Network interface;

[0084] 1122. Communication link;

[0085] 1124. Communication bus. Detailed Implementation

[0086] The technical solutions in the embodiments described below will be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments described herein, and not all of the embodiments. Based on the embodiments described herein, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this document.

[0087] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings herein are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, apparatus, product, or device that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or devices.

[0088] It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases the steps shown or described may be executed in a different order than that shown here.

[0089] To address the problems existing in the prior art, this specification provides a method, apparatus, and equipment for generating a 3D irregular-shaped electronic fence for substations. The method described in this specification enables the generation of a 3D irregular-shaped electronic fence composed of "3D irregular-shaped building blocks." Figure 1The diagram illustrates a method for generating a 3D irregularly shaped electronic fence for a substation, as described in this embodiment. While the process of generating the 3D irregularly shaped electronic fence is illustrated, it can involve more or fewer steps based on conventional or non-creative methods. The order of steps listed in the embodiment is merely one possible execution order among many and does not represent the only possible order. In actual system or device products, the methods shown in the embodiment or accompanying drawings can be executed sequentially or in parallel. Specifically, as shown... Figure 1 As shown, the method may include:

[0090] Step 101: Scan the substation to obtain a scaled point cloud model of the substation;

[0091] Step 102: Construct a 3D digital model of the substation based on the scaled point cloud model;

[0092] Step 103: Construct multiple spatial region division model components based on the 3D digital model;

[0093] Step 104: Select the spatial region division model component of the target monitoring area and combine it to generate a 3D irregular electronic fence for the target monitoring area.

[0094] In the embodiments described in this specification, the substation can first be scanned and reconstructed using SLAM technology to obtain a scaled point cloud model of the substation. Specifically, the physical entity of the substation is modeled and replicated at a scaled ratio to serve as a reference target for subsequently constructing a 3D digital model of the substation, and a basic 3D coordinate system for the substation is established.

[0095] A mobile LiDAR scanning device integrating SLAM (Simultaneous Localization and Mapping) technology was used to perform a 3D scan of the substation, obtaining raw point cloud data of the substation. The scale unit is consistent with the real environment, all in metric units. Subsequently, a series of post-processing procedures, such as coordinate system correction and removal of irrelevant content, were performed on the raw scan data to finally obtain a scaled-down 3D point cloud model of the substation.

[0096] For example, a scaled-down point cloud model of a substation can be as follows: Figure 2 As shown.

[0097] In some other embodiments of this specification, video image data of the substation (i.e., video images of the substation) can also be collected, thereby providing reference and adjustments for the subsequent construction of the 3D digital model of the substation based on the video image data of the substation. Specifically, after scanning and modeling the substation, video image acquisition devices such as drones and handheld cameras are used to collect and record the global and detailed equipment connection status of the substation (including video images from a global perspective and video images from a local perspective of the substation), for reference and adjustments during subsequent modeling. By collecting detailed data on the various devices within the substation and the connection status between them from both global and local perspectives, a holistic understanding from the global macro to the local micro is provided for subsequent modeling, improving the accuracy of the subsequent 3D digital model and spatial region division model components.

[0098] Then, a 3D digital model of the substation is constructed.

[0099] Considering the later software system's requirements for displaying the substation model and the visualization analysis and positioning effects when constructing spatial area division model components, a 3D digital model needs to be built based on the scaled point cloud model. The specific process may include:

[0100] 1. Preprocess the scaled point cloud model to ensure it can be successfully imported into the model building software;

[0101] The data content in a scaled point cloud model is a set of three-dimensional point coordinates—[(x1,y1,z1),(x2,y2,z2),...]. Some modeling software does not support direct import. In addition, considering the large file size of scaled point cloud models and the performance of the host machine of the modeling software, it is necessary to perform preprocessing operations such as downsampling and data content format conversion on the scaled point cloud model before it can be successfully imported into the modeling software for visualization.

[0102] like Figure 3 As shown Figure 2 The imported effect diagram of the scaled point cloud model. Figure 3 The green section represents the display effect after the scaled point cloud model is imported into the modeling software. Figure 2 The content of the medium-scale point cloud model is completely identical.

[0103] 2. While ensuring that the coordinate system of the scaled point cloud model remains unchanged, construct the models of each major part within the scaled point cloud model;

[0104] To ensure that the content of the constructed 3D digital model of the substation and its coordinate system are completely consistent with the coordinate system of the original point cloud model, no pose transformation should be performed on the imported point cloud model.

[0105] Then, based on the original dense point cloud model (before downsampling, loaded and viewed using other software tools) and video image materials collected by drones and other devices as references, and in accordance with the shape and location of various target modeling objects in the proportional point cloud model in the modeling software, a 3D digital model is constructed (based on basic models such as cuboids, cylinders, and spheres, with adjustments to size and shape).

[0106] like Figure 4 and Figure 5 This shows the effect of overlaying a scaled-down point cloud model (green area) with a constructed 3D digital model. From... Figure 4 and Figure 5 As can be seen, the equipment objects (houses, electrical equipment, high-voltage lines, etc.) in the two model scenarios completely overlap, achieving the target requirements.

[0107] The final scaled point cloud model and the 3D digital model overlap as shown in the image. Figure 6 As shown.

[0108] Then, a spatial region partitioning model component is constructed. In the embodiments described in this specification, such as... Figure 7 As shown, constructing a spatial region division model based on the 3D digital model further includes:

[0109] Step 701: Based on the safety distance requirements of the circuit equipment in the 3D digital model and the connectivity of the circuit equipment, the discharge space range of each circuit equipment in the substation is irregularly wrapped and covered to obtain the spatial region division model component of each circuit equipment, and the electrical attribute label is configured.

[0110] Step 702: Construct a spatial region division model component for the empty space regions in the 3D digital model, excluding the spatial region division model component carrying the charged attribute label, in a filling manner, and configure dynamic attribute labels.

[0111] In the embodiments of this specification, safety regulations and other indicative materials can be identified, and the safety distance requirements for different voltage levels and different energized equipment can be extracted. For example, the busbar in a substation, which is the main current conductor of high-voltage electricity in the substation, is generally a metal cylinder with a diameter of 10-15 cm and a variable length. Depending on the voltage level it conducts, the distance (energized radius) of the energized space around it also varies. Identifying safety regulations and other indicative materials, for example, reveals that the discharge distance of a 220KV busbar is 3 meters, meaning that workers need to be at least 3 meters away from the 220KV busbar to ensure safety.

[0112] The circuits within a substation can be divided based on the connectivity of the circuit equipment. For example, the contact points of disconnect switches in a power line can be used as physical dividing points to divide the power line into multiple line devices.

[0113] The discharge space of each circuit device is wrapped and covered in the form of "irregularly shaped building blocks" and labeled with a live tag. Then, using "dynamic" attribute tags, the empty space areas outside the spatial region division model components with "live" attribute tags within the substation are also constructed using irregularly shaped surface models. These empty space areas are filled into spatial region division model components, and dynamic attribute tags are configured to ensure that the entire 3D space within the substation is controlled, with no uncontrolled spaces. For example, a dynamic attribute tag spatial region division model is generated in the empty space area between the lower surface of each circuit device's spatial region division model component and the ground, or in the empty space area between the side surface of the circuit device's spatial region division model component and the side boundary of the 3D digital model. The correspondence between the dynamic attribute tag spatial region division model components and the corresponding circuit device's spatial region division model components can also be configured, or the positional relationship between the dynamic attribute tag spatial region division model components and the circuit device's spatial region division model components can be configured.

[0114] Finally, all the 3D space within the entire substation was divided, resulting in multiple spatial region division model components.

[0115] The equipment maintenance area within a substation is usually logically divided using the term "interval". Within an interval, there are usually multiple spatial areas with energized and dynamic attribute labels.

[0116] Besides intervals, there are several other types of division (other categories can also be used, but this specification does not limit the examples), as defined in Table 1:

[0117] Table 1

[0118]

[0119]

[0120] The entire space within the substation can be summarized as consisting of several bays, a large power link, a common passageway, an equipment room, and dynamic spaces.

[0121] According to one embodiment of this specification, the circuit device includes a busbar.

[0122] Furthermore, based on the safety distance requirements of the circuit equipment in the 3D digital model and the connectivity of the circuit equipment, the discharge space range of each segment of circuit equipment in the substation is irregularly wrapped and covered to obtain the spatial region division model component for each segment of circuit equipment, which further includes:

[0123] Determine the energized endpoints of the busbar;

[0124] Using the charged endpoint as the center of the sphere and the safety distance corresponding to the safety distance requirement of the busbar as the radius, a charged space occupant sphere is generated to enclose the charged endpoint.

[0125] Between two adjacent charged endpoints of the same busbar, multiple charged space occupant spheres of the same radius are placed at equal intervals and uniformly.

[0126] The spatial region division model component of the busbar is constructed based on the charged space occupant sphere.

[0127] In the embodiments described in this specification, such as Figure 8 The image shown is a schematic diagram of the busbar in a 3D digital model. Figure 8 The red, green, and yellow lines represent a busbar segment, and the arrows point to one of the live terminals of each of the three busbars. The three colors represent three different phases of the circuit (analogous to: neutral wire, live wire, and ground wire).

[0128] Then, based on the actual physical connection of the circuit and safety specifications, the safety distance requirements for the busbar are determined. Using the energized endpoint as the center and the corresponding safety distance requirement for the busbar as the radius, a energized space sphere is generated to enclose the energized endpoint.

[0129] like Figure 9 The image shows the effect of placing a energized space sphere at the energized end of the busbar. The center of the energized space sphere is located at the selected energized end, and the radius of the energized space sphere is the discharge distance determined by safety regulations and other guiding materials (e.g., the discharge distance for 220kV equipment is 3 meters) – the closest distance that can prevent electric shock accidents when the equipment is energized.

[0130] Then, between two adjacent energized endpoints of the same busbar, multiple energized space spheres of the same radius are placed at equal intervals. Specifically, energized space spheres of the same radius (with their centers located at the energized endpoints or on the busbar) are placed at equal intervals between other energized endpoints of the busbar (energized endpoints include, but are not limited to, the physical ends of the busbar's metal cylinder, and the static contacts of some knife switches fixed on the busbar cylinder are also considered energized endpoints) and between two adjacent energized endpoints, thus initially constructing the energized space region of the current busbar with these energized space spheres.

[0131] like Figure 10The diagram shown is an example of placing charged space spheres at equidistant locations according to their charged endpoints. Figure 10 (In the example, not all the energized space spheres for the busbars are placed; this is just an example.)

[0132] Then, based on the charged space occupant sphere, a spatial region division model component for the busbar is constructed.

[0133] In the embodiments of this specification, the component for constructing a spatial region partitioning model of the busbar based on a charged space occupant sphere further includes:

[0134] Construct a minimum bounding model of the set of all charged space occupant spheres of the busbar to obtain the spatial region partitioning model component of the busbar.

[0135] Specifically, after placing all the charged space occupant spheres, when constructing the spatial region partitioning model component for the busbar, the number of faces of the constructed spatial region partitioning model component is minimized (for example, the spatial region partitioning model component for the busbar has 6 faces, including a bottom face, a top face, and 4 side faces). Simultaneously, the faces of the spatial region partitioning model component are tangent to the outer surface of the charged space occupant spheres (each face is tangent to at least one charged space occupant sphere closest to it). Finally, a minimum enclosing model for the current set of charged space occupant spheres is constructed. This model, based on the actual distribution of the occupant spheres, has an overall shape resembling "irregularly shaped building blocks" (a schematic diagram of the charged space occupant spheres of the busbar and the spatial region partitioning model component is shown below). Figure 11 As shown, due to the special characteristics of the busbar, the constructed model is a cuboid shape.

[0136] In the embodiments described in this specification, the method further includes:

[0137] The interval is divided into minimum power link segments based on the connectivity of the lines within the interval;

[0138] Determine the energized endpoints of each minimum power link;

[0139] Using the charged endpoint as the center of the sphere and the safety distance corresponding to the current minimum power link safety distance requirement as the radius, a charged space occupant sphere is generated to enclose the charged endpoint.

[0140] Between two adjacent charged endpoints of the same minimum power link, multiple charged space spheres of the same radius are placed at equal intervals and uniformly.

[0141] Construct a minimum bounding model of the set of all charged space occupant spheres that make up the minimum power link, and obtain the spatial region of the minimum power link;

[0142] By combining the spatial regions of all the smallest power links, the spatial region partitioning model component of the interval is obtained.

[0143] In the embodiments of this specification, an interval represents the smallest power outage space unit during maintenance, and dividing the interval into minimum power link units based on the connectivity of the lines within the interval further includes:

[0144] Based on the operation of the disconnect switches of the lines in the interval during maintenance work, the lines in the interval are divided into minimum power links.

[0145] For example, a disconnect switch is one of the commonly used switching devices for controlling the opening and closing of control circuits in substations. When the disconnect switch is closed, the circuit is connected; when the disconnect switch is open, the circuit is disconnected. For each phase of a three-phase circuit, along the direction of current inflow or outflow, first determine the switching device in that phase and the location of its connecting contact point (e.g., the location of the static contact). Then, the line between two adjacent switching devices is the minimum power link, and the contact points at both ends of this minimum power link are the energized endpoints. In the embodiments of this specification, the energized endpoints can be switch contacts or points that are clearly protruding or at corners in the power link.

[0146] like Figure 12 As shown, the yellow, green, and red arrows indicate the static contacts of the disconnect switch, which are also one of the energized endpoints in the current power link segment. Based on the disconnect switch, the bay can be divided into two power links (i.e., the minimum power links), as shown in the diagram. Figure 13 As shown, it includes the right-side incoming line circuit and the left-side conductor circuit connected to the busbar.

[0147] Then, the charged endpoints of each minimum power link are determined, and the charged endpoints are used as the center of a sphere. The radius is the safety distance corresponding to the safety distance requirement of the current minimum power link. A charged space occupant sphere is generated to enclose the charged endpoints. Multiple charged space occupant spheres with the same radius are placed at equal intervals between two adjacent charged endpoints of the same minimum power link. The minimum enclosing model of the occupant sphere set composed of all charged space occupant spheres of the minimum power link is constructed to obtain the spatial region of the minimum power link.

[0148] like Figure 14The diagram shows all the charged space occupant spheres and spatial regions of the right-side incoming circuit. In this embodiment, corresponding charged space occupant spheres are placed at each charged endpoint of the right-side incoming circuit to mark the charged spatial range of the circuit. Then, based on the principle of constructing a minimum bounding model described above—to minimize the number of faces in the constructed spatial region (for example, the steps for determining the number of faces in the spatial region include: minimizing the number of triangular faces in the current triangular mesh model (i.e., the current charged spatial region model). A triangular mesh model is essentially composed of a series of triangles; for example, a single two-dimensional rectangular face is composed of 1*2 triangles, and a three-dimensional cuboid is composed of 6*2 triangles. By reducing the number of faces... Low model complexity reduces the total computational load between subsequent radar point clouds and triangular facets in the model. However, a decrease in the number of triangular facets in the triangular mesh model will inevitably lead to a decrease in the spatial positioning accuracy of the currently constructed charged spatial region model. Therefore, a balanced approach is necessary, prioritizing the complete coverage of the charged spatial region of the power link. There is no fixed limit to the number of triangular facets in the triangular mesh model (the specific number of facets can be generated statistically by the modeling software). Simultaneously, the facets of the spatial region are tangent to the outer surface of the charged spatial occupant sphere (the corresponding facet is tangent to at least one charged spatial occupant sphere closest to that face), constructing a minimum enclosing model for the current set of charged spatial occupant spheres, thus obtaining the spatial region of the right-side incoming circuit.

[0149] In addition, from Figure 14 As can be seen, the area directly below the current right-side incoming circuit space is in a "blank" state. The space area partitioning model component with dynamic attribute labels will be filled in this area later.

[0150] like Figure 15 The diagram shows all the energized space spheres in the conductor circuit connected to the busbar on the left. Identify the energized endpoints in the conductor circuit connected to the busbar on the left (there can be more than two energized endpoints in a conductor link) and place the corresponding energized space spheres. Between two adjacent energized endpoints in the same conductor circuit, place multiple energized space spheres of the same radius at equal intervals to mark the energized space range of the conductor circuit connected to the busbar on the left.

[0151] like Figure 16 The diagram shows all the charged space spheres and spatial regions of the conductor circuit connected to the busbar on the left. Then, based on the principle of constructing a minimum enclosing model described above, the spatial region of the conductor circuit connected to the busbar on the left is constructed.

[0152] Finally, the spatial regions of all the smallest power links are combined to obtain the spatial region partitioning model component for the interval. For example... Figure 17 and 18The diagram shows a spatial region division model component obtained by combining the spatial region of the right-side incoming circuit and the spatial region of the left-side conductor circuit connected to the busbar. Figure 17 and Figure 18 The model displays the combined spatial area of ​​the incoming circuit on the right and the spatial area of ​​the conductor circuit connected to the busbar on the left. Furthermore, at the connection point of these two links, the two models overlap to some extent. This overlap is generally due to the intersection of energized space occupant spheres, meaning that the energized ranges of the equipment overlap to a certain extent. This overlap not only ensures that all spatial areas within the entire substation are under control, but it is also crucial for the subsequent construction of a 3D irregularly shaped electronic fence.

[0153] According to one embodiment of this specification, the substation also includes a public passageway;

[0154] The method further includes:

[0155] The public passage is divided into multiple sub-passage areas depending on whether there are electrical devices above it;

[0156] If there are no electrical devices above the sub-channel area, the space area of ​​the sub-channel area is generated according to a predetermined height; wherein, the predetermined height can be set by the staff as needed.

[0157] If there is a circuit device above the sub-channel region, the spatial region of the sub-channel region is generated by dividing the lower surface height of the model component according to the spatial region of the circuit device.

[0158] The spatial regions of the sub-channel areas are combined to obtain the spatial region division model component of the public channel.

[0159] like Figure 19 The diagram shows a schematic of the spatial area division model components corresponding to a public passageway. The yellow portion represents the spatial area division model components of the public passageway, and their maximum achievable height is determined by the surrounding spatial environment. If there are no electrical devices or power links above the passageway, the top of the passageway model is raised to a uniform, specified height. Otherwise, the top height of the passageway model corresponding to the current road segment is limited by the height of the lower surface of the energized spatial area model above it.

[0160] Within the current interval area, in addition to the completed spatial area division model components for charged tags and the spatial area division model components for public passages, there are still uncontrolled gap spaces in a "blank" state. Fill-in model construction is carried out for these gap spaces, and the construction principle is still to keep the number of faces to a minimum while completely filling the "blank" areas.

[0161] The spatial region partitioning model component of the generated dynamic tag also overlaps to some extent with the spatial region partitioning model component of the adjacent charged tag.

[0162] like Figure 20 , Figure 21 and Figure 22 The diagram shows the combination of the spatial region division model component of the dynamic tag and the spatial region division model component of the adjacent charged tag. The blue part is the spatial region division model component of the dynamic tag that has been filled and constructed. Together with the spatial region division model components of the charged tags of the two power links that were constructed earlier (red parts), they form the complete spatial region division model component within the current interval.

[0163] Finally, a 3D irregular-shaped electronic fence is generated. According to one embodiment of this specification, selecting the spatial region division model component of the target monitoring area and combining it to generate the 3D irregular-shaped electronic fence of the target monitoring area further includes:

[0164] Based on the target monitoring area, select the corresponding spatial region division model component to construct spatial region model groups;

[0165] The spatial region division model components within the spatial region model group are merged, and the outer surface of the merged model is calculated to obtain the 3D irregular electronic fence.

[0166] In the embodiments of this specification, after the construction of all spatial area division model components within the substation is completed, the target 3D irregular electronic fence is generated by selecting and combining the relevant spatial area division model components within the target interval or other range areas.

[0167] First, spatial area model grouping is constructed. After the overall spatial area within the substation is divided, the areas are coarsely divided according to intervals and similar logical classification levels based on business logic requirements. Then, the smallest model units within each range are grouped. For example, the steps for coarsely dividing the areas according to intervals and similar logical classification levels include: the interval division needs to be defined in conjunction with the specific power link operation and configuration within the substation. Similarly, it can also include logical concept areas such as "bus lines," "incoming / outgoing lines," "transformer areas," and "capacitor areas," which are designed based on the specific configuration and functions within the substation. These areas may overlap to some extent, and each area may contain several (0 to N) "interval" spaces. Therefore, the areas are coarsely divided according to the interval and logical concept area boundaries.

[0168] like Figure 23As shown, the spatial area division model component includes two electrical tag-based components (red part) and two dynamic tag-based components (blue part). These four spatial area division model components belong to the current group. If there are multiple maintenance work areas simultaneously, they can be processed separately to form multiple groups, with each group being independent of the others.

[0169] Then, all spatial region partitioning model components within the group are merged. After determining all spatial region partitioning model components within the current group, the overlapping state between adjacent models is used, combined with algorithms related to polygon mesh model processing (such as the relevant methods in the Corefinement module of the open-source library CGAL), to recalculate and generate the outer surface model of all spatial region partitioning model components within the current group. That is, the intersecting parts are deleted, resulting in a 3D irregular bounding box. The outer surface model is also the target 3D irregular electronic fence.

[0170] Taking two spatial region partitioning model components as an example, when the two spatial region partitioning model components do not intersect, the merged outer surface model is the sum of the two spatial region partitioning model components (sum of face count, sum of vertex count, and sum of file size). When the two spatial region partitioning model components intersect, the merged outer surface model is all the outer surface parts that can be observed when the two spatial region partitioning model components intersect, and the hidden parts inside the intersection will be deleted.

[0171] The "intersection" state of the spatial region division model components is mainly based on the actual spatial division requirements. First, it is necessary to ensure that there are no uncontrolled spatial regions in the overall 3D space of the substation after the spatial region division is completed. Second, the energized spatial regions of each power equipment basically have overlapping parts, that is, the energized spatial regions themselves have intersections.

[0172] Taking two intersecting spatial region partitioning model components as an example, the process of fusing them to obtain the outer surface model may include the following steps:

[0173] Step 1: Perform pairwise traversal checks on all triangular faces in the model component of the two intersecting spatial regions to calculate the set of all intersecting line segments;

[0174] Step 2: Divide the intersecting triangular facets into sub-triangular facets along the intersecting line segments to ensure that the intersection line becomes the edge of the new grid;

[0175] Step 3: Sequentially determine whether each sub-triangle facet in one spatial region partitioning model component is inside (invisible) another spatial region partitioning model component. If not, retain the sub-triangle facet; that is, only retain the sub-triangle facets that are all outside (visible) another spatial region partitioning model component.

[0176] Step 4: Remove duplicate vertices from the two spatial region partitioning model components, merge adjacent edges, and obtain the merged outer surface model.

[0177] For example, the resulting 3D irregularly shaped electronic fence can be as follows: Figure 24 and Figure 25 As shown, Figure 24 and Figure 25 The green part represents a 3D irregular-shaped electronic fence.

[0178] After obtaining the 3D irregular-shaped electronic fence, based on actual needs, the current electronic fence—the recalculated outer surface model—can be marked and saved for direct use next time.

[0179] In the embodiments of this specification, after obtaining the 3D irregular-shaped electronic fence, personnel safety protection can be carried out based on the 3D irregular-shaped electronic fence. For example, staff can only carry out power outage maintenance work within the range of the 3D irregular-shaped electronic fence when the circuit equipment is under power outage maintenance.

[0180] Based on the same inventive concept, embodiments of this specification also provide a device for generating 3D irregular-shaped electronic fences for substations, such as... Figure 26 As shown, the device includes:

[0181] The substation scanning unit 10 is used to scan the substation and obtain a scaled point cloud model of the substation.

[0182] The 3D digital model building unit 11 is used to build a 3D digital model of the substation based on the scale point cloud model.

[0183] Spatial region division model component generation unit 12 is used to construct multiple spatial region division model components based on the 3D digital model;

[0184] The 3D irregular electronic fence generation unit 13 is used to select the spatial area division model component of the target monitoring area and combine it to generate the 3D irregular electronic fence of the target monitoring area.

[0185] The beneficial effects obtained by the above-described device are the same as those obtained by the above-described method, and will not be described in detail in the embodiments of this specification.

[0186] like Figure 27The diagram illustrates the structure of a computer device according to an embodiment of the present invention. The methods described in this specification can be implemented in the computer device of this embodiment. The computer device 1102 may include one or more processing devices 1104, such as one or more central processing units (CPUs), each of which can implement one or more hardware threads. The computer device 1102 may also include any storage resource 1106 for storing information of any kind, such as code, settings, data, etc. Without limitation, for example, the storage resource 1106 may include any one or more combinations of: any type of RAM, any type of ROM, flash memory, hard disk, optical disk, etc. More generally, any storage resource can use any technology to store information. Further, any storage resource can provide volatile or non-volatile retention of information. Further, any storage resource may represent a fixed or removable component of the computer device 1102. In one case, when the processing device 1104 executes associated instructions stored in any storage resource or combination of storage resources, the computer device 1102 can perform any operation of the associated instructions. The computer device 1102 also includes one or more drive mechanisms 1108 for interacting with any storage resource, such as hard disk drive mechanism, optical disk drive mechanism, etc.

[0187] Computer device 1102 may also include an input / output module 1110 (I / O) for receiving various inputs (via input device 1112) and providing various outputs (via output device 1114). A specific output mechanism may include a presentation device 1116 and an associated graphical user interface (GUI) 1118. In other embodiments, the input / output module 1110 (I / O), input device 1112, and output device 1114 may be omitted, and the device may function solely as a computer device within a network. Computer device 1102 may also include one or more network interfaces 1120 for exchanging data with other devices via one or more communication links 1122. One or more communication buses 1124 couple the components described above together.

[0188] Communication link 1122 can be implemented in any way, such as via a local area network, a wide area network (e.g., the Internet), a point-to-point connection, or any combination thereof. Communication link 1122 may include any combination of hardwired links, wireless links, routers, gateway functions, name servers, etc., governed by any protocol or combination of protocols.

[0189] This embodiment also provides a computer-readable storage medium storing a computer program that is executed by a processor to perform the above-described methods.

[0190] This embodiment also provides a computer-readable instruction, wherein when a processor executes the instruction, the program therein causes the processor to perform the above-described method.

[0191] It should be understood that in the various embodiments of this document, the sequence number of each process does not imply 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 embodiments of this document.

[0192] It should also be understood that, in the embodiments herein, the term "and / or" is merely a description of the relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following associated objects have an "or" relationship.

[0193] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this document.

[0194] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0195] In the embodiments provided herein, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the couplings or direct couplings or communication connections shown or discussed may be indirect couplings or communication connections through some interfaces, devices, or units, or they may be electrical, mechanical, or other forms of connection.

[0196] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of the embodiments described herein, depending on actual needs.

[0197] Furthermore, the functional units in the various embodiments of this document can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0198] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this paper, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this paper. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0199] This document uses specific embodiments to illustrate the principles and implementation methods of this document. The descriptions of the embodiments above are only for the purpose of helping to understand the methods and core ideas of this document. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this document. Therefore, the content of this specification should not be construed as a limitation of this document.

Claims

1. A method for generating a 3D irregular-shaped electronic fence for a substation, characterized in that, The method includes: The substation is scanned to obtain a scaled point cloud model of the substation; A 3D digital model of the substation is constructed based on the proportional point cloud model. Construct multiple spatial region division model components based on the 3D digital model; Select the spatial region division model component of the target monitoring area and combine it to generate a 3D irregular electronic fence for the target monitoring area.

2. The method according to claim 1, characterized in that, The spatial region division model constructed based on the 3D digital model further includes: Based on the safety distance requirements of the circuit equipment in the 3D digital model and the connectivity of the circuit equipment, the discharge space range of each circuit equipment in the substation is irregularly wrapped and covered to obtain a spatial region division model component for each circuit equipment, and an electrical attribute label is configured. The spatial region division model component is constructed by filling the empty space regions in the 3D digital model, excluding the spatial region division model component carrying the charged attribute label, and dynamic attribute labels are configured.

3. The method according to claim 2, characterized in that, The circuit equipment includes a busbar; Based on the safety distance requirements and connectivity of the circuit equipment in the 3D digital model, the discharge space of each circuit equipment segment within the substation is irregularly wrapped and covered to obtain a spatial region division model component for each circuit equipment segment. This component further includes: Determine the energized endpoints of the busbar; Using the charged endpoint as the center of the sphere and the safety distance corresponding to the safety distance requirement of the busbar as the radius, a charged space occupant sphere is generated to enclose the charged endpoint. Between two adjacent charged endpoints of the same busbar, multiple charged space occupant spheres of the same radius are placed at equal intervals and uniformly. The spatial region division model component of the busbar is constructed based on the charged space occupant sphere.

4. The method according to claim 3, characterized in that, The spatial region partitioning model component for constructing the busbar based on the charged space occupant sphere further includes: Construct a minimum bounding model of the set of all charged space occupant spheres of the busbar to obtain the spatial region division model component of the busbar.

5. The method according to claim 2, characterized in that, The method further includes: The interval is divided into minimum power link segments based on the connectivity of the lines within the interval; Determine the energized endpoints of each minimum power link; Using the charged endpoint as the center of the sphere and the safety distance corresponding to the current minimum power link safety distance requirement as the radius, a charged space occupant sphere is generated to enclose the charged endpoint. Between two adjacent charged endpoints of the same minimum power link, multiple charged space spheres of the same radius are placed at equal intervals and uniformly. Construct a minimum bounding model of the set of all charged space occupant spheres that make up the minimum power link, and obtain the spatial region of the minimum power link; By combining the spatial regions of all the smallest power links, the spatial region partitioning model component of the interval is obtained.

6. The method according to claim 5, characterized in that, The minimum power link division of the interval based on the connectivity of the lines in the interval further includes: Based on the operation of the disconnect switches of the lines in the interval during maintenance work, the lines in the interval are divided into minimum power links.

7. The method according to claim 2, characterized in that, The substation also includes a public passageway; The method further includes: The public passage is divided into multiple sub-passage areas depending on whether there are electrical devices above it; If there are no circuit devices above the sub-channel area, the spatial area of ​​the sub-channel area is generated according to a predetermined height; If there is a circuit device above the sub-channel region, the spatial region of the sub-channel region is generated by dividing the lower surface height of the model component according to the spatial region of the circuit device. The spatial regions of the sub-channel areas are combined to obtain the spatial region division model component of the public channel.

8. The method according to claim 1, characterized in that, Selecting the spatial region division model component of the target monitoring area and combining it to generate the 3D irregular-shaped electronic fence of the target monitoring area further includes: Based on the target monitoring area, select the corresponding spatial region division model component to construct spatial region model groups; The spatial region division model components within the spatial region model group are merged, and the outer surface of the merged model is calculated to obtain the 3D irregular electronic fence.

9. A device for generating a 3D irregular-shaped electronic fence for a substation, characterized in that, The device includes: The substation scanning unit is used to scan the substation and obtain a scaled point cloud model of the substation. A 3D digital model building unit is used to build a 3D digital model of the substation based on the scaled point cloud model. A spatial region division model component generation unit is used to construct multiple spatial region division model components based on the 3D digital model. The 3D irregular-shaped electronic fence generation unit is used to select the spatial area division model component of the target monitoring area and combine it to generate the 3D irregular-shaped electronic fence of the target monitoring area.

10. A computer device comprising a memory, a processor, and a computer program stored in the memory, characterized in that, When the computer program is run by the processor, it executes the instructions of the method according to any one of claims 1-8.

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