Electric power facility risk early warning method and system, terminal and storage medium

Abstract

The invention belongs to the technical field of power grid safety, and particularly relates to a power facility risk early warning method and system, a terminal and a storage medium, and the method comprises the steps: collecting point cloud data of a power facility and a surrounding environment, building a power grid digital twin model based on the collected point cloud data, and drawing an electronic fence on the model, and an accurate space reference is provided for foreign matter intrusion detection. By monitoring and comparing the distance between the foreign matter and the electronic fence in real time and combining with the preset safety distance threshold, the foreign matter invasion risk can be found and early warned in time. And the captured foreign matter invasion picture is automatically analyzed by using a preset foreign matter invasion algorithm, and an analysis result containing the foreign matter type and the invasion mode is output, so that the accuracy and the pertinence of risk early warning are further enhanced.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of power grid safety, and particularly relates to a power facility risk early warning method, system, terminal and storage medium. BACKGROUND

[0002] As a core component of the power system, the safety and stability of power facilities are directly related to the reliable supply of electricity and the safety of life and property of the public. However, in remote areas or complex environments, power facilities face many potential risks, of which external damage and foreign object intrusion are the two major problems.

[0003] Traditionally, the monitoring and maintenance of power facilities mainly rely on manual patrols, but this approach is not only inefficient, but also difficult to fully cover all potential risk points. Especially in remote areas, due to the limitations of manpower and technical resources, the patrol cycle of power facilities is often long, making it difficult to discover and handle abnormal situations in a timely manner. Once the power facilities are damaged by external forces or invaded by foreign objects, it may cause power outages, equipment damage, and even safety accidents, causing significant losses to society and economy.

[0004] In order to improve the safety monitoring level of power facilities, some new technologies have begun to be applied in this field in recent years. However, the existing technical means still have many shortcomings. For example, although some monitoring systems can monitor the status of power facilities in real time, they often can only provide two-dimensional image information, making it difficult to accurately determine the type and degree of intrusion of foreign objects. SUMMARY

[0005] In view of the defects in the prior art that the monitoring of power facilities based on two-dimensional images cannot accurately determine the type and degree of intrusion of foreign objects, the present application provides a power facility risk early warning method, system, terminal and storage medium to solve the above technical problems.

[0006] In a first aspect, the present application provides a power facility risk early warning method, comprising: collecting point cloud data of the power facility and its surrounding environment; building a power grid digital twin model based on the collected point cloud data, and drawing an electronic fence of the power facility safety area on the built power grid digital twin model; installing a 3D camera device around the tower and line of the power facility, collecting the three-dimensional coordinates of foreign objects close to the electronic fence, and converting the collected three-dimensional coordinates into absolute coordinates; comparing the absolute coordinates of the foreign object with the boundary value coordinates of the electronic fence to determine whether the distance between the foreign object and the electronic fence meets the preset electronic fence safety distance; If not, it is determined that there is a risk of foreign object intrusion, and the picture capture mode of the 3D camera device is started to capture the foreign object intrusion picture; According to the preset foreign matter intrusion algorithm, the captured foreign matter intrusion picture is automatically analyzed, and the analysis result containing the intrusion foreign matter type is output; According to the analysis result, the risk warning level is determined, and the alarm information containing the analysis result and the warning level is sent to the display screen and the mobile terminal.

[0007] The further improvement of the technical scheme is that the point cloud data of the power facility and the surrounding environment is collected, and the method specifically includes: The unmanned aerial vehicle carries a laser radar to scan the target power facility and the surrounding environment according to a preset flight trajectory, and generates point cloud data; at the same time, the flight parameters of the unmanned aerial vehicle and the collected point cloud data are saved synchronously; the flight parameters include the flight trajectory, the real-time flight height and the real-time flight speed of the unmanned aerial vehicle.

[0008] The further improvement of the technical scheme is that the power grid digital twin model is built based on the collected point cloud data, and the method specifically includes: The point cloud data collected from multiple perspectives is unified to the same coordinate system by using a pre-stored iterative closest point algorithm, and is preprocessed; Based on the preprocessed point cloud data, a preset clustering segmentation algorithm is used to distinguish the power facility point cloud from the surrounding environment point cloud, and identify various power facility components; the power facility components include towers, lines and insulators; For different power facility components, their geometric features are extracted, and the topological features between the power facility components are extracted; the geometric features include shape, size and position relationship; According to the extracted geometric features and topological features, a three-dimensional geometric model of the power facility is created by using Bentley Substation, and a model body corresponding to the power facility component is built according to the real proportion and actual position relationship; The physical properties of each power facility component corresponding model body are given on the three-dimensional geometric model; the physical properties include material properties and electrical parameters; The operation data of each power facility component is associated and bound with the three-dimensional geometric model, and the building of the power grid digital twin model is completed; the operation state includes current, voltage and temperature.

[0009] The further improvement of the technical scheme is that according to the preset Faster RCNN foreign matter intrusion algorithm, the captured foreign matter intrusion picture is automatically analyzed, and the analysis result containing the foreign matter intrusion mode is output; the foreign matter intrusion mode includes foreign matter collision with power facility, construction excavation and line foreign matter.

[0010] In a second aspect, the present application provides a power facility risk early warning system, comprising a data acquisition module, a data transmission module, a data processing and analysis module, and an application display module; the data acquisition module is connected to the input end of the data processing and analysis module through the data transmission module, the application display module is connected to the output end of the data processing and analysis module, and the data processing and analysis module is connected to an external mobile terminal through the data transmission module; The data acquisition module comprises a 3D camera device and a UAV equipped with a laser radar, which are respectively used to acquire the three-dimensional coordinates of the foreign matter close to the electronic fence and to acquire the point cloud data of the power facility and its surrounding environment; The data transmission module is used to transmit the data acquired by the data acquisition module to the data processing and analysis module, and to transmit the analysis results of the data processing and analysis module to the external mobile terminal; The data processing and analysis module is used to build a power grid digital twin model based on the received point cloud data, and to draw an electronic fence of the power facility safety area on the built power grid digital twin model; it is used to judge whether the power facility has a foreign matter intrusion risk based on the received three-dimensional coordinates of the foreign matter close to the electronic fence and the drawn electronic fence, and to control the 3D camera device to capture the foreign matter intrusion picture when it is judged that there is a foreign matter intrusion risk; and to determine the risk warning level based on the foreign matter intrusion picture; The application display module comprises a display screen device, which is used to display the alarm information output by the data processing and analysis module, including the analysis results and the warning level.

[0011] Further improvements of the technical solution are that the data analysis module comprises a point cloud data preprocessing unit, an intrusion picture preprocessing unit, and a single-chip microcomputer, the 3D camera device is connected to the input end of the single-chip microcomputer through the intrusion picture preprocessing unit; the point cloud data preprocessing unit comprises a filter amplification circuit and an analog-to-digital conversion circuit; the laser radar is connected to the input end of the single-chip microcomputer through the filter amplification circuit and the analog-to-digital conversion circuit in sequence.

[0012] Further improvements of the technical solution are that the filter amplification circuit comprises a capacitor C1, a resistor R1, a capacitor C2, a capacitor C3, an amplifier U1, a resistor R2, a resistor R3, a resistor R4, a resistor R5, a capacitor C4, a resistor R6, an amplifier U2, a resistor R7, a resistor R8, a resistor R9, and a capacitor C5. The first end of the capacitor C1 is connected to the output end of the laser radar, the second end of the capacitor C1 is connected to the first end of the capacitor C2 and the first end of the capacitor C3 through the resistor R1, the second end of the capacitor C2 is connected to the non-inverting input end of the amplifier U1 and the first end of the resistor R2, the second end of the capacitor C3 and the second end of the resistor R2 are both grounded, the inverting input end of the amplifier U1 is grounded through the resistor R3, the output end of the amplifier U1 is connected to the first end of the resistor R4, the first end of the resistor R5 and the first end of the capacitor C4, the second end of the resistor R4 is connected to the first end of the capacitor C2, the second end of the resistor R5 is connected to the inverting input end of the amplifier U1, the second end of the capacitor C4 is connected to the inverting input end of the amplifier U2 through the resistor R6, the non-inverting input end of the amplifier U2 is connected to the first end of the resistor R7 and the first end of the resistor R8, the second end of the resistor R7 is connected to a 5V power supply, the second end of the resistor R8 is grounded, the output end of the amplifier U2 is connected to the first end of the resistor R9 and the first end of the capacitor C5, the second end of the resistor R9 is connected to the inverting input end of the amplifier U2, and the second end of the capacitor C5 is connected to an analog-to-digital conversion circuit.

[0013] Further improvements of the technical solution are that the analog-to-digital conversion circuit comprises an analog-to-digital conversion chip U3 of model AD7705.

[0014] In a third aspect, the present application provides a terminal, comprising: a processor and a memory, the memory is used for storing a computer program, the processor is used for calling and running the computer program from the memory, so that the terminal executes the method of the terminal described above.

[0015] In a fourth aspect, the present application provides a computer storage medium, wherein the computer readable storage medium stores instructions, when the instructions are run on a computer, the computer executes the method described in the above aspects.

[0016] The present application has the following beneficial effects: Improve monitoring accuracy and efficiency: by mounting the laser radar on the unmanned aerial vehicle to collect the point cloud data of the power facilities and their surrounding environment, combined with the 3D camera equipment, high-precision three-dimensional monitoring of the power facilities is realized. Compared with the traditional manual inspection, this method can more comprehensively and quickly cover all potential risk points, significantly improving the monitoring efficiency and accuracy.

[0017] Enhance risk warning capability: based on the collected point cloud data, build a digital twin model of the power grid, and draw an electronic fence on the model, which provides accurate spatial reference for foreign object intrusion detection. By monitoring and comparing the distance between the foreign object and the electronic fence in real time, combined with the preset safety distance threshold, the risk of foreign object intrusion can be discovered and warned in time. The preset foreign object intrusion algorithm is used to automatically analyze the captured foreign object intrusion picture, and the analysis result containing the type and intrusion mode of the foreign object is output, which further enhances the accuracy and pertinence of risk warning.

[0018] Improve operation efficiency and safety: the digital twin model not only realizes the three-dimensional visualization of the power grid facilities, but also is associated with the operation data of the power facility components, realizes dynamic updating and real-time monitoring. The operation and maintenance personnel can intuitively view the operation state of the power grid facilities through the digital twin model, and timely discover potential faults or abnormalities, improve the operation and maintenance efficiency. The risk warning system can automatically divide the risk warning level, and send the alarm information containing the analysis result and the warning level to the display screen and the mobile terminal, so as to facilitate the operation and maintenance personnel to respond quickly and take measures.

[0019] In addition, the design principle of the present application is reliable, the structure is simple, and it has very wide application prospect. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiment or prior art description. Obviously, for those skilled in the art, other drawings can also be obtained without creative labor based on these drawings.

[0021] Figure 1 The schematic flow chart of the method of one embodiment of the present application.

[0022] Figure 2 The schematic block diagram of the system of one embodiment of the present application.

[0023] Figure 3 The structural schematic diagram of the display screen device.

[0024] Figure 4 The mechanism schematic diagram of the dustproof mechanism storage cavity.

[0025] Figure 5 The Figure 4 The enlarged view of A in FIG. 8.

[0026] Figure 6 The principle diagram of the filter amplification circuit.

[0027] Figure 7 The principle diagram of the analog-to-digital conversion circuit.

[0028] Figure 8 A schematic structural diagram of a terminal is provided for an embodiment of the present application.

[0029] 310 is a display screen support, 311 is a storage cavity, 312 is a communication groove, 313 is a limiting groove, 320 is a display screen, 331 is a winding roller, 332 is a dust cloth, 333 is a motor, 334 is a limiting block, 335 is a limiting rod, 341 is a scraper, 342 is a first connecting plate, 343 is a second connecting plate, and 344 is a third connecting plate. DETAILED DESCRIPTION

[0030] In order to make the purpose, features and advantages of the present application more obvious and easy to understand, the technical solutions in the present application will be described clearly and completely below in combination with the drawings in the specific embodiments. Obviously, the embodiments described below are only some of the embodiments of the present application, but not all. Based on the embodiments in the present patent, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present patent.

[0031] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs. The terms used in the specification of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application.

[0032] The power facility risk early warning method provided by the embodiment of the present application is executed by a computer device, and accordingly, the power facility risk early warning system runs in the computer device.

[0033] Figure 1 is a schematic flowchart of the method of an embodiment of the present application. In the flowchart, Figure 1 The execution subject can be a power facility risk early warning system. According to different requirements, the order of steps in the flowchart can be changed, and some can be omitted.

[0034] As Figure 1 shown, the method comprises: Step 110, collecting point cloud data of the power facility and its surrounding environment; Step 120, building a power grid digital twin model based on the collected point cloud data, and drawing an electronic fence of a power facility safety area on the built power grid digital twin model; Step 130, installing a 3D camera device around the tower and line of the power facility, collecting three-dimensional coordinates of foreign matters close to the electronic fence, and converting the collected three-dimensional coordinates into absolute coordinates; Step 140, data comparison is performed between the absolute coordinates of the foreign matter and the boundary value coordinates of the electric fence, to determine whether the distance between the foreign matter and the electric fence satisfies the preset safe distance of the electric fence; if not, go to step 150; Step 150, it is determined that there is a risk of foreign matter intrusion, and a picture capture mode of the 3D camera device is started, and the foreign matter intrusion picture is captured; Step 160, the captured foreign matter intrusion picture is automatically analyzed according to a preset foreign matter intrusion algorithm, and an analysis result containing the type of the intrusion foreign matter is outputted; Step 170, a risk warning level is determined according to the analysis result, and alarm information containing the analysis result and the warning level is sent to the display screen and the mobile terminal.

[0035] In order to facilitate the understanding of the present application, the principle of the power facility risk warning method of the present application is described below, and the process of warning the risk of the power facility in the embodiment is described to further describe the power facility risk warning method provided by the present application.

[0036] Specifically, the point cloud data of the power facility and its surrounding environment is collected, and the method comprises: The unmanned aerial vehicle carries a laser radar to scan the target power facility and its surrounding environment according to the preset flight trajectory, and generates point cloud data; at the same time, the flight parameters of the unmanned aerial vehicle and the collected point cloud data are saved synchronously; the flight parameters include the flight trajectory, the real-time flight height and the real-time flight speed of the unmanned aerial vehicle.

[0037] An unmanned aerial vehicle with an RTK module, such as M300 RTK, is selected to ensure high-precision positioning and data collection; a laser radar (which also includes calibrating the laser radar to ensure that its scanning range covers the target power facility and its surrounding environment) emits laser pulses to the power facility and its surrounding environment and receives the reflected signals to generate point cloud data; a preset flight trajectory is planned to ensure that the unmanned aerial vehicle can fully cover the target power facility and its surrounding environment, and the flight trajectory takes into account factors such as terrain, topography, obstacles and the specific location of the power facility; at the same time, the flight parameters (including flight trajectory, real-time flight height and real-time flight speed) of the unmanned aerial vehicle are synchronized with the collected point cloud data to ensure that subsequent data processing and analysis can accurately correspond to the specific collection location and conditions.

[0038] In addition, a power grid digital twin model is built based on the collected point cloud data, and the method specifically comprises: S121, the point cloud data collected from multiple perspectives is unified to the same coordinate system by using a pre-stored iterative closest point algorithm, and is pre-processed; S122, based on the pre-processed point cloud data, using a preset clustering segmentation algorithm to distinguish the power facility point cloud from the surrounding environment point cloud, and identifying various power facility components; the power facility components include towers, lines and insulators; S123, for different power facility components, extracting their geometric features, and extracting the topological features between the power facility components; the geometric features include shape, size and positional relationship; S124, according to the extracted geometric features and topological features, creating a three-dimensional geometric model of the power facility using Bentley Substation, and building the model body corresponding to the power facility components according to the real proportion and actual positional relationship; S125, giving each power facility component corresponding model body its physical properties on the three-dimensional geometric model; the physical properties include material properties and electrical parameters; S126, associating and binding the operation data of each power facility component with the three-dimensional geometric model, and completing the construction of the power grid digital twin model; the operation state includes current, voltage and temperature.

[0039] The present application unifies multi-view point cloud data to the same coordinate system (Cartesian coordinate system) by iterative closest point algorithm, and pre-processes, and then uses clustering segmentation algorithm to distinguish power facilities from surrounding environment point cloud, which can accurately identify key power facility components such as towers, lines and insulators. This step ensures the high precision and authenticity of the digital twin model, and provides a reliable data basis for subsequent modeling. In addition, the geometric features and topological features of the power facility components are extracted, and a three-dimensional geometric model is created using professional software (such as Bentley Substation), which not only realizes the three-dimensional visualization of the power grid facilities, but also ensures that the model body and the actual power facility components are consistent in real proportion and actual positional relationship, improving the practicability and accuracy of the model. Further, the operation data of each power facility component is associated and bound with the three-dimensional geometric model, realizing the dynamic updating and real-time monitoring of the power grid digital twin model. The operation and maintenance personnel can intuitively view the operation state (such as current, voltage, temperature, etc.) of the power grid facilities through the digital twin model, timely discover potential faults or abnormalities, and improve the operation and maintenance efficiency and safety.

[0040] Further, in the Bentley Substation software environment, the drawing mode is opened, and the drawing operation is performed according to the preset safety area range on the plane or spatial position corresponding to the three-dimensional model of the power facility. For example, for overhead power lines, a cylindrical electronic fence is automatically generated with the wire as the center and the safety distance as the radius; for buried power cables, a two-dimensional rectangular electronic fence is generated in the area directly above the cable; for poles and towers, a cylindrical electronic fence is automatically generated with the pole or tower as the center and the safety distance as the radius; specifically, taking a pole as an example, by specifying the center (i.e., the center point of the pole foundation, which can be directly obtained from the model) and setting the radius to 5 meters, a circular electronic fence contour is drawn; for power transmission lines, a control point is taken every certain distance (e.g., 10 meters) along the line direction, and a belt-shaped polygon with a width of 3 meters on both sides is formed by connecting these control points as the electronic fence of the line.

[0041] During the drawing process, the electronic fence is given specific attribute identifiers, such as setting the layer attribute to "electronic fence layer" and defining the line color (e.g., bright yellow) and line width (e.g., 3 pixels) to facilitate clear differentiation and visual display. At the same time, the electronic fence is associated and bound with the corresponding power facility model to establish a data link, so that when the position and form of the power facility model change due to real-time monitoring data updates, the electronic fence can be dynamically adjusted to always accurately define the safety area.

[0042] Among them, the 3D camera equipment adopts a 3D binocular camera with a model of Gemini 335. Gemini 335 / 335L can provide high-quality depth and point cloud data with high depth measurement accuracy and a maximum measurement range of over 10 meters. This is crucial for the safety monitoring of power facilities, as it can accurately measure the distance between objects and power facilities to ensure compliance with safety distances. Both cameras have indoor and outdoor universal design, excellent environmental light adaptation, and can stably output high-quality depth data in outdoor strong light, indoor dim light, and complex and variable lighting conditions. This is very important for the monitoring needs of power facilities under different lighting conditions. Gemini 335L has IP65 level protection, while Gemini 335 has IP5X dust level, which can be durable and reliable in harsh environments. This provides a strong guarantee for the stable operation of power facilities in harsh environments.

[0043] Further, in the process of converting the three-dimensional coordinates collected by the 3D camera equipment into absolute coordinates, first, a three-dimensional space reference coordinate system is established in the area where the power facility is located. Assuming that the center of the bottom of the pole is taken as the origin , the axis direction is a certain predetermined horizontal direction (for example, the positive east direction), the axis is a horizontal direction perpendicular to the axis (for example, the positive north direction), and the axis is a vertical upward direction. In addition, the 3D camera device itself has a camera coordinate system. Let the coordinates in the camera coordinate system be , and the coordinates of the 3D camera device in the reference coordinate system be . The position of the 3D camera device in the reference coordinate system is , and the pose (rotation and translation) of the camera is represented by a transformation matrix T.

[0044] Suppose that the 3D camera device only performs translation and no rotation, then the conversion formula from the camera coordinate system to the reference coordinate system is: .

[0045] If the 3D camera device has rotation, the situation is more complex. Suppose that the rotation matrix of the 3D camera device is R (which is determined by the pitch angle , the yaw angle , and the roll angle of the camera), then the conversion formula from the camera coordinate system to the reference coordinate system is: ; wherein the specific form of the rotation matrix R is (taking rotation around the x, y, and z axes as an example): the rotation matrix around the x axis by an angle : ; the rotation matrix around the y axis by an angle : ; the rotation matrix around the z axis by an angle : .

[0046] If the 3D camera device performs both rotation and translation, then the total transformation matrix T is composed of the rotation matrix R and the translation vector , that is, , and the conversion formula from the camera coordinate system to the reference coordinate system is: .

[0047] Suppose that the 3D camera device collects the coordinates of the foreign object in the camera coordinate system as , and has determined the position of the 3D camera device in the reference coordinate system and the rotation matrix R (or the transformation matrix T) through calibration or other means.

[0048] Therefore, according to the above formula, the coordinates in the camera coordinate system are converted to the coordinates in the reference coordinate system (absolute coordinates). For example, if the 3D camera device only performs a translation, the position of the 3D camera device is... The coordinates of the foreign object in the camera coordinate system are: Then the converted absolute coordinates are .

[0049] If rotation is involved, the coordinates after rotation must be calculated first, followed by the translation. For example, given the rotation matrix R, first calculate R... Then add the translation vector Obtain the absolute coordinates.

[0050] If the boundary value coordinates of the electronic fence are in the reference coordinate system... When comparing data, we can calculate the Euclidean distance d between the two: ; like ( If the distance is set to the preset safe distance of the electronic fence, then it is determined that there is a risk of foreign object intrusion.

[0051] In addition, the method also includes: automatically analyzing the captured foreign object intrusion images according to a preset foreign object intrusion algorithm, and outputting analysis results containing foreign object intrusion patterns; foreign object intrusion patterns include foreign object collisions with power facilities, construction excavation, and foreign objects on power lines.

[0052] Furthermore, the captured foreign object intrusion images are automatically analyzed based on the preset Faster RCNN foreign object intrusion algorithm, and the analysis results including the foreign object type and foreign object intrusion mode are output.

[0053] To avoid major power grid failures, risk warning levels are classified. The specific classification criteria are as follows: Level 1 is the risk warning level for foreign objects colliding with power facilities; Level 2 is the risk warning level for tree obstructions; Level 3 is the risk warning level for construction vehicles colliding with power facilities; and Level 4 is the risk warning level for human-caused damage to power facilities. The risk warning levels increase progressively from Level 1 to Level 4, with Level 4 being the highest. Foreign objects include thrown objects and floating objects.

[0054] Tree barriers may include the following situations: Trees exceeding the height limit: If trees grow too tall, their branches or trunks may come into contact with overhead power lines, causing safety accidents such as short circuits, power outages, or trees being electrocuted and burned. Trees growing too close to power facilities: Trees with their canopies or branches growing too close to power facilities (such as poles, towers, transformers, etc.) may cause branches to break and fall on the facilities due to natural factors like wind, snow, ice, etc., leading to equipment damage or power outages; Trees obstructing routine inspection and maintenance: Overly dense trees may hinder routine inspection and maintenance of power facilities, making it difficult for maintenance personnel to promptly identify and address potential safety hazards; Tree roots affecting underground cables: For buried power cables, tree roots may penetrate cable trenches or cable protection tubes, causing physical damage to the cables or affecting their normal operation.

[0055] Therefore, when identifying the tree barrier as an alien invasive species, i.e., when tree growth poses a safety threat to power facilities, appropriate warning information needs to be sent to the display screen and mobile terminal based on its risk level, so that power facility managers can take appropriate measures such as pruning, cutting, or transplanting.

[0056] As shown in Figure 2 , the present application provides a power facility risk early warning system, comprising a data acquisition module, a data transmission module, a data processing and analysis module, and an application display module; the data acquisition module is connected to the input end of the data processing and analysis module through the data transmission module, the application display module is connected to the output end of the data processing and analysis module, and the data processing and analysis module is connected to an external mobile terminal through the data transmission module.

[0057] The data acquisition module includes a 3D camera device and a UAV equipped with a laser radar, which are used to collect the three-dimensional coordinates of the foreign objects near the electronic fence and the point cloud data of the power facilities and their surrounding environment, respectively; the data transmission module is used to transmit the data collected by the data acquisition module to the data processing and analysis module, and to transmit the analysis results of the data processing and analysis module to an external mobile terminal; the data processing and analysis module is used to build a power grid digital twin model based on the received point cloud data, and to draw an electronic fence of the power facility safety area on the built power grid digital twin model; to determine whether there is a foreign object invasion risk based on the received three-dimensional coordinates of the foreign objects near the electronic fence and the drawn electronic fence, and to control the 3D camera device to capture the foreign object invasion picture when it is determined that there is a foreign object invasion risk; and to determine the risk warning level based on the foreign object invasion picture; the application display module includes a display screen device, which is used to display the alarm information output by the data processing and analysis module, including the analysis results and the warning level.

[0058] As shown in Figure 3 , Figure 4 and Figure 5As shown, the display screen 320 device comprises a display screen support 310 and a display screen 320 mounted on the display screen support 310, and a dustproof mechanism is fixed on the display screen support 310 above the display screen 320, and a cleaning mechanism is mounted at the bottom end of the dustproof mechanism.

[0059] Specifically, the dustproof mechanism comprises a winding roller 331 and a dustproof cloth 332, the display screen support 310 above the display screen 320 is provided with a receiving cavity 311, the winding roller 331 is mounted in the receiving cavity 311, the winding roller 331 is rotatably connected with the display screen support 310 at both ends thereof, and one end of the winding roller 331 is connected with a motor 333; the dustproof cloth 332 is wound on the winding roller 331, a communication groove 312 is formed on the display screen support 310 near the display screen 320 on one side of the receiving cavity 311, one end of the dustproof cloth 332 passes through the communication groove 312 and then hangs in front of the display screen 320, and the winding roller 331 can drive the dustproof cloth 332 to move up and down under the drive of the motor 333; limit blocks 334 are fixed at the bottom end of the dustproof cloth 332 on both sides, limit grooves 313 are formed on the display screen support 310 on both sides of the hanging dustproof cloth 332, limit rods 335 are vertically arranged in the limit grooves 313, the limit blocks 334 are arranged in the limit grooves 313 and are in sliding connection with the limit grooves 313, and meanwhile, the limit blocks 334 are sleeved on the limit rods 335, the limit blocks 334 are in sliding connection with the limit rods 335, so that the dustproof cloth 332 can be tightly attached to the display screen 320 and good dustproof effect can be achieved.

[0060] The cleaning mechanism comprises a scraper 341, a first connecting plate 342, a second connecting plate 343 and a third connecting plate 344, the first connecting plate 342 is fixed at the bottom end of the dustproof cloth 332, the second connecting plate 343 is arranged in front of the first connecting plate 342 and is fixedly connected with the first connecting plate 342, the top end of the second connecting plate 343 is fixedly connected with the bottom end of the dustproof cloth 332, the scraper 341 is arranged below the first connecting plate 342 and the second connecting plate 343, the scraper 341 is detachably connected with the first connecting plate 342 and the second connecting plate 343, and the third connecting plate 344 is arranged at one end of the second connecting plate 343 and the scraper 341 away from the display screen 320, the third connecting plate 344 is fixedly connected with the second connecting plate 343, and the bottom end of the scraper 341 is provided with double-sided adhesive tape.

[0061] After the display screen 320 is closed, the output shaft of the motor 333 (such as a servo motor) is controlled to reversely rotate to reversely rotate the winding roller, the dustproof cloth 332 is pushed out from the surface of the winding roller, the dustproof cloth 332 drives the second connecting plate 343 to move downward, the scraper 341 scrapes the dust on the surface of the display screen 320 downward, some dust is adsorbed by the double-sided adhesive tape, and then the user can tear off the double-sided adhesive tape and replace it with a new one.

[0062] Further, the data analysis module comprises a point cloud data preprocessing unit, an intrusion picture preprocessing unit and a single-chip microcomputer, the 3D camera equipment is connected to the input end of the single-chip microcomputer through the intrusion picture preprocessing unit; the point cloud data preprocessing unit comprises a filter amplification circuit and an analog-digital conversion circuit; the laser radar is connected to the input end of the single-chip microcomputer in sequence through the filter amplification circuit and the analog-digital conversion circuit.

[0063] As shown in Figure 6 The filter amplification circuit comprises a capacitor C1, a resistor R1, a capacitor C2, a capacitor C3, an amplifier U1, a resistor R2, a resistor R3, a resistor R4, a resistor R5, a capacitor C4, a resistor R6, an amplifier U2, a resistor R7, a resistor R8, a resistor R9 and a capacitor C5; the first end of the capacitor C1 is connected to the output end of the laser radar, the second end of the capacitor C1 is connected to the first end of the capacitor C2 and the first end of the capacitor C3 through the resistor R1, the second end of the capacitor C2 is connected to the non-inverting input end of the amplifier U1 and the first end of the resistor R2, the second end of the capacitor C3 and the second end of the resistor R2 are both grounded, the inverting input end of the amplifier U1 is grounded through the resistor R3, the output end of the amplifier U1 is connected to the first end of the resistor R4, the first end of the resistor R5 and the first end of the capacitor C4, the second end of the resistor R4 is connected to the first end of the capacitor C2, the second end of the resistor R5 is connected to the inverting input end of the amplifier U1, the second end of the capacitor C4 is connected to the inverting input end of the amplifier U2 through the resistor R6, the non-inverting input end of the amplifier U2 is connected to the first end of the resistor R7 and the first end of the resistor R8, the second end of the resistor R7 is connected to a 5V power supply, the second end of the resistor R8 is grounded, the output end of the amplifier U2 is connected to the first end of the resistor R9 and the first end of the capacitor C5, the second end of the resistor R9 is connected to the inverting input end of the amplifier U2, and the second end of the capacitor C5 is connected to the analog-digital conversion circuit. Specifically, the capacitors C1, C2 and C3 and the resistor R1 form a composite network of high-pass filter and low-pass filter. The capacitor C1 as an input coupling capacitor can pass alternating current and block direct current, so that the alternating current signal output by the laser radar can smoothly enter the subsequent circuit. C2 and C3 can effectively filter out high-frequency and low-frequency noise in cooperation with R1. The circuit composed of the capacitor C4 and the resistor R6 further filters the signal amplified by the amplifier U1, which can remove possible residual noise again and ensure higher signal quality entering the amplifier U2 As shown in Figure 7As shown, the analog-digital conversion circuit includes an analog-digital conversion chip U3 of model AD7705, which has high resolution and accuracy. The AD7705 generally has a resolution of 16 bits, can convert an analog signal into a digital signal, and can accurately quantify the amplitude of the signal during the conversion process. This is crucial for the laser radar signal that needs to be accurately processed in the power facility risk early warning system, and can ensure that the collected analog signal retains sufficient detail information after being converted into a digital signal, providing an accurate data basis for subsequent algorithm processing and analysis.

[0064] Figure 8 A structural schematic diagram of a terminal 800 is provided for an embodiment of the present application, which can be used to execute the power facility risk early warning method provided by the embodiment of the present application.

[0065] The terminal 800 can include a processor 810, a memory 820, and a communication module 830. These components communicate through one or more buses. Those skilled in the art can understand that the structure of the server shown in the figure does not constitute a limitation on the present application. It can be a bus structure or a star structure, and can include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0066] The memory 820 can be used to store the execution instructions of the processor 810. The memory 820 can be implemented by any type of volatile or non-volatile storage terminal or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk or optical disk. When the execution instructions in the memory 820 are executed by the processor 810, the terminal 800 can execute some or all of the steps in the following method embodiments.

[0067] The processor 810 is the control center of the storage terminal, which connects various parts of the entire electronic terminal through various interfaces and lines, executes or runs the software programs and / or modules stored in the memory 820, and calls the data stored in the memory, to perform various functions of the electronic terminal and / or process data. The processor can be composed of integrated circuits (IC), such as a single packaged IC or a plurality of packaged ICs with the same function or different functions connected together. For example, the processor 810 can only include a central processing unit (CPU). In the present application embodiment, the CPU can be a single operation core or can include multiple operation cores.

[0068] The communication module 830 is configured to establish a communication channel, so that the storage terminal can communicate with other terminals. The communication module 830 is configured to receive user data sent by other terminals or send user data to other terminals.

[0069] The present application also provides a computer storage medium, wherein the computer storage medium can store a program, and the program can include some or all steps in the embodiments provided by the present application when executed. The storage medium can be a magnetic disc, an optical disc, a read-only memory (ROM) or a random access memory (RAM) and the like.

[0070] Those skilled in the art can clearly understand that the technology in the embodiments of the present application can be realized by means of software and necessary general hardware platforms. Based on such understanding, the technical solutions in the embodiments of the present application can be embodied in the form of a software product, which is stored in a storage medium such as a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disc or an optical disc, and the like, and includes a plurality of instructions for causing a computer terminal (which can be a personal computer, a server or a second terminal, a network terminal and the like) to execute all or part of the steps of the method described in the embodiments of the present application.

[0071] In the present specification, the same or similar parts among various embodiments can be referred to each other. In particular, for the terminal embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the description in the method embodiments.

[0072] In the several embodiments provided by the present application, it should be understood that the disclosed system and method can be implemented in other ways. For example, the division of the system embodiments described above is merely a logical function division, and there can be another division manner in actual implementation, for 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 coupling or direct coupling or communication connection between the modules or components shown or discussed can be indirect coupling or communication connection through some interface, and can be electrical, mechanical or in other forms.

[0073] The modules described as separate components may or may not be physically separate, and the components shown as modules may or may not be physical modules, i.e., may be located in one place, or may be distributed to multiple network modules. Part or all of the modules can be selected as needed to achieve the purpose of the embodiment.

[0074] In addition, each functional module in various embodiments of the application can be integrated into one processing module, or each module can exist physically alone, or two or more modules can be integrated into one module.

[0075] Although the application has been described in detail with reference to the preferred embodiments, the application is not limited to the preferred embodiments. Those skilled in the art can make various equivalent modifications or replacements to the embodiments of the application without departing from the spirit and essence of the application, and these modifications or replacements should be within the scope of the application. Any person skilled in the art within the technical scope disclosed by the application can easily think of changes or replacements, which should be covered by the protection scope of the application.

Claims

1. A power facility risk early warning method, characterized in that, The method comprises the following steps: Collecting point cloud data of the power facility and its surrounding environment; Building a power grid digital twin model based on the collected point cloud data, and drawing an electronic fence of the power facility safety area on the built power grid digital twin model; Installing 3D camera equipment around the tower and line of the power facility, collecting the three-dimensional coordinates of the foreign matter close to the electronic fence, and converting the collected three-dimensional coordinates into absolute coordinates; Comparing the absolute coordinates of the foreign matter with the boundary value coordinates of the electronic fence to determine whether the distance between the foreign matter and the electronic fence meets the preset electronic fence safety distance; If not, it is determined that there is a risk of foreign matter invasion, and the picture capture mode of the 3D camera equipment is started to capture the foreign matter invasion picture; According to the preset foreign matter invasion algorithm, the captured foreign matter invasion picture is automatically analyzed, and the analysis result containing the type of invading foreign matter is outputted; According to the analysis result, the risk warning level is drawn, and the alarm information containing the analysis result and the warning level is sent to the display screen and the mobile terminal.

2. The electric power facility risk early warning method according to claim 1, characterized by, The method for collecting point cloud data of the power facility and its surrounding environment comprises the following steps: Using a UAV carrying a laser radar to scan the target power facility and its surrounding environment according to a preset flight trajectory to generate point cloud data; at the same time, the flight parameters of the UAV and the collected point cloud data are saved synchronously; the flight parameters include the flight trajectory, the real-time flight height and the real-time flight speed of the UAV.

3. The electric power facility risk early warning method according to claim 1, characterized by, The method for building a power grid digital twin model based on the collected point cloud data comprises the following steps: Using the pre-stored iterative closest point algorithm to unify the multi-view collected point cloud data to the same coordinate system and performing preprocessing; Using the preset clustering segmentation algorithm based on the preprocessed point cloud data to distinguish the power facility point cloud from the surrounding environment point cloud, and identifying various power facility components; the power facility components include towers, lines and insulators; For different power facility components, their geometric features are extracted, and the topological features between the power facility components are extracted; the geometric features include shape, size and position relationship; According to the extracted geometric features and topological features, a three-dimensional geometric model of the power facility is created by using Bentley Substation, and the model bodies corresponding to the power facility components are built according to the real proportions and actual position relationships; Physical properties are given to the model bodies corresponding to each power facility component on the three-dimensional geometric model; the physical properties include material properties and electrical parameters; The operation data of each power facility component are associated and bound with the three-dimensional geometric model to complete the building of the power grid digital twin model; the operation states include current, voltage and temperature.

4. The method of claim 3, wherein, According to the preset FasterRCNN foreign matter invasion algorithm, the captured foreign matter invasion picture is automatically analyzed, and the analysis result containing the foreign matter invasion mode is outputted; the foreign matter invasion mode includes foreign matter collision with power facility, construction excavation and line foreign matter.

5. A power facility risk early warning system, characterized in that, It comprises a data collection module, a data transmission module, a data processing and analysis module, an application display module and a power supply module; The data acquisition module is connected to the input end of the data processing and analysis module through the data transmission module, and the application display module is connected to the output end of the data processing and analysis module, the data processing and analysis module is connected to the external mobile terminal through the data transmission module; The data acquisition module includes a 3D camera device and a UAV carrying a laser radar, which are respectively used to collect the three-dimensional coordinates of the foreign matter close to the electronic fence and the point cloud data of the power facility and its surrounding environment; The data transmission module is used for transmitting the data collected by the data acquisition module to the data processing and analysis module; and for transmitting the analysis results of the data processing and analysis module to the external mobile terminal; The data processing and analysis module is used for building a power grid digital twin model based on the received point cloud data, and drawing an electronic fence of the power facility safety area on the built power grid digital twin model; for judging whether the power facility has a foreign matter intrusion risk based on the received three-dimensional coordinates of the foreign matter close to the electronic fence and the drawn electronic fence, and controlling the 3D camera device to capture the foreign matter intrusion picture when it is judged that there is a foreign matter intrusion risk; and determining the risk warning level based on the foreign matter intrusion picture; The application display module includes a display screen device, which is used to display the alarm information including the analysis results and the warning level output by the data processing and analysis module. The power module is used for power supply for the whole system.

6. The electric utility risk alert system of claim 5 wherein, The data analysis module includes a point cloud data preprocessing unit, an intrusion picture preprocessing unit and a single-chip microcomputer, the 3D camera device is connected to the input end of the single-chip microcomputer through the intrusion picture preprocessing unit; the point cloud data preprocessing unit includes a filter amplification circuit and an analog-to-digital conversion circuit; the laser radar is connected to the input end of the single-chip microcomputer through the filter amplification circuit and the analog-to-digital conversion circuit in sequence.

7. The electric utility risk alert system of claim 5 wherein, The filter amplification circuit includes a capacitor C1, a resistor R1, a capacitor C2, a capacitor C3, an amplifier U1, a resistor R2, a resistor R3, a resistor R4, a resistor R5, a capacitor C4, a resistor R6, an amplifier U2, a resistor R7, a resistor R8, a resistor R9 and a capacitor C5; The first end of the capacitor C1 is connected to the output end of the laser radar, the second end of the capacitor C1 is connected to the first end of the capacitor C2 and the first end of the capacitor C3 through the resistor R1, the second end of the capacitor C2 is connected to the non-inverting input end of the amplifier U1 and the first end of the resistor R2, the second end of the capacitor C3 and the second end of the resistor R2 are both grounded, the inverting input end of the amplifier U1 is grounded through the resistor R3, the output end of the amplifier U1 is connected to the first end of the resistor R4, the first end of the resistor R5 and the first end of the capacitor C4, the second end of the resistor R4 is connected to the first end of the capacitor C2, the second end of the resistor R5 is connected to the inverting input end of the amplifier U1, the second end of the capacitor C4 is connected to the inverting input end of the amplifier U2 through the resistor R6, the non-inverting input end of the amplifier U2 is connected to the first end of the resistor R7 and the first end of the resistor R8, the second end of the resistor R7 is connected to a 5V power supply, the second end of the resistor R8 is grounded, the output end of the amplifier U2 is connected to the first end of the resistor R9 and the first end of the capacitor C5, the second end of the resistor R9 is connected to the inverting input end of the amplifier U2, and the second end of the capacitor C5 is connected to an analog-to-digital conversion circuit.

8. The electric utility risk alert system of claim 5 wherein, The analog-to-digital conversion circuit comprises an analog-to-digital conversion chip U3 with a model number of AD7705.

9. A terminal, characterized by comprising: Comprise: a processor; a memory for storing execution instructions of the processor; wherein the processor is configured to execute the method of any one of claims 1-4.

10. A computer readable storage medium storing a computer program, characterized in that, The program is executed by the processor to implement the method of any one of claims 1-4.

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