Method and device for monitoring safe distance of maintenance personnel in substation

Abstract

The embodiment of the specification relates to a method and device for monitoring a maintenance safety distance of personnel in a transformer substation, which scans construction personnel in the transformer substation through a portable three-dimensional monitoring device arranged in the transformer substation, and determines target point cloud data of the construction personnel; and the construction personnel are monitored in terms of the maintenance safety distance according to a 3D special-shaped electronic fence of a monitoring area in the transformer substation and the target point cloud data. The embodiment of the specification can accurately calculate the maintenance safety distance through scanning of the portable three-dimensional monitoring device, and can improve the safety of personnel in maintenance operation in combination with the 3D special-shaped electronic fence which more accurately represents the range boundary of the fence in a space area. In addition, the position of the portable three-dimensional monitoring device in the embodiment of the specification can be flexibly adjusted according to a maintenance operation space area, thereby improving the portability of the monitoring of the maintenance safety distance.

Description

A method and device for monitoring the safe maintenance distance of personnel in a substation Technical Field

[0001] This article relates to the field of power transmission line safety protection, and in particular to a method and device for monitoring the safe distance of personnel during maintenance in substations. Background Technology

[0002] Substations are core nodes in power systems. Their internal equipment (such as transformers, circuit breakers, disconnectors, busbars, and instrument transformers) typically carries high voltage and strong current during operation, creating a dangerous high-voltage electric field in the surrounding space. To ensure the personal safety of personnel performing maintenance, repair, and testing within substations, the power industry has established strict safety distance regulations. Accurately monitoring the real-time, dynamic distance between personnel (especially their body parts or tools) and nearby live equipment or hazardous areas, and issuing timely and reliable warnings when the distance approaches or exceeds safety thresholds, is fundamental to preventing serious accidents such as electric shock and arc burns.

[0003] Currently, at substation maintenance sites, monitoring the safe distance between workers and live equipment mainly relies on the location monitoring of personnel's body parts and the setting up of electronic fences within the substation. However, both the location monitoring of personnel's body parts and the methods for dividing electronic fences within the substation have significant accuracy issues.

[0004] Therefore, improving the monitoring effect of the safe distance for maintenance personnel in substations is a technical problem that urgently needs to be solved. Summary of the Invention

[0005] To address the problems existing in the prior art, this specification provides a method and device for monitoring the maintenance safety distance of personnel in a substation. It constructs a 3D irregular-shaped electronic fence, which can more accurately represent the boundary of the fence in the spatial area. Furthermore, it uses a convenient three-dimensional monitoring device that combines 2D cameras and 3D solid-state LiDAR deployed within the maintenance work area to monitor the posture of personnel, thereby accurately calculating the maintenance safety distance and improving the safety of personnel during maintenance operations.

[0006] To solve the above-mentioned technical problems, the specific technical solution presented in this paper is as follows:

[0007] On the one hand, the embodiments in this paper provide a method for monitoring the maintenance safety distance of personnel in a substation, including:

[0008] The construction workers inside the substation are scanned using portable 3D monitoring equipment deployed within the substation to determine the target point cloud data of the construction workers.

[0009] The maintenance safety distance of the construction personnel is monitored based on the 3D irregular electronic fence of the monitoring area in the substation and the target point cloud data.

[0010] Furthermore, the acquisition of target point cloud data of the construction personnel within the substation by scanning them with portable 3D monitoring equipment deployed within the substation further includes:

[0011] The portable 3D monitoring device is used to scan the construction and maintenance area where the construction personnel are located in the substation to obtain the original data of the construction and maintenance area. The original data includes at least the point cloud data of the construction and maintenance area.

[0012] The raw data is analyzed to extract the target point cloud data of the construction personnel.

[0013] Furthermore, the raw data also includes image data of the construction and maintenance area space;

[0014] Analyzing the raw data and extracting the target point cloud data of the construction personnel further includes:

[0015] The image data and point cloud data of the construction and maintenance area are analyzed to extract the target point cloud data of the construction personnel.

[0016] Furthermore, the monitoring of the maintenance safety distance of the construction personnel based on the 3D irregular-shaped electronic fence of the monitoring area in the substation and the target point cloud data further includes:

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

[0018] The edge contour point cloud data of the original point cloud set is obtained by using an edge extraction algorithm to obtain the original point cloud contour.

[0019] For each data point in the original point cloud contour, calculate the shortest distance between it and each surface of the 3D irregular electronic fence in the live monitoring area of ​​the substation.

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

[0021] If so, an alarm will be issued to the construction workers.

[0022] Furthermore, after obtaining the original point cloud set, the method further includes:

[0023] Calculate the corresponding centroid coordinates based on the original point cloud set;

[0024] Extract the location information corresponding to the positioning tag device worn by the construction workers in the coordinate system of the 3D digital model;

[0025] Determine the position information that matches the centroid coordinates, and use it as the target position information;

[0026] Issuing an alarm to the construction workers further includes:

[0027] An alarm is sent to the construction personnel through the positioning tag device corresponding to the target location information.

[0028] Furthermore, the steps for constructing the 3D irregular-shaped electronic fence of the monitoring area include:

[0029] The substation is scanned to obtain a scaled point cloud model of the substation;

[0030] A 3D digital model of the substation is constructed based on the proportional point cloud model.

[0031] Construct multiple spatial region division model components based on the 3D digital model;

[0032] 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.

[0033] Furthermore, constructing a spatial region division model based on the 3D digital model further includes:

[0034] Based on the safety distance requirements of the circuit equipment in the 3D digital model and the connectivity of the circuit equipment, the discharge space range of each circuit equipment in the substation is irregularly wrapped and covered to obtain a spatial region division model component for each circuit equipment, and an electrical attribute label is configured.

[0035] The spatial region division model component is constructed by filling the empty space regions in the 3D digital model, excluding the spatial region division model component carrying the charged attribute label, and dynamic attribute labels are configured.

[0036] Furthermore, the circuit device includes a busbar;

[0037] Based on the safety distance requirements and connectivity of the circuit equipment in the 3D digital model, the discharge space of each circuit equipment segment within the substation is irregularly wrapped and covered to obtain a spatial region division model component for each circuit equipment segment. This component further includes:

[0038] Determine the energized endpoints of the busbar;

[0039] Using the charged endpoint as the center of the sphere and the safety distance corresponding to the safety distance requirement of the busbar as the radius, a charged space occupant sphere is generated to enclose the charged endpoint.

[0040] Between two adjacent charged endpoints of the same busbar, multiple charged space occupant spheres of the same radius are placed at equal intervals and uniformly.

[0041] The spatial region division model component of the busbar is constructed based on the charged space occupant sphere.

[0042] Furthermore, the method also includes:

[0043] The interval is divided into minimum power link segments based on the connectivity of the lines within the interval;

[0044] Determine the energized endpoints of each minimum power link;

[0045] Using the charged endpoint as the center of the sphere and the safety distance corresponding to the current minimum power link safety distance requirement as the radius, a charged space occupant sphere is generated to enclose the charged endpoint.

[0046] Between two adjacent charged endpoints of the same minimum power link, multiple charged space spheres of the same radius are placed at equal intervals and uniformly.

[0047] Construct a minimum bounding model of the set of all charged space occupant spheres that make up the minimum power link, and obtain the spatial region of the minimum power link;

[0048] By combining the spatial regions of all the smallest power links, the spatial region partitioning model component of the interval is obtained.

[0049] Furthermore, selecting the spatial region division model component of the monitoring area and combining it to generate a 3D irregular-shaped electronic fence for the monitoring area further includes:

[0050] Based on the monitoring area, select the corresponding spatial region division model component to construct spatial region model groups;

[0051] The spatial region division model components within the spatial region model group are merged, and the outer surface of the merged model is calculated to obtain the 3D irregular electronic fence.

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

[0053] A portable 3D monitoring equipment scanning unit is used to scan construction personnel in the substation using portable 3D monitoring equipment deployed in the substation, and to determine the target point cloud data of the construction personnel.

[0054] The maintenance safety distance monitoring unit is used to monitor the maintenance safety distance of the construction personnel based on the 3D irregular electronic fence of the monitoring area in the substation and the target point cloud data.

[0055] Using the embodiments in this specification, the substation is first scanned to construct 3D irregularly shaped electronic fences for each monitoring area within the substation. After determining the maintenance work space area to be monitored, the portable 3D monitoring device is placed at an appropriate distance based on the coverage of the target space area in the real-time field of view of the device. This ensures that the field of view of the portable 3D monitoring device can effectively cover the maintenance work space area. When construction personnel enter the substation for maintenance, the portable 3D monitoring device deployed within the substation scans the construction personnel to determine the target point cloud data of the construction personnel. Then, based on the target point cloud data and the corresponding 3D irregularly shaped electronic fence, the maintenance safety distance of the construction personnel is monitored. This specification, through scanning with a portable 3D monitoring device, can accurately calculate the maintenance safety distance. Combined with the 3D irregularly shaped electronic fence, which more accurately represents the boundary of the fence in the space area, it can improve the safety of personnel during maintenance operations. In addition, the position of the portable 3D monitoring device in the embodiments of this specification can be flexibly adjusted according to the maintenance work space area, improving the portability of maintenance safety distance monitoring. Attached Figure Description

[0056] To more clearly illustrate the technical solutions in the embodiments or prior art described herein, the accompanying drawings used in the description of the embodiments or prior art will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this article. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0057] Figure 1 is a flowchart illustrating a method for monitoring the maintenance safety distance of personnel in a substation according to an embodiment of this specification.

[0058] Figure 2 is a schematic diagram of the scaled point cloud model of the substation in the embodiments of this specification;

[0059] Figure 3 shows the import effect of the proportional point cloud model in the embodiment of this specification;

[0060] Figures 4, 5, and 6 show the effect of overlapping the proportional point cloud model and the constructed 3D digital model in the embodiments of this specification.

[0061] Figure 7 shows a schematic diagram of the single-shot and through-shot deployment of the portable three-dimensional security monitoring device in the embodiments of this specification.

[0062] Figure 8 shows a schematic diagram of the busbar in the 3D digital model of the embodiment of this specification;

[0063] Figure 9 shows the effect of placing a energized space sphere at the energized end point of the busbar in an embodiment of this specification.

[0064] Figure 10 shows an example diagram of placing charged space spheres at charged endpoints and equidistant positions in an embodiment of this specification.

[0065] Figure 11 shows a schematic diagram of the charged space occupant sphere and space region division model components of the busbar in the embodiments of this specification;

[0066] Figure 12 shows a schematic diagram of the contact points of the disconnector switch in the power link within the interval in an embodiment of this specification.

[0067] Figure 13 shows a schematic diagram of two minimum power links within an interval in an embodiment of this specification.

[0068] Figure 14 shows a schematic diagram of all the charged space occupant balls and space regions of the right-side incoming circuit in an embodiment of this specification.

[0069] Figure 15 shows a schematic diagram of all the energized space spheres of the conductor circuit connected to the busbar on the left side in the embodiment of this specification;

[0070] Figure 16 shows a schematic diagram of all the energized space spheres and space regions of the conductor circuit connected to the busbar on the left side in the embodiment of this specification.

[0071] Figures 17 and 18 show schematic diagrams of the spatial region division model component obtained by combining the spatial region of the right-side incoming circuit and the spatial region of the left-side conductor circuit connected to the busbar in an embodiment of this specification.

[0072] Figure 19 shows a schematic diagram of the spatial area division model component corresponding to the public passage in the embodiments of this specification;

[0073] Figures 20, 21, and 22 show schematic diagrams of the combination of the spatial region division model component of the dynamic tag and the spatial region division model component of the adjacent charged tag in the embodiment of the specification.

[0074] Figure 23 shows a schematic diagram of the spatial region model grouping in the embodiments of this specification;

[0075] Figures 24 and 25 show schematic diagrams of 3D irregular-shaped electronic fences in the embodiments of this specification;

[0076] Figure 26 shows a schematic diagram of the maintenance safety distance monitoring device for personnel in a substation in this embodiment of the paper.

[0077] Figure 27 shows a schematic diagram of the structure of the computer device in the embodiments of this article.

[0078] [Explanation of Figure Markers]:

[0079] 10. Portable 3D monitoring equipment scanning unit;

[0080] 11. Inspect and maintain the safety distance monitoring unit;

[0081] 1102. Computer equipment;

[0082] 1104. Processing equipment;

[0083] 1106. Storage resources;

[0084] 1108. Drive mechanism;

[0085] 1110. Input / output module;

[0086] 1112. Input devices;

[0087] 1114. Output devices;

[0088] 1116. Presentation device;

[0089] 1118. Graphical User Interface;

[0090] 1120. Network interface;

[0091] 1122. Communication link;

[0092] 1124. Communication bus. Detailed Implementation

[0093] The technical solutions in the embodiments described below will be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments described herein, and not all of the embodiments. Based on the embodiments described herein, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this document.

[0094] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings herein are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, apparatus, product, or device that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or devices.

[0095] It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases the steps shown or described may be executed in a different order than that shown here.

[0096] To address the problems existing in the prior art, this specification provides a method for monitoring the maintenance safety distance of personnel in a substation. A 3D irregularly shaped electronic fence is constructed, which can more accurately represent the boundary of the fence in a spatial area. A convenient three-dimensional monitoring device combining 2D cameras and 3D solid-state LiDAR deployed within the maintenance work area is used to monitor the posture of personnel, thereby accurately calculating the maintenance safety distance and improving the safety of personnel during maintenance operations. Figure 1 shows a flowchart of a method for monitoring the maintenance safety distance of personnel in a substation according to an embodiment of this specification. This figure describes the process of monitoring the maintenance safety distance of personnel in a substation, but based on conventional or non-creative labor, it may include more or fewer operational steps. The order of steps listed in the embodiment is only one of many possible execution orders and does not represent the only execution order. In actual system or device products, the method can be executed sequentially or in parallel according to the embodiment or the accompanying drawings. Specifically, as shown in Figure 1, it can be executed by a server, and the method may include:

[0097] Step 101: Scan the construction personnel in the substation using a portable 3D monitoring device deployed within the substation to determine the target point cloud data of the construction personnel;

[0098] Step 102: Monitor the maintenance safety distance of the construction personnel based on the 3D irregular electronic fence of the monitoring area in the substation and the target point cloud data.

[0099] Using the embodiments in this specification, the substation is first scanned to construct 3D irregularly shaped electronic fences for each monitoring area within the substation. After determining the maintenance work space area to be monitored, the portable 3D monitoring device is placed at an appropriate distance based on the coverage of the target space area in the real-time field of view of the device. This ensures that the field of view of the portable 3D monitoring device can effectively cover the maintenance work space area. When construction personnel enter the substation for maintenance, the portable 3D monitoring device deployed within the substation scans the construction personnel to determine the target point cloud data of the construction personnel. Then, based on the target point cloud data and the corresponding 3D irregularly shaped electronic fence, the maintenance safety distance of the construction personnel is monitored. This specification, through scanning with a portable 3D monitoring device, can accurately calculate the maintenance safety distance. Combined with the 3D irregularly shaped electronic fence, which more accurately represents the boundary of the fence in the space area, it can improve the safety of personnel during maintenance operations. In addition, the position of the portable 3D monitoring device in the embodiments of this specification can be flexibly adjusted according to the maintenance work space area, improving the portability of maintenance safety distance monitoring.

[0100] In the embodiments of this specification, the portable 3D monitoring device includes a 2D camera module and a 3D solid-state LiDAR module. The 2D camera module can obtain image data of the construction and maintenance area, and the 3D solid-state LiDAR module can scan the construction and maintenance area to obtain point cloud data. The field of view (FOV) of the 2D camera module and the 3D solid-state LiDAR in the embodiments of this specification may differ to some extent. Therefore, after determining the maintenance work area to be monitored, the portable 3D monitoring device is placed at a suitable distance based on the coverage of the target space area in the device's real-time field of view, ultimately ensuring that both the 2D image and the 3D point cloud field of view of the device effectively cover the target space area to be monitored.

[0101] After the pose (position and viewing angle) of the portable 3D monitoring device is adjusted, lock the bottom base and all adjustment joints to ensure that there will be no unintentional pose changes (including device sliding due to being on a slope, pose changes due to accidental pulling or touching, or joints not being locked).

[0102] After the portable 3D monitoring equipment is deployed, its point cloud coordinate system is calibrated to the substation's 3D coordinate system. Specifically, after the monitoring equipment's pose is determined, the lidar point cloud within the current field of view is collected as the equipment's real-scene calibration point cloud data. Then, through the calibration algorithm process at the portable 3D monitoring equipment or the main control room's positioning monitoring system backend, the calibration of the current real-scene calibration data to the substation's 3D digital model is completed, obtaining the transformation matrix between the portable 3D monitoring equipment's point cloud coordinate system and the substation's 3D model's basic coordinate system.

[0103] Then, the construction and maintenance area where the construction personnel are located within the substation is scanned using the portable 3D monitoring equipment to obtain the original data of the construction and maintenance area. The original data includes at least the point cloud data of the construction and maintenance area. The original data is then analyzed to extract the 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. The output is a 3D bounding box of the point cloud data set corresponding to the target construction worker in the point cloud coordinate system. Then, the point cloud data within the bounding box can be extracted to obtain the target point cloud data corresponding to the target construction worker.

[0105] To improve monitoring accuracy, the embodiments in this specification can also perform personnel detection and segmentation based on the combination of "image + point cloud" data. Specifically, after the monitoring program runs, due to the different data output frame rates of the 2D camera module and the 3D LiDAR module, the image and point cloud data are compared by comparing nanosecond-level timestamps to obtain the "image + point cloud" data set at the same moment. Using this as the core input, the "image + point cloud" data set of the construction and maintenance area is analyzed to extract the target point cloud data of the construction personnel.

[0106] Feasibly, target detection and instance segmentation are performed on the RGB image to obtain the mask of the pixel area occupied by the target in the image. Then, the point cloud data is projected onto the image through the pre-calibrated camera intrinsic parameters and the transformation matrix from the radar point cloud coordinate system to the camera 3D space coordinate system. Finally, the point cloud data corresponding to the target construction personnel can be obtained by extracting the point cloud data within the mask area.

[0107] In some other embodiments of this specification, during model network training and real-time inference, the rich color and texture information in the image can be concatenated with the rich spatial geometric structure information in the point cloud to construct new data features, thereby completing the final target detection. The output result is also a 3D bounding box of the target object's point cloud. Compared with a pure point cloud 3D detection network, the rich RGB texture information greatly improves the accuracy of recognition and detection and the precision of the 3D bounding box.

[0108] Then, the safe distance for cloud computing is calculated based on the segmentation points of construction personnel.

[0109] Specifically, after extracting the target point cloud data of the construction personnel, the target point cloud data is first transformed into the basic coordinate system of the 3D substation using a pre-calibrated transformation matrix from the 3D monitoring equipment to the coordinate system of the 3D substation model. This transformation is called 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, which is called 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 in the original point cloud contour, the shortest distance between it and each surface of the 3D irregularly shaped electronic fence in the live monitoring area (i.e., the danger zone) of the substation is calculated sequentially. The minimum distance is the closest distance (measured distance) between the current construction personnel and the boundary of the 3D irregularly shaped electronic fence in the danger zone. Then, this distance value and other relevant information, such as image data, original point cloud set, original point cloud contour and / or centroid coordinates, are encapsulated into a data packet and sent to the positioning monitoring software system in the main control room for subsequent judgment and processing.

[0111] After receiving the data packet from the portable 3D monitoring device, the system parses it and compares it with the standard safety distance (threshold) set in the backend to determine whether to trigger the audible and visual alarm process. If not triggered, the contents of the current data packet (image data, original point cloud set, original point cloud outline and / or centroid coordinates, etc.) are stored in the database as a regular push notification. If triggered, in addition to saving the data packet content to the database, the system can also perform response processing according to the following procedure:

[0112] a. Based on the comparison between the calculated distance and the standard safe distance set in the background, the target alarm level to be triggered is determined. Specifically, the standard safe distance may include multiple predetermined distance ranges, each of which corresponds to its own alarm level. Then, the calculated distance is matched with multiple predetermined distance ranges to obtain the matching distance range, thereby obtaining the corresponding alarm level.

[0113] b. Extract the centroid coordinates of the original point cloud set from the data packet, extract the location information corresponding to the positioning tag device worn by the construction personnel in the coordinate system of the 3D digital model, determine the location information that matches the centroid coordinates, and use it as the target location information. Then, issue an alarm to the construction personnel through the positioning tag device corresponding to the target location information. It should be noted that the positioning tag device in this process has both positioning and tagging functions and can be installed on the personnel's safety helmets. Personnel wearing safety helmets equipped with positioning tags enter the substation.

[0114] c. The system backend sends target-level audible and visual alarm commands through a data connection channel with the portable 3D safety monitoring equipment. Similarly, the tag positioning system sends target-level audible and visual alarm commands through its data channel with the corresponding positioning tag equipment.

[0115] In some other embodiments of this specification, the positioning tag device may also be installed on a person's clothing or other locations; however, this specification does not impose any limitations on these embodiments.

[0116] In the embodiments of this specification, the positioning tag device can perform positioning based on the BeiDou differential reference station (for outdoor positioning scenarios) or based on the UWBLOC base station (for indoor positioning scenarios).

[0117] BeiDou differential reference stations are typically placed in known locations. By comparing the satellite signals received by the reference station with the expected satellite signals based on its known location, the reference station can identify errors in the satellite signals. These error information is then transmitted to other satellite receiving devices in the area, which can use this information to correct their own satellite signals and improve positioning accuracy.

[0118] Ultra-wideband (UWB) technology is a wireless carrier communication technology that does not use sinusoidal carriers but instead transmits data using nanosecond-level non-sinusoidal narrow pulses. Therefore, it occupies a very wide frequency spectrum, hence the name "ultra-wideband." In a UWB-based positioning system, a signal transmitter emits signal pulses, and the signal receivers need to be pre-installed in the space where positioning is required. A custom Cartesian coordinate system is needed to plot the x, y, and z coordinates of each receiver. The pulse emitted by the signal transmitter travels at the speed of light, C. The pulses arrive at the three receivers at times T1, T2, and T3, respectively. The three distances L1, L2, and L3 can be calculated by multiplying the speed of light C by the time T. The intersection of three circles drawn with each distance as a radius indicates the location of the signal transmitter.

[0119] In some other embodiments of this specification, considering that the equipment in the substation is relatively dense and may easily cause large-area obstruction of the monitoring target, if necessary, two sets of portable three-dimensional monitoring equipment can be configured in the current maintenance work area, such as the through-beam monitoring equipment 01 and through-beam monitoring equipment 02 as shown in Figure 7. Through-beam monitoring equipment 01 and through-beam monitoring equipment 02 are used to perform through-beam monitoring of the construction and maintenance area space in order to completely monitor the entire construction and maintenance area space.

[0120] In the embodiments of this specification, the through-beam monitoring devices monitor the same monitoring area, and their fields of view overlap. For the monitoring results of the overlapping areas, the following steps can be used to fuse and remove duplicates:

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

[0133] For example, a scaled-down point cloud model of a substation can be shown in Figure 2.

[0134] In some other embodiments of this specification, video image data of the substation (i.e., video images of the substation) can also be collected, thereby providing reference and adjustments for the subsequent construction of the 3D digital model of the substation based on the video image data of the substation. Specifically, after scanning and modeling the substation, video image acquisition devices such as drones and handheld cameras are used to collect and record the global and detailed equipment connection status of the substation (including video images from a global perspective and video images from a local perspective of the substation), for reference and adjustments during subsequent modeling. By collecting detailed data on the various devices within the substation and the connection status between them from both global and local perspectives, a holistic understanding from the global macro to the local micro is provided for subsequent modeling, improving the accuracy of the subsequent 3D digital model and spatial region division model components.

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

[0136] Considering the later software system's requirements for displaying the substation model and the visualization analysis and positioning effects when constructing spatial area division model components, a 3D digital model needs to be built based on the scaled point cloud model. The specific process may include:

[0137] 1. Preprocess the scaled point cloud model to ensure it can be successfully imported into the model building software;

[0138] The data content in a scaled point cloud model is a set of three-dimensional point coordinates—[(x1,y1,z1),(x2,y2,z2),...]. Some modeling software does not support direct import. In addition, considering the large file size of scaled point cloud models and the performance of the host machine of the modeling software, it is necessary to perform preprocessing operations such as downsampling and data content format conversion on the scaled point cloud model before it can be successfully imported into the modeling software for visualization.

[0139] Figure 3 shows the import effect of the proportional point cloud model in Figure 2. The green part in Figure 3 is the display effect after the proportional point cloud model is imported into the modeling software, which is completely consistent with the content of the proportional point cloud model in Figure 2.

[0140] 2. While ensuring that the coordinate system of the scaled point cloud model remains unchanged, construct the models of each major part within the scaled point cloud model;

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

[0142] Then, based on the original dense point cloud model (before downsampling, loaded and viewed using other software tools) and video image materials collected by drones and other devices as references, and in accordance with the shape and location of various target modeling objects in the proportional point cloud model in the modeling software, a 3D digital model is constructed (based on basic models such as cuboids, cylinders, and spheres, with adjustments to size and shape).

[0143] Figures 4 and 5 show the effect of overlapping the scaled point cloud model (green part) with the constructed 3D digital model. As can be seen from Figures 4 and 5, the equipment objects (houses, electrical equipment, high-voltage lines, etc.) in the two model scenes completely overlap, achieving the target requirements.

[0144] The final scale point cloud model and the 3D digital model overlap as shown in Figure 6.

[0145] Then, a spatial region partitioning model component is constructed. In this embodiment of the specification, constructing the spatial region partitioning model based on the 3D digital model further includes:

[0146] Based on the safety distance requirements of the circuit equipment in the 3D digital model and the connectivity of the circuit equipment, the discharge space range of each circuit equipment in the substation is irregularly wrapped and covered to obtain a spatial region division model component for each circuit equipment, and an electrical attribute label is configured.

[0147] The spatial region division model component is constructed by filling the empty space regions in the 3D digital model, excluding the spatial region division model component carrying the charged attribute label, and dynamic attribute labels are configured.

[0148] In the embodiments of this specification, safety regulations and other indicative materials can be identified, and the safety distance requirements for different voltage levels and different energized equipment can be extracted. For example, the busbar in a substation, which is the main current conductor of high-voltage electricity in the substation, is generally a metal cylinder with a diameter of 10-15 cm and a variable length. Depending on the voltage level it conducts, the distance (energized radius) of the energized space around it also varies. Identifying safety regulations and other indicative materials, for example, reveals that the discharge distance of a 220KV busbar is 3 meters, meaning that workers need to be at least 3 meters away from the 220KV busbar to ensure safety.

[0149] The circuits within a substation can be divided based on the connectivity of the circuit equipment. For example, the contact points of disconnect switches in a power line can be used as physical dividing points to divide the power line into multiple line devices.

[0150] The discharge space of each circuit device is wrapped and covered in the form of "irregularly shaped building blocks" and labeled with a live tag. Then, using "dynamic" attribute tags, the empty space areas outside the spatial region division model components with "live" attribute tags within the substation are also constructed using irregularly shaped surface models. These empty space areas are filled into spatial region division model components, and dynamic attribute tags are configured to ensure that the entire 3D space within the substation is controlled, with no uncontrolled spaces. For example, a dynamic attribute tag spatial region division model is generated in the empty space area between the lower surface of each circuit device's spatial region division model component and the ground, or in the empty space area between the side surface of the circuit device's spatial region division model component and the side boundary of the 3D digital model. The correspondence between the dynamic attribute tag spatial region division model components and the corresponding circuit device's spatial region division model components can also be configured, or the positional relationship between the dynamic attribute tag spatial region division model components and the circuit device's spatial region division model components can be configured.

[0151] Finally, all the 3D space within the entire substation was divided, resulting in multiple spatial region division model components.

[0152] The equipment maintenance area within a substation is usually logically divided using the term "interval". Within an interval, there are usually multiple spatial areas with energized and dynamic attribute labels.

[0153] Besides intervals, there are several other types of division (other categories can also be used, but this specification does not limit the examples), as defined in Table 1:

[0154] Table 1

[0155]

[0156]

[0157] The entire space within the substation can be summarized as consisting of several bays, a large power link, a common passageway, an equipment room, and dynamic spaces.

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

[0159] Furthermore, based on the safety distance requirements of the circuit equipment in the 3D digital model and the connectivity of the circuit equipment, the discharge space range of each segment of circuit equipment in the substation is irregularly wrapped and covered to obtain the spatial region division model component for each segment of circuit equipment, which further includes:

[0160] Determine the energized endpoints of the busbar;

[0161] Using the charged endpoint as the center of the sphere and the safety distance corresponding to the safety distance requirement of the busbar as the radius, a charged space occupant sphere is generated to enclose the charged endpoint.

[0162] Between two adjacent charged endpoints of the same busbar, multiple charged space occupant spheres of the same radius are placed at equal intervals and uniformly.

[0163] The spatial region division model component of the busbar is constructed based on the charged space occupant sphere.

[0164] In the embodiments of this specification, Figure 8 shows a schematic diagram of the busbar in the 3D digital model. The red, green and yellow lines in Figure 8 represent a busbar segment, and the arrows point to one of the live terminals of the three busbars. The three colors represent three different phase circuit lines (analogous reference: neutral wire, live wire, ground wire).

[0165] Then, based on the actual physical connection of the circuit and safety specifications, the safety distance requirements for the busbar are determined. Using the energized endpoint as the center and the corresponding safety distance requirement for the busbar as the radius, a energized space sphere is generated to enclose the energized endpoint.

[0166] Figure 9 shows the effect of placing a energized space sphere at the energized end of the busbar. The center of the energized space sphere is located at the selected energized end, and the radius of the energized space sphere is the discharge distance determined by safety regulations and other guiding materials (e.g., the discharge distance for 220kV equipment is 3 meters) – the closest distance that can prevent electric shock accidents when the equipment is energized.

[0167] Then, between two adjacent energized endpoints of the same busbar, multiple energized space spheres of the same radius are placed at equal intervals. Specifically, energized space spheres of the same radius (with their centers located at the energized endpoints or on the busbar) are placed at equal intervals between other energized endpoints of the busbar (energized endpoints include, but are not limited to, the physical ends of the busbar's metal cylinder, and the static contacts of some knife switches fixed on the busbar cylinder are also considered energized endpoints) and between two adjacent energized endpoints, thus initially constructing the energized space region of the current busbar with these energized space spheres.

[0168] Figure 10 shows an example of placing charged space spheres at charged endpoints and equidistant positions (in Figure 10, not all charged space spheres for the busbar are placed; this is just an example).

[0169] Then, based on the charged space occupant sphere, a spatial region division model component for the busbar is constructed.

[0170] In the embodiments of this specification, the component for constructing a spatial region partitioning model of the busbar based on a charged space occupant sphere further includes:

[0171] Construct a minimum bounding model of the set of all charged space occupant spheres of the busbar to obtain the spatial region partitioning model component of the busbar.

[0172] Specifically, after placing all the charged space occupant spheres, when constructing the spatial region partitioning model component of the busbar, the number of faces of the constructed spatial region partitioning model component is minimized (for example, the spatial region partitioning model component of the busbar has 6 faces, including the bottom face, the top face, and 4 side faces). At the same time, the faces of the spatial region partitioning model component are tangent to the outer surface of the charged space occupant spheres (each face is tangent to at least one charged space occupant sphere closest to that face). Finally, a minimum enclosing model for the current set of charged space occupant spheres is constructed. This model is in the shape of "irregular building blocks" according to the actual distribution of the occupant spheres (the schematic diagram of the charged space occupant spheres of the busbar and the spatial region partitioning model component is shown in Figure 11. Due to the special nature of the busbar, the constructed model is in the shape of a cuboid).

[0173] In the embodiments described in this specification, the method further includes:

[0174] The interval is divided into minimum power link segments based on the connectivity of the lines within the interval;

[0175] Determine the energized endpoints of each minimum power link;

[0176] Using the charged endpoint as the center of the sphere and the safety distance corresponding to the current minimum power link safety distance requirement as the radius, a charged space occupant sphere is generated to enclose the charged endpoint.

[0177] Between two adjacent charged endpoints of the same minimum power link, multiple charged space spheres of the same radius are placed at equal intervals and uniformly.

[0178] Construct a minimum bounding model of the set of all charged space occupant spheres that make up the minimum power link, and obtain the spatial region of the minimum power link;

[0179] By combining the spatial regions of all the smallest power links, the spatial region partitioning model component of the interval is obtained.

[0180] In the embodiments of this specification, an interval represents the smallest power outage space unit during maintenance, and dividing the interval into minimum power link units based on the connectivity of the lines within the interval further includes:

[0181] Based on the operation of the disconnect switches of the lines in the interval during maintenance work, the lines in the interval are divided into minimum power links.

[0182] For example, a disconnect switch is one of the commonly used switching devices for controlling the opening and closing of control circuits in substations. When the disconnect switch is closed, the circuit is connected; when the disconnect switch is open, the circuit is disconnected. For each phase of a three-phase circuit, along the direction of current inflow or outflow, first determine the switching device in that phase and the location of its connecting contact point (e.g., the location of the static contact). Then, the line between two adjacent switching devices is the minimum power link, and the contact points at both ends of this minimum power link are the energized endpoints. In the embodiments of this specification, the energized endpoints can be switch contacts or points that are clearly protruding or at corners in the power link.

[0183] As shown in Figure 12, the yellow, green, and red arrows indicate the static contacts of the disconnect switch, which are also one of the energized endpoints in the current power link segment. Based on the disconnect switch, the bay can be divided into two power links (i.e., the minimum power links), as shown in Figure 13, including the right-side incoming circuit and the left-side conductor circuit connected to the busbar.

[0184] Then, the charged endpoints of each minimum power link are determined, and the charged endpoints are used as the center of a sphere. The radius is the safety distance corresponding to the safety distance requirement of the current minimum power link. A charged space occupant sphere is generated to enclose the charged endpoints. Multiple charged space occupant spheres with the same radius are placed at equal intervals between two adjacent charged endpoints of the same minimum power link. The minimum enclosing model of the occupant sphere set composed of all charged space occupant spheres of the minimum power link is constructed to obtain the spatial region of the minimum power link.

[0185] Figure 14 shows a schematic diagram of all charged space occupant spheres and spatial regions of the right-side incoming circuit. In this embodiment, corresponding charged space occupant spheres are placed at each charged endpoint of the right-side incoming circuit to mark the charged spatial range of the right-side incoming circuit. Then, based on the principle of constructing a minimum bounding model described above—to minimize the number of faces in the constructed spatial region (for example, the steps to determine the number of faces in the spatial region include: minimizing the number of triangular faces in the current triangular mesh model (i.e., the current charged spatial region model). 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 model complexity, the total computational load between subsequent radar point clouds and triangular faces in the model is reduced. However, when the number of triangular faces in the triangular mesh model decreases, the spatial positioning accuracy of the currently constructed charged spatial region model will inevitably decrease. Therefore, a balance must be considered, and priority should be given to ensuring that the charged spatial region of the power link is completely covered. There is no fixed limit to the number of triangular faces in the triangular mesh model (the specific number of faces can be generated by the modeling software). At the same time, the faces of the spatial region are tangent to the outer surface of the charged spatial occupant sphere (the corresponding face is tangent to at least one charged spatial occupant sphere closest to that face), constructing a minimum enclosing model for the current set of charged spatial occupant spheres, thus obtaining the spatial region of the right-side incoming circuit.

[0186] Furthermore, as can be seen from Figure 14, the area directly below the current right-side incoming circuit space is in a "blank" state. The space region partitioning model component with dynamic attribute labels will be filled in this area later.

[0187] Figure 15 shows a schematic diagram of all the energized space spheres in the conductor circuit connected to the busbar on the left. Identify the energized endpoints in the conductor circuit connected to the busbar on the left (there can be more than two energized endpoints in a conductor link) and place the corresponding energized space spheres. Between two adjacent energized endpoints in the same conductor circuit, place multiple energized space spheres of the same radius at equal intervals to mark the energized space range of the conductor circuit connected to the busbar on the left.

[0188] Figure 16 shows a schematic diagram of all the charged space spheres and spatial regions of the conductor circuit connected to the busbar on the left. Then, based on the principle of constructing a minimum enclosing model described above, the spatial region of the conductor circuit connected to the busbar on the left is constructed.

[0189] Finally, the spatial regions of all the smallest power links are combined to obtain the spatial region division model component for the interval. Figures 17 and 18 show schematic diagrams of the spatial region division model component for this interval obtained by combining the spatial region of the right-side incoming circuit and the spatial region of the left-side conductor circuit connected to the busbar. As shown in Figures 17 and 18, the spatial region of the right-side incoming circuit and the spatial region of the left-side conductor circuit connected to the busbar are combined and displayed. At the connection point of these two links, the two models overlap to a certain extent. This overlap is generally due to the intersection of energized space occupant spheres, meaning that the energized ranges of the equipment overlap to some extent. This overlap not only ensures that all spatial regions within the entire substation are under control, but it is also crucial for the subsequent construction of a 3D irregular-shaped electronic fence.

[0190] According to one embodiment of this specification, the substation also includes a public passageway;

[0191] The method further includes:

[0192] The public passage is divided into multiple sub-passage areas depending on whether there are electrical devices above it;

[0193] If there are no electrical devices above the sub-channel area, the space area of ​​the sub-channel area is generated according to a predetermined height; wherein, the predetermined height can be set by the staff as needed.

[0194] If there is a circuit device above the sub-channel region, the spatial region of the sub-channel region is generated by dividing the lower surface height of the model component according to the spatial region of the circuit device.

[0195] The spatial regions of the sub-channel areas are combined to obtain the spatial region division model component of the public channel.

[0196] Figure 19 shows a schematic diagram of the spatial area division model component corresponding to a public passage. The yellow part in the figure corresponds to the spatial area division model component of the public passage, and its maximum achievable height is determined by the spatial environment above. If there is no electrical equipment or power link above the passage, the top of the passage model is raised to a uniform specified height. Otherwise, the top height of the passage model corresponding to the current road segment is limited by the lower surface height of the energized spatial area model above it.

[0197] Within the current interval area, in addition to the completed spatial area division model components for charged tags and the spatial area division model components for public passages, there are still uncontrolled gap spaces in a "blank" state. Fill-in model construction is carried out for these gap spaces, and the construction principle is still to keep the number of faces to a minimum while completely filling the "blank" areas.

[0198] The spatial region partitioning model component of the generated dynamic tag also overlaps to some extent with the spatial region partitioning model component of the adjacent charged tag.

[0199] Figures 20, 21, and 22 show schematic diagrams of the spatial region division model component of the dynamic tag combined with the spatial region division model component of the adjacent charged tag. The blue part is the spatial region division model component of the dynamic tag that has been filled and constructed. Together with the spatial region division model components of the charged tags of the two power links that were constructed earlier (red parts), they form the complete spatial region division model component within the current interval.

[0200] Finally, a 3D irregular-shaped electronic fence is generated. According to one embodiment of this specification, selecting the spatial region division model component of the monitoring area and combining it to generate the 3D irregular-shaped electronic fence of the monitoring area further includes:

[0201] Based on the monitoring area, select the corresponding spatial region division model component to construct spatial region model groups;

[0202] The spatial region division model components within the spatial region model group are merged, and the outer surface of the merged model is calculated to obtain the 3D irregular electronic fence.

[0203] In the embodiments of this specification, after the construction of all spatial area division model components within the substation is completed, the target 3D irregular electronic fence is generated by selecting and combining the relevant spatial area division model components within the target interval or other range areas.

[0204] First, spatial area model grouping is constructed. After the overall spatial area within the substation is divided, the areas are coarsely divided according to intervals and similar logical classification levels based on business logic requirements. Then, the smallest model units within each range are grouped. For example, the steps for coarsely dividing the areas according to intervals and similar logical classification levels include: the interval division needs to be defined in conjunction with the specific power link operation and configuration within the substation. Similarly, it can also include logical concept areas such as "bus lines," "incoming / outgoing lines," "transformer areas," and "capacitor areas," which are designed based on the specific configuration and functions within the substation. These areas may overlap to some extent, and each area may contain several (0 to N) "interval" spaces. Therefore, the areas are coarsely divided according to the interval and logical concept area boundaries.

[0205] As shown in Figure 23, the spatial area division model component includes two electrical tag-based components (red part) and two dynamic tag-based components (blue part). These four spatial area division model components belong to the current group. If there are multiple maintenance work areas simultaneously, they can be processed separately to form multiple groups, with each group being independent of the others.

[0206] Then, all spatial region partitioning model components within the group are merged. After determining all spatial region partitioning model components within the current group, the overlapping state between adjacent models is used, combined with algorithms related to polygon mesh model processing (such as the relevant methods in the Corefinement module of the open-source library CGAL), to recalculate and generate the outer surface model of all spatial region partitioning model components within the current group. That is, the intersecting parts are deleted, resulting in a 3D irregular bounding box. The outer surface model is also the target 3D irregular electronic fence.

[0207] Taking two spatial region partitioning model components as an example, when the two spatial region partitioning model components do not intersect, the merged outer surface model is the sum of the two spatial region partitioning model components (sum of face count, sum of vertex count, and sum of file size). When the two spatial region partitioning model components intersect, the merged outer surface model is all the outer surface parts that can be observed when the two spatial region partitioning model components intersect, and the hidden parts inside the intersection will be deleted.

[0208] The "intersection" state of the spatial region division model components is mainly based on the actual spatial division requirements. First, it is necessary to ensure that there are no uncontrolled spatial regions in the overall 3D space of the substation after the spatial region division is completed. Second, the energized spatial regions of each power equipment basically have overlapping parts, that is, the energized spatial regions themselves have intersections.

[0209] Taking two intersecting spatial region partitioning model components as an example, the process of fusing them to obtain the outer surface model may include the following steps:

[0210] Step 1: Perform pairwise traversal checks on all triangular faces in the model component of the two intersecting spatial regions to calculate the set of all intersecting line segments;

[0211] Step 2: Divide the intersecting triangular facets into sub-triangular facets along the intersecting line segments to ensure that the intersection line becomes the edge of the new grid;

[0212] Step 3: Sequentially determine whether each sub-triangle facet in one spatial region partitioning model component is inside (invisible) another spatial region partitioning model component. If not, retain the sub-triangle facet; that is, only retain the sub-triangle facets that are all outside (visible) another spatial region partitioning model component.

[0213] Step 4: Remove duplicate vertices from the two spatial region partitioning model components, merge adjacent edges, and obtain the merged outer surface model.

[0214] For example, the resulting 3D irregular-shaped electronic fence can be shown in Figures 24 and 25, where the green part represents the 3D irregular-shaped electronic fence.

[0215] After obtaining the 3D irregular-shaped electronic fence, based on actual needs, the current electronic fence—the recalculated outer surface model—can be marked and saved for direct use next time.

[0216] In the embodiments of this specification, after obtaining the 3D irregular-shaped electronic fence, personnel safety protection can be carried out based on the 3D irregular-shaped electronic fence. For example, staff can only carry out power outage maintenance work within the range of the 3D irregular-shaped electronic fence when the circuit equipment is under power outage maintenance.

[0217] Based on the same inventive concept, this specification also provides a monitoring device for the maintenance safety distance of personnel in a substation, as shown in Figure 26. The device includes:

[0218] The portable 3D monitoring equipment scanning unit 10 is used to scan the construction personnel in the substation using portable 3D monitoring equipment deployed in the substation, and to determine the target point cloud data of the construction personnel.

[0219] The maintenance safety distance monitoring unit 11 is used to monitor the maintenance safety distance of the construction personnel based on the 3D irregular electronic fence of the monitoring area in the substation and the target point cloud data.

[0220] The beneficial effects obtained by the above-described device are the same as those obtained by the above-described method, and will not be described in detail in the embodiments of this specification.

[0221] Figure 27 shows a schematic diagram of the structure of a computer device according to an embodiment of the present invention. The methods in the embodiments of this specification can be run in the computer device of this embodiment. The computer device 1102 may include one or more processing devices 1104, such as one or more central processing units (CPUs), each processing unit implementing one or more hardware threads. The computer device 1102 may also include any storage resource 1106 for storing information of any kind, such as code, settings, data, etc. Without limitation, for example, the storage resource 1106 may include any one or more combinations of the following: any type of RAM, any type of ROM, flash memory device, hard disk, optical disk, etc. More generally, any storage resource can use any technology to store information. Further, any storage resource can provide volatile or non-volatile retention of information. Further, any storage resource may represent a fixed or removable component of the computer device 1102. In one case, when the processing device 1104 executes associated instructions stored in any storage resource or combination of storage resources, the computer device 1102 can perform any operation of the associated instructions. The computer device 1102 also includes one or more drive mechanisms 1108 for interacting with any storage resource, such as hard disk drive mechanism, optical disk drive mechanism, etc.

[0222] Computer device 1102 may also include an input / output module 1110 (I / O) for receiving various inputs (via input device 1112) and providing various outputs (via output device 1114). A specific output mechanism may include a presentation device 1116 and an associated graphical user interface (GUI) 1118. In other embodiments, the input / output module 1110 (I / O), input device 1112, and output device 1114 may be omitted, and the device may function solely as a computer device within a network. Computer device 1102 may also include one or more network interfaces 1120 for exchanging data with other devices via one or more communication links 1122. One or more communication buses 1124 couple the components described above together.

[0223] Communication link 1122 can be implemented in any way, such as via a local area network, a wide area network (e.g., the Internet), a point-to-point connection, or any combination thereof. Communication link 1122 may include any combination of hardwired links, wireless links, routers, gateway functions, name servers, etc., governed by any protocol or combination of protocols.

[0224] This embodiment also provides a computer-readable storage medium storing a computer program that is executed by a processor to perform the above-described methods.

[0225] This embodiment also provides a computer-readable instruction, wherein when a processor executes the instruction, the program therein causes the processor to perform the above-described method.

[0226] It should be understood that in the various embodiments of this document, the sequence number of each process does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this document.

[0227] It should also be understood that, in the embodiments herein, the term "and / or" is merely a description of the relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following associated objects have an "or" relationship.

[0228] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this document.

[0229] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0230] In the embodiments provided herein, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the couplings or direct couplings or communication connections shown or discussed may be indirect couplings or communication connections through some interfaces, devices, or units, or they may be electrical, mechanical, or other forms of connection.

[0231] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of the embodiments described herein, depending on actual needs.

[0232] Furthermore, the functional units in the various embodiments of this document can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0233] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this paper, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this paper. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0234] This document uses specific embodiments to illustrate the principles and implementation methods of this document. The descriptions of the embodiments above are only for the purpose of helping to understand the methods and core ideas of this document. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this document. Therefore, the content of this specification should not be construed as a limitation of this document.

Claims

1. A method for monitoring the safe maintenance distance of personnel in a substation, characterized in that, The method includes: scanning construction workers within the substation using a portable 3D monitoring device deployed within the substation to determine the target point cloud data of the construction workers; monitoring the maintenance safety distance of the construction workers based on the 3D irregularly shaped electronic fence of the monitoring area in the substation and the target point cloud data; the step of constructing the 3D irregularly shaped electronic fence of the monitoring area includes: scanning the substation to obtain a scaled point cloud model of the substation; constructing a 3D digital model of the substation based on the scaled point cloud model; constructing multiple spatial region division model components based on the 3D digital model; selecting the spatial region division model components of the monitoring area and combining them to generate the 3D irregularly shaped electronic fence of the monitoring area; the construction of the spatial region division model based on the 3D digital model further includes: based on the safety distance of the circuit equipment in the 3D digital model... Based on the requirements and the connectivity of the circuit equipment, the discharge space range of each circuit equipment segment in the substation is irregularly wrapped and covered to obtain a spatial region division model component for each circuit equipment segment, and a live attribute label is configured; the empty space regions in the 3D digital model, excluding the spatial region division model component carrying the live attribute label, are filled to construct a spatial region division model component for the empty space region, and a dynamic attribute label is configured; the spatial region division model components of the monitoring area are selected and combined to generate a 3D irregularly shaped electronic fence for the monitoring area, which further includes: selecting the corresponding spatial region division model components according to the monitoring area to construct a spatial region model group; fusing all spatial region division model components in the spatial region model group, calculating the outer surface of the fused product, and obtaining the 3D irregularly shaped electronic fence.

2. The method according to claim 1, characterized in that, The process of scanning construction workers within the substation using portable 3D monitoring equipment deployed within the substation to obtain target point cloud data of the construction workers further includes: scanning the construction and maintenance area where the construction workers are located within the substation using the portable 3D monitoring equipment to obtain raw data of the construction and maintenance area, wherein the raw data includes at least point cloud data of the construction and maintenance area; and analyzing the raw data to extract the target point cloud data of the construction workers.

3. The method according to claim 2, characterized in that, The raw data also includes image data of the construction and maintenance area; analyzing the raw data to extract the target point cloud data of the construction personnel further includes: analyzing the image data and point cloud data of the construction and maintenance area to extract the target point cloud data of the construction personnel.

4. The method according to claim 1, characterized in that, Monitoring the maintenance safety distance of construction personnel based on the 3D irregularly shaped electronic fence of the monitoring area in the substation and the target point cloud data further includes: 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; obtaining the edge contour point cloud data of the original point cloud set through an edge extraction algorithm to obtain the original point cloud contour; calculating the shortest distance between each data point in the original point cloud contour and each surface of the 3D irregularly shaped electronic fence of the live monitoring area in the substation; determining whether the shortest distance is less than a threshold; if so, issuing an alarm to the construction personnel.

5. The method according to claim 4, characterized in that, After obtaining the original point cloud set, the method further includes: calculating the corresponding centroid coordinates based on the original point cloud set; extracting the location information corresponding to the positioning tag device worn by the construction personnel in the coordinate system of the 3D digital model; determining the location information that matches the centroid coordinates as the target location information; and issuing an alarm to the construction personnel, which further includes: issuing an alarm to the construction personnel through the positioning tag device corresponding to the target location information.

6. The method according to claim 1, characterized in that, The circuit equipment includes a busbar; based on the safety distance requirements of the circuit equipment in the 3D digital model and the connectivity of the circuit equipment, the discharge space range of each segment of the circuit equipment in the substation is irregularly wrapped and covered to obtain a spatial region division model component for each segment of the circuit equipment. This further includes: determining the energized endpoints of the busbar; using the energized endpoints as the center and the safety distance corresponding to the safety distance requirements of the busbar as the radius, generating energized space occupant spheres that wrap around the energized endpoints; placing multiple energized space occupant spheres of the same radius evenly and at equal intervals between two adjacent energized endpoints of the same busbar; and constructing a spatial region division model component for the busbar based on the energized space occupant spheres.

7. The method according to claim 6, characterized in that, The method further includes: dividing the interval into minimum power links according to the connectivity of the lines in the interval; determining the energized endpoints of each minimum power link; using the energized endpoints as the center and the safety distance corresponding to the safety distance requirement of the current minimum power link as the radius, generating energized space occupant spheres that enclose the energized endpoints; placing multiple energized space occupant spheres of the same radius evenly and at equal intervals between two adjacent energized endpoints of the same minimum power link; constructing a minimum enclosing model of the occupant sphere set composed of all energized space occupant spheres of the minimum power link to obtain the spatial region of the minimum power link; and combining the spatial regions of all minimum power links to obtain the spatial region division model component of the interval.

8. A device for monitoring the safe distance for personnel during maintenance in a substation, characterized in that, The device includes: a portable 3D monitoring equipment scanning unit, used to scan construction personnel in the substation using portable 3D monitoring equipment deployed within the substation, and determine the target point cloud data of the construction personnel; a maintenance safety distance monitoring unit, used to monitor the maintenance safety distance of the construction personnel based on the 3D irregular electronic fence of the monitoring area in the substation and the target point cloud data; the step of constructing the 3D irregular electronic fence of the monitoring area includes: scanning the substation to obtain a scaled point cloud model of the substation; constructing a 3D digital model of the substation based on the scaled point cloud model; constructing multiple spatial region division model components based on the 3D digital model; selecting the spatial region division model components of the monitoring area and combining them to generate the 3D irregular electronic fence of the monitoring area; the construction of the spatial region division model based on the 3D digital model further includes: based on the 3D... The digital model considers the safety distance requirements and connectivity of circuit equipment. It then uses an irregular shape to cover the discharge space of each circuit equipment segment within the substation, resulting in a spatial region division model component for each segment, and assigns it a live attribute label. The model further fills the empty space regions within the 3D digital model (excluding those with live attribute labels) to create a spatial region division model component, assigning dynamic attribute labels. Finally, it selects the spatial region division model components for the monitoring area and combines them to generate a 3D irregularly shaped electronic fence for that area. This process further includes: selecting the corresponding spatial region division model components for the monitoring area to construct a spatial region model group; fusing all spatial region division model components within the spatial region model group and calculating the outer surface of the fused component to obtain the 3D irregularly shaped electronic fence.

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