Method and device for monitoring maintenance safety distance of personnel in transformer substation

Abstract

The embodiment of the invention relates to a method and device for monitoring the maintenance safety distance of personnel in a transformer substation, and the method comprises the steps: scanning construction personnel in the transformer substation through portable three-dimensional monitoring equipment disposed in the transformer substation, and determining the target point cloud data of the construction personnel; according to the 3D special-shaped electronic fence of the monitoring area in the transformer substation and the target point cloud data, the maintenance safety distance of the constructor is monitored, and through scanning of the portable three-dimensional monitoring equipment, the maintenance safety distance can be accurately calculated; in combination with the 3D special-shaped electronic fence which more accurately expresses the range boundary of the fence in the space area, the maintenance operation safety of personnel can be improved. In addition, the position of the portable three-dimensional monitoring device can be flexibly adjusted according to the maintenance operation space area, and the maintenance safety distance monitoring portability is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of power transmission line safety protection, and in particular to a method and device for monitoring the maintenance safety distance of personnel in a substation. BACKGROUND

[0002] A substation is a core node of a power system. The internal equipment (such as transformers, circuit breakers, disconnectors, busbars, and transformers) of the substation usually has high voltage and strong current in the running state, and forms a dangerous high-voltage electric field area around the space. In order to ensure the personal safety of workers when performing maintenance, maintenance, testing and other operations in the substation, the power industry has formulated strict safety distance regulations. Accurate monitoring of the real-time and dynamic distance between the worker (especially the body part or tool held by the worker) and the adjacent live equipment or dangerous area, and timely and reliable warning when the distance approaches or breaks through the safety threshold, is a fundamental guarantee to prevent electric shock, electric arc burns and other serious accidents.

[0003] At present, the monitoring of the safety distance between the worker and the live equipment in the substation maintenance operation site mainly relies on the position monitoring of the body part of the worker and the setting of the electronic fence in the substation. However, both the position monitoring of the body part of the worker and the partition method of the electronic fence in the substation have the problem of insufficient accuracy.

[0004] Therefore, how to improve the monitoring effect of the maintenance safety distance of personnel in a substation is a technical problem to be solved at present. SUMMARY

[0005] In order to solve the problems in the prior art, the embodiments of the present application provide a method and device for monitoring the maintenance safety distance of personnel in a substation, which constructs a 3D special-shaped electronic fence, can more accurately represent the range boundary of the fence in the space area, and uses a portable three-dimensional monitoring device combining a 2D camera and a 3D solid-state laser radar deployed inside the maintenance operation area to monitor the posture of the personnel, thereby accurately calculating the maintenance safety distance and improving the safety of the personnel's maintenance operation.

[0006] In order to solve the above technical problems, the specific technical solutions of the present application are as follows:

[0007] On the one hand, the embodiments of the present application provide a method for monitoring the maintenance safety distance of personnel in a substation, comprising:

[0008] scanning the construction personnel in the substation by a portable three-dimensional monitoring device deployed inside the substation to determine the target point cloud data of the construction personnel;

[0009] monitoring the maintenance safety distance of the construction personnel according to the 3D special-shaped electronic fence of the monitoring area in the substation and the target point cloud data.

[0010] Further, the scanning of the construction personnel in the substation by the portable three-dimensional monitoring device to obtain the target point cloud data of the construction personnel further comprises:

[0011] scanning the construction and maintenance area space where the construction personnel is located in the substation by the portable three-dimensional monitoring device to obtain original data of the construction and maintenance area space, the original data at least including point cloud data of the construction and maintenance area space;

[0012] analyzing the original data to extract the target point cloud data of the construction personnel.

[0013] Further, the original data further includes image data of the construction and maintenance area space;

[0014] analyzing the original data to extract the target point cloud data of the construction personnel further comprises:

[0015] analyzing the image data and the point cloud data of the construction and maintenance area space to extract the target point cloud data of the construction personnel.

[0016] Further, the maintenance safety distance monitoring of the construction personnel according to the 3D special-shaped electronic fence of the monitoring area in the substation and the target point cloud data further comprises:

[0017] converting the target point cloud data to the coordinate system of the 3D digital model of the substation to obtain an original point cloud set;

[0018] obtaining edge contour point cloud data of the original point cloud set by an edge extraction algorithm to obtain an original point cloud contour;

[0019] for each data point in the original point cloud contour, the shortest distance between the data point and each surface of the 3D special-shaped electronic fence of the live monitoring area in the substation is calculated in turn;

[0020] determining whether the shortest distance is less than a threshold value;

[0021] if yes, an alarm is sent to the construction personnel.

[0022] Further, after obtaining the original point cloud set, the method further comprises:

[0023] calculating the corresponding center of mass coordinates according to the original point cloud set;

[0024] extracting the position information corresponding to the positioning tag device worn by the construction personnel in the coordinate system of the 3D digital model;

[0025] determine position information matching the centroid coordinate as target position information;

[0026] further comprising:

[0027] further comprising:

[0028] Further, the step of constructing the 3D special-shaped electronic fence of the monitoring area comprises:

[0029] scanning the substation to obtain an equidistant point cloud model of the substation;

[0030] constructing a 3D digital model of the substation according to the equidistant point cloud model;

[0031] constructing a plurality of spatial region division model components according to the 3D digital model;

[0032] selecting the spatial region division model components of the monitoring area and combining to generate a 3D special-shaped electronic fence of the monitoring area.

[0033] Further, constructing a spatial region division model according to the 3D digital model further comprises:

[0034] covering each circuit device discharge space range in the substation with a special-shaped package according to the safety distance requirement of the circuit device in the 3D digital model and the connectivity of the circuit device, obtaining a spatial region division model component of each circuit device, and configuring a live attribute tag;

[0035] constructing a spatial region division model component of the interstitial space region in the 3D digital model except the spatial region division model component carrying the live attribute tag in a filled form, and configuring a dynamic attribute tag.

[0036] Further, the circuit device comprises a busbar;

[0037] covering each circuit device discharge space range in the substation with a special-shaped package according to the safety distance requirement of the circuit device in the 3D digital model and the connectivity of the circuit device, obtaining a spatial region division model component of each circuit device, and configuring a live attribute tag further comprises:

[0038] determining a live end point of the busbar;

[0039] generating a live space placeholder sphere wrapping the live end point by taking the live end point as the sphere center and taking the safety distance corresponding to the safety distance requirement of the busbar as the radius;

[0040] a plurality of charged space placeholder spheres of the same radius are placed equidistantly and uniformly between two adjacent charged end points of the same busbar;

[0041] The space region division model component of the busbar is constructed according to the charged space placeholder spheres.

[0042] Further, the method further comprises:

[0043] The interval is divided into minimum power links according to the connectivity of the lines in the interval;

[0044] The charged end points of each minimum power link are determined respectively;

[0045] The charged space placeholder spheres are generated by taking the charged end points as the centers and taking the safety distance corresponding to the safety distance requirement of the current minimum power link as the radius, so as to wrap the charged end points;

[0046] A plurality of charged space placeholder spheres of the same radius are placed equidistantly and uniformly between two adjacent charged end points of the same minimum power link;

[0047] A minimum enclosing model of a placeholder sphere set composed of all the charged space placeholder spheres of the minimum power link is constructed, so as to obtain the space region of the minimum power link;

[0048] The space regions of all the minimum power links are combined, so as to obtain the space region division model component of the interval.

[0049] Further, the selection of the space region division model component of the monitoring region for combined generation of the 3D special-shaped electronic fence of the monitoring region further comprises:

[0050] The space region model groups are constructed according to the selection of the corresponding space region division model components of the monitoring region;

[0051] All the space region division model components in the space region model groups are fused, and the outer surface after fusion is calculated, so as to obtain the 3D special-shaped electronic fence.

[0052] On the other hand, the embodiments of the present specification also provide a maintenance safety distance monitoring device for personnel in a substation, the device comprising:

[0053] A portable three-dimensional monitoring equipment scanning unit is configured to scan the construction personnel in the substation by a portable three-dimensional monitoring equipment deployed in the substation, and determine target point cloud data of the construction personnel;

[0054] A maintenance safety distance monitoring unit is configured to monitor the maintenance safety distance of the construction personnel according to the 3D special-shaped electronic fence of the monitoring region in the substation and the target point cloud data.

[0055] With the embodiments of the present specification, first, the substation is scanned to construct a 3D special-shaped electronic fence of each monitoring area in the substation. After determining the maintenance operation space area that needs to be monitored, the portable three-dimensional monitoring device is placed at a suitable distance position through the coverage of the target space area in the real-time field of view of the device, so that the field of view of the portable three-dimensional monitoring device can effectively cover the maintenance operation space area. When the construction personnel enter the substation for maintenance, the portable three-dimensional monitoring device deployed in the substation is used to scan the construction personnel to determine the target point cloud data of the construction personnel. Then, the maintenance safety distance of the construction personnel is monitored according to the target point cloud data and the 3D special-shaped electronic fence of the corresponding area. Through the scanning of the portable three-dimensional monitoring device, the present specification can accurately calculate the maintenance safety distance, and in combination with the 3D special-shaped electronic fence that more accurately describes the range boundary of the fence in the space area, the maintenance operation safety of the personnel can be improved. In addition, the position of the portable three-dimensional monitoring device of the embodiments of the present specification can be flexibly adjusted according to the maintenance operation space area, thereby improving the portability of the maintenance safety distance monitoring. BRIEF DESCRIPTION OF DRAWINGS

[0056] In order to more clearly illustrate the technical solutions in the embodiments herein or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments herein, and other drawings can be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0057] Figure 1 Fig. 1 shows a flowchart of a maintenance safety distance monitoring method for personnel in a substation according to an embodiment of the present specification;

[0058] Figure 2 Fig. 2 shows a schematic diagram of a point cloud model of a substation in a proportion according to an embodiment of the present specification;

[0059] Figure 3 Fig. 3 shows an import effect diagram of a point cloud model in a proportion according to an embodiment of the present specification;

[0060] Figure 4 、 Figure 5 and Figure 6 Fig. 4 shows an effect diagram of a point cloud model in a proportion and a constructed 3D digital model overlapped together according to an embodiment of the present specification;

[0061] Figure 7 Fig. 5 shows a schematic diagram of a single-shot and a pair-shot deployment of a portable three-dimensional safety monitoring device according to an embodiment of the present specification;

[0062] Figure 8 Fig. 6 shows a schematic diagram of a bus in a 3D digital model according to an embodiment of the present specification;

[0063] Figure 9 The effect of placing live space placeholder spheres at the live end points of the busbar in the embodiment of the present specification is shown.

[0064] Figure 10 An example diagram of placing live space placeholder spheres at the live end points and equidistant positions in the embodiment of the present specification is shown.

[0065] Figure 11 A schematic diagram of the live space placeholder spheres of the busbar and the space region division model component in the embodiment of the present specification is shown.

[0066] Figure 12 A schematic diagram of the knife switch contact points of the intra-bay power link in the embodiment of the present specification is shown.

[0067] Figure 13 A schematic diagram of the two minimum power links in the intra-bay in the embodiment of the present specification is shown.

[0068] Figure 14 A schematic diagram of all the live space placeholder spheres and space regions of the right side incoming line circuit in the embodiment of the present specification is shown.

[0069] Figure 15 A schematic diagram of all the live space placeholder spheres of the left side conductor circuit connected to the busbar in the embodiment of the present specification is shown.

[0070] Figure 16 A schematic diagram of all the live space placeholder spheres and space regions of the left side conductor circuit connected to the busbar in the embodiment of the present specification is shown.

[0071] Figure 17 And Figure 18 A schematic diagram of the space region division model component of the bay obtained by combining the space regions of the right side incoming line circuit and the space regions of the left side conductor circuit connected to the busbar in the embodiment of the present specification is shown.

[0072] Figure 19 A schematic diagram of the space region division model component corresponding to the common passage in the embodiment of the present specification is shown.

[0073] Figure 20 , Figure 21 And Figure 22 A schematic diagram of the space region division model component of the dynamic label combined with the space region division model component of the adjacent live label in the embodiment of the present specification is shown.

[0074] Figure 23 A schematic diagram of the space region model grouping in the embodiment of the present specification is shown.

[0075] Figure 24 and Figure 25 Fig. 1 shows a schematic diagram of a 3D irregular electronic fence in the embodiments of the present specification;

[0076] Figure 26 Fig. 2 shows a structural schematic diagram of a maintenance safety distance monitoring device for personnel in a substation in the embodiments of the present specification;

[0077] Figure 27 Fig. 3 shows a structural schematic diagram of a computer device in the embodiments of the present specification.

[0078]

Explanation of reference signs

[0079] 10, portable three-dimensional monitoring device scanning unit;

[0080] 11, maintenance safety distance monitoring unit;

[0081] 1102, computer device;

[0082] 1104, processing device;

[0083] 1106, storage resource;

[0084] 1108, driving mechanism;

[0085] 1110, input / output module;

[0086] 1112, input device;

[0087] 1114, output device;

[0088] 1116, presentation device;

[0089] 1118, graphical user interface;

[0090] 1120, network interface;

[0091] 1122, communication link;

[0092] 1124, communication bus. DETAILED DESCRIPTION

[0093] The technical solutions in the embodiments of the present specification will be described clearly and completely below in combination with the drawings in the embodiments of the present specification. Obviously, the described embodiments are only some of the embodiments of the present specification, but not all the embodiments. Based on the embodiments in the present specification, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present specification.

[0094] It should be noted that the terms "first", "second", and the like in the description and in the claims of this text and in the above figures are used to distinguish like objects and are not necessarily used to describe a particular sequential or chronological order. It should be understood that the data thus used can be interchanged, where appropriate, so that the embodiments of this text described herein can be implemented in orders other than those illustrated or described herein. In addition, the terms "comprise" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, device, product or apparatus that includes a list of steps or units does not necessarily have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to such processes, methods, products or apparatuses.

[0095] It should be noted that the steps shown in the flowchart of 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 herein can be executed in an order different from that shown herein.

[0096] In order to solve the problems in the prior art, the embodiments of the present specification provide a maintenance safety distance monitoring method for personnel in a substation, a 3D special-shaped electronic fence is constructed, which can more accurately represent the range boundary of the fence in the spatial region, and a portable three-dimensional monitoring device combining a 2D camera and a 3D solid-state laser radar deployed inside the maintenance work area is used to monitor the posture of the personnel, so as to accurately calculate the maintenance safety distance and improve the safety of personnel maintenance work. As Figure 1 As shown in the flowchart of the maintenance safety distance monitoring method for personnel in a substation, the process of monitoring the maintenance safety distance of personnel in a substation is described in the figure, but more or fewer operation steps can be included based on conventional or non-inventive labor. The order of steps listed in the embodiments is only one of the many execution orders, and does not represent the only execution order. In actual system or device product execution, it can be executed in sequence or in parallel according to the method shown in the embodiments or the accompanying drawings. Specifically as Figure 1 As shown in the flowchart of the maintenance safety distance monitoring method for personnel in a substation, the process of monitoring the maintenance safety distance of personnel in a substation is described in the figure, but more or fewer operation steps can be included based on conventional or non-inventive labor. The order of steps listed in the embodiments is only one of the many execution orders, and does not represent the only execution order. In actual system or device product execution, it can be executed in sequence or in parallel according to the method shown in the embodiments or the accompanying drawings. Specifically as

[0097] Step 101: Scanning the construction personnel in the substation by a portable three-dimensional monitoring device deployed inside the substation, and determining the target point cloud data of the construction personnel;

[0098] Step 102: Monitoring the maintenance safety distance of the construction personnel according to the 3D special-shaped electronic fence of the monitoring area in the substation and the target point cloud data.

[0099] With the embodiments of the present specification, first, the substation is scanned to construct a 3D special-shaped electronic fence of each monitoring area in the substation. After determining the maintenance operation space area that needs to be monitored, the portable three-dimensional monitoring device is placed at a suitable distance position through the coverage of the target space area in the real-time field of view of the device, so that the field of view of the portable three-dimensional monitoring device can effectively cover the maintenance operation space area. When the construction personnel enter the substation for maintenance, the portable three-dimensional monitoring device deployed in the substation scans the construction personnel to determine the target point cloud data of the construction personnel. Then, the maintenance safety distance of the construction personnel is monitored according to the target point cloud data and the 3D special-shaped electronic fence of the corresponding area. Through the scanning of the portable three-dimensional monitoring device, the present specification can accurately calculate the maintenance safety distance, and in combination with the 3D special-shaped electronic fence which more accurately expresses the range boundary of the fence in the space area, the safety of the maintenance operation of the personnel can be improved. In addition, the position of the portable three-dimensional monitoring device of the embodiments of the present specification can be flexibly adjusted according to the maintenance operation space area, thereby improving the portability of the maintenance safety distance monitoring.

[0100] In the embodiments of the present specification, the portable three-dimensional monitoring device includes a 2D camera module and a 3D solid-state laser radar module. The 2D camera module can obtain image data of the construction and maintenance area space, and the 3D solid-state laser radar module can scan the construction and maintenance area space to obtain point cloud data. The field of view angles (FOV) of the 2D camera module and the 3D solid-state laser radar in the embodiments of the present specification can have certain differences. Therefore, after determining the maintenance operation space area that needs to be monitored, the portable three-dimensional monitoring device is placed at a suitable distance position through the coverage of the target space area in the real-time field of view of the device, so that the 2D picture and the 3D point cloud field of view of the device can both effectively cover the target space area to be monitored.

[0101] After the pose (position and viewing angle attitude) of the portable three-dimensional monitoring device is adjusted, the bottom base and each adjustment joint are buckled and locked to ensure that there is no further unintentional pose change (including device sliding due to being on a slope, pose change due to accidental pulling, touching or failure of joint buckling to be locked, etc.).

[0102] After the deployment of the portable three-dimensional monitoring device is completed, the point cloud coordinate system of the portable three-dimensional monitoring device is calibrated to the 3D coordinate system of the substation. Specifically, after the pose of the monitoring device is determined, the laser radar point cloud in the current field of view range is collected as the real scene calibration point cloud data of the device. Then, through the calibration algorithm process on the portable three-dimensional monitoring device side or the positioning monitoring system background in the main control room, the current real scene calibration data is calibrated to the 3D digital model of the substation, and the conversion matrix between the point cloud coordinate system of the portable three-dimensional monitoring device and the basic coordinate system of the 3D model of the substation is obtained.

[0103] Then the construction personnel in the substation are scanned by the portable three-dimensional monitoring device to obtain original data of the construction and maintenance area space, and the original data at least includes point cloud data of the construction and maintenance area space; the original data is analyzed to extract target point cloud data of the construction personnel.

[0104] Feasibly, based on a pre-trained point cloud target detection network (such as PointPillars), the point cloud data is preprocessed and then directly input into the network model, and a 3D bounding box of the target construction personnel corresponding point cloud data set in the point cloud coordinate system is output, then the point cloud data in the bounding box is extracted, and the target point cloud data corresponding to the target construction personnel is obtained.

[0105] In order to improve the monitoring accuracy, the personnel detection and segmentation can be performed based on the "image + point cloud" combined data in the embodiments of the present specification. Specifically, after the monitoring program runs, due to the different data output frame rates of the 2D camera module and the 3D laser radar module, the image and point cloud data can be obtained by comparing the nanosecond level time stamp to obtain the "image + point cloud" data set at the same time, and the "image + point cloud" data set of the construction and maintenance area space is analyzed based on the core input, and the target point cloud data of the construction personnel is extracted.

[0106] Feasibly, target detection and instance segmentation are performed on the RGB picture to obtain the mask of the pixel area occupied by the target in the picture, then the point cloud data is projected onto the picture through the camera intrinsic parameter calibrated in advance and the conversion matrix of the radar point cloud coordinate system to the camera 3D space coordinate system, and finally the point cloud data in the mask shadow area is extracted to obtain the target point cloud data corresponding to the target construction personnel.

[0107] In some other embodiments of the present specification, the rich color texture information in the image and the rich spatial geometric structure information in the point cloud can be spliced when the model network is trained and used in real-time inference, and a new data feature is constructed to complete the final target detection, and the output result is also the 3D bounding box of the target object point cloud. Compared with the pure point cloud 3D detection network, the rich RGB texture information greatly improves the accuracy of recognition and detection and the accuracy of 3D bounding box.

[0108] Then the safety distance of the construction personnel segmentation point cloud is calculated.

[0109] Specifically, after the target point cloud data of the target construction personnel is extracted, the target point cloud data is first converted to the basic coordinate system of the 3D substation through the conversion matrix of the 3D monitoring device to the 3D substation model coordinate system obtained by prior calibration, referred to as the original point cloud set. Then, the edge contour point cloud data of the original point cloud set is obtained through an edge extraction algorithm, referred to as the original point cloud contour. At the same time, the centroid coordinates of the original point cloud set can also be calculated.

[0110] For each point data in the original point cloud contour, the shortest distance between the point data and each surface of the 3D special electronic fence of the live monitoring area (i.e. the dangerous area) in the substation is sequentially calculated, and the minimum distance value is obtained, which is the closest distance (calculated distance) between the current construction personnel and the boundary of the 3D special electronic fence of the dangerous area. Then the distance value and other related information such as image data, original point cloud set, original point cloud contour and / or centroid coordinates are packaged into a data packet and sent to the positioning monitoring software system in the control room for subsequent judgment and processing.

[0111] After receiving the data packet sent back by the portable three-dimensional monitoring device, the data packet is parsed and compared with the standard safety distance (threshold value) set in the background to determine whether to trigger the sound and light alarm process. If not, the contents in the current data packet (image data, original point cloud set, original point cloud contour and / or centroid coordinates, etc.) are stored in the database respectively as a normal push data. If triggered, in addition to saving the data packet content in the database, the following process can also be used for response processing:

[0112] a. According to the comparison result of the calculated distance and the standard safety distance set in the background, the target alarm level to be triggered is confirmed. Specifically, the standard safety distance can include a plurality of predetermined distance ranges, each distance range corresponding to a respective alarm level, and then the calculated distance is matched with the plurality of predetermined distance ranges to obtain the matching distance range, thereby obtaining the corresponding alarm level.

[0113] b. The centroid coordinates of the original point cloud set in the data packet are extracted, the position information corresponding to the positioning tag device worn by the construction personnel in the coordinate system of the 3D digital model is extracted, and the position information matching the centroid coordinates is determined as the target position information, and an alarm is sent to the construction personnel through the positioning tag device corresponding to the target position information. It should be noted that the positioning tag device in this process has positioning and tagging functions and can be installed on the safety helmet of the personnel. The personnel wearing the safety helmet with the positioning tag device enter the substation.

[0114] c.The system background sends the target level of sound and light alarm instructions through the data connection channel with the portable three-dimensional safety monitoring device. The tag positioning system also sends the target level of sound and light alarm instructions through the data channel with the corresponding positioning tag device.

[0115] In some other embodiments of the present specification, the positioning tag device can also be installed at the position of the clothes of the personnel, which is not limited in the embodiments of the present specification.

[0116] In the embodiments of the present specification, the positioning tag device can be positioned based on the Beidou differential reference station (for outdoor positioning scenarios) or based on the UWB LOC base station (for indoor positioning scenarios).

[0117] The Beidou differential reference station is usually placed at a known position. By comparing the satellite signals received by the reference station with the expected satellite signals based on its known position, the reference station can determine the errors in the satellite signals. Then these error information is transmitted to other satellite receiving devices in the area, and these receivers can use these information to correct their own satellite signals and improve the positioning accuracy.

[0118] Ultra Wide Band (UWB) technology is a wireless carrier communication technology that does not use sinusoidal carrier waves, but uses nanosecond non-sinusoidal wave narrow pulse to transmit data, so its frequency spectrum range is very wide, so it is called ultra wide band. In the UWB-based positioning system, the signal transmitting source transmits signal pulses, and the signal receivers need to be installed in the space to be positioned in advance, and need to define a right-angle coordinate system to measure and draw the x, y, z coordinates of each receiver. The flight speed of the pulse emitted by the signal transmitting source is the speed of light C, and the times when the pulse reaches the three signal receivers are T1, T2, and T3, respectively. Through the product of the speed of light C and the time T, three distances L1, L2, and L3 can be calculated, and the intersection of the three circles with the three distances as radii is the position of the signal transmitting source.

[0119] In some other embodiments of the present specification, considering that the equipment in the substation is relatively dense, it is easy to appear large-area shielding of the monitoring target, and if necessary, two sets of portable three-dimensional monitoring devices can be configured in the current maintenance operation area, such as the monitoring device 01 and the monitoring device 02 shown in the figure, and the monitoring device 01 and the monitoring device 02 are used to monitor the space of the construction and maintenance area to monitor the entire construction and maintenance area. Figure 7

[0120] In the embodiments of the present specification, the monitoring device is used to monitor the same monitoring area, and the field of view overlaps. For the monitoring results of the overlapping area, the following steps can be used for fusion and deduplication: ​

[0121] 1. After receiving the monitoring information from each monitoring device, the server stores the monitoring information from each monitoring device into the message queue corresponding to each monitoring device.

[0122] 2. The server uses the queue with the most messages as the main queue at a set frequency, periodically (at a time interval of Δt) captures a message (i.e., monitoring information), and based on the nanosecond-level timestamp t1 of the message, it synchronously selects all message data from the message queues of other monitoring devices whose timestamps t satisfy the condition t1≤t≤(t1+Δt) to construct the message set at time t1.

[0123] 3. Since the 3D coordinate system of all monitoring equipment is consistent with the coordinate system of the substation model, the coordinates of the target centroid points contained in each message are also in the same coordinate system. At this time, according to the nearest principle, messages corresponding to all centroid points whose distance between the centroid points of each message is less than the threshold distance are regarded as a cluster, thereby completing the clustering of all messages in the message set;

[0124] 4. Iterate through and process the message set of each cluster, treat the messages in the message set of each cluster as the monitoring results of the same target object in the monitoring area, then denoise all messages in the message set of the cluster, and finally use the average value of each attribute of the retained message data as the final attribute value to achieve deduplication and reconstruct a monitoring message of the current target object.

[0125] 5. Finally, all monitoring messages used for external alarm determination are obtained;

[0126] It should be noted that the server-side configuration of the current maintenance work area is stored in the above steps.

[0127] According to one embodiment of this specification, the steps for constructing the 3D irregular-shaped electronic fence of the monitoring area include:

[0128] The substation is scanned to obtain a scaled point cloud model of the substation;

[0129] A 3D digital model of the substation is constructed based on the proportional point cloud model.

[0130] Construct multiple spatial region division model components based on the 3D digital model;

[0131] Select the spatial region division model component of the monitoring area and combine it to generate a 3D irregular electronic fence for the monitoring area.

[0132] In the embodiments of the present specification, a mobile laser radar scanning device integrating SLAM (simultaneous localization and mapping) technology is used to scan a transformer substation in three dimensions to obtain raw scan point cloud data of the transformer substation, which has a scale unit consistent with the real environment, i.e., a meter unit. Then, a series of post-processing procedures such as coordinate system correction and irrelevant content cutting are performed on the raw scan data, and finally an isometric 3D point cloud model of the transformer substation is obtained.

[0133] As shown in the examples, the isometric point cloud model of the transformer substation can be as shown in Figure 2 .

[0134] In some other embodiments of the present specification, video image material data of the transformer substation (i.e., video images of the transformer substation) can also be collected, so as to provide reference correction for subsequent construction of a 3D digital model of the transformer substation according to the video image material data of the transformer substation. Specifically, after scanning and modeling the transformer substation, a video image collection device such as a drone and a handheld camera is used to collect and record the connection state of the devices in the transformer substation globally and in detail (including video images of the global view of the real scene of the transformer substation and video images of the local view of the real scene of the transformer substation), so as to provide reference correction during subsequent modeling. The connection state of each device and the devices in the transformer substation is collected in detail from global and local perspectives, providing global macroscopic to local microscopic overall cognition for subsequent modeling, and improving the accuracy of the subsequent 3D digital model and the spatial region division model component.

[0135] Then, a 3D digital model of the transformer substation is constructed.

[0136] Considering the display requirements of the software system for the transformer substation model in the later stage and the visual analysis positioning effect when constructing the spatial region division model component, it is necessary to construct a 3D digital model on the basis of the isometric point cloud model, and the specific process can include:

[0137] 1. Preprocessing the isometric point cloud model to enable it to be smoothly imported into the model construction software;

[0138] The data content in the isometric point cloud model is a three-dimensional point coordinate set - [(x1, y1, z1), (x2, y2, z2),...], and some modeling software does not support direct import. In addition, considering the large file size of the isometric point cloud model and the host computer performance of the modeling software, preprocessing operations such as downsampling and data content format conversion are required to enable it to be smoothly imported into the modeling software for visual operation.

[0139] As shown in the examples, the import effect diagram of the isometric point cloud model of Figure 3 is shown in Figure 2 . Figure 3The middle green part is the display effect of the equal-scale point cloud model imported into the modeling software, which is consistent with Figure 2 the content of the medium-scale point cloud model.

[0140] 2. On the basis of ensuring that the coordinate system of the equal-scale point cloud model is unchanged, the main part models in the equal-scale point cloud model are constructed;

[0141] In order to ensure that the content of the constructed substation 3D digital model and its coordinate system are completely consistent with the original point cloud model coordinate system, no pose transformation can be performed on the imported point cloud model.

[0142] Then, based on the original dense point cloud model (before downsampling processing, loaded and viewed by other software tools) and video image materials collected by unmanned aerial vehicles and the like, the shapes and positions of various target modeling objects in the equal-scale point cloud model in the modeling software are fitted, and the 3D digital model is constructed (based on cuboids, cylinders, spheres and the like for size and shape adjustment).

[0143] As Figure 4 and Figure 5 the equal-scale point cloud model (green part) and the constructed 3D digital model are overlaid together. From Figure 4 and Figure 5 it can be seen that the equipment objects (houses, electrical equipment, high-voltage lines, etc.) in the two model scenes completely coincide, meeting the target requirements.

[0144] The coincidence effect of the finally constructed equal-scale point cloud model and the 3D digital model is shown in Figure 6 .

[0145] Then, the spatial region division model components are constructed. In the embodiment of the present specification, constructing the spatial region division model according to the 3D digital model further comprises:

[0146] According to 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 section of circuit equipment in the substation is covered in a special shape, to obtain the spatial region division model components of each section of circuit equipment, and a live attribute tag is configured;

[0147] The void space region in the 3D digital model except the spatial region division model components carrying the live attribute tag is constructed in the form of filling the spatial region division model components of the void space region, and a dynamic attribute tag is configured.

[0148] In the embodiments of the present specification, the safety specification and the like indicating materials can be identified, and the safety distance requirements for different voltage levels, different live equipment and the like in the safety specification and the like indicating materials can be extracted, for example, the bus in the substation, that is, the main current lead of high-voltage electricity in the substation, which is a metal cylinder with an indefinite length and a diameter of 10-15 cm. According to the different voltage levels, the live space distance (live radius) around it is also different. The safety specification and the like indicating materials are identified, for example, the discharge distance of the 220KV bus is 3 meters, that is, the staff needs to be more than 3 meters away from the 220KV bus to ensure safety.

[0149] According to the connection of the circuit equipment, the circuit in the substation can be divided, for example, the contact point of the knife switch in the power line is taken as the physical division position of the power line, and the power line is divided into a plurality of line equipment.

[0150] The discharge space of each section of circuit equipment is wrapped and covered in the form of a "special-shaped building block", and a live label is assigned. Then, the space region division model components of the gap space region outside the "live" attribute label space region in the substation are also constructed in the form of a special-shaped surface model, the space region division model components of the gap space region are constructed in the form of filling, and the dynamic attribute label is configured, so as to ensure that the entire 3D space in the substation is controlled, and there is no uncontrolled space region. For example, the space region division model of the dynamic attribute label is generated in the gap space region between the lower surface of the space region division model component of each section of circuit equipment and the ground, or the space region division model of the dynamic attribute label is generated in the gap space region between the side surface of the space region division model component of the circuit equipment and the side boundary of the 3D digital model. The corresponding relationship between the space region division model component of the dynamic attribute label and the space region division model component of the corresponding circuit equipment can also be configured, or the positional relationship between the space region division model component of the dynamic attribute label and the space region division model component of the circuit equipment can also be configured.

[0151] Finally, all the 3D spaces in the entire substation are divided, and a plurality of space region division model components are obtained.

[0152] The equipment maintenance area in the substation is usually logically divided into a term "bay", and a bay usually contains a plurality of space regions with live and dynamic attribute labels.

[0153] In addition to the bay, the following several division types (other categories can also be divided, which are not limited by the embodiments of the present specification) are defined as shown in Table 1:

[0154] Table 1

[0155]

[0156]

[0157] The entire space region in the entire substation can be summarized as being composed of several intervals, a large power link, a public passage, an equipment room, and a dynamic space.

[0158] According to one embodiment of the present specification, the circuit equipment includes a busbar.

[0159] Further, according to the safety distance requirement of the circuit equipment in the 3D digital model and the connectivity of the circuit equipment, the discharge space range of each section of circuit equipment in the substation is covered by a special-shaped package to obtain a space region division model component of each section of circuit equipment, which further includes:

[0160] determining a live end point of the busbar;

[0161] generating a live space placeholder ball wrapping the live end point, taking the live end point as the center of the ball and taking the safety distance corresponding to the safety distance requirement of the busbar as the radius;

[0162] placing a plurality of live space placeholder balls with the same radius between two adjacent live end points of the same busbar at equal intervals and uniformly;

[0163] constructing a space region division model component of the busbar according to the live space placeholder balls.

[0164] In the embodiments of the present specification, as shown in Figure 8 is a schematic diagram of a busbar in a 3D digital model, Figure 8 the red, green, and yellow lines in which are a section of busbar, and the arrow direction is one of the live end points of the three busbars, and the three colors represent three-phase different circuit lines (analogous reference: zero line, fire line, and ground line).

[0165] Then, the safety distance requirement of the busbar is determined in combination with the actual circuit physical connection condition and the indication materials such as safety specifications. A live space placeholder ball wrapping the live end point is generated, taking the live end point as the center of the ball and taking the safety distance corresponding to the safety distance requirement of the busbar as the radius.

[0166] As shown in Figure 9 is the effect of placing a live space placeholder ball at the live end point of the busbar. The center of the live space placeholder ball is at the selected live end point, and the radius of the live space placeholder ball is the discharge distance determined by the indication materials such as safety specifications (for example, the discharge distance of a 220KV voltage equipment is 3 meters) - the nearest distance that can avoid electric shock accidents when the equipment is live.

[0167] Then, a plurality of charged space placeholder balls with the same radius are placed equidistantly and uniformly between two adjacent charged end points of the same busbar. Specifically, the charged space placeholder balls with the same radius are placed equidistantly and uniformly between two adjacent charged end points of the same busbar, and the center of each ball is located on the busbar or the charged end point, so as to preliminarily construct a charged space region of the busbar by using the charged space placeholder balls.

[0168] As shown in Figure 10 Fig. 1 is an example diagram in which charged space placeholder balls are placed at charged end points and equidistant positions. Figure 10 In the example diagram, the charged space placeholder balls of the busbar are not all placed, but only for example.

[0169] Then, a space region division model component of the busbar is constructed according to the charged space placeholder balls.

[0170] In the embodiment of the present specification, constructing the space region division model component of the busbar according to the charged space placeholder balls further includes:

[0171] Constructing a minimum enclosing model of a set of all charged space placeholder balls of the busbar to obtain the space region division model component of the busbar.

[0172] Specifically, after the placement of all the charged space placeholder balls is completed, when the space region division model component of the busbar is constructed, the number of faces of the constructed space region division model component is as small as possible (for example, the space region division model component of the busbar has six faces, including a bottom face, a top face and four side faces), and the faces of the space region division model component are tangent to the outer surfaces of the charged space placeholder balls (each face is tangent to at least one charged space placeholder ball closest to the face), so as to finally construct a minimum enclosing model of the current set of charged space placeholder balls, which is in the shape of a "special-shaped building block" according to the actual distribution of the charged space placeholder balls (a schematic diagram of the charged space placeholder balls and the space region division model component of the busbar is shown in Figure 11 Due to the particularity of the busbar, the constructed model is in the shape of a cuboid).

[0173] In the embodiment of the present specification, the method further includes:

[0174] According to the connectivity of the lines in the interval, the interval is divided into minimum power links;

[0175] The charged end points of each minimum power link are determined respectively;

[0176] generate a charged space occupation sphere which wraps the charged end point, taking the charged end point as the sphere center and taking the safety distance corresponding to the safety distance requirement of the current minimum power link as the radius of the sphere;

[0177] evenly place multiple charged space occupation spheres with the same radius between two adjacent charged end points of the same minimum power link;

[0178] construct a minimum enclosing model of the set of occupation spheres of all charged space occupation spheres of the minimum power link, to obtain a space region of the minimum power link;

[0179] combine the space regions of all minimum power links to obtain the space region division model component of the interval.

[0180] In the embodiments of the present disclosure, the interval represents a minimum power outage space unit during maintenance, and the minimum power link division of the lines in the interval according to the connectivity of the lines in the interval further comprises:

[0181] According to the operation of the knife switch of the line in the interval during maintenance work, the lines in the interval are divided into minimum power links.

[0182] Exemplarily, the knife switch is one of the switch devices commonly used in the substation to control the on-off of the circuit. When the knife switch is closed, the circuit is connected; when the knife switch is opened, the circuit is cut off. For each phase line in a three-phase circuit, along the inflow or outflow direction of the current, the switch device in the phase line and the position of the connected contact point of the switch device (for example, the position of the static contact) are first determined, and then the line between the two adjacent switch devices is the minimum power link, and the contact points at the two ends of the minimum power link are the charged end points. The charged end points in the embodiments of the present disclosure can be switch contact points, or can be obvious protrusions or corners in the power link.

[0183] As shown in Figure 12 , the positions indicated by the yellow, green and red arrows are the static contact points of the knife switch, that is, one of the charged end points in the current power link segment. According to the knife switch, the interval can be divided into two power link segments (that is, minimum power links), and the segmentation result is shown in Figure 13 , including the right side incoming line circuit and the left side wire circuit connected with the bus.

[0184] Then the live end points of each minimum power link are determined respectively, the live end points are taken as the centers of the live space occupation spheres, and the safe distance corresponding to the safety distance requirement of the current minimum power link is taken as the radius to generate the live space occupation spheres wrapping the live end points; a plurality of live space occupation spheres with the same radius are placed equidistantly and uniformly between two adjacent live end points of the same minimum power link; a minimum enclosing model of the live space occupation sphere set composed of all live space occupation spheres of the minimum power link is constructed to obtain the space region of the minimum power link.

[0185] As shown in Figure 14 Fig. 6 is a schematic diagram of all live space occupation spheres and space regions of the right side incoming line circuit. The embodiments of the present specification place the corresponding live space occupation spheres at each live end point of the right side incoming line circuit to identify the live space range of the right side incoming line circuit, and then construct a minimum enclosing model of the current live space occupation sphere set based on the principle of minimizing the number of faces of the constructed space region (for example, the step of determining the number of faces of the space region includes minimizing the number of triangular facets of the current triangular mesh model (i.e., the current live space region model), and the 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 model complexity, the total amount of calculation between the radar point cloud and the triangular facets in the model is reduced. When the number of triangular facets in the triangular mesh model is reduced, the spatial positioning accuracy of the current constructed live space region model will inevitably be reduced. Therefore, a balance needs to be considered, and priority is given to ensuring that the live space region of the power link is completely wrapped and covered. There is no fixed number of triangular facets in the triangular mesh model, and the specific number of triangular facets can be generated by the modeling software), and the faces of the space region are tangent to the outer surface of the live space occupation sphere (the corresponding face is tangent to at least one live space occupation sphere closest to the face) to construct a minimum enclosing model of the current live space occupation sphere set and obtain the space region of the right side incoming line circuit.

[0186] In addition, as can be seen from Figure 14 , the position directly below the currently constructed space region of the right side incoming line circuit is in a "blank" state, and a subsequent space region division model component of the dynamic attribute label will be filled in this position.

[0187] As shown in Figure 15 Fig. 7 is a schematic diagram of all live space occupation spheres of the left side conductor circuit connected to the busbar. The live end points in the left side conductor circuit connected to the busbar (there can be more than two live end points in a conductor link) are identified, and the corresponding live space occupation spheres are placed. A plurality of live space occupation spheres with the same radius are placed equidistantly and uniformly between two adjacent live end points of the same conductor circuit to identify the live space range of the left side conductor circuit connected to the busbar.

[0188] As shown in Figure 16 is a schematic diagram of all live space-occupying spheres of the left bus-connected conductor circuit and the space region. Then, based on the principle of constructing the minimum enclosing model described above, the space region of the left bus-connected conductor circuit is constructed.

[0189] Finally, the space regions of all minimum power links are combined to obtain the space region division model component of the bay. As shown in Figure 17 and Figure 18 is a schematic diagram of combining the space region of the right incoming line circuit and the space region of the left bus-connected conductor circuit to obtain the space region division model component of the bay. As shown in Figure 17 and Figure 18 , the space region of the right incoming line circuit and the space region of the left bus-connected conductor circuit are combined, and at the same time, the two models have a certain degree of overlapping intersection at the connection point of the two links. This state of overlapping intersection is generally caused by the intersection of live space-occupying spheres, that is, the overlapping of the live range of the equipment. In addition to ensuring that all space regions in the entire substation are controlled, this state of intersection is also the key to subsequent construction of 3D special-shaped electronic fences.

[0190] According to one embodiment of the present specification, the substation further comprises a public passage;

[0191] The method further comprises:

[0192] According to whether there is a circuit equipment above the public passage, the public passage is divided into a plurality of sub-passage regions;

[0193] If there is no circuit equipment above the sub-passage region, the space region of the sub-passage region is generated according to a predetermined height; wherein the predetermined height can be set by the staff according to the needs.

[0194] If there is a circuit equipment above the sub-passage region, the space region of the sub-passage region is generated according to the lower surface height of the space region division model component of the circuit equipment;

[0195] The space regions of the sub-passage regions are combined to obtain the space region division model component of the public passage.

[0196] As shown in Figure 19The yellow part in the figure corresponds to the space area division model component of the public channel, and the maximum height at the top is determined by the space environment above. If there is no electrical equipment or power link above the channel, the top of the channel model will be raised to a specified height. Otherwise, the height of the top of the channel model in the current section will be limited by the height of the lower surface of the live space area model above it.

[0197] In the current interval area, in addition to the live label space area division model component and the space area division model component corresponding to the public channel that have been constructed, there are still uncontrolled gap space areas in the "blank" state. These gap space areas are filled with model construction, and the construction principle is still to keep the number of surfaces to a minimum while completely filling the "blank" area.

[0198] The dynamic label space area division model component generated by filling also has a certain degree of intersection with the adjacent live label space area division model component.

[0199] As shown in Figure 20 , Figure 21 and Figure 22 The dynamic label space area division model component and the adjacent live label space area division model component are combined as shown in the schematic diagram. The blue part is the dynamic label space area division model component constructed by filling, and together with the two live label space area division model components (red part) of the power link constructed before, it forms the complete space area division model component in the current interval.

[0200] Finally, the 3D special-shaped electronic fence is generated. According to an embodiment of the present specification, selecting the space area division model component of the monitoring area, combining the 3D special-shaped electronic fence of the monitoring area further comprises:

[0201] According to the selection of the corresponding space area division model component of the monitoring area, the space area model group is constructed;

[0202] Fuse all space area division model components in the space area model group, calculate the outer surface after fusion, and obtain the 3D special-shaped electronic fence.

[0203] In the embodiment of the present specification, after completing the construction of all space area division model components in the substation, the target 3D special-shaped electronic fence is obtained by selecting and combining the relevant space area division model components in the target interval or other range area, thereby generating the expected 3D special-shaped electronic fence.

[0204] Firstly, the spatial area model group is constructed. After the overall spatial area in the substation is divided, the area is roughly divided according to the interval and similar logical classification levels according to the business logic requirements, and then each minimum model unit in the range is grouped. The steps of roughly dividing the area according to the interval and similar logical classification levels include: the division of the interval needs to be combined with the specific power link operation and configuration in the substation to define the range. Similarly, it can also include the logical concept area such as "bus line", "in / out power line", "transformer area", "capacitor area" and the like according to the specific configuration and functional design in the substation. These areas may have certain overlap, and each area may contain several (0-N) "interval" spaces, so the range of the interval and the logical concept area is defined to roughly divide the area.

[0205] As shown in Figure 23 , the spatial area division model component (red part) containing two live tags and the spatial area division model component (blue part) containing two dynamic tags. The four spatial area division model components belong to the current group. If there are multiple maintenance work areas at the same time, they are processed respectively to form multiple groups, and each group is independent of each other.

[0206] Then, all the spatial area division model components in the group are fused. After determining all the spatial area division model components in the current group, the intersection state between adjacent models is determined, and the algorithm process related to the polygon mesh model processing (such as the related method under the Corefinement module in the open source library CGAL) is used to recalculate and generate the outer surface model of all the spatial area division model components in the current group, that is, to delete the inner intersection part to obtain a 3D irregular bounding box. The outer surface model is also the target 3D irregular electronic fence.

[0207] Taking two spatial area division model components as an example, when the two spatial area division model components do not have any intersection, the outer surface model after fusion is the sum of the two spatial area division model components (the number of surfaces is added, the number of vertices is added, and the file size is added). When the two spatial area division model components have an intersection, the outer surface model after fusion is the entire outer surface part that can be observed when the two spatial area division model components are in the intersection state, and the part hidden in the intersection will be deleted.

[0208] The "intersection" state of the spatial area division model component is mainly considered from the actual spatial division requirement. Firstly, it is necessary to ensure that the 3D space of the substation as a whole does not have an uncontrolled spatial area after the spatial area division is completed, and secondly, the live space area range of each power equipment basically has an intersection, that is, the live space range itself has an intersection.

[0209] Taking the case of dividing the model components into two intersecting spatial regions, the process of fusing to obtain the outer surface model can include the following steps:

[0210] Step 1: All triangular facets in the two intersecting spatial region division model components are traversed and checked two by two, and all intersection line segments are calculated;

[0211] Step 2: Along the intersection line, the intersecting triangular facets are divided into sub-triangular facets to ensure that the intersection line becomes an edge of the new mesh;

[0212] Step 3: Determine whether each sub-triangular facet in one spatial region division model component is inside the other spatial region division model component (invisible), if not, keep the sub-triangular facet; that is, only keep the sub-triangular facets that are all outside the other spatial region division model component (visible);

[0213] Step 4: Remove duplicate vertices of the two spatial region division model components, and merge adjacent edges to obtain the fused outer surface model.

[0214] Exemplarily, the obtained 3D special-shaped electronic fence can be as shown in Figure 24 and Figure 25 , Figure 24 and Figure 25 The green part represents the 3D special-shaped electronic fence.

[0215] After obtaining the 3D special-shaped electronic fence, according to actual needs, the current electronic fence - the recalculated generated outer surface model can be marked and saved for direct use next time.

[0216] In the embodiments of the present specification, after obtaining the 3D special-shaped electronic fence, the personnel can be protected based on the 3D special-shaped electronic fence, for example, the working personnel can only perform the power-off maintenance work within the 3D special-shaped electronic fence in the state that the circuit equipment in the 3D special-shaped electronic fence is powered off for maintenance.

[0217] Based on the same inventive concept, the embodiments of the present specification also provide a maintenance safety distance monitoring device for personnel in a substation, as shown in Figure 26 The device comprises:

[0218] A portable three-dimensional monitoring equipment scanning unit 10 is configured to scan the construction personnel in the substation by the portable three-dimensional monitoring equipment deployed in the substation, and determine the target point cloud data of the construction personnel;

[0219] A maintenance safety distance monitoring unit 11 is configured to perform maintenance safety distance monitoring on the construction personnel according to the 3D special-shaped electronic fence in the monitoring area of the substation and the target point cloud data.

[0220] The beneficial effects achieved by the above-described apparatus are consistent with the beneficial effects achieved by the above-described method, and the embodiments of the present specification will not be described here.

[0221] As Figure 27 FIG. 1 shows a block diagram of a computer device according to an embodiment of the present application. The method in the embodiments of the present specification can run in the computer device in the embodiments. The computer device 1102 can 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 can also include any storage resources 1106 for storing any kind of information, such as code, settings, data, etc. Without limitation, for example, the storage resources 1106 can include any one or combination of the following: any type of RAM, any type of ROM, flash memory devices, hard disks, optical disks, etc. More generally, any storage resource can store information using any technology. Further, any storage resource can provide volatile or non-volatile retention of information. Further, any storage resource can represent a fixed or removable component of the computer device 1102. In one case, the computer device 1102 can perform any operation of the associated instructions when the processing device 1104 executes the associated instructions stored in any storage resource or combination of storage resources. The computer device 1102 also includes one or more drive mechanisms 1108 for interacting with any storage resource, such as a hard disk drive mechanism, an optical disk drive mechanism, etc.

[0222] The computer device 1102 can also include an input / output module 1110 (I / O) for receiving various inputs (via input devices 1112) and for providing various outputs (via output devices 1114). One particular output mechanism can include a presentation device 1116 and an associated graphical user interface (GUI) 1118. In other embodiments, the input / output module 1110 (I / O), the input devices 1112, and the output devices 1114 can also not be included, just as a computer device in a network. The computer device 1102 can 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 above-described components together.

[0223] The communication links 1122 can be implemented in any manner, for example, through a local area network, a wide area network (e.g., the Internet), a point-to-point connection, etc., or any combination thereof. The communication links 1122 can include any combination of hardwired links, wireless links, routers, gateway functionality, name servers, etc., governed by any protocol or combination of protocols.

[0224] The embodiments herein also provide a computer readable storage medium, having stored thereon a computer program, which, when executed by a processor, performs the method described above.

[0225] The embodiments herein also provide a computer readable instruction, wherein the program causes the processor to perform the method described above when the processor executes the instruction.

[0226] It should be understood that the size of the serial number of the processes described above in the various embodiments herein does not mean the order of execution, and the execution order of the processes should be determined according to its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments herein.

[0227] It should also be understood that in the embodiments herein, the term "and / or" is only a description of the association relationship of the associated objects, which means that there can be three relationships. For example, A and / or B can represent the three cases of A alone, A and B together, and B alone. In addition, the character " / " in this paper generally represents that the front and rear associated objects are in an "or" relationship.

[0228] Those skilled in the art can realize that the units and algorithm steps of the examples described in combination with the embodiments disclosed herein can be realized in electronic hardware, computer software or a combination of both. In order to clearly illustrate the interchangeability of hardware and software, the components and steps of the examples have been described in general terms in the above description. Whether the functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. A person 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 paper.

[0229] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the system, device and unit described above can refer to the corresponding process in the foregoing method embodiments, which will not be repeated here.

[0230] In several embodiments provided herein, it should be understood that the disclosed system, device and method can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of the units is only a logical function division, and actual implementation can have another division manner, for example, a plurality of units 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 displays or discussed can be indirect coupling or communication connection through some interfaces, devices or units, and can also be electrical, mechanical or other forms of connection.

[0231] The units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, i.e. may be located in one place, or may be distributed on multiple network units. Part or all of the units may be selected according to actual needs to achieve the purpose of the embodiments of the present application.

[0232] In addition, each functional unit in each embodiment herein can be integrated in one processing unit, or each unit can be physically present alone, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit.

[0233] The integrated unit, if realized in the form of a software functional unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on this understanding, the technical solutions herein, essentially or the part of the prior art that contributes to the technical solutions, or all or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, and includes a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in each embodiment herein. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various program code storage media.

[0234] The principles and implementation manners of the present application are described in the specific embodiments herein, and the above embodiment descriptions are only used to help understand the methods and core ideas thereof; meanwhile, for those skilled in the art, according to the ideas herein, the specific implementation manners and application ranges will have changes, and the above description of the present application should not be understood as a limitation.

Claims

1. A method for monitoring the safe distance of a person from a live part in a substation, characterized in that, The method comprises: scanning a construction worker in a substation by a portable three-dimensional monitoring device deployed in the substation to determine target point cloud data of the construction worker; monitoring a maintenance safety distance of the construction worker according to a 3D special-shaped electronic fence of a monitoring area in the substation and the target point cloud data.

2. The method of claim 1, wherein, The scanning of the construction worker in the substation by the portable three-dimensional monitoring device to obtain the target point cloud data of the construction worker further comprises: scanning a construction and maintenance area space in which the construction worker is located in the substation by the portable three-dimensional monitoring device to obtain original data of the construction and maintenance area space, the original data comprising at least point cloud data of the construction and maintenance area space; analyzing the original data to extract the target point cloud data of the construction worker.

3. The method of claim 2, wherein, The original data further comprises image data of the construction and maintenance area space; The analyzing of the original data to extract the target point cloud data of the construction worker further comprises: analyzing the image data and the point cloud data of the construction and maintenance area space to extract the target point cloud data of the construction worker.

4. The method of claim 1, wherein, The monitoring of the maintenance safety distance of the construction worker according to the 3D special-shaped electronic fence of the monitoring area in the substation and the target point cloud data further comprises: converting the target point cloud data to a coordinate system of a 3D digital model of the substation to obtain an original point cloud set; obtaining edge contour point cloud data of the original point cloud set by an edge extraction algorithm to obtain an original point cloud contour; sequentially calculating, for each data point in the original point cloud contour, a shortest distance between the data point and each surface of a 3D special-shaped electronic fence of a live monitoring area in the substation; judging whether the shortest distance is less than a threshold value; if yes, issuing an alarm to the construction worker.

5. The method of claim 4, wherein, After obtaining the original point cloud set, the method further comprises: calculating a corresponding center of mass coordinate according to the original point cloud set; extracting position information corresponding to a positioning tag device worn by the construction worker in the coordinate system of the 3D digital model; determining position information matching the center of mass coordinate as target position information; the issuing of the alarm to the construction worker further comprises: issuing the alarm to the construction worker by the positioning tag device corresponding to the target position information.

6. The method of claim 1, wherein, The step of constructing the 3D special-shaped electronic fence of the monitoring area comprises: scanning the substation to obtain an isometric point cloud model of the substation; constructing a 3D digital model of the substation according to the isometric point cloud model; constructing a plurality of spatial area division model components according to the 3D digital model; selecting the spatial area division model components of the monitoring area to combine to generate the 3D special-shaped electronic fence of the monitoring area.

7. The method of claim 6, wherein, The construction of the spatial area division model according to the 3D digital model further comprises: According to the safety distance requirement of the circuit equipment in the 3D digital model and the connectivity of the circuit equipment, the discharge space range of each section of circuit equipment in the transformer substation is covered in a special shape to obtain a space area division model component of each section of circuit equipment, and a live attribute tag is configured; The space area division model component of the gap space area in the 3D digital model except the space area division model component carrying the live attribute tag is constructed in a filled form, and a dynamic attribute tag is configured.

8. The method of claim 7, wherein, The circuit equipment includes a busbar; According to the safety distance requirement of the circuit equipment in the 3D digital model and the connectivity of the circuit equipment, the discharge space range of each section of circuit equipment in the transformer substation is covered in a special shape to obtain a space area division model component of each section of circuit equipment further comprising: Determine the live end point of the busbar; The live end point is taken as the center of a sphere, and a live space placeholder sphere covering the live end point is generated with a safety distance corresponding to the safety distance requirement of the busbar as the radius; A plurality of live space placeholder spheres with the same radius are placed equidistantly and uniformly between two adjacent live end points of the same busbar; A space area division model component of the busbar is constructed according to the live space placeholder spheres.

9. The method of claim 7, wherein, The method further comprises: According to the connectivity of the lines in the interval, the interval is divided into minimum power links; The live end points of each minimum power link are determined respectively; The live end point is taken as the center of a sphere, and a live space placeholder sphere covering the live end point is generated with a safety distance corresponding to the safety distance requirement of the current minimum power link as the radius; A plurality of live space placeholder spheres with the same radius are placed equidistantly and uniformly between two adjacent live end points of the same minimum power link; A minimum enclosing model of a placeholder sphere set composed of all live space placeholder spheres of the minimum power link is constructed to obtain a space area of the minimum power link; The space areas of all minimum power links are combined to obtain a space area division model component of the interval.

10. The method of claim 6, wherein, Selecting the space area division model component of the monitoring area to combine to generate a 3D special-shaped electronic fence of the monitoring area further comprises: According to the monitoring area, the corresponding space area division model component is selected to construct a space area model group; All space area division model components in the space area model group are fused to calculate the outer surface after fusion to obtain the 3D special-shaped electronic fence.

11. A device for monitoring safe distance of a person from a live part in a substation, characterized in that, The device comprises: A portable three-dimensional monitoring equipment scanning unit for scanning the construction personnel in the transformer substation through a portable three-dimensional monitoring equipment deployed in the transformer substation to determine target point cloud data of the construction personnel; A maintenance safety distance monitoring unit for monitoring the maintenance safety distance of the construction personnel according to the 3D special-shaped electronic fence of the monitoring area in the transformer substation and the target point cloud data.

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